Solid-liquid variable thrust engine controller and control method based on fractional order extended state observer

Abstract

The present invention provides a controller and a control method for a solid-liquid variable-thrust engine based on a fractional-order extended state observer, which relates to the technical field of rocket engines and includes a fractional-order disturbance rejection controller and a variable venturi tube. The fractional-order disturbance rejection controller is configured to determine an actual control quantity of the variable venturi tube according to the desired thrust of the solid-liquid variable-thrust engine, the actual thrust of the solid-liquid variable-thrust engine, the actual opening degree of the variable venturi tube, and system noise, where the system noise includes liquid path noise and combustion noise. The variable venturi tube is configured to adjust the opening degree of an adjustable valve based on the actual control quantity to control the flow rate of liquid oxidizer flowing through the variable venturi tube, where the adjustable valve is the valve of the variable venturi tube, thereby solving the technical problem in the prior art that the control effect of the solid-liquid variable-thrust engine is poor due to the noise generated by the unstable liquid flow and the unstable combustion of the liquid oxidizer.

Description

Technical Field

[0001] The present invention relates to the technical field of rocket engines, and particularly to a controller and a control method for a solid-liquid variable thrust engine based on a fractional order extended state observer. Background Art

[0002] Generally, a solid-liquid hybrid rocket engine generates thrust through a chemical reaction between a solid fuel and a liquid oxidizer. The solid fuel is cast in a combustion chamber in a specific configuration, and the liquid oxidizer is pressurized by an extrusion type or a pump pressure type, and is sent into the combustion chamber through a liquid path delivery system, where it reacts with the solid fuel to produce high-temperature and high-pressure gas. The gas is accelerated through a nozzle to form high-speed and low-temperature gas, which is ejected backward, thereby generating a forward reaction force.

[0003] As an inheritance and development of the solid-liquid hybrid variable thrust rocket engine, it has the function of regulating the engine thrust according to requirements. Generally, by adjusting the valve opening in the liquid path delivery system in real time, the flow rate of the oxidizer is adjusted, thereby affecting the chemical reaction process, controlling the energy released by the reaction, and finally realizing the function of controlling the engine thrust.

[0004] During the flow of the liquid oxidizer, due to the instability of the liquid flow and the interaction between the liquid and other objects, measurement noise will be generated, resulting in a decrease in the system control accuracy.

[0005] When the liquid oxidizer flows into the combustion chamber through a variable venturi tube and an injector, a pressure drop will occur, which will cause extremely unstable combustion, resulting in large fluctuations in thrust, that is, combustion noise is generated, causing a deviation between the control effect and the ideal effect.

[0006] To solve the above problems, the traditional LESO deals with the total disturbance added to the system and cannot cope with the influence of high-frequency noise on the system control accuracy.

[0007] In view of the above problems, no effective solution has been proposed yet. Summary of the Invention

[0008] In view of this, the purpose of the present invention is to provide a controller and a control method for a solid-liquid variable thrust engine based on a fractional order extended state observer, so as to alleviate the technical problem that the control effect of the solid-liquid variable thrust engine is poor due to the noise generated by the instability of the liquid flow and the unstable combustion of the liquid oxidizer in the prior art.

