CN103670801A - A Redundancy Pump Control Servo Mechanism for Thrust Vector Control of Liquid Oxygen Kerosene Engine - Google Patents

Abstract

The invention belongs to a servo mechanism, and particularly relates to a redundant pump control servo mechanism for thrust vector control of a liquid oxygen kerosene engine. It includes: the servo controller is used for position closed loop and control characteristic compensation of the hydraulic actuator, the motor driver is used for servo motor drive control in the servo pump and is also used for control of the isolating valve, the power control unit is used for providing control signals for the hydraulic actuator, the isolating valve is used for switching the power control unit with faults, the hydraulic actuator acts under the control of the servo controller, and the displacement sensor is used for detecting the action of the hydraulic actuator and outputting the detection result to the four-redundancy servo controller. The invention has the following remarkable beneficial effects: the redundancy device can realize fault management and switching on the basis, realize the fault tolerance of the energy and control of the servo mechanism and achieve high-reliability performance indexes.

Description

A Redundancy Pump Control Servo Mechanism for Thrust Vector Control of Liquid Oxygen Kerosene Engine

technical field

The invention belongs to a servo mechanism, in particular to a redundant pump control servo mechanism for thrust vector control of a liquid oxygen kerosene engine.

Background technique

Servo mechanism is a general term for the flight control actuator subsystem of the launch vehicle in my country. The typical application is the thrust vector control of the swing engine. The liquid oxygen kerosene engine uses liquid oxygen and kerosene as fuel. It has the advantages of non-toxicity, pollution-free, high cost performance, and convenient use and maintenance. It is currently a mainstream launch vehicle engine in the world and may be used to carry people. Correspondingly, the servo mechanism of the swing liquid oxygen kerosene engine is also a necessary equipment. Due to the large power (kilowatts to tens of kilowatts), how to solve its energy problem has become a key issue in this type of servo mechanism technical solution; High, reliability design becomes a key issue.

Servo mechanisms can be divided into two basic components: servo power and servo control. Servo energy solves the problem of how to obtain energy and convert it into energy that can be provided to the servo; servo control solves the problem of how the actuator swings the motor to follow the electronic command movement. Due to the large power, the mainstream solution is still the hydraulic energy and electro-hydraulic control solution.

Such typical servo energy solutions in foreign countries mainly include: American Atlas II series rockets, which use MA-5A liquid oxygen kerosene engine, and a transmission shaft drives the hydraulic pump on the servo mechanism from its turbo pump gear reducer. American Satun V rockets use F1 liquid oxygen kerosene engines, Falcon series rockets use Merlin series liquid oxygen kerosene engines, Russian Energia and Zenith series rockets, and American Atas III series and Atas V series rockets all use Russian RD170/180 series liquid oxygen kerosene engines The engine and its servo mechanism adopt the scheme of directly driving the actuator with high-pressure kerosene behind the engine fuel pump to simplify the design of the engine and servo mechanism to the greatest extent, referred to as the "direct drainage" hydraulic energy solution (as shown in Figure 1). In recent years, my country has carried out the research and development of the servo mechanism of the liquid oxygen kerosene carrier rocket, and has adopted the "direct drainage" hydraulic energy scheme, and developed a "hydraulic motor" hydraulic energy scheme on this basis (as shown in Figure 2 ). For servo control, these servo mechanisms all adopt the traditional electro-hydraulic servo valve control scheme. In terms of reliability design, at present, redundant design measures are mainly taken in the three aspects of the electro-hydraulic servo valve pre-stage of the servo mechanism, the actuator displacement feedback measurement sensor and the controller, and the parallel redundant design of the hydraulic energy source.

Contents of the invention

The object of the present invention is to provide a redundant pump control servo mechanism for thrust vector control of a liquid oxygen kerosene engine.

The present invention is achieved in this way: a kind of liquid oxygen kerosene engine thrust vector control uses redundant degree pump control servomechanism, comprises

Hydraulic actuator, output reciprocating motion,

The power control unit converts the high-pressure kerosene drained from the engine into hydraulic actuator action,

Isolation valve for switching the failed power control unit,

The motor driver is used for the servo motor drive control in the servo pump in the power control unit, and is also used for the control of the isolation valve,

Servo controller for hydraulic actuator position closed loop and control characteristic compensation,

The displacement sensor is used to detect the position of the hydraulic actuator and output the detection result to the quad redundant servo controller.

A liquid oxygen kerosene engine thrust vector control redundant pump control servo mechanism as described above, wherein the power control unit includes a hydraulic motor connected to the outside, the hydraulic motor converts the high-pressure kerosene drained from the engine into a mechanical The power drives the servo pump to generate controllable hydraulic power to control the bidirectional movement of the actuator.

A liquid oxygen kerosene engine thrust vector control as described above uses a redundant pump control servo mechanism, wherein the two ends of the hydraulic motor are connected to the high oil filter and the low oil filter respectively, and the hydraulic motor is driven by the oil filter during the oil flow process. Drive and rotate, and then drive the overrunning clutch coaxially connected with the hydraulic motor and the motor to rotate, and the rotation of the motor is transmitted to the servo pump. When the motor is used for ground testing, the mechanical separation of the hydraulic motor and the motor is realized by the overrunning clutch .

