Rocket pressurization pipeline system and control method

Abstract

The invention provides a rocket pressurization pipeline system and a control method, and relates to the field of carrier rockets. The system comprises a propellant storage tank and a high-pressure gas source, the pressurizing main pipeline is communicated with the propellant storage tank and the high-pressure gas source; the electric control valve is arranged on the supercharging main pipeline; the detection module is used for detecting the pressure difference between the two ends of the electric control valve, the second pressure at the outlet of the high-pressure gas source, the liquid level of the propellant storage tank and the first pressure in the propellant storage tank; the control module is arranged on one side of the wall of the rocket and electrically connected with the sensing detection module and the electric adjusting valve; the control module is used for determining the pressurization mode of the propellant storage tank according to the current attitude angle change rate and the flight stage of the rocket and the parameters of the sensing detection module; predicting a predicted pressure value of the propellant storage tank according to the pressurization mode; and the valve element of the electric control valve is adjusted to the target valve element opening degree value according to the predicted pressure value. According to the scheme, dynamic adjustment of the pressurization flow is achieved.

Description

Technical Field

[0001] This invention relates to the field of launch vehicles, and in particular to a rocket pressurization pipeline system and control method. Background Technology

[0002] Currently, during rocket flight, the pressure stability of the propellant tank directly affects the engine's operational reliability and thrust output accuracy. To ensure that the propellant in the tank can be stably delivered to the engine, high-pressure gas (such as helium or nitrogen) needs to be introduced into the tank through pressurization pipelines to maintain the set pressure inside the tank. During rocket flight, there are various complex operating conditions, such as severe vibrations during takeoff, sudden pressure changes in the high-altitude environment, and engine operating condition switching (such as throttling and shutdown restart), which place stringent requirements on the dynamic adjustment capability, response speed, and adaptability of the pressurization pipeline system. Existing rocket pressurization pipeline systems mostly use orifice plates with fixed orifice diameters to achieve flow control. The core principle is to limit the flow cross-section of the pressurized gas by limiting the orifice diameter of the preset orifice plate, thereby controlling the pressurization flow rate. Existing pressurization strategies mostly rely on pre-set fixed programs, which are adjusted by commands issued from the ground control system; or they directly use manual adjustment valves for auxiliary control, with ground operators monitoring data in real time and issuing adjustment commands to help maintain stable pressurization pressure. This fixed orifice plate design cannot dynamically adjust the pressurization flow according to changes in flight conditions, which can easily lead to pressure fluctuations in the tank and affect the stability of propellant delivery. At the same time, pressurization adjustment depends on pre-set programs on the ground, which cannot respond to sudden pressure deviations in real time and is difficult to meet the pressurization requirements under extreme conditions. Meanwhile, existing systems mostly use a single communication link to transmit control and detection signals, which can easily lead to system adjustment failures due to communication failures. The coordination accuracy between sensors and actuators is low, and there is a lack of targeted pressurization mode design for different flight stages. Summary of the Invention

[0003] This invention provides a rocket pressurization pipeline system and control method, which solves the problems of existing rocket pressurization pipeline systems that use a fixed throttling structure, which cannot dynamically adapt to complex flight conditions; have a lag in pressure regulation response leading to large pressure fluctuations in the propellant tank; rely on manual intervention, resulting in regulation failure during autonomous flight; and have insufficient adaptability to different mission profiles.

[0004] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: This invention provides a rocket pressurization pipeline system, comprising: Propellant tanks and high-pressure gas source; The main pressurization pipeline connecting the propellant storage tank and the high-pressure gas source; An electric regulating valve is installed on the main pressurization line; The detection module installed on the main pressurization pipeline is used to detect the differential pressure parameter across the electric regulating valve, the second pressure parameter at the outlet of the high-pressure gas source, the liquid level parameter of the propellant tank, and the first pressure parameter inside the tank. A control module located on one side of the rocket's fuselage is electrically connected to the sensing module and the electric regulating valve, respectively. The control module acquires the rocket's current attitude angle change rate, the rocket's current flight stage, and real-time parameters collected by the sensing module. Based on the differential pressure and liquid level parameters collected by the sensing module, it determines the pressure change rate and propellant level change rate of the propellant tank. Based on the pressure change rate, propellant level change rate, rocket's current attitude angle change rate, and rocket's current flight stage, it determines the propellant tank's pressurization mode. Based on the propellant tank's pressurization mode and the real-time parameters from the sensing module, it predicts the propellant tank's pressure value within a predicted time period. Based on the predicted pressure value, it adjusts the current electric regulating valve's valve core opening to the target valve core opening value.

[0005] Optionally, the sensing and detection module includes: A second pressure sensor is installed on the main pressurization line and located at the outlet of the high-pressure gas source; A differential pressure sensor is installed on the main pressurization line and located at both ends of the electric regulating valve; A first pressure sensor and a liquid level sensor are installed inside the propellant tank; The first pressure sensor, differential pressure sensor, second pressure sensor, and liquid level sensor are all electrically connected to the control module. The control module determines the pressure change rate of the propellant tank by dividing the difference between two adjacent second pressure parameters by the interval between the two acquisitions; and determines the propellant level change rate of the propellant tank by dividing the difference between two adjacent liquid level parameters by the interval between the two acquisitions.

[0006] Optionally, the rocket pressurization pipeline system further includes: A pressure-replenishing solenoid valve is installed between the electric regulating valve and the high-pressure air source, and is located on the main pressure boosting pipeline. The pressure-replenishing solenoid valve is electrically connected to the control module. A filter is installed between the pressure-replenishing solenoid valve and the high-pressure air source, and located on the main pressure-boosting pipeline.

[0007] Optionally, the electrically controlled regulating valve includes: The valve body has two ends connected to the propellant tank and the high-pressure gas source respectively via a pressurization main pipeline; A valve seat is provided on the valve body, and a receiving cavity is provided inside the valve seat, which communicates with the inside of the valve body. The drive motor mounted on the valve seat and the valve stem, valve core, lead screw, and lead screw nut inside the valve seat; The drive motor is electrically connected to the control module, and one end of the lead screw is fixedly connected to the output end of the drive motor. The lead screw nut is sleeved on the lead screw and is rotatably connected to the lead screw; The valve stem is sleeved on the outside of the lead screw, and one end is fixedly connected to the bottom of the lead screw nut; The valve core is located at the other end of the valve stem and is fixedly connected to the valve stem.

