A method and system for starting control of a micro turbojet engine

Abstract

The application relates to the technical field of aero-engines, in particular to a micro turbojet engine starting control method and system, which comprises the following steps: obtaining initial environment parameters of the micro turbojet engine, generating a clutch action response value according to the initial environment parameters based on a preset starting acceleration model and a clutch action response model; obtaining a current measured rotating speed of the engine, judging whether the clutch is successfully thrown out; if it is judged that the clutch is successfully thrown out, obtaining a rotating speed rising change value of the engine, judging whether the clutch is connected and stably transmits torque; if it is judged that yes, a motor disengagement judgment model is constructed, the motor is controlled to stop rotating based on the motor disengagement judgment model, and a safe disengagement stage is entered. The application improves the adaptability to complex environments and the identification ability to abnormal states in the starting stage, and significantly enhances the starting reliability and use safety of the micro turbojet engine.

Description

Technical Field

[0001] This application relates to the field of aero-engine technology, and in particular to a starting control method and system for a micro turbojet engine. Background Technology

[0002] Due to their compact structure and high thrust-to-weight ratio, micro turbojet engines have broad application prospects in small unmanned reconnaissance aircraft, target drones, decoy drones, and precision-guided weapons. However, the starting process of micro turbojet engines places extremely high demands on the stability and reliability of the system. Especially during the push-start phase, whether the clutch can be smoothly disengaged and stably engaged is a key factor in determining whether the engine can successfully ignite and run.

[0003] Existing technologies typically employ a motor and clutch structure, using a fixed starting PWM signal and speed threshold to disengage the clutch. However, this type of control method relies on a single acceleration setting, and the disengagement state is largely based on a one-time judgment result for subsequent control, lacking the ability to dynamically identify and correct abnormal disengagement or unstable clutch engagement.

[0004] Therefore, there is an urgent need to design a starting control method and system for a micro turbojet engine. Summary of the Invention

[0005] Based on this, it is necessary to provide a micro turbojet engine starting control method and system that can solve the problems of failed ejection and unstable torque caused by misjudgment in a single judgment or fixed thrust force in traditional systems, and has the ability to dynamically identify abnormal ejection or unstable clutch engagement.

[0006] The technical solution of this invention is as follows:

[0007] A starting control method for a micro turbojet engine, the method comprising:

[0008] The initial environmental parameters of the micro turbojet engine are obtained, and the clutch action response value is generated based on the initial environmental parameters according to the preset starting acceleration model and clutch action response model.

[0009] Obtain the current measured engine speed, and determine whether the clutch has been successfully disengaged based on the current measured engine speed and the clutch action response value;

[0010] If the clutch is successfully disengaged, the change in engine speed is obtained, and the clutch is determined to be engaged and stably transmitting torque based on the change in engine speed.

[0011] If the determination is yes, then a motor disengagement determination model is constructed, and the push motor is controlled to stop based on the motor disengagement determination model, thus entering the safe disengagement stage.

[0012] Specifically, the initial environment parameters of the micro turbojet engine are acquired, and a clutch action response value is generated according to the initial environment parameters based on a preset starting acceleration model and a clutch action response model, including:

[0013] The initial environment parameters of the micro turbojet engine are acquired, and an initial push rotation starting acceleration is generated according to the initial environment parameters based on a preset starting acceleration model.

[0014] A clutch action response value is generated according to the initial push rotation starting acceleration based on a preset clutch action response model.

[0015] Specifically, the initial environment parameters of the micro turbojet engine are acquired, and an initial push rotation starting acceleration is generated according to the initial environment parameters based on a preset starting acceleration model, including:

[0016] The initial environment parameters of the micro turbojet engine are acquired, and a preset standard reference temperature, a maximum working altitude, a push rotation motor efficiency coefficient and a temperature sensitivity index are acquired.

[0017] An initial push rotation starting acceleration is generated according to the initial environment parameters, the standard reference temperature, the maximum working altitude, the push rotation motor efficiency coefficient and the temperature sensitivity index and a preset starting acceleration model.

[0018] Specifically, a clutch action response value is generated according to the initial push rotation starting acceleration based on a preset clutch action response model, including:

[0019] An average torque coefficient under a unit duty ratio and an instantaneous duty ratio of a PWM signal are acquired.

[0020] A clutch action response value is generated according to the initial push rotation starting acceleration, the average torque coefficient and the instantaneous duty ratio of the PWM signal based on a preset clutch action response model.

[0021] Specifically, a current measured speed of the engine is acquired, and whether the clutch is successfully thrown out is judged according to the current measured speed of the engine and the clutch action response value, including:

[0022] A current measured speed of the engine is acquired, and a speed difference is generated according to the current measured speed of the engine and a motor target push rotation speed.

[0023] Whether the clutch is successfully thrown out is judged according to the speed difference and the clutch action response value.

[0024] Specifically, if it is judged that the clutch is successfully thrown out, a change value of the engine speed is acquired, and whether the clutch is connected and stably transmits torque is judged according to the change value of the engine speed, including:

[0025] If it is judged that the clutch is successfully thrown out, an engine measured rotation speed and a rotation speed detection time interval are acquired, and an engine rotation speed rising change value is generated based on the engine measured rotation speed and the rotation speed detection time interval;

[0026] Whether the clutch is connected and stably transmits torque is judged according to the engine rotation speed rising change value.

[0027] Specifically, the method further comprises:

[0028] If it is judged that the clutch is unsuccessfully thrown out, a preset adaptive adjustment gain coefficient is acquired;

[0029] A corrected start acceleration is generated according to the initial push rotation start acceleration and the adaptive adjustment gain coefficient;

[0030] The corrected start acceleration is applied to the push rotation motor, so that the clutch re-enters the throwing-out process.

[0031] Specifically, a micro turbojet engine start control system is further provided, and the system comprises:

[0032] An action response generation module is configured to acquire initial environmental parameters of the micro turbojet engine, generate a clutch action response value according to the initial environmental parameters based on a preset start acceleration model and a clutch action response model;

[0033] A throwing-out success judgment module is configured to acquire a current engine measured rotation speed, and judge whether the clutch is successfully thrown out according to the current engine measured rotation speed and the clutch action response value;

[0034] A torque transmission judgment module is configured to acquire an engine rotation speed rising change value if it is judged that the clutch is successfully thrown out, and judge whether the clutch is connected and stably transmits torque according to the engine rotation speed rising change value;

[0035] A safe disengagement control module is configured to, if it is judged that the clutch is successfully thrown out, construct a motor disengagement judgment model, control the push rotation motor to stop rotation based on the motor disengagement judgment model, and enter a safe disengagement stage.

