NG Speed Control Method, Device, Equipment and Medium for Turboshaft Engine Test

Abstract

The present invention provides a method, device, equipment and medium for controlling the NG speed in a turboshaft engine test. The method includes: collecting the NP speed, NG speed and intake air temperature of the engine; inputting the target value of the NG speed and the NP speed into a speed model to obtain the target torque value and throttle lever angle value, inputting the target torque value into a dynamometer to keep the output shaft torque of the engine constant at the target torque, and inputting the throttle lever angle value into an electronic controller to adjust the NG speed; when the difference between the actual value and the target value of the NG speed is within a preset range, adjusting the actual value of the NG speed, obtaining a speed output value when the adjustment is stable, comparing it with the expected difference and inputting it into a self-tuning PID, using the intake air temperature as a feedforward to obtain a self-tuning output value to correct the speed model until the NG speed converges to the target value. Considering the temperature and the performance changes accumulated in long-term tests in the NG speed control improves the adaptive ability and the dynamic response performance of long-term stability.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control, and particularly to a method, device, equipment and medium for controlling the NG speed of a turboshaft engine test. Background Art

[0002] In the process of developing an automated test run system for a turboshaft engine, precise NG control models are required to control the NG speed (gas generator speed) during engine tests. When there are deviations in the NG speed control model, it may lead to a slow transient response speed of NG speed control or risks such as engine over-speed.

[0003] In the prior art, the automatic test run of a turboshaft engine mainly controls the NG speed based on regression modeling of historical test data. Multivariable non-linear models of NG speed with respect to engine torque, intake air temperature, NP speed (engine output shaft speed), etc. are established using historical data, and deviations outside the model are compensated by the closed-loop regulation of NG control. When situations such as engine performance degradation and engine cleaning occur, the relationship between the engine NG speed and torque changes significantly, resulting in model calculation deviations, which in turn affect the transient control accuracy of NG control during tests. The characteristics of the prior art are that the control model is completely based on historical test data and cannot adapt to engine performance changes. During long-term test runs, it will gradually deviate from the expected value, resulting in poor dynamic response characteristics of controlling the NG speed during automatic test runs and failing the engine test. Additionally, in most cases, historical test data of the engine under different ambient temperatures and performance states is not available before the test, and a full-range NG control model cannot be obtained through test data. Summary of the Invention

[0004] In view of this, the present invention provides a method, device, equipment and medium for controlling the NG speed of a turboshaft engine test, to solve the problem that the existing control model cannot adapt to engine performance changes and has large deviations during long-term test runs.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling the NG speed of a turboshaft engine test, the method including:

[0006] Real-time collect the NP speed, NG speed and intake air temperature of the turboshaft engine, where the NP speed is the engine output shaft speed and the NG speed is the gas generator speed;

[0007] Input the target value of the NG speed and the real-time NP speed into the speed model, calculate the target value of the engine torque and the throttle lever angle value, input the target value of the torque into the dynamometer to control the engine output shaft torque to be constant at the target torque, and input the throttle lever angle value into the electronic controller to adjust the NG speed;

[0008] When the difference between the actual value and the target value of the NG speed collected in real time is within the preset range and remains stable, perform NG speed PID closed-loop regulation on the actual value of the NG speed. When the regulation is stable, obtain the speed PID output value. Compare the speed PID output value with the expected difference, input the comparison result into the self-tuning PID, and at the same time use the intake air temperature as the feedforward value to obtain the self-tuning PID output value;

[0009] Use the self-tuning PID output value to correct the speed model until the NG speed converges to the target value.

[0010] The NG speed control method for a turboshaft engine test provided by an embodiment of the present invention takes into account the real-time temperature and the performance changes accumulated due to problems such as wear and tear during the long-term test of the engine in the NG speed control, has an adaptive ability and a relatively stable dynamic response performance in the long term, and improves the data consistency of the long-term test.

