Engine closed-loop control system and method based on sliding mode control

Abstract

The invention discloses an engine closed-loop control system and method based on sliding-mode control, and the method comprises the steps: calculating the sliding-mode control fuel quantity through a sliding-mode controller, and calculating the linear control fuel quantity through a linear controller selection module; and then the sliding mode control fuel quantity or the linear control fuel quantity is selected to serve as the fuel control quantity through a full-authority fuel control quantity selector, and a fuel control quantity instruction signal is output to a servo execution mechanism closed-loop controller to control the state of an engine.

Description

Technical Field

[0001] The present invention relates to the field of engine control, and in particular to an engine closed-loop control system and method based on sliding mode control. Background Art

[0002] With the advent of the era of full-authority digital technology for aviation engines, the requirements for engine economy (fuel consumption), environmental protection (emissions, noise) and other aspects are constantly increasing. In order to meet the requirements for various incremental indicators of the entire engine, improving the dynamic control performance of the engine operation process has become the main way. Therefore, major aircraft engine manufacturers around the world have invested a lot of early R&D resources in the implementation of high-dynamic performance engine products.

[0003] In the prior art, there are two mainstream technical routes for improving the dynamic performance of the engine operation process: the first is to directly obtain the open-loop fuel supply law that guarantees the dynamic characteristics, and the dynamic process operates according to the established law. The characteristic of this method is that the dynamic process control performance is superior, but the disadvantage is that the guarantee test cost of the working operation range is extremely high. The second is to formulate a closed-loop parameter change rate adjustment plan, and obtain the closed-loop fuel control law through the parameter change rate deviation. This method is characterized by better dynamic characteristics, and the control system integration of closed-loop regulation is more difficult. At present, the first technical route is mainly used in engineering to realize parameter over-limit protection in the transition process. Although there are many literatures on closed-loop regulation methods, there are few specific engineering applications. Summary of the invention

[0004] A brief summary of one or more aspects is given below to provide a basic understanding of these aspects. This summary is not an exhaustive overview of all conceived aspects, and is neither intended to identify the key or critical elements of all aspects nor to define the scope of any or all aspects. Its only purpose is to give some concepts of one or more aspects in a simplified form as a prelude to a more detailed description that will be given later.

[0005] The purpose of the present invention is to solve the above-mentioned problems and to provide an engine closed-loop control system and method based on sliding mode control. The closed-loop control of the engine transition state is performed according to the sliding mode control theory, which solves the problem of dynamic control performance of fan speed trajectory tracking during steady state and transition state, while ensuring various restrictions and protections of the engine during the dynamic control process.

[0006] The technical solution of the present invention is:

[0007] The present invention provides an engine closed-loop control system based on sliding mode control, comprising a signal processing module,

[0008] configured to receive and process engine status parameters from onboard sensors;

[0009] A parameter protection setting module configured to provide an engine operating parameter limit amount;

[0010] A sliding mode controller module, configured to calculate a sliding mode controlled fuel quantity according to an engine state parameter output by the signal processing module and an engine operating parameter limit quantity output by the parameter protection setting module;

[0011] a linear controller selection module configured to calculate a linear control fuel quantity; and

[0012] The full authority fuel control quantity selector module is configured to select the fuel control quantity based on the sliding mode control fuel quantity output by the sliding mode controller module and the linear control fuel quantity output by the linear controller selection module, and output the fuel control quantity command signal to the actuator closed-loop controller.

[0013] According to an embodiment of the engine closed-loop control system based on sliding mode control of the present invention, the engine closed-loop control system based on sliding mode control further includes:

[0014] A sliding mode controller coefficient calculation module, configured to calculate the sliding mode control coefficient and state feedback gain coefficient required at the current moment according to the engine state parameters output by the signal processing module;

[0015] Among them, the sliding mode controller module is configured to calculate the sliding mode fuel quantity of each engine operating parameter according to the sliding mode control coefficient, state feedback gain coefficient and engine operating parameter limit corresponding to each engine operating parameter received, and then calculate the sliding mode control fuel quantity based on the sliding mode fuel quantity of each engine operating parameter.

[0016] According to an embodiment of the engine closed-loop control system based on sliding mode control of the present invention, the sliding mode controller module calculates the sliding mode fuel quantity of each engine operating parameter through the following steps:

[0017] Calculate the corresponding sliding mode amount according to the engine state parameter and the engine operation parameter limit amount;

[0018] Calculate the corresponding sliding mode control amount according to the calculated sliding mode amount, sliding mode control coefficient and state feedback gain coefficient; and

[0019] The corresponding sliding mode fuel quantity is calculated according to the calculated sliding mode control quantity.

[0020] According to an embodiment of the engine closed-loop control system based on sliding mode control of the present invention, after the sliding mode controller module calculates the sliding mode fuel quantity of each engine operating parameter, it selects the sliding mode fuel quantity of some engine operating parameters for low selection, and then performs high selection on the low selection result and the sliding mode fuel quantity of the remaining engine operating parameters, and uses the obtained high selection result as the sliding mode control fuel quantity.

[0021] According to an embodiment of the engine closed-loop control system based on sliding mode control of the present invention, the engine closed-loop control system based on sliding mode control further includes:

[0022] A transition linear controller module configured to calculate transition state acceleration and deceleration open loop fuel;

[0023] a thrust setting module configured to provide a control target parameter;

[0024] A steady-state linear controller module is configured to calculate a steady-state control fuel required for a corresponding control target according to a control target parameter; and

[0025] A PI parameter limiting controller module configured to calculate a PI parameter limiting fuel quantity;

[0026] The linear controller selection module calculates the linear control fuel amount according to the transitional acceleration / deceleration open-loop fuel provided by the transitional linear controller module, the steady-state control fuel provided by the steady-state linear controller module, and the PI parameter limited fuel amount provided by the PI parameter limit controller.

[0027] According to an embodiment of the engine closed-loop control system based on sliding mode control of the present invention, the engine closed-loop control system based on sliding mode control further includes:

[0028] A fault diagnosis module is configured to provide fault information to the linear controller selection module and a sliding mode control strategy to the full authority fuel control quantity selector module; wherein,

[0029] The linear controller selection module selects and calculates the components of the transition state acceleration and deceleration open-loop fuel, the steady-state control fuel and the PI parameter limited fuel amount according to the fault information output by the fault diagnosis module to obtain the linear control fuel amount, and then selects the sliding mode control fuel amount output by the sliding mode controller module or the linear control fuel amount output by the linear controller selection module as the fuel control amount through the full authority fuel control amount selector module according to the sliding mode control strategy provided by the fault diagnosis module.

