A combined nozzle collaborative control method based on master-slave and bang-bang control

Abstract

The present application belongs to the field of variable control of aircraft engines, and particularly relates to a combined nozzle collaborative control method based on master-slave and bang-bang control. The combined nozzle collaborative control method based on master-slave and bang-bang control of the present application utilizes A 81 and A 82 The position deviation is A 82 Control the target value so that A 81 and A 82 Maintain master-slave position following, thereby achieving A 81 and A 82 Collaborative control; A 81 and A 82 The area difference is controlled by hysteresis loop. When it is less than or equal to the threshold value 1, bang-bang control is started to quickly pull A in the opposite direction. 81 and A 82 To prevent collision and friction, when the value is greater than the threshold value 2, it returns to normal master and slave control and uses the PI control algorithm to achieve precise position control.

Description

Technical Field

[0001] The present application belongs to the field of variable control of aviation engines, and in particular relates to a combined nozzle collaborative control method based on master-slave and bang-bang control. Background Art

[0002] In recent years, the technologies of axisymmetric vector nozzles, two-dimensional thrust vector nozzles and unilateral expansion two-dimensional nozzles have become increasingly mature, greatly narrowing the gap between China and the world's advanced level in the field of aviation engines. As the domestic demand for propulsion systems for aerospace strategic aircraft becomes more and more urgent, the combination nozzle has gradually become a hot topic in domestic research. Figure 1 As shown, section 7 shows the combined nozzle turbine duct inlet; section 8 shows the combined nozzle turbine duct throat. The new combined nozzle structure posed significant challenges to control system development. The combined nozzle control primarily includes the combined nozzle controller, turbine front plate control device, turbine rear plate control device, ram plate control device, turbine front plate hydraulic actuator, turbine rear plate hydraulic actuator, ram plate hydraulic actuator, and cables. The combined nozzle control system is a typical position servo system, controlling the displacement of the actuators in each circuit. The turbine front plate actuator and turbine rear plate actuator operate in independent control circuits to ensure that the nozzle throat area is adjusted according to the control plan.

[0003] During the turbine-based nozzle's single working stage and the combined power's joint working stage, the width of the turbine-based front adjustment plate and the rear adjustment plate's 8-section ejection gap shall not exceed the control plan, and they shall not rub against each other.

[0004] At present, the aero-engine field uses a control scheme that independently controls the displacement of the actuators of the turbine front adjustment plate, turbine rear adjustment plate and ram springboard circuits. The control circuit architecture is as follows: Figure 2 As shown, under this architecture, the turbine front adjustment plate actuator cylinder and the turbine rear adjustment plate actuator cylinder have no coordinated control function when the turbine engine is working. In extreme cases, the turbine front adjustment plate and the turbine rear adjustment plate will also collide and rub, affecting the normal operation of the combined power.

[0005] Therefore, it is desired to have a technical solution to overcome or at least alleviate at least one of the above-mentioned deficiencies of the prior art. Summary of the Invention

[0006] The purpose of this application is to provide a combined nozzle collaborative control method of master-slave and bang-bang control to solve at least one problem existing in the prior art.

[0007] The technical solution of this application is:

[0008] A combined nozzle collaborative control method based on master-slave and bang-bang control, comprising:

[0009] Step 1: Obtain the Pit closed-loop control target value Pit_dem and the engine pressure drop ratio P collected by the engine pressure sensor 31 / P6, calculate the Pit closed-loop control target value Pit_dem and the engine pressure drop ratio P 31 The difference between / P6 is used to obtain the Pit control deviation, and the turbine front adjustment plate area control target value A is obtained according to the PID algorithm. 81 _dem;

[0010] Step 2: Obtain the turbine front adjustment plate actuator displacement LA collected by the engine displacement sensor 81 , calculate the turbine front adjustment plate area feedback value A by combining the corresponding relationship between the actuator and the area 81 ;

[0011] Step 3: Calculate the turbine front adjustment plate area control target value A 81 _dem and the turbine front adjustment plate area feedback value A 81 The difference is A 81 Control deviation, according to the PI algorithm to obtain the initial value IA of the turbine front adjustment plate control loop current 81 _dem0;

[0012] Step 4: Obtain the master and slave control deviation plan value DA8Dem, and compare the master and slave control deviation plan value DA8Dem with the turbine front adjustment plate area feedback value A 81 Sum and get the target value A of turbine rear plate area control 82 _dem;

[0013] Step 5: Obtain the displacement LA of the turbine rear adjustment plate actuator collected by the engine displacement sensor 82 , calculate the turbine rear adjustment plate area feedback value A by combining the corresponding relationship between the actuator and the area 82 ;

