Nonlinear sliding mode superhelix control method for thermal test system with multi-temperature-zone structure

Abstract

The invention discloses a nonlinear sliding mode superhelix control method for a multi-temperature-zone structure thermal test system, and relates to the field of aircraft complex environment simulation, and the method comprises the steps: building a time sequence heat transfer model of the multi-temperature-zone structure thermal test system based on the law of conservation of energy; defining a system state variable, and according to the system state variable, converting the time sequence heat transfer model of the multi-temperature-zone structure thermal test system into a state control equation; constructing a nonlinear sliding mode surface by using a state proportional term and an integral term of a thermal test system of the multi-temperature-zone structure; and introducing an adaptive superhelix reaching law to construct a nonlinear sliding mode superhelix controller of the thermal test system with the multi-temperature-zone structure. According to the nonlinear sliding mode superhelix control method for the multi-temperature-zone structure thermal test system, the problems of coupling, thermal radiation high-order terms, input variable heat loss fluctuation and the like of existing multi-temperature zones are solved, inhibition of concentrated disturbance is achieved, and the tracking precision of the multi-temperature zones is improved.

Description

Technical Field

[0001] The invention relates to the technical field of complex environment simulation for aircraft, in particular to a nonlinear sliding mode super-helical control method for a multi-temperature zone structural thermal test system. Background Art

[0002] Hypersonic vehicles have a non-uniform aerodynamic thermal environment, so the structural thermal test system needs to have a multi-temperature zone tracking function, which means that its tracking control process needs to solve the problems of high coupling of multi-temperature zones in the controlled system itself and nonlinearity in the multi-dimensional heat transfer process. Conventional controllers such as PID control or state feedback linear control cannot solve existing nonlinear problems, such as high-order terms in thermal radiation and heat loss fluctuations in input variables. Summary of the invention

[0003] In view of the above problems existing in the prior art, the present invention is proposed.

[0004] Therefore, the problem to be solved by the present invention is that there are nonlinear problems in the highly coupled multi-temperature zones and multi-dimensional heat transfer process of the controlled system itself, making it difficult to establish an effective nonlinear controller and to achieve tracking control of multiple temperature zones.

[0005] To solve the above technical problems, the present invention provides the following technical solutions: a nonlinear sliding mode superhelix control method for a multi-temperature zone structural thermal test system, which includes: establishing a time-series heat transfer model of the multi-temperature zone structural thermal test system based on the law of conservation of energy; defining system state variables, and converting the time-series heat transfer model of the multi-temperature zone structural thermal test system into a state control equation according to the system state variables; constructing a nonlinear sliding mode surface by using the state proportional term and integral term of the multi-temperature zone structural thermal test system; and introducing an adaptive superhelix reaching law to construct a nonlinear sliding mode superhelix controller for the multi-temperature zone structural thermal test system.

[0006] As a preferred solution of the nonlinear sliding mode super-helix control method of the multi-temperature zone structure thermal test system described in the present invention, the multi-temperature zone structure thermal test system includes a non-contact radiation heater, and the non-contact radiation heater is a linear iodine tungsten filament quartz lamp group.

[0007] As a preferred scheme of the nonlinear sliding mode superhelix control method of the multi-temperature zone structure thermal test system described in the present invention, the multi-temperature zone structure thermal test system satisfies the law of conservation of energy, and the linear iodine tungsten filament quartz lamp group transfers part of its input electrical energy to the test piece group to be tested in the form of thermal convection and thermal radiation.

[0008] As a preferred solution of the nonlinear sliding mode super-helix control method of the multi-temperature zone structure thermal test system of the present invention, the sequential heat transfer model of the multi-temperature zone structure thermal test system is:

[0009] Q e (t) = Q i (t)+C r Q r (t)+C cv Q cv (t)+C loss Q los s(t)

[0010] Q loss (t) = Q cd (t)+Q rt (t)+Q sd (t)

[0011] αQ r (t)+βQ cv (t) = Q ti (t)+C tr Q tr (t)+C tcv Q tcv (t)+C tloss Q tloss (t)

[0012] Among them, Q e (t)∈R f×1 is the power matrix input to the f linear tungsten iodine filament quartz lamp groups at time t; Q i (t)∈R f×1 is the internal energy matrix of the f linear iodine tungsten filament quartz lamp groups at time t; C r ∈R f×f is the thermal radiation coupling factor matrix outputted outward by the f linear iodine-tungsten filament quartz lamp groups; Q r (t)∈R f×1 is the thermal radiation energy matrix outputted outward by the f linear iodine tungsten filament quartz lamp groups at time t; C cv ∈R f×f is the heat convection coupling factor matrix outputted outward by the f linear iodine-tungsten filament quartz lamp groups; Q cv (t)∈R f×1 is the heat convection energy matrix outputted outward by the f linear iodine tungsten filament quartz lamp groups at time t; C loss ∈R f×f is the coupling factor matrix of the energy loss of the f linear iodine tungsten filament quartz lamp groups; Q loss (t)∈R f×1 is the energy matrix of heat loss of the f linear iodine tungsten filament quartz lamp groups at time t, including: Q cd (t)∈R f×1 is the heat conduction energy matrix outputted outward by the f linear iodine-tungsten filament quartz lamp groups at time t; Qrt (t)∈R f×1 is the thermal energy matrix of the filament resistance of the f linear iodine-tungsten filament quartz lamp group at time t; Q sd (t)∈R f×1 is the thermal expansion acoustic energy matrix of the f linear iodine tungsten filament quartz lamp groups at time t; α∈R h×f is the absorption factor matrix of the thermal radiation coupling output by the f linear iodine-tungsten filament quartz lamp groups and the h test pieces to be tested; β∈R h×f is the absorption factor matrix of the heat convection coupling output by the f linear iodine-tungsten filament quartz lamp groups and the h test piece groups to be tested; Q ti (t)∈R h×1 is the internal energy matrix of the h test pieces to be tested at time t; C tr ∈R h×h is the thermal radiation coupling factor matrix outputted to the outside by the h test pieces; Q tr (t)∈R h×1 is the thermal radiation energy matrix output by the h test pieces at time t; C tcv ∈R h×h is the thermal convection coupling factor matrix outputted to the outside by the h test pieces; Q tcv (t)∈R h×1 is the heat convection energy matrix outputted by the h test pieces at time t; C tloss ∈R h×h is the coupling factor matrix of other additional loss energy outputted to the outside by the h test pieces; Q tloss (t)∈R h×1 is the additional loss energy matrix output by the h test pieces to be tested at time t.