[0036] Specifically, the action response generation module is further configured to acquire initial environmental parameters of the micro turbojet engine, and generate an initial push rotation start acceleration according to the initial environmental parameters based on a preset start acceleration model; generate a clutch action response value according to the initial push rotation start acceleration based on a preset clutch action response model.

[0037] Specifically, the action response generation module is further configured to: acquire initial environmental parameters of the micro turbojet engine, and acquire preset standard reference temperature, maximum working altitude, motor efficiency coefficient and temperature sensitivity index; and generate an initial motor starting acceleration according to the initial environmental parameters, the standard reference temperature, the maximum working altitude, the motor efficiency coefficient, the temperature sensitivity index and a preset starting acceleration model.

[0038] Specifically, the action response generation module is further configured to: acquire an average torque coefficient under a unit duty ratio and an instantaneous duty ratio of a PWM signal; and generate a clutch action response value according to the initial motor starting acceleration, the average torque coefficient and the instantaneous duty ratio of the PWM signal based on a preset clutch action response model.

[0039] Specifically, the spin-out success judgment module is further configured to: acquire a current measured rotating speed of the engine, and generate a rotating speed difference according to the current measured rotating speed of the engine and a motor target motor rotating speed; and judge whether the clutch is successfully spun out according to the rotating speed difference and the clutch action response value.

[0040] Specifically, the torque transmission judgment module is further configured to: if it is judged that the clutch is successfully spun out, acquire a measured rotating speed of the engine and a time interval of rotating speed detection, and generate an engine rotating speed rising change value based on the measured rotating speed of the engine and the time interval of rotating speed detection; and judge whether the clutch is connected and stably transmits torque according to the engine rotating speed rising change value.

[0041] Specifically, the safe disengagement control module is further configured to: if it is judged that the clutch fails to be spun out, acquire a preset adaptive adjustment gain coefficient; generate a corrected starting acceleration according to the initial motor starting acceleration and the adaptive adjustment gain coefficient; and make the clutch re-enter a spin-out process by applying the corrected starting acceleration to the motor.

[0042] Optionally, a computer device is also provided, which comprises a memory and a processor, the memory stores a computer program, and the processor implements the steps of the micro turbojet engine starting control method when executing the computer program.

[0043] Optionally, a computer readable storage medium is also provided, which stores a computer program, and the computer program implements the steps of the micro turbojet engine starting control method when executed by a processor.

[0044] The present application achieves the following technical effects:

[0045] (1) The micro turbojet engine starting control method and system, by obtaining the initial environmental parameters of the micro turbojet engine, generating the clutch action response value based on the preset starting acceleration model and clutch action response model according to the initial environmental parameters, solves the problem that in the prior art, a fixed PWM duty cycle or constant push rotation speed is set to drive the motor according to engineering experience, which cannot be flexibly adjusted according to different working conditions (such as temperature change, altitude change, air thinness, etc.), resulting in that in cold, high altitude or atmospheric pressure fluctuation environment, the clutch cannot apply sufficient initial torque, and the problem of failure to throw out occurs;

[0046] (2) By obtaining the current measured speed of the engine, and judging whether the clutch is successfully thrown out according to the current measured speed of the engine and the clutch action response value; if it is judged that the clutch is successfully thrown out, the engine speed rising change value is obtained, and it is judged whether the clutch is connected and stable torque transmission according to the engine speed rising change value; solve the problem that in the prior art, in the traditional micro turbojet engine starting system, after the push rotation motor completes the preset acceleration process, whether the clutch is thrown out is usually judged by detecting whether the engine speed exceeds a certain fixed threshold, and then because the judgment method is too single, it is easy to produce misjudgment only with the engine speed as the only basis;

[0047] (3) If it is judged to be yes, a motor disengagement judgment model is constructed, and the push rotation motor is controlled to stop based on the motor disengagement judgment model, and enters the safe disengagement stage; solve the problem that in the prior art, in the micro turbojet engine starting control system, after the push rotation motor completes the initial speed pushing of the engine, a fixed delay time is usually set, resulting in that the engine speed is greatly affected by environmental factors (such as temperature, air pressure) and mechanical state (such as lubrication, bearing friction), and the actual disengagement time has certain volatility.

[0048] Therefore, by constructing a set of starting control process with working condition adaptability of starting acceleration regulation, dynamic push rotation control, throw-out result judgment, acceleration closed-loop correction, torque stability verification and safe disengagement management, the problems of throw-out failure and torque instability caused by single judgment misjudgment or fixed push rotation in the traditional system are solved, the adaptability to complex environment and the recognition ability to abnormal state in the starting stage are improved, and the starting reliability and use safety of the micro turbojet engine are significantly enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 It is a flowchart of the micro turbojet engine starting control method in one embodiment;

[0050] Figure 2 It is a structure block diagram of the micro turbojet engine starting control system in one embodiment;

[0051] Figure 3 Figure 1 is a block diagram of the architecture of a computer device in one embodiment. DETAILED DESCRIPTION

[0052] In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular architectures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods, devices, circuits, and

[0053] It will be understood that the terms "comprises" and / or "comprising," when used in this specification, include the presence of one or more features, integers, steps, operations, elements, and / or components but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0054] It will be understood that the term "and / or," when used in the specification and in the following claims, refers to one and / or a combination of the associated listed items.

[0055] As used in this specification and claims, the terms "if", "for example", and "like", can be construed to perform a similar function as the terms "when", "whenever", "in response to", or "in response to the determination" or "in response to the detection" of, respectively. Similarly, the phrase "if it is determined" or "if [a described condition or event] is detected" can be construed to mean "upon determining" or "in response to determining" or "upon detecting [the described condition or event]" or "in response to detecting [the described condition or event]".

[0056] In addition, the terms "first", "second", "third", etc. as used in the description of the specification and the appended claims are not used to denote or imply relative importance but are used to distinguish one element from another.

[0057] Reference throughout this specification to "one embodiment", "an embodiment", or "a specific embodiment", means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment", "in an embodiment", "in some embodiments", "in other embodiments", "in additional embodiments", and so on, in various places throughout this specification are not necessarily all referring to the same embodiment, unless otherwise specifically stated. The terms "comprise", "comprising", "has", "having", "includes", "including", "contains", "containing" or any other variation thereof, are intended to cover a non-exclusive inclusion, unless otherwise specifically stated.

