Dynamic target control method, system, device and medium for power turbine speed

Abstract

The present invention discloses a dynamic target control method, system, equipment and medium for a power turbine speed. The dynamic target control method determines whether to switch to dynamic target control based on the difference between the constant target speed and the actual speed of the power turbine of a variable speed turboshaft engine. When the overshoot or droop of the power turbine is small, constant target control is adopted, and when the overshoot or droop of the power turbine is large, dynamic target control is switched to reduce the overshoot or droop during acceleration and deceleration, while taking into account the control stability of the steady-state working process and the acceleration and deceleration process, improving the control stability of the variable speed turboshaft engine, reducing the risk of rotor speed fluctuations within a large range, and giving full play to the variable speed advantage of the variable speed turboshaft engine.

Description

Technical Field

[0001] The present invention relates to the technical field of power turbine speed control, and in particular to a dynamic target control method and system for power turbine speed, electronic equipment, and a computer-readable storage medium. Background Art

[0002] Currently, variable-speed turboshaft engines, like conventional turboshaft engines, generally utilize a constant target control method for the power turbine speed during operation. During acceleration and deceleration, sudden changes in load can cause the engine's power turbine speed to deviate from the target. The turboshaft engine's numerical control system employs PID control, adjusting the fuel flow rate based on the deviation between the actual power turbine speed and the target value, thereby varying the engine's output power to achieve the desired power turbine speed. However, during acceleration and deceleration, there's a time lag between the load change and the CNC system's fuel flow adjustment. Furthermore, due to the engine's high inertia, there's also a time lag between changes in fuel flow rate and changes in engine output power. Furthermore, given engine surge margin, temperature limits, speed limits, and control stability requirements, the power changes resulting from fuel adjustments often fail to meet the load change requirements in a timely manner. Consequently, the power turbine speed often overshoots or droops, or even enters a speed range where the helicopter or engine is not permitted to remain stationary, posing a safety risk.

[0003] Therefore, existing variable-speed turboshaft engines, due to their use of a constant-target control method for the power turbine speed, fail to adjust the target speed in real time based on the actual speed. This can lead to significant power turbine overshoot or droop during acceleration and deceleration, resulting in poor engine control stability and even the risk of violent turbine speed fluctuations, leading to rotor speed fluctuations. Furthermore, the constant-target control method fails to fully leverage the variable speed advantages of variable-speed turboshaft engines. Summary of the Invention

[0004] The present invention provides a dynamic target control method and system for a power turbine speed, electronic equipment, and a computer-readable storage medium to solve the technical problem of poor control stability in existing variable speed turboshaft engines.

[0005] According to one aspect of the present invention, a dynamic target control method for a power turbine speed is provided, comprising the following:

[0006] Obtaining the actual speed and constant target speed of the power turbine;

[0007] Calculate the difference between the constant target speed and the actual speed;

[0008] The difference is used to determine whether the dynamic target control conditions are met. If not, a constant target speed is adopted for control. If so, a dynamic target speed is adopted for control. During acceleration, the dynamic target speed is greater than the constant target speed, and during deceleration, the dynamic target speed is less than the constant target speed.

[0009] Furthermore, when |△|≤|A|×δ, it is determined that the dynamic target control condition is not met, and a constant target speed control is adopted;

[0010] When |△|>|A|×δ, it is determined that the dynamic target control condition is met and the dynamic target speed is adopted for control;

[0011] Where, △ = N pd -N p , △ represents the difference between the constant target speed and the actual speed, N pd Indicates constant target speed, N p represents the actual speed, A represents the dynamic control accuracy requirement of the power turbine, δ represents the accuracy correction coefficient, and 0<δ<1.

[0012] Furthermore, the accuracy correction coefficient should be greater than the ratio of the steady-state control accuracy requirement to the dynamic control accuracy requirement of the power turbine.

[0013] Furthermore, the dynamic target speed is determined using the following formula:

[0014]

[0015] Among them, N pt represents the dynamic target speed, k represents the dynamic correction coefficient, 1<k<10.

[0016] Furthermore, the dynamic correction coefficient is positively correlated with the absolute value of the difference between the constant target speed and the actual speed.

[0017] Furthermore, the dynamic correction coefficient is calculated using the following formula:

[0018] k=2.5×|△|.