[0013] As a preferred solution of the nonlinear sliding mode super-helical control method of the multi-temperature zone structure thermal test system of the present invention, the input power matrix of the f linear iodine tungsten filament quartz lamp groups is:

[0014]

[0015] Among them, Q e1 (t), Q e2 (t),…,Q ef (t) is an element of the input power matrix of the f linear iodine-tungsten filament quartz lamp groups, which are the input power of the first group of linear iodine-tungsten filament quartz lamps, the input power of the second group of linear iodine-tungsten filament quartz lamps, and the input power of the fth group of linear iodine-tungsten filament quartz lamps; U1(t), U2(t), ..., U f (t) is the input voltage of the f linear iodine tungsten filament quartz lamp groups; R1, R2, ..., Rf The filament resistance of the f linear tungsten iodine filament quartz lamp group satisfies: R1=R2=…=R f ;

[0016] The internal energy matrix of the linear iodine tungsten filament quartz lamp set itself is:

[0017]

[0018] Among them, Q i1 (t), Q i2 (t),…,Q if (t) is an element of the internal energy matrix of the f linear iodine-tungsten filament quartz lamp groups, which are the internal energy stored in the first group of linear iodine-tungsten filament quartz lamps, the internal energy stored in the second group of linear iodine-tungsten filament quartz lamps, and the internal energy stored in the fth group of linear iodine-tungsten filament quartz lamps; c1, c2, ..., c f is the specific heat capacity of f linear iodine tungsten filament quartz lamps, satisfying: c1 = c2 = ... = c f ; m1, m2, ..., m f is the mass of f linear iodine-tungsten filament quartz lamps, satisfying: m1 = m2 = ... = m f ; T1(t), T2(t), …, T f (t) is the temperature of the f linear iodine-tungsten filament quartz lamp group; T0 is the initial temperature of the f linear iodine-tungsten filament quartz lamp group;

[0019] The thermal radiation energy matrix outputted by the f linear iodine-tungsten filament quartz lamp groups is:

[0020]

[0021] Among them, Q r1 (t), Q r2 (t),…,Q rf (t) is an element of the thermal radiation energy matrix outputted by the f linear iodine-tungsten filament quartz lamp groups, which are the thermal radiation energy outputted by the first group of linear iodine-tungsten filament quartz lamps, the thermal radiation energy outputted by the second group of linear iodine-tungsten filament quartz lamps, and the thermal radiation energy outputted by the fth group of linear iodine-tungsten filament quartz lamps; ∈ quartz1 ,∈ quartz2 ,…,∈ quartzf is the thermal radiation coefficient of the thermal radiation energy output by the f linear iodine tungsten filament quartz lamp groups, satisfying: ∈ quartz1 =∈ quartz2 =…=∈ quartzf ; σ is the Stefan-Boltzmann constant; A quartz1 , A quartz2 , …, A quartzf is the surface area of ​​f linear iodine tungsten filament quartz lamps, satisfying: Aquartz1 =A quartz2 =…=A quartzf ;

[0022] The heat convection energy matrix outputted by the f linear iodine tungsten filament quartz lamp groups is:

[0023]

[0024] Among them, Q cv1 (t), Q cv2 (t),…,Q cvf (t) is an element of the heat convection energy matrix outputted by the f linear iodine-tungsten filament quartz lamp groups, which are the heat convection energy outputted by the first group of linear iodine-tungsten filament quartz lamps, the heat convection energy outputted by the second group of linear iodine-tungsten filament quartz lamps, and the heat convection energy outputted by the fth group of linear iodine-tungsten filament quartz lamps; h quartz1 、h quartz2 ,…,h quartzf is the heat convection coefficient of the heat convection energy output by the f linear iodine tungsten filament quartz lamp groups, satisfying: h quartz1 =h quartz2 =…=h quartzf ;

[0025] The internal energy matrix of the h test pieces to be tested:

[0026]

[0027] Among them, Q ti1 (t), Q ti2 (t),…,Q tih (t) is the element of the internal energy matrix of the h test pieces to be tested, which are the internal energy stored in the first group of test pieces to be tested, the internal energy stored in the second group of test pieces to be tested, and the internal energy stored in the hth group of test pieces to be tested; c t1 、c t2 ,…,c th is the specific heat capacity of the group of h test pieces to be tested; m t1 、m t2 ,…,m th is the mass of the h test pieces to be tested; T t1 (t), T t2 (t), …, T th (t) is the temperature of the group of h test pieces to be tested;

[0028] The thermal radiation energy matrix output by h test pieces is:

[0029]

[0030] Among them, Qtr1 (t), Q tr2 (t),…,Q trh (t) is an element of the matrix of the thermal radiation energy outputted by the h test pieces to be tested, which are the thermal radiation energy outputted by the first group of test pieces to be tested, the thermal radiation energy outputted by the second group of test pieces to be tested, and the thermal radiation energy outputted by the hth group of test pieces to be tested; ∈ test1 ,∈ test2 ,…,∈ testh is the thermal radiation coefficient of the thermal radiation energy output by the h test pieces to be tested, satisfying: ∈ test1 =∈ test2 =…=∈ testh ; A test1 , A test2 , …, A testh is the surface area of ​​h test pieces to be tested;

[0031] The heat convection energy matrix output by the h test pieces to be tested is:

[0032]

[0033] Among them, Q tcv1 (t), Q tcv2 (t),…,Q tcvh (t) is an element of the thermal convection energy matrix outputted by the h test pieces groups to be tested, which are: the thermal convection energy outputted by the first group of test pieces to be tested, the thermal convection energy outputted by the second group of test pieces to be tested, and the thermal convection energy outputted by the hth group of test pieces to be tested; h test1 、h test2 ,…,h testh is the heat convection coefficient of the heat convection energy output by the h test pieces to be tested, satisfying: test1 =h test2 =…=h testh .