[0030] According to an embodiment of the engine closed-loop control system based on sliding mode control of the present invention, the engine closed-loop control system based on sliding mode control further includes:

[0031] The servo actuator closed-loop controller module is configured to receive the fuel control quantity command signal transmitted by the full authority fuel control quantity selector module and the actual position feedback signal transmitted by the signal processing module; wherein,

[0032] After the servo actuator closed-loop controller module obtains the fuel control quantity command signal transmitted by the full authority fuel control quantity selector module, it converts the received fuel control quantity command signal into an expected position signal, and then calculates the servo control current according to the deviation between the actual position feedback signal and the expected position signal.

[0033] The present invention also provides an engine closed-loop control method based on sliding mode control, comprising the following steps:

[0034] Receive and process engine status parameters from onboard sensors;

[0035] Provide engine operating parameter limits;

[0036] Calculate the sliding mode control fuel quantity according to the engine state parameters output by the signal processing module and the engine operation parameter limit quantity output by the parameter protection setting module;

[0037] Calculates linear control fuel quantity; and

[0038] The fuel control amount is selected by referring to the sliding mode control fuel amount output by the sliding mode controller module and the linear control fuel amount output by the linear controller selection module, and a fuel control amount command signal is output to the actuator closed-loop controller.

[0039] According to an embodiment of the engine closed-loop control method based on sliding mode control of the present invention, the engine closed-loop control method based on sliding mode control further includes:

[0040] Calculate the sliding mode control coefficient and state feedback gain coefficient required at the current moment according to the engine state parameters;

[0041] Among them, the engine closed-loop control method based on sliding mode control calculates the sliding mode fuel quantity of each engine operating parameter according to the sliding mode control coefficient, state feedback gain coefficient and engine operating parameter limit corresponding to each engine operating parameter received, and then calculates the sliding mode control fuel quantity based on the sliding mode fuel quantity of each engine operating parameter.

[0042] According to an embodiment of the engine closed-loop control method based on sliding mode control of the present invention, the engine closed-loop control method based on sliding mode control calculates the sliding mode fuel quantity of each engine operating parameter through the following steps:

[0043] Calculate the corresponding sliding mode amount according to the engine state parameter and the engine operation parameter limit amount;

[0044] Calculate the corresponding sliding mode control amount according to the calculated sliding mode amount, sliding mode control coefficient and state feedback gain coefficient; and

[0045] The corresponding sliding mode fuel quantity is calculated according to the calculated sliding mode control quantity.

[0046] According to an embodiment of the engine closed-loop control method based on sliding mode control of the present invention, after the engine closed-loop control method based on sliding mode control calculates the sliding mode fuel quantity of each engine operating parameter, the sliding mode fuel quantity of some engine operating parameters is selected for low selection, and then the low selection result and the sliding mode fuel quantity of the remaining engine operating parameters are combined for high selection, and the obtained high selection result is used as the sliding mode control fuel quantity.

[0047] According to an embodiment of the engine closed-loop control method based on sliding mode control of the present invention, the engine closed-loop control method based on sliding mode control further includes:

[0048] Calculate the open-loop fuel for transitional acceleration and deceleration;

[0049] Providing control target parameters; and

[0050] Calculating the steady-state control fuel required for the corresponding control target according to the control target parameter; and

[0051] Calculate PI parameters to limit fuel quantity;

[0052] The engine closed-loop control method based on sliding mode control calculates the linear control fuel amount according to the calculated transition state acceleration and deceleration open-loop fuel, steady state control fuel and PI parameter limited fuel amount.

[0053] According to an embodiment of the engine closed-loop control method based on sliding mode control of the present invention, the engine closed-loop control method based on sliding mode control further includes:

[0054] Provide fault information and sliding mode control strategy; among them,

[0055] The engine closed-loop control method based on sliding mode control selects and calculates the components of the transition state acceleration and deceleration open-loop fuel, the steady-state control fuel, and the PI parameter limited fuel amount according to fault information to obtain the linear control fuel amount, and then selects the sliding mode control fuel amount or the linear control fuel amount as the fuel control amount according to the sliding mode control strategy.

[0056] According to an embodiment of the engine closed-loop control method based on sliding mode control of the present invention, the engine closed-loop control method based on sliding mode control further includes:

[0057] The actual position feedback signal transmitted by the receiving signal processing module; wherein,

[0058] After obtaining the fuel control quantity instruction signal, the engine closed-loop control method based on sliding mode control converts the received fuel control quantity instruction signal into a desired position signal, and then calculates the servo control current according to the deviation between the actual position feedback signal and the desired position signal.

[0059] Compared with the prior art, the present invention has the following beneficial effects: in order to realize the transient state control and steady state control of the engine, the present invention calculates the sliding mode control fuel quantity through the sliding mode controller, calculates the linear control fuel quantity through the linear controller selection module, and then selects the sliding mode control fuel quantity or the linear control fuel quantity as the fuel control quantity through the full authority fuel control quantity selector, and outputs the fuel control quantity instruction signal to the servo actuator closed-loop controller to control the state of the engine. In this way, the closed-loop control of the engine transient state is realized, the closed-loop fuel control law is obtained through the parameter change rate deviation, the transient state control and steady state control of the engine are solved, the switching selection problem of steady state closed-loop control and transient state closed-loop control is avoided, and various restrictions and protections of the engine in the dynamic control process are guaranteed. In addition, the present invention adopts a dual control mode, which can be switched manually and automatically in the traditional linear control mode and the high-performance sliding mode control mode, thereby improving the robustness of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The above features and advantages of the present invention can be better understood after reading the detailed description of the embodiments of the present disclosure in conjunction with the following drawings. In the drawings, the components are not necessarily drawn to scale, and components with similar related properties or features may have the same or similar reference numerals.

[0061] Figure 1 1 is a diagram showing the hardware architecture of an implementation environment of an engine closed-loop control system based on sliding mode control according to an embodiment of the present invention.

[0062] Figure 2 It is a structural schematic diagram showing an embodiment of an engine closed-loop control system based on sliding mode control of the present invention.