[0008] Optionally, the electric throttle valve further includes: A first limiting block and a second limiting block are disposed on the inner side wall of the valve seat, and a position feedback sensor is disposed on the top of the valve stem, wherein the position feedback sensor is electrically connected to the control module.

[0009] This invention also provides a control method for a rocket pressurization pipeline system, the rocket pressurization pipeline system comprising: a propellant tank and a high-pressure gas source; a main pressurization pipeline connecting the propellant tank and the high-pressure gas source; an electrically operated regulating valve disposed on the main pressurization pipeline; and a detection module disposed on the main pressurization pipeline for detecting a pressure difference parameter across the electrically operated regulating valve, a second pressure parameter at the outlet of the high-pressure gas source, a liquid level parameter in the propellant tank, and a first internal pressure parameter, the method comprising: Acquire the rocket's current attitude angle change rate, the rocket's current flight stage, and real-time parameters collected by the sensor detection module; Based on the differential pressure parameter and liquid level parameter collected in real time by the sensing and detection module, the pressure change rate and propellant liquid level change rate of the propellant tank are determined. Based on the pressure change rate, propellant level change rate, rocket current attitude angle change rate, and rocket current flight stage, determine the pressurization mode of the propellant tank; Based on the pressurization mode of the propellant tank and the real-time parameters of the sensing and detection module, the predicted pressure value of the propellant tank within a future prediction period is predicted. Adjust the valve core opening of the current electric regulating valve to the target valve core opening value based on the predicted pressure value.

[0010] Optionally, based on the pressure change rate, propellant level change rate, rocket current attitude angle change rate, and rocket current flight phase, the propellant tank pressurization mode is determined, including: When the rocket is currently in the ignition phase, the pressure change rate is greater than the first preset value, and the attitude angle change rate is less than the second preset value, the propellant tank pressurization mode is determined to be the rapid pressurization mode. When the rocket is currently in the takeoff phase, the pressure change rate is within the first preset range, and the propellant level change rate is greater than the third preset value, the pressurization mode of the propellant tank is determined to be the rapid pressurization mode. When the rocket is currently in the gliding phase, the pressure change rate is less than the first preset value, and the propellant level change rate is less than the fourth preset value, the pressurization mode of the propellant tank is determined to be the stable pressurization mode. When the rocket is currently in the engine throttling or pre-shutdown phase, and the pressure change rate is less than the fifth preset value, or the attitude angle change rate is greater than the sixth preset value, the propellant tank pressurization mode is determined to be the rapid pressurization mode.

[0011] Optionally, based on the pressurization mode of the propellant tank and the real-time parameters of the sensing module, the predicted pressure value of the propellant tank within a future prediction period is predicted, including: The prediction duration is determined based on the pressurization mode of the propellant tank; Based on the prediction duration and the real-time parameters of the sensor detection module, the formula is used. Determine the first boost flow rate Q1; where, S1 is the valve flow coefficient, taken as 0.8; S2 is the valve core opening at the previous moment. For the density of the high-pressure gas, take 0.169. ; Based on the first boost flow rate Q1, through Determine the predicted pressure change rate f of the propellant tank; where γ represents the gas adiabatic coefficient. The pressure value of the first pressure sensor at the current moment; R is the gas constant; V(H) is the effective volume of the tank; T represents the prediction time. Indicates the rate of change of propellant level; Based on the predicted pressure change rate f and the prediction duration, using the formula... Determine the predicted pressure value P of the propellant tank within the predicted time. 2pred ,in, is the pressure value of the first pressure sensor at the current moment; f is the predicted pressure change rate; and T represents the prediction time.

[0012] Optionally, adjusting the valve core opening of the current electric regulating valve to the target valve core opening value based on the predicted pressure value includes: The predicted boost flow rate is determined based on the predicted pressure value and the preset target pressure value; Based on the predicted boost flow rate and the real-time parameters of the sensor detection module, the target valve core opening value of the electric regulating valve is determined, and the current valve core opening value of the electric regulating valve is adjusted to the target valve core opening value.

[0013] Optionally, the predicted boost flow rate is determined based on the predicted pressure value and the preset target pressure value, including: The predicted pressure difference is determined based on the predicted pressure value and the preset target pressure value; Based on the predicted pressure difference, using the formula Determine the predicted booster flow rate Q; where γ represents the gas adiabatic coefficient; For predicting pressure difference; R is the gas constant; V(H) is the effective volume of the tank; T represents the prediction time. This indicates the rate of change of propellant level in the propellant tank at the current moment; This represents the rate of pressure change in the propellant tank at the current moment.

[0014] The above-described solution of the present invention has at least the following beneficial effects: The rocket pressurization pipeline system of this invention includes a propellant tank and a high-pressure gas source; a main pressurization pipeline connecting the propellant tank and the high-pressure gas source; an electrically operated regulating valve installed on the main pressurization pipeline; a detection module installed on the main pressurization pipeline for detecting the pressure difference parameter across the electrically operated regulating valve, the second pressure parameter at the outlet of the high-pressure gas source, the liquid level parameter of the propellant tank, and the first internal pressure parameter; and a control module installed on one side of the rocket wall, electrically connected to the sensing module and the electrically operated regulating valve respectively; the control module is used to acquire the rocket's current attitude angle change rate and the rocket's current flight... The system analyzes the phase and real-time parameters of the sensing module; based on the differential pressure and liquid level parameters in the real-time parameters of the sensing module, it determines the pressure change rate and propellant level change rate of the propellant tank; based on the pressure change rate, propellant level change rate, rocket current attitude angle change rate, and rocket current flight phase, it determines the propellant tank pressurization mode; based on the propellant tank pressurization mode and the real-time parameters of the sensing module, it predicts the propellant tank pressure value within a predicted time period; based on the predicted pressure value, it adjusts the valve core opening of the current electric regulating valve to the target valve core opening value. This achieves millisecond-level dynamic adjustment of the pressurization flow rate, improving the stability of the tank pressure during rocket flight; it also enhances system reliability and adaptability, meeting the pressurization requirements of different flight conditions and mission profiles. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the rocket pressurization pipeline system of the present invention; Figure 2 This is a schematic diagram of the internal structure of the electric throttle valve in the rocket pressurization pipeline system of the present invention; Figure 3 This is a flowchart illustrating the control method of the rocket pressurization pipeline system of the present invention; Explanation of reference numerals in the attached figures: 1. Propellant tank; 2. Main pressurization pipeline; 3. Electric regulating valve; 31. Valve body; 32. Valve seat; 33. Drive motor; 34. Valve stem; 35. Valve core; 36. Lead screw; 37. Lead screw nut; 38. First limit block; 39. Second limit block; 40. Position feedback sensor; 41. First pressure sensor; 42. Second pressure sensor; 43. Differential pressure sensor; 44. Liquid level sensor; 5. Pressure replenishing solenoid valve; 6. High-pressure gas source; 7. Filter; 8. Control module; 9. Power supply module; 10. Rocket casing. Detailed Implementation

