Collaborative decision-making method and system based on instruction planning

Abstract

The invention belongs to the field of two-dimensional thrust vectoring nozzle control, and particularly relates to a collaborative decision-making method and system based on instruction planning. The method comprises the following steps: acquiring an actual throat area and a target throat area; processing the actual throat area and the target throat area through a cooperative control strategy based on instruction planning to generate a throat area scattering instruction; and according to the throat area scattering instruction, generating an actuating cylinder instruction of a spray pipe actuating mechanism. In order to ensure that the lower-layer executing mechanism can stably execute the instruction and ensure the control quality of the spray pipe in the transition process, instruction planning is carried out on the original instruction, the instruction preprocessing scheme accurately plans an actuating instruction signal of the executing mechanism, and the control efficiency is greatly improved on the premise that the final control target is not changed. The dynamic response of the system is obviously optimized, it is ensured that the spray pipe moves stably in the transition process, the control quality is guaranteed, and meanwhile impact and influence on an executing mechanism are reduced.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of binary vector nozzle control, and particularly relates to a collaborative decision-making method and system based on instruction planning. BACKGROUND

[0002] Unlike the traditional axisymmetric nozzle, the binary vector nozzle has a simpler and lighter structure, can meet the supersonic cruise demand of an aircraft, and can effectively reduce infrared radiation and improve concealment performance due to its unique exhaust flow direction control capability. In addition, the binary vector nozzle can provide excellent maneuvering performance for the aircraft by changing the thrust direction. The control system adjusts the A8 actuator and the A9 actuator through four control loops (LA8S, LA8X, LA9S, and LA9X) to realize the contraction, expansion, and deflection of the nozzle area.

[0003] The existing method generally does not consider the nozzle area ratio Ar, i.e., the ratio A9⁄A8 of the outlet area A9 and the throat area A8, which is a key parameter affecting the engine thrust performance and vector efficiency. The binary vector nozzle only realizes the collaborative design of the outlet area A9 from the lower controller, and lacks the design of the top instruction decision-making. Although the lower actuator has collaborative control, and the final position or time realizes collaboration, there is no full-process collaboration in the process. When the aircraft or engine rapidly maneuvers, such as aircraft acceleration climb, the upper system issues a large step control instruction, which cannot guarantee the smoothness and safety of the nozzle vector deflection process.

[0004] Therefore, there is an urgent need for a technical solution to overcome or alleviate at least one of the above-mentioned defects of the prior art. SUMMARY

[0005] The purpose of the present application is to provide a collaborative decision-making method and system based on instruction planning to solve at least one problem existing in the prior art.

[0006] The technical solution of the present application is:

[0007] The first aspect of the present application provides a collaborative decision-making method based on instruction planning, comprising:

[0008] obtaining an actual throat area and a target throat area;

[0009] processing the actual throat area and the target throat area through a collaborative control strategy based on instruction planning to generate a throat area scattering instruction;

[0010] generating a ram cylinder instruction of a nozzle actuator according to the throat area scattering instruction.

[0011] In at least one embodiment of the present application, the actual throat area is obtained, comprising:

[0012] The actual displacements of the upper actuator cylinder LA8S, the lower actuator cylinder LA8X, the upper actuator cylinder LA9S, and the lower actuator cylinder LA9X of A9 are obtained by sensors.

[0013] The actual throat area is obtained by converting the inverse function representing the mapping relationship between the actual displacement of the actuator and the actual throat area: A8 = F 反 (LA8S, LA8X, LA9S, LA9X).

[0014] In at least one embodiment of this application, the actual throat area and the target throat area are processed by a cooperative control strategy based on instruction planning to generate a throat area dispersal instruction, including:

[0015] S1. Initialization: Set A8_ZJ=0, Θ=0, De_A8=A8-A8Dem, where A8_ZJ is a global static variable, Θ is a local static variable, De_A8 is the actuator command deviation, A8 is the actual throat area, and A8Dem is the target throat area.

[0016] S2. Calculate Ξ=De_A8 / X, where X is the amplitude of the desired step signal;

[0017] S3. Determine whether |A8_ZJ-A8| is less than the tracking speed parameter flag. If it is less, proceed to step S4; if it is not less, proceed to step S5.

[0018] S4. Let Θ = Θ + ε, where ε is the increment of the local static variable;

[0019] S5. Determine if Ξ is equal to Θ. If it is equal, output A8_ZJ. If it is not equal, execute step S6.

[0020] S6. Determine if Ξ is equal to 0. If yes, output A8Dem. Otherwise, set Ξ=Θ, A8h=A8-X, A8_ZJ=A8h, and output A8_ZJ. A8h is an intermediate variable.

[0021] In at least one embodiment of this application, generating an actuation cylinder command for the nozzle actuator based on the throat area dispersion command includes:

[0022] The actuator commands are obtained by converting the forward function representing the mapping relationship between the throat area dispersion command and the actuator command: (LA8S, LA8X, LA9S, LA9X) = F 正 (A8 打散 ), of which A8 打散 It is either A8Dem or A8_ZJ.

