A method for suppressing negative regulation of gas flow regulation based on dual gas generator configuration

Abstract

The present invention provides a method for suppressing negative regulation of gas flow regulation based on a dual-gas generator configuration, comprising: constructing a flow regulation system of a solid-fuel engine based on the dual-gas generator, designing a main gas flow regulator and an auxiliary gas flow regulator, setting the regulation range of the main gas flow regulator to be opposite to the regulation trend of the auxiliary gas flow regulator, and utilizing the hedging effect of the negative regulation of the dual-gas generator to weaken the negative regulation peak value of the overall gas entering the afterburner chamber; designing a gas flow regulation allocation and control scheme, dynamically allocating the gas flow to the main gas flow regulator and the auxiliary gas flow regulator according to the required gas flow regulation amount, and converting the gas flow tracking instruction into a pressure tracking instruction; calculating the control gains of the main and auxiliary gas flow regulators, respectively designing adaptive gain scheduling controllers of the main and auxiliary gas flow regulators, and fine-tuning the control gains of the main and auxiliary gas flow regulators according to the control effects.

Description

Technical Field

[0001] The present invention relates to the field of solid ramjet engine control technology, and in particular to a method for suppressing negative regulation of gas flow regulation based on a dual-gas generator configuration. Background Art

[0002] High-performance and high-reliability gas flow control of solid-fuel rocket engines is a prerequisite for ensuring the good working condition of the aircraft. However, the gas flow control system of solid-fuel rocket engines is a high-uncertainty system with non-minimum phase. Due to the non-minimum phase characteristics of the system, in the early stage of gas flow regulation, the system will inevitably have a gas flow reverse response opposite to the expected instruction. This reverse response is a unique characteristic of the throat-type flow control method, which is called negative regulation. The specific manifestation of negative regulation of gas flow can be summarized as follows: at the moment of gas flow regulation, the flow will produce a reverse response phenomenon opposite to the expected regulation direction. This characteristic will cause the afterburner pressure and engine thrust to change drastically in a short period of time, which may cause the air inlet to be in a subcritical state, affecting the stable operation of the engine and bringing difficulties to the safe control of the aircraft.

[0003] At present, Jinying has conducted in-depth research on the negative regulation characteristics of gas flow, and has given a variety of control schemes for negative regulation links from the perspective of control system design. The nonlinear model of the gas flow control system constructed earlier studied the negative regulation characteristics through mathematical simulation methods, and pointed out that although the gas negative regulation cannot be directly measured by the sensor, the intensity of the negative regulation can be reflected by the change of the afterburner chamber pressure. Based on the linearization method, the linearization model of the gas generator is analyzed, and it is pointed out that the positive zero point of the right half plane of the transfer function of the gas flow regulation system is the main factor causing the negative regulation of the gas flow system. Through the ground test method, it is found that there is an obvious correlation between the negative regulation of gas flow and the change speed of the gas flow regulating valve. It is believed that the negative regulation suppression should start from the valve regulation speed, and the design of a reasonable regulation mechanism motion control algorithm is an effective means to reduce the negative regulation. The tracking differentiator of the anti-disturbance control is introduced into the gas generator pressure control loop as a pre-filter of the instruction, which achieves the suppression of negative regulation to a certain extent.

[0004] In the current research, the generation mechanism and influencing factors of negative regulation have been deeply analyzed, and many solutions for negative regulation mitigation and suppression have been proposed from the perspective of control; however, the above research can only explore the law of negative regulation generation, and can only alleviate the negative regulation phenomenon based on the designed negative regulation suppression control law, and cannot fundamentally solve the negative regulation problem of gas flow. Summary of the invention

[0005] According to the technical problems raised above, a method for suppressing negative regulation of gas flow regulation based on a dual gas generator configuration is provided. The present invention can eliminate or suppress negative regulation characteristics based on a dual gas generator configuration, combined with a reasonable and effective gas flow instruction allocation scheme and a gas flow control law, and realize the breakthrough from passive relief to active suppression of negative regulation of gas flow, and can significantly suppress the negative regulation of gas flow while ensuring the gas flow control effect.