[0014] Step 6: Calculate the target value A of the turbine rear adjustment plate area control 82 _dem and the turbine rear adjustment plate area feedback value A 82 The difference is A 82 Control deviation, according to the PI algorithm to obtain the initial value IA of the turbine rear adjustment plate control loop current 82 _dem0;

[0015] Step 7: Calculate the turbine front adjustment plate area feedback value A 81 The feedback value A of the turbine rear adjustment plate area 82When DA8 is greater than or equal to DA8_H, the difference output is DA8_H; when DA8 is less than DA8_L, the difference output is DA8_L; when DA8 is greater than or equal to DA8_L and less than DA8_H, the difference output is DA8;

[0016] When DA8 is less than or equal to DA8_L, the turbine front adjustment plate control loop current open loop output IA 81 _max, when DA8 is greater than DA8_L, the turbine front adjustment plate control circuit current open loop output IA 81 _dem0;

[0017] When DA8 is less than or equal to DA8_L, the turbine rear adjustment plate control loop current open loop output IA 82 _min, when DA8 is greater than DA8_L, the turbine rear adjustment plate control circuit current open loop output IA 82 _dem0;

[0018] The flow rate output by the turbine front adjustment plate control valve is driven by the current value of the turbine front adjustment plate control circuit to achieve the displacement LA of the turbine front adjustment plate actuator 81 control;

[0019] The turbine rear adjustment plate control circuit current value drives the flow output of the turbine rear adjustment plate control valve to achieve the displacement LA of the turbine rear adjustment plate actuator 82 control.

[0020] In at least one embodiment of the present application, in step 1, the turbine front adjustment plate area control target value A is obtained according to the PID algorithm. 81 _dem is:

[0021]

[0022] Among them, k p is the proportional coefficient, T i is the integration constant, T D is the differential constant.

[0023] In at least one embodiment of the present application, in step 3, the initial value IA of the turbine front regulating plate control loop current is obtained according to the PI algorithm. 81 _dem0 is:

[0024]

[0025] Among them, k p is the proportional coefficient, T i is the integration constant.

[0026] In at least one embodiment of the present application, in step six, the initial value IA of the turbine rear adjustment plate control loop current is obtained according to the PI algorithm.82 _dem0 is:

[0027]

[0028] Among them, k p is the proportional coefficient, T i is the integration constant.

[0029] The invention has at least the following beneficial technical effects:

[0030] The combined nozzle collaborative control method based on master-slave and bang-bang control in the present application realizes collaborative control and anti-collision control of two independent loops of the front adjustment plate and the rear adjustment plate of the turbine-based nozzle by combining master-slave with bang-bang control. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the main aerodynamic cross section of the combined nozzle;

[0032] Figure 2 It is a schematic diagram of the control loop architecture in the prior art;

[0033] Figure 3 This is a flow chart of a combined nozzle collaborative control method based on master-slave and bang-bang control in one embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the implementation of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below in conjunction with the drawings in the embodiments of this application. In the drawings, the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The described embodiments are part of the embodiments of this application, not all of the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain this application, and should not be understood as limitations on this application. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. The embodiments of this application are described in detail below in conjunction with the drawings.

[0035] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and 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, be constructed and operated in a specific orientation. Therefore, it should not be understood as limiting the scope of protection of this application.

[0036] The following is combined with Figure 3 This application is described in further detail.

[0037] The present application provides a combined nozzle collaborative control method based on master-slave and bang-bang control, comprising the following steps:

[0038] Step 1: Obtain the Pit closed-loop control target value Pit_dem and the engine pressure drop ratio P collected by the engine pressure sensor 31 / P6, calculate the Pit closed-loop control target value Pit_dem and the engine pressure drop ratio P 31 The difference between / P6 is used to obtain the Pit control deviation, and the turbine front adjustment plate area control target value A is obtained according to the PID algorithm. 81 _dem; among them, P 31 is the compressor outlet pressure, P6 is the turbine outlet pressure;

[0039] Step 2: Obtain the turbine front adjustment plate actuator displacement LA collected by the engine displacement sensor 81 , calculate the turbine front adjustment plate area feedback value A by combining the corresponding relationship between the actuator and the area 81 ;

[0040] Step 3: Calculate the target value A of the turbine front adjustment plate area control 81 _dem and turbine front adjustment plate area feedback value A 81 The difference is A 81 Control deviation, according to the PI algorithm to obtain the initial value IA of the turbine front adjustment plate control loop current 81 _dem0;

[0041] Step 4: Get the master and slave control deviation plan value DA8Dem, and compare the master and slave control deviation plan value DA8Dem with the turbine front adjustment plate area feedback value A 81 Sum and get the target value A of turbine rear plate area control 82 _dem;