[0058] In one embodiment, a terminal is provided, which is configured to: acquire initial environment parameters of the micro turbojet engine, generate clutch action response values according to the initial environment parameters based on a preset starting acceleration model and a clutch action response model; acquire a current measured engine speed, and determine whether the clutch is successfully thrown out according to the current measured engine speed and the clutch action response values; if it is determined that the clutch is successfully thrown out, acquire an engine speed rising change value, and determine whether the clutch is connected and stably transmits torque according to the engine speed rising change value; if it is determined that the clutch is connected and stably transmits torque, build a motor disengagement judgment model, and control the push-rotation motor to stop according to the motor disengagement judgment model, and enter a safe disengagement stage.

[0059] The terminal can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers and portable wearable devices.

[0060] In one embodiment, as shown in Figure 1 A micro turbojet engine starting control method is provided, which comprises:

[0061] Step S100: acquiring initial environment parameters of the micro turbojet engine, and generating clutch action response values according to the initial environment parameters based on a preset starting acceleration model and a clutch action response model;

[0062] Step S200: acquiring a current measured engine speed, and determining whether the clutch is successfully thrown out according to the current measured engine speed and the clutch action response values;

[0063] Step S300: if it is determined that the clutch is successfully thrown out, acquiring an engine speed rising change value, and determining whether the clutch is connected and stably transmits torque according to the engine speed rising change value;

[0064] Step S400: if it is determined that the clutch is connected and stably transmits torque, building a motor disengagement judgment model, and controlling the push-rotation motor to stop according to the motor disengagement judgment model, and entering a safe disengagement stage.

[0065] In this embodiment, considering that the current system generally fails to implement multiple closed-loop correction mechanisms of starting acceleration, when the initial push rotation force is insufficient or the environmental conditions (such as temperature and altitude) change significantly, it is easy to cause the clutch to fail to be thrown out. On the other hand, even if the clutch has been successfully thrown out, the existing control method is difficult to effectively verify whether it has truly established a stable mechanical connection, lacks a verification mechanism based on the speed change trend, and is easy to appear "false throwing out" to cause subsequent starting failure or even motor burning. Therefore, the present application obtains the initial environmental parameters of the micro turbojet engine, generates a clutch action response value based on a preset starting acceleration model and a clutch action response model according to the initial environmental parameters, solves the problem that in the prior art, a fixed PWM duty cycle or a constant push rotation speed is set to drive the motor according to engineering experience, which cannot be flexibly adjusted for different working conditions (such as temperature change, altitude change, air thinness, etc.), resulting in that in cold, high altitude or atmospheric pressure fluctuation environment, the clutch cannot apply sufficient initial torque, and the problem of throwing out failure occurs; then the current measured speed of the engine is obtained, and whether the clutch is successfully thrown out is judged according to the current measured speed of the engine and the clutch action response value; if it is judged that the clutch is successfully thrown out, the engine speed rising change value is obtained, and whether the clutch is connected and stably transmits torque is judged according to the engine speed rising change value; solve the problem that in the prior art, in the traditional micro turbojet engine starting system, after the push rotation motor completes the preset acceleration process, whether the clutch has been thrown out is usually judged by detecting whether the engine speed exceeds a certain fixed threshold, and then because the judgment method is too single, it is easy to produce misjudgment only by taking the engine speed as the only basis; then if it is judged to be yes, a motor disengagement judgment model is constructed, and the push rotation motor is controlled to stop rotating based on the motor disengagement judgment model, and enters the safe disengagement stage; solve the problem that in the prior art, in the micro turbojet engine starting control system, after the push rotation motor completes the initial rotation speed pushing of the engine, a fixed delay time is usually set, resulting in that the engine speed is greatly affected by environmental factors (such as temperature and air pressure) and mechanical state (such as lubrication and bearing friction), and the actual disengagement time has a certain volatility.

[0066] Therefore, by constructing a starting control process with working condition adaptability of starting acceleration regulation, dynamic push rotation control, throwing out result judgment, acceleration closed-loop correction, torque stability verification and safe disengagement management, the problems of throwing out failure and torque instability caused by single judgment misjudgment or fixed push rotation force in the traditional system are solved. The method improves the adaptability to complex environment and the recognition ability to abnormal state in the starting stage, and significantly enhances the starting reliability and use safety of the micro turbojet engine.

[0067] In one embodiment, step S100: obtaining initial environmental parameters of the micro turbojet engine, generating a clutch action response value according to the initial environmental parameters based on a preset starting acceleration model and a clutch action response model, comprising:

[0068] Step S110: obtaining initial environmental parameters of the micro turbojet engine, and generating an initial push rotation starting acceleration according to the initial environmental parameters based on a preset starting acceleration model;

[0069] Step S120: generating a clutch action response value according to the initial push rotation starting acceleration based on a preset clutch action response model.

[0070] In this embodiment, by obtaining initial environmental parameters of the micro turbojet engine, and generating an initial push rotation starting acceleration according to the initial environmental parameters based on a preset starting acceleration model; generating a clutch action response value according to the initial push rotation starting acceleration based on a preset clutch action response model, the problem of the prior art that a fixed PWM duty cycle or a constant push rotation speed is set by engineering experience to drive the motor, and it is not flexible to adjust to different working conditions (such as temperature change, altitude change, air thinness, etc.), resulting in that the clutch cannot apply sufficient initial torque in cold, highland or atmospheric pressure fluctuation environment, and the problem of failure to throw out.

[0071] In one embodiment, step S110: obtaining initial environmental parameters of the micro turbojet engine, and generating an initial push rotation starting acceleration according to the initial environmental parameters based on a preset starting acceleration model; comprising:

[0072] Step S111: obtaining initial environmental parameters of the micro turbojet engine, and obtaining a preset standard reference temperature, a maximum working altitude, a push rotation motor efficiency coefficient and a temperature sensitivity index;

[0073] Step S112: generating an initial push rotation starting acceleration according to the initial environmental parameters, the standard reference temperature, the maximum working altitude, the push rotation motor efficiency coefficient, the temperature sensitivity index and a preset starting acceleration model.

[0074] In this embodiment, the existing micro turbojet engine starting control method generally adopts a fixed push rotation acceleration or a simplified linear calibration control table to drive the push rotation motor to drive the clutch to complete throwing out and realize engine ignition. This control method sets a fixed PWM duty cycle or a constant push rotation speed to drive the motor by engineering experience, and it is not flexible to adjust to different working conditions (such as temperature change, altitude change, air thinness, etc.), resulting in that the clutch cannot apply sufficient initial torque in cold, highland or atmospheric pressure fluctuation environment, and the problem of failure to throw out, or excessive push rotation leading to unstable connection, motor being dragged in reverse, etc.

[0075] Therefore, a start-up acceleration model is constructed in the present application to output an initial push rotation start-up acceleration, thereby realizing accurate activation of the clutch push rotation action in different scenarios and improving the clutch throw-out success rate and ignition stability.

