Redundancy control system for stage switching motor of carrier rocket engine

Abstract

The invention provides a carrier rocket engine stage-switching motor redundancy control system, which is combined with a multi-input instruction redundancy voting method, a voting path software and hardware arbitration method and the like to complete high-reliability carrier rocket engine stage-switching motor control. According to the system, two-out-of-three voting is carried out by using a triple-redundancy input control instruction and interactive heartbeat, software and hardware joint arbitration is carried out on voting results of three modules, and an instruction control channel is determined to complete phase sequence control of the stage conversion winding. The method has strong fault capability, has no single-point failure link, and can ensure the normal operation of the engine conversion motor in the flight process of the carrier rocket.

Description

Technical Field

[0001] This invention relates to a redundant control system for the stage motor of a launch vehicle engine. Background Technology

[0002] In the field of launch vehicles, there are very high requirements for the reliability of aerospace products, especially for critical systems that affect the success or failure of missions. The engine stage motor mainly performs the regulation of the engine's flow rate and plays a key role in engine start-up, thrust changes, and shutdown.

[0003] The launch vehicle engine stage motor control system primarily controls the forward and reverse rotation of the engine stage motors according to the overall flight program and engine control requirements. This regulates the engine flow rate and directly affects critical actions such as engine start-up, thrust changes, and shutdown, thus influencing the success or failure of the rocket mission. Therefore, ensuring the reliability of the stage motor control, improving system redundancy, and ensuring the system adapts to various fault models are of paramount importance.

[0004] Currently, the control load of the engine's transfer motor is singular. To ensure control results, redundancy in the control method is crucial. Current redundancy control methods for transfer motor control focus on multi-point, multi-line line redundancy and module redundancy for receiving control signals. However, redundancy methods at the input, voting, and output stages are relatively few. Furthermore, for a singular control load, accurately integrating various control commands to achieve accurate output of a single control signal is also extremely important. Summary of the Invention

[0005] The purpose of this invention is to provide a redundant control system for the stage motor of a launch vehicle engine.

[0006] To address the above problems, this invention provides a redundant control system for the stage motor of a launch vehicle engine, comprising:

[0007] External motor control signals, a staged motor control device, and an engine staged motor, wherein the staged motor control device includes: a control path and a voting path.

[0008] The voting path includes: a first data processing module and a voting arbitration module; three voting arbitration modules are used to receive the control instructions and heartbeat interaction information from the data processing module, independently select two out of three voting instructions from the stage motor output, and then arbitrate the voting results to obtain an arbitration enable control signal as the input to the phase sequence output drive module and the six-transistor arbitration circuit. Finally, the phase sequence module and the H-bridge instruction output are confirmed by the six-transistor arbitration circuit.

[0009] The control path includes: a second data processing module, a phase sequence output drive module, a six-transistor arbitration circuit, and an H-bridge drive circuit. The second data processing module is used to output phase sequence commands to the phase sequence drive module according to the winding control requirements for forward and reverse rotation of the motor. The phase sequence drive module completes the voting of the six-transistor hardware circuit according to the arbitration enable signal, and outputs the H-bridge control command to the H-bridge control circuit, ultimately completing the phase sequence control of the A and B windings of the stage motor, and completing the forward and reverse rotation of the stage motor.

[0010] Furthermore, in the above method, the control path is used to control the A and B phase windings using an H-bridge drive circuit, and a total of 4 bridge arm drive signals are used to control each winding.

[0011] Furthermore, in the above method, the second data processing module outputs a bridge arm control phase sequence command by receiving the motor forward or reverse rotation control command from the communication module.

[0012] Furthermore, in the above method, the voting path is used to perform a two-out-of-three vote on the three-way transition control instructions, and output the voting result to the arbitration stage for arbitration.

[0013] Furthermore, in the above method, the voting arbitration module, taking module B as an example, obtains the heartbeat of the interaction between data processing modules A and C, and votes based on the heartbeat: four working conditions are: both modules A and C are valid, only A is valid, only C is valid, and both are invalid; the B voting module and the data processing module are on the same board and have no heartbeat information; it obtains the phase sequence instructions of data processing modules A, B, and C, and votes according to the four working conditions: both modules A and C are valid, only A is valid, only C is valid, and both are invalid; the first judgment is that both modules A and C are valid, then a two-out-of-three vote is performed on the phase sequence instructions A, B, and C. If the instructions A, B, and C are all the same, then A is voted; if the instructions AB or AC are the same, then A is voted; if the instructions BC are the same, then B is voted; if the instructions A, B, and C are all different, then A is voted.

