(c)2000 American Institute of Aeronautics & Astronautics or Published with Permission of Author(s) and/or Author(s)' Sponsoring Organization.

AOO-36907

AIAA 2000-3771
A Study on Versatile Simulation of Liquid
Propellant Rocket Engine Systems
Transients
Liu Kun, Zhang Yulin
Research Institute of Space Technology
National University of Defense Technology
Changsha, Hunan 410073, P.R.China
E-mail: kunliu@nudt.edu.cn

AIAA/ASME/SAE/ASEE
36th Joint Propulsion
Conference and Exhibit
July 17-19, 2000/Huntsville, AL

For permission to copy or to republish, contact the American Institute of Aeronautics and Astronautics,
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(c)2000 American Institute of Aeronautics & Astronautics or Published with Permission of Author(s) and/or Author(s)' Sponsoring Organization.

A STUDY ON VERSITALE SIMULATION OF LIQUID PROPELLANT ROCKET ENGINE SYSTEMS

TRANSIENTS

Liu Run, Zhang Yulin

Research Institute of Space Technology
National University of Defense Technology
Changsha, Hunan 410073, P.R.China

Abstract LPRE to complicated staged combustion cycle LPRE,

A detailed research of the methodology of
modularization modeling and simulation for the
transients of Liquid propellant Rocket Engines (LPRE)
is carried out in this paper. A pipe-volume module
disassembly method for fluid line systems is presented.
Based on the requirement of simulation of the start up
and cut off of LPRE, LPRE systems are disassembled
into 21 typical module components, and 'their
simulation mathematical models are developed. The
methods for assembling and connecting module
components, as well as for simulating the module
components assembly systems are presented
respectively. The Modularization Modeling and
Simulation Software for the Transients of Liquid
Propellant Rocket Engines (LRETMMSS) is
developed. The squeezing test of one preburn chamber
is calculated by using LRETMMSS, and the calculated
results agree well with test data.
Introduction
For modeling and simulation of Liquid Propellant
Rocket Engines (LPRE) systems transients,
conventional methods are that modeling one special
type engine system first, secondly developing the
models' codes, finally calculating and analyzing the
transients of the engine system by using the codes [1"9J.
If the configuration of the engine changes, the
derivation of the engines' mathematical models has to
be done once again,
and the whole or partial codes have to be redeveloped.
It is an arduous task to simulate the complicated LPRE
systems transients by using the conventional modeling
and simulation method. Although LPRE have many
kinds of constitution, from simple squeezed-feed
Copyright ©2000 by the American Institute of Aeronautics and
Astronautics, Inc. All right-reserved.
1
the LPRE systems are able to be viewed as the
assembly of a lot of components which belongs to a
set of typical components (or named as modules), such
as tanks, pipes, valves, vessels, injectors, centrifugal
pumps, turbo, gas generators and nozzles, etc, the
flows of propellant obey to the fundamental
conservation laws i.e. mass, momentum and energy
conservation law, the state variables stand to
propellant's thermal state equations. Therefore, we
should be able to model those typical components
previously, and the models of the LPRE systems are
just the assembly of the components' models by
means of the rules of modules' model link and
combination.
There have been a lot of work on versatile
calculation method on the static characteristic of
LPRE systems1'0"141, by comparison, there were only
several studies on versatile simulation of LPRE
systems transients115~171. In the references [15],
ROCETS implemented its versatile simulation base on
executing the modules' process functions, thus there
were intricate interface variables between modules to
be defined while a LPRE system's model was
constructed by means of the modules' process
functions. Besides, in the above versatile simulation of
dynamic characteristic of LPRE systems, the lumped
parameter models were employed to describe the
propellant flow in feedlines. It is a new important
problem to implement versatile simulation of LPRE
systems transients when the distributed characteristic
of feedlines' fluid taken into consideration.
LPRE systems modularization disassembly
A reasonable modularization of disassembly
LPRE systems is the first step, also the key step to
implement LPRE systems' modularization modeling
and simulation.
(c)2000 American Institute of Aeronautics & Astronautics or Published with Permission of Author(s) and/or Author(s)' Sponsoring Organization.