[0011] Optionally, the speed model is:

[0012] Torq=f(n,T0,NP,x);

[0013] Xpc=Torq*g(n);

[0014] Where Torq represents the torque target value, T0 represents the intake air temperature, NP represents the engine output shaft speed, n represents the target value of the NG speed, x is the performance change accumulated due to problems such as wear and tear during the long-term test of the engine, f(n, T0, NP, x) represents a function of the four variables n, T0, NP, and x, Xpc represents the throttle lever angle value, and g(n) represents the matching relationship between the throttle lever angle and the torque control signal received by the dynamometer.

[0015] The NG speed control method for a turboshaft engine test provided by an embodiment of the present invention adds the performance change accumulated due to problems such as wear and tear during the long-term test of the engine to the speed model, improves the accuracy of the model, and improves the accuracy of NG speed regulation.

[0016] Optionally, the process of inputting the throttle lever angle value into the electronic controller to adjust the NG speed is as follows:

[0017] At the assessment state points and the interpolation points between them from the engine idle slow to the maximum state, record the steady-state performance data;

[0018] Analyze and process the steady-state performance data to obtain the relationship curve between the NG speed and the dynamometer torque. Substitute the relationship curve into the relationship formula between the throttle lever angle and the dynamometer torque to obtain the relationship between the NG speed and the throttle lever angle value, and adjust the NG speed according to the throttle lever angle value.

[0019] Optionally, the specific steps of calculating the relationship between the throttle lever angle and the dynamometer torque are:

[0020] Push the engine to a series of state points in manual mode and record the dynamometer torque value at each state point;

[0021] Under the condition that the torque value of the dynamometer at each state point is kept unchanged, the throttle lever angle value of the electronic controller is adjusted so that the throttle angle expected error parameter of the electronic controller is adjusted to 0, and the corresponding throttle lever angle value is recorded;

[0022] The matching relationship between the throttle lever angle and the dynamometer torque is obtained by adjusting the dynamometer torque value and the throttle lever angle value corresponding to a series of state points.

[0023] The turboshaft engine test NG speed control method provided by the embodiment of the present invention uses actual data as sample performance data, thereby ensuring the authenticity of the test data and the accuracy of the calculated relationship between the NG speed and the throttle lever angle value.

[0024] Optionally, the specific steps of analyzing and processing the steady-state performance data to obtain a relationship curve between the NG speed and the dynamometer torque are:

[0025] Analyzing the steady-state performance data to obtain an XY relationship diagram between the engine NG speed and the dynamometer torque;

[0026] Balancing the amount of data pushed up and pulled down on the engine status in the XY relationship diagram;

[0027] Based on the balanced data, the relationship between the NG speed and the dynamometer torque is fitted by the least squares method to obtain the relationship curve between the NG speed and the dynamometer torque.

[0028] Due to the characteristics of the engine itself, the XY relationship diagram obtained by analyzing the steady-state data is often a shuttle-shaped interval. Processing the XY relationship diagram can avoid deformation of the normalized curve.

[0029] Optionally, the adjustment process of the self-correcting PID is:

[0030] When the speed PID output value is greater than the expected difference, a positive correction is made to the speed model;

[0031] When the speed PID output value is less than the expected difference, a negative correction is made to the speed model.

[0032] By adjusting the speed model through self-correcting PID, the corrected speed model is closer to the real-time working state of the engine, and a good dynamic response of MG speed control is obtained.

[0033] Optionally, the coefficient of the self-correction PID regulation is smaller than the coefficient of the speed PID regulation.

[0034] Generally, the coefficients of the self-tuning PID should be less than 1 / 10 of the coefficients of the speed closed-loop PID to ensure that the self-tuning effect of the model is effective within the entire long-term test range and does not resonate with the speed PID function.