[0014] If only A is valid in the first judgment, then a vote shall be taken between the A and B phase sequence instructions. If the A and B instructions are the same, then A shall be voted; if the A and B instructions are different, then A shall be voted.

[0015] If only C is valid in the first judgment, then a vote will be taken between the phase sequence instructions B and C. If the instructions B and C are the same, then B will be voted; if the instructions B and C are different, then B will be voted.

[0016] If all judgments in Article 1 are invalid, then a single vote shall be taken on the B phase sequence instruction. If there is an instruction, then vote on B; if there is no instruction, then there is no voting result.

[0017] Furthermore, in the above method, the voting channel, taking module B as an example, is used to arbitrate after receiving the voting results from modules A, B, and C in the arbitration stage; if all three votes are valid, a two-out-of-three arbitration is performed; if the three votes are the same, the arbitrated result is output; if two votes are the same, the arbitrated result is output; if all votes are different, the arbitrated result is output from module A; if two of the three votes are valid, a one-out-of-two arbitration is performed; if the two votes are the same, the arbitrated result is output; if the two votes are different, arbitration is performed according to the ABC priority. Arbitration output; if any one of A, B, or C's votes is valid, the output is based on the single valid result; if none of A, B, or C's votes are valid, no arbitration output is generated; based on the arbitration result, an enable signal is output to the phase sequence drive module; if vote A is output, an enable signal is sent to the A phase sequence drive module, activating the corresponding Kb1 and Kb2 relays of module A; if vote B is output, an enable signal is sent to the B phase sequence drive module, activating the corresponding Kb1 and Kb2 relays of module B; if vote C is output, an enable signal is sent to the C phase sequence drive module, activating the corresponding Kb1 and Kb2 relays of module C.

[0018] Furthermore, in the above method, the phase sequence driving module and the six-transistor arbitration circuit are used to receive the enable control signal of the voting arbitration module; if the A voting arbitration module enables the B phase sequence driving module, then relays Ka1 and Ka2 are closed; if the B voting arbitration module enables the B phase sequence driving module, then relays Kb1 and Kb2 are closed; if the C voting arbitration module enables the B phase sequence driving module, then relays Kc1 and Kc2 are closed; finally, the six-transistor arbitration circuit determines whether the B phase sequence driving module outputs.

[0019] Furthermore, in the above method, the H-bridge drive circuit is used to perform winding phase sequence control after receiving the phase sequence control command after arbitration voting.

[0020] Compared with existing technologies, in order to improve the operational reliability and fault adaptability of the stage motor control based on a single load of the engine, this invention proposes a redundant control system for the stage motor of a launch vehicle engine. This system combines multiple input command redundancy voting, software and hardware arbitration of voting paths, and other methods to achieve highly reliable control of the stage motor of the launch vehicle engine.

[0021] This invention proposes a redundant control method for the stage motor of a launch vehicle engine, targeting a single control load. This method uses three redundant input control commands and interactive heartbeats to perform a two-out-of-three voting process for the commands. The voting results from the three modules are then jointly arbitrated by hardware and software to determine the command control path and complete the phase sequence control of the stage windings. This method possesses strong fault tolerance, with no single point of failure, ensuring the normal operation of the engine stage motor during launch vehicle flight. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of redundant control of the stage motor of a launch vehicle engine according to an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of a redundant control method for a stage motor of a launch vehicle engine according to an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the second data processing module outputting phase sequence instructions according to an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the voting arbitration module - voting process;

[0026] Figure 5 This is a flowchart of the voting and arbitration module - arbitration process, using module B as an example;

[0027] Figure 6 This is a schematic diagram of the six-transistor hardware circuit voting for the enable signal, taking the B-phase sequence drive module as an example.

[0028] Figure 7 This is a schematic diagram of the winding H-bridge phase sequence control output according to an embodiment of the present invention. Detailed Implementation

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figure 1 and 2 As shown, this invention provides a redundant control system for a launch vehicle engine stage motor, comprising: an external motor control signal, a stage motor control device, and an engine stage motor. The stage motor control device includes: a control path and a voting path.

[0031] The voting path includes: a first data processing module and a voting arbitration module; three voting arbitration modules are used to receive the control instructions and heartbeat interaction information from the data processing module, independently select two out of three voting instructions from the stage motor output, and then arbitrate the voting results to obtain an arbitration enable control signal as the input to the phase sequence output drive module and the six-transistor arbitration circuit. Finally, the phase sequence module and the H-bridge instruction output are confirmed by the six-transistor arbitration circuit.

