Water-air bimodal self-adaptive rocket engine system and control method

Abstract

The invention discloses a water-air bimodal self-adaptive rocket engine system and a control method, and belongs to the technical field of rocket control. The system comprises an environment sensing recognition module, a thrust output regulation and control module, a fuel combination switching module, a heat exchange regulation module, an attitude propulsion control module and a modal coordination control module, and precise recognition and rapid classification of a rocket operation environment are realized through combined judgment of a multi-point distributed sensing unit, density and flow characteristics; by constructing a multi-level thrust adjusting system, the dynamic change of the geometrical shape of the spray pipe is achieved, combustion supply ratio adjustment and multi-parameter linkage control are fused, the self-adaptability and response sensitivity of thrust output are remarkably improved, rapid conversion between high-pressure short-range propulsion and efficient long-range flight is achieved, and the high-pressure short-range propulsion and high-efficiency long-range flight are achieved. Regulation and control commands are preloaded and distributed in parallel according to the current environment, so that all functional modules can respond cooperatively, the operation mode in the new environment can be quickly adapted, and the system can capture the execution state of the regulation and control commands in real time.

Description

Technical Field

[0001] The present invention relates to the field of rocket control technology, and in particular to a water-air dual-mode adaptive rocket engine system and a control method. Background Art

[0002] In the process of performing sea-air linkage, underwater launch, vertical entry into the sea or cross-media penetration missions, traditional single-propulsion mode rocket engines have gradually exposed many technical bottlenecks in environmental adaptability, thrust output efficiency and flight stability.

[0003] Conventional rocket engines are usually designed for fixed medium environments, such as air or vacuum. They lack the ability to adapt to the high-density, high-resistance fluid characteristics of water, and are unable to meet the dynamic control requirements of underwater propulsion or crossing the water-air interface. In addition, existing systems often rely on manual instructions or preset programs to switch propulsion modes, with delayed response and poor flexibility. They are prone to combustion anomalies, attitude deviations, or system instability during transitions in complex environments, seriously affecting the continuity and safety of aircraft mission execution. Especially in ship-borne and underwater launch platform scenarios, if the engine system cannot adjust the combustion parameters, fuel type, and attitude propulsion strategy in real time according to the operating environment, it is very easy to cause propulsion failure or flight yaw. Summary of the Invention

[0004] The purpose of the present invention is to provide a water-air dual-mode adaptive rocket engine system and control method to solve the problems raised in the above background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solutions: a water-air dual-mode adaptive rocket engine system, comprising:

[0006] An environmental perception and recognition module is configured to perceive key environmental parameters of the medium in which the rocket is located in real time, and determine the current operating environment by comparing the key environmental parameters, performing threshold comparison and multi-condition judgment, and the operating environment includes an underwater operating environment and an airborne operating environment;

[0007] A thrust output control module is configured to adaptively adjust combustion propulsion parameters and switch nozzle opening according to the identified operating environment, match the thrust curves under gas-phase propulsion and liquid-phase propulsion, monitor the pressure fluctuations in the combustion chamber in real time, and adjust the fuel flow rate and oxidizer supply ratio;

[0008] A fuel combination switching module is configured to switch between multiple fuel combinations based on different operating environments;

[0009] The heat exchange regulation module is configured to dynamically adjust the flow rate and flow of the coolant based on the heat capacity characteristics of the current operating environment, and perform temperature zone self-balancing regulation through thermal pressure sensor feedback;

[0010] An attitude propulsion control module configured to monitor three-axis attitude changes in different operating environments and perform spatial attitude corrections over a multi-degree range;

[0011] The modal coordination control module is configured to distribute switching instructions to each module according to the preset conversion logic diagram after the environmental perception and recognition module determines that the operating environment has changed, thereby completing the adaptive switching and task scheduling between the dual modes of the underwater operating environment and the airborne operating environment.

[0012] Furthermore, the environment perception and recognition module includes:

[0013] a multi-parameter sensing and acquisition unit configured to synchronously acquire key environmental parameters of the rocket's current environment, the key environmental parameters including medium density, temperature, pressure, and flow characteristics;

[0014] The multi-parameter sensing and acquisition unit includes a plurality of high-sensitivity sensor components, which are respectively deployed at the engine air inlet, the propulsion tail and the outer edge of the shell, and are used to sense key environmental parameters at different positions in parallel;

[0015] A pattern recognition and judgment unit is configured to perform recognition and judgment tasks of the operating environment, and compare the internally stored water medium and gas medium discrimination intervals based on the medium density and flow characteristics in the key environmental parameters;

[0016] The discrimination interval includes a first discrimination threshold, a second discrimination threshold, and a third discrimination threshold; if the density value is higher than the first discrimination threshold and the flow velocity change is less than the second discrimination threshold, it is determined to be an underwater operating environment; if the density is lower than the third discrimination threshold and is accompanied by a high flow velocity disturbance, it is determined to be an aerial operating environment;

[0017] Output the operating environment judgment result, and the judgment result is transmitted to the modal coordination control module through the internal signal bus.

[0018] Furthermore, the thrust output control module includes:

[0019] A nozzle diameter adjustment unit configured to adjust the nozzle opening under different operating conditions;

[0020] The nozzle diameter adjustment unit includes a drivable deformable structure, which is composed of a multi-section retractable component. One end of the deformable structure is fixedly connected to the nozzle outlet base, and the other end of the deformable structure can slide axially under the action of an external drive to retract or expand the nozzle.

[0021] The combustion chamber pressure feedback unit is configured to monitor the pressure state inside the combustion chamber in real time and adjust the input ratio of fuel and oxidant based on the pressure state. The combustion chamber pressure feedback unit includes a distributed pressure sensing component and a fuel supply control mechanism; the pressure sensing component is arranged inside the combustion chamber and obtains pressure data in different areas; the real-time pressure data returned by the pressure sensing component is received and compared with the set ideal combustion pressure range. If it deviates from the target range, the supply rate and ratio of fuel and oxidant are automatically adjusted.