[0016] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0017] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a rocket pressurization pipeline system, comprising: Propellant tank 1 and high-pressure gas source 6; The main pressurization pipeline 2 connects the propellant storage tank 1 and the high-pressure gas source 6; An electric regulating valve 3 is installed on the main pressurization pipeline 2; The detection module installed on the main pressurization pipeline 2 is used to detect the differential pressure parameter across the electric regulating valve 3, the second pressure parameter at the outlet of the high-pressure gas source 6, the liquid level parameter of the propellant storage tank 1, and the first pressure parameter inside the tank. A control module 8, located on one side of the rocket wall 10, is electrically connected to the sensing module and the electric regulating valve 3. The control module 8 is used to acquire the rocket's current attitude angle change rate, the rocket's current flight stage, and real-time parameters collected by the sensing module; based on the differential pressure and liquid level parameters in the real-time parameters collected by the sensing module, it determines the pressure change rate and propellant liquid level change rate of the propellant tank 1; based on the pressure change rate, propellant liquid level change rate, rocket's current attitude angle change rate, and rocket's current flight stage, it determines the pressurization mode of the propellant tank 1; based on the pressurization mode of the propellant tank 1 and the real-time parameters of the sensing module, it predicts the predicted pressure value of the propellant tank 1 within a predicted time period; and based on the predicted pressure value, it adjusts the valve core opening of the electric regulating valve 3 to the target valve core opening value.

[0018] In this embodiment, the booster main pipeline 2 is made of stainless steel with a polished inner wall. One end is connected to the high-pressure gas source 6, and the other end is connected to the propellant storage tank 1 for conveying high-pressure booster gas. An electric regulating valve 3 is connected in series on the booster main pipeline to regulate the flow rate of the booster main pipeline 2. The control module 8 receives the electrical signal from the sensing module and calculates the opening degree of the electric regulating valve 3. The control module 8 includes a microprocessor and at least one of the following electrically connected to the microprocessor: a signal conditioning unit, a storage unit, a self-learning unit, and a redundant communication unit. The signal conditioning unit is electrically connected to the sensing module and uses an instrumentation amplifier and a low-pass filter to amplify and... The filtering process includes a microprocessor with an ARM Cortex-M7 core for calculating the opening degree; a flash memory for storing preset parameters and preset boosting curves; a redundant communication unit with a dual-path design of CAN bus and RS485 bus to ensure stable signal transmission; and a self-learning unit for recording historical adjustment data, optimizing preset boosting curves and control parameters, and improving adaptability to different mission profiles. In a preferred embodiment, the rocket boosting pipeline system further includes a power supply module 9 located on one side of the rocket wall 10, which provides stable voltage to each module. The power supply module 9 uses a lithium polymer battery and is equipped with a DC-DC voltage stabilization unit, outputting stable voltages of 3.3V, 5V, and 12V. In operation, the sensing module collects real-time signals of gas source pressure, tank pressure, pipeline differential pressure, and propellant level. These signals are filtered, amplified, and converted from analog to digital by the signal conditioning unit before being transmitted to the microprocessor of the control module 8. The microprocessor acquires the current flight stage of the rocket, switches the corresponding pressurization mode based on this stage, and determines the target valve core opening value of the electric regulating valve 3 according to the pressurization mode of the propellant tank 1 and the real-time parameters of the sensing module. It then generates a corresponding control signal based on this target valve core opening value and transmits it to the electric regulating valve 3 via a redundant communication unit, thereby controlling the operation of the electric regulating valve 3. Determining the target valve core opening value of the electric regulating valve 3 based on the pressurization mode of the propellant tank 1 and the real-time parameters of the sensing module includes: acquiring the signal... The system collects real-time parameters from the sensing module, the rocket's current attitude angle change rate, and the rocket's current flight stage. Based on these parameters, it determines the pressure change rate and propellant level change rate of propellant tank 1. Based on these parameters, it determines the pressurization mode of propellant tank 1. Based on the pressurization mode and data transmitted from the sensing module, it predicts the pressure of propellant tank 1 within a preset timeframe. Then, using a preset pressurization curve (corresponding to the target pressure required by propellant tank 1 at each moment), it determines the pressure change trend (difference) between the predicted and target pressures of propellant tank 1. Based on this difference, it calculates the target valve core opening value corresponding to the electric regulating valve 3.

[0019] In this embodiment, the rocket pressurization pipeline system acquires the pressure difference signal before and after the throttling of the electric regulating valve 3, predicts the pressure change trend by combining it with the system's mathematical model, and calculates the specific opening degree of the electric regulating valve 3 to achieve precise pre-judgment adjustment. It automatically identifies different flight stages and switches between rapid pressurization mode and stable pressurization mode to adapt to personalized pressurization needs. It employs dual-path redundant communication via CAN bus and RS485 bus to avoid system failure due to communication failure. It reduces flow resistance through stainless steel polished pipelines. By integrating multi-dimensional signals of pressure, pressure difference, and liquid level, it further improves the accuracy of adjustment decisions. The rocket pressurization pipeline system predicts the pressure of the propellant tank 1 in advance and compares it with the target pressure. When the error value is exceeded, it immediately calculates the corresponding adjustment amount and performs automatic adjustment, thereby achieving millisecond-level dynamic adjustment of the pressurization flow rate and improving the stability of the tank pressure during rocket flight. Simultaneously, it enhances system reliability and adaptability to meet the pressurization requirements of different flight conditions and mission profiles.

