A high supersonic engine fueling law with overspeed saturation protection limit

Abstract

The application provides a high supersonic engine fuel supply law with overspeed saturation protection limitation, which obtains an overspeed error signal by setting an overspeed protection speed, then carries out nonlinear transformation and mixed nonlinear integration to obtain a speed error mixed integral signal; then designs a nonlinear fractional order filter, solves a speed error approximate damping signal through nonlinear fractional order approximate integration, and then combines the speed error signal and the integral signal thereof to obtain a speed error nonlinear sliding mode surface signal; then estimates and compensates constant interference, speed error interference, overspeed error interference and nonlinear speed error interference by using a nonlinear adaptive law to realize adaptive control, and finally forms an interference adaptive fuel supply law with overspeed protection, which can stabilize the speed of the aircraft in a certain interval.

Description

Technical Field

[0001] This invention relates to the field of hypersonic engine control technology, and more specifically, to a method for speed control and fuel supply of a hypersonic engine using overspeed saturation protection limitation. Background Technology

[0002] Speed ​​control is crucial for the stability of hypersonic vehicles' overall flight control. Prolonged speeds below a certain range can lead to engine stall; conversely, speeds above a certain range negatively impact flight control stability and reduce the vehicle's range, potentially making its designed range shorter than its actual range. Therefore, a fuel supply pattern with speed protection is highly valuable for hypersonic vehicle speed control. It improves overall safety and stability, ensures the vehicle flies within a fuel-efficient speed range, and allows for rapid escape from speed-limited or dangerous zones in the event of sudden interference. Based on these considerations, this invention proposes a hypersonic fuel supply pattern with overspeed saturation protection, possessing significant engineering practical value.

[0003] It should be noted that the information in the background section above is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide a hypersonic engine fuel supply method with overspeed saturation protection limitation, thereby overcoming, to at least a certain extent, the problems of low speed control accuracy and insufficient speed overspeed protection of hypersonic vehicles caused by the limitations and defects of related technologies.

[0005] According to one aspect of the present invention, a method for fuel supply to a hypersonic engine with overspeed saturation protection limitation is provided, comprising the following steps:

[0006] Step S10: Install a speed sensor on the aircraft to measure the real-time speed of the aircraft, then install the flight requirements of the aircraft, set the desired speed signal of the aircraft, compare the two to obtain the speed error signal; then set the overspeed protection speed, compare it with the real-time speed of the aircraft to obtain the overspeed error signal.

[0007] Step S20: Based on the speed error signal and the overspeed error signal, firstly, a nonlinear transformation is performed to obtain a nonlinear speed error signal; then, a mixed nonlinear transformation is performed on the speed error signal and the overspeed error signal to obtain a mixed integral factor signal; then, the mixed integral factor signal is nonlinearly integrated to obtain a speed error mixed integral signal; finally, the speed error signal is integrated to obtain a speed error integral signal.

[0008] Step S30: Based on the speed error signal and the overspeed error signal, design a nonlinear fractional-order filter. First, solve for the difference between the filter output and the speed error signal and the overspeed error signal to obtain the filter error signal. Then, perform a nonlinear transformation on the filter error signal to obtain a nonlinear filter signal. Next, design a nonlinear fractional-order filter differential signal based on the filter error signal and the nonlinear filter signal. Then, perform a nonlinear integration to obtain the filter output signal. Finally, solve for the approximate speed error damping signal based on the nonlinear fractional-order filter differential signal.

[0009] Step S40: Based on the speed error signal, nonlinear speed error signal, speed error approximate damping signal, speed error mixed integral signal, and speed error integral signal linearly superimposed, a speed error sliding mode signal is obtained; then, based on the speed error sliding mode signal, a constant interference rate signal, a speed error interference rate signal, an overspeed error interference rate signal, and a nonlinear speed error interference rate signal are designed using a nonlinear adaptive law.

[0010] Step S50: Based on the constant interference rate signal, speed error interference rate signal, overspeed error interference rate signal, and nonlinear speed error interference rate signal, nonlinear integration is performed to obtain constant interference estimation signal, speed error interference estimation signal, overspeed error interference estimation signal, and nonlinear speed error interference estimation signal, respectively; then, the nonlinear transformation of the speed error sliding mode signal and the speed error approximate damping signal are superimposed to form the final engine overspeed saturation protection fuel supply law.