[0006] The technical means adopted by the present invention are as follows:

[0007] A method for suppressing negative regulation of gas flow regulation based on a dual gas generator configuration, comprising:

[0008] S1. Based on the dual gas generator, a flow regulation system for the solid fuel injection engine is constructed, and the main gas flow regulator and the auxiliary gas flow regulator are designed. The regulation range of the main gas flow regulator is set opposite to the regulation trend of the auxiliary gas flow regulator. The hedging effect of the negative regulation of the dual gas generator is used to weaken the negative regulation peak of the overall gas entering the afterburner chamber.

[0009] S2. Design a gas flow regulation and distribution control scheme, dynamically distribute the gas flow to the main gas flow regulator and the auxiliary gas flow regulator according to the required gas flow regulation amount, and convert the gas flow tracking instruction into a pressure tracking instruction;

[0010] S3, calculating the control gain of the main gas flow regulator, designing an adaptive gain scheduling controller for the main gas flow regulator, and fine-tuning the control gain of the main gas flow regulator according to the control effect;

[0011] S4. Calculate the control gain of the auxiliary gas flow regulator, design an adaptive gain scheduling controller for the auxiliary gas flow regulator, and fine-tune the control gain of the auxiliary gas flow regulator according to the control effect.

[0012] Furthermore, step S1 specifically includes:

[0013] S11. Based on the dual gas generator, the mathematical model of the flow regulation system of the solid fuel injection engine is constructed as follows:

[0014]

[0015] In the formula, is the internal pressure of the gas generator, is the external operating temperature of the engine, is the propellant thermodynamic coefficient, is the propellant density, is the propellant combustion area, is the burning rate coefficient of the solid propellant, is the pressure exponential coefficient, , is the free volume, Adjust throat area for gas generator, is the characteristic speed;

[0016] S12. Determine the overall gas flow regulation range of the solid-fuel jet engine based on the mathematical model of the solid-fuel jet engine flow regulation system. And the gas flow rate adjustment ;

[0017] S13. Calculate the maximum negative adjustment amount of the main gas generator gas flow according to the working state and adjustment range of the gas generator. ;

[0018] S14, based on the maximum negative adjustment of the main gas generator , design the auxiliary gas generator's charge column parameters and configure the flow regulating mechanism parameters.

[0019] Further, in step S14:

[0020] The drug column parameters include thermodynamic parameters and structural size parameters;

[0021] The flow regulating mechanism parameters include the gas flow regulating throat area and the gas flow regulating valve angle.

[0022] Further, step S2 specifically includes:

[0023] S21, adjust the overall gas flow Divided into main gas generator flow regulation and auxiliary gas flow regulation requirements , the overall gas flow regulation law conforms to the following formula:

[0024]

[0025] In the formula, Assign adjustment weights to the gas flow of the main gas generator, To adjust the base reference value for gas flow distribution;

[0026] S22. Calculate the gas flow distribution adjustment weight of the main gas generator , the calculation formula is as follows:

[0027]

[0028] In the formula, Assign weighted amplitude limits to the main gas flow. is the activation function, and the expression is , is the current gas flow regulation instruction demand change rate, and Assign adjustment weights to the gas flow of the main gas generator respectively The weight adjustment factor is appropriately given according to the gas flow adjustment range and working conditions. Adjust bias gain for gas flow;

[0029] S23, define the gas flow regulation bias gain Calculate the gas flow regulation bias gain as a function of the system positive zero value , the calculation formula is as follows:

[0030]

[0031] In the formula, Adjust bias gain for gas flow The amplitude limit of and They are respectively the gas flow adjustment bias gain The regulating factor, It represents the positive zero value of the current state transfer function of the mathematical model of the solid-fuel jet engine flow regulation system, and is used to describe the negative regulation intensity;

[0032] S24. Based on the constructed mathematical model of the solid-fuel jet engine flow control system, calculate the positive zero value of the current state transfer function of the mathematical model of the solid-fuel jet engine flow control system ;

[0033] S25: according to the gas flow command coordination and allocation scheme obtained in step S1, the gas flow adjustment command Convert to pressure regulation command ,as follows:

[0034]

[0035] According to the above-set regulation rules, during the gas flow regulation process, the flow distribution value of the main gas generator will appropriately decrease as the positive zero point position of the current system increases and the regulation rate decreases.