[0020] In an optional embodiment of the present invention, the sensing and detection module includes: The second pressure sensor 42 is installed on the main pressurization pipeline 2 and located at the outlet of the high-pressure gas source 6; Differential pressure sensor 43 is installed on the main pressurization line 2 and located at both ends of the electric regulating valve 3; A first pressure sensor 41 and a liquid level sensor 44 are installed inside the propellant tank 1; The first pressure sensor 41, the differential pressure sensor 43, the second pressure sensor 42, and the liquid level sensor 44 are all electrically connected to the control module 8. The control module 8 determines the pressure change rate of the propellant tank 1 by dividing the difference between two adjacent second pressure parameters by the interval between the two acquisitions; and determines the propellant level change rate of the propellant tank 1 by dividing the difference between two adjacent second liquid level parameters by the interval between the two acquisitions.

[0021] In this embodiment, the second pressure sensor 42 is used to detect the second pressure parameter at the outlet of the high-pressure gas source 6 in real time; the first pressure sensor 41 is used to detect the first pressure parameter inside the propellant tank 1 in real time; the liquid level sensor 44 detects the liquid level parameter inside the propellant tank 1 in real time; and the differential pressure sensor 43 is connected in parallel across the electric regulating valve 3 to detect the differential pressure across the electric regulating valve 3.

[0022] In an optional embodiment of the present invention, the rocket pressurization pipeline system further includes: A pressure-replenishing solenoid valve 5 is installed between the electric regulating valve 3 and the high-pressure air source 6, and is located on the main pressurization pipeline 2. The pressure-replenishing solenoid valve 5 is electrically connected to the control module 8. The filter 7 is located between the pressure-replenishing solenoid valve 5 and the high-pressure air source 6, and is situated on the main pressure-boosting pipeline 2.

[0023] In this embodiment, the pressure-replenishing solenoid valve 5 is used to control the opening and closing of the high-pressure gas source 6. Before pressurization, the control module 8 first controls the pressure-replenishing solenoid valve 5 to open. The filter 7 is used to filter the input gas to ensure gas quality.

[0024] In an optional embodiment of the present invention, the electric regulating valve 3 is a pneumatic control valve or an electric throttle valve.

[0025] In this embodiment, the design of the electric regulating valve 3 is not unique, as long as it can meet the automatic control requirements of the control module 8.

[0026] In an optional embodiment of the present invention, when the electric regulating valve 3 is an electric throttle valve, the electric regulating valve 3 includes: The valve body 31 has two ends connected to the propellant tank 1 and the high-pressure gas source 6 respectively through the pressurization main pipeline 2; A valve seat 32 is provided on the valve body 31, and the valve seat 32 has an internal cavity that communicates with the interior of the valve body 31. The drive motor 33 is mounted on the valve seat 32, and the valve stem 34, valve core 35, lead screw 36, and lead screw nut 37 are located inside the valve seat 32. The drive motor 33 is electrically connected to the control module 8, and one end of the lead screw 36 is fixedly connected to the output end of the drive motor 33. The lead screw nut 37 is sleeved on the lead screw 36 and is rotatably connected to the lead screw 36; The valve stem 34 is sleeved on the outside of the lead screw 36, and one end is fixedly connected to the bottom of the lead screw nut 37; The valve core 35 is disposed at the other end of the valve stem 34 and is fixedly connected to the valve stem 34.

[0027] In this embodiment, the drive motor 33 is a brushless DC motor equipped with a planetary gear reduction mechanism; the valve body 31 has a fluid channel inside; the valve seat 32 is press-fitted or threaded onto the valve body 31, sealingly connected to the valve body 31, and communicating with the internal flow channel of the valve body 31; the valve core 35 has a conical structure and is fixedly connected to the lower end of the valve stem 34 by threads or pins, and the upper end of the valve stem 34 is fixedly connected to the bottom of the lead screw nut 37; the interior of the valve stem 34 does not contact the end face of the lead screw 36, the lead screw 36 is disposed in the valve seat 32 and is slidably connected to the internal side wall of the valve seat 32; the output shaft of the drive motor 33 is connected to the upper end of the lead screw 36 through a coupling or gear; in use, the control module 8 controls the drive motor... The forward and reverse rotation of the motor 33 drives the lead screw 36 to rotate forward and reverse. When the lead screw 36 rotates forward, the thread on the lead screw 36 drives the lead screw nut 37 to move downward. The lead screw nut 37 then drives the valve stem 34 to move downward, thereby causing the valve core 35 to block the fluid passage inside the valve body 31. When the lead screw 36 rotates in reverse, the thread on the lead screw 36 drives the lead screw nut 37 to move upward. The lead screw nut 37 then drives the valve stem 34 to move upward, thereby causing the valve core 35 to open the fluid passage inside the valve body 31. In this embodiment, the electric regulating valve 3 driven by the lever is combined with a brushless DC motor, achieving an adjustment accuracy of 0.01mm. At the same time, a mechanical limit mechanism can be equipped to ensure operational safety.

[0028] In an optional embodiment of the present invention, the electric throttle valve further includes: The first limiting block 38 and the second limiting block 39 are disposed on the inner side wall of the valve seat 32, and the position feedback sensor 40 is disposed on the top of the valve stem 34. The feedback sensor 40 is electrically connected to the control module 8.

[0029] In this embodiment, the design of the position feedback sensor 40 is not unique, as long as it can achieve real-time detection of the position of the valve stem 34. The position feedback sensor 40 can be an optical encoder or a magnetic encoder. The position feedback sensor 40 is used to detect the vertical movement distance of the valve stem 34 in real time, thereby determining the opening degree of the valve core 35 within the valve body 31. The distance between the first limiting block 38 and the second limiting block 39 is set by a preset distance, which is the width of the internal flow channel of the valve body 31. The first limiting block 38 and the second limiting block 39 are used to provide feedback on the current extreme position of the valve core 35. When the position feedback... When sensor 40 detects that the distance to the first limiting block 38 is 0, it indicates that the valve core 35 has risen to its highest height, and the channels in the valve body 31 are fully open. When position feedback sensor 40 detects that the distance to the second limiting block 39 is 0, it indicates that the valve core 35 has fallen to its lowest point, and the channels in the valve body 31 are fully blocked. In this embodiment, the actual opening degree of the valve core is collected in real time by position feedback sensor 40 and fed back to the control module for closed-loop correction. The design of the mechanical limiting mechanism (first limiting block 38 and second limiting block 39) can limit the maximum and minimum opening degree of the valve core and avoid damage to components.

