Ground heating control method and device for auxiliary power system of low-temperature carrier rocket

Abstract

The invention relates to a ground heating control method and device for an auxiliary power system of a low-temperature carrier rocket. The method comprises the steps that a first microcontroller obtains an initial parameter and a heating initial parameter of an upper computer auxiliary power system, and obtains real-time temperatures, transmitted by a second microcontroller, of an on-rocket thrust chamber, a storage box, an electromagnetic valve and a guide pipe; controlling an on-rocket heating loop according to the initial parameters, the heating initial parameters and the real-time temperatures of an on-rocket thrust chamber, a storage tank, an electromagnetic valve and a guide pipe; and / or, the second microcontroller obtains an upper computer auxiliary power system initial parameter, a heating initial parameter and a temperature measurement loop sensor resistance value, and determines the real-time temperature of the rocket heating loop based on the heating loop current, the temperature measurement loop sensor resistance value, the initial parameter and the heating initial parameter; and the heating current and the temperature measurement temperature on the rocket are sent to a first microcontroller and an upper computer. According to the application, the blank of the ground heating control device of the auxiliary power system can be filled, and unattended operation before the auxiliary power system is launched is realized.

Description

Technical Field

[0001] The present application relates to the field of aerospace power technology, and particularly to a ground heating control method, device, computer equipment, computer-readable storage medium, and computer program product for an auxiliary power system of a cryogenic launch vehicle. Background Art

[0002] The auxiliary power system of a launch vehicle mainly includes attitude control engines, storage tanks, carbon fiber gas cylinders, solenoid valves, and conduits, etc. It uses high-pressure gas to extrude low-freezing-point propellants at a constant pressure to catalytically decompose them to generate thrust. Limited by its own characteristics, the propellant needs to be maintained at normal temperature to ensure the activity of the propellant catalyst. After cryogenic propellants such as liquid oxygen kerosene and liquid oxygen methane are filled in the launch vehicle, the lowest ambient temperature around the auxiliary power system can reach -45°C. There is a risk that the fuel catalyst in the storage tank has insufficient activity or even freezes, which can easily lead to deflagration at the moment when the attitude control engine of the auxiliary power system starts, posing a serious hazard to the launch vehicle. Therefore, during the filling stage of cryogenic propellants such as liquid oxygen kerosene and liquid oxygen methane, it is necessary to heat the attitude control engine, storage tank, solenoid valve, and conduit of the auxiliary power system to ensure that the auxiliary power system provides reliable attitude control force for the second-stage active flight section, gliding section, and after the separation of the satellite and the rocket.

[0003] Due to the particularity of the industry and the limitations of actual conditions, the prior art generally installs heating sheets on the thrust chamber, storage tank, solenoid valve, and conduit of the auxiliary power system engine, and uses a DC power supply to supply power to the on-board heating sheets during the filling stage of cryogenic propellants. For example, the patent document CN 117869124 A discloses an attitude control engine thrust chamber heating device, which relates to the structure, layout, and connection relationship of the on-board auxiliary power system heating sheets; CN 218293724 U discloses a rocket attitude control engine heating device, which relates to the single-loop or redundant heating loop of the thrust chamber, storage tank, and conduit of the on-board auxiliary power system, the temperature measurement loop on the outer surface of the storage tank, and the temperature control connection cable, etc.

[0004] For the ground heating control device of the auxiliary power system, these two sets of attitude control engine heating devices are both controlled objects of the ground heating control device, focusing on the design of on-board heating devices, and their direct use for temperature control of the auxiliary power system is very limited; and they cannot independently meet the requirements of remote operation, unattended operation, and rapid launch at the launch site, and do not have expandable applicability. At present, there is no report on the ground heating control device for the auxiliary power system of cryogenic launch vehicles in China. Summary of the Invention

[0005] Based on this, it is necessary to provide a ground heating control method, device, computer equipment, computer-readable storage medium, and computer program product for the auxiliary power system of a cryogenic launch vehicle that can perform normal heating control, real-time monitoring, and remote operation on the auxiliary power system to address the above technical problems.

[0006] In a first aspect, the present application provides a ground heating control method for the auxiliary power system of a cryogenic launch vehicle, which is applied to a first microcontroller and / or a second microcontroller. The method includes:

[0007] Obtain the initial parameters of the upper computer auxiliary power system and the initial heating parameters through the first microcontroller, and obtain the real-time temperatures of the on-board thrust chamber, storage tank, solenoid valve, and conduit transmitted by the second microcontroller; control the on-board heating circuit based on the initial parameters of the upper computer auxiliary power system, the initial heating parameters, and the real-time temperatures of the on-board thrust chamber, storage tank, solenoid valve, and conduit, and send the on-board heating circuit current and the temperature of the temperature measurement circuit to the second microcontroller and the upper computer; and / or,

[0008] Obtain the initial parameters of the upper computer auxiliary power system, the initial heating parameters, and the resistance value of the temperature measurement circuit sensor through the second microcontroller, and determine the real-time temperature of the on-board heating circuit based on the heating circuit current, the resistance value of the temperature measurement circuit sensor, the initial parameters of the upper computer auxiliary power system, and the initial heating parameters; send the on-board heating circuit current and the temperature of the temperature measurement circuit to the first microcontroller and the upper computer.

[0009] In one embodiment, the method further includes:

[0010] The first microcontroller and / or the second microcontroller perform emergency control on the heating path and the temperature measurement path of the thrust chamber, storage tank, solenoid valve, and conduit according to the emergency control instruction sent by the upper computer.