[0009] In a first aspect, an embodiment of the present invention provides a controller for a solid-liquid variable thrust engine based on a fractional-order extended state observer, including: a fractional-order disturbance rejection controller and a variable venturi tube. Among them, the fractional-order disturbance rejection controller is used to determine the actual control amount of the variable venturi tube according to the desired thrust of the solid-liquid variable thrust engine, the actual thrust of the solid-liquid variable thrust engine, the actual opening degree of the variable venturi tube, and system noise. Among them, the system noise includes: liquid path noise and combustion noise; the variable venturi tube is used to adjust the opening degree of the adjustable valve based on the actual control amount to control the flow rate of the liquid oxidant flowing through the variable venturi tube. Among them, the adjustable valve is the valve of the variable venturi tube. Among them, the fractional-order disturbance rejection controller includes: a tracking differentiator, a fractional-order extended state observer, a PID controller, and a compensation module. Among them, the tracking differentiator is used to determine a desired thrust command and the differential of the desired thrust command according to the desired thrust; the fractional-order extended state observer is used to determine target data according to the actual flow rate of the liquid oxidant of the variable venturi tube and the first difference between the actual thrust and the system noise. Among them, the target data includes: the observed value of the actual thrust, the observed value of the differential of the actual thrust, and the control compensation amount of the adjustable valve; the PID controller is used to determine the first target control amount of the adjustable valve as the second difference between the desired thrust command and the observed value of the actual thrust, and determine the second target control amount of the adjustable valve as the third difference between the differential of the desired thrust command and the observed value of the differential of the actual thrust, and determine the initial control amount of the variable venturi tube based on the first target control amount and the second target control amount; the compensation module is used to calculate the sum value between the control compensation amount of the adjustable valve and the initial control amount, and determine the difference between the sum value and the actual opening degree of the adjustable valve as the actual control amount of the variable venturi tube.

[0010] Further, the controller for the solid-liquid variable thrust engine based on the fractional-order extended state observer further includes: a measurement unit for measuring the actual thrust of the solid-liquid variable thrust engine, the system noise, and the actual opening degree of the adjustable valve.

[0011] Second aspect, an embodiment of the present invention further provides a control method for a solid-liquid variable thrust engine based on a fractional-order extended state observer, which is applied to a solid-liquid variable thrust engine controller based on a fractional-order extended state observer. The solid-liquid variable thrust engine controller based on a fractional-order extended state observer includes a fractional-order disturbance rejection controller and a variable venturi tube. Then, the method includes: determining an actual control amount of the variable venturi tube according to a desired thrust of the solid-liquid variable thrust engine, an actual thrust of the solid-liquid variable thrust engine, an actual opening of the variable venturi tube, and system noise, where the system noise includes: liquid path noise and combustion noise; adjusting an opening of an adjustable valve based on the actual control amount to control a flow rate of liquid oxidizer flowing through the variable venturi tube, where the adjustable valve is a valve of the variable venturi tube. The fractional-order disturbance rejection controller includes: a tracking differentiator, a fractional-order extended state observer, a PID controller, and a compensation module. Then, determining the actual control amount of the variable venturi tube according to the desired thrust of the solid-liquid variable thrust engine, the actual thrust of the solid-liquid variable thrust engine, the actual opening of the variable venturi tube, and system noise includes: determining a desired thrust command and a differential of the desired thrust command according to the desired thrust; determining target data according to an actual flow rate of liquid oxidizer of the variable venturi tube and a first difference between the actual thrust and the system noise, where the target data includes: an observed value of the actual thrust, an observed value of a differential of the actual thrust, and a control compensation amount of the adjustable valve; determining a first target control amount of the adjustable valve as a second difference between the desired thrust command and the observed value of the actual thrust, and determining a second target control amount of the adjustable valve as a third difference between the differential of the desired thrust command and the observed value of the differential of the actual thrust, and determining an initial control amount of the variable venturi tube based on the first target control amount and the second target control amount; calculating a sum value between the control compensation amount of the adjustable valve and the initial control amount, and determining an actual control amount of the variable venturi tube as a difference between the sum value and the actual opening of the adjustable valve.

[0012] Further, the method further includes: gaining the initial control amount to obtain the initial control amount after gain.

[0013] Further, the method further includes: measuring the actual thrust of the solid-liquid variable thrust engine, the system noise, and the actual opening of the adjustable valve.

[0014] Third aspect, an embodiment of the present invention provides a solid-liquid variable thrust engine based on a fractional-order extended state observer, including the solid-liquid variable thrust engine controller based on a fractional-order extended state observer in the first aspect above.

[0015] In a fourth aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor. The memory is used to store a program that supports the processor to execute the method described in the second aspect above, and the processor is configured to execute the program stored in the memory.

[0016] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored.