[0036] Further, step S24 specifically includes:

[0037] S241, linearize the mathematical model of the solid-fuel engine flow regulation system constructed in step S11, select the system free volume and pressure As scheduling variables, feature point division is performed:

[0038] The mathematical model of the solid jet engine flow regulation system constructed in step S11 is linearized by using the small disturbance linearization method. and pressure Next, rewrite the state equation of the system as follows:

[0039]

[0040]

[0041] S242, subtract the two formulas in step S241, and expand them after ignoring the high-order subterms to obtain:

[0042]

[0043] S243, performing Laplace transformation on the formula in step S242 to obtain a transfer function between the throat area of ​​the gas generator and the pressure of the gas generator ,as follows:

[0044]

[0045] In the formula, , , and All are greater than 0;

[0046] S244, linearize the formula in step S243 at its working point to obtain:

[0047]

[0048] S245, substituting the formula in step S243 into the formula in step S244, to obtain the transfer function between the throat area of ​​the gas generator and the gas flow rate as follows:

[0049]

[0050] In the formula, , , and All are greater than 0;

[0051] S246. The above steps indicate that the gas flow regulation system is a non-minimum phase system. Negative regulation is inevitable in its regulation process. The intensity of negative regulation can be determined by the positive zero value of the current state transfer function of the gas generator regulation system. As described, the real part of the zero point of the non-minimum phase system is .

[0052] Furthermore, step S3 specifically includes:

[0053] S31, using a PI controller as an adaptive gain scheduling controller for the main gas flow regulator, and obtaining a gas flow regulation transfer function, as follows:

[0054]

[0055] In the formula, is the pressure command, and A gain of an adaptive gain scheduling controller for a main gas flow regulator;

[0056] S32, the damping ratio and natural frequency The formula in step S31 is introduced and rewritten as follows:

[0057]

[0058] In the formula, , , ;

[0059] S33, perform inverse Laplace transform on the formula in step S32 to obtain the system unit step time domain response, as follows:

[0060]

[0061] In the formula, , , , , , , , An intermediate variable introduced to make the formula in step S33 more concise;

[0062] S34. According to the formula in step S33, the overshoot and rise time of the key response indicators of the system under the unit step time domain response are obtained as follows:

[0063]

[0064]

[0065] S35. The formula in step S34 establishes a gas flow regulation system , and response indicators and rise time The relationship between the characteristic point and the control index response of the gas flow rate is selected, and the formula in step S34 is solved to obtain the gain of the main gas flow regulator at the characteristic point. Value and Gain value;

[0066] S36. Based on the calculated gain of the main gas flow regulator, an adaptive gain scheduling controller of the main gas flow regulator is designed according to a table lookup method, and the control gain is fine-tuned according to the control effect through a mathematical simulation method to obtain a better control effect.

[0067] Further, step S4 specifically includes:

[0068] S41, using a PI controller as an adaptive gain scheduling controller for the auxiliary gas flow regulator to obtain a gas flow regulation transfer function as follows:

[0069]

[0070] In the formula, is the pressure command, and is a gain of an adaptive gain scheduling controller for an auxiliary gas flow regulator;

[0071] S42, the damping ratio and natural frequency The formula in step S41 is introduced and rewritten as follows:

[0072]

[0073] In the formula, , , ;

[0074] S43, perform inverse Laplace transform on the formula in step S42 to obtain the system unit step time domain response, as follows:

[0075]

[0076] In the formula, , , , , , , , An intermediate variable introduced to make the formula in step S43 more concise;

[0077] S44. According to the formula in step S43, the overshoot and rise time of the key response indicators of the system under the unit step time domain response are obtained as follows:

[0078]

[0079]

[0080] S45. The formula in step S44 establishes a gas flow regulation system , and response indicators and rise time The relationship between the two is selected, the gas flow control index response allowed at the characteristic point is selected, and the formula in step S44 is solved to obtain the gain of the auxiliary gas flow regulator at the characteristic point. Value and Gain value;

[0081] S46. According to the calculated gain of the auxiliary gas flow regulator, an adaptive gain scheduling controller of the auxiliary gas flow regulator is designed according to a table lookup method, and the control gain is appropriately adjusted according to the simulation calculation result through a mathematical simulation method.

[0082] Compared with the prior art, the present invention has the following advantages:

[0083] 1. The present invention provides a method for suppressing negative regulation of gas flow rate regulation based on a dual gas generator configuration, which can utilize the negative regulation offset effect of the dual gas generators to achieve a negative regulation suppression effect of the gas flow entering the afterburner chamber.

[0084] 2. The present invention provides a method for suppressing negative regulation of gas flow rate regulation based on a dual gas generator configuration. The gas flow distribution strategy designed by the present invention can dynamically and adaptively adjust and distribute the gas flow instructions of the main and auxiliary gas generators according to the current negative regulation state, thereby realizing adaptive adjustment of the negative regulation suppression intensity.

[0085] 3. The existing gas flow negative regulation suppression strategy can only achieve the reduction and weakening of negative regulation by extending the regulation time. The negative regulation suppression strategy of the dual gas generator proposed in the present invention suppresses the negative regulation effect from the structural design without reducing the regulation rate, thus solving the conflict between the negative regulation time and the negative regulation amount.

[0086] Based on the above reasons, the present invention can be widely promoted in the fields of solid ramjet engine control and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0088] Figure 1 This is the architecture diagram of the comprehensive control scheme for the gas flow of the dual-gas generator solid-fuel rocket engine of the present invention.

[0089] Figure 2 It is a schematic diagram of the gas flow regulation instructions and the main and auxiliary gas generator flow regulation distribution scheme under the dual gas generator configuration of the present invention.

[0090] Figure 3 It is a schematic diagram of the overall gas flow response and the flow response of the main and auxiliary gas generators in the dual gas generator configuration of the present invention. DETAILED DESCRIPTION

[0091] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0092] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0093] In order to improve the negative regulation characteristics of the gas flow regulation process of solid rocket ramjet engines, such as Figure 1 As shown, the present invention provides a method for suppressing negative regulation of gas flow regulation based on a dual gas generator configuration, comprising:

[0094] S1. Based on the dual gas generator, a flow regulation system for the solid fuel injection engine is constructed, and the main gas flow regulator and the auxiliary gas flow regulator are designed. The regulation range of the main gas flow regulator is set opposite to the regulation trend of the auxiliary gas flow regulator. The hedging effect of the negative regulation of the dual gas generator is used to weaken the negative regulation peak of the overall gas entering the afterburner chamber.

[0095] S2. Design a gas flow regulation and distribution control scheme, dynamically distribute the gas flow to the main gas flow regulator and the auxiliary gas flow regulator according to the required gas flow regulation amount, and convert the gas flow tracking instruction into a pressure tracking instruction;

[0096] S3, calculating the control gain of the main gas flow regulator, designing an adaptive gain scheduling controller for the main gas flow regulator, and fine-tuning the control gain of the main gas flow regulator according to the control effect;

[0097] S4. Calculate the control gain of the auxiliary gas flow regulator, design an adaptive gain scheduling controller for the auxiliary gas flow regulator, and fine-tune the control gain of the auxiliary gas flow regulator according to the control effect.

