Control model identification device of fuel regulator

Abstract

The embodiment of the invention discloses a control model identification device of a fuel regulator, which is characterized in that a sensor signal conditioning module in the device is respectively connected with a linear displacement sensor and an angular displacement sensor and is used for respectively generating excitation signals of the linear displacement sensor and the angular displacement sensor and conditioning the signals output by the sensors; the signal measurement module outputs the PWM signal and the linear displacement signal LA to a model identification algorithm module of the execution mechanism 1 so as to identify a control model of the execution mechanism 1; outputting the linear displacement signal LA and the angle signal A to a model identification algorithm module of the actuating mechanism 2 so as to identify a control model of the actuating mechanism 2; and the fuel regulator overall model identification algorithm module calculates the fuel regulator overall model through the control models of the execution mechanisms 1 and 2. The problems that an existing control mode is difficult to obtain better performance under the full working condition of engine work, engine fuel control fluctuates, and engine operation safety is seriously threatened are solved.

Description

Technical Field

[0001] The present invention relates to the field of, but is not limited to, aviation engine fuel control technology, and in particular to a control model identification device for a fuel regulator. Background Art

[0002] The fuel regulator is the core component of the engine fuel control system. When the engine is working, the aircraft engine digital electronic controller performs real-time closed-loop control of the fuel regulator to meet the engine's requirements for the fuel system and ensure the safe operation of the aircraft engine.

[0003] The control parameters of the control algorithm in the existing digital electronic controller are obtained by trial and error, which makes it difficult to achieve optimal performance under all operating conditions of the engine. Under certain operating conditions, control instability may even occur, resulting in fluctuations in engine fuel control, which seriously threatens the safe operation of the engine. Summary of the invention

[0004] Purpose of the present invention: In order to solve the above-mentioned technical problems, an embodiment of the present invention provides a control model identification device for a fuel regulator to solve the existing control method for adjusting the fuel regulator. Since the control parameters are obtained by trial and error, it is difficult to obtain better performance under all working conditions of the engine, and even control instability may occur under certain working conditions, resulting in fluctuations in engine fuel control, which seriously threatens the operating safety of the engine.

[0005] Technical solution of the present invention: The embodiment of the present invention provides a control model identification device for a fuel regulator, wherein the fuel regulator comprises an actuator 1, an actuator 2, and a linear displacement sensor LVDT for measuring the valve stroke in the actuator 1, and an angular displacement sensor for measuring the angle of the actuator cylinder in the actuator 2; the actuator 1 is used to receive a PWM signal and output a linear displacement signal LA; the actuator 2 takes the linear displacement signal LA as input and outputs an angle signal A; the control model identification device for the fuel regulator comprises: a sensor signal conditioning module, a signal measurement module, an actuator 1 model identification algorithm module, an actuator 2 model identification algorithm module, and a fuel regulator overall model identification algorithm module;

[0006] The sensor signal conditioning module is connected to the linear displacement sensor (LVDT) and the angular displacement sensor respectively, and is used to generate an excitation signal for the linear displacement sensor and condition the sinusoidal signal output by the linear displacement sensor; it is also used to generate an excitation signal for the angular displacement sensor and condition the sinusoidal signal output by the angular displacement sensor;

[0007] The signal measurement module is respectively connected to the input end and the output end of the actuator 1, and the output end of the actuator 2, and is used to measure in real time the PWM signal input to the fuel regulator, the linear displacement signal LA output by the actuator 1, and the angle signal A output by the actuator 2, and output the PWM signal and the linear displacement signal LA to the model identification algorithm module of the actuator 1, so as to identify the control model of the actuator 1 through the model identification algorithm module of the actuator 1; and output the linear displacement signal LA and the angle signal A to the model identification algorithm module of the actuator 2, so as to identify the control model of the actuator 2 through the model identification algorithm module of the actuator 2;

[0008] The fuel regulator overall model identification algorithm module is used to calculate the fuel regulator overall model through the control models of actuator 1 and actuator 2 output by the actuator 1 model identification algorithm module and the actuator 2 model identification algorithm module respectively.

[0009] Optionally, in the control model identification device for the fuel regulator as described above,

[0010] The sensor signal conditioning module outputs a 3000 Hz sinusoidal wave excitation signal with an effective amplitude of 3V to the linear displacement sensor LVDT;

[0011] The voltage signals VA and VB output by the linear displacement sensor are both 3000 Hz sine wave signals, and the amplitudes of the voltage signals VA and VB vary according to the linear displacement, and the sum of their effective values ​​is 3V; the voltage signals VA and VB are used to calculate the linear displacement signal LA.