[0011] In one exemplary embodiment of the present invention, a speed sensor is installed on the aircraft to measure the real-time speed of the aircraft. Then, the flight requirements of the aircraft are set, and the desired speed signal of the aircraft is set. The two are compared to obtain a speed error signal. Then, an overspeed protection speed is set and compared with the real-time speed of the aircraft to obtain an overspeed error signal. Then, a nonlinear transformation is performed to obtain a nonlinear speed error signal. Then, a hybrid nonlinear transformation is performed on the speed error signal and the overspeed error signal to obtain a hybrid integral factor signal. Then, the hybrid integral factor signal is nonlinearly integrated to obtain a speed error hybrid integral signal. Finally, the speed error signal is integrated to obtain a speed error integral signal including:

[0012] ;

[0013] ;

[0014] ;

[0015] ;

[0016] ;

[0017] ;

[0018] in The real-time speed of the aircraft is calculated by the inertial navigation equipment of the aircraft control system. The desired speed signal for the aircraft. This is the speed error signal; For overspeed protection speed, This is an overspeed error signal; , , , , , For constant parameters of nonlinear transformation, This is a nonlinear velocity error signal; , , For constant parameters of the hybrid nonlinear transformation, It is a mixed integral factor signal; The integral time constant; The velocity error is a mixed integral signal; This is the integral signal of the velocity error.

[0019] In one exemplary embodiment of the present invention, a nonlinear fractional-order filter is designed based on the speed error signal and the overspeed error signal. First, the difference between the filter output and the speed error signal and the overspeed error signal is calculated to obtain the filter error signal. Then, the filter error signal is subjected to a nonlinear transformation to obtain a nonlinear filter signal. Next, a nonlinear fractional-order filter differential signal is designed based on the filter error signal and the nonlinear filter signal. Then, a nonlinear integration is performed to obtain the filter output signal. Finally, the approximate speed error damping signal is calculated based on the nonlinear fractional-order filter differential signal, including:

[0020] ;

[0021] ;

[0022] ;

[0023] ;

[0024] ;

[0025] in This is the filtering error signal; For constant parameters of nonlinear transformation, For filtering nonlinear signals; For nonlinear filtering, the constant time parameter is... , These are the constant parameters of the nonlinear fractional filter. It is a nonlinear fractional-order filtered differential signal; The output signal of the filter; This is the approximate damping signal for velocity error.

[0026] In one exemplary embodiment of the present invention, a speed error sliding mode signal is obtained by linearly superimposing the speed error signal, the nonlinear speed error signal, the speed error approximate damping signal, the speed error hybrid integral signal, and the speed error integral signal; then, based on the speed error sliding mode signal, a constant interference rate signal, a speed error interference rate signal, an overspeed error interference rate signal, and a nonlinear speed error interference rate signal are designed using a nonlinear adaptive law, including:

[0027] ;

[0028] ;

[0029] ;

[0030] ;

[0031] ;

[0032] in , , , , These are constant sliding surface parameters; This is the sliding mode signal for speed error; , , This is a constant parameter used to adjust the convergence speed of the constant disturbance estimation signal. This is a constant interference rate signal; , , This is a constant parameter used to adjust the convergence speed of the velocity error interference estimation signal. This is a speed error interference rate signal; , , This is a constant parameter used to adjust the convergence speed of the overspeed error interference estimation signal. This is the overspeed error interference rate signal; , , This is a constant parameter used to adjust the convergence speed of the nonlinear velocity error interference estimation signal. It is a nonlinear velocity error interference rate signal.

[0033] In one exemplary embodiment of the present invention, nonlinear integration is performed on the constant interference rate signal, speed error interference rate signal, overspeed error interference rate signal, and nonlinear speed error interference rate signal to obtain constant interference estimation signal, speed error interference estimation signal, overspeed error interference estimation signal, and nonlinear speed error interference estimation signal, respectively; then, the nonlinear transformation of the speed error sliding mode signal and the speed error approximate damping signal are superimposed to form the final engine overspeed saturation protection fuel supply law, including:

[0034] ;

[0035] ;

[0036] ;

[0037] ;

[0038] ;

[0039] in For constant value interference estimation signal, For speed error interference estimation signal, For the estimation signal of overspeed error interference, This is the estimation signal for nonlinear velocity error interference; , , The constant parameters of the sliding surface are constant parameters of the oil supply law. The fuel supply pattern is designed to protect the engine from overspeed saturation.