The principles of LPRE systems modularization
disassembly
The principles of LPRE systems modularization
disassembly are:
1. The modules have independent physical function
and mathematical model;
2. There are uniform parameters exchange interfaces
between each module.
3. The LPER systems are disassembled into modules
by practical physical units or components, the
interfaces between the units, therefore, become
the interfaces between the modules.
The Pipe-Volume Modularization-Disassembly
Method
According to above rules, the Pipe-Volume
Modularization-Disassembly Method (PVMDM) for
fluid lines systems is presented. In PVMDM, fluid
lines systems are disassembled into two classes of
modules —pipe-type modules and volume-type
modules. The pipe-type modules include all kinds of
fluid pipes, and the finite-element state-variable
models are employed to treat one-dimensional fluid
transients in the fluid pipes. The volume-type modules
include single-volume modules and combination-
volume modules. The single-volume modules include
all kinds of manifolds and tanks. Pipe tees are treated
as volumes. The combination-volume modules are
composed of two volumes that are linked by a
complicated fluid passage. All kinds of volumes are
considered as lumped-parameter. The fluid flows of
the complicated passages are treated as steady. Two
pipe-type modules do not directly connect to each
other (otherwise, they can be viewed as one pipe-type
module), can only connect by a volume-type module.
Two volume-type modules also do not directly
connect to each other, can do by a pipe-type module.

I I I I

Fig.la the fluid pipes system divided.into finite elements

Branch (Volume)

Valve
tank( volume) Pipe 1 Pipe 2
(Combinated Volume)

Pipe 4

Fig. Ib the result of PVMDM to the fluid pipes system

Therefore, the boundary interfaces of pipe-type connected by injectors.

modules only have one form of lumped-parameter
volume, and the most volume-type modules only need
to deal with pipe boundary condition, one or two
volume-type modules (the vessel with injector and gas
generator, which categorized into volume-type
modules) need treat with the volume boundary
Fig.l shows liow to apply the PUMDM to a fluid
pipes system. In the Fig. 1 the pipes system are divided
into the finite elements, the pipe modules are the
gather of the finite volumes which are adjacent one by
one; the tank has obvious lumped-parameter
characteristic and is disassembled as a volume module;
(c)2000 American Institute of Aeronautics & Astronautics or Published with Permission of Author(s) and/or Author(s)' Sponsoring Organization.

the branch is view as a volume thit facilitates the
treatment of boundary conditions of pipes tee greatly.
There are some finite volumes connected by
complicated flow passages (such as valve, turbo and
pump) whose dynamic mathematical models are hard
to establish. The pseudo steady-state equations are
usually employed to deal with them, so, those finite
volume plus the complicated flow passages is view as
combination volume module. The boundary finite
elements of pipe modules can cross the adjacent
volume modules to some extent (as shown in dashed),
so the flow parameters slick transition between them is
got.

Table 1 The results of LPRE systems modularization disassembly

Classes of Modules Remark
Modules
Liquid Pipe Deal with Uncompressible Liquid Flow in Pipes
Perfect Gas Pipe Deal with Perfect Gas Flow in Pipes
Common Compressible Deal with Common Uncompressible Fluid Flow in
Fluid Pipe Pipes
Pipe-Type Priming and Blowing Pipe Deal with the priming and blowing processes of
Modules normal-temperature and cryogenic propellant Pipes
Heat Exchanger Coolant Deal with the coolant flow in coolant passage and
Passage wall heat transfer equations
Heat Exchanger Hot Gas Deal with gas flow in hot-gas passage
Passage___________
Pressure Source Fluid source with constant pressure and density
Liquid Volume Volume with Uncompressible or common
V Single- Uncompressible liquid
o Volume Perfect Gas Volume Volume with Perfect Gas
L Modules Priming and Blowing Deal with the priming and blowing processes of
U Volume normal-temperature and cryogenic propellant
M volume
E Liquid Injector Liquid manifold with injectors
I Perfect Gas Injector Gas manifold with injectors
T Priming and Blowing Deal with the priming and blowing processes of
Y Combina- Injector normal-temperature and cryogenic propellant
P tion- manifold with injectors
E Volume Gas Generator Volume in which propellant mix and combust
Module Liquid Valve Two Liquid volume linked by valve
M
Perfect Gas Valve Two Gas volume linked by valve
O
T ,iquid Valve with Blowing Two Liquid volume linked by valve, one volume
D
Gas entrance has an entrance for blowing bas
U
L Venturi Two Liquid volume linked by venturi
E Centrifugal Pump Two Liquid volume linked by centrifugal pump
S passage
Gas Turbo Two Gas volume linked by turbo passage_____
Rotor-Type Rotor Axis System It can link one turbo and two centrifugal pumps
Module