[0063] Figure 3 Detailed description of the invention is given in conjunction with a data flow diagram of a sliding mode controller module according to an embodiment of the present invention.

[0064] Figure 4 1 is a flow chart showing an embodiment of an engine closed-loop control method based on sliding mode control of the present invention. DETAILED DESCRIPTION

[0065] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. Note that the aspects described below in conjunction with the accompanying drawings and specific embodiments are only exemplary and should not be construed as limiting the scope of protection of the present invention in any way.

[0066] An embodiment of an engine closed-loop control system based on sliding mode control (hereinafter sometimes referred to as an engine closed-loop control system) is disclosed herein. Figure 1FIG. 1 is a diagram showing the hardware architecture of an implementation environment of an embodiment of an engine closed-loop control system based on sliding mode control of the present invention. Figure 1 As shown, in this embodiment, the hardware architecture of the implementation environment for implementing the engine closed-loop control system includes an onboard sensor, a dual-mode closed-loop controller, and an actuator. Among them, the onboard sensor is used to receive the engine state parameters transmitted by the engine body, and transmit the received engine state parameters to the dual-mode closed-loop controller deployed with the engine closed-loop control system. After receiving the engine state parameters, the dual-mode closed-loop controller calculates and processes these data through the engine closed-loop control system running therein to obtain a fuel control quantity instruction signal, and then sends the calculated fuel control quantity instruction to the actuator for processing, and the actuator controls the state of the engine according to the processed fuel control quantity instruction. Figure 2 1 is a schematic diagram showing a structure of an embodiment of an engine closed-loop control system based on sliding mode control of the present invention. Figure 2 , this embodiment is described in detail.

[0067] like Figure 2 As shown, in this embodiment, the engine closed-loop control system includes a parameter protection setting module, a signal processing module, a sliding mode controller module, a linear controller selection module and a full authority fuel control amount selector module. Among them, the signal processing module is configured to receive and process the engine state parameters (including but not limited to T25, T3, Ps3, EGT, N2 and N1) of the onboard sensor. The parameter protection setting module is configured to provide the engine operating parameter limit (including but not limited to Ps3Max, Ps3Min, T3Max, EGTMax, N2Max, N2Min and N1Cmd). The sliding mode controller module is configured to calculate the sliding mode fuel amount corresponding to each engine operating parameter (defined as Wf_S_Ps3Min, Wf_S_Ps3Max, Wf_S_T3Min, Wf_S_EGTMax, Wf_S_N2Max and Wf_S_N1Cmd corresponding to the above engine operating parameter limit) and the sliding mode control fuel amount Wf_SM according to the engine state parameters output by the signal processing module and the engine operating parameter limit output by the parameter protection setting module. The full authority fuel control quantity selector module is configured to select the fuel control quantity by referring to the sliding mode control fuel quantity output by the sliding mode controller module and the linear control fuel quantity output by the linear controller selection module, and output the fuel control quantity command signal to the actuator closed-loop controller.

[0068] Furthermore, in this embodiment, the engine closed-loop control system also includes a sliding mode controller coefficient calculation module, which is configured to calculate the sliding mode control coefficient (Yita, Sigma) and state feedback gain coefficient K required at the current moment according to the engine state parameters output by the signal processing module, and transmit the calculated sliding mode control coefficient and state feedback gain coefficient to the sliding mode controller module for calculation to obtain the sliding mode control fuel quantity required by the full authority fuel control quantity selector module.

[0069] Exemplarily, the sliding mode controller coefficient calculation module can calculate the sliding mode control coefficient (Yita, Sigma) according to the turbofan engine high pressure rotor conversion speed signal N2r25 provided by the signal processor module. Preferably, the sliding mode controller coefficient calculation module can calculate the sliding mode control coefficient (Yita, Sigma) based on the system change table calculated offline, and then transmit it to the subsequent sliding mode controller to calculate the sliding mode control fuel quantity Wf_SM. In some examples of the present invention, the sliding mode parameters (Yita, Sigma) can also be obtained through experiments. Figure 3 is a data flow diagram showing an embodiment of a sliding mode controller module based on sliding mode control of the present invention. Figure 3 , further illustrating this embodiment.

[0070] In this embodiment, the sliding mode control coefficient is the boundary layer thickness θ i and the chattering coefficient η i The sliding mode controller module receives the sliding mode control coefficient (boundary layer thickness Θ i and the chattering coefficient η i ) and the state feedback gain coefficient K, according to the sliding mode control coefficient (boundary layer thickness Θ i and the chattering coefficient η i ) and the state feedback gain coefficient K, the engine state parameters (N1, Ps3, EGT, T3 and N2) output by the signal processing module, and the engine operating parameter limit values ​​N1Cmd, Ps3Max, Ps3Min, EGTMax, T3Max, N2Max and N2Min provided by the parameter setting protection module are used to calculate the sliding mode fuel quantity (Wf_S_Ps3Min, Wf_S_Ps3Max, Wf_S_T3Min, Wf_S_EGTMax, Wf_S_N2Max and Wf_S_N1Cmd) corresponding to each engine operating parameter and the sliding mode control fuel quantity Wf_SM, and the calculated sliding mode control fuel quantity Wf_SM is output to the full authority fuel control quantity selector module as a selection item of the fuel control quantity.

[0071] Specifically, in this embodiment, the sliding mode controller module calculates the sliding mode fuel quantity corresponding to each engine operating parameter through the following steps:

[0072] Step C1: Calculate the sliding mode amount according to the engine state parameter and the engine operation parameter limit amount.

