A method for simulating the feedback cable slack characteristic

Abstract

The application belongs to the field of aero-engine variable control, and particularly relates to a feedback cable slack characteristic simulation method. The method comprises the following steps: step one, performing mathematical description on the feedback cable slack characteristic, and constructing a mathematical model according to the mathematical description of the feedback cable slack characteristic; step two, constructing a simulation model of the feedback cable slack characteristic based on the mathematical model, and performing simulation test on the slack characteristic according to the simulation model. The feedback cable slack characteristic simulation method of the application realizes simulation of the feedback cable slack characteristic of an aero-engine based on Matlab, so that the influence of slack can be considered in the system design process based on simulation software in the design process, and the control system design and analysis capability is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of aero-engine variable control, and particularly relates to a feedback cable air gap characteristic simulation method. BACKGROUND

[0002] For a conventional aero-fan engine control variable, main control variables include fuel flow Wf, fan inlet adjustable blade angle a1, compressor inlet adjustable blade angle a2, nozzle throat area A8, etc. The current mainstream control mode is to adopt a full-authorization digital electronic control mode, and each variable adopts a closed-loop control scheme. The main feature of the closed-loop control compared with the open-loop control is that a sensor is used to feed back the position of the controlled quantity to a digital electronic controller, and the digital electronic controller controls more accurately according to the deviation between the position information of the controlled quantity and the expected position information. The closed-loop control scheme greatly improves the control accuracy of the open-loop control scheme. However, in the closed-loop control scheme, accurate sensor position acquisition has an important influence on the stability of the closed-loop control quality. Due to the environmental temperature, vibration, space size and other factors of the sensor, the position sensor of the actuator cylinder of the fan, the compressor and the nozzle area cannot realize in-situ measurement, but the position is measured through the position transmitted by the feedback cable.

[0003] As shown in Figure 1 , a control instruction provides an expected position of an actuator cylinder, and position control is performed through an actuator. The position of the actuator cylinder is transmitted through a feedback cable, and then position measurement is performed through a position sensor. The position signal monitored by the sensor is converted into an electrical signal and then transmitted to a digital electronic controller. The digital electronic controller performs closed-loop adjustment of the actuator according to the deviation between the instruction and the feedback position information, and the target is to make the feedback position consistent with the expected given instruction.

[0004] The structural scheme of the feedback cable is shown in Figure 2 . Due to the elasticity of the inner core of the cable and the bending deformation in the movement process, when one end (the input end) of the feedback cable moves, the other end (the output end) does not move completely synchronously, that is, the mechanical displacement transmitted by the output end is lost. This characteristic is called “air gap”. The “air gap” has an influence on the control quality and can cause the closed-loop control to swing, thereby affecting the stable operation of the engine. Since the “air gap” of the feedback cable cannot be completely avoided, it is necessary to establish an evaluation method to evaluate the size of the “air gap” that can be allowed by the control loop. One of the primary conditions for “air gap” evaluation is to establish a simulation method for the “air gap”.

[0005] Currently, there is no simulation method for the free stroke characteristics, and the test is mainly carried out through the test. This not only brings the waste of period and fund, but also the free stroke of the product cannot be set at will, and only the actual product characteristics can be tested. The influence of different free stroke characteristics and hysteresis and other characteristics on the control quality needs a series of free stroke and hysteresis time to carry out the test. At present, the simulation technology develops rapidly, and it is urgent to establish the simulation method of the "free stroke" basic characteristics for the forward design and research and development of the system.

[0006] Therefore, it is desirable to have a technical solution to overcome or at least alleviate at least one of the above-mentioned deficiencies of the prior art. SUMMARY

[0007] The purpose of the present application is to provide a feedback cable free stroke characteristic simulation method to solve at least one problem existing in the prior art.

[0008] The technical solution of the present application is:

[0009] A feedback cable free stroke characteristic simulation method, comprising:

[0010] Step one, mathematically describe the feedback cable free stroke characteristics, and construct a mathematical model according to the mathematical description of the feedback cable free stroke characteristics;

[0011] Step two, based on the mathematical model, construct a simulation model of the feedback cable free stroke characteristics, and perform a simulation test of the free stroke characteristics according to the simulation model.