[0011] In one embodiment, the initial parameters of the upper computer auxiliary power system include: temperature control stage, temperature control type, temperature control threshold, heating element, and temperature measurement point for temperature control;

[0012] The initial heating parameters include: temperature control method, heating circuit, temperature measurement circuit, heating upper and lower limits, and temperature deviation calibration.

[0013] In one embodiment, the method of controlling the on-board heating circuit includes any one of fuzzy control, PID control, sliding mode control, neural network control, and interconnected and damped passive control.

[0014] In one embodiment, determining the real-time temperature of the on-arrow heating circuit based on the heating circuit current, the resistance value of the temperature measurement circuit sensor, the initial parameters of the upper computer auxiliary power system, and the initial heating parameters includes:

[0015] Formulating the heating state of the auxiliary power system based on the temperature control stage;

[0016] Generating a temperature regime curve of the auxiliary power system according to the relationship between the resistance value of the temperature measurement circuit sensor and the temperature;

[0017] Based on the heating state of the auxiliary power system, the resistance value of the temperature measurement circuit sensor, the system initial parameters, and the initial heating parameters, obtaining the real-time temperature of the on-arrow heating circuit according to the temperature regime curve of the auxiliary power system; wherein, the real-time temperature of the on-arrow heating circuit includes: the real-time temperatures of the on-arrow thrust chamber, the tank, the solenoid valve, and the conduit.

[0018] In one embodiment, the relationship between the resistance value of the temperature measurement circuit sensor and the temperature satisfies the following formula:

[0019]

[0020] In the formula, Rx is the resistance value of the measured thermistor; a, b, c are temperature deviation calibration parameters; a = 4.4628, b = 4133.4372, c = -100786.0995; T is the corrected temperature, in units of °C.

[0021] In one embodiment, the step of formulating the heating state of the auxiliary power system based on the temperature control stage includes:

[0022] Determining the signal state of the heating bus;

[0023] If the signal transmitted by the heating bus is on and the temperature control stage is the first stage, temperature control processing is performed on the tank and the pipeline;

[0024] If the signal transmitted by the heating bus is on and the temperature control stage is the second stage, temperature control processing is performed on the thrust chamber, the tank, the solenoid valve, and the conduit;

[0025] When the auxiliary power system is not in the temperature control stage, the signal transmitted by the heating bus is off, and the temperature control processing on the thrust chamber, the tank, the solenoid valve, and the conduit is stopped.

[0026] In a second aspect, the present application further provides a ground heating device for the auxiliary power system of a cryogenic launch vehicle, including:

[0027] The device includes: a first microcontroller and / or a second microcontroller, wherein,

[0028] The first microcontroller includes: a first acquisition module, a first control module, a first execution module, and a first transmission module; the second microcontroller includes: a second acquisition module, a second control module, a second execution module, and a second transmission module;

[0029] The first acquisition module is configured to acquire the initial parameters of the upper computer auxiliary power system and the initial heating parameters, and acquire the real-time temperatures of the on-board thrust chamber, tank, solenoid valve, and conduit transmitted by the second microcontroller;

[0030] The first control module is configured to control the on-board heating circuit according to the initial parameters of the upper computer auxiliary power system, the initial heating parameters, and the real-time temperatures of the on-board thrust chamber, tank, solenoid valve, and conduit;

[0031] The first execution module is configured to heat the thrust chamber, tank, solenoid valve, and conduit of the auxiliary power system;

[0032] The first transmission module is configured to send the current of the on-board heating circuit and the temperature of the temperature measurement circuit to the second microcontroller and the upper computer;

[0033] The second acquisition module is configured to acquire the initial parameters of the upper computer auxiliary power system, the initial heating parameters, and the resistance value of the temperature measurement circuit sensor;

[0034] The second control module is configured to determine the real-time temperature of the on-board heating circuit based on the current of the heating circuit, the resistance value of the temperature measurement circuit sensor, the initial parameters of the upper computer auxiliary power system, and the initial heating parameters;

[0035] The second execution module is configured to heat the thrust chamber, tank, solenoid valve, and conduit of the auxiliary power system;

[0036] The second transmission module is configured to send the current of the on-board heating circuit and the temperature of the temperature measurement circuit to the first microcontroller and the upper computer.

[0037] In one embodiment, the first microcontroller and / or the second microcontroller perform emergency control on the heating path and the temperature measurement path of the thrust chamber, tank, solenoid valve, and conduit according to the emergency control instruction sent by the upper computer.

[0038] In one embodiment, the first acquisition module and the second acquisition module form a redundant acquisition module, the first control module and the second control module form a redundant control module, the first execution module and the second execution module form a redundant execution module, and the first transmission module and the second transmission module form a redundant transmission module.

[0039] In a third aspect, the present application further provides a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0040] Obtain the initial parameters of the upper computer auxiliary power system and the initial heating parameters, and obtain the real-time temperatures of the on-board thrust chamber, tank, solenoid valve, and conduit transmitted by the second microcontroller; control the on-board heating circuit according to the initial parameters of the upper computer auxiliary power system, the initial heating parameters, and the real-time temperatures of the on-board thrust chamber, tank, solenoid valve, and conduit, and send the current of the on-board heating circuit and the temperature of the temperature measurement circuit to the second microcontroller and the upper computer; and / or,

[0041] Obtain the initial parameters of the upper computer auxiliary power system, the initial heating parameters, and the resistance value of the temperature measurement circuit sensor through the second microcontroller, and determine the real-time temperature of the on-board heating circuit based on the current of the heating circuit, the resistance value of the temperature measurement circuit sensor, the initial parameters of the upper computer auxiliary power system, and the initial heating parameters; send the current of the on-board heating circuit and the temperature of the temperature measurement circuit to the first microcontroller and the upper computer.