A liquid oxygen kerosene engine thrust vector control as described above uses a redundant pump control servo mechanism, wherein the servo pump consists of a two-way variable plunger pump and a servo motor for variable swash plate control, and the servo motor for variable swash plate control receives signals from External control signal, the control signal controls the size and direction of the swing angle of the variable swash plate, thereby changing the size and direction of the output flow of the bidirectional variable piston pump, and realizing the reciprocating motion control of the actuator. The two-way variable-variable plunger pump is driven by the servo motor for variable-variable swash plate control, and the oil is pumped out from the oil tank through the upper check valve or the lower check valve, and enters the oil circuit for circulation.

A redundant pump control servo mechanism for thrust vector control of a liquid oxygen kerosene engine as described above, wherein the isolation valve adopts a two-position four-way solenoid valve.

The above-mentioned redundant pump control servo mechanism for thrust vector control of liquid oxygen kerosene engine, wherein the power control unit is integrated with the hydraulic actuator, and the power control unit is installed around one end of the actuator.

The obvious beneficial effects of the present invention are: the present invention proposes an innovative scheme of a liquid oxygen kerosene engine thrust vector control using a redundant degree (referring to 2 to 4 degrees) pump control servo mechanism driven by a hydraulic motor. Redundancy essentially includes the variable pump and its control, hydraulic motor drive, actuator displacement feedback, actuator position closed-loop control, and fault switching modules. Redundant design is adopted for the links, and fault management and switching can be realized on this basis , realize the "fault tolerance of servo mechanism energy and control", achieve high reliability performance indicators, significantly reduce the power level requirements and development difficulties of servo mechanism power components, and are especially suitable for large thrust vector control of liquid oxygen kerosene engines. High power and reliable servo mechanism.

Description of drawings

Fig. 1 Schematic diagram of direct drainage electro-hydraulic servo valve control scheme;

Fig. 2 Schematic diagram of the control scheme of the electro-hydraulic servo valve with hydraulic motor;

Figure 3 is a block diagram of the basic structure of the present invention;

Fig. 4 schematic diagram of power control unit and isolation valve of the present invention;

Fig. 5 is a schematic diagram of the overall layout of the servo mechanism of the present invention.

In the figure: 1. Hydraulic motor, 2. Two-way variable plunger pump, 3. Servo motor for variable variable swash plate control, 4. Reducer, 5. Charge pump, 6. Booster mechanism, 7. Fuel tank, 8. Top order Directional valve, 9. Lower one-way valve, 10. Motor, 11. Overrunning clutch, 12. High oil filter, 13. Low oil filter, 14. Isolation valve.

Detailed ways

As shown in Figure 3, the basic composition of the present invention includes: four redundant servo controllers, four redundant motor drivers, four sets of power control units, four sets of isolation valves and hydraulic actuators, the hydraulic actuators contain four Spare displacement sensor.

Quad redundant servo controllers are used for hydraulic actuator position closed loop and control characteristic compensation. The four redundant motor drivers are used for the servo motor drive control in the servo pump, and can also be used for the control of the isolation valve. The hydraulic actuator moves under the control of the four-redundant servo controller, and the four-redundant displacement sensor is used to detect the action of the hydraulic actuator and output the detection result to the four-redundant servo controller.

As shown in Figure 4, the high pressure oil flows through the high oil filter 12, the hydraulic motor 1 and the low oil filter 13 in sequence. The hydraulic motor 1 converts the high-pressure kerosene drained from the engine into mechanical power, drives the servo pump to generate controllable hydraulic power, and controls the bidirectional movement of the actuator. Specifically, the hydraulic motor 1 is driven by the oil to rotate during the oil flow, and then drives the overrunning clutch 11 and the motor 10 coaxially connected with the hydraulic motor 1 to rotate. The rotation of the motor 10 is transmitted to the servo pump.

The servo pump can be a servo pump in the prior art, or a servo pump as described below. The servo pump in this example consists of two-way variable plunger pump 2, variable swash plate control servo motor 3 and reducer 4, oil charge pump 5, booster mechanism 6 (accumulator is used in this example), fuel tank 7, and upper unit To valve 8 and lower one-way valve 9. The servo motor 3 for variable swash plate control receives external control signals, and the control signal controls the magnitude and direction of the swing angle of the variable swash plate, thereby changing the magnitude and direction of the output flow of the two-way variable piston pump 2 and realizing the reciprocating motion of the actuator control. The two-way variable plunger pump 2 is driven by the variable swash plate control servo motor 3 to pump the oil out of the oil tank 7 through the upper check valve 8 or the lower check valve 9 and enters the oil circulation. In order to solve the problem of insufficient oil pressure Situation can increase supercharging mechanism 6 in oil tank 7.