[0017] In an embodiment of the present invention, a solid-liquid variable-thrust engine controller based on a fractional-order extended state observer is provided, including: a fractional-order disturbance rejection controller and a variable venturi tube. The fractional-order disturbance rejection controller is configured to determine an actual control amount of the variable venturi tube according to the desired thrust of the solid-liquid variable-thrust engine, the actual thrust of the solid-liquid variable-thrust engine, the actual opening degree of the variable venturi tube, and system noise, where the system noise includes: liquid path noise and combustion noise; the variable venturi tube is configured to adjust the opening degree of an adjustable valve based on the actual control amount to control the flow rate of liquid oxidizer flowing through the variable venturi tube, where the adjustable valve is the valve of the variable venturi tube. By compensating the noise received by the solid-liquid variable-thrust engine in a timely manner, the purpose of real-time adjustment of the opening degree of the variable venturi tube is achieved, thereby solving the technical problem that the control effect of the solid-liquid variable-thrust engine is poor due to the noise generated by the unstable liquid flow and the unstable combustion of the liquid oxidizer in the prior art, and thus achieving the technical effect of improving the control effect of the solid-liquid variable-thrust engine.

[0018] Other features and advantages of the present invention will be described in the subsequent description, and part of them will become obvious from the description or be understood by implementing the present invention. The objectives and other advantages of the present invention are achieved and obtained by the structures specifically pointed out in the description, claims, and drawings.

[0019] To make the above objectives, features, and advantages of the present invention more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, provides a detailed description as follows. Description of the Drawings

[0020] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a schematic diagram of a solid-liquid variable-thrust engine controller based on a fractional-order extended state observer provided by an embodiment of the present invention;

[0022] Figure 2 Flow chart of the control method for a solid-liquid variable thrust engine based on a fractional-order extended state observer provided by an embodiment of the present invention;

[0023] Figure 3 Schematic diagram of an electronic device provided by an embodiment of the present invention. Specific embodiments

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0025] Embodiment 1:

[0026] The embodiment of the present invention also provides a controller for a solid-liquid variable thrust engine based on a fractional-order extended state observer. The following is a specific introduction to the controller for a solid-liquid variable thrust engine based on a fractional-order extended state observer provided by the embodiment of the present invention.

[0027] As Figure 1 shown, Figure 1 Schematic diagram of the above-mentioned controller for a solid-liquid variable thrust engine based on a fractional-order extended state observer. The controller for a solid-liquid variable thrust engine based on a fractional-order extended state observer includes: a fractional-order disturbance rejection controller 10 and a variable venturi tube 20.

[0028] The fractional-order disturbance rejection controller is configured to determine an actual control amount of the variable venturi tube according to the desired thrust of the solid-liquid variable thrust engine, the actual thrust of the solid-liquid variable thrust engine, the actual opening degree of the variable venturi tube, and system noise, where the system noise includes: liquid path noise and combustion noise;

[0029] The variable venturi tube is configured to adjust the opening degree of an adjustable valve based on the actual control amount to control the flow rate of liquid oxidant flowing through the variable venturi tube, where the adjustable valve is the valve of the variable venturi tube.

[0030] As Figure 1 shown, T e is the desired thrust of the solid-liquid variable thrust engine, T s is the actual thrust of the solid-liquid variable thrust engine, δ is the actual opening degree of the variable venturi tube, f noise is the system noise.

[0031] In an embodiment of the present invention, a controller for a solid-liquid variable thrust engine based on a fractional-order extended state observer is provided, which includes: a fractional-order disturbance rejection controller and a variable venturi tube. Among them, the fractional-order disturbance rejection controller is used to determine the actual control quantity of the variable venturi tube according to the desired thrust of the solid-liquid variable thrust engine, the actual thrust of the solid-liquid variable thrust engine, the actual opening degree of the variable venturi tube, and system noise. The system noise includes: liquid path noise and combustion noise; the variable venturi tube is used to adjust the opening degree of the adjustable valve based on the actual control quantity to control the flow rate of the liquid oxidant flowing through the variable venturi tube. The adjustable valve is the valve of the variable venturi tube. By timely compensating for the noise received by the solid-liquid variable thrust engine, the purpose of real-time adjusting the opening degree of the variable venturi tube is achieved, and further solves the technical problem that the control effect of the solid-liquid variable thrust engine is poor due to the noise generated by the unstable liquid flow and the unstable combustion of the liquid oxidant in the prior art, thereby realizing the technical effect of improving the control effect of the solid-liquid variable thrust engine.