[0035] In a second aspect, an embodiment of the present invention provides a control device for the NG speed of a turboshaft engine test. The device includes:

[0036] An acquisition module, configured to collect the NP speed, NG speed, and intake air temperature of the turboshaft engine in real time, where the NP speed is the speed of the engine output shaft, and the NG speed is the speed of the gas generator;

[0037] A speed adjustment module, configured to input the target value of the NG speed and the real-time NP speed into a speed model, calculate the target value of the engine torque and the throttle lever angle value, input the target value of the torque into a dynamometer to control the torque of the engine output shaft to be constant at the target torque, and input the throttle lever angle value into an electronic controller to adjust the NG speed;

[0038] A self-tuning adjustment module, configured to perform NG speed PID closed-loop adjustment on the actual value of the NG speed when the difference between the actual value and the target value of the NG speed collected in real time is within a preset range and remains stable. When the adjustment is stable, obtain a speed PID output value, compare the speed PID output value with the expected difference, input the comparison result into a self-tuning PID, and at the same time use the intake air temperature as a feedforward value to obtain a self-tuning PID output value;

[0039] A model correction module, configured to correct the speed model by using the self-tuning PID output value until the NG speed converges to the target value.

[0040] The control device for the NG speed of the turboshaft engine test provided by the embodiment of the present invention takes into account the real-time temperature and the performance changes accumulated due to problems such as wear and consumption during the long-term test of the engine in the NG speed control, has an adaptive ability and a relatively stable dynamic response performance in the long term, and improves the data consistency of the long-term test.

[0041] In a third aspect, an embodiment of the present invention provides a computer device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the method described in the first aspect or any optional implementation manner of the first aspect.

[0042] Fourthly, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the method described in the first aspect or any optional implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the specific implementation manners of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the specific implementation manners or the description of the prior art. Obviously, the drawings in the following description are some implementation manners of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0044] Figure 1 It is a principle block diagram of a method for controlling the NG speed in a turboshaft engine test provided by an embodiment of the present invention;

[0045] Figure 2 It is a flowchart of a method for controlling the NG speed in a turboshaft engine test provided by an embodiment of the present invention;

[0046] Figure 3 It is a structural schematic diagram of a device for controlling the NG speed in a turboshaft engine test provided by an embodiment of the present invention;

[0047] Figure 4 It is a structural schematic diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0049] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0050] In the different embodiments of the present invention described below, the technical features involved can be combined with each other as long as they do not conflict with each other.

[0051] An embodiment of the present invention provides a method for controlling the NG speed in a turboshaft engine test. The principle block diagram of this control method is as Figure 1 shown. Applying the automated test run system for turboshaft engines, a control model is established for the automatic control of the NG speed during the automatic test run of the turboshaft engine, so that the automatic test run system can accurately control the NG speed of the engine when the engine performance changes with the environment or decays, and maintain stable and good dynamic response characteristics. As Figure 2 shown, the method specifically includes steps S1 - S4:

[0052] Step S1: Real - time collect the NP speed, NG speed, and intake air temperature of the turboshaft engine. Among them, the NP speed is the rotational speed of the engine output shaft, and the NG speed is the rotational speed of the gas generator.

[0053] The embodiment of the present invention uses a Siemens S7 - 300 series PLC as the control core, a host computer based on LABVIEW (program development environment) as the human - machine interface, and a vehicle test system based on instruments such as LXI to complete the collection of test data such as rotational speed, torque, and temperature related to the test. This is only an example and is not limited thereto.

[0054] Step S2: Input the target value of the NG speed and the real - time NP speed into the speed model, calculate the target value of the engine torque and the throttle lever angle value. Match the target value of the torque with the dynamometer signal, input the successfully matched target value of the torque into the dynamometer to control the torque of the engine output shaft to be constant at the target torque, and input the throttle lever angle value into the electronic controller to adjust the NG speed. The dynamometer therein is used to control the torque of the engine output shaft and test - related equipment.