The results of LPRE systems modularization
disassembly
As the staged combustion cycle LPRE systems
are the most complicated ones of all LPRE systems,
their start-up and cut-off process are the most intricate
transient, LPRE systems modularization disassembly
aimed at the simulation of staged combustion cycle
LPRE systems transients primarily. At the same time,
it also is suitable to model relatively simple LPRE
systems by modules assembly. Besides, disassembly
modules should be simple and flexible to link and
assembly of LPRE systems' model. Based on above
considerations, LPRE systems are disassembled into
twenty-one modules, as shown in Table 1. It should be
stated that modularization disassembly results of
LPRE systems are not one and only, along with the
(c)2000 American Institute of Aeronautics & Astronautics or Published with Permission of Author(s) and/or Author(s)' Sponsoring Organization.

development of LRETMMSS, we will add some new
modules.
The models of LPRE systems modules
The mathematical models of modules
The twenty-one modules' mathematical models,
which are expressed in the form of state-variable
equations, were obtained.
The mathematical models of pipe-type
module
The finite-element state-variables equations are
employed to describe the transients of the ordinary
one-dimensional compressible fluid flow in pipes. As
shown in Fig.2, the pipe is divided into finite control
volume elements (or named as finite elements), and
two kinds of cross finite control volume elements are
adopted. One is defined as state element, as shown in
real line, another be velocity element, as shown in
dashed line. The velocity elements at the pipes' end
cross their adjacent volume-type module to some
extent. In the state element, the state parameters of the
fluid (i.e. pressure, density, energy, etc) are uniform;
and in the velocity element, the flow velocity is
thought to be equivalent. By applying mass and
energy conservation equations to the state elements
and momentum conservation equation to the velocity
elements respectively, the finite element state-space
model for one-dimensional compressible fluid flow is
developed as following.
\ih state element
U,^ «„_, «„

\P"
Pn-l'Pn-l Pb
\ Pa () (4.) Pb
4 4) 4 4 4-2 4-2 4-i 4-i \\ Y 4 4+i 4-i 4-i* 4 4
(i+l)th velocity element
Fig.2 Two kinds of finite control volume elements of one-dimensional compressible fluid
Mass conservation equations: r _i
ge(p,/?,£•},£_, =ga,gn =gb.

(1) Momentum conservation equation:

dt AVt ^ ' '
+ 2 + 2
Energy conservation equations:
dW,
~dt =k p/-. (<} k-. - \p< PI (<*" ) k
dE. (6)
dt M -U, U,

+ 2D
D Where:
(2)
Where:

(7)
8i =
(3)
\g, if«,.<0
1
"f = T("<•-' + "••)' '= I2>'">n' u° =u
° (8)
>0
(4)
if U
[gM M <°

Ei=Piei+~p,[0.5(ul+uM)]2 (5) «f'="fl (9)

In above equations, pt, p,, Et are pressure, density,
total specific energy of ith state element respectively,
(c)2000 American Institute of Aeronautics & Astronautics or Published with Permission of Author(s) and/or Author(s)' Sponsoring Organization.

AF, : the volume of ith state element, ^ u are local flow resistance coefficient at the entry
(/ = 0,1,2 • • • , « — !); u~: the flow velocity of ith and exit of pipes respectively. If there are local flow
velocity element( / = 0,1,2, • • • , » ) ; A: friction resistance losses at the middle of pipes, they can be
coefficient of the fluid in pipes; Dt , Df : diameter, incorporated to £a and £a . £ is artificial damp
Ai , Ai : section area of the pipe; A_} = Aa , coefficient, its value is given as following:
("0.05 n = 1, 2
and %n have value from 0 to 1 according to the pipe e = |o.lO 2 < « < 1 0
ends' boundary conditions, for example, to blind end, [o.50 «>10
the value of £0 or <f;n may be equal to zero.
For perfect gas flow in pipes, the pressure is
Add the thermal state equations:
calculated by following equation:
P = P(P,T] (10)
Pi =(7- 1)J£, - ^ P, [0.5(«, + UM )f I (16)
e =! (11)
Where, J is specific-heat ratio of gas.
Above equations are sufficient for solving
For priming processes of fluid pipes, as shown in
ordinary one-dimensional compressible fluid flow in
Fig.3, the equations of the elements filled entirely with
pipes.
liquid or gas can obtain by using above manner, the
For uncompressible fluid flow in pipes, equations
equations of the priming element, i.e. the element
(1), (2) and (6) are reduced as following:
filled partly with liquid and gas, are given as
du, J(paAa -PoA0)+0.5(pa + p,JA0 -Aa) following:
dt 0.5(1 + dM,
/o«oK
dt
2D (18)
dt
(12)
dt
dt 0.5(1
V
(13)
(19)