[0012] Optionally, in the control model identification device for the fuel regulator as described above,

[0013] The angular displacement sensor adopts a rotary transformer, which is coaxially installed with the actuator in the actuator 2, and the rotary transformer has a rotary ratio of 0.4;

[0014] The excitation signal output by the sensor signal conditioning module to the angular displacement sensor is a differential sinusoidal signal, and the output signal of the angular displacement sensor is also a differential sinusoidal signal.

[0015] Optionally, in the control model identification device of the fuel regulator as described above, the sensor signal conditioning module includes: a linear displacement sensor excitation signal conditioning unit connected to the input end of the linear displacement sensor LVDT, a linear displacement sensor feedback signal conditioning unit connected to the output end of the linear displacement sensor LVDT, an angular displacement sensor excitation signal conditioning unit connected to the input end of the angular displacement sensor, and an angular displacement sensor feedback signal conditioning unit connected to the output end of the angular displacement sensor;

[0016] The sensor signal conditioning module is used to generate an excitation signal acting on the linear displacement sensor through the linear displacement sensor excitation signal conditioning unit, collect and condition the voltage signals VA and VB output by the linear displacement sensor through the linear displacement sensor feedback signal conditioning unit, and transmit the conditioned signals to the signal measurement module;

[0017] The sensor signal conditioning module is also used to generate an excitation signal acting on the angular displacement sensor through the angular displacement sensor excitation signal conditioning unit, and to collect and condition the differential sinusoidal signal output by the angular displacement sensor through the angular displacement sensor feedback signal conditioning unit, and transmit the conditioned signal to the signal measurement module.

[0018] Optionally, in the control model identification device of the fuel regulator as described above, the input end of the signal measurement module is respectively connected to the output end of the linear displacement sensor feedback signal conditioning unit, the output end of the angular displacement sensor feedback signal conditioning unit, and the input end of the actuator 1; and the signal measurement module includes: a PWM duty cycle measurement unit, a linear displacement sensor displacement measurement unit, and an angular displacement sensor angle measurement unit;

[0019] The PWM duty cycle measurement unit is used to collect the PWM signal input to the actuator 1, isolate and shape the PWM signal through a two-stage inverter, and then calculate the duty cycle by a duty cycle measurement algorithm;

[0020] The linear displacement sensor displacement measurement unit is used to perform signal pickup, linear displacement calculation and digital signal processing, and converts the output of the linear displacement sensor into a Bit value through periodic pickup and calculation of the voltage signals VA and VB transmitted by the linear displacement sensor feedback signal conditioning unit, and sorts and median filters the measurement results by a median filtering digital signal processing algorithm;

[0021] The angle measurement unit of the angular displacement sensor is used to periodically read the differential sinusoidal signal output by the feedback signal conditioning unit of the angular displacement sensor and calculate the angle signal.

[0022] Optionally, in the control model identification device for the fuel regulator as described above, the actuator 1 model identification algorithm module comprises: a bandwidth test unit, an actuator 1 Bode diagram test unit and an actuator 1 transfer function extraction unit connected in sequence;

[0023] Wherein, the bandwidth test unit is used to determine the open-loop band of the actuator 1 by tracking the step response of the actuator 1;

[0024] Actuator 1 Bode plot test unit, used to implement open-loop Bode plot test of actuator 1, so as to draw amplitude-frequency characteristic curve and phase-frequency characteristic curve of actuator 1;

[0025] The transfer function extraction unit of the actuator 1 is used to perform data conversion on the amplitude-frequency characteristic curve data and the phase-frequency characteristic curve of the actuator 1, so as to calculate the transfer function of the actuator 1, that is, the control model of the actuator 1.

[0026] Optionally, in the control model identification device for the fuel regulator as described above, the actuator 2 model identification algorithm module includes: an actuator 1 closed-loop control unit, an actuator 2 Bode diagram measurement unit, and an actuator 2 transfer function extraction unit;

[0027] The closed-loop control unit of the actuator 1 is connected to the output end of the transfer function extraction unit of the actuator 1, and is used to design a closed-loop controller of the actuator 1 based on the transfer function of the actuator 1 and the closed-loop control target, so as to realize the closed-loop control of the actuator 1;

[0028] Actuator 2 Bode plot measurement unit, used to implement open-loop Bode plot test of actuator 2, so as to draw amplitude-frequency characteristic curve and phase-frequency characteristic curve of actuator 2;

[0029] The actuator 2 transfer function extraction unit is connected to the actuator 2 Bode diagram measurement unit, and is used to convert the amplitude-frequency characteristic curve data and the phase-frequency characteristic curve data of the actuator 2, so as to calculate the transfer function of the actuator 2, that is, the control model of the actuator 2.