[0032] The control path includes: a second data processing module, a phase sequence output drive module, a six-transistor arbitration circuit, and an H-bridge drive circuit. The second data processing module is used to output phase sequence commands to the phase sequence drive module according to the winding control requirements for forward and reverse rotation of the motor. The phase sequence drive module completes the voting of the six-transistor hardware circuit according to the arbitration enable signal, and outputs the H-bridge control command to the H-bridge control circuit, ultimately completing the phase sequence control of the A and B windings of the stage motor, and completing the forward and reverse rotation of the stage motor.

[0033] To improve the reliability and fault adaptability of the stage motor control based on a single load of the engine, this invention proposes a redundant control system for the stage motor of a launch vehicle engine. This system combines multiple input command redundancy voting and software and hardware arbitration of the voting path to achieve highly reliable control of the stage motor of the launch vehicle engine.

[0034] This invention proposes a redundant control system for the stage motor of a launch vehicle engine, targeting a single control load. This system uses triple-redundant input control commands and interactive heartbeats to perform a two-out-of-three voting process for commands. The voting results from the three modules are then jointly arbitrated by hardware and software to determine the command control path and complete the phase sequence control of the stage windings. This method possesses strong fault tolerance, with no single point of failure, ensuring the normal operation of the engine stage motor during launch vehicle flight.

[0035] In one embodiment of the redundant control system for the stage motor of the launch vehicle engine of the present invention, the control path is used to supply the flow regulation stage motor of the launch vehicle engine as a two-phase eight-step hybrid stepper motor, the motor having two-phase windings A and B, according to... Powering on the motor in sequence drives it to rotate forward; according to... The sequence of power-on drives the motor to reverse.

[0036] In one embodiment of the redundant control system for the stage motor of the launch vehicle engine of the present invention, the control path is used to control the A and B phase windings using an H-bridge drive circuit, and a total of 4 bridge arm drive signals are used to control each winding.

[0037] In one embodiment of the redundant control system for the stage motor of the launch vehicle engine of the present invention, the second data processing module outputs the bridge arm control phase sequence command by receiving the motor forward or reverse control command from the communication module.

[0038] Here, the motor winding control method is as follows:

[0039] The flow regulation stage motor of the launch vehicle engine is a two-phase, eight-step hybrid stepper motor. The motor has two-phase windings, A and B, and is configured according to... Powering on the motor in sequence drives it to rotate forward; according to... The sequence of power-on drives the motor to reverse.

[0040] The transition control device uses an H-bridge drive circuit to control the A and B phase windings, and uses four bridge arm drive signals for each winding to complete the control.

[0041] The second data processing module receives the motor forward or reverse rotation control command from the communication module and outputs the bridge arm control phase sequence command, such as... Figure 3 As shown.

[0042] In one embodiment of the redundant control system for stage motors of a launch vehicle engine of the present invention, the voting path is used to vote on two out of three stage control commands and output the voting result to the arbitration stage for arbitration.

[0043] Here, the voting method for transfer control is as follows: Figure 4 As shown, a two-out-of-three vote is performed on the three-way transition control commands, and the voting result is output to the arbitration stage for arbitration.

[0044] In one embodiment of the redundant control system for the stage motor of a launch vehicle engine of the present invention, the stage control voting method is as follows: Figure 5 As shown, the voting arbitration module - voting process (module B as an example):

[0045] 1) The voting arbitration module B obtains the heartbeat of the data processing modules A and C and votes through the heartbeat: both modules A and C are valid, only A is valid, only C is valid, and both are invalid (the voting module B and the data processing module are on the same board and have no heartbeat information).

[0046] 2) Obtain the phase sequence instructions of data processing modules A, B, and C, and vote on them according to four working conditions: both modules A and C are valid, only A is valid, only C is valid, and both are invalid.

[0047] 3) If both decision modules A and C are valid, then a two-out-of-three vote is taken on the phase sequence instructions A, B, and C (ABC priority is reduced); ① If instructions A, B, and C are all the same, then vote for A; ② If instructions AB or AC are the same, then vote for A; ③ If instructions BC are the same, then vote for B; ④ If instructions A, B, and C are all different, then vote for A.

[0048] 4) If only A is valid in the first decision, then a two-out-of-one vote is taken on the A and B phase sequence instructions (ABC priority decreases); ① If A and B instructions are the same, then vote for A; ② If A and B instructions are different, then vote for A.

[0049] 5) If only C is valid in the first decision, then a two-out-of-one vote is taken on the phase sequence instructions B and C (the priority of A, B, and C decreases); ① If the instructions B and C are the same, then vote for B; ② If the instructions B and C are different, then vote for B.