[0012] In at least one embodiment of the present application, in step one, the mathematical description of the feedback cable free stroke characteristics comprises:

[0013] When the feedback cable starts to move at the initial position, there is a free stroke of size a;

[0014] The displacement range of the feedback cable is limited, and the maximum is a;

[0015] The initial position of the feedback cable is set at the maximum position, and the movement starts from the initial position to the decreasing direction;

[0016] When the feedback cable continuously moves in one direction, only the initial movement overcomes the free stroke a, and the subsequent continuous movement does not appear the free stroke;

[0017] During the process of continuously moving in one direction after overcoming the free stroke, the reverse movement starting from any position will appear the free stroke, as long as the reverse movement appears, the free stroke will appear, which is irrelevant to the position of the cable feedback, and only related to the reverse direction;

[0018] If the position of one end of the feedback cable alternately changes direction during the process of overcoming the idle stroke and continuously moving in one direction, idle strokes will occur in both directions, and the size of the idle stroke in each direction is determined according to the following principle: if the displacement d in the direction is less than a, the size of the idle stroke in the direction is d, and if the displacement d in the direction is greater than or equal to a, the size of the idle stroke in the direction is a.

[0019] In at least one embodiment of the present application, in step one, the mathematical model comprises:

[0020] A motion state module, which comprises: an initial state, a continuous forward motion state, an entering forward motion state, an entering reverse motion state, and a continuous reverse motion state, one end of the feedback cable is defined as the initial position, and the direction of movement from the initial position to the other end is defined as reverse, and vice versa is defined as forward, wherein,

[0021] The state of being located at the initial position is the initial state;

[0022] After overcoming the idle stroke, the state of continuously moving in the forward direction is the continuous forward motion state;

[0023] The state of turning from forward motion to reverse motion, or turning from stable forward motion at a position to reverse motion, is the entering reverse motion state;

[0024] After overcoming the idle stroke, the state of continuously moving in the reverse direction is the continuous reverse motion state;

[0025] The state of turning from reverse motion to forward motion, or turning from stable reverse motion at a position to forward motion, is the entering forward motion state;

[0026] A motion state jump module, which comprises a plurality of judgment conditions, wherein,

[0027] When the first judgment condition is met, jump from the initial state to the continuous forward motion state, the first judgment condition is that if continuously moving in the forward direction after the motion range meets the idle stroke requirement;

[0028] When the second judgment condition is met, jump from the initial state to the continuous reverse motion state, the second judgment condition is that if continuously moving in the reverse direction after the motion range meets the idle stroke requirement;

[0029] When the third judgment condition is met, jump from the continuous forward motion state to the reverse motion state, the third judgment condition is that a change direction sign appears during the motion process;

[0030] When the fourth determination condition is met, jumping from the entering reverse motion state to the continuous reverse motion state, the fourth determination condition is that the motion range reaches the air travel requirement;

[0031] When the fifth determination condition is met, jumping from the continuous reverse motion state to the entering forward motion state, the fifth determination condition is that the commutation sign appears in the motion process;

[0032] When the sixth determination condition is met, jumping from the entering forward motion state to the continuous forward motion state, the sixth determination condition is that the motion range reaches the air travel requirement;

[0033] When the seventh determination condition is met, jumping from the entering forward motion state to the entering reverse motion state, the seventh determination condition is that the commutation sign appears in the motion process;

[0034] When the eighth determination condition is met, jumping from the entering reverse motion state to the entering forward motion state, the eighth determination condition is that the commutation sign appears in the motion process.

[0035] In at least one embodiment of the present application, the simulation model comprises:

[0036] The commutation determination module is configured to determine the commutation;

[0037] The air travel simulation module is configured to simulate the air travel.

[0038] In at least one embodiment of the present application, the commutation determination module comprises:

[0039] The first commutation determination variable input end is configured to obtain the displacement speed of the input end;

[0040] The second commutation determination variable input end is configured to obtain the direction determination result of the previous cycle;

[0041] The first commutation determination variable output end is configured to output the direction determination output result;

[0042] The second commutation determination variable output end is configured to output the commutation determination output result.