[0076] The start-up acceleration model is as follows:

[0077]

[0078] wherein, is the initial push rotation start-up acceleration, unit: rad / s 2 . is the nominal push rotation acceleration, unit: rad / s 2 , which represents the reference push rotation acceleration of the system under standard conditions. Under standard conditions, .

[0079] is the current ambient temperature, unit: K. It is measured in real time by a digital temperature sensor (such as an NTC thermistor or a digital sensor such as SHT35) installed in the engine intake or the inner side of the engine housing, and the data is transmitted to the main controller through I2C or CAN bus. The normal setting range is 233K-323K (i.e. -40℃ to +50℃ under normal conditions), which is suitable for most UAV application scenarios. The control system needs to reasonably filter extreme temperature data to avoid abnormal disturbance.

[0080] wherein, the digital temperature sensor is installed in the engine intake or the low-temperature area of the housing, which is feasible after heat protection and mechanical fixation, and can collect representative environmental temperature signals; the wiring between the sensor and the main controller needs to follow the design principles of anti-vibration, temperature resistance, anti-interference and mechanical protection, and has engineering implementation feasibility and long-term stability in the micro turbojet engine system.

[0081] is the standard reference temperature. The standard reference temperature is a fixed parameter, which is generally defined as the international standard ambient temperature, i.e. 298 K (25℃), and is written into the controller ROM during program initialization or factory calibration, without dynamic collection.

[0082] ​​is the current altitude, unit: m. The atmospheric pressure is measured by an atmospheric pressure sensor (such as MS5611, BMP390), and the altitude is calculated by combining the standard atmospheric pressure formula, or obtained by the altitude output signal of the GNSS (GPS / Beidou) module, the latter is suitable for aerial platforms. The aerial platform is the aircraft body equipped with a miniature turbojet engine, which itself integrates a GNSS module to provide environmental data support for engine starting and running.

[0083] The atmospheric pressure sensor should be installed near the engine control cabin or air intake area, away from high temperature parts, by measuring static pressure and combining standard atmospheric model to convert altitude. The GNSS module should be installed on the top of the aircraft without obstruction to obtain stable satellite signal and provide absolute height information. Both can be redundant, and filter algorithm is used to improve the accuracy and reliability of height measurement.

[0084] is the maximum working altitude set by the system. The value is set by the engineer in the system design stage according to the engine model, electronic control system capacity and air thin adaptability, as the "escape correction boundary" set in the software, usually between 3000-8000m. Commonly set values are 5000m, 6000m or 8000m, which are used for normalization of environmental thinness.

[0085] is the efficiency coefficient of the push-turn motor. When the motor system is shipped, it is calibrated by the torque-current curve, power factor and energy loss model. The system can be considered as a semi-fixed value during operation, but it can be dynamically corrected according to the actual power feedback in some intelligent control systems. According to the type of motor and load condition, the typical value is between 0.85-0.95; high-efficiency direct-drive motor can be close to 0.95, while the efficiency of traditional brush motor is slightly lower.

[0086] is the temperature sensitive index. The coefficient is set by the system control algorithm, which reflects the influence weight of temperature on the starting performance of the push-turn system, and is an empirical adjustment factor. It is generally calibrated by experiment, based on the comparison data of clutch friction state and motor response at low and high temperatures. The value is usually 0.3-0.5, which can be appropriately increased (such as 0.45-0.5) if used in extremely cold environments to improve the low-temperature acceleration compensation capability; a lower value can be taken in moderate environments to reduce system sensitivity.

[0087] In the starting acceleration model, is used to correct the ambient temperature in exponential form. When the external temperature decreases, this item rises, thereby compensating for the power attenuation caused by the increased stickiness of the clutch and the increased viscosity of the lubricating oil at low temperature. For reflecting the adverse effect of thin air and low pressure in high altitude area on the transmission of push rotation torque, the value tends to 0 at high altitude, so that the system automatically increases the acceleration compensation.

[0088] The starting acceleration model adjusts the acceleration output dynamically in different environments through normalization processing, and improves the adaptability of engine ignition starting.

[0089] In one embodiment, step S120: generating a clutch action response value according to the initial push rotation starting acceleration based on a preset clutch action response model; comprising:

[0090] Step S121: obtaining the average torque coefficient under unit duty ratio and the instantaneous duty ratio of the PWM signal;

[0091] Step S122: generating a clutch action response value according to the initial push rotation starting acceleration, the average torque coefficient and the instantaneous duty ratio of the PWM signal based on a preset clutch action response model.

[0092] In this embodiment, in the conventional micro turbojet engine starting control system, the push rotation process usually adopts fixed PWM signal or constant motor output speed to drive the clutch into the throwing-out stage. This way is relatively simple in control logic, but lacks real-time modeling and response quantity extraction mechanism for the push rotation behavior process. In most cases, only the single signal of "whether the engine rotates" is used to judge whether the clutch is thrown out, which cannot perceive the dynamic behavior in the push rotation process, such as whether the applied torque is sufficient, whether the push rotation time is sufficient, whether the acceleration matches the electromagnetic response, etc.

[0093] In this application, during the process of the clutch entering the throwing-out stage, a clutch action response model is constructed to monitor the clutch state and output a clutch action response value.

[0094] The clutch action response model is as follows:

[0095]

[0096] is the clutch action response value, i.e. the clutch response torque deviation, unit: N·m·s.

[0097] is the average torque coefficient under unit duty ratio, unit is the average torque coefficient under unit duty ratio, unit 2 Through bench test method, under the conditions of setting unit duty ratio (such as 100%) and known push rotation acceleration (such as 300 rad / s 2 ), the actual output torque time accumulation value (unit N·m·s) obtained by the clutch is measured, and then its value is deduced.

[0098] is the instantaneous duty cycle function of the PWM signal. This function is usually generated in real time by the control program and output by the hardware PWM generator. In the control system, the PWM duty cycle can be mapped to the starting acceleration relationship between the motor drive voltage, or dynamically adjusted by lookup table method. The value range is 0-1, i.e. 0%-100%, and the commonly used working range is between 0.2-0.85, below 20% usually cannot overcome static friction, and above 85% is easy to cause current impact.

[0099] Exemplarily, the first method of setting PWM duty cycle is to establish a linear or nonlinear function relationship between the starting acceleration and the target motor voltage or motor target speed, and to map the calculated PWM duty cycle value (0-1) to the corresponding drive signal output by the controller.

