Thrust control scheme for electric expander cycle of variable thrust liquid rocket engine
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摘要:
以电动膨胀循环变推力液体火箭发动机为研究对象，设计了一种适用于电动膨胀循环发动机的推力闭环控制方案，其次基于AMESim平台建立了控制系统仿真模型，验证了重要部组件模型的准确性，并基于电动机泵和涡轮泵动力学模型对PID控制器进行了参数整定，最后着重针对推力调节的阶跃信号和斜坡信号开展了控制仿真。结果表明：在推力变比5∶1全工况范围内，双PI控制器适用于电动膨胀循环发动机推力调节控制，系统不存在稳态误差，但是调节过程存在波动；针对调节过程而言，双PI控制器控制信号的比例输出振荡是控制目标波动的主因，而积分输出造成了控制目标的稳态误差；相比阶跃信号调节，双PI控制器跟踪斜坡信号的效果更好，因此实际使用中，应尽量考虑斜坡信号进行推力调节。
Abstract:A thrust closed-loop control scheme for electric expander cycle of variable thrust liquid rocket engine was designed, and the control system simulation model was established based on AMESim platform. Besides, the simulation model of some important components was verified. Secondly, the PID (proportional-integral-derivative) controller parameters were selected based on the dynamic models of motor pump and turbopump. Finally, control simulation was carried out for the step signal and slope signal of thrust regulation. The results showed that the double PI controller was suitable for the thrust regulation control of electric expansion cycle engine within the range of thrust ratio 5∶1, and there was no steady-state error in the system, though the oscillation of thrust existed during the throttling process; secondly, for the throttling process, the proportional output oscillation of the control signal of the dual PI controller contributed much to the fluctuation of the control target, and it cannot restrain the fluctuation effectively; compared with step signal, the effect of dual PI controller tracking slope signal was better, so in practice, the slope signal should be considered for thrust throttle.
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图 8 电动膨胀循环控制系统仿真模型
Figure 8. Simulation model of electric expander cycle control system
图 10 不同整定参数下系统的单位阶跃响应曲线
Figure 10. Unit step response curve of the system under different tuning parameters
图 12 开环和闭环控制下测量室压和目标室压随时间变化曲线
Figure 12. Measured and target chamber pressure under open and closed loop control vs. time
图 13 开环和闭环控制下测量混合比和目标混合比随时间变化曲线
Figure 13. Measured and target mixture ratio under open and closed loop control vs. time
图 15 燃料流量控制器限幅和不限幅输出信号随时间变化曲线
Figure 15. Saturation signal and unlimited signal of fuel flow controller vs. time
图 16 冷却通道各分段气体体积分数随时间变化趋势
Figure 16. Gas volume fraction in section of cooling channels vs. time
图 18 氧流量控制器限幅和不限幅输出信号随时间变化趋势
Figure 18. Saturation signal and unlimited signal of oxidizer flow controller vs. time
图 19 斜坡信号下目标室压及测量室压值随时间变化曲线
Figure 19. Measured and target chamber pressure under ramp loop control vs. time
图 21 燃料流量控制器限幅和不限幅控制信号随时间变化曲线
Figure 21. Saturation signal and unlimited signal of fuel flow controller vs. time
图 22 燃料流量不限幅控制信号的比例和积分输出随时间变化曲线
Figure 22. Proportional and integral output of unlimited control signal of fuel flow vs. time
图 24 斜坡信号下氧流量限幅和不限幅控制信号随时间的变化曲线
Figure 24. Saturation and unlimited signal of oxidizer flow controller under ramp signal vs. time