[0043] In at least one embodiment of the present application, the air travel simulation module comprises:

[0044] The first air travel simulation variable input end is configured to obtain the input end position;

[0045] The second air travel simulation variable input end is configured to obtain the change rate of the input end position;

[0046] The third air travel simulation variable input end is configured to obtain the previous cycle value of the output end position;

[0047] The fourth idle stroke simulation variable input end is used for obtaining the determination mark word of commutation and the output result of the commutation determination;

[0048] The fifth idle stroke simulation variable input end is used for obtaining the direction determination output result;

[0049] The sixth idle stroke simulation variable input end is used for obtaining the preset idle stroke;

[0050] The idle stroke simulation variable output end is used for calculating the output end position.

[0051] The present application has at least the following beneficial technical effects:

[0052] The feedback cable idle stroke characteristic simulation method of the present application realizes the simulation of the feedback cable idle stroke characteristic of the aero-engine based on Matlab, so that the influence of the idle stroke can be considered in the system design process based on the simulation software in the design process, and the control system design and analysis capability is improved. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 It is a servo control loop principle block diagram of the actuating cylinder;

[0054] Figure 2 It is a feedback cable structure diagram;

[0055] Figure 3 It is a feedback cable idle stroke initial motion schematic diagram of an embodiment of the present application;

[0056] Figure 4 It is a feedback cable idle stroke characteristic description schematic diagram of the continuous commutation motion process of an embodiment of the present application;

[0057] Figure 5 It is an idle stroke simulation logic block diagram of an embodiment of the present application;

[0058] Figure 6 It is a simulation model structure diagram of an embodiment of the present application;

[0059] Figure 7 It is a commutation determination module of an embodiment of the present application;

[0060] Figure 8 It is a chart idle stroke simulation module of an embodiment of the present application;

[0061] Figure 9 It is an input end test signal schematic diagram of an embodiment of the present application;

[0062] Figure 10 It is a commutation determination word simulation result schematic diagram of an embodiment of the present application;

[0063] Figure 11 is a schematic diagram of output end simulation test result of one embodiment of the present application. DETAILED DESCRIPTION

[0064] For the purpose, technical solutions and advantages of the present application to be clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application. In the drawings, the same or similar notations represent the same or similar elements or elements with the same or similar functions throughout. The described embodiments are part of the embodiments of the present application, rather than all the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application. The embodiments of the present application will be described in detail below with reference to the drawings.

[0065] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the scope of protection of the present application.

[0066] The embodiments of the present application will be described in detail below with reference to the drawings. Figures 3 to 11 The present application will be described in further detail.

[0067] The present application provides a feedback cable slack characteristic simulation method, comprising:

[0068] Step one, mathematically describe the feedback cable slack characteristic, and construct a mathematical model according to the mathematical description of the feedback cable slack characteristic;

[0069] Step two, construct a simulation model of the feedback cable slack characteristic based on the mathematical model, and perform a simulation test of the slack characteristic according to the simulation model.

[0070] The present application is a closed-loop control feedback cable slack characteristic simulation method. First, it is mathematically described and a mathematical logic model is established. Second, it is implemented and tested using Matlab software.

[0071] Specifically, the feedback cable slack characteristic is mathematically described as follows:

[0072] (1) When the feedback cable starts moving at the initial position, there is a slack of size a;

[0073] (2) The displacement range of the feedback cable is limited, and the maximum is a;

[0074] (3) The initial position of the feedback cable is set at the maximum position, and the movement is started from the initial position to the decreasing direction;

[0075] (4) When the feedback cable continuously moves in one direction, only the initial stage overcomes the idle stroke a, and the subsequent continuous movement does not appear idle stroke;

[0076] (5) After overcoming the idle stroke, any reverse movement starting from any position will appear idle stroke during the continuous movement of the feedback cable in one direction. As long as the reverse movement occurs, the idle stroke will appear, which is irrelevant to the position of the feedback cable, but only related to the reverse movement;

[0077] (6) After overcoming the idle stroke, if the position of one end alternately changes direction during the continuous movement of the feedback cable in one direction, idle stroke will appear in both directions when the two directions are alternately changed, and the size of the idle stroke in each direction is determined according to the following principle: if the displacement d in the direction is less than a, the size of the idle stroke in the direction is d, and if the displacement d in the direction is greater than or equal to a, the size of the idle stroke in the direction is a.