[0055] Exemplarily, at the current ambient temperature, the relationship between the NG speed and the throttle lever angle of the engine in the current state is: Xpc = f1(n, NP), where Xpc is the throttle lever angle, n is the target NG speed of the engine, NP is the NP speed of the engine, T0 is the intake air temperature of the engine, and T01 is the intake air temperature value during the model acceptance test. T0 = T01 is a constant.

[0056] The actual relationship between the throttle lever angle and the target speed of the actual engine during the long - term test should be: Xpc = f(n, T0, NP, x), where x is the performance change accumulated due to problems such as wear and consumption during the long - term test of the engine. According to the slow - changing characteristic of x, f is approximated as a cluster of functions F at different x values: Xpc = F(x, T0). At different x values, the relationship between the throttle lever angle and the target speed is expressed as a series of function sets: Xpc = fn(n, NP), where fn ∈ F.

[0057] Specifically, in one embodiment, the rotation speed model is:

[0058] Torq=f(n,T0,NP,x)

[0059] Xpc=Torq*g(n)

[0060] Wherein, Torq represents the torque target value, T0 represents the intake temperature, NP represents the engine output shaft speed, n represents the target value of the NG speed, x represents the accumulated performance change of the engine due to wear and consumption during the long-term test, f(n, T0, NP, x) represents a function of the four variables n, T0, NP and x, Xpc represents the throttle lever angle value, and g(n) represents the matching relationship between the throttle lever angle and the torque control signal received by the dynamometer.

[0061] The turboshaft engine test NG speed control method provided in an embodiment of the present invention incorporates the accumulated performance changes of the engine due to wear and consumption during long-term testing into the speed model, thereby improving the accuracy of the model and the precision of NG speed regulation.

[0062] Specifically, in one embodiment, the specific steps for calculating the relationship between the throttle lever angle and the dynamometer torque are: in a manual state, the engine is pushed to a series of state points, and the dynamometer torque value at each state point is recorded; while keeping the dynamometer torque value at each state point unchanged, the throttle lever angle value given to the electronic controller is adjusted so that the throttle angle expected error parameter of the electronic controller is adjusted to 0, and the corresponding throttle lever angle value is recorded; and the matching relationship between the throttle lever angle and the dynamometer torque is obtained according to the dynamometer torque values ​​and throttle lever angle values ​​corresponding to a series of state points.

[0063] The turboshaft engine test NG speed control method provided by the embodiment of the present invention uses actual data as sample performance data, thereby ensuring the authenticity of the test data and the accuracy of the calculated relationship between the NG speed and the throttle lever angle value.

[0064] Specifically, in one embodiment, the specific steps of analyzing and processing the steady-state performance data to obtain the relationship curve between the NG speed and the dynamometer torque are as follows: analyzing the steady-state performance data to obtain the XY relationship diagram of the engine NG speed and the dynamometer torque; balancing the amount of data of the engine state push-up and pull-down in the XY relationship diagram; due to the characteristics of the engine itself, the XY relationship diagram obtained by analyzing the steady-state data is often a shuttle-shaped interval, and the XY relationship diagram is processed to avoid the deformation of the normalized curve. The processed data is fitted to the relationship between the NG speed and the dynamometer torque by the least squares method to obtain the relationship curve between the NG speed and the dynamometer torque.

[0065] Step S3: When the difference between the actual value and the target value of the NG speed collected in real time is within the preset range and remains stable, perform NG speed PID closed-loop regulation on the actual value of the NG speed. When the regulation is stable, obtain the speed PID output value, compare the speed PID output value with the expected difference, input the comparison result into the self-tuning PID, and at the same time use the intake air temperature as the feedforward value to obtain the self-tuning PID output value.