[0030] Optionally, in the control model identification device for the fuel regulator as described above,

[0031] The fuel regulator overall model identification algorithm module is specifically used to perform a product operation on the transfer function of the actuator 1 and the transfer function of the actuator 2 to obtain the overall transfer function model of the fuel regulator.

[0032] Beneficial effects of the present invention: The embodiment of the present invention provides a control model identification device for a fuel regulator, which is used to conduct experiments with the fuel regulator and identify the control model based on the experimental data; based on the structural form of the fuel regulator, the sensor signal conditioning module in the control model identification device is respectively connected to the linear displacement sensor (LVDT) and the angular displacement sensor, and is used to respectively generate an excitation signal of the linear displacement sensor and an excitation signal of the angular displacement sensor, and condition the signals output by the linear displacement sensor and the angular displacement sensor; the signal measurement module measures the PWM signal input to the fuel regulator in real time, and the linear displacement signal output by the actuator 1 LA, the angle signal A output by actuator 2, the PWM signal and the line displacement signal LA are output to the model identification algorithm module of actuator 1, so as to identify the control model of actuator 1 through the model identification algorithm module of actuator 1; the line displacement signal LA and the angle signal A are output to the model identification algorithm module of actuator 2, so as to identify the control model of actuator 2 through the model identification algorithm module of actuator 2; finally, the overall model identification algorithm module of the fuel regulator is used to calculate the overall model of the fuel regulator through the control models of actuator 1 and actuator 2 respectively output by the model identification algorithm module of actuator 1 and the model identification algorithm module of actuator 2. The control model identification device provided by the embodiment of the present invention has the following beneficial effects:

[0033] 1) Through experimental methods combined with theoretical analysis, the fuel regulator control model is accurately constructed, providing a model reference for control system designers;

[0034] 2) Based on the construction of the fuel regulator control model, the design of the control algorithm can be based on the analytical method to perform accurate parameter matching, thereby obtaining the optimal control performance and safety margin under all operating conditions, improving the accuracy, robustness and optimization of the control system design, and facilitating the optimization of the controller under all operating conditions of the aircraft engine;

[0035] 3) Improve the operational safety and reliability of aircraft engine fuel control systems and engines, and avoid the risk of engine control instability. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0037] Figure 1 It is a principle block diagram of a fuel regulator in an embodiment of the present invention;

[0038] Figure 2 A schematic diagram of the principle of executing model identification by a control model identification device for a fuel regulator provided by an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of the structure of a sensor signal conditioning module and a signal measurement module in a control model identification device for a fuel regulator provided by an embodiment of the present invention;

[0040] Figure 4 for Figure 3 A schematic diagram of the structure of a linear displacement sensor excitation signal conditioning unit in a sensor signal conditioning module provided in the illustrated embodiment;

[0041] Figure 5 for Figure 3 A schematic diagram of the structure of a linear displacement sensor feedback signal conditioning unit in a sensor signal conditioning module provided in the illustrated embodiment;

[0042] Figure 6 for Figure 3 A schematic diagram of the structure of an angular displacement sensor excitation signal conditioning unit in a sensor signal conditioning module provided in the illustrated embodiment;

[0043] Figure 7 for Figure 6 A schematic diagram of the conditioning principle of the angular displacement sensor excitation signal conditioning unit provided in the illustrated embodiment;

[0044] Figure 8 for Figure 3 A schematic diagram of the structure of an angular displacement sensor feedback signal conditioning unit in a sensor signal conditioning module provided in the illustrated embodiment;

[0045] Fig. 9 for Figure 8 The illustrated embodiment provides a schematic diagram of the conditioning principle of the feedback signal conditioning unit of the angular displacement sensor. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present invention more clear, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0047] The present invention provides the following specific embodiments which can be combined with each other. The same or similar concepts or processes may not be described in detail in some embodiments.

[0048] The embodiment of the present invention provides a control model identification device for a fuel regulator, which cooperates with the fuel regulator to perform a test and identifies the control model based on the test data. Figure 1As shown, it is a principle block diagram of the fuel regulator in an embodiment of the present invention. The fuel regulator consists of two parts, namely actuator 1 and actuator 2. Actuator 1 is used to receive PWM signal and output LA line displacement signal; actuator 2 takes LA line displacement signal as input and outputs angle signal A; the fuel regulator as a whole takes PWM as input and angle signal A as output.