[0073] In this embodiment, for different engine state parameters (Ps3, T3, EGT, N2 and N1), the corresponding sliding mode regulator is used to calculate the sliding mode amount, so as to perform steady-state control and transitional state control on them. Among them, the N1 sliding mode regulator (N1 SMRegulator) is the main sliding mode regulator, which is used to complete the steady-state control and transitional state control of the N1 speed. Other sliding mode regulators (Ps3Max SM Regulator, Ps3Min SM Regulator, EGTMax SM Regulator, T3Max SMRegulator, EGTMax SM Regulator, N2Max SM Regulator, N2Min SM Regulator) are auxiliary sliding mode regulators, which are used to realize the limit protection of key parameters in steady-state and transitional state control. When the sliding mode regulator receives the current required engine state parameters (Ps3, T3, EGT, N2 and N1) and the engine operating parameter limits (Ps3Max, Ps3Min, T3Max, EGTMax, N2Max, N2Min and N1Cmd), the corresponding sliding mode amount is calculated by the following formula:

[0074] S_Ps3Max=Ps3-Ps3Max

[0075] S_Ps3Min=Ps3-Ps3Min

[0076] S_T3Max=T3-T3Max

[0077] S_ECTMax=ECT-ECTMax

[0078] S_N2Max=N2-N2Max

[0079] S_N2Min=N2-N2Min

[0080] S_N1Cmd=N1-N1Cmd

[0081] Among them, Ps3 represents the high-pressure compressor outlet static pressure, Ps3Max represents the maximum limit value of the high-pressure compressor outlet static pressure, and Ps3Min represents the minimum limit value of the high-pressure compressor outlet static pressure. T3 represents the high-pressure compressor outlet total temperature, T3Max represents the maximum limit value of the high-pressure compressor outlet total temperature, ECT represents the turbine exhaust temperature, EGTMax represents the maximum limit value of the turbine exhaust temperature, N2 represents the high-pressure shaft speed of the turbofan engine, N2Max represents the maximum limit value of the high-pressure shaft speed of the turbofan engine, N2Min represents the minimum limit value of the high-pressure shaft speed of the turbofan engine, N1 represents the low-pressure shaft speed of the turbofan engine, and N1Cmd represents the target control speed of the low-pressure shaft speed of the turbofan engine. S_Ps3Max, S_Ps3Min, S_T3Max, S_EGTMax, S_N2Max, S_N2Min and S_N1Cmd represent the corresponding sliding mode quantities respectively.

[0082] Step C2: Calculate the sliding mode control amount according to the calculated sliding mode amount, sliding mode control coefficient and state feedback gain coefficient.

[0083] In this embodiment, after the sliding mode amount corresponding to each engine operating parameter is calculated through the above step C1, it is substituted into the following formula to calculate the corresponding sliding mode control amount:

[0084]

[0085] Where Si represents any sliding modulus among S_Ps3Max, S_Ps3Min, S_T3Max, S_EGTMax, S_N2Max, S_N2Min and S_N1Cmd, U ri represents any sliding mode control variable among Ur_Ps3Max, Ur_Ps3Min, Ur_T3Max, Ur_EGTMax, Ur_N2Max, Ur_N2Min and Ur_N1Cmd corresponding to Si, Θ i represents the boundary layer thickness sliding mode coefficient corresponding to S_Ps3Max, S_Ps3Min, S_T3Max, S_EGTMax, S_N2Max, S_N2Min and S_N1Cmd, respectively. i denote the state feedback gain coefficients corresponding to S_Ps3Max, S_Ps3Min, S_T3Max, S_EGTMax, S_N2Max, S_N2Min and S_N1Cmd, respectively, idenote the switching gain sliding mode coefficients corresponding to S_Ps3Max, S_Ps3Min, S_T3Max, S_EGTMax, S_N2Max, S_N2Min and S_N1Cmd, respectively; A denotes the linear state space model state matrix for slow train state identification; and B denotes the linear state space model input matrix for slow train state identification. In addition, in this embodiment, the sliding mode control parameter (θ i and η i ) and the state feedback gain coefficient (K i ) can be obtained based on offline calculations or through experiments.

[0086] Step C3: Calculate the corresponding sliding mode fuel quantity according to the calculated sliding mode control.

[0087] In this embodiment, after the sliding mode control amount corresponding to each engine operating parameter is calculated through the above step C2, it is substituted into the following formula to calculate the corresponding sliding mode fuel amount:

[0088] W i =Ts*U ri +Wf_SM

[0089] Among them, Wf i It represents any sliding mode fuel quantity Wf_S_Ps3Max, Wf_S_Ps3Min, Wf_S_T3Max, Wf_S_EGTMax, Wf_S_N2Max, Wf_S_N2Min or Wf_S_N1Cmd corresponding to Si, Ts represents the sampling time, and Wf_SM represents the sliding mode control fuel quantity.

[0090] In addition, in this embodiment, after the sliding mode fuel quantity corresponding to each engine operating parameter is calculated through the above step S3, the sliding mode control fuel quantity Wf_SM is determined according to the calculated sliding mode fuel quantity. Among them, the sliding mode controlled fuel quantity Wf_SM is a sliding mode SM fuel structure signal, which includes member variables Wf_S_Ps3Max, Wf_S_T3Max, Wf_S_EGTMax, Wf_S_N2Max, Wf_S_N1Cmd, Wf_S_N2Min and Wf_S_Ps3Mi. Its calculation logic is: first, Wf_S_Ps3Max, Wf_S_T3Max, Wf_S_EGTMax, Wf_S_N2Max and Wf_S_N1Cmd are low-selected to obtain a low-selected result, and then the low-selected result is high-selected with Wf_S_N2Min and Wf_S_Ps3Min. The high-selected result is the sliding mode controlled fuel quantity Wf_SM output to the full authority fuel control quantity selector module.

[0091] In this embodiment, the full authority fuel control quantity selector module includes not only the sliding mode control fuel quantity Wf_SM, but also the linear control fuel quantity Wf_LIN. The full authority fuel control quantity selector module selects the sliding mode control fuel quantity Wf_SM or the linear control fuel quantity Wf_LIN as the fuel control quantity according to the sliding mode control strategy provided by the fault diagnosis module, and finally outputs the fuel control quantity command signal WfCmd.

[0092] In this embodiment, for the linear control fuel quantity Wf_LIN, it is necessary to provide the transition state acceleration and deceleration open-loop fuel WfAcc and WfDec provided by the transition linear controller module, the steady-state control fuel WfSteay provided by the steady-state linear controller module, and the PI parameter limit fuel quantity WfPL_PI provided by the PI parameter limit controller. Among them, for the transition state acceleration and deceleration open-loop fuel WfAcc and WfDec, they are provided by the transition linear controller module, and the open-loop fuel WfAcc and WfDec required for the transition state acceleration and deceleration are calculated according to N2r25, or N2dot is used to fine-tune WfAcc and WfDec. For the steady-state control fuel WfSteay, the steady-state linear controller module calculates the steady-state control fuel WfSteay required for the corresponding control target according to the control target parameters transmitted by the thrust setting module.