[0100] The second method is to pre-calibrate a set of "starting acceleration-PWM duty cycle" corresponding relationship table based on different starting conditions (such as temperature, altitude, load, etc.), and to obtain the optimal duty cycle value in real time according to the current by lookup table method.

[0101] : duration of the push rotation phase, unit: s. This time can be accurately obtained by the internal timer counting method of the control system, or can be realized by setting a fixed value in the program. It is usually pre-set according to the engine model and clutch characteristics, and is generally in the range of 0.5-3.0 seconds. If the clutch is heavy or the external resistance is large, the push rotation duration should be extended.

[0102] By integrating the push rotation acceleration and the effective power input in the process of PWM signal control, the clutch action response value of the clutch exerted by the push rotation motor in the push rotation phase is calculated.

[0103] The biggest difference from the prior art is that not only the PWM control based push rotation drive is performed, but also the clutch push rotation response state quantity is calculated in real time to quantitatively evaluate the effective torque exerted by the push rotation motor on the clutch, which serves as the basis for subsequent judgment of whether the clutch is successfully thrown out.

[0104] In one embodiment, step S200: obtaining the current measured speed of the engine, and judging whether the clutch is successfully thrown out according to the current measured speed of the engine and the clutch action response value; comprising:

[0105] ​Step S210: Obtain the current measured engine speed, and generate a speed difference based on the current measured engine speed and the motor target push rotation speed;

[0106] Step S220: Determine whether the clutch is successfully thrown out based on the speed difference and the clutch action response value.

[0107] In this embodiment, in the traditional micro turbojet engine starting system, after the push rotation motor completes the preset acceleration process, whether the clutch has been thrown out is usually determined by detecting whether the engine speed exceeds a certain fixed threshold. However, this determination method is too single and has obvious deficiencies. Using only the engine speed as the only basis is easy to produce misjudgment. For example, in some cases, the clutch has completed physical action, but has not formed effective meshing connection with the rotating shaft, or has occurred slip phenomenon, resulting in that the engine speed does not truly reflect the actual output of the push rotation system.

[0108] In this application, the determination model determines whether the clutch has been successfully thrown out by combining the current measured engine speed and the motor target push rotation speed;

[0109] The determination model is as follows:

[0110] ;

[0111] ;

[0112] is the speed difference.

[0113] is the motor target push rotation speed, unit: rad / s. It is usually set based on the engine structure, clutch throw-out critical speed and motor performance curve. This value is written at system initialization or pre-flight task configuration, and is a fixed set value, which can also be self-optimized in multiple starts. To ensure the starting effect, it is usually set to be slightly higher than the engine self-starting ignition critical speed.

[0114] : The current measured engine speed, unit: rad / s. It is measured in real time by a Hall encoder, an optical speed measurement module or a magneto speed sensor installed on the engine main shaft or gear coupling, and the data is input to the main controller through a high-speed ADC or CAN bus. The system sampling period is generally 1-5 milliseconds to ensure high dynamic response. This value truly reflects whether the engine responds to the push rotation action, and the focus in the early starting period is whether it breaks through the starting critical point.

[0115] : Speed judgment tolerance. The error band set to allow small structural lag, transmission error or speed fluctuation between engine and motor, used as one of the conditions to determine whether the speed has been synchronized. The value is generally set at 3%-5% of . For example, if , the value should be 18-30 rad / s. The value is a fixed parameter in the system software or set by experience calibration, not directly measured by the sensor, but used as a threshold value for comparison when calculating the speed difference.

[0116] : Minimum response torque for throw-out determination. Usually derived by measuring the minimum push torque required for actual clutch throw-out on an experimental platform, or calculated theoretically based on clutch structure (such as friction plate material, angle, moment of inertia). The parameter is set as a constant in the program, with a value of 0.01-0.05. When is not reached , even if the speed change appears normal, it is considered not to have truly completed the effective throw-out, avoiding false positives.

[0117] Experimental platform refers to a bench test device used to simulate and test the push-rotation process of a micro turbojet engine, including a controllable motor, a clutch assembly, a speed / torque sensor, and a main control system. The platform is used to measure the response torque and throw-out action of the clutch under different push-rotation accelerations and PWM control signals, helping to determine the critical value.

[0118] First, estimate the initial engagement force based on the static friction coefficient of the friction plate material, then calculate the required torque based on the clutch angle and contact area; finally, based on the equivalent moment of inertia of the clutch and engine rotor, derive the minimum cumulative action time required to reach the torque through the dynamics relationship, thus obtaining .

[0119] : Clutch throw-out state, indicating whether the current clutch has completed the physical throw-out action and established an effective torque transmission path, 1 indicating success and 0 indicating failure.

[0120] The judgment model determines whether the motor output speed is successfully transmitted to the engine side, i.e., whether the speed difference is small enough, and combines the clutch action response value , thus realizing the joint determination of "whether the throw-out is successful".

[0121] The speed difference between the engine and the motor and the clutch action response value calculated in the previous step are used as joint determination conditions, thus realizing accurate discrimination of the throw-out state. This strategy is significantly different from existing methods that only use a single value of engine speed for determination. ​

[0122] In one embodiment, the method further comprises: step S510: if it is judged that the clutch fails to be thrown out, a preset adaptive adjustment gain coefficient is obtained;

[0123] Step S520: generating a corrected start-up acceleration according to the initial push rotation start-up acceleration and the adaptive adjustment gain coefficient;

[0124] Step S530: applying the corrected start-up acceleration to the push rotation motor to make the clutch re-enter the throwing-out process.

[0125] In the present embodiment, most existing micro turbojet engine start-up control systems adopt a fixed push rotation strategy or a single action judgment logic, that is, after a push rotation failure, the system stops the start-up process or repeatedly executes the same PWM push rotation strategy, lacking a feedback correction mechanism. Such a static and non-adaptive control method cannot dynamically adjust the push rotation force output when facing complex working conditions (such as clutch aging, lubrication condition change, high temperature and cold environment), resulting in multiple failures of the clutch to be thrown out, and the system fails to actively adjust the acceleration or PWM signal to adapt to this change, thereby directly leading to start-up failure.

[0126] The adaptive acceleration correction includes constructing a correction model, dynamically adjusting the initial push rotation start-up acceleration to enhance the impact force of the clutch and improve the throwing-out probability;

[0127] The correction model is as follows:

[0128]

[0129] : corrected start-up acceleration, unit: rad / s 2 .

[0130] : adaptive adjustment gain coefficient, unit: s -1 is an adjustment factor used by the control system when performing push rotation acceleration correction, which is used to control the size of the correction amplitude, and is usually determined by experiment calibration during engineering debugging. The value is not obtained through a sensor, but is preset in the control algorithm and can be manually adjusted according to different engine platforms. To ensure that the system response is not too fast or too slow, it is generally set in the interval of 0.3-0.7, and a larger value indicates that the correction is more sensitive and converges faster, and a smaller value indicates that the system is more robust and changes smoothly.

