A state observer-based combined nozzle adaptive cooperative control method

Abstract

The application belongs to the field of aero-engine variable control, and particularly relates to a combined nozzle adaptive collaborative control method based on a state observer. The application drives the flow output by the turbine front trim panel control valve and the turbine rear trim panel control valve through the turbine front trim panel control current value and the turbine rear trim panel control current value respectively, realizes the control of the turbine front trim panel and the turbine rear trim panel actuator displacement LA 81 and LA 82 , further influences the turbine front trim panel area A 81 and the turbine rear trim panel area A 82 , and finally the aero-engine aerodynamic parameter P 31 / P6 will also change. The application realizes the turbine-based nozzle front trim panel and rear trim panel two independent loop collaborative control through the combination of proportional deviation adaptive correction and state observer compensation control. The positions of A 81 and A 82 are corrected through proportional deviation adaptive correction, and further A 81 and A 82 collaborative control is realized; when there is interference in the control process, the state observer is used to obtain the interference observation value such as load change, and the interference observation value is converted into a control current compensation value, so that the A 81 and A 82 collaborative control precision is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of aero-engine variable control, and particularly relates to a combined nozzle adaptive cooperative control method based on a state observer. BACKGROUND

[0002] In recent years, the technologies of axisymmetric vectoring nozzle, two-dimensional thrust vectoring nozzle and single-edge expansion two-dimensional nozzle have become mature, greatly shortening the gap between China and the world advanced level in the field of aero-engine. With the increasingly urgent demand for aerospace strategic aircraft propulsion systems in China, the combined nozzle gradually becomes a research hotspot in China, such as Figure 1 As shown in the figure, the 7 section is the combined nozzle turbine base passage inlet; and the 8 section is the combined nozzle turbine base passage throat. The new structure of the combined nozzle poses a great challenge to the development of the control system. The combined nozzle control mainly includes a combined nozzle controller, a turbine front adjusting plate control device, a turbine rear adjusting plate control device, a ramjet adjusting plate control device, a turbine front adjusting plate hydraulic actuating cylinder, a turbine rear adjusting plate hydraulic actuating cylinder, a ramjet adjusting plate hydraulic actuating cylinder, a cable and the like. The combined nozzle control system is a relatively typical position servo system, and the control object is the displacement of the actuating cylinders of each loop, wherein the turbine front adjusting plate actuating cylinder and the turbine rear adjusting plate are independent control loops to ensure that the nozzle throat area is adjusted according to the control plan.

[0003] In the turbine base nozzle single working stage and the combined power common working stage, the turbine base front adjusting plate and the rear adjusting plate have a gap width of the 8 section not greater than the control plan, and cannot collide with each other.

[0004] At present, the control scheme in the field of aero-engine is to independently control the displacement of the actuating cylinders of the turbine front adjusting plate, the turbine rear adjusting plate and the ramjet adjusting plate. As shown in the figure, under this architecture, the turbine front adjusting plate actuating cylinder and the turbine rear adjusting plate actuating cylinder have no cooperative control function when the turbine engine is working, and in the extreme case, the turbine front adjusting plate and the turbine rear adjusting plate will also collide, affecting the normal work of the combined power. Figure 2

[0005] Therefore, it is desirable to have a technical solution to overcome or at least alleviate at least one of the above-mentioned defects of the prior art. SUMMARY

[0006] The purpose of the present application is to provide a combined nozzle adaptive cooperative control method based on a state observer to solve at least one problem existing in the prior art.

[0007] The technical solution of the present application is:

[0008] A combined nozzle adaptive cooperative control method based on a state observer, comprising:

[0009] ​Step one, obtain Pit closed loop control target value Pit_dem and engine pressure sensor collected engine drop pressure ratio P 31 / P6, calculate the difference value of Pit closed loop control target value Pit_dem and engine drop pressure ratio P 31 / P6, get Pit control deviation, according to PID algorithm to get turbine front adjusting plate area control target value A 81 _dem;

[0010] Step two, obtain control deviation planning value DA8Dem, sum the control deviation planning value DA8Dem and the turbine front adjusting plate area control target value A 81 _dem to get turbine rear adjusting plate area control target value A 82 _dem;