[0022] Furthermore, the thrust output control module further includes:

[0023] The thrust scheduling coordination unit is configured to comprehensively schedule the adjustment action of the nozzle diameter adjustment unit and the combustion parameter control process of the combustion chamber pressure feedback unit;

[0024] It receives the mode switching signal from the modal coordination control module, automatically loads the corresponding thrust output adjustment mode, and uses the feedback time constant, response speed coefficient and historical adjustment curve as basic parameters to perform linkage calibration between the nozzle opening change, fuel supply rhythm and pressure compensation.

[0025] Furthermore, the fuel combination switching module presets fuel types and combination modes suitable for different operating environments, corresponding to the high ignition point and fast reaction fuel combination required for gas phase propulsion, and the high density and stable release fuel combination required for liquid phase propulsion;

[0026] The fuel combination switching module is equipped with a fuel identification index table and an adaptation condition parameter set, and automatically matches the corresponding fuel combination mode according to the identification result of the current operating environment;

[0027] The fuel combination switching module includes a multi-channel fuel distribution valve group, an isolation switching mechanism and a supply path control device. The fuel distribution valve group is used to guide different types of fuel to flow into the main combustion channel in proportion. The isolation switching mechanism is used to prevent cross contamination of different fuels.

[0028] The fuel combination switching module is equipped with thermal, flow and concentration sensing components, which are respectively deployed in the fuel input channel, mixing chamber inlet and injection interface area to collect fuel temperature, flow rate and concentration change information in real time.

[0029] Furthermore, the heat exchange regulation module adaptively adjusts the cooling capacity and heat distribution state of the engine thermal management system according to the thermophysical characteristics under different operating environments; the heat exchange regulation module includes multiple temperature-sensitive sensor components, which are used to collect and transmit temperature change data in real time, and compare the data of each temperature zone with the preset thermal safety range.

[0030] Furthermore, the attitude propulsion control module obtains the pitch, yaw and roll three-axis attitude change data of the rocket during flight in real time; based on the acquired attitude change data, it generates a propulsion output strategy and implements attitude correction propulsion action, and collects flight state change data after the attitude correction action in real time after correction; based on the flight state change data, it compares the difference between the target attitude and the current attitude and optimizes the propulsion output strategy.

[0031] Furthermore, the modal coordination control module includes:

[0032] The mode switching determination unit is configured to receive the operating environment determination result output by the environmental perception and recognition module and determine whether to trigger the operating environment conversion process based on the built-in mode switching logic diagram and dynamic threshold determination strategy; when the medium density and flow velocity disturbance parameters meet the preset switching conditions and maintain a stable state for more than the minimum confirmation time window, it confirms that the operating environment has changed and generates a switching trigger signal;

[0033] The control instruction distribution unit is configured to generate a multi-level control instruction sequence based on the control parameter set and module dependency graph corresponding to the current operating environment after receiving the switching trigger signal, and send it to the thrust output control module, fuel combination switching module, heat exchange adjustment module and attitude propulsion control module functional modules in sequence through the system internal bus;

[0034] The module synchronization management unit is configured to monitor the response status of each module in real time and collect the execution feedback information of each module; when it is found that a module has not completed the corresponding switching process or the feedback status is abnormal, the correction mechanism is automatically triggered, and the correction mechanism includes local module reset, instruction resending and backup control parameter loading.

[0035] Furthermore, a water-air dual-mode adaptive rocket engine control method is applied to the above-mentioned water-air dual-mode adaptive rocket engine system, comprising:

[0036] The environmental perception and recognition module collects key environmental parameters and uses a multi-condition threshold judgment strategy to identify the current operating environment as underwater or airborne mode;

[0037] The modal coordination control module determines whether the modal switching conditions are met based on the environmental recognition results. If so, it generates a switching trigger signal and loads the preset control parameters and module dependency logic map;

[0038] The control command distribution unit converts the mode switching signal into multi-level control commands and sends them to the thrust output control module, fuel combination switching module, heat exchange adjustment module and attitude propulsion control module in sequence;

[0039] The thrust output control module adjusts the nozzle opening and combustion parameters, and the fuel combination switching module switches to the fuel type and ratio suitable for the environment to ensure optimal propulsion performance under different media;

[0040] The heat exchange regulation module adjusts the coolant flow rate according to the heat capacity characteristics, and the attitude propulsion control module implements attitude correction according to the three-axis attitude changes to maintain flight stability;

[0041] The module synchronization management unit monitors the execution status of each module and triggers the correction mechanism when an anomaly is found, including module reset, instruction resending and backup parameter loading to ensure stable system operation.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] 1. The environmental perception and recognition module of the present invention realizes accurate identification and rapid classification of the rocket's operating environment through the joint judgment of high-sensitivity multi-point distributed sensing units and core parameters of density and flow characteristics, greatly enhancing the system's adaptability to two typical propulsion medium environments of water and air. It has dynamic discrimination and multi-condition decision-making capabilities, and can effectively avoid misjudgment or delayed response due to fluid disturbances and complex working conditions of the medium interface layer. Combined with the multi-threshold overlapping judgment model in the three-dimensional parameter space, it improves the sensitivity and accuracy of environmental recognition, ensuring that the entire propulsion system has the ability to respond quickly and be highly adaptable during the multi-modal switching process, and improving the operating stability and mission success rate of the rocket when crossing the sea-air boundary, entering the water body or penetrating the atmosphere.

