Method for determining rotating speed of turbine pump of liquid rocket engine and related device

Abstract

The invention discloses a liquid rocket engine turbine pump rotating speed determination method and related device, and the method comprises the steps that a vibration signal and a rotating speed signal of a turbine pump are obtained, and the rotating speed signal is obtained through calculation of an original key phase signal of the turbine pump; processing the vibration signal by combining a Vold-Kalman filter according to the rotating speed signal to obtain a first-order signal of the vibration signal; performing Hilbert demodulation on the first-order signal of the vibration signal to obtain phase information of the first-order signal of the vibration signal; and deriving the phase information of the first-order signal of the vibration signal with respect to time, and calculating the instantaneous rotating speed of the turbine pump according to the derivation result. The invention aims to realize accurate determination of the rotating speed of the turbine pump, so that the accuracy and the reliability of fault diagnosis of the turbine pump are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of fault diagnosis of a liquid rocket engine turbo pump, and in particular relates to a method for determining the rotation speed of a liquid rocket engine turbo pump and a related device. Background Art

[0002] The turbopump of a liquid rocket engine is its core component, and its operating status is directly related to the overall performance and reliability of the engine. Therefore, accurately estimating the speed of the turbopump is very critical in the fault diagnosis of the turbopump. By accurately monitoring the speed of the turbopump, not only can its operating status be monitored in real time, but potential faults can also be discovered in the early stages, thus avoiding more serious problems. In actual applications, due to the complexity of the environment in which the liquid rocket engine is located and the reliability of the sensor itself, some key phase signals are occasionally missing. The lack of key phase signals will directly lead to a large error in the estimation of the turbopump speed, which will have a serious impact on the fault diagnosis of the turbopump.

[0003] When an error occurs in the estimation of the turbopump speed, the fault diagnosis system may not be able to accurately identify the actual operating status of the turbopump, resulting in missed or false fault reports. Especially in high-risk space missions, the stable operation of the turbopump is one of the key factors to ensure the success of the mission. If the error in the speed estimation cannot be corrected in time, the health status of the turbopump may be misjudged, resulting in incorrect maintenance or replacement decisions. This will not only increase unnecessary maintenance costs, but may also lead to a decline in the performance of the liquid rocket engine. In extreme cases, it may even lead to the failure of the space mission, resulting in huge economic losses. Therefore, in order to avoid this situation, effective measures must be taken to improve the accuracy of the turbopump speed estimation, thereby improving the accuracy and reliability of its fault diagnosis. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a method and related device for determining the speed of a liquid rocket engine turbopump, the purpose of which is to accurately determine the speed of the turbopump, thereby improving the accuracy and reliability of turbopump fault diagnosis.

[0005] In order to solve the above technical problems, the present invention is implemented by the following technical solutions: According to a first aspect of the present invention, a method for determining a liquid rocket engine turbo pump speed is provided, comprising: Acquire a vibration signal and a rotation speed signal of the turbo pump, wherein the rotation speed signal is calculated from an original key phase signal of the turbo pump; According to the speed signal, the vibration signal is processed in combination with a Vold-Kalman filter to obtain a first-order signal of the vibration signal; Performing Hilbert demodulation on the first-order signal of the vibration signal to obtain phase information of the first-order signal of the vibration signal; The phase information of the first-order signal of the vibration signal is derived with respect to time, and the instantaneous rotation speed of the turbo pump is calculated according to the derivation result.

[0006] In a possible implementation manner of the first aspect, the vibration signal is processed according to the speed signal in combination with a Vold-Kalman filter to obtain a first-order signal of the vibration signal, specifically: a) Design the Vold-Kalman filter. The filter order analysis process equation is:

[0007] set up The coefficient term is , the matrix expansion of the structural equation is:

[0008] b) Design Vold-Kalman filter filter order analysis observation equation is:

[0009] c) The sum of squares of the heterogeneous terms and the error terms is established through the least squares method, which is called the loss function, as follows:

[0010] d) Solution The minimum value of , we can get the equation to be solved as:

[0011]

[0012] e) Solve the equation to be solved to obtain the first-order signal of the vibration signal; In the formula, It's time. The complex envelope of the target order of the vibration signal, is the rotated phase, is the angular velocity, is a non-homogeneous term, C=Diag ( ), Diag creates a matrix with the vector as the diagonal element, C is the observation matrix, is the observation error, is the weight factor, is the loss function, is the identity matrix, is the conjugate transpose of C, is the original vibration signal.