[0030] The specific working principle of the rocket pressurization pipeline system described in this invention is as follows: First, during the system initialization phase, before the rocket takes off, control module 8 completes a self-check and initializes the preset pressurization curve and control parameters. In the control parameters, the valve core opening range is set to 0-100%, and the corresponding upper and lower limits of the mechanical limit and the adjustment rate are set to 5ms for prediction in fast mode and 0.5% / ms for maximum step size. In stable mode, the prediction time is 10ms and the maximum step size is 0.1% / ms. The preset pressurization curve is used to record the target pressure required for each propellant tank 1 at each moment. The electric regulating valve 3 is reset to the initial opening degree corresponding to the takeoff phase, for example, 30% opening degree; After the rocket takes off, the sensing and detection module continuously collects various signals at a set frequency, processes them, and transmits them to the control module 8. The microprocessor of control module 8 identifies the ignition phase, takeoff phase, coasting phase, engine throttling phase, or pre-shutdown phase based on the tank pressure change rate, propellant level change rate, and rocket flight attitude signals, and switches to "rapid pressurization mode" or "stable pressurization mode". Meanwhile, the microprocessor calculates the target valve core opening degree through the model predictive control algorithm and sends control commands to the drive motor 33. The drive motor 33 drives the valve core 35 to move to the target position through the valve stem 34, and performs closed-loop correction through the position feedback signal. The self-learning unit records adjustment process data, and after the flight mission is completed, it performs offline analysis to optimize preset parameters and improve the adaptability to subsequent missions. When one communication link fails, the redundant communication unit automatically switches to another link to ensure stable signal transmission.

[0031] In this embodiment, the rocket pressurization pipeline system employs real-time feedback from a differential pressure sensor and a brushless DC motor drive to achieve millisecond-level flow regulation with a response time ≤5ms. Through pre-predictive pressure design, the pressure fluctuation range of the propellant tank can be controlled within ±0.03MPa, improving stability by more than 85% compared to existing technologies. Through operational condition identification and a self-learning unit, it can automatically adapt to different flight phases and mission profiles without manual intervention, significantly improving adaptability. A dual-redundant communication design reduces the probability of communication failure to 10%. -6 The mechanical limit mechanism and high-pressure sealing structure reduce the risk of component damage and leakage, improving the overall reliability of the system. Simultaneously, the adjustment accuracy can reach 0.01mm, and combined with the advance prediction of the model predictive control algorithm, the pressure control accuracy is further improved. The electric throttle valve adopts an integrated design, is small in size and light in weight, and can be directly connected in series in existing booster pipelines without significant modifications to the valve body structure, making it convenient for engineering applications. The mechanical limit mechanism prevents excessive valve core movement, and the stainless steel polished pipeline and reliable sealing structure reduce flow resistance and leakage risk, ensuring long-term stable operation of the system.

[0032] like Figures 1 to 3 As shown, an embodiment of the present invention also proposes a control method for a rocket pressurization pipeline system. The rocket pressurization pipeline system includes: a propellant tank 1 and a high-pressure gas source 6; a main pressurization pipeline 2 connecting the propellant tank 1 and the high-pressure gas source 6; an electrically operated regulating valve 3 installed on the main pressurization pipeline 2; and a detection module installed on the main pressurization pipeline 2 for detecting the pressure difference parameter across the electrically operated regulating valve 3, a second pressure parameter at the outlet of the high-pressure gas source 6, the liquid level parameter of the propellant tank 1, and a first internal pressure parameter. The method includes: Step 101: Obtain the rocket's current attitude angle change rate, the rocket's current flight stage, and real-time parameters collected by the sensor detection module; Step 102: Determine the pressure change rate and propellant level change rate of propellant tank 1 based on the pressure difference parameter and liquid level parameter in the real-time parameters collected by the sensing and detection module; Step 103: Determine the pressurization mode of propellant tank 1 based on the pressure change rate, propellant level change rate, rocket current attitude angle change rate, and rocket current flight stage. Step 104: Based on the pressurization mode of the propellant tank 1 and the real-time parameters of the sensing and detection module, predict the predicted pressure value of the propellant tank 1 within a future prediction time period. Step 105: Adjust the valve core opening of the current electric regulating valve 3 to the target valve core opening value according to the predicted pressure value.

[0033] In this embodiment, the real-time parameters of the sensing and detection module include: the first pressure parameter, second pressure parameter, differential pressure parameter, and liquid level parameter corresponding to the first pressure sensor, differential pressure sensor, and liquid level sensor, respectively; the current flight phase of the rocket includes: ignition phase, takeoff phase, coasting phase, and engine throttling or shutdown phase; the pressure change rate of the propellant tank 1 can be determined by dividing the difference between two adjacent second pressure parameters by the time interval between their acquisition; the propellant liquid level change rate is determined by dividing the difference between two adjacent liquid level parameters by the time interval between their acquisition; the current attitude angle change rate of the rocket can be determined by the rocket's inertial navigation system, specifically, by first acquiring the rocket's attitude signal, including: the rate of change of the rocket's current pitch angle and yaw angle; and then obtaining the current attitude angle change rate of the rocket by dividing the rate of change of the pitch angle by the rate of change of the yaw angle.

[0034] In this embodiment, the control method of the rocket pressurization pipeline system achieves millisecond-level dynamic adjustment of pressurization flow rate through the design of real-time detection parameters of the sensing module, the adjustment design of the pressurization mode, and the precise calculation of the target valve core opening value, thereby improving the stability of the tank pressure during rocket flight; at the same time, it enhances the system reliability and adaptability, and meets the pressurization requirements of different flight conditions and mission profiles.