[0032] As Figure 1 shown, in an embodiment of the present invention, the fractional-order disturbance rejection controller 10 includes: a tracking differentiator 11, a fractional-order extended state observer 12, a PID controller 13, and a compensation module 14. Among them, the tracking differentiator is used to determine a desired thrust command and the differential of the desired thrust command according to the desired thrust.

[0033] The fractional-order extended state observer is used to determine target data according to the actual flow rate of the liquid oxidant of the variable venturi tube and the first difference between the actual thrust and the system noise. The target data includes: the observed value of the actual thrust, the observed value of the differential of the actual thrust, and the control compensation quantity of the adjustable valve.

[0034] The PID controller is used to determine the first target control quantity of the adjustable valve as the second difference between the desired thrust command and the observed value of the actual thrust, and determine the second target control quantity of the adjustable valve as the third difference between the differential of the desired thrust command and the observed value of the differential of the actual thrust, and determine the initial control quantity of the variable venturi tube based on the first target control quantity and the second target control quantity.

[0035] The compensation module is used to calculate the sum value between the control compensation quantity of the adjustable valve and the initial control quantity, and determine the difference between the sum value and the actual opening degree of the adjustable valve as the actual control quantity of the variable venturi tube.

[0036] In an embodiment of the present invention, the main function of the tracking differentiator is to process the desired thrust signal and solve the contradiction between rapidity and overshoot. The formula is as follows:

[0037] where e′ is the error signal, T c is the desired thrust command, is the derivative of the thrust command, h and r0 represent the integration step size and the velocity factor respectively, and fhan() represents the fast optimal control synthesis function.

[0038] The fractional-order extended state observer (FOESO) is established based on the ESO. In modern control theory, the idea of ESO is to, on the basis of observing the state variables z1, z2,..., z n , call all the factors that affect the output of the controlled object except the control quantity the total disturbance f(z1, z2,..., z n ), expand the total disturbance into a new state variable z n+1 , and use its special feedback mechanism to establish an extended state observer to observe the total disturbance. Its greatest advantage is that it does not depend on the model generating the disturbance, and it can estimate the total disturbance value caused by model parameter uncertainty and external environmental changes without the need for a detailed and accurate system model, obtain the total disturbance estimation value, and cancel the observed disturbance in real time when outputting finally.

[0039] Taking a second-order integral system as an example:

[0040]

[0041] where f(x1, x2, ω(t)) is the total disturbance. To observe the magnitude of the total disturbance, a new state variable x3 = f(x1, x2, ω(t)) is introduced, and thus the second-order system is expanded into the following form:

[0042]

[0043] To better track the expanded third-order system, the following extended state observer is established:

[0044]

[0045] where u is the output value of the controller, b is the controller gain. Through the input and output of the system, the state observer can make z1, z2, z3 observe the three state variables x1, x2, x3 of the system respectively, and x3 is the expanded disturbance term. If x3 can be estimated, the compensation for the total disturbance can be achieved.

[0046] FOESO:

[0047] Based on the traditional ESO, the idea of fractional order is introduced into the ESO, and the following fractional-order extended state observer is established for the expanded third-order system:

[0048]

[0049] Among them, z1 is the observed value of the actual thrust, z2 is the observed value of the differential of the actual thrust, z3 is the control compensation amount of the adjustable valve, α, β, and γ respectively correspond to the differential orders of three state variables. When configuring the three poles of the third-order system to the same place, we have:

[0050]

[0051] μ is the differential operator. FOESO has a good processing effect on this high-frequency noise and can effectively compensate for high-frequency noise in the control system.

