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OT
OP
OP
the torque
Lecture 30
Page 1 of 11
IOTP
d 02
dt
(1)
In a hybrid system where 02 is in rad/sec, t in seconds, and the torque in lbin, the constant IOTP has a value
1
0.916
Lecture 30
Page 2 of 11
Lecture 30
Page 3 of 11
(of order unity) is a pressure loss coefficient. The liquid is then acted on in the
forward direction by a net force POD3 1 2 PPOS A. . The mass of liquid in the
( AL )
dt
= POD3 PPOS 2 A
2
Now, the flow rate in the pipe is mOP 3 = A , so the equation can be re-written as
or
where
i 2
m
= POP 3 PPOS
OP 3 A
2
2 A
d mOP 3
dt
L d m OP 3
A dt = POP 3 PPOS K m
K =
(2)
OP 3
2
2 A
(3)
In units of lbm / sec for m and lb / in2 for P, the constants have the values
0.000813. This implies
L
A
= 3.86
( )
L
A
,K=
1
100
Considering again the POS supply line, it receives LOX flow at a rate m
from the booster pump, and discharges m
OP 3
FPO
OPO
into
the oxidizer pre-burner (OP), plus a small amount m OP 2 C which is diverted to cool the
pump. Under dynamic conditions, there is a (generally non-zero) net inflow
16.512, Rocket Propulsion
Prof. Manuel Martinez-Sanchez
Lecture 30
Page 4 of 11
m OP 3 m FPO m OPO m OP 2 C
V =
D2
4
m.
Let
d ( V )
dt
(4)
Even though LOX is a liquid, it has finite compressibility at the very high
pressures involved here. This is measured by the thermodynamic parameter
K =
1 d
dP
5 10
10
Pa
In general, the volume V also varies slightly under pressure fluctuations, but it
can be shown that this effect is secondary. We therefore rewrite (4) as
1 d dPPOS
= m OP 3 m FPO m OPO m OP 2C
( V )POS
dP LOX dt
(5)
1 d has a value of
In the same units as before, the factor ( V )
POS
dP LOX
3
1 d
1
. Using
3.4 106 in2 / lb, this implies a line volume V = 409 in , which
38,120
dp
1
( )
drops in the valve and in the injectors. These drops have the characteristic m form,
just as in Eq. (2), but, in addition the valve open area fraction A / AFPV appear squared
in the denominator, as it should according to Eq. (3). This area fraction will act as one
of our control variables.
Eq. (10) is identical in structure to Eq. (9), but refers to the fluid inertia in the
LOX dome of the Oxidizer Preburner (OP). Once again, the OP valve area fraction
A / AOPV appears here as a control variable.
16.512, Rocket Propulsion
Prof. Manuel Martinez-Sanchez
Lecture 30
Page 5 of 11
The remaining inertia-type equation is Eq. (13), which refers to the LOX
moving through the Main Oxidizer Valve (MOV) under the drive of the difference
between the main oxidizer discharge pressure, POD 2 , and the main combustor
pressure, Pc, less the sum of the pressure drops in the MOV (assumed 100% open)
and the injectors.
The remaining three capacitance-type equations are Eqs. (11), (12) and (14).
Eq. (11) describes accumulation of gas in the Oxidizer Preburner (OP), with mass flow
m OPF (the un-modelled fuel flow into the OP) plus mOPO (the LOX flow into the OP)
entering, and almost all of the gas flow input to the oxidizer turbine, m OT 2 , leaving.
Equation
(6)
(7)
d O2
0.916
dt
din
OP 3
= POD3 PPOS 0.000813 m
dt
1
100
(8)
dP
1
38120
(9)
POS
dt
dm
FPO
dt
din
OPO
dt
(11)
dP
(12)
dP
OP
dt
F1
3000 dt
MOV
dt
dPc
4000 dt
m FPO
0.02488
A / AFPV
2
0.1948 m OPO
m OPO
POP 0.260
A / AOPV
2
1.463 m OPO
= m FT 1 + m OT 2 + MFT 2 1.085 m OT 2
dm
1
25
(14)
= PPOS PFP
= PPOS
10, 000
(13)
OP 3
= m OP 3 m FPO m OPO m OP 2 C
(10)
= OT 2 OP 2 OP 3
= POD2 PC 0.001715 m
= m F 1 + m MOV m CN
MOV
Description
Time
Constant
(sec.)
Rotational
dynamics of
OTP
LOX inertia in
preburner
supply line
Mass storage
in preburner
supply line
LOX inertia in
injector dome
of FP
0.058
0.00013
0.0020
0.0048
LOX inertia in
injector dome
of OP
0.0034
Mass storage
in Oxidizer
Preburner
Mass storage
in fuel ducts to
injector
LOX inertia in
main injector
dome
Mass storage
in main
combustor
0.0143
0.0050
0.0078
0.00074
Lecture 30
Page 6 of 11
Equation (12) describes the gas accumulation in the two large ducts which
bring the partially oxidized hydrogen to the main chamber injector dome. Feeding this
volume are the (unmodelled) discharge flows on the main Fuel Turbine m FT2 and of
mFT1 ,
, plus some
(m ,m
FI
MOV
Characteristic Times
For each of the dynamic equations (6)-(14), we can estimate the
characteristic time constant, which provides same preliminary appreciation for the
dynamics of the system. For this purpose, we balance the rate term with one of the
dominant terms on the right; for instance, for Eq. (6), the time constant is
O2
=
, with O2 and OT 2 evaluated at their nominal values (rated power). These
0.912 OT 2
time constraints are included in Table. The preburner supply line flow and the main
combustor pressure are seen to adjust rapidly (under 1 msec). Filling and emptying of
the Oxidizer Preburner is relatively slow (14 msec), and the shaft speed of the OTP is
very slow (58 msec). All other dynamics are comparable in speed with time constants
of a few msec.
Calculation of non-state variables
The sequence of algebraic computations (no additional dynamics) required to
calculate the right-hand-sides of Eqs. (6)-(14) is summarized in Appendix. The data
for these calculations are the values of the nine state variables, the values of the
control variables (preburner valve openings), and a few unmodelled variables arising
from the fuel side of the overall system. The latter are generally kept at their nominal
values.
Lecture 30
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Lecture 30
Page 8 of 11
Lecture 30
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Lecture 30
Page 10 of 11
Lecture 30
Page 11 of 11