[0044] 2. The thrust output control module of the present invention constructs a multi-level thrust regulation system for water-air dual-mode operation environment through the coordinated control of the nozzle diameter adjustment unit, the combustion chamber pressure feedback unit and the thrust scheduling coordination unit. It not only realizes the dynamic change of the nozzle geometry, but also integrates the combustion supply ratio adjustment and multi-parameter linkage control, significantly improving the adaptability and response sensitivity of the thrust output. It can flexibly switch the thrust curve according to the resistance characteristics and propulsion efficiency requirements of different medium environments, realize rapid conversion between high-pressure short-range propulsion or high-efficiency long-range flight, optimize the dynamic stability during the thrust switching process, and effectively suppress the system disturbance and combustion anomaly caused by mode mutation, so that the rocket has a smoother thrust response performance at the sea-air conversion node.

[0045] 3. The modal coordination control module of the present invention efficiently identifies the conversion timing between different media based on multiple key environmental parameters, and avoids misjudgment by setting a confirmation time window to ensure the accuracy of the switching operation. It preloads and distributes control commands in parallel according to the current environment, so that each functional module can respond in a coordinated manner and quickly adapt to the operating mode in the new environment. The system can capture the execution status of control instructions in real time and trigger the feedback correction mechanism in time for abnormal situations, effectively avoiding global instability caused by local module failure or delayed response. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a schematic diagram of the water-air dual-mode adaptive rocket engine system module of the present invention;

[0047] Figure 2 Schematic diagram of the water-air dual-mode adaptive rocket engine control method of the present invention. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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 making creative efforts are within the scope of protection of the present invention.

[0049] See also Figure 1-2 , the present invention provides the following technical solutions:

[0050] A water-air dual-mode adaptive rocket engine system, comprising:

[0051] The environmental perception and recognition module is configured to perceive the key environmental parameters of the medium in which the rocket is located in real time, and determine the current operating environment by comparing the key environmental parameters, performing threshold comparison and multi-condition judgment, and the operating environment includes the underwater operating environment and the air operating environment;

[0052] A thrust output control module is configured to adaptively adjust combustion propulsion parameters and switch nozzle opening according to the identified operating environment, match the thrust curves under gas-phase propulsion and liquid-phase propulsion, monitor the pressure fluctuations in the combustion chamber in real time, and adjust the fuel flow rate and oxidizer supply ratio;

[0053] A fuel combination switching module is configured to switch between multiple fuel combinations based on different operating environments;

[0054] The heat exchange regulation module is configured to dynamically adjust the flow rate and flow of the coolant based on the heat capacity characteristics of the current operating environment, and perform temperature zone self-balancing regulation through thermal pressure sensor feedback;

[0055] An attitude propulsion control module configured to monitor three-axis attitude changes in different operating environments and perform spatial attitude corrections over a multi-degree range;

[0056] The modal coordination control module is configured to distribute switching instructions to each module according to the preset conversion logic diagram after the environmental perception and recognition module determines that the operating environment has changed, thereby completing the adaptive switching and task scheduling between the dual modes of the underwater operating environment and the airborne operating environment.

[0057] Environmental perception and recognition module, including:

[0058] A multi-parameter sensing and acquisition unit is configured to synchronously acquire key environmental parameters of the rocket's current environment, including medium density, temperature, pressure, and flow characteristics;

[0059] The multi-parameter sensing and acquisition unit includes multiple high-sensitivity sensor components, which are deployed at the engine air intake, propulsion tail and outer edge of the casing respectively. The high-sensitivity sensor components are used to sense key environmental parameters at different locations in parallel;

[0060] A pattern recognition and judgment unit is configured to perform recognition and judgment tasks of the operating environment, and compare the internally stored water medium and gas medium discrimination intervals based on the medium density and flow characteristics in the key environmental parameters;

[0061] The discrimination interval includes a first judgment threshold, a second judgment threshold, and a third judgment threshold. If the density value is higher than the first judgment threshold and the flow velocity change is less than the second judgment threshold, it is determined to be an underwater operating environment. If the density is lower than the third judgment threshold and accompanied by high flow velocity disturbances, it is determined to be an aerial operating environment.

[0062] Output the operating environment judgment result, and the judgment result is transmitted to the modal coordination control module through the internal signal bus.

[0063] In the above embodiment, the environmental perception and recognition module achieves accurate identification and rapid classification of the rocket's operating environment through the combined judgment of high-sensitivity multi-point distributed sensing units and core parameters of density and flow characteristics, greatly enhancing the system's adaptability to two typical propulsion medium environments, water and air. It has dynamic discrimination and multi-condition decision-making capabilities, and can effectively avoid misjudgments or delayed responses caused by fluid disturbances and complex working conditions in the medium interface layer. At the same time, the use of an interval discrimination threshold structure combined with a multi-threshold overlapping judgment model in a three-dimensional parameter space not only improves the sensitivity and accuracy of environmental recognition, but also provides a clear and reliable environmental reference signal for the adjustment of subsequent modules, ensuring that the entire propulsion system has the ability to respond quickly and be highly adaptable during multi-modal switching, and improving the operational stability and mission success rate of the rocket when crossing the sea-air boundary, entering water bodies, or penetrating the atmosphere.

[0064] Through simulation test, the environment perception and recognition module is verified. The specific test parameters are as follows:

[0065] As shown in Table 1.

[0066]

[0067] Table 1

[0068] As shown in Table 1, through the real-time collection and analysis of medium density and flow velocity disturbances, the environmental perception and recognition module demonstrated extremely high judgment accuracy and system response speed. In simulated complex transition environments of air, water, and the interface between fog and water vapor, the system completed the operating environment judgment with 100% recognition accuracy, and the slowest response time was also controlled within 112ms, demonstrating that the module still has high sensitivity and stability when handling critical environment judgments. The three-threshold judgment model works in conjunction with multi-point high-sensitivity perception components to effectively avoid misjudgments and response delays caused by environmental boundary disturbances, provide a stable and reliable input signal for the mode switching logic, and lay the judgment foundation for the entire adaptive control system.