[0042] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0043] Obtain the initial parameters of the upper computer auxiliary power system and the initial heating parameters, and obtain the real-time temperatures of the on-board thrust chamber, tank, solenoid valve, and conduit transmitted by the second microcontroller; control the on-board heating circuit according to the initial parameters of the upper computer auxiliary power system, the initial heating parameters, and the real-time temperatures of the on-board thrust chamber, tank, solenoid valve, and conduit, and send the current of the on-board heating circuit and the temperature of the temperature measurement circuit to the second microcontroller and the upper computer; and / or,

[0044] Obtain the initial parameters of the upper computer auxiliary power system, the initial heating parameters, and the resistance value of the temperature measurement circuit sensor through the second microcontroller, and determine the real-time temperature of the on-board heating circuit based on the current of the heating circuit, the resistance value of the temperature measurement circuit sensor, the initial parameters of the upper computer auxiliary power system, and the initial heating parameters; send the current of the on-board heating circuit and the temperature of the temperature measurement circuit to the first microcontroller and the upper computer.

[0045] In a fifth aspect, the present application further provides a computer program product, including a computer program. When the computer program is executed by a processor, the following steps are implemented:

[0046] Obtain the initial parameters of the upper computer auxiliary power system and the initial heating parameters, and obtain the real-time temperatures of the on-board thrust chamber, tank, solenoid valve, and conduit transmitted by the second microcontroller; control the on-board heating circuit according to the initial parameters of the upper computer auxiliary power system, the initial heating parameters, and the real-time temperatures of the on-board thrust chamber, tank, solenoid valve, and conduit, and send the on-board heating circuit current and the temperature of the temperature measurement circuit to the second microcontroller and the upper computer; and / or,

[0047] Obtain the initial parameters of the upper computer auxiliary power system, the initial heating parameters, and the resistance value of the temperature measurement circuit sensor through the second microcontroller, and determine the real-time temperature of the on-board heating circuit based on the heating circuit current, the resistance value of the temperature measurement circuit sensor, the initial parameters of the upper computer auxiliary power system, and the initial heating parameters; send the on-board heating circuit current and the temperature of the temperature measurement circuit to the first microcontroller and the upper computer.

[0048] The above-mentioned ground heating control method, device, computer equipment, computer-readable storage medium, and computer program product for the auxiliary power system of a cryogenic launch vehicle obtain the initial parameters of the upper computer auxiliary power system and the initial heating parameters through the first microcontroller, and obtain the real-time temperatures of the on-board thrust chamber, tank, solenoid valve, and conduit transmitted by the second microcontroller; control the on-board heating circuit according to the initial parameters of the upper computer auxiliary power system, the initial heating parameters, and the real-time temperatures of the on-board thrust chamber, tank, solenoid valve, and conduit, and send the on-board heating circuit current and the temperature of the temperature measurement circuit to the second microcontroller and the upper computer; and / or, obtain the initial parameters of the upper computer auxiliary power system, the initial heating parameters, and the resistance value of the temperature measurement circuit sensor through the second microcontroller, and determine the real-time temperature of the on-board heating circuit based on the heating circuit current, the resistance value of the temperature measurement circuit sensor, the initial parameters of the upper computer auxiliary power system, and the initial heating parameters; send the on-board heating circuit current and the temperature of the temperature measurement circuit to the first microcontroller and the upper computer. Thereby, it can fill the gap in the ground heating control of the auxiliary power system of a cryogenic launch vehicle, perform normal heating control, real-time monitoring, and remote operation on the auxiliary power system, and achieve unattended operation before the launch of the auxiliary power system. In addition, on the basis of meeting the temperature control requirements of the current service models, the ground heating control device of the auxiliary power system can also be extended to the temperature control requirements of multiple types of cryogenic launch vehicles. Description of the Drawings

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments of the present application or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0050] Figure 1A It is a schematic flowchart of the ground heating control method for the auxiliary power system of a cryogenic launch vehicle in an embodiment;

[0051] Figure 1B It is a schematic flowchart of the ground heating control method for the auxiliary power system of a cryogenic launch vehicle in another embodiment;

[0052] Figure 2 It is a schematic flowchart of the ground heating control method for the auxiliary power system of a cryogenic launch vehicle applied to a first microcontroller;

[0053] Figure 3 It is a schematic flowchart of the ground heating control method for the auxiliary power system of a cryogenic launch vehicle applied to a second microcontroller;

[0054] Figure 4 It is a flowchart of an internal heating algorithm for the heating control method of the auxiliary power system of a cryogenic launch vehicle in an embodiment;

[0055] Figure 5 It is a flowchart of another internal heating algorithm for the heating control method of the auxiliary power system of a cryogenic launch vehicle in an embodiment;

[0056] Figure 6 It is a flowchart of the method for formulating the heating state of the auxiliary power system based on the temperature control stage in an embodiment;

[0057] Figure 7 It is a schematic structural diagram of the ground heating control device for the auxiliary power system of a cryogenic launch vehicle in an embodiment.