[0078] The above description of the idle stroke characteristics can be illustrated by a series of diagrams to help understand. As shown in Figure 3 , A is the input end connected with the actuator adjusting mechanism, and B is the output end connected with the displacement sensor. When A moves from A to A' at the initial position, the distance between A and A' is a, at this time B does not move, this a is the idle stroke. When the input end continuously moves from A' to B direction after overcoming the idle stroke, B end follows the movement, B and A' move at the same time, at this time the movement displacement is synchronous, for example, A' starts to move b displacement to B direction, then B also moves b displacement to the same direction, as long as the movement in this direction, there will be no idle stroke until the limited position. This diagram can be used to explain the above (1)-(4).

[0079] As shown in Figure 4As shown, if the input end runs to point C, the reciprocating motion starts at the position of point C, moves from C1 to C2, reverses, moves from C3 to C4, and then moves from C5 to C6, and then moves from C7 to C8. For the convenience of understanding, the reciprocating motion is drawn at different positions. Actually, C1, C4, C5 and C8 are all the position of point C. C2 and C3 are one position, and C6 and C7 are one position. That is, the projection of C1-C8 on the straight line of A-B is the real position. In this way, the reciprocating motion process can be understood. In this process, the movement from C1 to C2 has an idle stroke, and the displacement from C1 to C2 is d1, d1 < a. Therefore, the idle stroke to be overcome in the process of positive motion from C1 to C2 and from C3 to C4 is d1. The displacement from C5 to C6 is d2, d2 > a. Therefore, the idle stroke to be overcome in the process of positive motion from C5 to C6 and from C7 to C8 is a.

[0080] After the feedback cable idle stroke characteristic is mathematically described, a mathematical model is constructed according to the mathematical description of the feedback cable idle stroke characteristic. In this embodiment, the mathematical model of the idle stroke characteristic includes a motion state module and a motion state jump module, which can be represented by the logic diagram shown in the figure. Figure 5 The motion state module is divided into five states, S1-S5, of which S1 is the initial simulation, and the rest S2-S5 are the simulation of the motion process. Since a continuous reverse motion displacement input is given from the initial position during actual product control, after the initial idle stroke simulation in S1, it will jump to the S5 module, and then constantly switch between S2-S5 according to different motion directions. The specific state name definition and switching condition are explained as follows:

[0081] S1 initial state: the initial position of this feedback cable on the aero-engine is located at the extreme position of one end, which is defined as the initial position. The motion direction from the initial position to the other end is defined as reverse, and vice versa.

[0082] S2 continuous positive motion state: after the positive motion overcomes the idle stroke, the state of continuous positive motion in the positive direction, at which time the idle stroke characteristic does not need to be considered;

[0083] S3 enter positive motion state: from continuous reverse motion or continuous reverse motion stable in a state, to positive motion, which exists in the state of idle stroke;

[0084] S4 enter reverse motion state: from positive motion to reverse motion, or from continuous positive motion to stable position and then to reverse motion, enter reverse motion, which exists in idle stroke and needs to be simulated;

[0085] S5 continuous reverse motion state: after the reverse motion overcomes the idle stroke, the process of continuous reverse motion, which does not need to consider the idle stroke characteristic.

[0086] The motion state jump module includes a plurality of determination conditions, wherein,

[0087] When the first determination condition is met, the initial state jumps to the continuous positive motion state, and the first determination condition is that the motion range reaches the air travel requirement, and if the continuous positive motion is maintained;

[0088] When the second determination condition is met, the initial state jumps to the continuous reverse motion state, and the second determination condition is that the motion range reaches the air travel requirement, and if the continuous reverse motion is maintained;

[0089] When the third determination condition is met, the continuous positive motion state jumps to the reverse motion state, and the third determination condition is that the motion process appears a reversing mark;

[0090] When the fourth determination condition is met, the reverse motion state jumps to the continuous reverse motion state, and the fourth determination condition is that the motion range reaches the air travel requirement;