[0052] The PID controller is a traditional proportional-integral-derivative controller. The input quantity is divided into two parts. One part is the difference between the desired thrust command and the thrust z1 observed by FOESO, and the other part is the difference between the differential of the thrust command and the differential z2 of the thrust observed by FOESO. After passing through the PID controller, the initial control quantity u of the control command is generated.

[0053] Finally, the compensation module adds the initial control quantity u and z3, and then subtracts the actual opening δ of the adjustable valve to obtain the actual control quantity of the variable venturi tube, and further finally obtains the liquid oxidizer flow rate w u . b0 is the estimated value of the controller gain b.

[0054] In the thrust control of the traditional solid-liquid variable-thrust engine, the present invention adds a fractional-order extended state observer. By compensating the noise influence suffered by the system in real time, the opening of the variable venturi tube is adjusted in real time, which can not only solve the problem that the control accuracy of the system is reduced due to liquid circuit noise and combustion noise, but also solve the interference of internal and external disturbances to the system.

[0055] Embodiment 2:

[0056] According to an embodiment of the present invention, an embodiment of a control method for a solid-liquid variable-thrust engine based on a fractional-order extended state observer is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0057] Figure 2 is a flowchart of a control method for a solid-liquid variable-thrust engine based on a fractional-order extended state observer according to an embodiment of the present invention. This method is applied to a solid-liquid variable-thrust engine controller based on a fractional-order extended state observer. The solid-liquid variable-thrust engine controller based on a fractional-order extended state observer includes a fractional-order disturbance rejection controller and a variable venturi tube, asFigure 2 As shown in the figure, the method includes the following steps:

[0058] Step S102: Determine the actual control quantity of the variable venturi tube according to the expected thrust of the solid-liquid variable thrust engine, the actual thrust of the solid-liquid variable thrust engine, the actual opening of the variable venturi tube, and the system noise, where the system noise includes: liquid circuit noise and combustion noise;

[0059] Step S104: Adjust the opening of the adjustable valve based on the actual control quantity to control the flow rate of the liquid oxidant flowing through the variable venturi tube, where the adjustable valve is the valve of the variable venturi tube.

[0060] In the embodiment of the present invention, by determining the actual control quantity of the variable venturi tube according to the expected thrust of the solid-liquid variable thrust engine, the actual thrust of the solid-liquid variable thrust engine, the actual opening of the variable venturi tube, and the system noise, where the system noise includes: liquid circuit noise and combustion noise; adjusting the opening of the adjustable valve based on the actual control quantity to control the flow rate of the liquid oxidant flowing through the variable venturi tube, where the adjustable valve is the valve of the variable venturi tube, by compensating the noise received by the solid-liquid variable thrust engine in a timely manner, the purpose of real-time adjustment of the opening of the variable venturi tube is achieved, and further solves the technical problem that the control effect of the solid-liquid variable thrust engine is poor due to the noise generated by the unstable liquid flow and the unstable combustion of the liquid oxidant in the prior art, thereby achieving the technical effect of improving the control effect of the solid-liquid variable thrust engine.

[0061] Preferably, the fractional-order disturbance rejection controller includes: a tracking differentiator, a fractional-order extended state observer, a PID controller, and a compensation module. Then, according to the desired thrust of the solid-liquid variable thrust engine, the actual thrust of the solid-liquid variable thrust engine, the actual opening of the variable venturi tube, and the system noise, the actual control quantity of the variable venturi tube is determined, including: determining a desired thrust command and the differential of the desired thrust command according to the desired thrust; determining target data according to the actual flow rate of the liquid oxidizer of the variable venturi tube and the first difference between the actual thrust and the system noise, where the target data includes: the observed quantity of the actual thrust, the observed quantity of the differential of the actual thrust, and the control compensation quantity of the adjustable valve; determining the first target control quantity of the adjustable valve as the second difference between the desired thrust command and the observed quantity of the actual thrust, and determining the second target control quantity of the adjustable valve as the third difference between the differential of the desired thrust command and the observed quantity of the differential of the actual thrust, and determining the initial control quantity of the variable venturi tube based on the first target control quantity and the second target control quantity; calculating the sum value between the control compensation quantity of the adjustable valve and the initial control quantity, and determining the actual control quantity of the variable venturi tube as the difference between the sum value and the actual opening of the adjustable valve.