[0066] In the embodiment of the present invention, the basic algorithm for NG speed control is to adopt the method of calculating the reference model of NG speed control plus PID correction regulation; while the self-tuning algorithm is to evaluate the current deviation degree of the NG speed control model according to the output value of the PID when the NG speed closed-loop regulation is stable. The goal is to make the output of the PID link of the NG speed regulation be 0. Take the PID output value of the NG speed regulation as the input of the self-tuning PID link, set the expected difference to 0, and using the engine intake air temperature as the feedforward input can improve the sensitivity to the change of the T0 temperature. When the output value of the self-tuning PID is 0, it is considered that the model conforms to the actual state.

[0067] In order to enable the relationship between the throttle lever angle and the target speed to have the ability to adapt to environmental changes and engine performance degradation and other influencing factors, a self-tuning algorithm is added to the original relationship to obtain the relationship after self-tuning:

[0068] Xpc = f1(n,NP) + g(T0,x) ≈ fn(n,NP).

[0069] Specifically, in one embodiment, the adjustment process of the self-tuning PID is as follows:

[0070] When the speed PID output value is greater than the expected difference, it indicates that the model value at this speed point is low, and a positive correction is performed on the speed model; when the speed PID output value is less than the expected difference, it indicates that the model value at this speed point is high, and a negative correction is performed on the speed model. Take the output value of this self-tuning PID link as the correction value of the original speed model to correct the model. The corrected model can be closer to the real-time working state of the engine and has good dynamic response for NG speed control. Through the adjustment of the speed model by the self-tuning PID, the corrected speed model is closer to the real-time working state of the engine, and good dynamic response for NG speed control is obtained.

[0071] To make the self - calibration effect of the model effective throughout the entire long - term test range and not resonate with the speed PID function, the coefficient of the self - calibration PID adjustment is less than the coefficient of the speed PID adjustment. Exemplarily, the coefficient of the self - calibration PID adjustment is less than 1 / 10 of the speed PID adjustment coefficient. The self - calibration PID adjustment starts working when the engine operates in the corresponding speed range. For example, when the difference between the actual value and the target value of the NG speed is greater than - 1000 rpm, it is determined that the difference is within the preset range. When the speed fluctuation rate of the NG speed per second is less than 500 rpm, it is determined that the NG speed is stable.

[0072] Step S4: Use the output value of the self - calibration PID to correct the speed model until the NG speed converges to the target value.

[0073] Exemplarily, the speed PID adjustment is used to compensate the steady - state static error of the engine's NG speed in real - time during the test, and the real - time adjustment is effective; the self - calibration PID is used to correct the model deviation caused by the changes in the intake air temperature T0 and the engine performance change x of the speed model, mainly compensating for the dynamic deviation when the engine is in a changing state, and remains basically unchanged within a short period of time during a single test.

[0074] The method for controlling the NG speed of a turboshaft engine test provided by the embodiment of the present invention takes into account the real - time temperature and the performance changes accumulated due to problems such as wear and consumption during the long - term test of the engine in the NG speed control, has an adaptive ability and a relatively stable dynamic response performance in the long - term, and improves the data consistency of the long - term test.

[0075] The embodiment of the present invention provides a device for controlling the NG speed of a turboshaft engine test, as Figure 3 shown. The device includes:

[0076] The acquisition module 1 is used to collect the NP speed, NG speed, and intake air temperature of the turboshaft engine in real - time, where the NP speed is the speed of the engine output shaft and the NG speed is the speed of the gas generator. For detailed content, refer to the relevant description of step S1 in the above - mentioned method embodiment, and details will not be elaborated here.

[0077] The speed adjustment module 2 is used to input the target value of the NG speed and the real - time NP speed into the speed model, calculate the target value of the engine torque and the throttle lever angle value, input the target value of the torque into the dynamometer to control the torque of the engine output shaft to be constant at the target torque, and input the throttle lever angle value into the electronic controller to adjust the NG speed. For detailed content, refer to the relevant description of step S2 in the above - mentioned method embodiment, and details will not be elaborated here.