[0069] Thrust output control module, including:

[0070] A nozzle diameter adjustment unit configured to adjust the nozzle opening under different operating conditions;

[0071] The nozzle diameter adjustment unit includes a drivable deformable structure, which is composed of a multi-section retractable component. One end of the deformable structure is fixedly connected to the nozzle outlet base, and the other end of the deformable structure can slide axially under the action of an external drive to shrink or expand the nozzle.

[0072] When the system identifies an underwater operating environment, it drives the nozzle to contract to a smaller diameter to increase the outlet jet pressure and overcome water resistance; when in an airborne operating environment, the nozzle automatically expands to a preset opening to improve jet expansion efficiency and specific impulse output;

[0073] A combustion chamber pressure feedback unit is configured to monitor the internal pressure state of the combustion chamber in real time and adjust the fuel and oxidant input ratio based on the pressure state. The combustion chamber pressure feedback unit includes a distributed pressure sensing component and a fuel supply control mechanism. The pressure sensing component is disposed within the combustion chamber and obtains pressure data from different areas. The real-time pressure data returned by the pressure sensing component is received and compared with the set ideal combustion pressure range. If the pressure deviates from the target range, the fuel and oxidant supply rate and ratio are automatically adjusted.

[0074] In the rarefied oxygen environment of air, priority is given to maintaining a high oxygen supply ratio to stabilize flame propagation; while in the high-resistance medium of water, the combustion pressure is enhanced by increasing the fuel injection density to achieve thrust enhancement response;

[0075] The thrust scheduling coordination unit is configured to comprehensively schedule the adjustment action of the nozzle diameter adjustment unit and the combustion parameter control process of the combustion chamber pressure feedback unit;

[0076] Receive the mode switching signal from the modal coordination control module, automatically load the corresponding thrust output adjustment mode, and perform linkage calibration between the nozzle opening change, fuel supply rhythm and pressure compensation based on the feedback time constant, response speed coefficient and historical adjustment curve;

[0077] When switching to a sudden environment, such as diving into water from the air, the nozzle diameter will first be quickly contracted, and then the fuel flow will be gradually increased, and the pressure feedback adjustment start time will be delayed to ensure a smooth transition of the adjustment process and avoid fluctuation superposition; when resuming the air mode, the adjustment sequence will be reversed to achieve adaptive and stable control of the entire process.

[0078] In the above-mentioned embodiment, the thrust output control module constructs a multi-level thrust regulation system for water-air dual-mode operation through the coordinated control of the nozzle diameter adjustment unit, the combustion chamber pressure feedback unit, and the thrust scheduling and coordination unit. This system not only realizes the dynamic change of the nozzle geometry, but also integrates the combustion supply ratio adjustment and multi-parameter linkage control, significantly improving the adaptability and response sensitivity of the thrust output. The thrust curve can be flexibly switched according to the resistance characteristics and propulsion efficiency requirements of different medium environments, achieving rapid transition between high-pressure short-range propulsion and high-efficiency long-range flight. At the same time, by introducing historical adjustment curves and feedback time constant parameters, the dynamic stability during the thrust switching process is optimized, effectively suppressing the system disturbances and combustion anomalies caused by mode mutation, and ensuring smoother thrust response performance at the sea-air transition node.

[0079] Through simulation test, the thrust output control module is verified. The specific test parameters are as follows:

[0080] As shown in Table 2.

[0081]

[0082] Table 2

[0083] As shown in Table 2, the coordinated mechanism of nozzle diameter change and combustion parameter adjustment enables the module to achieve dynamic and efficient thrust management capabilities during multi-environment transitions. Experiments have shown that the nozzle can complete deformation adjustment in <105ms. Combined with the real-time pressure feedback adjustment mechanism, the thrust output stabilization time can be controlled within 200ms. Even in the case of sudden air entry into water or water-to-air sudden change environments, a smooth thrust transition and stable system operation are still guaranteed. In addition, the dynamic loading mechanism combining the response speed coefficient and the historical adjustment curve achieves forward-looking optimization of the control strategy, effectively avoiding the potential risks of thrust fluctuations and combustion chamber oscillations.

[0084] The fuel combination switching module presets fuel types and combination modes suitable for different operating environments, corresponding to the high ignition point, fast reaction fuel combination required for gas phase propulsion, and the high density, stable release fuel combination required for liquid phase propulsion;

[0085] The fuel combination switching module is equipped with a fuel identification index table and an adaptation condition parameter set, which automatically matches the corresponding fuel combination mode based on the identification results of the current operating environment;

[0086] The fuel identification index table records multiple fuels and their mixing ratios, and dynamically maps them based on key parameters such as medium density, operating pressure, and combustion chamber temperature range. When the system determines it is entering an underwater environment, it prioritizes activating high-density, high-calorific value fuels to increase energy output per unit volume. When operating in an aerial environment, it automatically switches to a lightweight fuel combination with high reactivity and lower ignition energy level, enhancing response speed and combustion stability.

[0087] The fuel combination switching module includes a multi-channel fuel distribution valve group, an isolation switching mechanism, and a supply path control device. The fuel distribution valve group is used to guide different types of fuels to flow into the main combustion channel in proportion, and the isolation switching mechanism is used to prevent cross-contamination of different fuels.

[0088] After the mode switch command is issued, the system first performs a pre-ventilation and pipeline cleaning process based on the target fuel combination determined by the fuel type management unit to remove residual fuel or impurities. The target fuel flow path is then gradually opened, and the injection rate is controlled according to the soft start strategy to ensure that the combustion chamber pressure fluctuation is controlled within the allowable range during the switch. After the switch is completed, the system enters the steady-state propulsion mode to maintain the combustion characteristics output under the target fuel combination.