[0019] Furthermore, the dynamic target speed should meet the following conditions:

[0020] N pmin -|A|<N pt <N pmax +|A|

[0021] Among them, N pmin and N pmax They represent the minimum and maximum allowable values ​​of the power turbine speed respectively.

[0022] In addition, the present invention further provides a dynamic target control system for the power turbine speed, which adopts the dynamic target control method described above and includes:

[0023] A speed acquisition module, used to obtain the actual speed and constant target speed of the power turbine;

[0024] A difference calculation module is used to calculate the difference between the constant target speed and the actual speed;

[0025] The speed control module is used to determine whether the dynamic target control condition is met based on the difference. If not, a constant target speed is adopted for control; if so, a dynamic target speed is adopted for control. During acceleration, the dynamic target speed is greater than the constant target speed, and during deceleration, the dynamic target speed is less than the constant target speed.

[0026] In addition, the present invention also provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor is configured to execute the steps of the above method by calling the computer program stored in the memory.

[0027] In addition, the present invention also provides a computer-readable storage medium for storing a computer program for performing dynamic target control on the power turbine speed, wherein the computer program executes the steps of the above-mentioned method when running on a computer.

[0028] The present invention has the following effects:

[0029] The dynamic target control method for the power turbine speed of the present invention first obtains the actual speed of the power turbine and the constant target speed, then calculates the difference between the two, and determines whether the dynamic target control condition is met based on the difference. If the dynamic target control condition is not met, it means that the actual speed is not much different from the constant target speed, that is, the power turbine overshoot or droop is small. In this case, the constant target speed is still used for control, that is, the PID control method is used to adjust the fuel flow rate based on the offset between the actual speed and the constant target speed, thereby adjusting the actual speed to the constant target speed. When the dynamic target control condition is met, it means that the actual speed is significantly different from the constant target speed, that is, the power turbine overshoot or droop is large. In this case, the dynamic target speed is used for control. During acceleration, the dynamic target speed is greater than the constant target speed, and the fuel flow rate given by the numerical control system is increased, causing the power turbine to accelerate faster, thereby reducing the power turbine speed droop. During deceleration, the dynamic target speed is less than the constant target speed, and the fuel flow rate given by the numerical control system is reduced, causing the power turbine to decelerate more slowly, thereby reducing the power turbine speed overshoot. The dynamic target control method of the power turbine speed of the present invention determines whether to switch to dynamic target control based on the difference between the constant target speed and the actual speed. When the overshoot or droop of the power turbine is small, constant target control is adopted, and when the overshoot or droop of the power turbine is large, it switches to dynamic target control to reduce the overshoot or droop during acceleration and deceleration, while taking into account the control stability of the steady-state working process and the acceleration and deceleration process, improving the control stability of the variable speed turboshaft engine, reducing the risk of rotor speed fluctuations within a large range, and giving full play to the variable speed advantage of the variable speed turboshaft engine.

[0030] In addition, the dynamic target control system of the power turbine speed of the present invention also has the above advantages.

[0031] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0033] Figure 1 It is a flow chart of a dynamic target control method for a power turbine speed according to a preferred embodiment of the present invention.

[0034] Figure 2 It is a schematic diagram of the module structure of a dynamic target control system for the power turbine speed according to another embodiment of the present invention. DETAILED DESCRIPTION

[0035] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0036] It is understandable that Figure 1 As shown, a preferred embodiment of the present invention provides a method for dynamic target control of a power turbine speed, which is used to dynamically target control the power turbine speed of a variable speed turboshaft engine, including the following contents:

[0037] Step S1: obtaining the actual speed and constant target speed of the power turbine;

[0038] Step S2: Calculate the difference between the constant target speed and the actual speed;

[0039] Step S3: Determine whether the dynamic target control condition is met based on the difference. If not, a constant target speed is adopted for control. If satisfied, a dynamic target speed is adopted for control. During acceleration, the dynamic target speed is greater than the constant target speed, and during deceleration, the dynamic target speed is less than the constant target speed.