[0023] A second aspect of this application provides a collaborative decision-making system based on instruction planning, which, based on the collaborative decision-making method based on instruction planning as described above, includes:

[0024] The upper-level instruction module is used to obtain the target throat area sent by the upper-level controller;

[0025] The inverse kinematics module is used to calculate the actual throat area based on the actual displacement of the actuator cylinder.

[0026] The dispersing module is used to process the actual throat area and the target throat area through a collaborative control strategy based on instruction planning, and generate throat area dispersing instructions.

[0027] The correct solution module is used to generate the actuation cylinder command of the nozzle actuator based on the throat area dispersion command.

[0028] The invention has at least the following beneficial technical effects:

[0029] The collaborative decision-making method based on instruction planning proposed in this application aims to ensure that the lower-level actuators can smoothly execute instructions and guarantee the control quality of the nozzle during the transition process. It performs instruction planning on the original instructions. This instruction preprocessing scheme accurately plans the actuator actuation instruction signals, significantly optimizes the dynamic response of the system without changing the final control objective, ensures the smooth movement of the nozzle during the transition process, guarantees the control quality, and also reduces the impact on the actuators. Attached Figure Description

[0030] Figure 1 This is a flowchart of a collaborative decision-making method based on instruction planning according to one embodiment of this application;

[0031] Figure 2 This is a schematic diagram of the underlying collaborative control principle of one embodiment of this application;

[0032] Figure 3 This is diagram A8 / A9 showing the original control effect of one embodiment of this application;

[0033] Figure 4 This is a diagram illustrating the collaborative control effect of A8 / A9 based on instruction planning in one embodiment of this application. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0035] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this application.

[0036] The following is in conjunction with the appendix Figures 1 to 4 This application will be described in further detail.

[0037] The first aspect of this application provides a collaborative decision-making method based on instruction planning, comprising the following steps:

[0038] Obtain the actual throat area and the target throat area;

[0039] The actual throat area and the target throat area are processed by a collaborative control strategy based on instruction planning to generate a throat area dispersal instruction.

[0040] The actuation cylinder command of the nozzle actuator is generated based on the throat area dispersion command.

[0041] The collaborative decision-making method based on instruction planning in this application calculates the actual throat area through inverse function, and the target throat area is obtained from the upper-level controller.

[0042] In a preferred embodiment of this application, obtaining the actual throat area includes:

[0043] The actual displacements of the upper actuator cylinder LA8S, the lower actuator cylinder LA8X, the upper actuator cylinder LA9S, and the lower actuator cylinder LA9X of A9 are obtained by sensors.

[0044] The actual throat area is obtained by converting the inverse function representing the mapping relationship between the actual displacement of the actuator and the actual throat area: A8 = F 反 (LA8S, LA8X, LA9S, LA9X).

[0045] In a preferred embodiment of this application, the actual throat area and the target throat area are processed by a cooperative control strategy based on instruction planning to generate a throat area dispersal instruction, including:

[0046] S1. Initialization: Set A8_ZJ=0, Θ=0, De_A8=A8-A8Dem, where A8_ZJ is a global static variable, Θ is a local static variable, De_A8 is the actuator command deviation, A8 is the actual throat area, and A8Dem is the target throat area.

[0047] S2. Calculate Ξ=De_A8 / X, where X is the amplitude of the desired step signal;

[0048] S3. Determine whether |A8_ZJ-A8| is less than the tracking speed parameter flag. If it is less, proceed to step S4; if it is not less, proceed to step S5.

[0049] S4. Let Θ = Θ + ε, where ε is the increment of the local static variable;

[0050] S5. Determine if Ξ is equal to Θ. If it is equal, output A8_ZJ. If it is not equal, execute step S6.

[0051] S6. Determine if Ξ is equal to 0. If yes, output A8Dem. Otherwise, set Ξ=Θ, A8h=A8-X, A8_ZJ=A8h, and output A8_ZJ. A8h is an intermediate variable.

[0052] The algorithm has a tracking speed parameter flag, the size of which affects the speed at which the algorithm tracks the signal. That is, the larger the flag value, the faster the algorithm tracks.

[0053] The planned command signals are sequentially passed to the forward function model, which then transforms them into control inputs for the lower-level actuators. This method, in which the actuators respond sequentially to the planned commands, helps to improve the stability and smoothness of the control system.

[0054] In this embodiment, the actuation cylinder command of the nozzle actuator is generated based on the throat area dispersion command, including:

[0055] The actuator commands are obtained by converting the forward function representing the mapping relationship between the throat area dispersion command and the actuator command: (LA8S, LA8X, LA9S, LA9X) = F 正 (A8 打散 ), of which A8打散 It is either A8Dem or A8_ZJ.