[0058] In the figure: the first acquisition module 10, the first control module 11, the first execution module 12, the first sending module 13; the second acquisition module 20, the second control module 21, the second execution module 22, the second sending module 23. Detailed implementation manners

[0059] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0060] Existing large and medium-sized launch vehicles generally adopt high-performance cryogenic power systems. After the cryogenic propellants are filled, the extremely low temperature will cause the temperature in the rocket's sealed environment to drop sharply, accompanied by phenomena such as water vapor condensation and air liquefaction, far exceeding the normal working environment of the instrument equipment and seriously affecting the normal launch work. The auxiliary power system generally consists of attitude control engines, storage tanks, carbon fiber gas cylinders, solenoid valves, and pipelines. Cryogenic propellants such as liquid oxygen kerosene and liquid oxygen methane have an overall impact on the launch vehicle. The fuel catalyst in the auxiliary power system shows insufficient activity in a low-temperature environment, easily leading to deflagration at the moment of starting the attitude control engine, and the reliability of the rocket power system cannot be guaranteed.

[0061] In view of this, the ground heating control method for the auxiliary power system of a cryogenic launch vehicle provided by the embodiments of the present application can fill the gap in the ground heating device for the auxiliary power system of a cryogenic launch vehicle, perform normal heating control, real-time monitoring, and remote operation on the thrust chamber, storage tank, solenoid valve, and pipeline of the auxiliary power system, so as to improve the reliability of the operation of the auxiliary power system. In addition, through the "A + X" combined design, the ground heating control device of the auxiliary power system reserves a network expansion interface, which can be extended to the temperature control requirements of multiple types of cryogenic launch vehicles on the basis of meeting the temperature control requirements of the current models.

[0062] Exemplarily, as Figure 1A shown, when a ground heating control method for the auxiliary power system of a cryogenic launch vehicle can be applied to the first microcontroller, the method may include the following steps:

[0063] Step 101A, obtain the initial parameters of the auxiliary power system of the upper computer and the initial heating parameters, and obtain the real-time temperatures of the on-board thrust chamber, storage tank, solenoid valve, and pipeline transmitted by the second microcontroller.

[0064] Step 102A, control the on-board heating circuit according to the initial parameters of the auxiliary power system of the upper computer, the initial heating parameters, and the real-time temperatures of the on-board thrust chamber, storage tank, solenoid valve, and pipeline.

[0065] Step 103A, send the current of the on-board heating circuit and the temperature of the temperature measurement circuit to the second microcontroller and the upper computer.

[0066] Exemplarily, as Figure 1B shown, when another ground heating control method for the auxiliary power system of a cryogenic launch vehicle can be applied to the second microcontroller, the method may include the following steps:

[0067] Step 101B, obtain the initial parameters of the auxiliary power system of the upper computer, the initial heating parameters, and the resistance value of the temperature measurement circuit sensor.

[0068] Step 102B: Determine the real-time temperature of the in-arrow heating circuit based on the heating circuit current, the resistance value of the temperature measurement circuit sensor, the initial parameters of the upper computer auxiliary power system, and the initial heating parameters.

[0069] Exemplarily, the heating state of the auxiliary power system can be formulated based on the temperature control stage; generate the temperature regime curve of the auxiliary power system according to the relationship between the resistance value of the temperature measurement circuit sensor and the temperature; based on the heating state of the auxiliary power system, the resistance value of the temperature measurement circuit sensor, the system initial parameters, and the initial heating parameters, obtain the real-time temperature of the in-arrow heating circuit according to the temperature regime curve of the auxiliary power system; wherein, the real-time temperature of the in-arrow heating circuit includes: the real-time temperatures of the in-arrow thrust chamber, the storage tank, the solenoid valve, and the conduit.

[0070] Wherein, the relationship between the resistance value of the temperature measurement circuit sensor and the temperature satisfies the following formula:

[0071]

[0072] In the formula, Rx is the resistance value of the measured thermistor; a, b, c are temperature deviation calibration parameters; a = 4.4628, b = 4133.4372, c = -100786.0995; T is the corrected temperature, in °C.

[0073] Optionally, formulating the heating state of the auxiliary power system based on the temperature control stage includes: determining the signal state of the heating busbar; if the signal transmitted by the heating busbar is on and the temperature control stage is the first stage, perform temperature control on the storage tank and the pipeline; if the signal transmitted by the heating busbar is on and the temperature control stage is the second stage, perform temperature control on the thrust chamber, the storage tank, the solenoid valve, and the conduit; when the auxiliary power system is not in the temperature control stage, the signal transmitted by the heating busbar is off, and the temperature control on the thrust chamber, the storage tank, the solenoid valve, and the conduit is stopped.

[0074] Step 103B: Send the in-arrow heating circuit current and the temperature of the temperature measurement circuit to the first microcontroller and the upper computer.

[0075] Optionally, the first microcontroller and / or the second microcontroller perform emergency control on the heating path and the temperature measurement path of the thrust chamber, the storage tank, the solenoid valve, and the conduit according to the emergency control instruction sent by the upper computer.

[0076] Wherein, the initial parameters of the upper computer auxiliary power system include: the temperature control stage, the temperature control type, the temperature control threshold, the heating element, and the temperature measurement points for temperature control; the initial heating parameters include: the temperature control method, the heating circuit, the temperature measurement circuit, the heating upper and lower limits, and the temperature deviation calibration.

[0077] Optionally, the method for controlling the on-arrow heating circuit includes: fuzzy control (as shown in Figure 4 ), PID control (as shown in Figure 5 ), sliding mode control, neural network control, any one of interconnected and damped passive control.