[0040] In one exemplary embodiment of the present invention, based on the speed error signal, the speed tracking combined control quantity, and the nonlinear error signal, an adaptive algorithm is used to design the final stable refueling law for the aircraft, including:

[0041] ;

[0042] ;

[0043] ;

[0044] in and Adaptive coefficient of fuel supply pattern and for and The derivative, , , , The constant adaptive adjustment rate parameter is described in detail in the case implementation below.

[0045] in This is a constant control parameter; its detailed design can be found in the case implementation below. This is the final oil supply factor.

[0046] The fuel supply is provided to the hypersonic vehicle engine according to the above-mentioned engine overspeed saturation protection fuel supply law. The fuel supply valve controls the amount of fuel supplied, so as to achieve rapid and precise control of the vehicle speed.

[0047] Beneficial effects

[0048] This invention provides a hypersonic engine fuel supply method with overspeed saturation protection limitation, which has the following three advantages. First, it improves the speed error damping signal through a nonlinear fractional approximation filter, thereby providing a differential signal for the sliding surface and increasing damping for system control, thus improving the smoothness of aircraft speed control. Second, it employs overspeed protection, and by controlling the overspeed error in the denominator, it provides a larger control input away from low-speed or high-speed regions when the aircraft speed approaches the overspeed protection speed, thus stabilizing the speed within a certain range. Third, it equates the factors affecting speed changes during aircraft flight into four categories related to speed error and the sliding surface, and then uses a nonlinear adaptive method for interference compensation, resulting in higher final speed control accuracy.

[0049] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0050] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0051] Figure 1 This is a flowchart of a hypersonic engine fuel supply method with overspeed saturation protection limitation provided by the present invention;

[0052] Figure 2 This is the real-time velocity curve of the aircraft (unit: meters per second) provided by the method in the embodiments of the present invention.

[0053] Figure 3 This is the speed error curve (unit: meters per second) of the method provided in the embodiments of the present invention.

[0054] Figure 4 This is the velocity error hybrid integral curve (unitless) of the method provided in the embodiment of the present invention.

[0055] Figure 5 This is the approximate damping signal curve of the velocity error provided in the embodiment of the present invention (unitless).

[0056] Figure 6 This is the engine overspeed saturation protection fuel supply law curve (unitless) of the method provided in the embodiments of the present invention. Detailed Implementation

[0057] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make the invention more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a full understanding of embodiments of the invention. However, those skilled in the art will recognize that the technical solutions of the invention may be practiced with one or more of these specific details omitted, or other methods, components, apparatus, steps, etc., may be employed. In other instances, well-known technical solutions are not shown or described in detail to avoid obscuring various aspects of the invention.

[0058] This invention provides a hypersonic engine fuel supply method with overspeed saturation protection limitation. It obtains an overspeed error signal by setting an overspeed protection speed, then performs nonlinear transformation and hybrid nonlinear integration to obtain a speed error hybrid integral signal. Next, a nonlinear fractional-order filter is designed, and an approximate speed error damping signal is calculated through nonlinear fractional-order approximate integration. This damping signal is then combined with the speed error signal and its integral signal to obtain a nonlinear sliding mode surface signal for the speed error. Finally, a nonlinear adaptive law is used to estimate and compensate for constant disturbances, speed error disturbances, overspeed error disturbances, and nonlinear speed error disturbances, achieving adaptive control. Ultimately, this forms an interference adaptive fuel supply law with overspeed protection, enabling the aircraft speed to remain stable within a certain range.