[0098] In specific implementation, as a preferred embodiment of the present invention, step S1 specifically includes:

[0099] S11. Based on the dual gas generator, the mathematical model of the flow regulation system of the solid fuel injection engine is constructed as follows:

[0100]

[0101] In the formula, is the internal pressure of the gas generator, is the external operating temperature of the engine, is the propellant thermodynamic coefficient, is the propellant density, is the propellant combustion area, is the burning rate coefficient of the solid propellant, is the pressure exponential coefficient, , is the free volume, Adjust throat area for gas generator, is the characteristic speed;

[0102] S12. Determine the overall gas flow regulation range of the solid-fuel jet engine based on the mathematical model of the solid-fuel jet engine flow regulation system. And the gas flow rate adjustment ;

[0103] S13. Calculate the maximum negative adjustment amount of the main gas generator gas flow according to the working state and adjustment range of the gas generator. ;

[0104] S14, based on the maximum negative adjustment of the main gas generator , design the auxiliary gas generator's charge column parameters and configure the flow regulating mechanism parameters.

[0105] In specific implementation, as a preferred embodiment of the present invention, in step S14:

[0106] The drug column parameters include thermodynamic parameters and structural size parameters;

[0107] The flow regulating mechanism parameters include the gas flow regulating throat area and the gas flow regulating valve angle.

[0108] In specific implementation, as a preferred embodiment of the present invention, step S2 specifically includes:

[0109] S21, adjust the overall gas flow Divided into main gas generator flow regulation and auxiliary gas flow regulation requirements , the overall gas flow regulation law conforms to the following formula:

[0110]

[0111] In the formula, Assign adjustment weights to the gas flow of the main gas generator, To adjust the base reference value for gas flow distribution;

[0112] S22. Calculate the gas flow distribution adjustment weight of the main gas generator , the calculation formula is as follows:

[0113]

[0114] In the formula, Assign weighted amplitude limits to the main gas flow. is the activation function, and the expression is , is the current gas flow regulation instruction demand change rate, and Assign adjustment weights to the gas flow of the main gas generator respectively The weight adjustment factor is appropriately given according to the gas flow adjustment range and working conditions. Adjust bias gain for gas flow;

[0115] S23, define the gas flow regulation bias gain Calculate the gas flow regulation bias gain as a function of the system positive zero value , the calculation formula is as follows:

[0116]

[0117] In the formula, Adjust bias gain for gas flow The amplitude limit of and They are respectively the gas flow adjustment bias gain The regulating factor, It represents the positive zero value of the current state transfer function of the mathematical model of the solid-fuel jet engine flow regulation system, and is used to describe the negative regulation intensity;

[0118] S24. Based on the constructed mathematical model of the solid-fuel jet engine flow control system, calculate the positive zero value of the current state transfer function of the mathematical model of the solid-fuel jet engine flow control system ;

[0119] S25: according to the gas flow command coordination and allocation scheme obtained in step S1, the gas flow adjustment command Convert to pressure regulation command ,as follows:

[0120]

[0121] According to the above-set regulation rules, during the gas flow regulation process, the flow distribution value of the main gas generator will be appropriately reduced as the positive zero position of the current system increases and the regulation rate decreases. Figure 2 The figure shows a schematic diagram of the gas flow distribution scheme for dual gas generators.

[0122] In specific implementation, as a preferred embodiment of the present invention, step S24 specifically includes:

[0123] S241, linearize the mathematical model of the solid-fuel engine flow regulation system constructed in step S11, select the system free volume and pressure As scheduling variables, feature point division is performed:

[0124] The mathematical model of the solid jet engine flow regulation system constructed in step S11 is linearized by using the small disturbance linearization method. and pressure Next, rewrite the state equation of the system as follows:

[0125]

[0126]

[0127] S242, subtract the two formulas in step S241, and expand them after ignoring the high-order subterms to obtain:

[0128]

[0129] S243, performing Laplace transformation on the formula in step S242 to obtain a transfer function between the throat area of ​​the gas generator and the pressure of the gas generator ,as follows:

[0130]

[0131] In the formula, , , and All are greater than 0;

[0132] S244, linearize the formula in step S243 at its working point to obtain:

[0133]

[0134] S245, substituting the formula in step S243 into the formula in step S244, to obtain the transfer function between the throat area of ​​the gas generator and the gas flow rate as follows:

[0135]

[0136] In the formula, , , and All are greater than 0;

[0137] S246. The above steps indicate that the gas flow regulation system is a non-minimum phase system. Negative regulation is inevitable in its regulation process. The intensity of negative regulation can be determined by the positive zero value of the current state transfer function of the gas generator regulation system. As described, the real part of the zero point of the non-minimum phase system is .