[0078] The self - calibration adjustment module 3 is used to perform NG speed PID closed - loop adjustment on the actual value of the NG speed when the difference between the actual value and the target value of the NG speed collected in real time is within a preset range and remains stable. When the adjustment is stable, the speed PID output value is obtained, the speed PID output value is compared with the expected difference, and the comparison result is input into the self - calibration PID. At the same time, the intake air temperature is used as a feed - forward value to obtain the self - calibration PID output value. For detailed content, refer to the relevant description of step S3 in the above - mentioned method embodiment, and details will not be repeated here.

[0079] The model correction module 4 is used to correct the speed model by using the self - calibration PID output value until the NG speed converges to the target value. For detailed content, refer to the relevant description of step S4 in the above - mentioned method embodiment, and details will not be repeated here.

[0080] The NG speed control device for a turboshaft engine test provided by the embodiment of the present invention takes into account the real - time temperature and the performance changes accumulated due to problems such as wear and consumption during the long - term test of the engine in the NG speed control, has an adaptive ability and a long - term relatively stable dynamic response performance, and improves the data consistency of the long - term test.

[0081] Figure 4 The structural schematic diagram of the computer device in the embodiment of the present invention is shown, including: a processor 901 and a memory 902. Among them, the processor 901 and the memory 902 can be connected through a bus or other means. Figure 4 Taking the connection through the bus as an example.

[0082] The processor 901 can be a central processing unit (CPU). The processor 901 can also be other general - purpose processors, digital signal processors (DSPs), application - specific integrated circuits (ASICs), field - programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. chips, or a combination of the above - mentioned various chips.

[0083] The memory 902, as a non - transient computer - readable storage medium, can be used to store non - transient software programs, non - transient computer - executable programs, and modules, such as the program instructions / modules corresponding to the methods in the above - mentioned method embodiments. The processor 901 executes various functional applications and data processing of the processor by running the non - transient software programs, instructions, and modules stored in the memory 902, that is, implements the methods in the above - mentioned method embodiments.

[0084] The memory 902 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created by the processor 901 and the like. In addition, the memory 902 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 902 may optionally include a memory remotely provided with respect to the processor 901, and these remote memories can be connected to the processor 901 through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0085] One or more modules are stored in the memory 902 and, when executed by the processor 901, execute the methods in the above method embodiments.

[0086] For specific details of the above computer device, reference can be made to the corresponding relevant descriptions and effects in the above method embodiments for understanding, and details will not be described here again.

[0087] Those skilled in the art can understand that to implement all or part of the processes in the above method embodiments, it can be completed by instructing relevant hardware through a computer program. The implemented program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the above method embodiments. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memories.

[0088] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for controlling the NG speed in a turboshaft engine test, characterized in that, Including: Real-time collect the NP speed, NG speed and intake air temperature of the turboshaft engine, where the NP speed is the engine output shaft speed and the NG speed is the gas generator speed; Input the target value of the NG speed and the real-time NP speed into the speed model, calculate the target value of the engine torque and the throttle lever angle value, input the target torque value into the dynamometer to control the engine output shaft torque to be constant at the target torque, and input the throttle lever angle value into the electronic controller to adjust the NG speed; When the difference between the actual value and the target value of the NG speed collected in real time is within the preset range and remains stable, perform NG speed PID closed-loop regulation on the actual value of the NG speed. When the regulation is stable, obtain the speed PID output value, compare the speed PID output value with the desired difference, input the comparison result into the self-tuning PID, and at the same time use the intake air temperature as the feedforward value to obtain the self-tuning PID output value; Use the self-tuning PID output value to correct the speed model until the NG speed converges to the target value.