[0059] The following will further explain and describe, with reference to the accompanying drawings, a hypersonic engine fuel supply method with overspeed saturation protection limitation according to the present invention. (Reference) Figure 1As shown, the hypersonic engine stable fuel supply method based on adaptive fractional derivatives may include the following steps:

[0060] Step S10: Install a speed sensor on the aircraft to measure the aircraft's real-time speed. Then, install the aircraft's flight requirements and set the desired speed signal. Compare the two to obtain a speed error signal. Next, set an overspeed protection speed and compare it with the aircraft's real-time speed to obtain an overspeed error signal as follows:

[0061] ;

[0062] ;

[0063] in The real-time speed of the aircraft is calculated by the inertial navigation equipment of the aircraft control system. The desired speed signal for the aircraft. This is the speed error signal; For overspeed protection speed, This is an overspeed error signal.

[0064] Step S20: Based on the speed error signal and the overspeed error signal, firstly, a nonlinear transformation is performed to obtain a nonlinear speed error signal; then, a mixed nonlinear transformation is performed on the speed error signal and the overspeed error signal to obtain a mixed integral factor signal; then, the mixed integral factor signal is nonlinearly integrated to obtain a speed error mixed integral signal; finally, the speed error signal is integrated to obtain a speed error integral signal.

[0065] Specifically, it can be broken down into the following four steps. Step 1: Based on the speed error signal and the overspeed error signal, perform a nonlinear transformation to obtain the nonlinear speed error signal as follows:

[0066] ;

[0067] in , , , , , For constant parameters of nonlinear transformation, This is a nonlinear velocity error signal.

[0068] The second step involves performing a hybrid nonlinear transformation on the speed error signal and the overspeed error signal to obtain the hybrid integral factor signal as follows:

[0069] ;

[0070] in , , For constant parameters of the hybrid nonlinear transformation, It is a mixed integral factor signal.

[0071] The third step is to perform nonlinear integration on the mixed integration factor signal to obtain the velocity error mixed integral signal as follows:

[0072] ;

[0073] in The integral time constant; It is a mixed integral signal of velocity error.

[0074] The fourth step is to integrate the speed error signal to obtain the integrated speed error signal as follows:

[0075] ;

[0076] in The integral signal is the velocity error signal.

[0077] Step S30: Based on the speed error signal and the overspeed error signal, design a nonlinear fractional-order filter; first, solve for the difference between the filter output and the speed error signal and the overspeed error signal to obtain the filter error signal; then, perform a nonlinear transformation on the filter error signal to obtain the filter nonlinear signal; then, design a nonlinear fractional-order filter differential signal based on the filter error signal and the filter nonlinear signal; then, perform a nonlinear integration to obtain the filter output signal; finally, solve for the approximate speed error damping signal based on the nonlinear fractional-order filter differential signal.

[0078] Specifically, it can be broken down into the following five steps. Step 1: Solve for the difference between the filter output, the speed error signal, and the overspeed error signal to obtain the filter error signal as follows:

[0079] ;

[0080] in This is the filtering error signal.

[0081] The second step is to perform a nonlinear transformation on the filtering error signal to obtain the following nonlinear filtering signal:

[0082] ;

[0083] in For constant parameters of nonlinear transformation, This is for filtering nonlinear signals.

[0084] The third step is to design the nonlinear fractional-order filter differential signal based on the filtering error signal and the filtering nonlinear signal, as follows:

[0085] ;

[0086] in For nonlinear filtering, the constant time parameter is... , These are the constant parameters of the nonlinear fractional filter. It is a nonlinear fractional-order filtered differential signal.

[0087] The fourth step involves performing nonlinear integration on the nonlinear fractional-order filtered differential signal to obtain the filter output signal as follows:

[0088] ;

[0089] in This is the output signal of the filter.

[0090] The fifth step is to solve for the approximate damping signal of the velocity error based on the nonlinear fractional-order filtered differential signal, as follows:

[0091] ;

[0092] in This is the approximate damping signal for velocity error.

[0093] Step S40: Based on the speed error signal, nonlinear speed error signal, speed error approximate damping signal, speed error mixed integral signal, and speed error integral signal linearly superimposed, a speed error sliding mode signal is obtained; then, based on the speed error sliding mode signal, a constant interference rate signal, a speed error interference rate signal, an overspeed error interference rate signal, and a nonlinear speed error interference rate signal are designed using a nonlinear adaptive law.

[0094] Specifically, this can be broken down into the following two steps. First, based on the aforementioned speed error signal, nonlinear speed error signal, approximate speed error damping signal, mixed integral speed error signal, and linear superposition of the integral speed error signal, the speed error sliding mode signal is obtained as follows:

[0095] ;

[0096] in , , , , These are constant sliding surface parameters; This is the sliding mode signal for speed error.