[0078] This embodiment can fill the gap in the ground heating control of the auxiliary power system of cryogenic launch vehicles, perform normal heating control, real-time monitoring and remote operation on the auxiliary power system, and achieve unattended operation before the launch of the auxiliary power system. In addition, on the basis of meeting the temperature control requirements of the existing models, the ground heating control device of the auxiliary power system can also be extended to the temperature control requirements of multiple types of cryogenic launch vehicles.

[0079] It should be noted that the ground heating control device of the auxiliary power system can also be reserved with a network expansion interface through the "A+X" combined design. On the basis of meeting the temperature control requirements of the existing models, it can be extended to the temperature control requirements of multiple types of cryogenic launch vehicles.

[0080] Exemplarily, the first microcontroller may include: a first acquisition module, a first control module, a first execution module, and a first sending module. As shown in Figure 2 , the method for controlling the ground heating of the auxiliary power system of a cryogenic launch vehicle applied to the first microcontroller may include the following steps: acquiring the initial parameters of the auxiliary power system of the upper computer and the initial heating parameters, and in response to the first instruction, acquiring the real-time temperatures of the thrust chamber, the storage tank, the solenoid valve, and the conduit transmitted by the second microcontroller; based on the real-time temperatures of the thrust chamber, the storage tank, the solenoid valve, and the conduit transmitted by the second microcontroller, the initial parameters of the auxiliary power system, and the initial heating parameters, using an internal heating algorithm to control the on-arrow heating circuit; the first execution module responds to the second instruction to execute the control of the on-arrow heating circuit; sending a third instruction to transmit the current of the on-arrow heating circuit and the temperature of the temperature measurement circuit to the second microcontroller; further, transmitting the current of the on-arrow heating circuit and the temperature of the temperature measurement circuit to the upper computer.

[0081] Optionally, the communication methods between the upper computer and the first microcontroller and the second microcontroller include but are not limited to: RS232, RS422, RS485, TCP / IP, UDP.

[0082] Optionally, the first microcontroller is a programmable logic controller; STM32 single-chip microcomputer, ARM chip, FPGA, etc. can be selected according to the situation.

[0083] Exemplarily, as shown in Figure 5 , taking the PID control algorithm as an example, its general form is:

[0084]

[0085] Where: K P is the proportionality coefficient; T I is the integral time constant; T D is the derivative time constant.

[0086] Performing discretization processing on it, the discrete PID expression can be obtained:

[0087]

[0088] Where: k is the sampling sequence number, k = 0, 1, 2,...; u(k) is the computer output value at the k-th sampling moment; e(k) is the input deviation value at the k-th sampling moment; e(k - 1) is the input deviation value at the (k - 1)-th sampling moment. According to the "recursive principle", the expression of u(k - 1) is obtained:

[0089]

[0090] Further derivation gives:

[0091] Δu(k) = Ae(k) - Be(k - 1) + Ce(k - 2)

[0092] Where: A = K P (1 + T / T I + T D / T); B = K P (1 + 2T D / T); C = K P K D / T.

[0093] By setting the proportionality coefficient P, integral coefficient I, and derivative coefficient D, observing the influence of different PID parameter tuning on the auxiliary power system of the launch vehicle, making the temperatures of the thrust chamber, storage tank, solenoid valve, and conduit on the rocket change according to the expected law, the fuzzy control algorithm can be correspondingly adopted, specifically as Figure 4 shown.

[0094] Exemplarily, the second microcontroller includes: a second acquisition module, a second control module, a second execution module, and a second sending module. As Figure 3As shown in the figure, the ground heating control method for the cryogenic launch vehicle auxiliary power system applied to the second microcontroller may include the following steps: obtaining the initial parameters of the auxiliary power system and the initial heating parameters, and in response to the fourth instruction, switching the temperature measurement circuit to the second acquisition module; in response to the fifth instruction, switching the heating circuit to the second execution module; in response to the first instruction, obtaining the heating circuit current and the resistance value of the temperature measurement circuit sensor; obtaining the real-time temperatures of the on-board thrust chamber, storage tank, solenoid valve and pipeline based on the heating circuit current, the resistance value of the temperature measurement circuit sensor, the initial parameters of the auxiliary power system and the initial heating parameters; in response to the second instruction, performing control on the on-board heating circuit; sending the third instruction to transmit the on-board heating circuit current and the temperature of the temperature measurement circuit to the first microcontroller; further, transmitting the on-board heating circuit current and the temperature of the temperature measurement circuit to the host computer.

[0095] Optionally, the first microcontroller and / or the second microcontroller perform emergency control on the heating path and the temperature measurement path of the thrust chamber, storage tank, solenoid valve and pipeline according to the emergency control instruction sent by the host computer.

[0096] Optionally, the first acquisition module and the second acquisition module form a redundant acquisition module, the first control module and the second control module form a redundant control module, the first execution module and the second execution module form a redundant execution module, and the first sending module and the second sending module form a redundant sending module.

[0097] Exemplarily, the first microcontroller and the second microcontroller are in a hot standby redundant working mode, and redundant switching can be performed according to the fault level in the following situations: determining the fault level of the working-side microcontroller itself; if the fault level of the working-side microcontroller is greater than that of the standby microcontroller, initiating redundant switching actively; when the working-side microcontroller has no fault itself and initiates redundant switching in response to the instruction of the power command auxiliary software, initiating redundant switching actively; when the working-side microcontroller is reset or powered off, initiating redundant switching actively.