[0013] In a possible implementation manner of the first aspect, performing Hilbert demodulation on the first-order signal of the vibration signal to obtain phase information of the first-order signal of the vibration signal is specifically: Calculating an analytical signal of a first-order signal of the vibration signal using Hilbert demodulation; The phase information of the first-order signal of the vibration signal is calculated according to the analytical signal of the first-order signal of the vibration signal.

[0014] In a possible implementation manner of the first aspect, the Hilbert demodulation is used to calculate the analytical signal of the first-order signal of the vibration signal, specifically as follows:

[0015] In the formula, is the analytical signal of the first-order signal of the vibration signal; is the first-order signal of the vibration signal; Demodulate for Hilbert.

[0016] In a possible implementation manner of the first aspect, the phase information of the first-order signal of the vibration signal is calculated according to the analytical signal of the first-order signal of the vibration signal, specifically as follows:

[0017] In the formula, The phase information of the first-order signal of the vibration signal.

[0018] In a possible implementation manner of the first aspect, calculating the instantaneous rotation speed of the turbo pump according to the derivation result is specifically:

[0019] In the formula, is the instantaneous speed of the turbo pump; It is the time derivative of the phase information of the first-order signal of the vibration signal.

[0020] According to a second aspect of the present invention, there is provided a device for determining a speed of a liquid rocket engine turbo pump, comprising: An acquisition module, used for acquiring a vibration signal and a rotation speed signal of the turbo pump, wherein the rotation speed signal is calculated from an original key phase signal of the turbo pump; A processing module, used for processing the vibration signal according to the rotation speed signal in combination with a Vold-Kalman filter to obtain a first-order signal of the vibration signal; A demodulation module, used for performing Hilbert demodulation on the first-order signal of the vibration signal to obtain phase information of the first-order signal of the vibration signal; The calculation module is used to derive the phase information of the first-order signal of the vibration signal with respect to time, and calculate the instantaneous rotation speed of the turbo pump according to the derivation result.

[0021] In a possible implementation manner of the second aspect, the vibration signal is processed according to the speed signal in combination with a Vold-Kalman filter to obtain a first-order signal of the vibration signal, specifically: a) Design the Vold-Kalman filter. The filter order analysis process equation is:

[0022] set up The coefficient term is , the matrix expansion of the structural equation is:

[0023] b) Design Vold-Kalman filter filter order analysis observation equation is:

[0024] c) The sum of squares of the heterogeneous terms and the error terms is established through the least squares method, which is called the loss function, as follows:

[0025] d) Solution The minimum value of , we can get the equation to be solved as:

[0026]

[0027] e) Solve the equation to be solved to obtain the first-order signal of the vibration signal; In the formula, It's time. The complex envelope of the target order of the vibration signal, is the rotated phase, is the angular velocity, is a non-homogeneous term, C=Diag ( ), Diag creates a matrix with the vector as the diagonal element, C is the observation matrix, is the observation error, is the weight factor, is the loss function, is the identity matrix, is the conjugate transpose of C, is the original vibration signal.

[0028] According to a third aspect of the present invention, there is provided a device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method for determining the rotational speed of a liquid rocket engine turbine pump when executing the computer program.

[0029] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method for determining the rotational speed of a liquid rocket engine turbine pump.