For the heat exchangers, the heat conduction of

their internal walls has to be taken into account. When
ignoring the heat conduction along the axis of wall, it
dUj still is no steady-state two-dimension equation. A
dt 0.5p(AF / ._,+AF y ) modified one-dimension equation, which was
(14) presented in the reference 9, is employed to treat with
it.
p(AF y _,+AF.)
The mathematical models of volume-type
modules
AF The volume-type modules includes single-
(15)
volume modules and combination-volume modules,
their mathematical models are discussed respectively.

Where; y =!,••-, n-\ , z = 0,l,---,n -1 ; £, and

(c)2000 American Institute of Aeronautics & Astronautics or Published with Permission of Author(s) and/or Author(s)' Sponsoring Organization.

Fig.3 the sketch map of priming processes in fluid pipes

The mathematical models of single- For finite control volumes of the combination-
volume modules volume modules, it is easy to obtain their dynamic
equations in the similar manners used by the single-
volume modules, so we only discussed the steady-state

~l r model describing the flow in the complicated passages

connecting finite control volumes of the combination-
Fig.4 the sketch map of vessels volume modules.
For the unitary medium vessels with several Valves and vessels with injectors: their steady-
entries and exits, as shown in Fig.4, the dynamic state models are the mass flux equations familiar to
equations are given as following: everybody.
Uncompressible liquid vessels: In order to deal with the situation that the
centrifugal pump's operating condition changes in
(20) great large range, the following characteristic maps of
dt Vol pump were adopted to calculate the pumps' steady-
Perfect gas vessels: state pressure head and torque moment.
Define:
(21)
4P,
(22)
dt
Common compressible medium vessels: the density
equation is still equation (21), the pressure equation
become