[0042] Step 5: Obtain the displacement LA of the turbine rear adjustment plate actuator collected by the engine displacement sensor 82 , calculate the turbine rear adjustment plate area feedback value A by combining the corresponding relationship between the actuator and the area 82 ;

[0043] Step 6: Calculate the target value A of the turbine rear adjustment plate area control 82 _dem and the feedback value of the turbine rear adjustment plate area A 82 The difference is A 82 Control deviation, according to the PI algorithm to obtain the initial value IA of the turbine rear adjustment plate control loop current 82 _dem0;

[0044] Step 7: Calculate the turbine front adjustment plate area feedback value A 81 And the feedback value A of the turbine rear adjustment plate area 82 When DA8 is greater than or equal to DA8_H, the difference output is DA8_H; when DA8 is less than DA8_L, the difference output is DA8_L; when DA8 is greater than or equal to DA8_L and less than DA8_H, the difference output is DA8;

[0045] When DA8 is less than or equal to DA8_L, the turbine front adjustment plate control loop current open loop output IA 81 _max, when DA8 is greater than DA8_L, the turbine front adjustment plate control circuit current open loop output IA 81 _dem0;

[0046] When DA8 is less than or equal to DA8_L, the turbine rear adjustment plate control loop current open loop output IA 82 _min, when DA8 is greater than DA8_L, the turbine rear adjustment plate control circuit current open loop output IA 82 _dem0;

[0047] The flow rate output by the turbine front adjustment plate control valve is driven by the current value of the turbine front adjustment plate control circuit to achieve the displacement LA of the turbine front adjustment plate actuator 81 control;

[0048] The turbine rear adjustment plate control circuit current value drives the flow output of the turbine rear adjustment plate control valve to achieve the displacement LA of the turbine rear adjustment plate actuator 82 control.

[0049] Among them, DA8_H and DA8_L are the thresholds designed by the algorithm and are set directly; IA 81 _max is the maximum current output capability of the accessory, IA 82 _min is the maximum reverse current output capability of the accessory. When the hardware is determined, IA 81 _max, IA 82 _min is determined directly.

[0050] The combined nozzle collaborative control method based on master-slave and bang-bang control of the present application, in step 1, first set the Pit closed-loop control target value Pit_dem, obtain the engine pressure sensor acquisition value P 31 / P6, calculate the difference between the two as the Pit control deviation, and obtain the turbine front adjustment plate area control target value A according to the PID algorithm 81 _dem is:

[0051]

[0052] Among them, kp is the proportional coefficient, T i is the integration constant, T D is the differential constant.

[0053] In step 3, the target value A is controlled according to the area of the turbine front adjustment plate. 81 _dem and turbine front adjustment plate area feedback value A 81 Calculate A 81 After controlling the deviation, the initial value IA of the turbine front adjustment plate control loop current is obtained according to the PI algorithm 81 _dem0 is:

[0054]

[0055] Among them, k p is the proportional coefficient, T i is the integration constant.

[0056] In step 6, the target value A is controlled according to the area of the turbine rear adjustment plate. 82 _dem and the feedback value of the turbine rear adjustment plate area A 82 Calculate A 82 After controlling the deviation, the initial value IA of the turbine rear adjustment plate control loop current is obtained according to the PI algorithm 82 _dem0 is:

[0057]

[0058] Among them, k p is the proportional coefficient, T i is the integration constant.

[0059] Finally, calculate A obtained in steps 2 and 5 81 and A 82 When the difference is greater than or equal to DA8_H, the difference output is DA8_H. When the difference is less than DA8_L, the difference output is DA8_L. When the difference is greater than or equal to DA8_L and less than DA8_H, the control output difference maintains the previous value.

[0060] When the difference is less than or equal to DA8_L, the turbine front adjustment plate control loop current open loop output IA 81 _max, when the difference is greater than DA8_L, output the current value IA calculated in step 3 81 _dem0;

[0061] When the difference is less than or equal to DA8_L, the turbine rear adjustment plate control loop current open loop output IA 82 _min, when the difference is greater than DA8_L, the current value IA calculated in the step flow is output 82 _dem0;

[0062] The turbine front adjustment plate and turbine rear adjustment plate control current values are used to drive the flow output of the turbine front adjustment plate and turbine rear adjustment plate control valve respectively, so as to realize the displacement LA of the turbine front adjustment plate and turbine rear adjustment plate actuator. 81 and LA 82 The control of the turbine front and rear adjustment plates will affect the area A 81 and A 82 , the final aerodynamic parameters of the engine P 31 / P6 will also change accordingly.