[0089] The fuel combination switching module is equipped with thermal, flow and concentration sensing components, which are respectively deployed in the fuel input channel, mixing chamber inlet and injection interface area to collect real-time information on fuel temperature, flow rate and concentration changes;

[0090] The fuel combination switching module forms a closed-loop feedback channel. When it is found that the target fuel has not reached the set state (such as too high viscosity, too large temperature difference or unbalanced mixture ratio), it automatically delays the switching process or performs secondary adjustment to ensure that the final fuel combination after switching is in the best working state, avoiding incomplete combustion or thrust fluctuations due to fuel abnormalities.

[0091] Through the coordinated work of multi-type fuel pre-configuration, environmental adaptability combination mapping, dynamic switching and feedback monitoring mechanisms, intelligent switching and efficient adaptation of fuel combinations are achieved in both water and air operating environments, ensuring that the rocket engine system has the adaptive capability of dual-mode propulsion.

[0092] In the above embodiment, the fuel combination switching module introduces a multi-channel fuel distribution system, a fuel identification index and an environmental adaptation condition mapping mechanism, and realizes intelligent fuel combination adjustment based on automatic identification of the operating environment, which greatly improves the propulsion adaptability and operating efficiency of the rocket engine in water-air dual modes. It can not only match the optimal fuel type and mixing ratio based on the comprehensive judgment of multiple parameters of the current environmental density, pressure and combustion temperature, but also ensure the system safety and combustion stability during the fuel switching process by setting a slow start strategy and cleaning process, providing higher energy output adjustability and response flexibility, and is especially suitable for complex flight requirements with multiple environment switching or long-term operation in the mission track. Through real-time feedback control, mixture ratio adjustment and secondary allocation mechanism, the module suppresses fuel shock and combustion anomalies during dynamic switching, thereby improving the stability of the propulsion system and energy utilization efficiency.

[0093] Through simulation test, the fuel combination switching module is verified. The specific test parameters are as follows:

[0094] As shown in Table 3.

[0095]

[0096] Table 3

[0097] As shown in Table 3, this module achieves efficient fuel combination management in water-air environments through a three-in-one design: fuel identification indexing, adaptive parameter mapping, and dynamic switching feedback. Simulation data demonstrates that fuel switching can be completed within 160ms. After cooling pre-ventilation and injection flow rate regulation, combustion efficiency before and after switching improves by 5%-8%, while temperature fluctuations are controlled within ±7°C. This demonstrates not only the fuel combination's adaptability to diverse media but also the system's robust safety control capabilities and combustion stability assurance mechanisms, making it particularly well-suited for complex flight scenarios with long mission cycles and significant environmental fluctuations.

[0098] The heat exchange regulation module adaptively adjusts the cooling capacity and heat distribution state of the engine thermal management system according to the thermophysical characteristics of different operating environments;

[0099] Dynamically adjust the coolant circulation speed and flow rate in the engine casing, nozzle sleeve, and combustion chamber outer wall according to changes in the operating environment. In the high thermal conductivity environment of water, the coolant rate is appropriately reduced to extend the heat exchange path and improve heat exchange efficiency; in the low thermal conductivity environment of air, the coolant flow rate is increased to enhance heat removal capacity.

[0100] The heat exchange regulation module contains multiple temperature-sensitive sensor components, which are used to collect and transmit temperature change data in real time. The temperature-sensitive sensor components compare the data of each temperature zone with the preset thermal safety range. When a local overheating trend is detected, the coolant flow control device is driven by signal linkage to implement a local flow enhancement strategy. Or, when the temperature difference between multiple zones fluctuates sharply, the temperature balance control mode is activated to adjust the distribution ratio of coolant in each branch to achieve self-balancing of the thermal field.

[0101] To prevent local heat accumulation in high-temperature combustion zones, the heat exchange regulation module incorporates multi-stage thermal pressure bypass valves in the coolant circulation pipeline. This creates a localized high-pressure rapid heat exchange loop in the high-temperature zone, alleviating the thermal load on the combustion boundary layer and extending the service life of key engine components.

[0102] The heat exchange regulation module maintains closed-loop thermal regulation capabilities under both normal and abnormal operating conditions. When it detects abnormal coolant temperature, sudden changes in thermal load, or abnormal sensor feedback, it automatically triggers the backup cooling path or switches to emergency cooling mode to ensure continuous and stable engine propulsion in complex operating environments.

[0103] In the above-mentioned embodiment, the heat exchange regulation module constructs a multi-path thermal management system with dynamic adjustment capabilities and temperature zone self-balancing functions based on the differences in heat capacity and thermal conductivity characteristics in the operating environment. This not only improves the overall thermal control performance of the engine, but also significantly extends the system's operating life. By accurately sensing temperature changes in various parts and controlling coolant distribution in a coordinated manner, it implements a temperature control delay strategy in the high thermal conductivity environment of water and a rapid cooling response mode in the low thermal conductivity environment of air. This module introduces an automatic compensation mechanism for temperature zone imbalances, particularly by providing multi-stage thermal pressure bypass near the high-heat boundary layer. This allows heat flow to form a rapid closed-loop exchange channel in key areas, significantly alleviating material fatigue and system aging caused by localized high temperatures. In addition, the module is equipped with anomaly detection and emergency mode switching functions. When the risk of thermal runaway arises, it can quickly switch to the backup cooling path to ensure continuous and stable system operation.

[0104] The heat exchange adjustment module was verified through simulation tests. The specific test parameters are shown in Table 4.