[0131] corrected start-up acceleration will enter step S120 again to repeat the process until the throwing-out condition is met or the maximum number of attempts is exceeded.

[0132] Under the premise of judging that the clutch is not thrown out, instead of directly stopping or simply repeating the pushing process, a corrected starting acceleration is generated by calculating the clutch response torque deviation and the engine-motor speed difference , to enhance the effectiveness of the next round of pushing action. This step not only solves the problem of no response to the "throwing out" state in traditional systems, but also provides a lightweight regulation strategy with self-learning ability, significantly improving the success probability of the clutch throwing out in multiple attempts, thereby improving the overall starting reliability of the engine.

[0133] In one embodiment, step S300: if it is judged that the clutch is successfully thrown out, the engine speed rise change value is obtained, and whether the clutch is connected and stably transmits torque is judged according to the engine speed rise change value, comprising:

[0134] Step S310: if it is judged that the clutch is successfully thrown out, the engine measured speed and the time interval of speed detection are obtained, and the engine speed rise change value is generated based on the engine measured speed and the time interval of speed detection;

[0135] Step S320: judging whether the clutch is connected and stably transmits torque according to the engine speed rise change value.

[0136] In this embodiment, in the starting process of a traditional micro turbojet engine, even if it is detected that the clutch has completed the throwing out operation (for example, it is judged to have been thrown out by a single speed increase), the system often lacks a process to further verify whether it can stably transmit torque. Most current control systems only use whether the engine speed value "reaches or exceeds the set value" as the judgment standard for the normal operation of the clutch, lacking analysis of the speed change trend. This method has a key blind spot: the clutch may be "lapped" in physical structure but actually in a semi-connection or intermittent engagement state, resulting in that the torque cannot be continuously and stably transmitted.

[0137] In this application, a speed change rate model is constructed to evaluate the trend of engine speed rise and verify whether the acceleration is continuous, thereby verifying whether the clutch is truly connected and can stably transmit torque;

[0138] The speed change rate model is as follows:

[0139]

[0140] : engine speed rise change value, unit: rad / s 2 .

[0141] : Engine measured speed at time t. Obtained from high resolution optical encoder, hall sensor or magneto speed sensor installed on the main shaft or intermediate shaft of the engine. The control system takes it as time series input by high speed sampling (e.g. 1-5ms interval) and stores it in cache for later calculation.

[0142] : Time interval of speed detection, represents the time difference between two acquisition . The acquisition method is determined by the timer period set internally by the controller, for example: when working at a sampling frequency of 200Hz, then 0.005s. This value usually does not need to be dynamically obtained, but is set as a fixed value during system design and used for the differential form calculation of the speed change rate. The typical value range is 0.003-0.02 seconds.

[0143] The speed change rate model evaluates whether the torque can be effectively transmitted by measuring the speed increment of the engine in a short time.

[0144] Based on the obtained engine speed rise change value , the torque stability is determined:

[0145]

[0146] : Minimum speed change threshold, unit: rad / s 2 . The critical acceleration value set to determine whether the engine is in a stable acceleration state, used to distinguish between normal torque transmission and weak coupling or slipping state. It is not obtained by sensors, but is determined by engine model, moment of inertia parameters and empirical data, written as a software constant in the control logic. The threshold value should be slightly higher than the natural acceleration level of the engine when it is inertia self-rotating without load, usually set at 50-80 rad / s 2 . In high altitude or high inertia systems, it is recommended to take a lower value to avoid misjudgment, and in agile starting systems, the value can be appropriately increased to enhance the sensitivity of response discrimination.

[0147] : Torque stability determination state, 1 indicates stability, 0 indicates abnormality.

[0148] If the torque is unstable, the engine speed appears to be stagnant or oscillating, resulting in less than the threshold value, at this time it is considered that the clutch has been thrown out but not effectively engaged, and needs to return to step S510 for acceleration correction attempt again.

[0149] The main advantages of this model are reflected in the following three points:

[0150] The process can be verified: the rate of change of engine speed is a process-related physical quantity that reflects whether the engine is stably absorbing the kinetic energy input from the thrust.

[0151] Reduced risk of misjudgment: Avoiding the mistaken assumption that the clutch is properly engaged due to brief fluctuations in engine speed, thus improving the accuracy of judgment;

[0152] This provides a basis for subsequent adjustments: once it is determined to be unstable ( This will invoke the modified model in step S510 to form a true "closed-loop nested structure," enhancing the system's recovery capabilities.

[0153] In this embodiment, when determining whether the clutch torque is stable, it also dynamically records whether the engine is currently stuck in a low-speed plateau region (e.g., 3000-4500 rad / min). Due to factors such as rapid fluctuations in aerodynamic load, nozzle back pressure, and shaft damping, the engine often experiences a "speed stagnation" phenomenon. Although the engine speed may increase slightly in the short term, this leads to… The judgment conditions are met, but the system has actually entered an unstable state of "torque transmission obstruction". The existing judgment mechanism is prone to "false positive" judgments due to the lack of residence time or area identification function, which may lead to the mistaken belief that the system has stabilized and thus blindly proceed with the process, causing start-up failure or mechanical shock.

[0154] In this embodiment, when the dwell time in the low-speed platform area exceeds a set threshold of 2.5 seconds, it automatically... Setting the value to 0 prematurely exits the step and re-enters the acceleration correction process, avoiding misjudgment. This effectively prevents hardware damage or startup interruption caused by misjudgment in traditional methods, significantly improving the system's engineering practicality, robustness, and safety reliability. This reinforcement mechanism does not rely on additional sensors and is implemented solely through software logic, possessing extremely high implementation value and portability, and is applicable to most existing micro turbojet engine start-up control platforms.

[0155] In one embodiment, step S400: if the determination is yes, then a motor disengagement determination model is constructed, and the push motor is controlled to stop based on the motor disengagement determination model, thus entering the safe disengagement stage.

[0156] In the existing micro turbojet engine starting control system, the push rotation motor usually completes the so-called "push rotation exit" operation by setting a fixed delay time (for example: after the push rotation lasts for 3 seconds) or simply stopping after the engine reaches the set ignition speed. However, this strategy has obvious defects: on the one hand, since the engine speed is greatly affected by environmental factors (such as temperature, air pressure) and mechanical state (such as lubrication, bearing friction), its actual departure time has certain volatility, and the fixed delay time often cannot adapt to all starting situations; on the other hand, if the push rotation motor fails to disengage in time, and the engine has already run at high speed, the rotor will drag the push rotation motor, which may cause serious faults such as excessive reverse electromotive force and motor winding overheating and burning.