[0049] It should be noted that the sensors in the fuel regulator include:

[0050] The linear displacement sensor (LVDT) is used to measure the valve stroke (linear displacement) in the fuel regulator actuator 1 and is reasonably deployed in the fuel regulator in combination with the fuel regulator structural design.

[0051] The angular displacement sensor is used to measure the angle of the actuator in the fuel regulator actuator 2. It is reasonably deployed in the fuel regulator in combination with the structural design of the fuel regulator.

[0052] For the fuel regulator of the above structure, the control model identification device of the fuel regulator provided by the embodiment of the present invention includes: a sensor signal conditioning module, a signal measurement module, an actuator 1 model identification algorithm module, an actuator 2 model identification algorithm module, and a fuel regulator overall model identification algorithm module.

[0053] The sensor signal conditioning module in the embodiment of the present invention is respectively connected to the linear displacement sensor (LVDT) and the angular displacement sensor, and is used to generate an excitation signal for the linear displacement sensor and condition the sinusoidal signal output by the linear displacement sensor; it is also used to generate an excitation signal for the angular displacement sensor and condition the sinusoidal signal output by the angular displacement sensor.

[0054] like Figure 2 As shown, it is a schematic diagram of the principle of the control model identification device of the fuel regulator provided in the embodiment of the present invention to perform model identification. The signal measurement module in the embodiment of the present invention is respectively connected to the input end and the output end of the actuator 1, and the output end of the actuator 2, and is used to measure the PWM signal input to the fuel regulator, the line displacement signal LA output by the actuator 1, and the angle signal A output by the actuator 2 in real time, and output the PWM signal and the line displacement signal LA to the model identification algorithm module of the actuator 1, and output the line displacement signal LA and the angle signal A to the model identification algorithm module of the actuator 2.

[0055] The actuator 1 model identification algorithm module is used to identify the control model of the actuator 1.

[0056] The actuator 2 model identification algorithm module is used to identify the control model of the actuator 2.

[0057] The fuel regulator overall model identification algorithm module is used to calculate the fuel regulator overall model (transfer function) through the control models (i.e., transfer functions) of actuator 1 and actuator 2 output by the actuator 1 model identification algorithm module and the actuator 2 model identification algorithm module respectively.

[0058] In one implementation of the embodiment of the present invention, a linear displacement sensor (LVDT) in a fuel regulator is used to receive a 3000 Hz sinusoidal wave excitation signal and output voltage signals VA and VB with variable amplitudes. The linear displacement signal LA can be calculated through the voltage signals VA and VB.

[0059] The 3000Hz sinusoidal wave excitation signal output to the linear displacement sensor (LVDT) is specifically: the sensor signal conditioning module outputs a 3000Hz sinusoidal wave excitation signal with an effective amplitude of 3V; accordingly, the voltage signals VA and VB output by the linear displacement sensor are both 3000Hz sinusoidal wave signals, and the amplitudes of the voltage signals VA and VB change according to the linear displacement, and the sum of their effective values ​​is 3V.

[0060] In one implementation of the embodiment of the present invention, the angular displacement sensor in the fuel regulator adopts a rotary transformer, which is coaxially installed with the actuator in the actuator 2. The excitation signal of the rotary transformer is a differential sinusoidal signal, and the reference voltage of the excitation signal is 6V and the peak value is 6.48V; the rotary transformer outputs a differential sinusoidal signal with a peak-to-peak value of 5.184V, and the rotary transformer ratio is 0.4.

[0061] In one implementation of the embodiment of the present invention, an implementation scheme of a sensor signal conditioning module is provided. Figure 3 A schematic diagram of the structure of a sensor signal conditioning module and a signal measurement module in a control model identification device for a fuel regulator provided by an embodiment of the present invention.

[0062] In this implementation, the sensor signal conditioning module includes: a linear displacement sensor excitation signal conditioning unit connected to the input end of the linear displacement sensor (LVDT), a linear displacement sensor feedback signal conditioning unit connected to the output end of the linear displacement sensor (LVDT), an angular displacement sensor excitation signal conditioning unit connected to the input end of the angular displacement sensor, and an angular displacement sensor feedback signal conditioning unit connected to the output end of the angular displacement sensor; the specific structure is as follows: Figure 3 shown.

[0063] On the one hand, an excitation signal acting on the linear displacement sensor is generated by the linear displacement sensor excitation signal conditioning unit, and the voltage signals VA and VB output by the linear displacement sensor are collected and conditioned by the linear displacement sensor feedback signal conditioning unit, and the conditioned signals are transmitted to the signal measurement module; on the other hand, an excitation signal acting on the angular displacement sensor is generated by the angular displacement sensor excitation signal conditioning unit, and the differential sinusoidal signal output by the angular displacement sensor is collected and conditioned by the angular displacement sensor feedback signal conditioning unit, and the conditioned signals are transmitted to the signal measurement module.