[0034] As a preferred solution of the nonlinear sliding mode super-helical control method of the multi-temperature zone structural thermal test system of the present invention, wherein: the system state variable includes a system state input variable and a system state output variable, wherein the system state input variable is:

[0035]

[0036] Where u(t)∈R f×1 ;

[0037] The system state output variable is:

[0038] x1=[T t1 (t) Tt2 (t) … T th (t)] T

[0039] x2=[T1(t) T2(t) … T f (t)] T

[0040] Where x1∈R h×1 ; x2∈R f×1 .

[0041] As a preferred solution of the nonlinear sliding mode super-helical control method of the multi-temperature zone structure thermal test system of the present invention, the state control equation is:

[0042]

[0043] Among them, R1c1m1=R1c2m2=…=R1c f m f =c1;R1∈ quartz1 σA quartz1 =R1∈ quartz2 σA quartz2 =…=R1∈ quartzf σA quartzf =c2;R1h quartz1 A quartz1 =R1h quartz2 A quartz2 =…=R1h quartzf A quartzf =c3; D1 = d1 + d0; ∈ quartz1 σA quartz1 =c4;h quartz1 A quartz1 =c5;c t1 m t1 =c t2 m t2 =…=c th m th =c6;∈ test1 σA test1 =∈ test2 σA test2 =…=∈ testh σA testh =c7;h test1 A test1 =h test2 A test2 =…=h testh A testh =c8; D2 = d2 + d t0 ;

[0044]

[0045] As a preferred solution of the nonlinear sliding mode super-helix control method of the multi-temperature zone structure thermal test system of the present invention, the nonlinear sliding mode surface is:

[0046] s(t)=k1x1+k2x2+k3∫x1dt

[0047] Among them, k1, k2, and k3 are parameter adjustment gains; k1x1 and k2x2 are proportional terms of the state of the multi-temperature zone structural thermal test system; and k3∫x1dt is the integral term of the state of the multi-temperature zone structural thermal test system.

[0048] As a preferred solution of the nonlinear sliding mode superhelix control method of the multi-temperature zone structure thermal test system of the present invention, the adaptive superhelix reaching law is:

[0049]

[0050]

[0051] a2=2a1

[0052] in, is the adaptation rate; a1, a2, a * , b1, b2, b3, and b4 are parameter adjustment gains.

[0053] As a preferred solution of the nonlinear sliding mode superhelix control method of the multi-temperature zone structure thermal test system of the present invention, the nonlinear sliding mode superhelix controller:

[0054]

[0055] The beneficial effects of the present invention are as follows: the nonlinear sliding mode super-helical control method of the multi-temperature zone structural thermal test system proposed in the present invention solves the existing problems of coupling of multiple temperature zones, high-order terms of thermal radiation, fluctuations in heat loss of input variables, etc., and realizes the suppression of concentrated disturbances, thereby improving the tracking accuracy of multiple temperature zones. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0057] Figure 1 This is a flow chart of the nonlinear sliding mode superhelix control method for the multi-temperature zone structural thermal test system described in Example 1.

[0058] Figure 2This is a two-dimensional dimensional diagram of the land-based hypersonic missile that is the test object described in Example 2.

[0059] Figure 3 This is a schematic diagram of the two-dimensional flow field division of the test object land-based hypersonic missile described in Example 2.

[0060] Figure 4 This is the finite element simulation result of the land-based hypersonic missile, which is the test object described in Example 2.

[0061] Figure 5 This is a schematic diagram of the layout of the quartz lamp group in the warhead part of the land-based hypersonic missile, which is the test object described in Example 2.

[0062] Figure 6 This is a simulation result diagram of the target tracking temperature zone 1 of the control method of the present invention (method 1) in Example 2 compared with the traditional sliding mode control method (method 2) and the traditional PID control method (method 3).

[0063] Figure 7 It is a partially enlarged diagram of the simulation results of tracking the target in temperature zone 1 of the control method of the present invention (method 1) in Example 2, compared with the traditional sliding mode control method (method 2) and the traditional PID control method (method 3).

[0064] Figure 8 This is a simulation result diagram of the target tracking temperature zone 2 of the control method of the present invention (method 1) in Example 2 compared with the traditional sliding mode control method (method 2) and the traditional PID control method (method 3).

[0065] Fig. 9 It is a partially enlarged diagram of the simulation results of tracking the target in temperature zone 2 of the control method of the present invention (method 1) in Example 2, compared with the traditional sliding mode control method (method 2) and the traditional PID control method (method 3). DETAILED DESCRIPTION

[0066] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0067] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0068] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it an embodiment that is mutually exclusive with other embodiments, either individually or selectively.

[0069] Example 1, reference Figure 1 , which is the first embodiment of the present invention, provides a nonlinear sliding mode super-helical control method for a multi-temperature zone structural thermal test system.

[0070] First of all, it should be explained that the multi-temperature zone structural thermal test system includes devices such as non-contact radiation heater, electric power regulation device, calorimetric sensor, and temperature transmitter.

[0071] The non-contact radiation heater uses a linear iodine tungsten filament quartz lamp group, the electric power regulation device uses a thyristor rectifier, the calorimetric sensor uses a K-type thermocouple with a nickel-based high-temperature alloy probe, and the temperature transmitter uses a thermocouple input isolation safety barrier.

[0072] Based on the above device, the nonlinear sliding mode super-helix control method of the multi-temperature zone structure thermal test system of the present invention includes:

[0073] S1: Based on the law of conservation of energy, a sequential heat transfer model of the multi-temperature zone structural thermal test system is established.

[0074] Specifically, the multi-temperature zone structure thermal test system satisfies the law of conservation of energy. The f linear iodine tungsten filament quartz lamp groups input electrical energy, and partially transfer the energy to the h test pieces to be tested in the main way of heat convection and heat radiation, so as to test their thermal protection performance. In this embodiment, the test piece group to be tested is a hypersonic aircraft, specifically a land-based hypersonic missile. Therefore, based on the law of conservation of energy, the time-series heat transfer model of the multi-temperature zone structure thermal test system is established as follows:

[0075] Q e (t) = Q i (t)+C r Q r (t)+C cv Q cv (t)+C loss Q loss (t)

[0076] Q loss (t) = Q cd (t)+Q rt (t)+Q sd (t)

[0077] αQ r (t)+βQ cv(t) = Q ti (t)+C tr Q tr (t)+C tcv Q tcv (t)+C tloss Q tloss (t)