The isolation valve 14 adopts a two-position four-way solenoid valve. When the power control unit fails, it can be switched to another position to communicate with the two control oil ports of the servo pump and isolate its influence on the actuator. The implementation of fault management is as follows: sensors such as pressure, differential pressure, and rotational speed are installed on the servo pump and actuator, and the servo controller collects, processes and judges the information, and then controls the solenoid valve to switch.

As shown in Figure 5, the power control unit is integrated with the hydraulic actuator, and the power control unit is installed around one end of the actuator.

Wherein, the pressurization mechanism 6 and the isolation valve 14 given in this example can also adopt other suitable forms.

The servo controller and motor driver can be installed on the hydraulic actuator according to the structural layout requirements; they can also be installed on other positions on the arrow, and are connected to the hydraulic actuator through cables.

In general, one four-redundancy servo controller and one motor driver can simultaneously control one to four servo mechanisms of the present invention.

If the thrust vector control power of the liquid oxygen kerosene engine needs to be 30kW, the design power of each power control unit is 15kW, that is, the power of the hydraulic motor and the variable plunger pump is about 15kW. During normal operation, four power control units work at the same time, each sharing an average power of 7.5kW. If two power control units fail, the remaining two can still provide full control power requirements. Therefore, this design has "two-degree fault tolerance of energy and control components". Also, the power level of a single power device is halved compared to a single-channel design.

At the same time, since the peak power of rocket thrust vector control is always instantaneous, the recurrent power is generally only 10% to 30% of the maximum power. Therefore, even if only one power unit is working, it can still meet the minimum requirements of thrust vector control, and can maintain the attitude stability of the rocket at the most dangerous moment. Therefore, this design has the high reliable working ability of "three-degree fault operation of energy and control", which is not available in existing products.

The motor used for ground testing is preferably 6-10kW, and the motor can be designed with a high specific power of an intermediate frequency permanent magnet synchronous motor.

The power of the variable plunger pump is 15kW, and the control power of the variable swash plate does not exceed 1kW. The existing electromechanical servo control is fully capable. Therefore, it avoids the difficult problem of the throttling control of the traditional electro-hydraulic servo valve being easily polluted and the problem of controlling the high-power servo motor in the pure electromechanical servo mechanism.

Depending on the needs of use, the specific design of the servo mechanism can be designed with 2 to 4 degrees of redundancy.

Servo pumps, hydraulic motors, motors, reducers and other components, as well as products such as servo controllers and motor drivers, are all related to existing inventions or have ready-made products, which can be used as components or a part of the present invention.

Claims (6)

1. A liquid oxygen kerosene engine thrust vector control with redundancy pump control servomechanism, is characterized in that: comprising Servo controller for hydraulic actuator position closed loop and control characteristic compensation, The motor driver is used for the servo motor drive control in the servo pump, and is also used for the control of the isolation valve, The power control unit is used to provide control signals for the hydraulic actuator, Isolation valve for switching the failed power control unit, The hydraulic actuator acts under the control of the servo controller, The displacement sensor is used to detect the action of the hydraulic actuator and output the detection result to the quad redundant servo controller. 2. A liquid oxygen kerosene engine thrust vector control redundant pump control servo mechanism according to claim 1, characterized in that: said power control unit includes a hydraulic motor (1) communicating with the outside, the hydraulic motor (1) Convert the high-pressure kerosene drained from the engine into mechanical power, drive the servo pump to generate controllable hydraulic power, and control the bidirectional movement of the actuator. 3. A liquid oxygen kerosene engine thrust vector control redundant pump control servo mechanism as claimed in claim 2, characterized in that: the two ends of the hydraulic motor (1) are connected to the high oil filter (12) and the low oil filter respectively. The filter (13) is connected, and the hydraulic motor (1) is driven by the oil to rotate during the oil flow, and then drives the overrunning clutch (11) and the motor (10) coaxially connected with the hydraulic motor (1) to rotate, and the motor ( 10) The rotation is transmitted to the servo pump. 4. The redundant pump control servo mechanism for thrust vector control of liquid oxygen kerosene engine as claimed in claim 1, characterized in that the servo pump consists of a two-way variable plunger pump (2) and a servo motor for variable swash plate control (3), the servo motor for variable swash plate control (3) receives external control signals, and the control signal controls the magnitude and direction of the swing angle of the variable swash plate, thereby changing the output flow rate and direction of the two-way variable swash plate (2) , to realize the reciprocating motion control of the actuator. The two-way variable displacement plunger pump (2) is driven by the variable swash plate control servo motor (3) to pump oil out of the oil tank (7) through the upper check valve (8) or lower check valve (9) and enter the oil road loop. 5. A liquid oxygen kerosene engine thrust vector control redundant pump control servo mechanism according to claim 4, characterized in that: the isolation valve (14) is a two-position four-way solenoid valve. 6. A liquid oxygen kerosene engine thrust vector control redundant pump control servo mechanism as claimed in claim 1, characterized in that: the power control unit is integrated with the hydraulic actuator, and the power control unit is installed on the actuator around one end.

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