[0064] In one embodiment of this implementation, Figure 4 for Figure 3 A schematic diagram of the structure of the linear displacement sensor excitation signal conditioning unit in the sensor signal conditioning module provided in the illustrated embodiment. The linear displacement sensor excitation signal conditioning unit is composed of a DDS chip and a signal filtering circuit. The DDS chip is configured to output a sinusoidal signal of 3000Hz and an effective value of 3V. The signal filtering circuit is a second-order active Chebyshev filter. The filtering parameters are adjusted by resistors and capacitors. The filter stopband attenuation is configured to be -40dB, and the cutoff frequency is configured to be 10KHz.

[0065] In one embodiment of this implementation, Figure 5 for Figure 3 A schematic diagram of the structure of the linear displacement sensor feedback signal conditioning unit in the sensor signal conditioning module provided in the illustrated embodiment. The linear displacement sensor feedback signal conditioning unit is composed of a filtering circuit, an effective value conversion circuit and an AD converter. Among them, the filtering circuit is a second-order active Chebyshev filter, the filtering parameters are adjusted by resistors and capacitors, the filter stopband attenuation is configured to be -40dB, and the cut-off frequency is configured to be 10KHz. The effective value conversion circuit is implemented by a dedicated integrated chip, and the effective value of the AC signal is extracted by a digital signal processing method and converted into an equivalent DC voltage. The AD converter realizes high-precision sampling of the DC signal and converts the analog voltage into a digital signal.

[0066] In one embodiment of this implementation, Figure 6 for Figure 3 The schematic diagram of the structure of the angular displacement sensor excitation signal conditioning unit in the sensor signal conditioning module provided in the illustrated embodiment, Figure 7 for Figure 6Schematic diagram of the conditioning principle of the angular displacement sensor excitation signal conditioning unit provided in the illustrated embodiment. The angular displacement sensor excitation signal conditioning unit is composed of a dedicated codec chip for a rotary transformer, a filter, and a power amplifier. The dedicated codec chip for the rotary transformer generates a differential sinusoidal excitation signal with a reference value of 2.5V, a peak value of 3.6V, and a frequency of 10KHz. The filter is a second-order active Chebyshev filter, and the filter parameters are adjusted by resistors and capacitors. The filter stopband attenuation is configured to -40dB, and the cutoff frequency is configured to 50KHz. The power amplifier amplifies the filtered sinusoidal signal into an AC sinusoidal signal with a reference voltage of 6V and a peak value of 6.48V.

[0067] In one embodiment of this implementation, Figure 8 for Figure 3 The schematic diagram of the structure of the angular displacement sensor feedback signal conditioning unit in the sensor signal conditioning module provided in the illustrated embodiment, Fig. 9 for Figure 8 The schematic diagram of the conditioning principle of the angular displacement sensor feedback signal conditioning unit provided in the illustrated embodiment. The angular displacement sensor feedback signal conditioning unit is composed of a filter and an operational amplifier. The filter is a second-order active Chebyshev filter. The filter parameters are adjusted by resistors and capacitors. The filter stopband attenuation is configured to be -40dB, and the cutoff frequency is configured to be 50KHz. The operational amplifier conditions the AC signal with a peak-to-peak value of 5.184V fed back by the rotary transformer into a sinusoidal AC signal with a DC bias of 2.5V and a peak-to-peak value of 3.15V.

[0068] In one implementation of the embodiment of the present invention, Figure 3 As shown, the input end of the signal measurement module is respectively connected to the output end of the linear displacement sensor feedback signal conditioning unit, the output end of the angular displacement sensor feedback signal conditioning unit, and the input end of the actuator 1. The signal measurement module includes: a PWM duty cycle measurement unit, a linear displacement sensor displacement measurement unit, and an angular displacement sensor angle measurement unit.

[0069] The PWM duty cycle measurement unit in this implementation is used to collect the PWM signal input to the actuator 1, isolate and shape the PWM signal through a two-stage inverter, and then calculate the duty cycle using a duty cycle measurement algorithm.