[0098] Optionally, based on the redundant switching initiated by the working-side microcontroller, the working and standby states are synchronized to the first acquisition module, the second acquisition module, the first execution module and the second execution module.

[0099] Optionally, the on-board temperature measurement circuit sensor adopts an MF61 thermistor, and PT100, NTC, PTC, MF58, etc. can be selected according to the situation.

[0100] Among them, the relationship between the resistance value of the on-board temperature measurement circuit sensor and the temperature satisfies the following formula:

[0101]

[0102] Wherein, Rx is the resistance value of the thermistor under test; a, b, and c are temperature deviation calibration parameters; a = 4.4628, b = 4133.4372, c = -100786.0995; T is the corrected temperature, with the unit of °C.

[0103] Optionally, the step of obtaining the real-time temperatures of the on-board thrust chamber, tank, solenoid valve, and conduit based on the heating circuit current, the resistance value of the temperature measurement circuit sensor, the initial parameters of the upper computer auxiliary power system, and the initial heating parameters includes: The setting of the initial parameters of the upper computer auxiliary power system includes the temperature control stage, temperature control type, temperature control threshold, heating element, and temperature measurement points for temperature control. The initial heating parameters include the temperature control method, heating circuit, temperature measurement circuit, heating upper and lower limits, and temperature deviation calibration.

[0104] Optionally, formulate the heating state of the auxiliary power system based on the temperature control stage, and generate the temperature regime curve of the auxiliary power system according to the resistance value of the temperature measurement circuit sensor and the temperature characteristic equation; Based on the heating state of the auxiliary power system, the resistance value of the temperature measurement circuit sensor, the initial system parameters, and the initial heating parameters, obtain the real-time temperatures of the on-board thrust chamber, tank, solenoid valve, and conduit according to the temperature regime curve of the auxiliary power system.

[0105] Optionally, based on the first acquisition and second acquisition modules, the step of obtaining the resistance value of the temperature measurement circuit sensor includes: The temperature measurement method of the ground heating device for the auxiliary power system uses the constant current source resistance measurement method with simple structure and high sensitivity, and direct electrical connection measurement, wireless measurement, etc. can be selected according to the situation;

[0106] Optionally, adopt the method of connecting a sampling resistor in series on the ground, and obtain the voltage of the on-board sensor thermistor through the voltage of the sampling resistor in the temperature measurement circuit; Further, calculate the resistance value of the on-board thermistor according to the resistance value of the ground sampling resistor. Further, generate the temperature regime curve of the auxiliary power system according to the temperature and resistance characteristic equation of the on-board temperature measurement circuit to obtain the temperatures of the on-board thrust chamber, tank, solenoid valve, and conduit.

[0107] Optionally, the first microcontroller and the second microcontroller respond to the emergency control instruction of the upper computer to perform emergency control on the temperature measurement paths of the thrust chamber, tank, solenoid valve, and conduit in case of a temperature measurement failure.

[0108] Optionally, if the temperature exceeds the range of -40°C to +100°C, or the temperature measured by the thermistor before the first temperature control differs from the ambient temperature and the temperature measurement values of other thermistors by more than 20°C, define that the temperature measurement circuit has a fault, and other temperature measurement points are used for emergency control.

[0109] Exemplarily, such as Figure 6As shown, the steps for formulating the heating state of the auxiliary power system based on the temperature control stage include: determining the signal state of the heating busbar; if the heating busbar transmits a "connected" signal and the temperature control stage is the first stage (such as the kerosene filling stage, methane filling stage, etc.), automatic temperature control is performed on the storage tank and pipeline; if the heating busbar transmits a "connected" signal and the temperature control stage is the second stage (such as the liquid oxygen filling stage, etc.), automatic temperature control is performed on the thrust chamber, storage tank, solenoid valve, and pipeline; if the auxiliary power system is not in the temperature control stage, the heating busbar transmits a "disconnected" signal, and the automatic temperature control of the thrust chamber, storage tank, solenoid valve, and pipeline is stopped.

[0110] Optionally, the first microcontroller and the second microcontroller respond to the emergency control instruction to perform emergency control on the heating path of the thrust chamber, storage tank, solenoid valve, and pipeline during the automatic temperature control process.

[0111] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0112] Based on the same inventive concept, the embodiments of the present application also provide a ground heating device for a cryogenic launch vehicle auxiliary power system for implementing the above-mentioned ground heating method for the cryogenic launch vehicle auxiliary power system. The implementation solutions provided by this device to solve problems are similar to the implementation solutions described in the above method. Therefore, the specific limitations in one or more embodiments of the following ground heating devices for the cryogenic launch vehicle auxiliary power system can refer to the limitations on the ground heating method for the cryogenic launch vehicle auxiliary power system in the above text, and will not be repeated here.

[0113] Exemplarily, such as Figure 7As shown in the figure, a heating device for the auxiliary power system of a cryogenic launch vehicle is applied to the first microcontroller and includes: a first acquisition module: used to acquire the initial parameters of the auxiliary power system of the host computer and the initial heating parameters, and in response to a first instruction, acquire the real-time temperatures of the thrust chamber, storage tank, solenoid valve, and conduit of the auxiliary power system transmitted by the second microcontroller; a first control module: used to control the heating elements of the thrust chamber, storage tank, solenoid valve, and conduit on the rocket by using an internal heating control algorithm based on the real-time temperatures of the thrust chamber, storage tank, solenoid valve, and conduit of the auxiliary power system transmitted by the second microcontroller, the initial parameters of the auxiliary power system, and the initial heating parameters; a first execution module: used to execute the heating actions of the thrust chamber, storage tank, solenoid valve, and conduit of the auxiliary power system issued by the first microcontroller in response to a second instruction; a first sending module: used to send a third instruction to transmit the heating circuit current and the temperature of the temperature measurement circuit on the rocket to the second microcontroller.