[0157] In this application, after entering the main starting stage of the engine, the motor disengagement judgment is no longer dependent on fixed time or rough threshold, but a motor disengagement judgment model is constructed to monitor whether the engine speed reaches the push rotation motor safe disengagement threshold.

[0158] The motor disengagement judgment model is as follows:

[0159] ;

[0160] ;

[0161] : Push rotation motor disengagement critical speed. Generally determined according to motor structure, anti-drag safety limit, engine self-sustaining speed, etc., such as 10000-12000 rad / min. : Disengagement state signal, 1 indicates entering the safe disengagement stage.

[0162] The motor disengagement judgment model takes the current measured speed of the engine as the only judgment variable, once the speed exceeds the disengagement threshold , the disengagement condition is met, the PWM signal is controlled to stop the push rotation motor, and the safe disengagement stage is entered.

[0163] Therefore, before the engine starts, the application real-time acquires external conditions such as ambient temperature and altitude, and calculates the initial push rotation starting acceleration combined with the motor efficiency parameters. The purpose is to realize adaptive adjustment of push rotation control and ensure appropriate starting condition input under different working conditions. Then, according to the initial push rotation starting acceleration generated in the previous step, the PWM signal is controlled to drive the push rotation motor, and the motor dynamic parameters during the push rotation process are collected. The system performs the actual action of clutch throwing through this module, and collects the clutch response value , to provide input basis for subsequent judgment. The speed difference is calculated and it is judged whether the throwing out is successful, to realize the first closed-loop judgment and avoid mistaking the unsuccessful throwing out as successful throwing out. When the throwing out fails, the correction model is executed, and the starting acceleration is adjusted based on the actual response deviation , to form an adaptive control mechanism. Even if the clutch throws out successfully, it cannot guarantee that it can be stably connected, so the engine speed rising change value of the engine in a short time is monitored to verify whether the torque is smoothly transmitted. If it is determined to be abnormal, it returns to S510 to correct again, to ensure the stability basis before formal starting. Finally, when the engine speed reaches the preset critical value , the drive signal of the pusher motor is immediately interrupted to avoid the safety risk of high-speed rotor reverse dragging the motor causing burning, etc. This part is the safety ending unit of the whole system, which ensures that the starting process is completed in a safe range.

[0164] In one embodiment, as shown in Figure 2 , a micro turbojet engine starting control system is also provided, the system comprising:

[0165] An action response generation module is configured to obtain initial environmental parameters of the micro turbojet engine, generate a clutch action response value based on a preset starting acceleration model and a clutch action response model according to the initial environmental parameters;

[0166] A throwing out success judgment module is configured to obtain a current measured engine speed, and judge whether the clutch is thrown out successfully according to the current measured engine speed and the clutch action response value;

[0167] A torque transmission judgment module is configured to, if it is judged that the clutch is thrown out successfully, obtain an engine speed rising change value, and judge whether the clutch is connected and stably transmits torque according to the engine speed rising change value;

[0168] A safety disengagement control module is configured to, if it is judged to be yes, build a motor disengagement judgment model, and control the pusher motor to stop based on the motor disengagement judgment model, to enter the safety disengagement stage.

[0169] In one embodiment, the action response generation module is further configured to obtain initial environmental parameters of the micro turbojet engine, and generate an initial pusher starting acceleration based on a preset starting acceleration model according to the initial environmental parameters; generate a clutch action response value based on a preset clutch action response model according to the initial pusher starting acceleration.

[0170] In one embodiment, the action response generation module is further configured to: acquire initial environmental parameters of the micro turbojet engine, and acquire preset standard reference temperature, maximum working altitude, motor efficiency coefficient and temperature sensitivity index; and generate initial motor starting acceleration according to the initial environmental parameters, the standard reference temperature, the maximum working altitude, the motor efficiency coefficient and the temperature sensitivity index, and a preset starting acceleration model.

[0171] In one embodiment, the action response generation module is further configured to: acquire average torque coefficient under a unit duty ratio and instantaneous duty ratio of a PWM signal; and generate clutch action response value according to the initial motor starting acceleration, the average torque coefficient and the instantaneous duty ratio of the PWM signal based on a preset clutch action response model.

[0172] In one embodiment, the spin-out success judgment module is further configured to: acquire current measured speed of the engine, and generate speed difference according to the current measured speed of the engine and target motor speed; and judge whether the clutch is successfully spun out according to the speed difference and the clutch action response value.

[0173] In one embodiment, the torque transmission judgment module is further configured to: if it is judged that the clutch is successfully spun out, acquire measured speed of the engine and time interval of speed detection, and generate engine speed rising change value based on the measured speed of the engine and the time interval of speed detection; and judge whether the clutch is connected and stably transmits torque according to the engine speed rising change value.

[0174] In one embodiment, the safe disengagement control module is further configured to: if it is judged that the clutch fails to be spun out, acquire preset adaptive adjustment gain coefficient; generate corrected starting acceleration according to the initial motor starting acceleration and the adaptive adjustment gain coefficient; and make the clutch re-enter the spin-out process by applying the corrected starting acceleration to the motor.

[0175] In one embodiment, as shown in Figure 3 The computer device further includes a system bus, an internal memory, a network structure, a display screen, an input device and the like.

[0176] In one embodiment, a computer readable storage medium is provided, which stores a computer program. The computer program is executed by a processor to implement the steps of the micro turbojet engine starting control method.

[0177] It should be noted that the information interaction, execution process and the like between the above modules are based on the same concept as the method embodiments of the present application, and the specific functions and the technical effects brought by the same can be referred to the method embodiments part for details, which will not be repeated here.

[0178] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or software functional unit. In addition, the specific names of the functional units and modules are only for mutual distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can be referred to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0179] It should be noted that the information interaction, execution process and the like between the above modules are based on the same concept as the method embodiments of the present application, and the specific functions and the technical effects brought by the same can be referred to the method embodiments part for details, which will not be repeated here.

[0180] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or software functional unit. In addition, the specific names of the functional units and modules are only for mutual distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can be referred to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0181] The embodiments of the present application also provide a network device, which comprises at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps in any of the above method embodiments when executing the computer program.

[0182] The embodiments of the present application further provide a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the steps in the above-mentioned various method embodiments.

[0183] The embodiments of the present application provide a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal is caused to implement the steps in the above-mentioned various method embodiments.