[0035] In an optional embodiment of the present invention, step 103, which determines the pressurization mode of the propellant tank 1 based on the pressure change rate, propellant level change rate, rocket current attitude angle change rate, and rocket current flight stage, may include: Step 1031: When the rocket is currently in the ignition phase, the pressure change rate is greater than the first preset value, and the attitude angle change rate is less than the second preset value, the pressurization mode of the propellant tank 1 is determined to be the rapid pressurization mode. Step 1032: When the rocket is currently in the takeoff phase, the pressure change rate is within the first preset range, and the propellant level change rate is greater than the third preset value, the pressurization mode of the propellant tank 1 is determined to be the rapid pressurization mode. Step 1033: When the rocket is currently in the gliding phase, the pressure change rate is less than the first preset value, and the propellant level change rate is less than the fourth preset value, the pressurization mode of the propellant tank 1 is determined to be the stable pressurization mode. Step 1034: When the current flight phase of the rocket is the engine throttling or pre-shutdown phase, and the pressure change rate is less than the fifth preset value, or the attitude angle change rate is greater than the sixth preset value, determine that the pressurization mode of the propellant tank 1 is the rapid pressurization mode.

[0036] In this embodiment, the first preset value is 0.05 MPa / s; the second preset value is 0.1 rad / s; the first preset range is [0.1, 0.5) MPa / s; the third preset value is 0.05 m / s; the fourth preset value is 0.01 m / s; the fifth preset value is -0.2 MPa / s; and the sixth preset value is 0.5 rad / s. The control parameters corresponding to the rapid boost mode are a prediction time of 5 ms and a maximum step size of 0.5% / ms. The control parameters corresponding to the stable boost mode are a prediction time of 10 ms and a maximum step size of 0.1% / ms. During the ignition stage, when the pressure change rate dP2 / dt ≥ 0.05 MPa / s and the attitude angle change rate ≤ 0.1 rad / s, the system switches to the rapid boost mode. The system prioritizes rapidly increasing the pressure to the set value. During takeoff, when the pressure change rate dP2 / dt ∈ [0.1, 0.5) MPa / s and the propellant level change rate dH / dt ≥ 0.05 m / s, the rapid pressurization mode is maintained to address the pressure drop caused by rapid propellant consumption. During taxiing, when the pressure change rate dP2 / dt ≤ 0.05 MPa / s and dH / dt ≤ 0.01 m / s, the system switches to stable pressurization mode to prioritize stable pressure and avoid over-pressurization. Before engine throttling / shutdown, when the pressure change dP2 / dt suddenly drops (i.e., pressure change ≤ -0.2 MPa / s) or the attitude angle change rate ≥ 0.5 rad / s), the system switches to rapid pressurization mode to address sudden pressure loss.

[0037] In an optional embodiment of the present invention, step 104, predicting the predicted pressure value of the propellant tank 1 within a future prediction period based on the pressurization mode of the propellant tank 1 and the real-time parameters of the sensing module, may include: Step 1041: Determine the prediction duration based on the pressurization mode of propellant tank 1; Step 1042: Based on the predicted duration and the real-time parameters of the sensor detection module, use the formula... Determine the first boost flow rate Q1; in, Let be the valve flow coefficient, taken as 0.8. This valve flow coefficient can be corrected using the real-time parameter ΔP; the correction equation is: ,in, The corrected valve flow coefficient is given by ΔP, where ΔP is the differential pressure parameter of the differential pressure sensor, and k is the correction factor of 0.02 MPa. - ¹, The initial valve flow coefficient can be set based on empirical values; S1 is the valve core opening at the previous moment, and the initial valve core opening before takeoff is 30%. For the density of the high-pressure gas, take 0.169. ; Step 1043, based on the first boost flow rate Q1, through Determine the predicted pressure change rate f of propellant tank 1; where γ represents the gas adiabatic coefficient, and helium is taken as 1.67; The pressure value of the first pressure sensor at the current moment; R is the gas constant, for helium R = 2077 J / (kg). K); V(H) is the effective volume of the tank; T represents the prediction duration; Indicates the rate of change of propellant level; Step 1044: Based on the predicted pressure change rate f and the prediction duration, use the formula... Determine the predicted pressure value P of propellant tank 1 within the predicted time. 2pred ,in, is the pressure value of the first pressure sensor at the current moment; f is the predicted pressure change rate; and T represents the prediction time.

[0038] In this embodiment, step 1041, determining the prediction time based on the pressurization mode of propellant tank 1, can specifically be as follows: when the pressurization mode is rapid pressurization mode, the prediction time is 5ms, that is, the pressure value is predicted after 5ms; during adjustment, the corresponding maximum step size of the adjustment rate is set to 0.5% / ms; in stable mode, the maximum step size is 0.1% / ms; when the pressurization mode is stable pressurization mode, the prediction time is 10ms, that is, the pressure value is predicted after 10ms; during adjustment, the corresponding maximum step size of the adjustment rate is set to 0.1% / ms.

[0039] In an optional embodiment of the present invention, step 105, adjusting the valve core opening of the current electric regulating valve 3 to the target valve core opening value according to the predicted pressure value, may include: Step 1051: Determine the predicted boost flow rate based on the predicted pressure value and the preset target pressure value; Step 1052: Based on the predicted boost flow rate and the real-time parameters of the sensor detection module, determine the target valve core opening value of the electric regulating valve 3, and adjust the current valve core opening of the electric regulating valve 3 to the target valve core opening value.

[0040] In this embodiment, before executing step 1051, it is first determined whether the predicted pressure difference is within the error range, which is ±0.03 MPa. If it is within the error range, no adjustment is needed. If it is greater than the error range, it means that the target value cannot be reached in the future, and adjustment is required. The following calculation is then performed to obtain the required adjustment value. Step 1051, based on the predicted pressure value and the preset target pressure value, determines the predicted boost flow rate, which may include: Determine the predicted pressure difference based on the predicted pressure value and the preset target pressure value. Specifically, the predicted pressure difference is obtained by subtracting the preset target pressure value from the predicted pressure value and then calculating the absolute value. The preset target pressure value is determined by a preset pressurization curve, which corresponds to the preset target pressure value required by the propellant tank 1 at each moment. Based on the predicted pressure difference, using the formula Determine the predicted booster flow rate Q; where γ represents the gas adiabatic coefficient, taken as 1.67; To predict the pressure difference; R is the gas constant, for helium R = 2077 J / (kg). K); V(H) is the effective volume of the tank; T represents the prediction duration; This represents the rate of change of propellant level in propellant tank 1 at the current moment; This represents the rate of pressure change in propellant tank 1 at the current moment.