[0093] Exemplarily, in this implementation, the control target parameters passed in by the thrust setting module are N2Cmd and N1Cmd, and the steady-state linear controller module calculates the fuel WfSteady required for steady-state control of N1 and N2 through N2Cmd and N1Cmd passed in by the thrust setting module.

[0094] The calculation of the PI parameter limited fuel amount WfPL_PI is summarized by the PI parameter limit controller module based on the engine state parameters provided by the signal processor module, the proportional integral parameters (Kp, Ki) provided by the PI parameter limit controller coefficient scheduler module, and the sliding mode fuel amounts Wf_S_Ps3Max, Wf_S_Ps3Min, Wf_S_T3Max, Wf_S_EGTMax, Wf_S_N2Max, Wf_S_N2Min, and Wf_S_N1Cmd calculated in the sliding mode controller module to obtain the PI parameter limited fuel amount WfPL_PI.

[0095] In addition, in this embodiment, the engine closed-loop control system also includes a fault diagnosis module, which provides fault information to the linear controller selection module and provides a sliding mode control strategy Stratgy to the full authority fuel control quantity selector module. Among them, the linear controller selection module selects and calculates the transition state acceleration and deceleration open-loop fuel WfAcc and WfDec, the steady-state control fuel WfSteady and the PI parameter limit fuel quantity Wf_PI according to the fault information output by the fault diagnosis module, obtains the final linear control fuel quantity Wf_LIN, and transmits it to the full authority fuel control quantity selector module, and the full authority fuel control quantity selector module selects the sliding mode control fuel quantity Wf_SM or the linear control fuel quantity Wf_LIN as the fuel control quantity according to the sliding mode control strategy Stratgy provided by the fault diagnosis module, and finally outputs the fuel control quantity command signal WfCmd to the servo actuator closed-loop controller module.

[0096] Specifically, in this embodiment, the servo actuator closed-loop controller module is also used to receive the actual position feedback signal Lactfbk transmitted by the signal processing module. After receiving the fuel control quantity command signal WfCmd transmitted by the full authority fuel control quantity selector module, the servo actuator closed-loop controller module converts it into the position expected signal Lactdmd of the metering mechanism, and then calculates the servo control current I_act according to the deviation between the actual position feedback signal Lactfbk and the expected position signal Lactdmd. After the servo actuator closed-loop controller module calculates the servo control current I_act, it transmits it to the actuator (not shown), and the actuator controls the state of the engine according to the received servo control current I_act.

[0097] This specification discloses an embodiment of an engine closed-loop control method based on sliding mode control (hereinafter sometimes referred to as the engine closed-loop control method). Figure 1 The engine closed-loop control method operates in the same manner as the engine closed-loop control system. Figure 1 The hardware architecture diagram of the implementation environment is shown. Figure 4 is a flow chart showing an embodiment of an engine closed-loop control method based on sliding mode control of the present invention, please refer to Figure 4 , and detailedly describe the steps of the engine closed-loop control method based on sliding mode control.

[0098] Step S1: Receive and process engine status parameters from onboard sensors.

[0099] Step S2: providing engine operating parameter limit values.

[0100] Step S3: Calculate the sliding mode controlled fuel quantity according to the engine state parameters output by the signal processing module and the engine operation parameter limit quantity output by the parameter protection setting module.

[0101] In this embodiment, the engine closed-loop control method receives and processes the engine state parameters (including but not limited to T25, T3, Ps3, EGT, N2 and N1) of the onboard sensor through the signal processor, and provides the engine operation parameter limit (including but not limited to Ps3Max, Ps3Min, T3Max, EGTMax, N2Max, N2Min and N1Cmd) through the parameter protection setter, and then calculates each engine operation parameter according to the engine state parameters output by the signal processor and the engine operation parameter limit output by the parameter protection setter through the sliding mode controller. The sliding mode fuel quantity corresponding to the operating parameters (defined as Wf_S_Ps3Min, Wf_S_Ps3Max, Wf_S_T3Min, Wf_S_EGTMax, Wf_S_N2Max and Wf_S_N1Cmd corresponding to the above-mentioned engine operating parameter limit quantities) and the sliding mode controlled fuel quantity Wf_SM are selected, and finally the full authority fuel control quantity selector refers to the sliding mode controlled fuel quantity provided by the sliding mode controller and the linear controlled fuel quantity provided by the linear controller to select the fuel control quantity, and outputs the fuel control quantity command signal to the servo actuator closed-loop controller.

[0102] Furthermore, in this embodiment, the engine closed-loop control method also calculates the sliding mode control coefficient (Yita, Sigma) and state feedback gain coefficient K required at the current moment according to the engine state parameters output by the signal processor through a sliding mode controller coefficient calculator, and transmits the calculated sliding mode control coefficient and state feedback gain coefficient to the sliding mode controller for calculation to obtain the sliding mode control fuel quantity required by the full authority fuel control quantity selector.

[0103] Exemplarily, the sliding mode controller coefficient calculator can calculate the sliding mode control coefficient (Yita, Sigma) according to the turbofan engine high pressure rotor conversion speed signal N2r25 provided by the signal processor. Preferably, the sliding mode controller coefficient calculator can calculate the sliding mode control coefficient (Yita, Sigma) based on the system change table calculated offline, and then transmit it to the subsequent sliding mode controller to calculate the sliding mode control fuel quantity Wf_SM. In some examples of the present invention, the sliding mode parameters (Yita, Sigma) can also be obtained through experiments. Figure 3 is a data flow diagram showing an embodiment of a sliding mode controller based on sliding mode control of the present invention. Figure 3 , further illustrating this embodiment.

[0104] In this embodiment, the sliding mode control coefficient is the boundary layer thickness θ i and the chattering coefficient η i The sliding mode controller receives the sliding mode control coefficient (boundary layer thickness Θ i and the chattering coefficient ηi ) and the state feedback gain coefficient K, according to the sliding mode control coefficient (boundary layer thickness Θ i and the chattering coefficient η i ) and state feedback gain coefficient K, the engine state parameters (N1, Ps3, EGT, T3 and N2) output by the signal processor, and the engine operating parameter limit values ​​N1Cmd, Ps3Max, Ps3Min, EGTMax, T3Max, N2Max and N2Min provided by the parameter setting protector are used to calculate the sliding mode fuel quantity (Wf_S_Ps3Min, Wf_S_Ps3Max, Wf_S_T3Min, Wf_S_EGTMax, Wf_S_N2Max and Wf_S_N1Cmd) corresponding to each engine operating parameter and the sliding mode control fuel quantity Wf_SM, and the calculated sliding mode control fuel quantity Wf_SM is output to the full authority fuel control quantity selector as a selection item for the fuel control quantity.