[0138] In specific implementation, as a preferred embodiment of the present invention, step S3 specifically includes:

[0139] S31, using a PI controller as an adaptive gain scheduling controller for the main gas flow regulator, and obtaining a gas flow regulation transfer function, as follows:

[0140]

[0141] In the formula, is the pressure command, and A gain of an adaptive gain scheduling controller for a main gas flow regulator;

[0142] S32, the damping ratio and natural frequency The formula in step S31 is introduced and rewritten as follows:

[0143]

[0144] In the formula, , , ;

[0145] S33, perform inverse Laplace transform on the formula in step S32 to obtain the system unit step time domain response, as follows:

[0146]

[0147] In the formula, , , , , , , , An intermediate variable introduced to make the formula in step S33 more concise;

[0148] S34. According to the formula in step S33, the overshoot and rise time of the key response indicators of the system under the unit step time domain response are obtained as follows:

[0149]

[0150]

[0151] S35. The formula in step S34 establishes a gas flow regulation system , and response indicators and rise time The relationship between the characteristic point and the control index response of the gas flow rate is selected, and the formula in step S34 is solved to obtain the gain of the main gas flow regulator at the characteristic point. Value and Gain value;

[0152] S36. Based on the calculated gain of the main gas flow regulator, an adaptive gain scheduling controller of the main gas flow regulator is designed according to a table lookup method, and the control gain is fine-tuned according to the control effect through a mathematical simulation method to obtain a better control effect.

[0153] In specific implementation, as a preferred embodiment of the present invention, step S4 specifically includes:

[0154] S41, using a PI controller as an adaptive gain scheduling controller for the auxiliary gas flow regulator to obtain a gas flow regulation transfer function as follows:

[0155]

[0156] In the formula, is the pressure command, and is a gain of an adaptive gain scheduling controller for an auxiliary gas flow regulator;

[0157] S42, the damping ratio and natural frequency The formula in step S41 is introduced and rewritten as follows:

[0158]

[0159] In the formula, , , ;

[0160] S43, perform inverse Laplace transform on the formula in step S42 to obtain the system unit step time domain response, as follows:

[0161]

[0162] In the formula, , , , , , , , An intermediate variable introduced to make the formula in step S43 more concise;

[0163] S44. According to the formula in step S43, the overshoot and rise time of the key response indicators of the system under the unit step time domain response are obtained as follows:

[0164]

[0165]

[0166] S45. The formula in step S44 establishes a gas flow regulation system , and response indicators and rise time The relationship between the two is selected, the gas flow control index response allowed at the characteristic point is selected, and the formula in step S44 is solved to obtain the gain of the auxiliary gas flow regulator at the characteristic point. Value and Gain value;

[0167] S46, according to the calculated gain of the auxiliary gas flow regulator, according to the table lookup method, design an adaptive gain scheduling controller for the auxiliary gas flow regulator, and adjust the control gain appropriately according to the simulation calculation results through a mathematical simulation method. Figure 3 As shown, the overall gas flow response and the main and auxiliary gas generator flow responses under the dual gas generator configuration.

[0168] In summary, the method for suppressing negative regulation of gas flow regulation based on a dual gas generator configuration provided by the present invention can eliminate or suppress the negative regulation characteristics of a non-minimum phase system of a gas flow regulation system based on a dual gas generator configuration in combination with a reasonable and effective gas flow instruction allocation scheme and a gas flow control law, thereby achieving the transition from passive relief to active suppression of negative regulation of gas flow.