[0030] Compared with the prior art, the present invention has at least the following beneficial effects: The present invention provides a method for determining the speed of a liquid rocket engine turbine pump, wherein a speed signal is calculated from an original key phase signal of the turbine pump. When the original key phase signal is missing (i.e., part of the original key phase signal collected from the speed sensor is missing), the vibration signal is processed according to the speed signal in combination with a Vold-Kalman filter to obtain a first-order signal of the vibration signal, thereby achieving accurate reconstruction of the turbine pump speed in the absence of the key phase signal, overcoming the disadvantage of extremely large error in turbine pump speed construction caused by the absence of the key phase signal, laying a foundation for accurate and reliable turbine pump fault diagnosis, compensating for a series of problems caused by uncertainty in sensor measurement, and thereby improving the accuracy and reliability of turbine pump fault diagnosis.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the specific implementation modes of the present invention, the drawings required for use in the description of the specific implementation modes will be briefly introduced below. Obviously, the drawings described below are some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 The present invention is a flowchart of a method for determining the speed of a liquid rocket engine turbopump according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] like Figure 1 As shown, the embodiment of the present application provides a method for determining the speed of a liquid rocket engine turbo pump, which aims to improve the accuracy and reliability of turbo pump speed estimation in the case of missing or unstable key phase signals. The specific implementation steps are as follows: S1. Obtaining a vibration signal and a rotation speed signal of a turbo pump, wherein the rotation speed signal is calculated from an original key phase signal of the turbo pump.

[0036] Specifically, a vibration acceleration sensor installed on the turbopump is used to collect vibration signals during the operation of the turbopump in real time.

[0037] For example, a measuring point is arranged at the end cover of the turbine pump bearing seat, and a vibration acceleration sensor is used to collect vibration signals, which are conditioned and collected by a Sony data acquisition system, and finally processed and displayed on a computer, with a sampling frequency of 10.24KHz. The sampling frequency of the rotation speed is also 10.24KHz.

[0038] S2. According to the speed signal, the vibration signal is processed in combination with a Vold-Kalman filter to obtain a first-order signal of the vibration signal. The specific implementation process is as follows: a) Design the Vold-Kalman filter. The filter order analysis process equation is:

[0039] set up The coefficient term is , the matrix expansion of the structural equation is:

[0040] b) Design Vold-Kalman filter filter order analysis observation equation is:

[0041] c) The sum of squares of the heterogeneous terms and the error terms is established through the least squares method, which is called the loss function, as follows:

[0042] d) Solution The minimum value of , we can get the equation to be solved as:

[0043]

[0044] e) Solve the equation to be solved to obtain the first-order signal of the vibration signal; In the formula, It's time. The complex envelope of the target order of the vibration signal, is the rotated phase, is the angular velocity, is a non-homogeneous term, C=Diag ( ), Diag creates a matrix with the vector as the diagonal element, C is the observation matrix, is the observation error, is the weight factor, is the loss function, is the identity matrix, is the conjugate transpose of C, is the original vibration signal.

[0045] S3. Perform Hilbert demodulation on the first-order signal of the vibration signal to obtain phase information of the first-order signal of the vibration signal.

[0046] It should be noted that Hilbert demodulation is a method for extracting signal envelope and instantaneous phase. Through demodulation, the phase information of the first-order signal of the vibration signal can be obtained. This phase information reflects the change pattern of the vibration signal over time and is directly related to the speed of the turbine pump.

[0047] In one implementable manner, Hilbert demodulation is performed on the first-order signal of the vibration signal to obtain phase information of the first-order signal of the vibration signal, specifically: First, the analytical signal of the first-order signal of the vibration signal is calculated using Hilbert demodulation, as follows:

[0048] In the formula, is the analytical signal of the first-order signal of the vibration signal; is the first-order signal of the vibration signal; Demodulate for Hilbert.

[0049] Finally, according to the analytical signal of the first-order signal of the vibration signal, the phase information of the first-order signal of the vibration signal is calculated, as follows:

[0050] In the formula, The phase information of the first-order signal of the vibration signal.

[0051] S4. Deriving the phase information of the first-order signal of the vibration signal with respect to time, and calculating the instantaneous rotation speed of the turbo pump according to the derivation result.