[0114] Optionally, the first microcontroller and the second microcontroller control the heating path and the temperature measurement path of the thrust chamber, storage tank, solenoid valve, and conduit in response to an emergency control instruction from the host computer.

[0115] Exemplarily, a heating device for the auxiliary power system of a cryogenic launch vehicle is applied to the second microcontroller and includes: a second acquisition module: used to acquire the initial parameters of the auxiliary power system and the initial heating parameters, and in response to a first instruction, acquire the heating circuit current and the resistance value of the temperature measurement circuit sensor; a second control module: used to acquire the real-time temperature of the auxiliary power system based on the heating circuit current, the resistance value of the temperature measurement circuit sensor, and the initial parameters of the auxiliary power system; control the heating elements of the thrust chamber, storage tank, solenoid valve, and conduit on the rocket by using an internal heating control algorithm based on the initial heating parameters; a second execution module: used to execute the heating actions of the thrust chamber, storage tank, solenoid valve, and conduit of the auxiliary power system issued by the second microcontroller in response to a second instruction; a second sending module: used to send a third instruction to transmit the heating circuit current and the temperature of the temperature measurement circuit on the rocket to the first microcontroller.

[0116] Optionally, the first microcontroller and the second microcontroller control the heating path and the temperature measurement path of the thrust chamber, storage tank, solenoid valve, and conduit in response to an emergency control instruction from the host computer.

[0117] It should be noted that the first acquisition module and the second acquisition module are redundant acquisition modules, the first microcontroller and the second microcontroller are redundant microcontrollers, the first execution module and the second execution module are redundant execution modules, and the first sending module and the second sending module are redundant sending modules.

[0118] Optionally, the first microcontroller and the second microcontroller operate in a hot standby redundant mode. Redundant switching can be performed according to the fault level in the following situations: determining the fault level of the working-side microcontroller itself; if the fault level of the working-side microcontroller is greater than that of the standby microcontroller, initiating redundant switching actively; when the working-side microcontroller has no fault itself and initiates redundant switching in response to an instruction from the power command assistance software, then initiating redundant switching actively; when the working-side microcontroller is reset or powered off, initiating redundant switching actively.

[0119] Optionally, based on the redundant switching initiated by the working-side microcontroller, the working and standby states are synchronized to the first acquisition module, the second acquisition module, the first execution module, and the second execution module.

[0120] Optionally, the first acquisition module, the second acquisition module, the first microcontroller, the second microcontroller, the first sending module, and the second sending module are integrated into the auxiliary power heating control combination, and the first execution module and the second execution module are integrated into the auxiliary power heating conditioning combination.

[0121] Optionally, the auxiliary power heating control combination and the auxiliary power heating conditioning combination are electrically connected through an adapter cable; the rear panel of the auxiliary power heating control combination reserves no less than 8 network topology interfaces to expand the network structure of the first and second microcontrollers; further, based on the network topology structure, the temperature measurement channels of the first and second acquisition modules and the heating channels of the first and second execution modules are expanded.

[0122] Optionally, based on the "A+X" design between the auxiliary power heating control combination and the auxiliary power heating conditioning combination, it is possible to meet the temperature measurement and heating requirements of the existing cryogenic launch vehicles and take into account the multi-channel temperature control requirements of the in-development and reusable launch vehicles.

[0123] In this embodiment, during the filling stage of cryogenic propellants such as liquid oxygen kerosene and liquid oxygen methane, normal heating control, real-time monitoring, and remote operation can be performed on the thrust chamber, storage tank, solenoid valve, and conduit of the auxiliary power system of the launch vehicle; through the upper computer power command assistance software, supplemented by emergency control authority and heating control algorithms, unattended operation before launch of the auxiliary power system can be achieved. In addition, through the "A+X" modular design, the ground heating control device of the auxiliary power system reserves network expansion interfaces, and on the basis of meeting the temperature control requirements of the existing models, it can be extended to the temperature control requirements of multiple types of cryogenic launch vehicles.

[0124] Each module in the above-mentioned ground heating device for the auxiliary power system of the cryogenic launch vehicle can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in the computer device in software form, so that the processor can call and execute the operations corresponding to each of the above modules.

[0125] In an exemplary embodiment, a computer device is provided. The computer device can be a server. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a method for ground heating of the auxiliary power system of a cryogenic launch vehicle.

[0126] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, it implements the steps in each of the above method embodiments.

[0127] In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps in each of the above method embodiments.

[0128] In an embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, it implements the steps in each of the above method embodiments.

[0129] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0130] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, artificial intelligence (AI) processors, etc., without limitation.

[0131] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope recorded in this application.