[0169] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for suppressing negative regulation of gas flow regulation based on a dual gas generator configuration, characterized in that: include: S1. Based on the dual gas generator, a flow regulation system for the solid fuel injection engine is constructed, and the main gas flow regulator and the auxiliary gas flow regulator are designed. The regulation range of the main gas flow regulator is set opposite to the regulation trend of the auxiliary gas flow regulator. The hedging effect of the negative regulation of the dual gas generator is used to weaken the negative regulation peak of the overall gas entering the afterburner chamber. S2. Design a gas flow regulation and distribution control scheme, dynamically distribute the gas flow to the main gas flow regulator and the auxiliary gas flow regulator according to the required gas flow regulation amount, and convert the gas flow tracking instruction into a pressure tracking instruction; S3, calculating the control gain of the main gas flow regulator, designing an adaptive gain scheduling controller for the main gas flow regulator, and fine-tuning the control gain of the main gas flow regulator according to the control effect; S4. Calculate the control gain of the auxiliary gas flow regulator, design an adaptive gain scheduling controller for the auxiliary gas flow regulator, and fine-tune the control gain of the auxiliary gas flow regulator according to the control effect.

2. A method for suppressing negative regulation of gas flow regulation based on a dual gas generator configuration according to claim 1, characterized in that: Step S1 specifically includes: S11. Based on the dual gas generator, the mathematical model of the flow regulation system of the solid fuel injection engine is constructed as follows: In the formula, is the internal pressure of the gas generator, is the external operating temperature of the engine, is the propellant thermodynamic coefficient, is the propellant density, is the propellant combustion area, is the burning rate coefficient of the solid propellant, is the pressure exponential coefficient, , is the free volume, Adjust throat area for gas generator, is the characteristic speed; S12. Determine the overall gas flow regulation range of the solid-fuel jet engine based on the mathematical model of the solid-fuel jet engine flow regulation system. And the gas flow rate adjustment ; S13. Calculate the maximum negative adjustment of the gas flow of the main gas generator according to the working state and adjustment range of the gas generator. ; S14, based on the maximum negative adjustment of the main gas generator , design the auxiliary gas generator's charge column parameters and configure the flow regulating mechanism parameters.

3. A method for suppressing negative regulation of gas flow regulation based on a dual gas generator configuration according to claim 2, characterized in that: In step S14: The drug column parameters include thermodynamic parameters and structural size parameters; The flow regulating mechanism parameters include the gas flow regulating throat area and the gas flow regulating valve angle.

4. A method for suppressing negative regulation of gas flow regulation based on a dual gas generator configuration according to claim 1, characterized in that: Step S2 specifically includes: S21, adjust the overall gas flow Divided into main gas generator flow regulation and auxiliary gas flow regulation requirements , the overall gas flow regulation law conforms to the following formula: In the formula, Assign adjustment weights to the gas flow of the main gas generator, To adjust the base reference value for gas flow distribution; S22. Calculate the gas flow distribution adjustment weight of the main gas generator , the calculation formula is as follows: In the formula, Assign weighted amplitude limits to the main gas flow. is the activation function, and the expression is , is the current gas flow regulation instruction demand change rate, and Assign adjustment weights to the gas flow of the main gas generator respectively The weight adjustment factor is appropriately given according to the gas flow adjustment range and working conditions. Adjust bias gain for gas flow; S23, define the gas flow regulation bias gain Calculate the gas flow regulation bias gain as a function of the system positive zero value , the calculation formula is as follows: In the formula, Adjust bias gain for gas flow The amplitude limit of and They are respectively the gas flow adjustment bias gain The regulating factor, It represents the positive zero value of the current state transfer function of the mathematical model of the solid-fuel engine flow regulation system, and is used to describe the negative regulation intensity; S24. Based on the constructed mathematical model of the solid-fuel jet engine flow control system, calculate the positive zero value of the current state transfer function of the mathematical model of the solid-fuel jet engine flow control system ; S25: according to the gas flow command coordination and allocation scheme obtained in step S1, the gas flow adjustment command Convert to pressure regulation command ,as follows: According to the above-set regulation rules, during the gas flow regulation process, the flow distribution value of the main gas generator will appropriately decrease as the positive zero point position of the current system increases and the regulation rate decreases.