[0050] 6) If all judgments in Article 1 are invalid, then a single vote shall be taken on the B phase sequence instruction; ① If there is an instruction, then vote on B; ② If there is no instruction, then there is no voting result.

[0051] In one embodiment of the redundant control system for the stage motor of a launch vehicle engine of the present invention, the arbitration method for voting results is as follows: Figure 6 As shown, taking the B voting arbitration module as an example, similarly, the A voting arbitration module connects the phase sequence drive modules Ka1 and Ka2 relays, and the C arbitration module connects the phase sequence drive modules Kc1 and Kc2 relays. Voting Arbitration Module - Arbitration Process (Module B as an example):

[0052] 1) The arbitration process takes place after receiving the voting results from modules A, B, and C of the voting process;

[0053] 2) If A, B, and C all vote valid, a two-out-of-three arbitration is conducted; ① If the three votes are the same, the arbitration result is output; ② If the two votes are the same, the arbitration result is output; ③ If the votes are all different, the arbitration module A outputs the result.

[0054] 3) If two of the votes A, B, and C are valid, arbitration is performed; ① If the two votes are the same, the arbitration result is output; ② If the two votes are different, arbitration is performed according to the priority of A, B, C, and D.

[0055] 4) If any one of A, B, or C's votes is valid, the arbitration output will be based on the single valid result;

[0056] 5) If no votes from A, B, and C are valid, then no arbitration output will be made;

[0057] 6) Output an enable signal to the phase sequence drive module according to the arbitration result; if vote A outputs, send an enable signal to the A phase sequence drive module and turn on the corresponding Kb1 and Kb2 relays of module A; if vote B outputs, send an enable signal to the B phase sequence drive module and turn on the corresponding Kb1 and Kb2 relays of module B; if vote C outputs, send an enable signal to the C phase sequence drive module and turn on the corresponding Kb1 and Kb2 relays of module C.

[0058] This process takes the B arbitration module as an example. Similarly, the A arbitration module connects the phase sequence drive modules Ka1 and Ka2 relays, and the C arbitration module connects the phase sequence drive modules Kc1 and Kc2 relays.

[0059] In one embodiment of the redundant control system for the stage motor of a launch vehicle engine of the present invention, the phase sequence drive module and the six-tube arbitration circuit are used to receive the enable control signal of the voting arbitration module; if the A voting arbitration module enables the B phase sequence drive module, then relays Ka1 and Ka2 are closed; if the B voting arbitration module enables the B phase sequence drive module, then relays Kb1 and Kb2 are closed; if the C voting arbitration module enables the B phase sequence drive module, then relays Kc1 and Kc2 are closed; finally, the six-tube arbitration circuit determines whether the B phase sequence drive module outputs.

[0060] Specifically, the six-transistor hardware circuit voting output path includes:

[0061] The phase sequence drive module and the six-transistor arbitration circuit receive the enable control signal from the voting arbitration module (taking B as an example); if the A voting arbitration module enables the B phase sequence drive module, then relays Ka1 and Ka2 are closed; if the B voting arbitration module enables the B phase sequence drive module, then relays Kb1 and Kb2 are closed; if the C voting arbitration module enables the B phase sequence drive module, then relays Kc1 and Kc2 are closed; finally, the six-transistor arbitration circuit determines whether the B phase sequence drive module outputs.

[0062] In one embodiment of the redundant control system for the stage motor of a launch vehicle engine of the present invention, the H-bridge drive circuit is used to execute winding phase sequence control after receiving the phase sequence control command after arbitration voting.

[0063] Here, as Figure 7 As shown, the winding H-bridge phase sequence control output includes: the H-bridge drive circuit receiving the phase sequence control command after voting by the six-transistor hardware circuit and executing the winding phase sequence control.

[0064] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0065] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0066] Obviously, those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the invention and their equivalents, the invention is also intended to include these modifications and variations.

Claims

1. A launch vehicle engine stage motor redundant control system, comprising: The application relates to a motor control system, which comprises an external motor control signal, a motor control device and a motor, wherein the motor control device comprises a control channel and a voting channel. The voting channel comprises a first data processing module and a voting arbitration module; three voting arbitration modules are used for receiving the control instructions and heartbeat interactive information of the data processing module, independently voting the instruction module output by the motor, and then arbitrating the voting results to obtain the arbitration enable control signal as the input of a phase sequence output driving module and a six-pipe arbitration circuit, finally outputting the phase sequence module and H-bridge instruction output by the six-pipe arbitration circuit voting confirmation. The control channel comprises a second data processing module, a phase sequence output driving module, a six-pipe arbitration circuit and an H-bridge driving circuit; the second data processing module is used for outputting the phase sequence instruction to the phase sequence driving module according to the winding control requirement of the motor forward and reverse rotation, the phase sequence driving module completes the six-pipe hardware circuit voting according to the arbitration enable signal, and outputs the H-bridge control instruction to the H-bridge control circuit, finally completing the phase sequence control of the A and B windings of the motor, and completing the forward and reverse rotation of the motor. The control channel is used for completing the control of the A and B windings by using the H-bridge driving circuit, and four bridge arm driving signals are used for completing the control of each winding.