[0105]

[0106]

[0107] Table 4

[0108] As can be seen from Table 4, the module realizes differentiated adjustment of cooling strategies between high-conductivity hot water environment and low-conductivity air environment. Experiments show that the system actively reduces the flow rate in the water environment to extend the heat exchange path and improve the heat exchange efficiency; while in the air, the flow rate is significantly increased to enhance the cooling capacity. The temperature of the hot zone dropped significantly after adjustment (for example, from 680℃ to 460℃), and the temperature difference stabilization time was controlled within 210ms, indicating that the cooling system responds quickly and has high control accuracy. The combined effect of multi-stage thermal pressure bypass and thermal runaway emergency switching mechanism effectively avoids the problem of material fatigue failure in the high-heat accumulation area, significantly improving the safety and durability of the engine system.

[0109] The attitude propulsion control module acquires real-time data on the rocket's pitch, yaw, and roll attitude changes during flight. The module includes multiple inertial measurement units (IMUs), which are distributed near the center of gravity inside the rocket shell to improve the sensitivity and response accuracy of attitude measurement. When the system is operating in water, the module can effectively suppress attitude detection errors caused by fluid disturbances. In an airborne operating environment, high-frequency sampling and multi-cycle averaging strategies are used to improve the stability and anti-interference capability of attitude sensing.

[0110] Based on the acquired attitude change data, a propulsion output strategy is generated and attitude correction propulsion actions are implemented, and after the correction, flight state change data after the attitude correction action is collected in real time; the attitude propulsion control module includes multiple micro-directional propulsion components, which are distributed in a ring on the surface of the rocket, corresponding to control tasks in different attitude directions; when the system identifies an airborne operating environment, the attitude propulsion control module injects propellant in a pulsed manner to quickly correct the heading error caused by air disturbances or flight attitude deviation; in an underwater operating environment, a low-frequency and high-thrust propulsion method is used, and large-angle or slow-speed attitude adjustments are made in conjunction with changes in fluid resistance to maintain a stable track during the propulsion process;

[0111] Based on flight status change data, the difference between the target attitude and the current attitude is compared and the propulsion output strategy is optimized; the evaluation logic is automatically switched according to different environmental modes. For example, in an underwater environment, the inertial damping compensation factor is increased to eliminate hysteresis response; in an air environment, the feedforward correction ratio is enhanced to improve the pre-response capability of the control output.

[0112] In the above-mentioned embodiment, the attitude propulsion control module integrates a high-precision inertial measurement unit (IMU) with a multi-directional micro-propulsion assembly to create a highly dynamic attitude control system compatible with both water and air environments. This system enables real-time attitude measurement, correction, and feedback self-adjustment during flight. It automatically selects different control strategies based on environmental recognition results—for example, high-frequency pulse correction control for rapid response to disturbances in air, and high-thrust, low-frequency control for large-angle stability in water. This balances the requirements of both response speed and attitude stability. The module further combines three-axis data fusion with a feedforward-feedback hybrid control strategy to effectively suppress drift errors in attitude measurement and lag in propulsion adjustment. Particularly in complex fluid environments, the module incorporates an environmental compensation factor adjustment mechanism, enhancing the system's adaptability to disturbances and inertial delays, ensuring the rocket maintains heading stability and attitude consistency under varying media conditions, significantly improving the system's overall flight stability and mission accuracy.

[0113] Through simulation test, the attitude propulsion control module is verified. The specific test parameters are as follows:

[0114] As shown in Table 5.

[0115]

[0116] Table 5

[0117] As shown in Table 5, the attitude propulsion control module, through the coordinated control of the inertial measurement unit and the annular micro-directional jet unit, demonstrated high-precision attitude adjustment capabilities in various environments. During the experiment, the rocket's attitude yaw reached a maximum of 20.1°, with the corrected error less than 0.6°. The fastest correction time was 98ms, and the overall attitude stabilization time did not exceed 180ms. The intelligent switching mechanism between the in-flight pulse fine-tuning strategy and the underwater high-thrust, low-frequency correction strategy ensured that the system maintained excellent heading and flight attitude consistency even under fluid disturbances and sudden density changes, significantly enhancing mission completion accuracy and system robustness.

[0118] Modal coordination control module, including:

[0119] The mode switching determination unit is configured to receive the operating environment determination result output by the environmental perception and recognition module and determine whether to trigger the operating environment conversion process based on the built-in mode switching logic diagram and dynamic threshold determination strategy; when the medium density and flow velocity disturbance parameters meet the preset switching conditions and maintain a stable state for more than the minimum confirmation time window, it confirms that the operating environment has changed and generates a switching trigger signal;

[0120] The control instruction distribution unit is configured to generate a multi-level control instruction sequence based on the control parameter set and module dependency graph corresponding to the current operating environment after receiving the switching trigger signal, and send it to the thrust output control module, fuel combination switching module, heat exchange adjustment module and attitude propulsion control module functional modules in sequence through the system internal bus;

[0121] The module synchronization management unit is configured to monitor the response status of each module in real time and collect the execution feedback information of each module. When it is found that a module has not completed the corresponding switching process or the feedback status is abnormal, the correction mechanism is automatically triggered. The correction mechanism includes local module reset, instruction resending and backup control parameter loading;

[0122] The modal coordination control module also features a redundant judgment mechanism that provides secondary confirmation of environmental recognition results based on historical system operation data, attitude change trends, and combustion stability indicators to avoid erroneous switching operations caused by sudden disturbances.

[0123] After the system enters the underwater operating environment, the modal coordination control module prioritizes controlling nozzle retraction, switching to a high-density fuel combination, and adjusting the coolant flow rate and attitude propulsion mode to match the underwater propulsion characteristics; after returning to the air environment, the wide-mouth nozzle structure, light fuel combination and high-frequency attitude correction strategy are restored to ensure that the rocket propulsion system maintains the optimal operating state in different medium environments;

[0124] Through centralized scheduling of the modal switching process, dynamic linkage control between modules, and closed-loop supervision of switching execution feedback, the modal coordination control module achieves stable adaptability and multi-modal self-coordinated propulsion control capabilities in complex operating environments, improving the overall reliability and propulsion efficiency of the system.