5. A method for suppressing negative regulation of gas flow regulation based on a dual gas generator configuration according to claim 4, characterized in that: Step S24 specifically includes: S241, linearize the mathematical model of the solid-fuel engine flow regulation system constructed in step S11, select the system free volume and pressure As scheduling variables, feature point division is performed: The mathematical model of the solid jet engine flow regulation system constructed in step S11 is linearized by using the small disturbance linearization method. and pressure Next, rewrite the state equation of the system as follows: S242, subtract the two formulas in step S241, and expand them after ignoring the high-order subterms to obtain: S243, performing Laplace transformation on the formula in step S242 to obtain a transfer function between the throat area of ​​the gas generator and the pressure of the gas generator ,as follows: In the formula, , , and All are greater than 0; S244, linearize the formula in step S243 at its working point to obtain: S245, substituting the formula in step S243 into the formula in step S244, to obtain the transfer function between the throat area of ​​the gas generator and the gas flow rate as follows: In the formula, , , and All are greater than 0; S246. The above steps indicate that the gas flow regulation system is a non-minimum phase system. Negative regulation is inevitable in its regulation process. The intensity of negative regulation can be determined by the positive zero value of the current state transfer function of the gas generator regulation system. As described, the real part of the zero point of the non-minimum phase system is .

6. A method for suppressing negative regulation of gas flow regulation based on a dual gas generator configuration according to claim 1, characterized in that: Step S3 specifically includes: S31, using a PI controller as an adaptive gain scheduling controller for the main gas flow regulator, and obtaining a gas flow regulation transfer function, as follows: In the formula, is the pressure command, and A gain of an adaptive gain scheduling controller for a main gas flow regulator; S32, the damping ratio and natural frequency The formula in step S31 is introduced and rewritten as follows: In the formula, , , ; S33, perform inverse Laplace transform on the formula in step S32 to obtain the system unit step time domain response, as follows: In the formula, , , , , , , , An intermediate variable introduced to make the formula in step S33 more concise; S34. According to the formula in step S33, the overshoot and rise time of the key response indicators of the system under the unit step time domain response are obtained as follows: S35. The formula in step S34 establishes a gas flow regulation system , and response indicators and rise time The relationship between the characteristic point and the control index response of the gas flow rate is selected, and the formula in step S34 is solved to obtain the gain of the main gas flow regulator at the characteristic point. Value and Gain value; S36. Based on the calculated gain of the main gas flow regulator, an adaptive gain scheduling controller of the main gas flow regulator is designed according to a table lookup method, and the control gain is fine-tuned according to the control effect through a mathematical simulation method to obtain a better control effect.

7. A method for suppressing negative regulation of gas flow regulation based on a dual gas generator configuration according to claim 1, characterized in that: Step S4 specifically includes: S41, using a PI controller as an adaptive gain scheduling controller for the auxiliary gas flow regulator to obtain a gas flow regulation transfer function as follows: In the formula, is the pressure command, and is a gain of an adaptive gain scheduling controller for an auxiliary gas flow regulator; S42, the damping ratio and natural frequency The formula in step S41 is introduced and rewritten as follows: In the formula, , , ; S43, perform inverse Laplace transform on the formula in step S42 to obtain the system unit step time domain response, as follows: In the formula, , , , , , , , An intermediate variable introduced to make the formula in step S43 more concise; S44. According to the formula in step S43, the overshoot and rise time of the key response indicators of the system under the unit step time domain response are obtained as follows: S45. The formula in step S44 establishes a gas flow regulation system , and response indicators and rise time The relationship between the two is selected, the gas flow control index response allowed at the characteristic point is selected, and the formula in step S44 is solved to obtain the gain of the auxiliary gas flow regulator at the characteristic point. Value and Gain value; S46. According to the calculated gain of the auxiliary gas flow regulator, an adaptive gain scheduling controller of the auxiliary gas flow regulator is designed according to a table lookup method, and the control gain is appropriately adjusted according to the simulation calculation result through a mathematical simulation method.

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