[0056] The command planning-based collaborative decision-making method of this application can convert the high-amplitude portion of the upper-level command signals in the aircraft and engine control system into the sum of multiple signals, each with an amplitude of X, for output. The core of command planning-based collaborative decision-making is to add an autonomous command planning decision layer between the lower-level control system and the upper-level commands to improve the system's dynamic response. For amplitudes not exceeding the threshold X, the algorithm directly outputs these signals.

[0057] Based on the aforementioned instruction-planning-based collaborative decision-making method, a second aspect of this application provides an instruction-planning-based collaborative decision-making system, such as... Figure 1 As shown, it includes:

[0058] The upper-level instruction module is used to obtain the target throat area sent by the upper-level controller;

[0059] The inverse kinematics module is used to calculate the actual throat area based on the actual displacement of the actuator cylinder.

[0060] The dispersing module is used to process the actual throat area and the target throat area through a collaborative control strategy based on instruction planning, and generate throat area dispersing instructions.

[0061] The forward module is used to generate the actuation cylinder command of the nozzle actuator based on the throat area dispersion command.

[0062] The collaborative decision-making system based on instruction planning in this application operates with a collaborative control strategy prior to actuator instructions. The process by which actuator instructions achieve underlying collaborative control is as follows: Figure 2 As shown.

[0063] After verification, such as Figures 3-4 As shown, this application can ensure smooth movement of the nozzle during the transition process, guarantee control quality, and also reduce the impact and influence on the actuator.

[0064] This application presents a collaborative decision-making method and system based on instruction planning, which implements transient instruction decision-making. The key to this strategy is balancing steady-state tracking error and dynamic response, flexibly switching between safety protection and rapid response mechanisms when control instructions change. This avoids unsafe states caused by drastic instruction changes, while also preventing the sacrifice of dynamic tracking accuracy for excessive safety. This control strategy also ensures the safety of the system.

[0065] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A collaborative decision-making method based on instruction planning, characterized in that, include: Obtain the actual throat area and the target throat area; The actual throat area and the target throat area are processed by a collaborative control strategy based on instruction planning to generate a throat area dispersal instruction. The actuation cylinder command of the nozzle actuator is generated based on the throat area dispersion command.

2. The collaborative decision-making method based on instruction planning according to claim 1, characterized in that, To obtain the actual throat area, including: The actual displacements of the upper actuator cylinder LA8S, the lower actuator cylinder LA8X, the upper actuator cylinder LA9S, and the lower actuator cylinder LA9X of A9 are obtained by sensors. The actual throat area is obtained by converting the inverse function representing the mapping relationship between the actual displacement of the actuator and the actual throat area: A8 = F 反 (LA8S, LA8X, LA9S, LA9X).

3. The collaborative decision-making method based on instruction planning according to claim 2, characterized in that, The actual throat area and the target throat area are processed by a collaborative control strategy based on instruction planning to generate a throat area dispersion instruction, including: S1. Initialization: Set A8_ZJ=0, Θ=0, De_A8=A8-A8Dem, where A8_ZJ is a global static variable, Θ is a local static variable, De_A8 is the actuator command deviation, A8 is the actual throat area, and A8Dem is the target throat area. S2. Calculate Ξ=De_A8 / X, where X is the amplitude of the desired step signal; S3. Determine whether |A8_ZJ-A8| is less than the tracking speed parameter flag. If it is less, proceed to step S4; if it is not less, proceed to step S5. S4. Let Θ = Θ + ε, where ε is the increment of the local static variable; S5. Determine if Ξ is equal to Θ. If it is equal, output A8_ZJ. If it is not equal, execute step S6. S6. Determine if Ξ is equal to 0. If yes, output A8Dem. Otherwise, set Ξ=Θ, A8h=A8-X, A8_ZJ=A8h, and output A8_ZJ. A8h is an intermediate variable.

4. The collaborative decision-making method based on instruction planning according to claim 3, characterized in that, The actuation cylinder command of the nozzle actuator is generated based on the throat area dispersion command, including: The actuator commands are obtained by converting the forward function representing the mapping relationship between the throat area dispersion command and the actuator command: (LA8S, LA8X, LA9S, LA9X) = F 正 (A8 打散 ), of which A8 打散 It is either A8Dem or A8_ZJ.

5. A collaborative decision-making system based on instruction planning, based on the collaborative decision-making method based on instruction planning as described in any one of claims 1 to 4, characterized in that, include: The upper-level instruction module is used to obtain the target throat area sent by the upper-level controller; The inverse kinematics module is used to calculate the actual throat area based on the actual displacement of the actuator cylinder. The dispersing module is used to process the actual throat area and the target throat area through a collaborative control strategy based on instruction planning, and generate throat area dispersing instructions. The correct solution module is used to generate the actuation cylinder command of the nozzle actuator based on the throat area dispersion command.

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