[0097] Secondly, based on the speed error sliding mode signal, the constant interference rate signal, speed error interference rate signal, overspeed error interference rate signal, and nonlinear speed error interference rate signal are designed using a nonlinear adaptive law as follows:

[0098] ;

[0099] ;

[0100] ;

[0101] ;

[0102] in For constant parameters, , , This is a constant parameter used to adjust the convergence speed of the constant disturbance estimation signal. This is a constant interference rate signal; , , This is a constant parameter used to adjust the convergence speed of the velocity error interference estimation signal. This is a speed error interference rate signal; , , This is a constant parameter used to adjust the convergence speed of the overspeed error interference estimation signal. This is the overspeed error interference rate signal; , , This is a constant parameter used to adjust the convergence speed of the nonlinear velocity error interference estimation signal. It is a nonlinear velocity error interference rate signal.

[0103] Step S50: Based on the constant interference rate signal, speed error interference rate signal, overspeed error interference rate signal, and nonlinear speed error interference rate signal, nonlinear integration is performed to obtain constant interference estimation signal, speed error interference estimation signal, overspeed error interference estimation signal, and nonlinear speed error interference estimation signal, respectively; then, the nonlinear transformation of the speed error sliding mode signal and the speed error approximate damping signal are superimposed to form the final engine overspeed saturation protection fuel supply law.

[0104] Specifically, this can be broken down into the following two steps. First, based on the constant interference rate signal, speed error interference rate signal, overspeed error interference rate signal, and nonlinear speed error interference rate signal, nonlinear integration is performed to obtain the constant interference estimate signal, speed error interference estimate signal, overspeed error interference estimate signal, and nonlinear speed error interference estimate signal, as follows:

[0105] ;

[0106] ;

[0107] ;

[0108] ;

[0109] in For constant value interference estimation signal, For speed error interference estimation signal, For the estimation signal of overspeed error interference, This is the estimation signal for nonlinear velocity error interference.

[0110] Secondly, based on the constant interference estimation signal, speed error interference estimation signal, overspeed error interference estimation signal, nonlinear speed error interference estimation signal superimposed with the speed error sliding mode signal and the nonlinear transformation of the speed error sliding mode signal, and the speed error approximate damping signal, the final engine overspeed saturation protection fuel supply law is formed as follows:

[0111] ;

[0112] , , The constant parameters of the sliding surface are constant parameters of the oil supply law. The fuel supply pattern is designed to protect the engine from overspeed saturation.

[0113] Case Implementation and Computer Simulation Results Analysis

[0114] To verify the correctness and effectiveness of the method provided by this invention, the following simulation case is provided. In step S10, a speed sensor is installed on the aircraft to measure the real-time speed of the aircraft. Figure 2 As shown. Set the desired speed signal for the aircraft. , The speed error signal is obtained as follows: Figure 3 As shown.

[0115] In step S20, select , , The velocity error mixed integral signal is obtained as follows: Figure 4 As shown.

[0116] In step S30, select , , The approximate damping signal of the velocity error is obtained as follows: Figure 5 As shown.

[0117] In step S40, select , , , , .

[0118] In step S50, select , , The fuel supply pattern for engine overspeed saturation protection is obtained as follows: Figure 6 As shown.

[0119] Depend on Figure 2 It can be seen that the aircraft's speed stabilized at the desired speed of 4900 m / s within 20 seconds from the hypersonic speed of 4800 m / s, with an overshoot of approximately 20. Figure 3 It can be seen that the error converges to 0 within approximately 20 seconds and is adjusted within 40 seconds. Figure 4 It can be seen that the maximum peak value of the signal is 120, which is... Figure 5 It can be seen that the maximum peak value of the signal is 50, which occurs in the initial segment and varies within the normal range. Figure 6 It can be seen that the final fuel supply pattern changes smoothly overall, which meets the actual engineering requirements for the engine. This case demonstrates that the solution provided by this invention is correct and effective, and has high engineering application value for hypersonic vehicles.

[0120] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of such inventions. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not specified herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the claims.