[0052] Specifically, the phase information of the first-order signal of the vibration signal is derived with respect to time, and the derivative of the phase information reflects the rate of change of the frequency of the vibration signal, that is, the change of the speed of the turbine pump.

[0053] In one possible implementation, the instantaneous speed of the turbo pump is calculated according to the derivation result, specifically:

[0054] In the formula, is the instantaneous speed of the turbo pump; It is the time derivative of the phase information of the first-order signal of the vibration signal.

[0055] Through the above-mentioned specific implementation method, the influence of the missing key phase signal can be effectively suppressed, the accuracy and reliability of the liquid rocket engine turbopump speed estimation can be significantly improved, the error between the obtained turbopump speed and the actual turbopump speed tends to zero, and the fault diagnosis problems caused by the speed estimation error are reduced.

[0056] In yet another embodiment of the present invention, a device for determining the speed of a liquid rocket engine turbo pump is provided, comprising: The acquisition module is used to acquire the vibration signal and the rotation speed signal of the turbo pump, wherein the rotation speed signal is calculated from the original key phase signal of the turbo pump.

[0057] The processing module is used to process the vibration signal according to the rotation speed signal in combination with a Vold-Kalman filter to obtain a first-order signal of the vibration signal.

[0058] The demodulation module is used to perform Hilbert demodulation on the first-order signal of the vibration signal to obtain phase information of the first-order signal of the vibration signal.

[0059] The calculation module is used to derive the phase information of the first-order signal of the vibration signal with respect to time, and calculate the instantaneous rotation speed of the turbo pump according to the derivation result.

[0060] All relevant contents of each step involved in the aforementioned embodiment of a method for determining the speed of a liquid rocket engine turbine pump can be referred to the functional description of the functional module corresponding to a liquid rocket engine turbine pump speed determination device in the embodiment of the present invention, and will not be repeated here. The division of modules in the embodiment of the present invention is schematic, which is only a logical function division. There may be other division methods in actual implementation. In addition, each functional module in each embodiment of the present invention can be integrated into a processor, or it can exist physically separately, or two or more modules can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of software functional modules.

[0061] In another embodiment of the present invention, a computer device is provided, the computer device comprising a processor and a memory, the memory being used to store a computer program, the computer program comprising program instructions, and the processor being used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, and is specifically suitable for loading and executing one or more instructions in a computer storage medium to implement a corresponding method flow or corresponding function; the processor described in the embodiment of the present invention can be used for the operation of a method for determining the speed of a liquid rocket engine turbo pump.

[0062] In another embodiment of the present invention, the present invention further provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device for storing programs and data. It is understandable that the computer-readable storage medium here can include both built-in storage media in the computer device and, of course, extended storage media supported by the computer device. The computer-readable storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space, and these instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the method for determining the speed of a liquid rocket engine turbo pump in the above embodiment.

[0063] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0064] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0065] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0066] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0067] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0068] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for determining the speed of a liquid rocket engine turbo pump, characterized in that: include: Acquire a vibration signal and a rotation speed signal of the turbo pump, wherein the rotation speed signal is calculated from an original key phase signal of the turbo pump; According to the speed signal, the vibration signal is processed in combination with a Vold-Kalman filter to obtain a first-order signal of the vibration signal; Performing Hilbert demodulation on the first-order signal of the vibration signal to obtain phase information of the first-order signal of the vibration signal; The phase information of the first-order signal of the vibration signal is derived with respect to time, and the instantaneous rotation speed of the turbo pump is calculated according to the derivation result.