[0105] Specifically, in this embodiment, the sliding mode controller calculates the sliding mode fuel quantity corresponding to each engine operating parameter through the following steps:

[0106] Step C1: Calculate the sliding mode amount according to the engine state parameter and the engine operation parameter limit amount.

[0107] In this embodiment, for different engine state parameters (Ps3, T3, EGT, N2 and N1), the corresponding sliding mode regulator is used to calculate the sliding mode amount, so as to perform steady-state control and transitional state control on them. Among them, the N1 sliding mode regulator (N1 SMRegulator) is the main sliding mode regulator, which is used to complete the steady-state control and transitional state control of the N1 speed. Other sliding mode regulators (Ps3Max SM Regulator, Ps3Min SM Regulator, EGTMax SM Regulator, T3Max SMRegulator, EGTMax SM Regulator, N2Max SM Regulator, N2Min SM Regulator) are auxiliary sliding mode regulators, which are used to realize the limit protection of key parameters in steady-state and transitional state control. When the sliding mode regulator receives the current required engine state parameters (Ps3, T3, EGT, N2 and N1) and the engine operating parameter limits (Ps3Max, Ps3Min, T3Max, EGTMax, N2Max, N2Min and N1Cmd), the corresponding sliding mode amount is calculated by the following formula:

[0108] S_Ps3Max=Ps3-Ps3Max

[0109] S_Ps3Min=Ps3-Ps3Min

[0110] S_T3Max=T3-T3Max

[0111] S_ECTMax=ECT-ECTMax

[0112] S_N2Max=N2-N2Max

[0113] S_N2Min=N2-N2Min

[0114] S_N1Cmd=N1-N1Cmd

[0115] Among them, Ps3 represents the high-pressure compressor outlet static pressure, Ps3Max represents the maximum limit value of the high-pressure compressor outlet static pressure, and Ps3Min represents the minimum limit value of the high-pressure compressor outlet static pressure. T3 represents the high-pressure compressor outlet total temperature, T3Max represents the maximum limit value of the high-pressure compressor outlet total temperature, ECT represents the turbine exhaust temperature, EGTMax represents the maximum limit value of the turbine exhaust temperature, N2 represents the high-pressure shaft speed of the turbofan engine, N2Max represents the maximum limit value of the high-pressure shaft speed of the turbofan engine, N2Min represents the minimum limit value of the high-pressure shaft speed of the turbofan engine, N1 represents the low-pressure shaft speed of the turbofan engine, and N1Cmd represents the target control speed of the low-pressure shaft speed of the turbofan engine. S_Ps3Max, S_Ps3Min, S_T3Max, S_EGTMax, S_N2Max, S_N2Min and S_N1Cmd represent the corresponding sliding mode quantities respectively.

[0116] Step C2: Calculate the sliding mode control amount according to the calculated sliding mode amount, sliding mode control coefficient and state feedback gain coefficient.

[0117] In this embodiment, after the sliding mode amount corresponding to each engine operating parameter is calculated through the above step C1, it is substituted into the following formula to calculate the corresponding sliding mode control amount:

[0118]

[0119] Where Si represents any sliding modulus among S_Ps3Max, S_Ps3Min, S_T3Max, S_EGTMax, S_N2Max, S_N2Min and S_N1Cmd, U ri represents the sliding mode control quantity corresponding to Si, Θ i represents the sliding mode coefficient of the boundary layer thickness corresponding to Si, K i represents the state feedback gain coefficient corresponding to Si, η irepresents the switching gain sliding mode coefficient corresponding to Si, A represents the linear state space model state matrix of the slow train state identification, and B represents the linear state space model input matrix of the slow train state identification. In addition, in this embodiment, the sliding mode control parameter (Θ i and η i ) and the state feedback gain coefficient (K i ) can be obtained based on offline calculations or through experiments.

[0120] Step C3: Calculate the corresponding sliding mode fuel quantity according to the calculated sliding mode control.

[0121] In this embodiment, after the sliding mode control amount corresponding to each engine operating parameter is calculated through the above step C2, it is substituted into the following formula to calculate the corresponding sliding mode fuel amount:

[0122] W i =Ts*U ri +Wf_SM

[0123] Among them, Wf i It represents any sliding mode fuel quantity Wf_S_Ps3Max, Wf_S_Ps3Min, Wf_S_T3Max, Wf_S_EGTMax, Wf_S_N2Max, Wf_S_N2Min or Wf_S_N1Cmd corresponding to Si, Ts represents the sampling time, and Wf_SM represents the sliding mode control fuel quantity.

[0124] In addition, in this embodiment, after the sliding mode fuel quantity corresponding to each engine operating parameter is calculated through the above step C3, the sliding mode control fuel quantity Wf_SM is determined according to the calculated sliding mode fuel quantity. Among them, the sliding mode control fuel quantity Wf_SM is a sliding mode SM fuel structure signal, including member variables Wf_S_Ps3Max, Wf_S_T3Max, Wf_S_EGTMax, Wf_S_N2Max, Wf_S_N1Cmd, Wf_S_N2Min and Wf_S_Ps3Mi, and its calculation logic is: firstly, Wf_S_Ps3Max, Wf_S_T3Max, Wf_S_EGTMax, Wf_S_N2Max and Wf_S_N1Cmd are low-selected to obtain a low-selected result, and then the low-selected result is high-selected with Wf_S_N2Min and Wf_S_Ps3Min, and the high-selected result is the sliding mode control fuel quantity Wf_SM output to the full authority fuel control quantity selector.

[0125] Step S4: Calculate the linear control fuel quantity.

[0126] In this embodiment, the full authority fuel control quantity selector includes not only the sliding mode control fuel quantity Wf_SM, but also the linear control fuel quantity Wf_LIN. The full authority fuel control quantity selector selects the sliding mode control fuel quantity Wf_SM or the linear control fuel quantity Wf_LIN as the fuel control quantity according to the sliding mode control strategy provided by the fault diagnostic device, and finally outputs the fuel control quantity command signal WfCmd.