[0040] It can be understood that the dynamic target control method for the power turbine speed of this embodiment first obtains the actual speed of the power turbine and the constant target speed, then calculates the difference between the two, and determines whether the dynamic target control condition is met based on the difference. If the dynamic target control condition is not met, it means that the actual speed is not much different from the constant target speed, that is, the power turbine overshoot or droop is small. In this case, the constant target speed is still used for control, that is, the PID control method is used to adjust the fuel flow rate based on the offset between the actual speed and the constant target speed, thereby adjusting the actual speed to the constant target speed. When the dynamic target control condition is met, it means that the actual speed is significantly different from the constant target speed, that is, the power turbine overshoot or droop is large. In this case, the dynamic target speed is used for control. During acceleration, the dynamic target speed is greater than the constant target speed, and the fuel flow rate specified by the numerical control system is increased, causing the power turbine to accelerate faster, thereby reducing the power turbine speed droop. During deceleration, the dynamic target speed is less than the constant target speed, and the fuel flow rate specified by the numerical control system is reduced, causing the power turbine to decelerate more slowly, thereby reducing the power turbine speed overshoot. The dynamic target control method of the power turbine speed of the present invention determines whether to switch to dynamic target control based on the difference between the constant target speed and the actual speed. When the overshoot or droop of the power turbine is small, constant target control is adopted, and when the overshoot or droop of the power turbine is large, it switches to dynamic target control to reduce the overshoot or droop during acceleration and deceleration, while taking into account the control stability of the steady-state working process and the acceleration and deceleration process, improving the control stability of the variable speed turboshaft engine, reducing the risk of rotor speed fluctuations within a large range, and giving full play to the variable speed advantage of the variable speed turboshaft engine.

[0041] Specifically, the allowable range of the power turbine speed of the variable speed turboshaft engine is set to [N pmin , N pmax ], where N pmin Indicates the minimum allowed value, N pmax Indicates the maximum allowable value. First, obtain the actual speed N of the power turbine p and constant target speed N pd , then calculate the constant target speed N pd and actual speed N p The difference between Δ, Δ = N pd -N p .

[0042] Then, the difference Δ is used to determine whether the dynamic target control condition is met. Specifically, when |Δ|≤|A|×δ, the dynamic target control condition is determined not to be met and a constant target speed control is adopted. When |Δ|>|A|×δ, the dynamic target control condition is determined to be met and a dynamic target speed control is adopted. Wherein, Δ=Npd -N p , △ represents the difference between the constant target speed and the actual speed, N pd Indicates constant target speed, N p represents the actual speed, A represents the dynamic control accuracy requirement of the power turbine, δ represents the accuracy correction coefficient, and 0<δ<1.

[0043] It can be understood that when the actual speed is not much different from the constant target speed, that is, the power turbine overshoot or droop is small, the PID control method is used to adjust the fuel flow rate based on the offset between the actual speed and the constant target speed, thereby adjusting the actual speed to the constant target speed. However, when the actual speed is significantly different from the constant target speed, that is, the power turbine overshoot or droop is large, if PID control is still performed using the constant target speed, the fuel adjustment cannot respond to the load change requirements in a timely manner, and the power turbine speed will overshoot or droop, resulting in poor engine control stability. Therefore, dynamic target control is adopted in this case, so that the speed control target is adjusted according to the actual power turbine speed. The PID control method is then used to adjust the fuel flow rate based on the offset between the actual speed and the dynamic target speed to reduce the power turbine overshoot or droop, thereby improving engine control stability.

[0044] Among them, the accuracy correction coefficient δ should be greater than the ratio of the steady-state control accuracy requirement to the dynamic control accuracy requirement of the power turbine, that is, Among them, B represents the steady-state control accuracy requirement of the power turbine, and A represents the dynamic control accuracy requirement of the power turbine. For a variable speed turboshaft engine, the steady-state control accuracy requirement B and the dynamic control accuracy requirement A of the power turbine are generally fixed values. The present invention introduces an accuracy correction coefficient into the dynamic target control condition and uses There are two functions. One function is to ensure that the power turbine speed follows the constant target control value N pd It has a wide enough working range when controlling. Even when |△| is slightly larger than the steady-state control accuracy |B| during operation, it is still in accordance with N pd Another function is to ensure that during the dynamic adjustment process, the power turbine speed control can exit the dynamic target control in advance, so that the dynamic target speed value N pt It only works when the overshoot and droop are large, thus further improving the control stability of the engine. There are two problems. One is that when |△| is within the steady-state control accuracy |B|, that is, a slight change in the power turbine speed may cause switching to dynamic target control, thereby affecting the engine control stability. The other is that during the dynamic adjustment process, the power turbine speed cannot exit the dynamic target control in time due to the small δ, which will also affect the engine control stability.