[0011] Step three, obtain engine displacement sensor collected turbine front adjusting plate actuator displacement LA 81 , combined with the actuator and area corresponding relationship to calculate the turbine front adjusting plate area feedback value A 81 ;

[0012] Obtain engine displacement sensor collected turbine rear adjusting plate actuator displacement LA 82 , combined with the actuator and area corresponding relationship to calculate the turbine rear adjusting plate area feedback value A 82 ;

[0013] Step four, calculate the absolute value of the difference between the turbine front adjusting plate area control target value A 81 _dem and the turbine front adjusting plate area feedback value A 81 , and the absolute value of the difference between the turbine rear adjusting plate area control target value A 82 _dem and the turbine rear adjusting plate area feedback value A 82 , and take the maximum logic operation on the two absolute values:

[0014] Max_e=max{|A 81 _dem-A 81 |,|A 82 _dem-A 82 |}

[0015] Calculate A 81 _deviation correction coefficient K 81 and A 82 _deviation correction coefficient K 82 :

[0016] K 81 =|A 81 _dem-A 81 | / Max_e

[0017] K 82 = |A 82 _dem - A 82 | / Max_e

[0018] Step five, calculate the turbine front governing valve area control loop deviation e_A 81 and turbine rear governing valve area control loop deviation e_A 82 ;

[0019] e_A 81 = K 81 · (A 81 _dem - A 81 )

[0020] e_A 82 = K 82 · (A 82 _dem - A 82 )

[0021] Step six, according to the turbine front governing valve area control loop deviation e_A 81 and PI algorithm to get the turbine front governing valve control loop current initial value IA 81 _dem0;

[0022] According to the turbine rear governing valve area control loop deviation e_A 82 and PI algorithm to get the turbine rear governing valve control loop current initial value IA 82 _dem0;

[0023] Step seven, get the turbine front governing valve control compensation I A81o and turbine rear governing valve control compensation I A82o ;

[0024] Step eight, calculate the difference between the turbine front governing valve control loop current initial value IA 81 _dem0 and the turbine front governing valve control compensation I A81o , get the turbine front governing valve control valve control current final value I A81 ;

[0025] Calculate the difference between the turbine rear governing valve control loop current initial value IA 82 _dem0 and the turbine rear governing valve control compensation I A82o , get the turbine rear governing valve control valve control current final value I A82 ;

[0026] Step nine, drive the flow output by the turbine front governing valve control valve control current final value I A81 , realize the control of the turbine front governing valve cylinder displacement LA 81 ;

[0027] The final value I of the current controlled by the turbine rear governing plate control valve A82 The flow rate output by the turbine rear governing plate control valve, to achieve control of the displacement LA of the turbine rear governing plate actuator 82 .

[0028] In at least one embodiment of the present application, in step one, the turbine front governing plate area control target value A 81 _dem is obtained according to the PID algorithm:

[0029]

[0030] Where k p is the proportional coefficient, T i is the integral constant, and T D is the differential constant.

[0031] In at least one embodiment of the present application, in step six, the turbine front governing plate control loop current initial value IA 81 _dem0 is obtained according to the turbine front governing plate area control loop deviation e_A 81 and the PI algorithm:

[0032]

[0033] The turbine rear governing plate control loop current initial value IA 82 _dem0 is obtained according to the turbine rear governing plate area control loop deviation e_A 82 and the PI algorithm:

[0034]

[0035] Where k p is the proportional coefficient, and T i is the integral constant.

[0036] In at least one embodiment of the present application, in step seven, the turbine front governing plate control compensation I A81o is obtained, including:

[0037] A turbine front governing plate actuator model is constructed, with the structure being:

[0038] G a = K / s(Ts+1)

[0039] The time domain description is:

[0040]

[0041] Where f(Δ) is an uncertainty factor, and x3 = f(Δ) is taken as the extended state;

[0042] Design turbine front governing plate actuator expansion state observer:

[0043]

[0044] Turbine front governing plate control compensation is:

[0045]

[0046] Wherein, K is the loop open loop gain, T is the electro-hydraulic conversion device time constant, s is the conversion factor, β1, β2, β3 are control parameters, z1 tracks x1, z2 tracks x2, z3 tracks x3.