[0127] In this embodiment, for the linear control fuel quantity Wf_LIN, it is necessary to provide the transition state acceleration and deceleration open-loop fuel WfAcc and WfDec provided by the transition linear controller, the steady-state control fuel WfSteay provided by the steady-state linear controller, and the PI parameter limit fuel quantity WfPL_PI provided by the PI parameter limit controller. Among them, for the transition state acceleration and deceleration open-loop fuel WfAcc and WfDec, it is provided by the transition linear controller, and the open-loop fuel WfAcc and WfDec required for the transition state acceleration and deceleration are calculated according to N2r25, or N2dot is used to fine-tune WfAcc and WfDec. For the steady-state control fuel WfSteay, the steady-state control fuel WfSteay required for the corresponding control target is calculated by the steady-state linear controller according to the control target parameters transmitted by the thrust setter.

[0128] Exemplarily, in this embodiment, the control target parameters input by the thrust setter are N2Cmd and N1Cmd, and the steady-state linear controller calculates the fuel WfSteady required for steady-state control of N1 and N2 through N2Cmd and N1Cmd input by the thrust setter.

[0129] The calculation of the PI parameter limited fuel quantity WfPL_PI is summarized by the PI parameter limiting controller based on the engine state parameters provided by the signal processor, the proportional integral parameters (Kp, Ki) provided by the PI parameter limiting controller coefficient scheduler, and the sliding mode fuel quantities Wf_S_Ps3Max, Wf_S_Ps3Min, Wf_S_T3Max, Wf_S_EGTMax, Wf_S_N2Max, Wf_S_N2Min, and Wf_S_N1Cmd calculated in the sliding mode controller to obtain the PI parameter limited fuel quantity WfPL_PI.

[0130] Step S5: selecting a fuel control amount according to the calculated sliding mode control fuel amount and linear control fuel amount, and outputting a fuel control amount command signal to the servo actuator closed-loop controller module.

[0131] In this embodiment, the closed-loop control method of the engine also needs to provide fault information to the linear controller through a fault diagnostic device, and provide a sliding mode control strategy Stratgy for the full authority fuel control quantity selector. Among them, the linear controller selector selects and calculates the transition state acceleration and deceleration open-loop fuel WfAcc and WfDec, the steady-state control fuel WfSteady, and the PI parameter limit fuel quantity Wf_PI according to the fault information output by the fault diagnostic device, obtains the final linear control fuel quantity Wf_LIN, and transmits it to the full authority fuel control quantity selector. The full authority fuel control quantity selector selects the sliding mode control fuel quantity Wf_SM or the linear control fuel quantity Wf_LIN as the fuel control quantity according to the sliding mode control strategy Stratgy provided by the fault diagnostic device, and finally outputs the fuel control quantity command signal WfCmd to the servo actuator closed-loop controller.

[0132] Specifically, in this embodiment, the servo actuator closed-loop controller is also used to receive the actual position feedback signal Lactfbk transmitted by the signal processor. After receiving the fuel control quantity command signal WfCmd transmitted by the full authority fuel control quantity selector, the servo actuator closed-loop controller converts it into the position expected signal Lactdmd of the metering mechanism, and then calculates the servo control current I_act according to the deviation between the actual position feedback signal Lactfbk and the expected position signal Lactdmd. After the servo actuator closed-loop controller calculates the servo control current I_act, it transmits it to the actuator (not shown), and the actuator controls the state of the engine according to the received servo control current I_act.

[0133] The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be apparent to those skilled in the art, and the general principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein, but should be granted the widest scope consistent with the principles and novel features disclosed herein.

[0134] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or a combination of the two. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. The technician may implement the described functionality in different ways for each specific application, but such implementation decisions should not be interpreted as resulting in a departure from the scope of the present invention.

[0135] The various illustrative logic blocks, modules, and circuits described in conjunction with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in cooperation with a DSP core, or any other such configuration.

[0136] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software module may reside in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read and write information from / to the storage medium. In an alternative, a storage medium may be integrated into a processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In an alternative, the processor and the storage medium may reside in a user terminal as discrete components.

[0137] In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented as a computer program product in software, each function may be stored on or transmitted by a computer-readable medium as one or more instructions or codes. Computer-readable media include both computer storage media and communication media, including any medium that facilitates the transfer of a computer program from one place to another. Storage media may be any available medium that can be accessed by a computer. As an example and not limitation, such a computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer. Any connection is also properly referred to as a computer-readable medium. For example, if the software is transmitted from a website, a server, or other remote source using a coaxial cable, a fiber optic cable, a twisted pair, a digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of the medium. Disk and disc as used herein include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, wherein disk often reproduces data magnetically, while disc reproduces data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

Claims

1. An engine closed-loop control system based on sliding mode control, characterized in that: include: a signal processing module configured to receive and process engine status parameters from an onboard sensor; A parameter protection setting module configured to provide an engine operating parameter limit amount; A sliding mode controller module, configured to calculate a sliding mode controlled fuel quantity according to an engine state parameter output by the signal processing module and an engine operating parameter limit quantity output by the parameter protection setting module; a linear controller selection module configured to calculate a linear control fuel quantity; as well as The full authority fuel control quantity selector module is configured to select the fuel control quantity based on the sliding mode control fuel quantity output by the sliding mode controller module and the linear control fuel quantity output by the linear controller selection module, and output the fuel control quantity command signal to the servo actuator closed-loop controller module.

2. The engine closed-loop control system based on sliding mode control according to claim 1, characterized in that: The engine closed-loop control system based on sliding mode control also includes: A sliding mode controller coefficient calculation module, configured to calculate the sliding mode control coefficient and state feedback gain coefficient required at the current moment according to the engine state parameters output by the signal processing module; Among them, the sliding mode controller module is configured to calculate the sliding mode fuel quantity of each engine operating parameter according to the sliding mode control coefficient, state feedback gain coefficient and engine operating parameter limit corresponding to each engine operating parameter received, and then calculate the sliding mode control fuel quantity based on the sliding mode fuel quantity of each engine operating parameter.