[0078] Among them, Q e (t)∈R f×1 is the input power matrix of f linear iodine tungsten filament quartz lamp groups at time t; Q i (t)∈R f×1 is the internal energy matrix of the f linear iodine tungsten filament quartz lamp group at time t; C r ∈R f×f is the thermal radiation coupling factor matrix outputted by f linear iodine-tungsten filament quartz lamp groups;

[0079] Q r (t)∈R f×1 is the thermal radiation energy matrix output by f linear iodine-tungsten filament quartz lamp groups at time t;

[0080] C cv ∈R f×f is the thermal convection coupling factor matrix outputted by f linear iodine-tungsten filament quartz lamp groups;

[0081] Q cv (t)∈R f×1 is the heat convection energy matrix output by f linear iodine-tungsten filament quartz lamp groups at time t;

[0082] C loss ∈R f×f is the coupling factor matrix of energy loss of f linear iodine-tungsten filament quartz lamp groups;

[0083] Q los s(t)∈R f×1 is the energy matrix of heat loss of f linear iodine tungsten filament quartz lamp groups at time t;

[0084] Q cd (t)∈R f×1 is the heat conduction energy matrix outputted by f linear iodine-tungsten filament quartz lamp groups at time t;

[0085] Q rt (t)∈R f×1 is the thermal energy matrix of the filament resistance of f linear iodine-tungsten filament quartz lamps at time t;

[0086] Q sd (t)∈R f×1is the thermal expansion acoustic energy matrix of f linear iodine-tungsten filament quartz lamps at time t;

[0087] α∈R h×f is the absorption factor matrix of the thermal radiation coupling output by the f linear iodine-tungsten filament quartz lamp groups and the h test piece groups to be tested;

[0088] β∈R h×f is the absorption factor matrix of the output heat convection coupling between the f linear iodine-tungsten filament quartz lamp groups and the h test piece groups to be tested;

[0089] Q ti (t)∈R h×1 is the internal energy matrix of the h test pieces to be tested at time t;

[0090] C tr ∈R h×h is the thermal radiation coupling factor matrix outputted to the outside by the h test pieces;

[0091] Q tr (t)∈R h×1 is the thermal radiation energy matrix outputted outward by the h test pieces at time t;

[0092] C tcv ∈R h×h is the thermal convection coupling factor matrix outputted to the outside by the h test pieces;

[0093] Q tcv (t)∈R h×1 is the thermal convection energy matrix output by the h test pieces at time t;

[0094] C tloss ∈R h×h is the coupling factor matrix of other additional loss energy outputted to the outside by the h test pieces to be tested;

[0095] Q tloss (t)∈R h×1 is the additional loss energy matrix output by the h test pieces to be tested at time t.

[0096] Preferably, the input power matrix of f linear iodine tungsten filament quartz lamp groups is:

[0097]

[0098] Among them, Q e1 (t), Q e2 (t),…,Q ef(t) is an element of the input power matrix of the f linear iodine-tungsten filament quartz lamp groups, which are the input power of the first group of linear iodine-tungsten filament quartz lamps, the input power of the second group of linear iodine-tungsten filament quartz lamps, and the input power of the fth group of linear iodine-tungsten filament quartz lamps;

[0099] U1(t), U2(t), …, U f (t) is the input voltage of f linear iodine-tungsten filament quartz lamp groups;

[0100] R1, R2, ..., R f The filament resistance of the f linear tungsten iodine filament quartz lamp group satisfies: R1=R2=…=R f ;

[0101] The internal energy matrix of the f linear iodine tungsten filament quartz lamp group itself is:

[0102]

[0103] Among them, Q i1 (t), Q i2 (t),…,Q if (t) is an element of the internal energy matrix of the f linear iodine-tungsten filament quartz lamp groups themselves, which are the internal energy stored in the first group of linear iodine-tungsten filament quartz lamps, the internal energy stored in the second group of linear iodine-tungsten filament quartz lamps, and the internal energy stored in the fth group of linear iodine-tungsten filament quartz lamps;

[0104] c1, c2, …, c f is the specific heat capacity of f linear iodine tungsten filament quartz lamps, satisfying: c1 = c2 = ... = c f ;

[0105] m1, m2, …, m f is the mass of f linear iodine-tungsten filament quartz lamps, satisfying: m1 = m2 = ... = m f ;

[0106] T1(t), T2(t), …, T f (t) is the temperature of the f linear iodine-tungsten filament quartz lamps;

[0107] T0 is the initial temperature of the f linear iodine-tungsten filament quartz lamp group;

[0108] The thermal radiation energy matrix output by f linear iodine tungsten filament quartz lamp groups is:

[0109]

[0110] Among them, Q r1 (t), Q r2 (t),…,Q rf(t) is an element of the matrix of the thermal radiation energy outputted by the f linear iodine-tungsten filament quartz lamp groups, which are the thermal radiation energy outputted by the first group of linear iodine-tungsten filament quartz lamps, the thermal radiation energy outputted by the second group of linear iodine-tungsten filament quartz lamps, and the thermal radiation energy outputted by the fth group of linear iodine-tungsten filament quartz lamps;

[0111] ∈ quartz1 ,∈ quartz2 ,…,∈ quartzf is the thermal radiation coefficient of the f linear iodine tungsten filament quartz lamp groups outputting thermal radiation energy, satisfying: ∈ quartz1 =∈ quartz2 =…=∈ quartzf ;

[0112] σ is the Stefan-Boltzmann constant;

[0113] A quartz1 , A quartz2 , …, A quartzf is the surface area of ​​f linear iodine tungsten filament quartz lamps, satisfying: A quartz1 =A quartz2 =…=A quartzf ;

[0114] The heat convection energy matrix output by f linear iodine tungsten filament quartz lamp groups is:

[0115]

[0116] Among them, Q cv1 (t), Q cv2 (t),…,Q cvf (t) is an element of the heat convection energy matrix outputted by the f linear iodine-tungsten filament quartz lamp groups, which are the heat convection energy outputted by the first group of linear iodine-tungsten filament quartz lamps, the heat convection energy outputted by the second group of linear iodine-tungsten filament quartz lamps, and the heat convection energy outputted by the fth group of linear iodine-tungsten filament quartz lamps;

[0117] h quartz1 、h quartz2 ,…,h quartzf h is the heat convection coefficient of the heat convection energy output by the f linear iodine tungsten filament quartz lamp groups, satisfying: quartz1 =h quartz2 =…=h quartzf ;