[0091] When the fifth determination condition is met, the continuous reverse motion state jumps to the entering positive motion state, and the fifth determination condition is that the motion process appears a reversing mark;

[0092] When the sixth determination condition is met, the entering positive motion state jumps to the continuous positive motion state, and the sixth determination condition is that the motion range reaches the air travel requirement;

[0093] When the seventh determination condition is met, the entering positive motion state jumps to the entering reverse motion state, and the seventh determination condition is that the motion process appears a reversing mark;

[0094] When the eighth determination condition is met, the entering reverse motion state jumps to the entering positive motion state, and the eighth determination condition is that the motion process appears a reversing mark.

[0095] Referring to Table 1 for the determination condition description:

[0096] Table 1

[0097]

[0098] In the preferred embodiment of the present application, Figure 6 A simulation model structure diagram is given, “fanxiang” is a reversing determination module for determining the reversing condition, and “Chart” is an air travel simulation module for simulating the air travel. The specific logic block diagram is as follows: Figure 7 and Figure 8 .

[0099] In the embodiment, the reversing determination module includes:

[0100] The first commutation determination variable input end is used for acquiring the displacement speed of the input end.

[0101] The second commutation determination variable input end is used for acquiring the direction determination result of the previous cycle.

[0102] The first commutation determination variable output end is used for outputting the direction determination output result.

[0103] The second commutation determination variable output end is used for outputting the commutation determination output result.

[0104] In the embodiment, the idle stroke simulation module comprises:

[0105] The first idle stroke simulation variable input end is used for acquiring the input end position.

[0106] The second idle stroke simulation variable input end is used for acquiring the change rate of the input end position.

[0107] The third idle stroke simulation variable input end is used for acquiring the previous cycle value of the output end position.

[0108] The fourth idle stroke simulation variable input end is used for acquiring the commutation determination mark word and the commutation determination output result.

[0109] The fifth idle stroke simulation variable input end is used for acquiring the direction determination output result.

[0110] The sixth idle stroke simulation variable input end is used for acquiring the preset idle stroke.

[0111] The idle stroke simulation variable output end is used for calculating the output end position.

[0112] Figure 7 The input and output interface of the commutation determination module is shown in Table 2.

[0113] Table 2

[0114]

[0115] Figure 8 The input and output interface of the idle stroke simulation function module is shown in Table 3.

[0116] Table 3

[0117]

[0118] The feedback cable idle stroke characteristic simulation method of the present application finally performs idle stroke characteristic simulation test, and according to the model characteristics, a simulation test curve as shown in Figure 9 is designed as the input end displacement instruction. Figure 10The outputs of the direction determination module are two curves, respectively two outputs of Table 2. Figure 11 For the simulation test result, the solid line is the input displacement, and the dotted line is the simulation output displacement. Under the influence of the free stroke characteristic, there is a 0.3 free stroke at the initial movement 0s. From 4s to 8s, there is a reciprocating motion due to continuous single direction movement. There are free strokes in both directions, and from 4s to 6s, the reciprocating motion does not reach 0.3, so the output does not respond when the input changes.

[0119] The feedback cable free stroke characteristic simulation method of the present application refines the mathematical language description according to the product free stroke characteristic, establishes the functional logic block diagram, converts the program code according to the logic block diagram, develops the simulation model, designs the test input case according to the mathematical model description, and tests the simulation model result. The simulation test result shows that the method can accurately simulate the free stroke characteristic, is simple and convenient to use, and is convenient for engineering application.