[0047] The application has at least the following beneficial technical effects:

[0048] The state observer-based combined nozzle adaptive cooperative control method of the application can realize the cooperative control requirements of the turbine front governing plate actuator and the turbine rear governing plate actuator, guaranteeing no collision and ensuring small ejection area. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 Is a schematic diagram of the main aerodynamic section of the combined nozzle;

[0050] Figure 2 Is a schematic diagram of the control loop architecture in the prior art;

[0051] Figure 3 Is a flowchart of the state observer-based combined nozzle adaptive cooperative control method of one embodiment of the application. DETAILED DESCRIPTION

[0052] To make the purpose, technical scheme and advantages of the application clearer, the technical scheme of the embodiments of the application will be described in more detail below in combination with the drawings of the embodiments of the application. In the drawings, the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some of the embodiments of the application, not all the embodiments. The embodiments described below by reference to the drawings are exemplary and are intended to explain the application, and cannot be understood as limiting the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application. The embodiments of the application will be described in detail below in combination with the drawings.

[0053] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like 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 application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the scope of protection of the present application.

[0054] The accompanying drawings are referred to in the description of the present application. Figure 3 The present application is further described in detail.

[0055] The present application provides a state observer-based combined nozzle adaptive cooperative control method, comprising the following steps:

[0056] Step one, obtaining the Pit closed-loop control target value Pit_dem and the engine pressure sensor collected engine drop pressure ratio P 31 / P6, calculating the difference between the Pit closed-loop control target value Pit_dem and the engine drop pressure ratio P 31 / P6, to get the Pit control deviation, and obtaining the turbine front adjusting plate area control target value A 81 _dem according to the PID algorithm; wherein, P 31 is the compressor outlet pressure, and P6 is the turbine outlet pressure;

[0057] Step two, obtaining the pre-set control deviation plan value DA8Dem, summing the control deviation plan value DA8Dem and the turbine front adjusting plate area control target value A 81 _dem to get the turbine rear adjusting plate area control target value A 82 _dem;

[0058] Step three, obtaining the turbine front adjusting plate actuator displacement LA 81 collected by the engine displacement sensor, and calculating the turbine front adjusting plate area feedback value A 81 according to the actuator and area corresponding relationship;

[0059] Obtaining the turbine rear adjusting plate actuator displacement LA 82 collected by the engine displacement sensor, and calculating the turbine rear adjusting plate area feedback value A 82 according to the actuator and area corresponding relationship;

[0060] Step four, calculating the absolute value of the difference between the turbine front adjusting plate area control target value A 81 _dem and the turbine front adjusting plate area feedback value A 81 , and the absolute value of the difference between the turbine rear adjusting plate area control target value A 82 _dem and the turbine rear adjusting plate area feedback value A82 The absolute value of the difference, and then the larger of the two absolute values ​​is calculated using the logical operation:

[0061] Max_e = max{A 81 _dem-A 81 |,|A 82 _dem-A 82 |}

[0062] Calculate A based on the result of the larger logical operation. 81 Deviation correction factor K 81 And A 82 Deviation correction factor K 82 :

[0063] K 81 =|A 81 _dem-A 81 | / Max_e

[0064] K 82 =|A 82 _dem-A 82 | / Max_e

[0065] Step 5: Calculate the deviation e_A of the turbine front adjustment plate area control loop. 81 Deviation e_A from the turbine rear adjustment plate area control loop 82 ;

[0066] e_A 81 =K 81 ·(A 81 _dem-A 81 )

[0067] e_A 82 =K 82 ·(A 82 _dem-A 82 )

[0068] Step 6: Control the loop deviation e_A based on the area of ​​the turbine front adjusting plate. 81 And the initial value IA of the turbine front adjustment plate control loop current is obtained by the PI algorithm. 81 _dem0;

[0069] Based on the turbine rear adjuster area, control loop deviation e_A 82 And the initial value IA of the turbine rear control loop current is obtained by the PI algorithm. 82 _dem0;

[0070] Step 7: Obtain the turbine front adjustment plate control compensation I A81o and turbocharger rear tuner control compensation I A82o ;

[0071] Step eight, calculate the turbine front trim plate control loop current initial value IA 81 _dem0 and turbine front trim plate control compensation I A81o The difference between the turbine front trim plate control valve control current final value I A81 ;

[0072] Calculate the turbine rear trim plate control loop current initial value IA 82 _dem0 and turbine rear trim plate control compensation I A82o The difference between the turbine rear trim plate control valve control current final value I A82 ;

[0073] Step nine, through the turbine front trim plate control valve control current final value I A81 Drive the flow rate of the turbine front trim plate control valve output, realize the control of the displacement LA 81 Of the turbine front trim plate actuator;

[0074] Through the turbine rear trim plate control valve control current final value I A82 The flow rate of the turbine rear trim plate control valve output, realize the control of the displacement LA 82 Of the turbine rear trim plate actuator.