2. The launch vehicle engine spin start motor redundancy control system of claim 1, wherein, The second data processing module outputs the bridge arm control phase sequence instruction by receiving the motor forward or reverse rotation control instruction of the communication module.

3. The launch vehicle engine spin start motor redundancy control system of claim 1, wherein, The voting channel is used for three-two voting of the three-way motor control instructions, and outputs the voting results to the arbitration link for arbitration.

4. The launch vehicle engine spin start motor redundancy control system of claim 1, wherein, The voting arbitration module takes the B module as an example, the B module interacts with the A and C modules through heartbeats, user acquires the interactive heartbeats of the data processing modules A and C, and the heartbeats are voted in four working conditions that module A and C are both valid, only A is valid, only C is valid and all are invalid; the B voting module is on the same board with the data processing module and has no heartbeat information; the phase sequence instructions of the data processing modules A, B and C are acquired and voted in the four working conditions that module A and C are both valid, only A is valid, only C is valid and all are invalid; in the first judgment, if module A and C are both valid, the three-two voting of the A, B and C phase sequence instructions is carried out, if the ABC instructions are all same, the A instruction is voted, if the AB or AC instructions are same, the A instruction is voted, if the BC instructions are same, the B instruction is voted, and if the ABC instructions are all different, the A instruction is voted; 5. The launch vehicle engine spin start motor redundancy control system of claim 1, wherein, in the first judgment, if only A is valid, the two-one voting of the A and B phase sequence instructions is carried out, if the AB instructions are same, the A instruction is voted, and if the AB instructions are different, the A instruction is voted; in the first judgment, if only C is valid, the two-one voting of the B and C phase sequence instructions is carried out, if the BC instructions are same, the B instruction is voted, and if the BC instructions are different, the B instruction is voted; in the first judgment, if all are invalid, the single voting of the B phase sequence instruction is carried out, if there is the instruction, the B instruction is voted, and if there is no instruction, there is no voting result. The voting channel takes the B module as an example, and the arbitration link receives the voting results of the A, B and C modules in the voting link and carries out arbitration; if A, B and C are all valid, three-two arbitration is carried out.

6. The launch vehicle engine spin-stabilized motor redundancy control system of claim 1, wherein, ​ Three voting results are the same, arbitrating the result output; two voting results are the same, arbitrating the result output; the voting results are all different, arbitrating the A module output; If A, B and C have two valid voting results, two-out-of-three arbitration is performed; Two voting results are the same, arbitrating the result output; Two voting results are different, arbitrating the output according to the priority of ABC; If A, B and C have one valid voting result, the single valid result arbitration output is performed; if A, B and C have no valid voting result, no arbitration output is performed; according to the arbitration result, an enable signal is output to the phase sequence driving module; If the voting A output, the enable signal is sent to the A phase sequence driving module, and the Kb1 and Kb2 relays corresponding to the A module are turned on; if the voting B output, the enable signal is sent to the B phase sequence driving module, and the Kb1 and Kb2 relays corresponding to the B module are turned on; if the voting C output, the enable signal is sent to the C phase sequence driving module, and the Kb1 and Kb2 relays corresponding to the C module are turned on.

7. The launch vehicle engine spin start motor redundancy control system of claim 1, wherein, The phase sequence driving module and the six-pipe arbitration circuit are used for receiving the enable control signal of the voting arbitration module; If the A voting arbitration module enables the B phase sequence driving module, the relays Ka1 and Ka2 are closed; If the B voting arbitration module enables the B phase sequence driving module, the relays Kb1 and Kb2 are closed; If the C voting arbitration module enables the B phase sequence driving module, the relays Kc1 and Kc2 are closed; finally, whether the B phase sequence driving module outputs is determined through the six-pipe arbitration circuit voting.

8. The launch vehicle engine spin start motor redundancy control system of claim 1, wherein, The H-bridge driving circuit is used for executing the winding phase sequence control after receiving the arbitration voting phase sequence control instruction.

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