[0118] The internal energy matrix of the h test pieces to be tested is:

[0119]

[0120] Among them, Q ti1 (t), Qti2 (t),…,Q tih (t) is an element of the internal energy matrix of the h test pieces to be tested, which are the internal energy stored in the first group of test pieces to be tested, the internal energy stored in the second group of test pieces to be tested, and the internal energy stored in the hth group of test pieces to be tested;

[0121] c t1 、c t2 ,…,c th is the specific heat capacity of the group of h test pieces to be tested; m t1 、m t2 ,…,m th is the mass of the h test pieces to be tested;

[0122] T t1 (t), T t2 (t), …, T th (t) is the temperature of the group of h test pieces to be tested;

[0123] The thermal radiation energy matrix output by h test pieces is:

[0124]

[0125] Among them, Q tr1 (t), Q tr2 (t),…,Q trh (t) is an element of the matrix of the thermal radiation energy outputted by the h test pieces to be tested, which are the thermal radiation energy outputted by the first group of test pieces to be tested, the thermal radiation energy outputted by the second group of test pieces to be tested, and the thermal radiation energy outputted by the hth group of test pieces to be tested; ∈ test1 ,∈ test2 ,…,∈ testh is the thermal radiation coefficient of the thermal radiation energy output by the h test pieces to be tested, satisfying: ∈ test1 =∈ test2 =…=∈ testh ; A test1 , A test2 , …, A testh is the surface area of ​​h test pieces to be tested;

[0126] The heat convection energy matrix output by the h test pieces to be tested is:

[0127]

[0128] Among them, Q tcv1 (t), Q tcv2 (t),…,Q tcvh(t) is an element of the thermal convection energy matrix outputted by the h test pieces groups to be tested, which are respectively: the thermal convection energy outputted by the first group of test pieces to be tested, the thermal convection energy outputted by the second group of test pieces to be tested, and the thermal convection energy outputted by the hth group of test pieces to be tested;

[0129] h test1 、h test2 ,…,h testh is the heat convection coefficient of the heat convection energy output by the h test pieces to be tested, satisfying: test1 =h test2 =…=h testh .

[0130] S2: Define the system state variables, and transform the sequential heat transfer model of the multi-temperature zone structural thermal test system into the state control equation according to the system state variables.

[0131] Specifically, the system state variables include system state input variables and system state output variables, wherein the system state input variables are:

[0132]

[0133] Where u(t)∈R f×1 ;

[0134] The system status output variables are:

[0135] x1=[T t1 (t) T t2 (t) … T th (t)] T

[0136] x2=[T1(t) T2(t) … T f (t)] T

[0137] Where x1∈R h×1 ; x2∈R f×1 .

[0138] Then the state control equation is:

[0139]

[0140] Among them, R1c1m1=R1c2m2=…=R1c f m f =c1;R1∈ quartz1 σA quartz1 =R1∈ quartz2 σA quartz2 =…=R1∈ quartzf σA quartzf=c2;R1h quartz1 A quartz1 =R1h quartz2 A quartz2 =…=R1h quartzf A quartzf =c3; D1 = d1 + d0; ∈ quartz1 σA quartz1 =c4;h quartz1 A quartz1 =c5;c t1 m t1 =c t2 m t2 =…=c th m th =c6;∈ test1 σA test1 =∈ test2 σA test2 =…=∈ testh σA testh =c7;h test1 A test1 =h test2 A test2 =…=h testh A testh =c8; D2 = d2 + d t0 ;

[0141]

[0142] S3: Construct a nonlinear sliding surface using the state proportional and integral terms of the multi-temperature zone structural thermal test system.

[0143] Specifically, the nonlinear sliding surface is:

[0144] s(t)=k1x1+k2x2+k3∫x1dt

[0145] Among them, k1, k2, and k3 are parameter adjustment gains;

[0146] k1x1 and k2x2 are the state proportion terms of the multi-temperature zone structure thermal test system;

[0147] k3∫x1 dt is the state integral term of the multi-temperature zone structural thermal test system.

[0148] S4: Introduce the adaptive superhelix reaching law to construct a nonlinear sliding mode superhelix controller for multi-temperature zone structural thermal test system.

[0149] Specifically, the adaptive superhelix reaching law is:

[0150]

[0151] a2=2a1

[0152] in, is the adaptation rate; a1, a2, a * , b1, b2, b3, and b4 are parameter adjustment gains.

[0153] Therefore, the nonlinear sliding mode super-helical controller is:

[0154]

[0155] At the same time, the stability of the nonlinear sliding mode super spiral controller is proved:

[0156] definition:

[0157]

[0158] in,

[0159] Define the Lyapunov function:

[0160]

[0161] in,

[0162] Further:

[0163]

[0164] in,

[0165] Compute the first-order differential of the Lyapunov function as:

[0166]

[0167] in, If a1>0 and a2>0, φ is a positive definite matrix.

[0168] Depend on Further calculation yields:

[0169]

[0170] Among them, λ min (P) is the minimum eigenvalue of the matrix P; λ max (P) is the maximum eigenvalue of the matrix P; is the norm,

[0171] Based on the above formula, we get:

[0172]

[0173] Further, we get:

[0174]

[0175] The definition of the Lyapunov function including the proof of adaptive stability is:

[0176]

[0177] in, is the estimated value of a1, is the error of a1; is the estimated value of a2, is the error of a2.

[0178] Furthermore, the calculation of the first-order differential of the Lyapunov function including the proof of adaptive stability is:

[0179]

[0180] λ0=min{λ1λ2λ3}

[0181] make

[0182]

[0183] When a1>a * ,|s(t)|>b3;

[0184]

[0185] When a1>a * , |s(t)|<b3;

[0186]

[0187]

[0188] When a1≤a * ;

[0189]

[0190] make

[0191]

[0192] When a1>a * ,|s(t)|>b3;

[0193]

[0194] When a1>a * , |s(t)|<b3;

[0195]

[0196] When a1≤a * ;

[0197]

[0198] In summary, satisfying but Satisfying λ1>0, ω>0, meeting the stability requirement.