6 = arctan
dt Q

Where, the subscript "d" represents the design values

of variables. By using the maps of h ~ 6 and
j3 ~ 6, the steady-state pressure head and torque
moment of the pumps were worked out.
For gas turbo, the well-known mass flux equation,
(23)
power equation and efficiency empirical formula are
Where, h is the specific enthalpy of fluid.
used to treat with the steady-state flow of gas in turbo
For priming vessels, its dynamic equations can be
passages.
got by using the method modeling the priming element
The mass flux equation of a venturi is:
of pipes.
The mathematical models of combination-
volume modules
(c)2000 American Institute of Aeronautics & Astronautics or Published with Permission of Author(s) and/or Author(s)' Sponsoring Organization.
(Pi -
(24)
Where, Cv: flux coefficient of the Venturis at
cavitation; <5 : cavitation allowance of the ventruris.
Rotor-Type Module
Currently, it has only rotor axis system module,
which may connects one gas turbo and two centrifugal
pump.
30 dt J '
Where, Tt •, Tpl and TP2: the torque moments of one
gas turbo and two centrifugal pumps respectively (if
the rocket has only one pump, then Tp2 = 0 ) ; J:
moment of inertia of the whole rotor axis system.
The simulation models of modules
With Object-Oriented programming methods, a
class is used to represent a module in computers.
Three base classes —pipe-base class, volume-base
class and valve-base class are designed. The classes of
pipe-type modules are derived from the pipe-base
class. The classes of single-volume modules are
derived from the volume-base class. The classes of
valve modules are derived from the valve-base class.
The following data and functions members are
common to all module classes.
Modules link and combination methods
The modules assembly models of LPRE systems
are composed of modules components' model by rules.
A module component is an object of the module class.
In order to implement the simulation of the modules
assembly models of LPRE systems, a set of rules
describing the relations among each modules
components of LPRE systems is presented to help
computers "understand" them.
The denotations of modules
The denotations of modules, which include figure
denotations, character denotations and modules' codes,
were defined in Table 2.
The configuration matrix of modules assembly
system
The configuration matrix of a modules assembly
system is presented to describe its module components
and relationships among them.
In order to determine the configuration matrixes
of the assembly systems, we give every component
two kinds of numbers. One is its sequence number in
all components of the assembly system, defined as
component-number; the other is its sequence number
in the components belonging to the same class,
defined as object-number.
The following example explains how to obtain the
configuration matrix of a module assembly system.
Fig. 5 is the module components link diagram of the
experiment system of turbo and pump drove by a
high-pressure gas bottle, in which the arrowed lines,
defined as signal lines, link the module components
according to their physical relationships. The arrow of
the signal lines represents the direction of propellant
flow as well signal transfer in the system at steady
state. The assembly system consist of 15 components,
their component-numbers are 1,2, ..,. 15 in turn. The
number behind ID-Characters of the modules are the
components' object-number, for example, LP1. LP2
and LP3 represents three different liquid pipe
components, and number 1,2,3 are sequence number
of them.
The configuration matrix of the module assembly
system in Fig. 5 is given by matrix A. The diagonal
elements of the matrix A, whose values are the
integers more than 100 and less than 9999, have the
information about the corresponding components.
They contain two type information of the components:
the integers consisting of the ones place and tens place
number of the diagonal elements in the matrix A
represents the module-codes of the components,
the integers consisting of the hundreds place and
thousands place number does the components'
object-number. For example, <z4 4 = 202, it
indicates that the 4"' component's module-code is 2
(gas pipe module), and its object-number is 2
(c)2000 American Institute of Aeronautics & Astronautics or Published with Permission of Author(s) and/or Author(s)' Sponsoring Organization.

(i.e. it is the second gas pipe).

Table 2 the denotations of modules
Modules Modules' Character Figure Denotations
Code Denotations
Liquid Pipe 1 LP
Perfect Gas Pipe 2 GP
Common
Fluid Pipe
Compressible 3 FP 'F——h
Priming and Blowing 8 PBP
Pipe
3
Heat Exchanger 1 f— ^—— " ?
Coolant Passage 6 HEC 3

Heat Exchanger Hot A

1> "2
Gas Passage 7 HEH
*
Pressure Source

Liquid Volume
0

11
CS

LV
•o 4

Perfect Gas Volume 12 GV !

3^>>
Priming and Blowing 13 PV 'V
Volume
Liquid Injector 14 LI
Perfect Gas Injector 15 GI
£'
Priming and Blowing 16 PI
Injector
3
4>o v "\
Gas Generator 31 GG > )>2
1>1*J
3

Liquid Valve 21 LVAL

Perfect Gas Valve
Liquid Valve
22
with 26
GVAL
BVAL ».
Blowing Gas entrance
Venturi 25 VENT 1§X>2

1 > C^\ >2

Centrifugal Pump 32 PUMP
3

3
A

Gas Turbo 33 TURBO

'(O)>2
V
3

2
Rotor Axis System 34 ROTS <i :i i>
(c)2000 American Institute of Aeronautics & Astronautics or Published with Permission of Author(s) and/or Author(s)' Sponsoring Organization.

,-^g^—*»
^ —— R(JJS1 —— >
^f^ „

.^

( ess y* TO
> LP1
/'IIA
>, fpUMPll
12
»-:*> LP2
Xl3X 14 /^\5\
>-»>tLVAL1p-»s LR3 '>-HW'CS'4l>

Fig.5 the module components linkdiagram of the experiment system of turbo and pump drove by a high-pressure gas bottle