3. The engine closed-loop control system based on sliding mode control according to claim 2, characterized in that: The sliding mode controller module calculates the sliding mode fuel quantity for each engine operating parameter by the following steps: Calculate the corresponding sliding mode amount according to the engine state parameter and the engine operation parameter limit amount; Calculate the corresponding sliding mode control quantity according to the calculated sliding mode quantity, sliding mode control coefficient and state feedback gain coefficient; as well as The corresponding sliding mode fuel quantity is calculated according to the calculated sliding mode control quantity.

4. The engine closed-loop control system based on sliding mode control according to claim 3, characterized in that: After the sliding mode controller module calculates the sliding mode fuel quantity of each engine operating parameter, it selects the sliding mode fuel quantity of some engine operating parameters for low selection, and then performs high selection on the low selection result and the sliding mode fuel quantity of the remaining engine operating parameters, and uses the obtained high selection result as the sliding mode control fuel quantity.

5. The engine closed-loop control system based on sliding mode control according to claim 1, characterized in that: The engine closed-loop control system based on sliding mode control also includes: A transition linear controller module configured to calculate transition state acceleration and deceleration open loop fuel; a thrust setting module configured to provide a control target parameter; A steady-state linear controller module is configured to calculate a steady-state control fuel required for a corresponding control target according to a control target parameter; and A PI parameter limiting controller module configured to calculate a PI parameter limiting fuel quantity; The linear controller selection module calculates the linear control fuel amount according to the transitional acceleration / deceleration open-loop fuel provided by the transitional linear controller module, the steady-state control fuel provided by the steady-state linear controller module, and the PI parameter limited fuel amount provided by the PI parameter limit controller.

6. The engine closed-loop control system based on sliding mode control according to claim 5, characterized in that: The engine closed-loop control system based on sliding mode control also includes: A fault diagnosis module is configured to provide fault information to the linear controller selection module and to provide a sliding mode control strategy to the full authority fuel control quantity selector module; wherein, The linear controller selection module selects and calculates the components of the transition state acceleration and deceleration open-loop fuel, the steady-state control fuel and the PI parameter limited fuel amount according to the fault information output by the fault diagnosis module to obtain the linear control fuel amount, and then selects the sliding mode control fuel amount output by the sliding mode controller module or the linear control fuel amount output by the linear controller selection module as the fuel control amount through the full authority fuel control amount selector module according to the sliding mode control strategy provided by the fault diagnosis module.

7. The engine closed-loop control system based on sliding mode control according to claim 1, characterized in that: The servo actuator closed-loop controller module is also used to receive the actual position feedback signal transmitted by the signal processing module; wherein, After the servo actuator closed-loop controller module obtains the fuel control quantity command signal transmitted by the full authority fuel control quantity selector module, it converts the received fuel control quantity command signal into an expected position signal, and then calculates the servo control current according to the deviation between the actual position feedback signal and the expected position signal.

8. An engine closed-loop control method based on sliding mode control, characterized in that: The following steps are involved: Receive and process engine status parameters from onboard sensors; Provide engine operating parameter limits; Calculate the sliding mode control fuel quantity according to the engine state parameters output by the signal processing module and the engine operation parameter limit quantity output by the parameter protection setting module; Calculate linear control fuel quantity; as well as A fuel control amount is selected according to the calculated sliding mode control fuel amount and the linear control fuel amount, and a fuel control amount command signal is output to a servo actuator closed-loop controller.

9. The engine closed-loop control method based on sliding mode control according to claim 8, characterized in that: The engine closed-loop control method based on sliding mode control also includes: Calculate the sliding mode control coefficient and state feedback gain coefficient required at the current moment according to the engine state parameters; Among them, the engine closed-loop control method based on sliding mode control calculates the sliding mode fuel quantity of each engine operating parameter according to the sliding mode control coefficient, state feedback gain coefficient and engine operating parameter limit corresponding to each engine operating parameter received, and then calculates the sliding mode control fuel quantity based on the sliding mode fuel quantity of each engine operating parameter.

10. The engine closed-loop control method based on sliding mode control according to claim 9, characterized in that: The engine closed-loop control method based on sliding mode control calculates the sliding mode fuel quantity of each engine operating parameter through the following steps: Calculate the corresponding sliding mode amount according to the engine state parameter and the engine operation parameter limit amount; Calculate the corresponding sliding mode control quantity according to the calculated sliding mode quantity, sliding mode control coefficient and state feedback gain coefficient; as well as The corresponding sliding mode fuel quantity is calculated according to the calculated sliding mode control quantity.

11. The engine closed-loop control method based on sliding mode control according to claim 10, characterized in that: After the sliding mode control-based engine closed-loop control method calculates the sliding mode fuel quantity of each engine operating parameter, the sliding mode fuel quantity of some engine operating parameters is selected for low selection, and then the low selection result and the sliding mode fuel quantity of the remaining engine operating parameters are combined for high selection, and the obtained high selection result is used as the sliding mode control fuel quantity.

12. The engine closed-loop control method based on sliding mode control according to claim 8, characterized in that: The engine closed-loop control method based on sliding mode control also includes: Calculate the open-loop fuel for transitional acceleration and deceleration; Providing control target parameters; and Calculating the steady-state control fuel required for the corresponding control target according to the control target parameter; and Calculate PI parameters to limit fuel quantity; The engine closed-loop control method based on sliding mode control calculates the linear control fuel amount according to the calculated transition state acceleration and deceleration open-loop fuel, steady state control fuel and PI parameter limited fuel amount.

13. The engine closed-loop control method based on sliding mode control according to claim 12, characterized in that: The engine closed-loop control method based on sliding mode control also includes: Provide fault information and sliding mode control strategy; among them, The engine closed-loop control method based on sliding mode control selects and calculates the components of the transition state acceleration and deceleration open-loop fuel, the steady-state control fuel, and the PI parameter limited fuel amount according to fault information to obtain the linear control fuel amount, and then selects the sliding mode control fuel amount or the linear control fuel amount as the fuel control amount according to the sliding mode control strategy.

14. The engine closed-loop control method based on sliding mode control according to claim 7, characterized in that: The engine closed-loop control method based on sliding mode control also includes: Receive actual position feedback signal; wherein, After obtaining the fuel control quantity instruction signal, the engine closed-loop control method based on sliding mode control converts the received fuel control quantity instruction signal into a desired position signal, and then calculates the servo control current according to the deviation between the actual position feedback signal and the desired position signal.

Images