[0199] In summary, the nonlinear sliding mode super-helix control method for the multi-temperature zone structure thermal test system proposed in the present invention solves the existing problems of coupling of multiple temperature zones, high-order terms of thermal radiation, and fluctuations in heat loss of input variables. First, according to the time history of process control, a time-series heat transfer model of the multi-temperature zone structure thermal test system including the three major heat transfer theories is established; secondly, the system state variables are selected and further transformed into state control equations; finally, the nonlinear sliding mode super-helix controller of the multi-temperature zone structure thermal test system is designed by combining the nonlinear sliding surface and the adaptive super-helix reaching law, thereby achieving the suppression of concentrated disturbances and improving the tracking accuracy of multiple temperature zones.

[0200] Example 2, reference Figure 2 to Figure 9 , which is the second embodiment of the present invention, and this embodiment is based on the previous embodiment. Different from the previous embodiment, this embodiment provides a simulation verification test of a nonlinear sliding mode super-helical control method of a multi-temperature zone structural thermal test system.

[0201] In order to verify and illustrate the technical effects of the present invention, a land-based hypersonic missile is selected as a test target in this embodiment to test the control method proposed in the present invention. The test results are compared by scientific demonstration to verify the real effect of the control method.

[0202] Reference Figure 2 , is a two-dimensional dimensional diagram of a land-based hypersonic missile using a nonlinear sliding mode super-helical control method for a multi-temperature zone structural thermal test system. Figure 2 As shown, the total length of the missile is 7600mm, the body length is 4270mm, the body diameter is 1168.4mm, the secondary warhead angle is 7°, the warhead angle is 12.84° and the warhead radius is 30mm.

[0203] Reference Figure 3 , is a schematic diagram of the two-dimensional flow field division of a land-based hypersonic missile using the nonlinear sliding mode super-helical control method of a multi-temperature zone structural thermal test system. Figure 3As shown in the figure, based on the two-dimensional dimension diagram of the land-based hypersonic missile, the two-dimensional external flow field range is defined. The external flow field range is 15200mm×5842mm, where the total length of the two-dimensional external flow field in the horizontal direction is twice the total length of the land-based hypersonic missile; the total length of the two-dimensional external flow field in the vertical direction is five times the diameter of the land-based hypersonic missile body. The warhead of the land-based hypersonic missile is divided into three calculation objects (Wall 0, Wall 1 and Wall 2). The left, right, top and bottom of the two-dimensional external flow field are set as the flow field inlet, flow field outlet, pressure far field 1 and pressure far field 2 respectively.

[0204] Reference Figure 4 , is the finite element simulation result of the land-based hypersonic missile of the multi-temperature zone structure thermal test system nonlinear sliding mode super-helical control method. The simulation environment parameters are set as follows: ambient temperature 228.5K, static pressure 876Pa, flight speed 5Ma, flight angle of attack 0°. Since the flight angle of attack is set to 0°, Wall 1 and Wall 2 experience the same aerodynamic heat load, so the temperature zone is divided into: Wall 0 is temperature zone 1, Wall 1 and Wall 2 are both temperature zone 2. The simulation results are: the temperature of temperature zone 1 is 1418.1K, and the temperature of temperature zone 2 is 1114.8K.

[0205] Reference Figure 5 , is a schematic diagram of the layout of the quartz lamp group of the land-based hypersonic missile warhead part of the nonlinear sliding mode super-helical control method of the multi-temperature zone structural thermal test system. Figure 5 As shown, taking temperature zone 1 and temperature zone 2 as test objects, the quartz lamp groups are set in a conical layout: quartz lamp group 1 and quartz lamp group 2.

[0206] Test environment: The sequential heat transfer model of the multi-temperature zone structure thermal test system is run on the simulation platform, and the control method of the present invention (method 1) and the traditional controller (method 2 and method 3) are compared and tested with temperature zone 1 (1418.1K) and temperature zone 2 (1114.8K) as the tracking targets, and the test results are obtained. The simulation test of the theoretical model is realized by turning on the automated test equipment and using MATLB software programming. The simulation data is obtained according to the experimental results, and two groups of data are tested. Each group of data is sampled for 10s, and the input temperature of each group of data is calculated and compared with the expected target temperature of the simulation input.

[0207] Method 1 Test parameter settings: R1 = 193Ω; c1 = 130J / kg·K; m1 = 1.46*10 -2 kg; c1 = 366.314; ∈ quartz1 =0.97;σ=5.67*10 -8 W / m 2 ·K 4 ; A quartz1 =3.77*10 -2m 2 ; c2 = 4*10 -7 ;h quartz1 =110.6W / m 2 K; c3 = 804.7; D1 = 0.1*Q e (t); c4 = 2.07*10 -9 ; c5=4.16; c t1 =2511J / kg·K;m t1 =300kg; c6 = 753300; ∈ test1 =0.5; A test1 =2.016m 2 ; c7 = 5.72*10 -8 ;h testh =50W / m 2 ·K; c8=100.8; D2=0.05*Q e (t); k1=10000; k2=-2.5; k3=-8; a1=0.2; a * =1; b1=1.1; b2=9.2; b3=5; b4=6.

[0208] Method 2: Taking s(t)=k3x1+k4x2 as the traditional sliding surface and -k5sign(s(t)) as the approach rate, the controller is designed as follows:

[0209]

[0210] The parameters are as follows: k3=10000; k4=-2.5; k5=-0.2.

[0211] Method 3: is a traditional PID controller, where P=1000; I=300; D=2.

[0212] According to the above test environment and test parameter settings, refer to Figure 6 to Figure 9 , which is the simulation result of tracking the dual-temperature zone (temperature zone 1 and temperature zone 2) target of the nonlinear sliding mode super-helical control method of the multi-temperature zone structural thermal test system.

[0213] Specifically, Figure 6 As shown, for temperature zone 1, when the test time runs to 5s, method 1 can effectively track the target temperature, while method 3 has a large tracking error of about 500K and can only track the target temperature when the time runs to 50s.

[0214] In addition, although method 2 has similar tracking effect as method 1, in the local magnified image, Figure 7,It can be seen that in the early stage of tracking, an overshoot of about 10K occurs, and in the whole process, there is a certain switching oscillation of about 2K.

[0215] For temperature zone 2, when the test time reaches 5s, method 1 can effectively track the target temperature, while method 3 has a large tracking error of about 30)0)K. It can only track the target temperature when the time reaches 50s.