[0070] The displacement measurement unit of the linear displacement sensor in this implementation is used to perform signal pickup, linear displacement calculation and digital signal processing; the signal pickup function periodically picks up the voltage signals VA and VB output by the feedback signal conditioning unit of the linear displacement sensor; in the linear displacement calculation process, the corresponding voltage values ​​of the two are calculated according to the acquired voltage signals VA and VB, and the output of the linear displacement sensor is converted into a Bit value according to the difference ratio and calculation method of the linear displacement sensor, and the corresponding relationship between the difference ratio and the result and the Bit value, and the measurement results are sorted and median filtered by the median filtering digital signal processing algorithm.

[0071] The angle measurement unit of the angular displacement sensor in this implementation periodically reads the result of the rotary transformer codec chip, and the read digital quantity is further converted into an angle signal in combination with the operation rules of the codec chip.

[0072] In one implementation of the embodiment of the present invention, Figure 2 As shown, the actuator 1 model identification algorithm module includes: a bandwidth test unit, an actuator 1 Bode diagram test unit and an actuator 1 transfer function extraction unit which are connected in sequence.

[0073] In this implementation, the bandwidth test unit determines the open-loop bandwidth of the actuator 1 by tracking the step response of the actuator 1. The test method is:

[0074] (1) Determine the balanced duty cycle of actuator 1 based on experience;

[0075] (2) Setting the duty cycle step, the step amount to the equilibrium duty cycle is 1%;

[0076] (3) The duty cycle step duration is 0.5 s, and the balanced duty cycle maintenance time is 0.5 s, that is, the step control period is 1 s, and the PWM signal after the duty cycle is set is applied to the PWM input port of the actuator 1;

[0077] (4) From the moment the step duty cycle is applied, the signal measurement module monitors the LA1 displacement output, identifies the steady-state final value, the 10% to 90% signal rise time, recorded as 3T, and reversely calculates the T value;

[0078] (5) Repeat steps (1) to (4). When the duty cycle step value is greater than a certain threshold, the increase in the duty cycle has almost no effect on the T value. At this time, T is the time constant.

[0079] (6) Calculate f=1 / T based on T, which is the open-loop bandwidth of actuator 1.

[0080] In this implementation, the actuator 1 Bode plot test unit implements an open-loop Bode plot test of the actuator 1. The test method is:

[0081] (1) Determine the balanced duty cycle of actuator 1 based on experience;

[0082] (2) The duty cycle step value is set to 2%, that is, the applied duty cycle is the balanced duty cycle + 2%;

[0083] (3) From 0.5 Hz to the open-loop bandwidth, with a step of 0.5 Hz, the time of applying the balanced duty cycle is half of the cycle, and the time of the balanced duty cycle + 2% duty cycle is half of the cycle;

[0084] (4) The signal measurement module monitors the step frequency and the final value of the linear displacement sensor, and calculates the amplitude gain and phase lag corresponding to each frequency point;

[0085] (5) By combining the frequency point, amplitude gain, and phase lag, draw the amplitude-frequency characteristic curve and phase-frequency characteristic curve of actuator 1.

[0086] In this implementation, the transfer function extraction unit of actuator 1 converts the amplitude-frequency characteristic curve data and phase-frequency characteristic curve data of actuator 1 according to the requirements of mathematical tools, and the mathematical tools automatically calculate the transfer function of actuator 1 based on the data, which is the control model of actuator 1.

[0087] In one implementation of the embodiment of the present invention, Figure 2 As shown, the model identification algorithm module of the actuator 2 includes: an actuator 1 closed-loop control unit, an actuator 2 Bode diagram measurement unit and an actuator 2 transfer function extraction unit.

[0088] In this implementation, the closed-loop control unit of actuator 1 is connected to the output end of the transfer function extraction unit of actuator 1, and is used to design a closed-loop controller of actuator 1 based on the transfer function of actuator 1 and the closed-loop control target, implement closed-loop control of actuator 1, and provide experimental conditions for model identification of actuator 2.

[0089] The Bode plot measurement unit of actuator 2 realizes the open-loop Bode plot test of actuator 2; the test method is:

[0090] (1) generating a command signal, wherein the command signal is composed of a DC quantity superimposed on a sinusoidal disturbance, the DC quantity is 50% of the total stroke of the linear displacement sensor, the disturbance amplitude is 5% of the total stroke of the linear displacement sensor, and the disturbance signal frequency ranges from 0.5 Hz to 20 Hz in steps of 0.5 Hz;

[0091] (2) The command signal is input to the closed-loop controller of actuator 1, and the closed-loop controller of actuator 1 tracks the sinusoidal command LA, and the result is the input signal of actuator 2.