[0075] The state observer-based combined nozzle adaptive cooperative control method of the application, in step one, the turbine front trim plate area control target value A 81 _dem obtained according to PID algorithm is:

[0076]

[0077] Among them, k p Is the proportional coefficient, T i Is the integral constant, T D Is the differential constant.

[0078] In this embodiment, in step six, according to the turbine front trim plate area control loop deviation e_A 81 And PI algorithm to get turbine front trim plate control loop current initial value IA 81 _dem0 is:

[0079]

[0080] According to the turbine rear trim plate area control loop deviation e_A 82 And PI algorithm to get turbine rear trim plate control loop current initial value IA 82 _dem0 is:

[0081]

[0082] Among them, k p Is the proportional coefficient, Ti is an integral constant.

[0083] In step seven of the state observer-based combined nozzle adaptive cooperative control method of the application, the turbine front adjusting plate control compensation I A81o comprises:

[0084] The turbine front adjusting plate actuator model is constructed.

[0085] The turbine front adjusting plate control valve is a first-order inertia link, and the turbine front adjusting plate actuator is an integral link, so the turbine front adjusting plate actuator model structure is:

[0086] G a = K / s (Ts + 1)

[0087] The time domain description is:

[0088]

[0089] Wherein, f(Δ) is an uncertainty factor, and x3 = f(Δ) is taken as an extended state.

[0090] The turbine front adjusting plate actuator extended state observer is designed.

[0091]

[0092] The turbine front adjusting plate actuator state observer control compensation is:

[0093]

[0094] Wherein, K is a loop open-loop gain, T is an electro-hydraulic conversion device time constant, s is a transformation factor, β1, β2, β3 are control parameters, which can be directly given according to experience, z1 tracks x1, z2 tracks x2, and z3 tracks x3.

[0095] The turbine rear adjusting plate control compensation I A82o is calculated according to the same method.

[0096] The state observer-based combined nozzle adaptive cooperative control method of the application drives the flow output by the turbine front adjusting plate control valve and the turbine rear adjusting plate control valve through the turbine front adjusting plate control current value and the turbine rear adjusting plate control current value respectively, realizes the control of the turbine front adjusting plate actuator displacement LA 81 and the turbine rear adjusting plate actuator displacement LA 82 , and further affects the turbine front adjusting plate area A 81 and the turbine rear adjusting plate area A 82 , and finally the engine aerodynamic parameter P 31P6 will also change. The present application is through the proportion of deviation adaptive correction and state observer compensation control to achieve turbine based nozzle front and rear two independent loop plate plate collaborative control. 81 and A 82 The position of the adaptive correction by proportion of deviation, and then realize A 81 and A 82 Collaborative control; when the control process exists disturbance, through the state observer to obtain the load change and other disturbance observation value, and converted into control current compensation, improve A 81 and A 82 Collaborative control accuracy.

[0097] The above, only for the specific embodiments of the present application, but the scope of protection of the present application is not limited to this, any skilled in the art of the technical personnel in the technical range of the present application, can easily think of changes or replacement, should be covered in the scope of protection of the present application. Therefore, the scope of protection of the present application should be subject to the scope of protection of the claims.