[0120] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of simulating the free travel characteristic of a feedback cable, characterized by, The method comprises the following steps: Step 1: mathematically describe the feedback cable empty stroke characteristic, and construct a mathematical model according to the mathematical description of the feedback cable empty stroke characteristic; Step 2: construct a simulation model of the feedback cable empty stroke characteristic based on the mathematical model, and perform a simulation test on the empty stroke characteristic according to the simulation model; In step 1, the mathematical description of the feedback cable empty stroke characteristic comprises: When the feedback cable starts to move from the initial position, there is an empty stroke with a size of a; The displacement range of the feedback cable is limited, and the maximum is a; The initial position of the feedback cable is set at the maximum position, and the movement is started from the initial position to the decreasing direction; When the feedback cable continuously moves in one direction, only the empty stroke a is overcome in the early stage, and no empty stroke occurs in the subsequent continuous movement; After the feedback cable overcomes the empty stroke, and continuously moves in one direction, the reverse movement starting from any position will appear an empty stroke, as long as the reversing movement occurs, the empty stroke will appear, which is irrelevant to the position of the feedback cable, and is only related to the reversing; After the feedback cable overcomes the empty stroke, and continuously moves in one direction, if the position of one end alternately reverses, the empty stroke will appear in both directions when the two directions are alternately reversed, and the size of the empty stroke in each direction is determined according to the following principle: if the displacement d in the direction is less than a, the size of the empty stroke in the direction is d, if the displacement d in the direction is greater than or equal to a, the size of the empty stroke in the direction is a; In step 1, the mathematical model comprises: A movement state module, which comprises: an initial state, a continuous positive movement state, an entering positive movement state, an entering reverse movement state, and a continuous reverse movement state, and one end of the feedback cable is defined as the initial position, the movement direction from the initial position to the other end is defined as reverse, and vice versa, wherein, The state of the initial position is the initial state; After the positive movement overcomes the empty stroke, the state of continuously moving in the positive direction is the continuous positive movement state; When the positive movement is converted to the reverse movement, or the state of the continuous positive movement is converted to the reverse movement after being stable at a position, it is the entering reverse movement state; After the reverse movement overcomes the empty stroke, the state of continuously moving in the reverse direction is the continuous reverse movement state; When the reverse movement is converted to the positive movement, or the state of the continuous reverse movement is converted to the positive movement after being stable at a position, it is the entering positive movement state; A movement state jump module, which comprises a plurality of judgment conditions, wherein, When the first judgment condition is met, jump from the initial state to the continuous positive movement state, the first judgment condition is that if the continuous positive movement is met after the movement range reaches the empty stroke requirement; When the second judgment condition is met, jump from the initial state to the continuous reverse movement state, the second judgment condition is that if the continuous reverse movement is met after the movement range reaches the empty stroke requirement; When the third judgment condition is met, jump from the continuous positive movement state to the reverse movement state, the third judgment condition is that the reversing sign appears in the movement process; When the fourth determination condition is met, jumping from the entering reverse motion state to the continuous reverse motion state, the fourth determination condition is that the motion range reaches the air travel requirement; When the fifth determination condition is met, jumping from the continuous reverse motion state to the entering forward motion state, the fifth determination condition is that the commutation sign appears in the motion process; When the sixth determination condition is met, jumping from the entering forward motion state to the continuous forward motion state, the sixth determination condition is that the motion range reaches the air travel requirement; When the seventh determination condition is met, jumping from the entering forward motion state to the entering reverse motion state, the seventh determination condition is that the commutation sign appears in the motion process; When the eighth determination condition is met, jumping from the entering reverse motion state to the entering forward motion state, the eighth determination condition is that the commutation sign appears in the motion process; The simulation model comprises: a commutation determination module, configured to determine commutation; an air travel simulation module, configured to simulate air travel.

2. The feedback cable slack- characteristic simulation method according to claim 1, characterized by, The commutation determination module comprises: a first commutation determination variable input end, configured to acquire the displacement speed of the input end; a second commutation determination variable input end, configured to acquire the direction determination result of the previous cycle; a first commutation determination variable output end, configured to output the direction determination output result; a second commutation determination variable output end, configured to output the commutation determination output result.

3. The feedback cable slack- characteristic simulation method according to claim 2, characterized by, The air travel simulation module comprises: a first air travel simulation variable input end, configured to acquire the input end position; a second air travel simulation variable input end, configured to acquire the change rate of the input end position; a third air travel simulation variable input end, configured to acquire the previous cycle value of the output end position; a fourth air travel simulation variable input end, configured to acquire the determination mark word of commutation and the commutation determination output result; a fifth air travel simulation variable input end, configured to acquire the direction determination output result; a sixth air travel simulation variable input end, configured to acquire the preset air travel; an air travel simulation variable output end, configured to calculate the output end position.

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