2. The method for determining the speed of a liquid rocket engine turbo pump according to claim 1, characterized in that: The vibration signal is processed according to the speed signal in combination with the Vold-Kalman filter to obtain a first-order signal of the vibration signal, specifically: a) Design the Vold-Kalman filter. The filter order analysis process equation is: set up The coefficient term is , the matrix expansion of the structural equation is: b) Design Vold-Kalman filter filter order analysis observation equation is: c) The sum of squares of the heterogeneous terms and the error terms is established through the least squares method, which is called the loss function, as follows: d) Solution The minimum value of , we can get the equation to be solved as: e) Solve the equation to be solved to obtain the first-order signal of the vibration signal; In the formula, It's time. The complex envelope of the target order of the vibration signal, is the rotated phase, is the angular velocity, is a non-homogeneous term, C=Diag ( ), Diag creates a matrix with the vector as the diagonal element, C is the observation matrix, is the observation error, is the weight factor, is the loss function, is the identity matrix, is the conjugate transpose of C, is the original vibration signal.

3. The method for determining the speed of a liquid rocket engine turbo pump according to claim 1, characterized in that: The Hilbert demodulation is performed on the first-order signal of the vibration signal to obtain the phase information of the first-order signal of the vibration signal, specifically: Calculating an analytical signal of a first-order signal of the vibration signal using Hilbert demodulation; The phase information of the first-order signal of the vibration signal is calculated according to the analytical signal of the first-order signal of the vibration signal.

4. A method for determining the speed of a liquid rocket engine turbo pump according to claim 3, characterized in that: The analytical signal of the first-order signal of the vibration signal is calculated by Hilbert demodulation, which is specifically as follows: In the formula, is the analytical signal of the first-order signal of the vibration signal; is the first-order signal of the vibration signal; Demodulate for Hilbert.

5. A method for determining the speed of a liquid rocket engine turbo pump according to claim 4, characterized in that: The phase information of the first-order signal of the vibration signal is calculated according to the analytical signal of the first-order signal of the vibration signal, specifically as follows: In the formula, The phase information of the first-order signal of the vibration signal.

6. The method for determining the speed of a liquid rocket engine turbo pump according to claim 1, characterized in that: The instantaneous speed of the turbo pump is calculated according to the derivation result, specifically: In the formula, is the instantaneous speed of the turbo pump; It is the time derivative of the phase information of the first-order signal of the vibration signal.

7. A device for determining the speed of a liquid rocket engine turbo pump, characterized in that: include: An acquisition module, used for acquiring a vibration signal and a rotation speed signal of the turbo pump, wherein the rotation speed signal is calculated from an original key phase signal of the turbo pump; A processing module, used for processing the vibration signal according to the rotation speed signal in combination with a Vold-Kalman filter to obtain a first-order signal of the vibration signal; A demodulation module, used for performing Hilbert demodulation on the first-order signal of the vibration signal to obtain phase information of the first-order signal of the vibration signal; The calculation module is used to derive the phase information of the first-order signal of the vibration signal with respect to time, and calculate the instantaneous rotation speed of the turbo pump according to the derivation result.

8. The device for determining the speed of a liquid rocket engine turbo pump according to claim 7, characterized in that: The vibration signal is processed according to the speed signal in combination with the Vold-Kalman filter to obtain a first-order signal of the vibration signal, specifically: a) Design the Vold-Kalman filter. The filter order analysis process equation is: set up The coefficient term is , the matrix expansion of the structural equation is: b) Design Vold-Kalman filter filter order analysis observation equation is: c) The sum of squares of the heterogeneous terms and the error terms is established through the least squares method, which is called the loss function, as follows: d) Solution The minimum value of , we can get the equation to be solved as: e) Solve the equation to be solved to obtain the first-order signal of the vibration signal; In the formula, It's time. The complex envelope of the target order of the vibration signal, is the rotated phase, is the angular velocity, is a non-homogeneous term, C=Diag ( ), Diag creates a matrix with the vector as the diagonal element, C is the observation matrix, is the observation error, is the weight factor, is the loss function, is the identity matrix, is the conjugate transpose of C, is the original vibration signal.

9. A device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of a method for determining the speed of a liquid rocket engine turbopump as described in any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of a method for determining the speed of a liquid rocket engine turbopump as described in any one of claims 1 to 6 are implemented.

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