[0216] In addition, although method 2 has similar tracking effect as method 1, in the local magnified image, Fig. 9 ,It can be seen that in the early stage of tracking, an overshoot of about 15K occurs, and in the whole process, there is a certain switching oscillation of about 2K.

[0217] In summary, compared with the prior art, the nonlinear sliding mode superhelix control method for the multi-temperature zone structural thermal test system disclosed in the present invention takes the system state as the feedback quantity, combines the adaptive superhelix reaching law, effectively suppresses nonlinear disturbances such as multi-temperature zone coupling, and achieves the purpose of fast and accurate tracking.

[0218] 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 preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A nonlinear sliding mode super-helical control method for a multi-temperature zone structural thermal test system, characterized in that: include, Based on the law of conservation of energy, a sequential heat transfer model of multi-temperature zone structural thermal test system is established; Defining system state variables, and transforming the sequential heat transfer model of the multi-temperature zone structure thermal test system into a state control equation according to the system state variables; The nonlinear sliding surface is constructed by using the state proportional term and integral term of the multi-temperature zone structural thermal test system. The adaptive superhelix reaching law is introduced to construct a nonlinear sliding mode superhelix controller for multi-temperature zone structural thermal test system.

2. The nonlinear sliding mode super-helical control method of the multi-temperature zone structure thermal test system according to claim 1, characterized in that: The multi-temperature zone structural thermal test system comprises a non-contact radiation heater, which is a linear iodine tungsten filament quartz lamp group.

3. The nonlinear sliding mode super-helical control method of the multi-temperature zone structure thermal test system according to claim 2, characterized in that: The multi-temperature zone structure thermal test system satisfies the law of conservation of energy, and the linear iodine-tungsten filament quartz lamp group transfers part of its input electrical energy to the test piece group to be tested in the form of thermal convection and thermal radiation.

4. The nonlinear sliding mode super-helical control method of the multi-temperature zone structure thermal test system according to claim 3, characterized in that: The sequential heat transfer model of the multi-temperature zone structure thermal test system is: Q e (t)=Q i (t)+C r Q r (t)+C cv Q cv (t)+C loss Q loss (t) Q loss (t)=Q cd (t)+Q rt (t)+Q sd (t) αQ r (t)+βQ cv (t)=Q ti (t)+C tr Q tr (t)+C tcv Q tcv (t)+C tloss Q tloss (t) Among them, Q e (t)∈R f×1 is the power matrix input to the f linear tungsten iodine filament quartz lamp groups at time t; Q i (t)∈R f×1 is the internal energy matrix of the f linear iodine tungsten filament quartz lamp groups at time t; C r ∈R f×f is the thermal radiation coupling factor matrix outputted outward by the f linear iodine-tungsten filament quartz lamp groups; Q r (t)∈R f×1 is the thermal radiation energy matrix outputted outward by the f linear iodine tungsten filament quartz lamp groups at time t; C cv ∈R f×f is the heat convection coupling factor matrix outputted outward by the f linear iodine-tungsten filament quartz lamp groups; Q cv (t)∈R f×1 is the heat convection energy matrix outputted outward by the f linear iodine tungsten filament quartz lamp groups at time t; C loss ∈R f×f is the coupling factor matrix of the energy loss of the f linear iodine tungsten filament quartz lamp groups; Q loss (t)∈R f×1 is the energy matrix of heat loss of the f linear iodine tungsten filament quartz lamp groups at time t, including: Q cd (t)∈R f×1 is the heat conduction energy matrix outputted outward by the f linear iodine-tungsten filament quartz lamp groups at time t; Q rt (t)∈R f×1 is the thermal energy matrix of the filament resistance of the f linear iodine-tungsten filament quartz lamp group at time t; Q sd (t)∈R f×1 is the thermal expansion acoustic energy matrix of the f linear iodine tungsten filament quartz lamp groups at time t; α∈R h ×f is the absorption factor matrix of the thermal radiation coupling output by the f linear iodine-tungsten filament quartz lamp groups and the h test piece groups to be tested; β∈R h×f is the absorption factor matrix of the heat convection coupling output by the f linear iodine-tungsten filament quartz lamp groups and the h test piece groups to be tested; Q ti (t)∈R h×1 is the internal energy matrix of the h test pieces to be tested at time t; C tr ∈R h×h is the thermal radiation coupling factor matrix outputted to the outside by the h test pieces; Q tr (t)∈R h×1 is the thermal radiation energy matrix output by the h test pieces at time t; C tcv ∈R h×h is the thermal convection coupling factor matrix outputted to the outside by the h test pieces; Q tcv (t)∈R h×1 is the heat convection energy matrix outputted by the h test pieces at time t; C tloss ∈R h×h is the coupling factor matrix of other additional loss energy outputted to the outside by the h test pieces; Q tloss (t)∈R h×1 is the additional loss energy matrix output by the h test pieces to be tested at time t.