[0125] In the above-mentioned embodiment, the introduction of a modal coordination control module significantly enhances the intelligent responsiveness and operational stability of the water-air dual-mode rocket engine system in complex operating environments. By implementing a dedicated mode switching determination unit, the system can efficiently identify transition timing between different media based on multiple key environmental parameters. A set confirmation time window prevents misjudgments, thereby ensuring the accuracy of switching operations. A control instruction distribution unit further improves system switching efficiency by preloading and concurrently distributing control commands based on the current environment, enabling coordinated responses among functional modules and rapid adaptation to the new operating mode. The module synchronization management unit enables the system to capture the execution status of control instructions in real time, triggering feedback and correction mechanisms for abnormalities, effectively preventing global instability caused by local module failure or delayed response. Furthermore, the module's redundant judgment mechanism, combined with operational history, attitude, and combustion status information, provides "secondary confirmation" of switching instructions, further enhancing the system's anti-interference capability and reliability. During the water-air switching process, the module prioritizes coordinated adjustments to the core propulsion and cooling systems, ensuring the orderly and regulated execution of nozzle, fuel, heat exchange, and attitude adjustments, avoiding thrust surges or temperature shocks. Through the triple strategies of centralized control, module linkage, and feedback supervision, the modal coordination control module has built a complete and intelligent dynamic scheduling mechanism for the dual-mode rocket engine system, effectively supporting the system's efficient and autonomous switching and continuous and stable propulsion between the high-resistance environment in water and the low-density environment in the air.

[0126] A water-air dual-mode adaptive rocket engine control method, applied to the above-mentioned water-air dual-mode adaptive rocket engine system, comprises:

[0127] The environmental perception and recognition module collects key environmental parameters and uses a multi-condition threshold judgment strategy to identify the current operating environment as underwater or airborne mode;

[0128] The modal coordination control module determines whether the modal switching conditions are met based on the environmental recognition results. If so, it generates a switching trigger signal and loads the preset control parameters and module dependency logic map;

[0129] The control command distribution unit converts the mode switching signal into multi-level control commands and sends them to the thrust output control module, fuel combination switching module, heat exchange adjustment module and attitude propulsion control module in sequence;

[0130] The thrust output control module adjusts the nozzle opening and combustion parameters, and the fuel combination switching module switches to the fuel type and ratio suitable for the environment to ensure optimal propulsion performance under different media;

[0131] The heat exchange regulation module adjusts the coolant flow rate according to the heat capacity characteristics, and the attitude propulsion control module implements attitude correction according to the three-axis attitude changes to maintain flight stability;

[0132] The module synchronization management unit monitors the execution status of each module and triggers the correction mechanism when an anomaly is found, including module reset, instruction resending and backup parameter loading to ensure stable system operation.

[0133] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field can replace or change the technical solution and inventive concept of the present invention within the technical scope disclosed by the present invention, and the replacement or change should be covered by the scope of protection of the present invention.

Claims

1. A water-air dual-mode adaptive rocket engine system, characterized in that: include: An environmental perception and recognition module is configured to perceive key environmental parameters of the medium in which the rocket is located in real time, and determine the current operating environment by comparing the key environmental parameters, performing threshold comparison and multi-condition judgment, and the operating environment includes an underwater operating environment and an airborne operating environment; A thrust output control module is configured to adaptively adjust combustion propulsion parameters and switch nozzle opening according to the identified operating environment, match the thrust curves under gas-phase propulsion and liquid-phase propulsion, monitor the pressure fluctuations in the combustion chamber in real time, and adjust the fuel flow rate and oxidizer supply ratio; A fuel combination switching module is configured to switch between multiple fuel combinations based on different operating environments; The heat exchange regulation module is configured to dynamically adjust the flow rate and flow of the coolant based on the heat capacity characteristics of the current operating environment, and perform temperature zone self-balancing regulation through thermal pressure sensor feedback; An attitude propulsion control module configured to monitor three-axis attitude changes in different operating environments and perform spatial attitude corrections over a multi-degree range; The modal coordination control module is configured to distribute switching instructions to each module according to the preset conversion logic diagram after the environmental perception and recognition module determines that the operating environment has changed, thereby completing the adaptive switching and task scheduling between the dual modes of the underwater operating environment and the airborne operating environment.

2. The water-air dual-mode adaptive rocket engine system according to claim 1, characterized in that: The environment perception and recognition module includes: a multi-parameter sensing and acquisition unit configured to synchronously acquire key environmental parameters of the rocket's current environment, the key environmental parameters including medium density, temperature, pressure, and flow characteristics; The multi-parameter sensing and acquisition unit includes a plurality of high-sensitivity sensor components, which are respectively deployed at the engine air inlet, the propulsion tail and the outer edge of the shell, and are used to sense key environmental parameters at different positions in parallel; A pattern recognition and judgment unit is configured to perform recognition and judgment tasks of the operating environment, and compare the internally stored water medium and gas medium discrimination intervals based on the medium density and flow characteristics in the key environmental parameters; The discrimination interval includes a first discrimination threshold, a second discrimination threshold, and a third discrimination threshold; if the density value is higher than the first discrimination threshold and the flow velocity change is less than the second discrimination threshold, it is determined to be an underwater operating environment; if the density is lower than the third discrimination threshold and is accompanied by a high flow velocity disturbance, it is determined to be an aerial operating environment; Output the operating environment judgment result, and the judgment result is transmitted to the modal coordination control module through the internal signal bus.