[0092] (3) The signal measurement module monitors the sinusoidal input LA of the actuator 2 and the angle signal A output by the actuator 2, and counts the amplitude gain and phase lag corresponding to each frequency point;

[0093] (4) By combining the frequency point, amplitude gain, and phase lag, draw the amplitude-frequency characteristic curve and phase-frequency characteristic curve of actuator 2.

[0094] The transfer function extraction unit of the actuator 2 is connected to the Bode diagram measurement unit of the actuator 2, and the amplitude-frequency characteristic curve data and the phase-frequency characteristic curve data of the actuator 2 are converted according to the requirements of the mathematical tool. The mathematical tool automatically calculates the transfer function of the actuator 2 based on the data, which is the control model of the actuator 2.

[0095] In a specific implementation, the fuel regulator overall model identification algorithm module is specifically used to perform a product operation on the transfer function of the actuator 1 and the transfer function of the actuator 2 to obtain the overall transfer function model of the fuel regulator.

[0096] The control model identification device of the fuel regulator provided in the embodiment of the present invention cooperates with the fuel regulator to carry out experiments and identify the control model according to the experimental data; based on the structural form of the fuel regulator, the sensor signal conditioning module in the control model identification device is respectively connected to the linear displacement sensor (LVDT) and the angular displacement sensor, and is used to generate the excitation signal of the linear displacement sensor and the excitation signal of the angular displacement sensor respectively, and condition the signals output by the linear displacement sensor and the angular displacement sensor respectively; the signal measurement module measures the PWM signal input to the fuel regulator in real time, the linear displacement signal LA output by the actuator 1, and the actuator 2 The angle signal A output by mechanism 2 outputs the PWM signal and the line displacement signal LA to the model identification algorithm module of actuator 1, so as to identify the control model of actuator 1 through the model identification algorithm module of actuator 1; the line displacement signal LA and the angle signal A are output to the model identification algorithm module of actuator 2, so as to identify the control model of actuator 2 through the model identification algorithm module of actuator 2; finally, the overall model identification algorithm module of the fuel regulator is used to calculate the overall model of the fuel regulator through the control models of actuator 1 and actuator 2 respectively output by the model identification algorithm module of actuator 1 and the model identification algorithm module of actuator 2. The control model identification device provided by the embodiment of the present invention has the following beneficial effects:

[0097] 1) Through experimental methods combined with theoretical analysis, the fuel regulator control model is accurately constructed, providing a model reference for control system designers;

[0098] 2) Based on the construction of the fuel regulator control model, the design of the control algorithm can be based on the analytical method to perform accurate parameter matching, thereby obtaining the optimal control performance and safety margin under all operating conditions, improving the accuracy, robustness and optimization of the control system design, and facilitating the optimization of the controller under all operating conditions of the aircraft engine;

[0099] 3) Improve the operational safety and reliability of aircraft engine fuel control systems and engines, and avoid the risk of engine control instability.

[0100] Although the embodiments disclosed in the present invention are as above, the contents are only embodiments adopted to facilitate understanding of the present invention and are not intended to limit the present invention. Any technician in the field to which the present invention belongs can make any modifications and changes in the form and details of implementation without departing from the spirit and scope disclosed in the present invention, but the patent protection scope of the present invention shall still be subject to the scope defined in the attached claims.

Claims

1. A control model identification device for a fuel regulator, characterized in that: The fuel regulator comprises an actuator 1, an actuator 2, and a linear displacement sensor LVDT for measuring the valve stroke in the actuator 1, and an angular displacement sensor for measuring the angle of the actuator cylinder in the actuator 2; the actuator 1 is used to receive a PWM signal and output a linear displacement signal LA; the actuator 2 takes the linear displacement signal LA as input and outputs an angle signal A; the control model identification device of the fuel regulator comprises: a sensor signal conditioning module, a signal measurement module, an actuator 1 model identification algorithm module, an actuator 2 model identification algorithm module, and a fuel regulator overall model identification algorithm module; The sensor signal conditioning module is connected to the linear displacement sensor (LVDT) and the angular displacement sensor respectively, and is used to generate an excitation signal for the linear displacement sensor and condition the sinusoidal signal output by the linear displacement sensor; it is also used to generate an excitation signal for the angular displacement sensor and condition the sinusoidal signal output by the angular displacement sensor; The signal measurement module is respectively connected to the input end and the output end of the actuator 1, and the output end of the actuator 2, and is used to measure in real time the PWM signal input to the fuel regulator, the linear displacement signal LA output by the actuator 1, and the angle signal A output by the actuator 2, and output the PWM signal and the linear displacement signal LA to the model identification algorithm module of the actuator 1, so as to identify the control model of the actuator 1 through the model identification algorithm module of the actuator 1; and output the linear displacement signal LA and the angle signal A to the model identification algorithm module of the actuator 2, so as to identify the control model of the actuator 2 through the model identification algorithm module of the actuator 2; The fuel regulator overall model identification algorithm module is used to calculate the fuel regulator overall model through the control models of actuator 1 and actuator 2 output by the actuator 1 model identification algorithm module and the actuator 2 model identification algorithm module respectively.