[0041] In this embodiment, step 1052, determining the target valve core opening value of the electric regulating valve 3 based on the predicted boost flow rate and the real-time parameters of the sensing module, may include: Based on the predicted boost flow rate, using the formula Determine the target valve core opening value S of the electric regulating valve 3; where ΔP is the differential pressure parameter of the differential pressure sensor. Let be the valve flow coefficient, taken as 0.8. This valve flow coefficient can be corrected using the real-time parameter ΔP; the correction equation is: ,in, The corrected valve flow coefficient is given by k, where k is the correction factor of 0.02 MPa. - ¹, The initial valve flow coefficient can be set based on empirical values. For the density of the high-pressure gas, take 0.169. Q represents the predicted boost flow rate.

[0042] In this embodiment, adjusting the valve core opening of the current electric regulating valve 3 to the target valve core opening value in step 1052 may include: The target valve core opening value is converted into a pulse signal (such as the PWM control signal of a brushless DC motor) recognizable by the drive unit. The control signal is transmitted to the drive unit of the electric regulating valve 3, i.e., the drive motor, through a redundant communication unit (CAN bus, transmission delay ≤ 0.1ms). After receiving the signal, the drive unit (brushless DC motor + planetary gear reduction mechanism) drives the conical valve core of the electric regulating valve 3 to move according to the target opening. That is, the drive motor 33 drives the lead screw 36 to rotate, thereby causing the lead screw nut 37 to drive the valve stem 34 and the valve core 35 to move up and down along the axis of the lead screw 36. The reduction mechanism can amplify the torque to ensure the adjustment accuracy. The position feedback sensor (magnetic scale, measurement accuracy 0.001mm) collects the actual opening of the valve core 35 in real time, i.e., detects the position of the valve stem 34 in real time, and feeds it back to the microprocessor of the control module 8 (feedback delay ≤ 0.3ms). At the same time, the microprocessor calculates the opening deviation ΔS (ΔS = S). The formula is: _target - S_actual, where S_target is the predicted valve core opening and S_actual is the real-time detected valve core opening. If ΔS ≥ 0.01mm (exceeding the adjustment accuracy threshold), a compensation command is immediately output to drive the valve core to fine-tune to the target position. If S_actual reaches the upper limit (100% opening) or the lower limit (0% opening), a limit signal is triggered, and the motor stops to avoid damage to components. After each adjustment cycle, the self-learning unit records key data (operating condition type, input signal, adjustment command, pressure response result). After the flight mission, the parameters are optimized through offline analysis. If pressure fluctuations exceed the standard multiple times under a certain operating condition, the MPC prediction step size or pressure threshold for that operating condition is automatically corrected. The mapping relationship between valve core opening and flow rate is optimized based on historical data to improve the calculation accuracy of subsequent adjustment commands and further shorten the response time.

[0043] The above embodiments of the present invention achieve millisecond-level dynamic adjustment of pressurization flow by real-time acquisition of pipeline pressure difference, tank pressure and propellant level signals, combined with operating condition identification and advanced flow regulation algorithms, thereby improving the stability of tank pressure during rocket flight. At the same time, through redundant design and structural optimization, the system reliability and adaptability are enhanced, eliminating the need for real-time intervention by ground personnel and meeting the pressurization requirements of different flight conditions and mission profiles.

[0044] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A rocket pressurization pipeline system, characterized in that, include: Propellant tank (1) and high-pressure gas source (6); The main pressurization pipeline (2) connects the propellant tank (1) and the high-pressure gas source (6); An electric regulating valve (3) is installed on the main pressurization pipeline (2); The detection module installed on the main pressurization pipeline (2) is used to detect the differential pressure parameter at both ends of the electric regulating valve (3), the second pressure parameter at the outlet of the high-pressure gas source (6), the liquid level parameter of the propellant tank (1), and the first pressure parameter inside. A control module (8) is installed on one side of the rocket wall (10) and is electrically connected to the sensing and detection module and the electric regulating valve (3), respectively. The control module (8) is used to acquire the current attitude angle change rate of the rocket, the current flight stage of the rocket, and the real-time parameters collected by the sensing and detection module. Based on the pressure difference parameter and liquid level parameter in the real-time parameters collected by the sensing and detection module, the pressure change rate and propellant liquid level change rate of the propellant tank (1) are determined. Based on the pressure change rate, propellant liquid level change rate, current attitude angle change rate of the rocket, and current flight stage of the rocket, the pressurization mode of the propellant tank (1) is determined. Based on the pressurization mode of the propellant tank (1) and the real-time parameters of the sensing and detection module, the predicted pressure value of the propellant tank (1) in the future within a predicted time period is predicted. Based on the predicted pressure value, the valve core opening of the current electric regulating valve (3) is adjusted to the target valve core opening value.

2. The rocket pressurization pipeline system according to claim 1, characterized in that, The sensing and detection module includes: A second pressure sensor (42) is installed on the main pressurization pipeline (2) and located at the outlet of the high-pressure gas source (6). Differential pressure sensor (43) installed on the main pressurization line (2) and located at both ends of the electric regulating valve (3); The first pressure sensor (41) and the liquid level sensor (44) are installed in the propellant tank (1). The first pressure sensor (41), the differential pressure sensor (43), the second pressure sensor (42), and the liquid level sensor (44) are all electrically connected to the control module (8). The control module (8) determines the pressure change rate of the propellant tank (1) by dividing the difference between adjacent second pressure parameters by the interval between the two acquisitions; and determines the propellant level change rate of the propellant tank (1) by dividing the difference between adjacent second liquid level parameters by the interval between the two acquisitions.

3. The rocket pressurization pipeline system according to claim 1, characterized in that, Also includes: A pressure-replenishing solenoid valve (5) is installed between the electric regulating valve (3) and the high-pressure air source (6) and located on the main pressurization pipeline (2). The pressure-replenishing solenoid valve (5) is electrically connected to the control module (8). A filter (7) is installed between the pressure-replenishing solenoid valve (5) and the high-pressure air source (6) and located on the booster main pipeline (2).