3. The water-air dual-mode adaptive rocket engine system according to claim 1, characterized in that: The thrust output control module includes: A nozzle diameter adjustment unit configured to adjust the nozzle opening under different operating conditions; The nozzle diameter adjustment unit includes a drivable deformable structure, which is composed of a multi-section retractable component. One end of the deformable structure is fixedly connected to the nozzle outlet base, and the other end of the deformable structure can slide axially under the action of an external drive to retract or expand the nozzle. The combustion chamber pressure feedback unit is configured to monitor the pressure state inside the combustion chamber in real time and adjust the input ratio of fuel and oxidant based on the pressure state. The combustion chamber pressure feedback unit includes a distributed pressure sensing component and a fuel supply control mechanism; the pressure sensing component is arranged inside the combustion chamber and obtains pressure data in different areas; the real-time pressure data returned by the pressure sensing component is received and compared with the set ideal combustion pressure range. If it deviates from the target range, the supply rate and ratio of fuel and oxidant are automatically adjusted.

4. The water-air dual-mode adaptive rocket engine system according to claim 3, characterized in that: The thrust output control module further includes: The thrust scheduling coordination unit is configured to comprehensively schedule the adjustment action of the nozzle diameter adjustment unit and the combustion parameter control process of the combustion chamber pressure feedback unit; It receives the mode switching signal from the modal coordination control module, automatically loads the corresponding thrust output adjustment mode, and uses the feedback time constant, response speed coefficient and historical adjustment curve as basic parameters to perform linkage calibration between the nozzle opening change, fuel supply rhythm and pressure compensation.

5. The water-air dual-mode adaptive rocket engine system according to claim 1, characterized in that: The fuel combination switching module presets fuel types and combination modes suitable for different operating environments, corresponding to the high ignition point and fast reaction fuel combination required for gas phase propulsion, and the high density and stable release fuel combination required for liquid phase propulsion; The fuel combination switching module is equipped with a fuel identification index table and an adaptation condition parameter set, and automatically matches the corresponding fuel combination mode according to the identification result of the current operating environment; The fuel combination switching module includes a multi-channel fuel distribution valve group, an isolation switching mechanism and a supply path control device. The fuel distribution valve group is used to guide different types of fuel to flow into the main combustion channel in proportion. The isolation switching mechanism is used to prevent cross contamination of different fuels. The fuel combination switching module is equipped with thermal, flow and concentration sensing components, which are respectively deployed in the fuel input channel, mixing chamber inlet and injection interface area to collect fuel temperature, flow rate and concentration change information in real time.

6. The water-air dual-mode adaptive rocket engine system according to claim 1, characterized in that: The heat exchange regulation module adaptively adjusts the cooling capacity and heat distribution state of the engine thermal management system according to the thermophysical characteristics under different operating environments; the heat exchange regulation module includes multiple temperature-sensitive sensor components, which are used to collect and transmit temperature change data in real time and compare the data of each temperature zone with the preset thermal safety range.

7. The water-air dual-mode adaptive rocket engine system according to claim 1, characterized in that: The attitude propulsion control module obtains the pitch, yaw and roll three-axis attitude change data of the rocket during flight in real time; based on the acquired attitude change data, it generates a propulsion output strategy and implements attitude correction propulsion action, and collects flight state change data after the attitude correction action in real time after correction; based on the flight state change data, it compares the difference between the target attitude and the current attitude and optimizes the propulsion output strategy.

8. The water-air dual-mode adaptive rocket engine system according to claim 1, characterized in that: The modal coordination control module includes: The mode switching determination unit is configured to receive the operating environment determination result output by the environmental perception and recognition module and determine whether to trigger the operating environment conversion process based on the built-in mode switching logic diagram and dynamic threshold determination strategy; when the medium density and flow velocity disturbance parameters meet the preset switching conditions and maintain a stable state for more than the minimum confirmation time window, it confirms that the operating environment has changed and generates a switching trigger signal; The control instruction distribution unit is configured to generate a multi-level control instruction sequence based on the control parameter set and module dependency graph corresponding to the current operating environment after receiving the switching trigger signal, and send it to the thrust output control module, fuel combination switching module, heat exchange adjustment module and attitude propulsion control module functional modules in sequence through the system internal bus; The module synchronization management unit is configured to monitor the response status of each module in real time and collect the execution feedback information of each module; when it is found that a module has not completed the corresponding switching process or the feedback status is abnormal, the correction mechanism is automatically triggered, and the correction mechanism includes local module reset, instruction resending and backup control parameter loading.

9. A water-air dual-mode adaptive rocket engine control method, applied to a water-air dual-mode adaptive rocket engine system as claimed in claim 1, characterized in that: include: The environmental perception and recognition module collects key environmental parameters and uses a multi-condition threshold judgment strategy to identify the current operating environment as underwater or airborne mode; The modal coordination control module determines whether the modal switching conditions are met based on the environmental recognition results. If so, it generates a switching trigger signal and loads the preset control parameters and module dependency logic map; The control instruction distribution unit converts the mode switching signal into multi-level control instructions, which are sent to the thrust output control module, fuel combination switching module, heat exchange adjustment module and attitude propulsion control module in sequence.

10. The water-air dual-mode adaptive rocket engine control method according to claim 9, characterized in that: Also includes: The thrust output control module adjusts the nozzle opening and combustion parameters, and the fuel combination switching module switches to the fuel type and ratio suitable for the environment to ensure optimal propulsion performance under different media; The heat exchange regulation module adjusts the coolant flow rate according to the heat capacity characteristics, and the attitude propulsion control module implements attitude correction according to the three-axis attitude changes to maintain flight stability; The module synchronization management unit monitors the execution status of each module and triggers the correction mechanism when an anomaly is found, including module reset, instruction resending and backup parameter loading to ensure stable system operation.

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