[0045] In addition, the dynamic target speed is determined by the following formula:

[0046]

[0047] Among them, N pt represents the dynamic target speed, k represents the dynamic correction coefficient, 1<k<10.

[0048] It can be understood that when -|A|×δ≤△≤|A|×δ, the actual speed of the power turbine is slightly different from the constant target speed, that is, the overshoot or droop of the power turbine is small, and the constant target speed control can be adopted at this time. When △<-|A|×δ, the engine is in a rapid deceleration state, that is, at this time N p >N pd In order to minimize the overshoot of the power turbine speed, the dynamic target speed is made smaller than the constant target speed. At this time, the fuel flow rate given by the numerical control system is reduced, which slows down the power turbine and reduces the overshoot of the power turbine speed. When △>|A|×δ, the engine is in a rapid acceleration state, that is, at this time N p <N pd To minimize turbine speed droop, the dynamic target speed is set higher than the constant target speed. The CNC system then increases the fuel flow rate, accelerating the turbine and reducing turbine speed droop. Furthermore, the dynamic target speed is linked to the constant target speed to achieve smooth switching between constant and dynamic target control, ensuring control stability during both steady-state operation and acceleration / deceleration.

[0049] Optionally, the dynamic correction coefficient k is positively correlated with the absolute value of the difference between the constant target speed and the actual speed. The larger the absolute value of the difference, the larger the dynamic correction coefficient, which facilitates rapid adjustment of the power turbine speed, thereby shortening the dynamic target control process, ensuring that fuel regulation rapidly responds to load changes, and further improving engine control stability. Preferably, to achieve adaptive updating of the dynamic target speed based on the difference |Δ|, while taking into account the value range of |Δ| and k, the dynamic correction coefficient is calculated using the following formula:

[0050] k=2.5×|△|.

[0051] In addition, the dynamic target speed N pt The following conditions should be met:

[0052] N pmin -|A|<N pt <N pmax +|A|

[0053] Among them, N pmin and N pmaxThey represent the minimum and maximum allowable values ​​of the power turbine speed respectively.

[0054] In addition, if Figure 2 As shown, another embodiment of the present invention further provides a dynamic target control system for the power turbine speed, preferably using the dynamic target control method as described above, including:

[0055] A speed acquisition module, used to obtain the actual speed and constant target speed of the power turbine;

[0056] A difference calculation module is used to calculate the difference between the constant target speed and the actual speed;

[0057] The speed control module is used to determine whether the dynamic target control condition is met based on the difference. If not, a constant target speed is adopted for control; if so, a dynamic target speed is adopted for control. During acceleration, the dynamic target speed is greater than the constant target speed, and during deceleration, the dynamic target speed is less than the constant target speed.

[0058] It can be understood that the dynamic target control system for the power turbine speed of this embodiment first obtains the actual speed of the power turbine and the constant target speed, then calculates the difference between the two, and determines whether the dynamic target control condition is met based on the difference. If the dynamic target control condition is not met, it means that the actual speed is not much different from the constant target speed, that is, the power turbine overshoot or droop is small. In this case, the constant target speed is still used for control, that is, the PID control method is used to adjust the fuel flow rate based on the offset between the actual speed and the constant target speed, thereby adjusting the actual speed to the constant target speed. When the dynamic target control condition is met, it means that the actual speed is significantly different from the constant target speed, that is, the power turbine overshoot or droop is large. In this case, the dynamic target speed is used for control. During acceleration, the dynamic target speed is greater than the constant target speed, and the fuel flow rate specified by the numerical control system is increased, causing the power turbine to accelerate faster, thereby reducing the power turbine speed droop. During deceleration, the dynamic target speed is less than the constant target speed, and the fuel flow rate specified by the numerical control system is reduced, causing the power turbine to decelerate more slowly, thereby reducing the power turbine speed overshoot. The dynamic target control system of the power turbine speed of the present invention determines whether to switch to dynamic target control based on the difference between the constant target speed and the actual speed. When the overshoot or droop of the power turbine is small, constant target control is adopted, and when the overshoot or droop of the power turbine is large, it switches to dynamic target control to reduce the overshoot or droop during acceleration and deceleration, while taking into account the control stability of the steady-state working process and the acceleration and deceleration process, improving the control stability of the variable speed turboshaft engine, reducing the risk of rotor speed fluctuations within a large range, and giving full play to the variable speed advantage of the variable speed turboshaft engine.