[0062] Preferably, the method further includes: gaining the initial control quantity to obtain the initial control quantity after gain.

[0063] Preferably, the method further includes: measuring the actual thrust of the solid-liquid variable thrust engine, the system noise, and the actual opening of the adjustable valve.

[0064] Embodiment III:

[0065] An embodiment of the present invention provides a solid-liquid variable thrust engine based on a fractional-order extended state observer, including the solid-liquid variable thrust engine controller based on the fractional-order extended state observer as described above.

[0066] Embodiment IV:

[0067] An embodiment of the present invention further provides an electronic device, including a memory and a processor. The memory is used to store a program that supports the processor to execute the method described in Embodiment I above, and the processor is configured to execute the program stored in the memory.

[0068] See Figure 3 , an embodiment of the present invention further provides an electronic device 100, including: a processor 50, a memory 51, a bus 52, and a communication interface 53. The processor 50, the communication interface 53, and the memory 51 are connected through the bus 52; the processor 50 is used to execute an executable module stored in the memory 51, such as a computer program.

[0069] Among them, the memory 51 may include high-speed random access memory (RAM), and may also include non-volatile memory, such as at least one disk memory. The communication connection between this system network element and at least one other network element is realized through at least one communication interface 53 (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. can be used.

[0070] The bus 52 can be an ISA bus, a PCI bus, an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 3 only a bidirectional arrow is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0071] Among them, the memory 51 is used to store a program. After receiving an execution instruction, the processor 50 executes the program. The method executed by the device defined by the flow process disclosed in any embodiment of the foregoing embodiments of the present invention can be applied to the processor 50 or implemented by the processor 50.

[0072] The processor 50 may be an integrated circuit chip with the ability to process signals. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 50 or the instructions in the form of software. The above-mentioned processor 50 may be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it may also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present invention can be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by a combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 51, and the processor 50 reads the information in the memory 51 and combines its hardware to complete the steps of the above method.

[0073] Embodiment Five:

[0074] The embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it executes the steps of the method described in Embodiment One above.

[0075] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0076] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is 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 should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0077] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical functional division, and there may be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces. The indirect coupling or communication connection of the devices or units can be in electrical, mechanical, or other forms.

[0078] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0079] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0080] Finally, it should be noted that the above-described embodiments are only specific embodiments of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting it. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or make equivalent replacements for some of the technical features; and these modifications, changes, 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 invention, and should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A controller for a solid-liquid variable thrust engine based on a fractional-order extended state observer, characterized in that Including: A fractional-order disturbance rejection controller and a variable Venturi tube, wherein, The fractional-order disturbance rejection controller is used to determine the actual control quantity of the variable Venturi tube according to the desired thrust of the solid-liquid variable-thrust engine, the actual thrust of the solid-liquid variable-thrust engine, the actual opening degree of the variable Venturi tube, and the system noise, wherein the system noise includes: liquid circuit noise and combustion noise; The variable Venturi tube is used to adjust the opening degree of the adjustable valve based on the actual control quantity to control the flow rate of the liquid oxidant flowing through the variable Venturi tube, wherein the adjustable valve is the valve of the variable Venturi tube; Wherein, the fractional-order disturbance rejection controller includes: a tracking differentiator, a fractional-order extended state observer, a PID controller, and a compensation module, wherein, The tracking differentiator is used to determine a desired thrust command and the differential of the desired thrust command according to the desired thrust; The fractional-order extended state observer is used to determine target data according to the actual flow rate of the liquid oxidant of the variable Venturi tube and the first difference between the actual thrust and the system noise, wherein the target data includes: the observed value of the actual thrust, the observed value of the differential of the actual thrust, and the control compensation quantity of the adjustable valve; The PID controller is used to determine the first target control quantity of the adjustable valve as the second difference between the desired thrust command and the observed value of the actual thrust, and determine the second target control quantity of the adjustable valve as the third difference between the differential of the desired thrust command and the observed value of the differential of the actual thrust, and determine the initial control quantity of the variable Venturi tube based on the first target control quantity and the second target control quantity; The compensation module is used to calculate the sum value between the control compensation quantity of the adjustable valve and the initial control quantity, and determine the actual control quantity of the variable Venturi tube as the difference between the sum value and the actual opening degree of the adjustable valve.