"100 21 0 0
0 0 0 0 0 0 0 0 0 0 0 "
0 102 21 0 0 0 0 0 0 0 0 0 0 0 0
0 0 122 21 0 0 0 0 0 0 0 0 0 0 0
0 0 0 202 21 0 0 0 0 0 0 0 0 0 0
0 0 0 0 133 21 0 31 0 0 0 0 0 0.0
0 0 0 0 0 302 21 0 0 0 0 0 0 0 0
0 0 0 0 0 0 200 0 0 0 0 0 0 0 0
A= 0 0 0 0 0 0 0 134 0 0 23 0 0 0 0
0 0 0 0 0 0 0 0 300 21 0 0 0 0 0
0 0 0 0 0 0 0 0 0 101 21 0 0 0 0
0 0 0 0 0 0 0 0 0 0 132 21 0 0 0
0 0 0 0 0 0 00 0 0 0 201 21 0 0
0 0 0 0 0 0 0 0 0 0 0 0 121 21 0
0 0 0 0 0 0 0 0 0 0 0 0 0 301 21
0 0 0 0 0 0 0 0 0 0 0 0 0 0 4 0 0

The non-diagonal elements of the matrix A, created dynamically.

whose values are the double-digit integers, have the
information about the link between corresponding
components. If au = Ik
I, k e {l, 2, • • •, 9}, indicates that there is a signal line
form the / th port of the i th component to k th port
of the j th component.
The parameter file of a modules assembly system,
which is a text-type file providing the size and
character data of each component, are prepared
previously first by using the developed simulation
software. Then the module-components objects of a
module assembly system are created and initialized
dynamically according to its configuration matrix and
parameter file before simulation.

Dynamic creation and initialization of module- The link of module-components objects

components objects
We use the objects of the modules' classes to
represent the components in the compute memory
while simulating the assembly systems. As we do not
know how many components the assembly system
previously, the module-components objects have to be
The connections among the module-components
objects of a modules assembly system are established
by making objects' pointers point to their linked
objects.
Solution of the assembly systems
(c)2000 American Institute of Aeronautics & Astronautics or Published with Permission of Author(s) and/or Author(s)' Sponsoring Organization.
The mathematical model of a module components
assembly system is one-order nonlinear differential
equations group composed of the components' state-
variable equations. The Runge-Kutta numerical
integral method is employed to solve them. It is
different form the solution of general differential
equations group. In the solution of the assembly
systems, we first have to combinate the state-variables
vectors' derivative of individual components of the
assembly system to the state-variable vector's
derivative of the system. Then solve state-variable
vector of the system by numerical integral. Finally
take part state-variable vector of the system into the
state-variables vectors of the individual components.
Visual modeling
nr
>
tool
Fig.6 the framework of LPRETMMSS
Conclusions
1. A novel Module Assembly Simulation Method
(MASM) for the LPRE systems transients is presented
in this paper. In MASM, a LPRE system is viewed as
the assembly of a lot of components belonging to a set
of typical components (or named as modules) modeled
previously. By means of the rules of modules' model
link and combination, the model of the LPRE system
is just the assembly of the components' models.
2. A pipe-volume module disassembly method for
fluid line systems is presented. Based on the
requirement of simulation of the start up and cut off of
LPRE, LPRE systems is disassembled into 21 typical
components, their simulation mathematical models are
developed.
3. The methods for assembling and connecting
module components, as well as for simulating the
module components assembly systems are presented
respectively.
4. The Modularization Modeling and Simulation
Software for the Transients of LPRE systems
Versatile simulation software of LPRE systems
transients and its application examples
The Modularization Modeling and Simulation
Software for the Transients of LPRE systems
(LPRETMMSS) is developed by using the Object-
Oriented program design method and Microsoft Visual
C++ 6.0 as developing kit. It mainly consist of five
parts, as shown in the Fig.6.
The squeezing test of one preburn chamber, as
shown in Fig.7, is calculated by using
LPRETMMSS1181. The calculated results are shown in
Fig.8, and they agree well with test data.
Library of the Resource library of
modules' models
V
Solver of assembly
[
physical property
>
Display of
simulated
systems V
results
(LRETMMSS) is developed. The squeezing test of
one preburn chamber is calculated by using
LRETMMSS, and the calculated results agree well
with test data.
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\preburnor
Sonic nozzle
Fig. 7 The sketch map of squeezing test of one preburn
chamber
6-
0.8 1.2 1.6 2.0
Time(s)
Fig. 8a The pressure of preburn chamber
11
[14] Huang weidong, A study of propulsion system for single-
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0.8 1.2
Time(s)
Fig. 8b The pressure of LHj injector
1.2
Time(s)
Fig.Sc The pressure of LOX injector
Fig.8 The comparison of test results and calculation ones of
squeezing test of one preburn charrber