[0063] The combined nozzle collaborative control method based on master-slave and bang-bang control of this application utilizes A 81 and A 82 The position deviation is A 82 Control the target value so that A 81 and A 82 Maintain the master-slave position following, thereby achieving A 81 and A 82 Collaborative control; A 81 and A 82 The area difference is output by hysteresis control. When it is less than or equal to the threshold value 1, bang-bang control is started to quickly reverse the A 81 and A 82 To prevent collision and friction, when the value is greater than the threshold value 2, it returns to normal master and slave control and uses the PI control algorithm to achieve precise position control.

[0064] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A combined nozzle collaborative control method based on master-slave and bang-bang control, characterized in that: include: Step 1: Obtain the Pit closed-loop control target value Pit_dem and the engine pressure drop ratio P collected by the engine pressure sensor 31 / P6, calculate the Pit closed-loop control target value Pit_dem and the engine pressure drop ratio P 31 The difference between / P6 is used to obtain the Pit control deviation, and the turbine front adjustment plate area control target value A is obtained according to the PID algorithm. 81 _dem; Step 2: Obtain the turbine front adjustment plate actuator displacement LA collected by the engine displacement sensor 81 , calculate the turbine front adjustment plate area feedback value A by combining the corresponding relationship between the actuator and the area 81 ; Step 3: Calculate the turbine front adjustment plate area control target value A 81 _dem and the turbine front adjustment plate area feedback value A 81 The difference is A 81 Control deviation, according to the PI algorithm to obtain the initial value IA of the turbine front adjustment plate control loop current 81 _dem0; Step 4: Obtain the master and slave control deviation plan value DA8Dem, and compare the master and slave control deviation plan value DA8Dem with the turbine front adjustment plate area feedback value A 81 Sum and get the target value A of turbine rear plate area control 82 _dem; Step 5: Obtain the displacement LA of the turbine rear adjustment plate actuator collected by the engine displacement sensor 82 , calculate the turbine rear adjustment plate area feedback value A by combining the corresponding relationship between the actuator and the area 82 ; Step 6: Calculate the target value A of the turbine rear adjustment plate area control 82 _dem and the turbine rear adjustment plate area feedback value A 82 The difference is A 82 Control deviation, according to the PI algorithm to obtain the initial value IA of the turbine rear adjustment plate control loop current 82 _dem0; Step 7: Calculate the turbine front adjustment plate area feedback value A 81 The feedback value A of the turbine rear adjustment plate area 82 When DA8 is greater than or equal to DA8_H, the difference output is DA8_H; when DA8 is less than DA8_L, the difference output is DA8_L; when DA8 is greater than or equal to DA8_L and less than DA8_H, the difference output is DA8; When DA8 is less than or equal to DA8_L, the turbine front adjustment plate control loop current open loop output IA 81 _max, when DA8 is greater than DA8_L, the turbine front adjustment plate control circuit current open loop output IA 81 _dem0; When DA8 is less than or equal to DA8_L, the turbine rear adjustment plate control loop current open loop output IA 82 _min, when DA8 is greater than DA8_L, the turbine rear adjustment plate control circuit current open loop output IA 82 _dem0; The flow rate output by the turbine front adjustment plate control valve is driven by the current value of the turbine front adjustment plate control circuit to achieve the displacement LA of the turbine front adjustment plate actuator 81 control; The turbine rear adjustment plate control circuit current value drives the flow output of the turbine rear adjustment plate control valve to achieve the displacement LA of the turbine rear adjustment plate actuator 82 control; Among them, DA8_H and DA8_L are the thresholds designed by the algorithm and are set directly; IA 81 _max is the maximum current output capability of the accessory, IA 82 _min is the maximum reverse current output capability of the accessory. When the hardware is determined, IA 81 _max, IA 82 _min is determined directly.

2. The combined nozzle collaborative control method based on master-slave and bang-bang control according to claim 1, characterized in that: In step 1, the turbine front adjustment plate area control target value A is obtained according to the PID algorithm 81 _dem is: Among them, k p is the proportional coefficient, T i is the integration constant, T D is the differential constant.

3. The combined nozzle collaborative control method based on master-slave and bang-bang control according to claim 1, characterized in that: In step 3, the initial value IA of the turbine front adjustment plate control loop current is obtained according to the PI algorithm 81 _dem0 is: Among them, k p is the proportional coefficient, T i is the integration constant.

4. The combined nozzle collaborative control method based on master-slave and bang-bang control according to claim 1, characterized in that: In step 6, the initial value IA of the turbine rear adjustment plate control loop current is obtained according to the PI algorithm 82 _dem0 is: Among them, k p is the proportional coefficient, T i is the integration constant.

Images