5. The nonlinear sliding mode super-helical control method of the multi-temperature zone structure thermal test system according to claim 4, characterized in that: The input power matrix of the f linear iodine tungsten filament quartz lamp groups is: Among them, Q e1 (t), Q e2 (t),…,Q ef (t) is an element of the input power matrix of the f linear iodine-tungsten filament quartz lamp groups, which are the input power of the first group of linear iodine-tungsten filament quartz lamps, the input power of the second group of linear iodine-tungsten filament quartz lamps, and the input power of the fth group of linear iodine-tungsten filament quartz lamps; U1(t), U2(t), ..., U f (t) is the input voltage of the f linear iodine tungsten filament quartz lamp groups; R1, R2, ..., R f The filament resistance of the f linear tungsten iodine filament quartz lamp group satisfies: R1=R2=…=R f ; The internal energy matrix of the linear iodine tungsten filament quartz lamp set itself is: Among them, Q i1 (t), Q i2 (t),…,Q if (t) is an element of the internal energy matrix of the f linear iodine-tungsten filament quartz lamp groups, which are the internal energy stored in the first group of linear iodine-tungsten filament quartz lamps, the internal energy stored in the second group of linear iodine-tungsten filament quartz lamps, and the internal energy stored in the fth group of linear iodine-tungsten filament quartz lamps; c1, c2, ..., c f is the specific heat capacity of f linear iodine tungsten filament quartz lamps, satisfying: c1 = c2 = ... = c f ; m1, m2, ..., m f is the mass of f linear iodine-tungsten filament quartz lamps, satisfying: m1 = m2 = ... = m f ; T1(t), T2(t), ..., Tf(t) are the temperatures of the f linear iodine-tungsten filament quartz lamp groups; T0 is the initial temperature of the f linear iodine-tungsten filament quartz lamp groups; The thermal radiation energy matrix outputted by the f linear iodine-tungsten filament quartz lamp groups is: Among them, Q r1 (t), Q r2 (t),…,Q rf (t) is an element of the thermal radiation energy matrix outputted by the f linear iodine-tungsten filament quartz lamp groups, which are the thermal radiation energy outputted by the first group of linear iodine-tungsten filament quartz lamps, the thermal radiation energy outputted by the second group of linear iodine-tungsten filament quartz lamps, and the thermal radiation energy outputted by the fth group of linear iodine-tungsten filament quartz lamps; ∈ quartz1 ,∈ quartz2 ,…,∈ quartzf is the thermal radiation coefficient of the thermal radiation energy output by the f linear iodine tungsten filament quartz lamp groups, satisfying: ∈ quartz1 =∈ quartz2 =…=∈ quartzf ; σ is the Stefan-Boltzmann constant; A quartz1 , A quartz2 , …, A quartzf is the surface area of ​​f linear iodine tungsten filament quartz lamps, satisfying: A quartz1 =A quartz2 =…=A quartzf ; The heat convection energy matrix outputted by the f linear iodine tungsten filament quartz lamp groups is: Among them, Q cv1 (t), Q cv2 (t),…,Q cvf (t) is an element of the heat convection energy matrix outputted by the f linear iodine-tungsten filament quartz lamp groups, which are the heat convection energy outputted by the first group of linear iodine-tungsten filament quartz lamps, the heat convection energy outputted by the second group of linear iodine-tungsten filament quartz lamps, and the heat convection energy outputted by the fth group of linear iodine-tungsten filament quartz lamps; h quartz1 、h quartz2 ,…,h quartf is the heat convection coefficient of the heat convection energy output by the f linear iodine tungsten filament quartz lamp groups, satisfying: h quartz1 =h quartz2 =…=h quartzf ; The internal energy matrix of the h test pieces to be tested: Among them, Q ti1 (t), Q ti2 (t),…,Q tih (t) is the element of the internal energy matrix of the h test pieces to be tested, which are the internal energy stored in the first group of test pieces to be tested, the internal energy stored in the second group of test pieces to be tested, and the internal energy stored in the hth group of test pieces to be tested; c t1 、c t2 ,…,c th is the specific heat capacity of the group of h test pieces to be tested; m t1 、m t2 ,…,m th is the mass of the h test pieces to be tested; T t1 (t), T t2 (t), …, T th (t) is the temperature of the group of h test pieces to be tested; The thermal radiation energy matrix output by h test pieces is: Among them, Q tr1 (t), Q tr2 (t),…,Q trh (t) is an element of the matrix of the thermal radiation energy outputted by the h test pieces to be tested, which are the thermal radiation energy outputted by the first group of test pieces to be tested, the thermal radiation energy outputted by the second group of test pieces to be tested, and the thermal radiation energy outputted by the hth group of test pieces to be tested; ∈ test1 ,∈ test2 ,…,∈ testh is the thermal radiation coefficient of the thermal radiation energy output by the h test pieces to be tested, satisfying: ∈ test1 =∈ test2 =…=∈ testh ; A test1 , A test2 , …, A testh is the surface area of ​​h test pieces to be tested; The heat convection energy matrix output by the h test pieces to be tested is: Among them, Q tcv1 (t), Q tcv2 (t),…,Q tcvh (t) is an element of the thermal convection energy matrix outputted by the h test pieces groups to be tested, which are: the thermal convection energy outputted by the first group of test pieces to be tested, the thermal convection energy outputted by the second group of test pieces to be tested, and the thermal convection energy outputted by the hth group of test pieces to be tested; h test1 、h test2 ,…,h testh is the heat convection coefficient of the heat convection energy output by the h test pieces to be tested, satisfying: test1 =h test2 =…=h testh .

6. The nonlinear sliding mode super-helical control method of the multi-temperature zone structure thermal test system according to claim 5, characterized in that: The system state variables include system state input variables and system state output variables, wherein the system state input variables are: Where u(t)∈R f×1 ; The system state output variable is: x1=[T t1 (t) T t2 (t)…T th (t)] T x2=[T1(t) T2(t)…T f (t)] T Where x1∈R h×1 ; x2∈R f×1 .

7. The nonlinear sliding mode super-helical control method of the multi-temperature zone structure thermal test system according to claim 6, characterized in that: The state control equation is: Among them, R1c1m1 = R1c2m2 = … = R1c f m f = c1; R1 ∈ quartz1 σA quartz1 = R1 ∈ quartz2 σA quartz2 = … = R1 ∈ quartzf σA quartzf = c2; R1h quartz1 A quartz1 = R1h quartz2 A quartz2 = … = R1h quartzf A quartzf = c3; D1 = d1 + d0; ∈ quartz1 σA quartz1 = c4; h quartz1 A quartz1 = c5; c t1 m t1 = c t2 m t2 = … = c th m th = c6; ∈ test1 σA test1 = ∈ test2 σA test2 = … = ∈ testh σA testh = c7; h test1 A test1 = h test2 A test2 = … = h testh A testh = c8; D2 = d2 + d t0 ; 8. The nonlinear sliding mode super-helical control method of the multi-temperature zone structure thermal test system according to claim 7, characterized in that: The nonlinear sliding surface is: s(t)=k1x1+k2x2+k3∫x1dt Among them, k1, k2, and k3 are parameter adjustment gains; k1x1 and k2x2 are proportional terms of the state of the multi-temperature zone structural thermal test system; and k3∫x1dt is the integral term of the state of the multi-temperature zone structural thermal test system.

9. The nonlinear sliding mode super-helical control method of the multi-temperature zone structure thermal test system according to claim 8, characterized in that: The adaptive superhelix reaching law: a2=2a1 in, is the adaptation rate; a1, a2, a * , b1, b2, b3, and b4 are parameter adjustment gains.

10. The nonlinear sliding mode super-helical control method of the multi-temperature zone structure thermal test system according to claim 9, characterized in that: The nonlinear sliding mode super-helical controller:

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