Claims

1. A state observer based combined nozzle adaptive cooperative control method, characterized in that, Comprise: Step one, get Pit closed loop control target value Pit_dem and engine pressure sensor collected engine drop pressure ratio P 31 / P6, calculate the difference value of Pit closed loop control target value Pit_dem and engine drop pressure ratio P 31 / P6, get Pit control deviation, according to PID algorithm to get turbine front regulating plate area control target value A 81 _dem; Step two, obtain a control deviation plan value DA8Dem, sum the control deviation plan value DA8Dem and the turbine front governing board area control target value A 81 _dem to obtain a turbine rear governing board area control target value A 82 _dem; Step three, get the turbine front adjusting plate actuating cylinder displacement LA collected by the engine displacement sensor 81 , combine the actuating cylinder and area corresponding relationship to calculate the turbine front adjusting plate area feedback value A 81 ; Acquiring a turbine rear adjusting plate actuating cylinder displacement LA collected by an engine displacement sensor 82 , combining the actuating cylinder and area corresponding relationship to calculate a turbine rear adjusting plate area feedback value A 82 ; Step four, calculate the turbine front governing valve area control target value A 81 _dem and the turbine front governing valve area feedback value A 81 The absolute value of the difference, and the turbine rear governing valve area control target value A 82 _dem and the turbine rear governing valve area feedback value A 82 The absolute value of the difference, and the turbine rear governing valve area control target value A Max_e = max{|A 81 _dem-A 81 |,|A 82 _dem-A 82 |} Compute A 81 Bias correction coefficient K 81 And A 82 Bias correction coefficient K 82 : K 81 =|A 81 _dem-A 81 | / Max_e K 82 = |A 82 _dem-A 82 | / Max_e Step five, calculate turbine front governing valve area control loop deviation e_A 81 and turbine rear governing valve area control loop deviation e_A 82 ; e_A 81 = K 81 · (A 81 _dem-A 81 ) e_A 82 = K 82 · (A 82 _dem-A 82 ) Step six, according to the turbine front adjusting plate area control loop deviation e_A 81 And the PI algorithm gets the turbine front adjusting plate control loop current initial value IA 81 _dem0; According to the turbine rear adjusting plate area control loop deviation e_A 82 And the PI algorithm gets the turbine rear adjusting plate control loop current initial value IA 82 _dem0; Step seven, obtain turbine front trim control compensation I A81o and turbine rear trim control compensation I A82o ; Step eight, calculate the turbine pre-regulator control loop current initial value IA 81 _dem0 and the difference of the turbine pre-regulator control compensation I A81o , get the turbine pre-regulator control valve control current final value I A81 ; calculating the turbine governing control loop current initial value IA 82 the difference between dem0 and the turbine governing control compensation I A82o , to obtain the turbine governing control valve control current final value I A82 ; Step nine, controlling the final value of the current I by the turbine pre- nozzle control valve A81 The flow rate output by the turbine pre-nozzle control valve is driven to achieve control of the displacement LA of the turbine pre-nozzle actuating cylinder 81 . The current final value I is controlled by the turbine rear regulating plate control valve A82 The flow rate output from the turbine rear regulating plate control valve, and the displacement LA of the turbine rear regulating plate actuator 82 are controlled.

2. The state observer based combined nozzle adaptive co-operative control method of claim 1, wherein, In step one, the turbine front governing valve area control target value A is obtained according to the PID algorithm 81 _dem is: where k p is a proportional coefficient, T i is an integral constant, and T D is a derivative constant.

3. The state observer based combined nozzle adaptive co-operative control method of claim 2, wherein, In step six, the turbine pre-adjusting plate area control loop deviation e_A is calculated according to the turbine pre-adjusting plate area 81 and the PI algorithm obtains the turbine pre-adjusting plate control loop current initial value IA 81 _dem0 is: The turbine rear adjusting plate area control loop deviation e_A is obtained according to the turbine rear adjusting plate area 82 And the PI algorithm obtains the turbine rear adjusting plate control loop current initial value IA 82 _dem0 is: where k p is a proportionality factor, T i is an integration constant.

4. The state observer based combined nozzle adaptive co-operative control method of claim 3, wherein, In step seven, the acquiring turbine front governing control compensation I A81o comprises: The turbine front adjusting plate actuator model is constructed, and the structure is: G a = K / s(Ts+1) The time domain description is: Wherein, f(Δ) is an uncertainty factor, and an extended state x3=f(Δ) is taken; The turbine front adjusting plate actuator extended state observer is designed: The turbine front adjusting plate control compensation is: Wherein, K is a loop open loop gain, T is an electro-hydraulic conversion device time constant, s is a conversion factor, beta1, beta2, beta3 are all control parameters, z1 tracks x1, z2 tracks x2, and z3 tracks x3.

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