2. The method for controlling the NG speed in a turboshaft engine test according to claim 1, characterized in that, The speed model is: Torq = f(n, T0, NP, x); Xpc = Torq * g(n); Where Torq represents the target torque value, T0 represents the intake air temperature, NP represents the engine output shaft speed, n represents the target value of the NG speed, x is the performance change accumulated during the long-term test of the engine, f(n, T0, NP, x) represents a function of the four variables n, T0, NP and x, Xpc represents the throttle lever angle value, and g(n) represents the matching relationship between the throttle lever angle and the torque control signal received by the dynamometer.

3. The method for controlling the NG speed in a turboshaft engine test according to claim 1, characterized in that, The process of inputting the throttle lever angle value into the electronic controller to adjust the NG speed is as follows: At the assessment state points between the engine idle slow to the maximum state and the interpolation points therebetween, record the steady-state performance data; Analyze and process the steady-state performance data to obtain the relationship curve between the NG speed and the dynamometer torque. Substitute the relationship curve into the relationship formula between the throttle lever angle and the dynamometer torque to obtain the relationship between the NG speed and the throttle lever angle value, and adjust the NG speed according to the throttle lever angle value.

4. The method for controlling the NG speed in a turboshaft engine test according to claim 3, characterized in that, The specific steps for calculating the relationship formula between the throttle lever angle and the dynamometer torque are as follows: Push the engine to a series of state points in the manual state and record the dynamometer torque value at each state point; Under the condition of keeping the dynamometer torque value at each state point unchanged, adjust the throttle lever angle value given to the electronic controller to make the throttle angle expected difference parameter of the electronic controller adjusted to 0, and record the corresponding throttle lever angle value; Obtain the matching relationship between the throttle lever angle and the dynamometer torque by tuning according to the dynamometer torque values and throttle lever angle values corresponding to a series of state points.

5. The method for controlling the NG speed in a turboshaft engine test according to claim 3, characterized in that, The specific steps for analyzing and processing the steady-state performance data to obtain the relationship curve between the NG speed and the dynamometer torque are as follows: Analyze the steady-state performance data to obtain the X-Y relationship diagram of the engine NG speed and the dynamometer torque; Balance the data volume of the engine state pushing up and pulling down in the X-Y relationship diagram; Based on the balanced data, fit the relationship between the NG speed and the dynamometer torque by the least square method to obtain the relationship curve between the NG speed and the dynamometer torque.

6. The method for controlling the NG speed in a turboshaft engine test according to claim 1, characterized in that, The adjustment process of the self-tuning PID is as follows: When the output value of the speed PID is greater than the desired difference, positive correction is performed on the speed model; When the output value of the speed PID is less than the desired difference, negative correction is performed on the speed model.

7. The method for controlling the NG speed in a turboshaft engine test according to claim 6, characterized in that, The coefficient of the self-tuning PID adjustment is less than the coefficient of the speed PID adjustment.

8. A device for controlling the NG speed in a turboshaft engine test, characterized in that, The device includes: A collection module for real-time collection of the NP speed, NG speed, and intake air temperature of the turboshaft engine, where the NP speed is the engine output shaft speed and the NG speed is the gas generator speed; A speed adjustment module for inputting the target value of the NG speed and the real-time NP speed into the speed model, calculating the target value of the engine torque and the throttle lever angle value, inputting the target torque value into the dynamometer to control the engine output shaft torque to be constant at the target torque, and inputting the throttle lever angle value into the electronic controller to adjust the NG speed; A self-tuning adjustment module for performing NG speed PID closed-loop adjustment on the actual value of the NG speed when the difference between the actual value and the target value of the NG speed collected in real time is within a preset range and remains stable, obtaining the speed PID output value when the adjustment is stable, comparing the speed PID output value with the desired difference, inputting the comparison result into the self-tuning PID, and at the same time using the intake air temperature as a feedforward value to obtain the self-tuning PID output value; A model correction module for correcting the speed model using the self-tuning PID output value until the NG speed converges to the target value.

9. A computer device, characterized in that, Including: A memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a computer to execute the method according to any one of claims 1-7.

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