4. The rocket pressurization pipeline system according to claim 1, characterized in that, The electric regulating valve (3) includes: The valve body (31) is connected at both ends to the propellant tank (1) and the high-pressure gas source (6) respectively through the pressurization main pipeline (2); A valve seat (32) is provided on the valve body (31), and a receiving cavity is provided inside the valve seat (32), and the receiving cavity inside the valve seat (32) is connected to the inside of the valve body (31); The drive motor (33) is mounted on the valve seat (32), and the valve stem (34), valve core (35), lead screw (36), and lead screw nut (37) are located inside the valve seat (32). The drive motor (33) is electrically connected to the control module (8), and one end of the lead screw (36) is fixedly connected to the output end of the drive motor (33). The lead screw nut (37) is sleeved on the lead screw (36) and is rotatably connected to the lead screw (36); The valve stem (34) is sleeved on the outside of the lead screw (36), and one end is fixedly connected to the bottom of the lead screw nut (37); The valve core (35) is disposed at the other end of the valve stem (34) and is fixedly connected to the valve stem (34).

5. The rocket pressurization pipeline system according to claim 4, characterized in that, The electric throttle valve also includes: The first limiting block (38) and the second limiting block (39) are disposed on the inner side wall of the valve seat (32), and the position feedback sensor (40) is disposed on the top of the valve stem (34). The position feedback sensor (40) is electrically connected to the control module (8).

6. A control method for a rocket pressurization pipeline system, characterized in that, The rocket pressurization pipeline system includes: a propellant tank (1) and a high-pressure gas source (6); a pressurization main pipeline (2) connecting the propellant tank (1) and the high-pressure gas source (6); an electric regulating valve (3) installed on the pressurization main pipeline (2); and a detection module installed on the pressurization main pipeline (2) for detecting the pressure difference parameter across the electric regulating valve (3), the second pressure parameter at the outlet of the high-pressure gas source (6), the liquid level parameter of the propellant tank (1), and the first internal pressure parameter. The method includes: Acquire the rocket's current attitude angle change rate, the rocket's current flight stage, and real-time parameters collected by the sensor detection module; Based on the differential pressure parameter and liquid level parameter in the real-time parameters of the sensing and detection module, determine the pressure change rate and propellant liquid level change rate of the propellant tank (1); Based on the pressure change rate, propellant level change rate, rocket current attitude angle change rate and rocket current flight stage, determine the pressurization mode of propellant tank (1); Based on the pressurization mode of the propellant tank (1) and the real-time parameters collected by the sensing and detection module, the predicted pressure value of the propellant tank (1) within a future prediction time period is predicted. Adjust the valve core opening of the current electric regulating valve (3) to the target valve core opening value according to the predicted pressure value.

7. The control method for the rocket pressurization pipeline system according to claim 6, characterized in that, Based on the pressure change rate, propellant level change rate, rocket current attitude angle change rate, and rocket current flight stage, the pressurization mode of propellant tank (1) is determined, including: When the rocket is currently in the ignition phase, the pressure change rate is greater than the first preset value, and the attitude angle change rate is less than the second preset value, the pressurization mode of the propellant tank (1) is determined to be the rapid pressurization mode. When the rocket is currently in the takeoff phase, the pressure change rate is within the first preset range, and the propellant level change rate is greater than the third preset value, the pressurization mode of the propellant tank (1) is determined to be the rapid pressurization mode. When the rocket is currently in the gliding phase, the pressure change rate is less than the first preset value, and the propellant level change rate is less than the fourth preset value, the pressurization mode of the propellant tank (1) is determined to be the stable pressurization mode. When the current flight phase of the rocket is the engine throttling or pre-shutdown phase, and the pressure change rate is less than the fifth preset value, or the attitude angle change rate is greater than the sixth preset value, the pressurization mode of the propellant tank (1) is determined to be the rapid pressurization mode.

8. The control method for the rocket pressurization pipeline system according to claim 6, characterized in that, Based on the pressurization mode of the propellant tank (1) and the real-time parameters of the sensing module, the predicted pressure value of the propellant tank (1) within a future prediction period is predicted, including: The prediction duration is determined based on the pressurization mode of the propellant tank (1); Based on the prediction duration and the real-time parameters of the sensor detection module, the formula is used. Determine the first boost flow rate Q1; where, S1 is the valve flow coefficient, taken as 0.8; S2 is the valve core opening at the previous moment. For the density of the high-pressure gas, take 0.

169. ; Based on the first boost flow rate Q1, through , determine the predicted pressure change rate f of the propellant tank (1); where γ represents the gas adiabatic coefficient; The pressure value of the first pressure sensor at the current moment; R is the gas constant; V(H) is the effective volume of the tank; T represents the prediction time. Indicates the rate of change of propellant level; Based on the predicted pressure change rate f and the prediction duration, using the formula... Determine the predicted pressure value P of the propellant tank (1) within the predicted time. 2pred ,in, is the pressure value of the first pressure sensor at the current moment; f is the predicted pressure change rate; and T represents the prediction time.

9. The control method for the rocket pressurization pipeline system according to claim 6, characterized in that, Adjusting the valve core opening of the current electric regulating valve (3) to the target valve core opening value according to the predicted pressure value includes: The predicted boost flow rate is determined based on the predicted pressure value and the preset target pressure value; Based on the predicted boost flow rate and the real-time parameters of the sensing and detection module, the target valve core opening value of the electric regulating valve (3) is determined, and the current valve core opening value of the electric regulating valve (3) is adjusted to the target valve core opening value.

10. The control method for the rocket pressurization pipeline system according to claim 9, characterized in that, Determining the predicted boost flow rate based on the predicted pressure value and the preset target pressure value includes: The predicted pressure difference is determined based on the predicted pressure value and the preset target pressure value; Based on the predicted pressure difference, using the formula Determine the predicted booster flow rate Q; where γ represents the gas adiabatic coefficient; For predicting pressure difference; R is the gas constant; V(H) is the effective volume of the tank; T represents the prediction time. This indicates the rate of change of the propellant level in the propellant tank (1) at the current moment; This represents the rate of change of pressure in the propellant tank (1) at the current moment.

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