[0059] In addition, another embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor is configured to execute the steps of the above method by calling the computer program stored in the memory.

[0060] In addition, another embodiment of the present invention further provides a computer-readable storage medium for storing a computer program for performing dynamic target control on the power turbine speed, wherein the computer program executes the steps of the above-described method when running on a computer.

[0061] Common computer-readable storage media include: floppy disks, flexible disks, hard disks, magnetic tape, any other magnetic media, CD-ROMs, any other optical media, punch cards, paper tape, any other physical medium with a pattern of holes, random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), flash-erasable programmable read-only memory (FLASH-EPROM), any other memory chip or cartridge, or any other medium that can be read by a computer. Instructions can further be transmitted or received via a transmission medium. The term transmission medium includes any tangible or intangible medium that can be used to store, encode, or carry instructions for execution by a machine, and includes digital or analog communication signals or other intangible media that facilitate communication of such instructions. Transmission media include coaxial cables, copper wire, and fiber optics, including the wires of a bus used to transmit a computer data signal.

[0062] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

[0063] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiment of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal translation scripting language JavaScript, etc.

[0064] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0065] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0066] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0067] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0068] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A dynamic target control method for a power turbine speed, applicable to a variable speed turboshaft engine, characterized in that: Includes the following: Obtaining the actual speed and constant target speed of the power turbine; Calculate the difference between the constant target speed and the actual speed; According to the difference, it is determined whether the dynamic target control condition is met. If not, a constant target speed is adopted for control. If so, a dynamic target speed is adopted for control. During acceleration, the dynamic target speed is greater than the constant target speed, and during deceleration, the dynamic target speed is less than the constant target speed. When |Δ|≤|A|×δ, it is determined that the dynamic target control condition is not met and a constant target speed control is adopted; When |Δ|>|A|×δ, it is determined that the dynamic target control condition is met and the dynamic target speed is adopted for control; Where Δ=N pd -N p , Δ represents the difference between the constant target speed and the actual speed, N pd Indicates constant target speed, N p represents the actual speed, A represents the dynamic control accuracy requirement of the power turbine, δ represents the accuracy correction coefficient, and 0<δ<1; The dynamic target speed is determined using the following formula: Among them, N pt represents the dynamic target speed, k represents the dynamic correction coefficient, 1<k<10.

2. The dynamic target control method for the power turbine speed according to claim 1, characterized in that: The accuracy correction coefficient should be greater than the ratio of the steady-state control accuracy requirement to the dynamic control accuracy requirement of the power turbine.

3. The dynamic target control method for the power turbine speed according to claim 1, characterized in that: The dynamic correction coefficient is positively correlated with the absolute value of the difference between the constant target speed and the actual speed.

4. The dynamic target control method for the power turbine speed according to claim 3, characterized in that: The dynamic correction coefficient is calculated using the following formula: k=2.5×|Δ|.

5. The dynamic target control method for the power turbine speed according to claim 1, characterized in that: The dynamic target speed should meet the following conditions: N pmin -|A|<N pt <N pmax +|A| Among them, N pmin and N pmax They represent the minimum and maximum allowable values ​​of the power turbine speed respectively.

6. A dynamic target control system for a power turbine speed, using the dynamic target control method according to any one of claims 1 to 5, characterized in that: include: A speed acquisition module, used to obtain the actual speed and constant target speed of the power turbine; A difference calculation module is used to calculate the difference between the constant target speed and the actual speed; The speed control module is used to determine whether the dynamic target control condition is met based on the difference. If not, a constant target speed is adopted for control; if so, a dynamic target speed is adopted for control. During acceleration, the dynamic target speed is greater than the constant target speed, and during deceleration, the dynamic target speed is less than the constant target speed.

7. An electronic device, characterized in that: The method comprises a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to execute the steps of the method according to any one of claims 1 to 5 by calling the computer program stored in the memory.

8. A computer-readable storage medium for storing a computer program for dynamic target control of a power turbine speed, characterized in that: When the computer program is run on a computer, the steps of the method according to any one of claims 1 to 5 are executed.

Images