Claims

1. A method of fueling a hypersonic engine with overspeed saturation protection limits, characterized by, It comprises the following steps: Step S10, installing a speed sensor on the aircraft to measure the real-time speed of the aircraft, then setting the desired speed signal of the aircraft according to the flight requirements of the aircraft, comparing the two to obtain a speed error signal; then setting an overspeed protection speed, comparing it with the real-time speed of the aircraft to obtain an overspeed error signal as follows: ； ； wherein is a real-time speed of the aircraft, the real-time speed of the aircraft being calculated by an inertial navigation device of a flight control system of the aircraft; is a desired speed signal of the aircraft, is a speed error signal; is an overspeed protection speed, is an overspeed error signal; Step S20, according to the speed error signal and the overspeed error signal, first performing a nonlinear transformation to obtain a nonlinear speed error signal; then performing a mixed nonlinear transformation on the speed error signal and the overspeed error signal to obtain a mixed integral factor signal; then performing a nonlinear integral on the mixed integral factor signal to obtain a speed error mixed integral signal; finally, integrating the speed error signal to obtain a speed error integral signal as follows: ； ； ； ； wherein , , , , , is a constant parameter of the nonlinear transformation, is a nonlinear velocity error signal; , , is a constant parameter of the mixed nonlinear transformation, is a mixed integral factor signal; is an integration time constant; is a velocity error mixed integral signal; is a velocity error integral signal; Step S30, according to the speed error signal and the overspeed error signal, designing a nonlinear fractional order filter, first solving the difference between the filter output and the speed error signal and the overspeed error signal to obtain a filter error signal; then performing a nonlinear transformation on the filter error signal to obtain a filter nonlinear signal; then designing a nonlinear fractional order filter differential signal according to the filter error signal and the filter nonlinear signal; then performing a nonlinear integral to obtain a filter output signal; finally, solving the speed error approximate damping signal according to the nonlinear fractional order filter differential signal as follows: ； ； ； ； ； wherein is a filtered error signal; is a constant parameter of the nonlinear transformation, is a filtered nonlinear signal; is a constant time parameter of the nonlinear filtering, , is a constant parameter of the nonlinear fractional order filter, is a filtered nonlinear fractional order differential signal; is a filter output signal; is a velocity error approximation damping signal; Step S40, according to the speed error signal, the nonlinear speed error signal, the speed error approximate damping signal, the speed error mixed integral signal, and the speed error integral signal, linearly superimposing to obtain a speed error sliding mode signal; Then, according to the speed error sliding mode signal, a constant disturbance rate signal, a speed error disturbance rate signal, an overspeed error disturbance rate signal, and a nonlinear speed error disturbance rate signal are designed using a nonlinear adaptive law as follows: ； ； ； ； ； wherein , , , , is a constant sliding mode surface parameter; is a velocity error sliding mode signal; is a constant parameter, , , is a constant parameter for adjusting the speed of convergence of the constant disturbance estimation signal, is a constant disturbance rate signal; , , is a constant parameter for adjusting the speed of convergence of the velocity error disturbance estimation signal, is a velocity error disturbance rate signal; , , is a constant parameter for adjusting the speed of convergence of the overspeed error disturbance estimation signal, is an overspeed error disturbance rate signal; , , is a constant parameter for adjusting the speed of convergence of the nonlinear velocity error disturbance estimation signal, is a nonlinear velocity error disturbance rate signal; Step S50, according to the constant disturbance rate signal, the speed error disturbance rate signal, the overspeed error disturbance rate signal, and the nonlinear speed error disturbance rate signal, respectively performing a nonlinear integral to obtain a constant disturbance estimate signal, a speed error disturbance estimate signal, an overspeed error disturbance estimate signal, and a nonlinear speed error disturbance estimate signal; then superimposing the nonlinear transformation of the speed error sliding mode signal and the speed error sliding mode signal and the speed error approximate damping signal to form the final engine overspeed saturation protection fuel supply law as follows: ； ； ； ； ； wherein is a constant disturbance estimation signal, is a speed error disturbance estimation signal, is an overspeed error disturbance estimation signal, is a non-linear speed error disturbance estimation signal; , , is a constant sliding mode surface parameter is a constant parameter of the oil supply law, is an engine overspeed saturation protection oil supply law.

Images