[0132] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A ground heating control method for the auxiliary power system of a cryogenic launch vehicle, characterized in that, Applied to the first microcontroller and / or the second microcontroller, the method includes: Obtaining the initial parameters of the ground-based auxiliary power system and the initial heating parameters by the first microcontroller, and obtaining the real-time temperatures of the on-board thrust chamber, tank, solenoid valve, and conduit transmitted by the second microcontroller; controlling the on-board heating circuit according to the initial parameters of the ground-based auxiliary power system, the initial heating parameters, and the real-time temperatures of the on-board thrust chamber, tank, solenoid valve, and conduit, and sending the current of the on-board heating circuit and the temperature of the temperature measurement circuit to the second microcontroller and the ground-based unit; and / or, Obtaining the initial parameters of the ground-based auxiliary power system, the initial heating parameters, and the resistance value of the temperature measurement circuit sensor by the second microcontroller, and determining the real-time temperature of the on-board heating circuit based on the current of the heating circuit, the resistance value of the temperature measurement circuit sensor, the initial parameters of the ground-based auxiliary power system, and the initial heating parameters; sending the current of the on-board heating circuit and the temperature of the temperature measurement circuit to the first microcontroller and the ground-based unit.

2. The method according to claim 1, wherein The method further includes: The first microcontroller and / or the second microcontroller perform emergency control on the heating path and the temperature measurement path of the thrust chamber, tank, solenoid valve, and conduit according to the emergency control instruction sent by the ground-based unit.

3. The method according to claim 1, wherein The initial parameters of the ground-based auxiliary power system include: temperature control stage, temperature control type, temperature control threshold, heating element, and temperature measurement point for temperature control. The initial heating parameters include: temperature control method, heating circuit, temperature measurement circuit, upper and lower heating limits, and temperature deviation calibration.

4. The method according to claim 1, characterized in that The method of controlling the on-board heating circuit includes any one of fuzzy control, PID control, sliding mode control, neural network control, and interconnected and damped passive control.

5. The method according to any one of claims 1 to 4, characterized in that, Determining the real-time temperature of the on-board heating circuit based on the current of the heating circuit, the resistance value of the temperature measurement circuit sensor, the initial parameters of the ground-based auxiliary power system, and the initial heating parameters includes: Formulating the heating state of the auxiliary power system based on the temperature control stage; Generating a temperature regime curve of the auxiliary power system according to the relationship between the resistance value of the temperature measurement circuit sensor and the temperature; Obtaining the real-time temperature of the on-board heating circuit according to the heating state of the auxiliary power system, the resistance value of the temperature measurement circuit sensor, the system initial parameters, and the initial heating parameters according to the temperature regime curve of the auxiliary power system; wherein, the real-time temperature of the on-board heating circuit includes: the real-time temperatures of the on-board thrust chamber, tank, solenoid valve, and conduit.

6. The method according to claim 5, wherein The relationship between the resistance value of the temperature measurement circuit sensor and the temperature satisfies the following formula: In the formula, Rx is the resistance value of the measured thermistor; a, b, c are temperature deviation calibration parameters; a = 4.4628, b = 4133.4372, c = -100786.0995; T is the corrected temperature, unit °C.

7. The method according to claim 5, wherein Formulating the heating state of the auxiliary power system based on the temperature control stage includes: Determining the signal state of the heating bus; If the signal transmitted by the heating bus is on, and the temperature control stage is the first stage, then perform temperature control on the tank and pipeline; If the signal transmitted by the heating bus is on, and the temperature control stage is the second stage, then perform temperature control on the thrust chamber, tank, solenoid valve, and conduit. When the auxiliary power system is not in the temperature control stage, the signal transmitted by the heating busbar is off, and the temperature control of the thrust chamber, the storage tank, the solenoid valve, and the conduit is stopped.

8. A ground heating device for the auxiliary power system of a cryogenic launch vehicle, characterized in that, The device includes: a first microcontroller and / or a second microcontroller, wherein, The first microcontroller includes: a first acquisition module, a first control module, a first execution module, and a first transmission module; the second microcontroller includes: a second acquisition module, a second control module, a second execution module, and a second transmission module; The first acquisition module is configured to acquire the initial parameters of the upper computer auxiliary power system and the initial heating parameters, and acquire the real-time temperatures of the on-board thrust chamber, storage tank, solenoid valve, and conduit transmitted by the second microcontroller; The first control module is configured to control the on-board heating circuit according to the initial parameters of the upper computer auxiliary power system, the initial heating parameters, and the real-time temperatures of the on-board thrust chamber, storage tank, solenoid valve, and conduit; The first execution module is configured to heat the thrust chamber, storage tank, solenoid valve, and conduit of the auxiliary power system; The first transmission module is configured to send the on-board heating circuit current and the temperature of the temperature measurement circuit to the second microcontroller and the upper computer; The second acquisition module is configured to acquire the initial parameters of the upper computer auxiliary power system, the initial heating parameters, and the resistance value of the temperature measurement circuit sensor; The second control module is configured to determine the real-time temperature of the on-board heating circuit based on the heating circuit current, the resistance value of the temperature measurement circuit sensor, the initial parameters of the upper computer auxiliary power system, and the initial heating parameters; The second execution module is configured to heat the thrust chamber, storage tank, solenoid valve, and conduit of the auxiliary power system; The second transmission module is configured to send the on-board heating circuit current and the temperature of the temperature measurement circuit to the first microcontroller and the upper computer.

9. The device according to claim 8, characterized in that The first microcontroller and / or the second microcontroller perform emergency control on the heating path and the temperature measurement path of the thrust chamber, the storage tank, the solenoid valve, and the conduit according to the emergency control instruction sent by the upper computer.

10. The device according to claim 8, characterized in that, The first acquisition module and the second acquisition module form a redundant acquisition module, the first control module and the second control module form a redundant control module, the first execution module and the second execution module form a redundant execution module, and the first transmission module and the second transmission module form a redundant transmission module.

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