2. The solid-liquid variable-thrust engine controller based on the fractional-order extended state observer according to claim 1, wherein The solid-liquid variable-thrust engine controller based on the fractional-order extended state observer further includes: A measurement unit for measuring the actual thrust of the solid-liquid variable-thrust engine, the system noise, and the actual opening degree of the adjustable valve.

3. A control method for a solid-liquid variable thrust engine based on a fractional-order extended state observer, characterized in that, Applied to a solid-liquid variable-thrust engine controller based on a fractional-order extended state observer, the solid-liquid variable-thrust engine controller based on the fractional-order extended state observer includes a fractional-order disturbance rejection controller and a variable Venturi tube, then the method includes: Determining the actual control quantity of the variable Venturi tube according to the desired thrust of the solid-liquid variable-thrust engine, the actual thrust of the solid-liquid variable-thrust engine, the actual opening degree of the variable Venturi tube, and the system noise, wherein the system noise includes: liquid circuit noise and combustion noise; Adjusting the opening degree of the adjustable valve based on the actual control quantity to control the flow rate of the liquid oxidant flowing through the variable Venturi tube, wherein the adjustable valve is the valve of the variable Venturi tube; Among them, the fractional-order disturbance rejection controller includes: a tracking differentiator, a fractional-order extended state observer, a PID controller, and a compensation module. Then, according to the desired thrust of the solid-liquid variable thrust engine, the actual thrust of the solid-liquid variable thrust engine, the actual opening of the variable venturi tube, and the system noise, the actual control amount of the variable venturi tube is determined, including: According to the desired thrust, the desired thrust command and the differential of the desired thrust command are determined; According to the actual flow rate of the liquid oxidizer of the variable venturi tube and the first difference between the actual thrust and the system noise, the target data is determined, where the target data includes: the observed value of the actual thrust, the observed value of the differential of the actual thrust, and the control compensation amount of the adjustable valve; The second difference between the desired thrust command and the observed value of the actual thrust is determined as the first target control amount of the adjustable valve, and the third difference between the differential of the desired thrust command and the observed value of the differential of the actual thrust is determined as the second target control amount of the adjustable valve. And based on the first target control amount and the second target control amount, the initial control amount of the variable venturi tube is determined; Calculate the sum value between the control compensation amount of the adjustable valve and the initial control amount, and determine the difference between the sum value and the actual opening of the adjustable valve as the actual control amount of the variable venturi tube.

4. The method according to claim 3, wherein The method further includes: Gain the initial control amount to obtain the initial control amount after gain.

5. The method according to claim 3, characterized in that, The method further includes: Measure the actual thrust of the solid-liquid variable thrust engine, the system noise, and the actual opening of the adjustable valve.

6. A solid-liquid variable thrust engine based on a fractional-order extended state observer, characterized in that, Including: The solid-liquid variable thrust engine controller based on a fractional-order extended state observer according to any one of claims 1-2.

7. An electronic device, characterized in that, Including a memory and a processor, the memory is used to store a program that supports the processor to execute the method according to any one of claims 3 to 5, and the processor is configured to execute the program stored in the memory.

8. A computer-readable storage medium, on which a computer program is stored, characterized in that, When the computer program is run by the processor, it executes the steps of the method according to any one of claims 3 to 5 above.

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