图 25 斜坡信号下氧流量控制信号比例和积分输出随时间变化曲线
Figure 25. Proportional and integral output of unlimited control signal under ramp signal vs. time for oxygen mass flow rate
图 26 混合信号下目标室压及测量室压值随时间变化曲线
Figure 26. Measured and target chamber pressure under mixed signal vs. time
图 27 混合信号下目标混合比及测量混合比随时间的变化曲线
Figure 27. Measured and target mixture ratio under mixed signal vs. time
表 1 技术指标
Table 1. System technical metrics
输入参数 数值 输入参数 数值 Fmax/kN 20 Mratio 3.20 Tratio 5∶1 Isp/s 360 pcmax/MPa 3.00 ṁoxmax/（kg/s） 4.32 ɛ 220 ṁfmax/（kg/s） 1.35 
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表 2 部组件关键参数
Table 2. Key parameters of components
参数 数值 燃料储箱和氧储箱压力/MPa 0.40 氧储箱温度/K 90 燃料储箱温度/K 111 燃料管路内径/mm 24 氧管路内径/mm 28 推力室喉部直径/mm 64.6 燃烧室直径/mm 130 燃烧室特征长度/m 1 喷管转折处型面角/（º） 20 喷管出口扩张半角/（º） 10
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表 3 电动机参数
Table 3. Motor parameters
参数 数值 输入电压Us/V 0～540 参考电压Usr/V 340 绕组电阻Rso/Ω 0.6 绕组修正系数σr/K−1 0.1 绕组电导率Ls/（S/m） 0.012 反电动势和转矩减小常数Krt0 /（V·s/A/rad） 0.0018 反电动势和转矩系数修正系数σk/K−1 0.1
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表 4 离心泵组件参数
Table 4. Centrifugal pump components parameters
部组件 参数 氧路 燃料路 转子 转动惯量J/（kg·m2） 0.001 0.01 泵 流体惯量If/104（kg·m4） 2 2 参考压头Hr/m 375 1722 参考体积流量Qr /（m3/s） 0.00398 0.00375 参考转速Nr /（r/min） 6500 12500 参考效率ηr 0.56 0.50
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表 5 涡轮组件参数
Table 5. Turbine components parameters
部组件 参数 数值 涡轮 直径Dtur/m 0.2 并联阀 最大横截面积/mm2 452.3 参考开度 0.208
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表 6 推力室参数
Table 6. Thrust chamber parameters
部组件 参数 氧路 燃料路 喷注器 节流孔最大横截面积/mm2 706.5 314.0 燃烧室 体积Vc /L 3.27 长度/mm 150 喷管 喷管出口到喉部距离/m 1.26 燃烧室入口到喉部距离/mm 79.0 冷却通道起始位置
喷管半径/mm72.0 内壁厚δw/mm 1 外壁厚δwe/mm 2
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表 7 冷却通道参数
Table 7. Cooling channel parameters
参数 第1段 第2段 第3段 第4段 第5段 第6段 长度Li/mm 75.0 75.0 39.0 39.0 28.0 28.0 矩形通高度Hi/mm 3.0 3.0 3.0 3.0 3.0 3.0 矩形通道数ntube 80 80 80 80 80 80 肋宽/mm 1 1 1 1 1 1 起点喷半径rai/mm 65.0 65.0 65.0 56.0 32.3 50.0 终点喷半径rbi/mm 65.0 65.0 56.0 32.3 50.0 72.0 起点矩形通道宽度wai/mm 4.1 4.1 4.1 3.4 1.5 2.9 终点矩形通道宽度wai/mm 4.1 4.1 3.4 1.5 2.9 4.7 节流孔压降系数 8 8 8 8 8 8
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表 8 燃烧室动力学模型验证
Table 8. Verification of combustor’s dynamic model
室压/MPa 液氧/甲烷流量/（kg/s) 温度/K 试验结果 仿真结果 RPA结果 仿真结果 3.00 4.243/1.326 4.141/1.294 3416 3442 1.50 2.183/0.682 2.053/0.642 3329 3457
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表 9 不同控制器参数系统的性能指标
Table 9. System performance under different controller parameters
参数 超调量/% 调整时间/s 稳态误差 Kp=201, Ki=8670 0 0.050 0 Kp =305, Ki=11750 0 0.033 0 Kp =474, Ki=17560 5.4 0.037 0 Kp=555, Ki=23860 11.5 0.034 0
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表 10 不同控制器参数系统的性能指标
Table 10. System performance under different controller parameters
参数 超调量/% 调整时间/s 稳态误差 Kp=−0.163, Ki=−87.2 0 0.0023 0 Kp =−0.267, Ki =−130.4 0 0.0012 0 Kp =−0.408, Ki =−231.1 6.1 0.0016 0 Kp =−0.511, Ki =−316.1 11.5 0.00134 0
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