[0184] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the processes in the above-mentioned embodiments, which can be completed by a computer program instructing related hardware. The computer program can be stored in a computer readable storage medium, and the computer program, when executed by a processor, can implement the steps in the above-mentioned various method embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable file or some intermediate form. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the photographing device / terminal equipment, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0185] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0186] Those skilled in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0187] In the embodiments of the present application, it should be understood that the disclosed apparatus / network device and method can be implemented in other manners. For example, the described apparatus / network device embodiments are merely illustrative. For example, the division of the modules or units is only a logical function division. There can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0188] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0189] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

[0190] An embodiment of the present application further provides a computer device, which comprises at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor executes the computer program to implement the steps in any of the above-described embodiments.

[0191] The computer device can include, but is not limited to, a processor, a memory. Those skilled in the art can understand that the above description is an example of the computer device, and does not constitute a limitation on the computer device, and can include more or fewer components than the above description, or combine some components, or different components, for example, can also include input / output devices, network access devices, etc.

[0192] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0193] The memory can be an internal storage unit of the computer device in some embodiments, for example, a hard disk or a memory of the computer device. The memory can also be an external storage device of the computer device in other embodiments, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory can include both the internal storage unit and the external storage device of the computer device. The memory is used to store an operating system, an application program, a boot loader, data, and other programs, for example, program codes of the computer program, etc. The memory can also be used to temporarily store data that has been output or will be output.

[0194] The technical features of the above embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

[0195] The above embodiments only express several implementation manners of the present application, and the description is specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A micro turbojet engine starting control method, characterized in that, The method comprises: Obtaining initial environmental parameters of the micro turbojet engine, and generating a clutch action response value based on a preset starting acceleration model and a clutch action response model according to the initial environmental parameters; Obtaining a current measured engine speed, and determining whether the clutch is successfully thrown out according to the current measured engine speed and the clutch action response value; If it is determined that the clutch is successfully thrown out, obtaining an engine speed rising change value, and determining whether the clutch is connected and stably transmits torque according to the engine speed rising change value; If it is determined that the clutch is connected and stably transmits torque, constructing a motor disengagement judgment model, and controlling the motor to stop rotating based on the motor disengagement judgment model to enter a safe disengagement stage; The motor disengagement judgment model is as follows: ； ； : push-turn motor is out of critical speed; The motor disengagement determination model takes the current measured engine speed As the only determining variable, once the speed is detected to exceed the disengagement threshold The disengagement condition is met, The PWM signal is immediately controlled to stop the pusher motor, entering the safe disengagement phase.

2. The micro turbojet engine start control method of claim 1, wherein Obtaining initial environmental parameters of the micro turbojet engine, and generating a clutch action response value based on a preset starting acceleration model and a clutch action response model according to the initial environmental parameters, comprising: Obtaining initial environmental parameters of the micro turbojet engine, and generating an initial push-rotation starting acceleration based on a preset starting acceleration model according to the initial environmental parameters; Generating a clutch action response value based on a preset clutch action response model according to the initial push-rotation starting acceleration.

3. The micro turbojet engine start control method of claim 2, wherein Obtaining initial environmental parameters of the micro turbojet engine, and generating an initial push-rotation starting acceleration based on a preset starting acceleration model according to the initial environmental parameters; comprising: Obtaining initial environmental parameters of the micro turbojet engine, and obtaining a preset standard reference temperature, a maximum working altitude, a push-rotation motor efficiency coefficient and a temperature sensitivity index; Generating an initial push-rotation starting acceleration according to the initial environmental parameters, the standard reference temperature, the maximum working altitude, the push-rotation motor efficiency coefficient, the temperature sensitivity index and a preset starting acceleration model.

4. The micro turbojet engine start control method of claim 2, wherein Generating a clutch action response value based on a preset clutch action response model according to the initial push-rotation starting acceleration; comprising: Obtaining an average torque coefficient under a unit duty ratio and an instantaneous duty ratio of a PWM signal; Generating a clutch action response value based on a preset clutch action response model according to the initial push-rotation starting acceleration, the average torque coefficient and the instantaneous duty ratio of the PWM signal.

5. The micro turbojet engine start control method of claim 1, wherein Obtaining a current measured engine speed, and determining whether the clutch is successfully thrown out according to the current measured engine speed and the clutch action response value; comprising: Obtaining a current measured engine speed, and generating a speed difference according to the current measured engine speed and a motor target push-rotation speed; Determining whether the clutch is successfully thrown out according to the speed difference and the clutch action response value.

6. The micro turbojet engine start control method of claim 1, wherein If it is determined that the clutch is successfully thrown out, obtaining an engine speed rising change value, and determining whether the clutch is connected and stably transmits torque according to the engine speed rising change value, comprising: If it is determined that the clutch is successfully thrown out, obtaining an engine measured speed and a time interval of speed detection, and generating an engine speed rising change value based on the engine measured speed and the time interval of speed detection; Determining whether the clutch is connected and stably transmits torque according to the engine speed rising change value.

7. The micro turbojet engine start control method of claim 2, wherein The method further comprises: If it is judged that the clutch fails to be thrown out, a preset adaptive adjustment gain coefficient is acquired; A corrected start acceleration is generated according to the initial push rotation start acceleration and the adaptive adjustment gain coefficient; The corrected start acceleration is applied to the push rotation motor, so that the clutch re-enters the throwing-out process.

8. A micro turbojet engine start control system, characterized in that, The system comprises: An action response generation module is configured to acquire initial environmental parameters of the micro turbojet engine, and generate a clutch action response value according to the initial environmental parameters based on a preset start acceleration model and a clutch action response model; A throwing-out success judgment module is configured to acquire a current measured engine speed, and judge whether the clutch is successfully thrown out according to the current measured engine speed and the clutch action response value; A torque transmission judgment module is configured to, if it is judged that the clutch is successfully thrown out, acquire an engine speed rising change value, and judge whether the clutch is connected and stably transmits torque according to the engine speed rising change value; A safe disengagement control module is configured to, if the judgment is yes, construct a motor disengagement judgment model, and control the push rotation motor to stop rotating based on the motor disengagement judgment model, so as to enter a safe disengagement stage; The motor disengagement judgment model is as follows: ； ； : push-turn motor is out of critical speed; The motor disengagement determination model takes the current measured engine speed as the only determining variable. Once the speed is detected to exceed the disengagement threshold , the disengagement condition is met, and the PWM signal is immediately controlled to stop the pusher motor, entering the safe disengagement phase. 9.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-8 when the computer program is executed by the processor. The processor executes the computer program to realize the steps of the method in any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the method in any one of claims 1 to 7.

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