2. The control model identification device for a fuel regulator according to claim 1, characterized in that: The sensor signal conditioning module outputs a 3000 Hz sinusoidal wave excitation signal with an effective amplitude of 3V to the linear displacement sensor LVDT; The voltage signals VA and VB output by the linear displacement sensor are both 3000 Hz sine wave signals, and the amplitudes of the voltage signals VA and VB vary according to the linear displacement, and the sum of their effective values ​​is 3V; the voltage signals VA and VB are used to calculate the linear displacement signal LA.

3. The control model identification device for a fuel regulator according to claim 1, characterized in that: The angular displacement sensor adopts a rotary transformer, which is coaxially installed with the actuator in the actuator 2, and the rotary transformer has a rotary ratio of 0.4; The excitation signal output by the sensor signal conditioning module to the angular displacement sensor is a differential sinusoidal signal, and the output signal of the angular displacement sensor is also a differential sinusoidal signal.

4. The control model identification device for a fuel regulator according to claim 1, characterized in that: The sensor signal conditioning module includes: a linear displacement sensor excitation signal conditioning unit connected to the input end of the linear displacement sensor LVDT, a linear displacement sensor feedback signal conditioning unit connected to the output end of the linear displacement sensor LVDT, an angular displacement sensor excitation signal conditioning unit connected to the input end of the angular displacement sensor, and an angular displacement sensor feedback signal conditioning unit connected to the output end of the angular displacement sensor; The sensor signal conditioning module is used to generate an excitation signal acting on the linear displacement sensor through the linear displacement sensor excitation signal conditioning unit, collect and condition the voltage signals VA and VB output by the linear displacement sensor through the linear displacement sensor feedback signal conditioning unit, and transmit the conditioned signals to the signal measurement module; The sensor signal conditioning module is also used to generate an excitation signal acting on the angular displacement sensor through the angular displacement sensor excitation signal conditioning unit, and to collect and condition the differential sinusoidal signal output by the angular displacement sensor through the angular displacement sensor feedback signal conditioning unit, and transmit the conditioned signal to the signal measurement module.

5. The control model identification device for a fuel regulator according to claim 4, characterized in that: The input end of the signal measurement module is respectively connected to the output end of the linear displacement sensor feedback signal conditioning unit, the output end of the angular displacement sensor feedback signal conditioning unit, and the input end of the actuator 1; and the signal measurement module includes: a PWM duty cycle measurement unit, a linear displacement sensor displacement measurement unit, and an angular displacement sensor angle measurement unit; The PWM duty cycle measurement unit is used to collect the PWM signal input to the actuator 1, isolate and shape the PWM signal through a two-stage inverter, and then calculate the duty cycle by a duty cycle measurement algorithm; The linear displacement sensor displacement measurement unit is used to perform signal pickup, linear displacement calculation and digital signal processing, and converts the output of the linear displacement sensor into a Bit value through periodic pickup and calculation of the voltage signals VA and VB transmitted by the linear displacement sensor feedback signal conditioning unit, and sorts and median filters the measurement results by a median filtering digital signal processing algorithm; The angle measurement unit of the angular displacement sensor is used to periodically read the differential sinusoidal signal output by the feedback signal conditioning unit of the angular displacement sensor and calculate the angle signal.

6. The control model identification device for a fuel regulator according to claim 1, characterized in that: The actuator 1 model identification algorithm module includes: a bandwidth test unit, an actuator 1 Bode diagram test unit and an actuator 1 transfer function extraction unit connected in sequence; Wherein, the bandwidth test unit is used to determine the open-loop band of the actuator 1 by tracking the step response of the actuator 1; Actuator 1 Bode plot test unit, used to implement open-loop Bode plot test of actuator 1, so as to draw amplitude-frequency characteristic curve and phase-frequency characteristic curve of actuator 1; The transfer function extraction unit of the actuator 1 is used to perform data conversion on the amplitude-frequency characteristic curve data and the phase-frequency characteristic curve of the actuator 1, so as to calculate the transfer function of the actuator 1, that is, the control model of the actuator 1.

7. The control model identification device for a fuel regulator according to claim 6, characterized in that: The actuator 2 model identification algorithm module includes: an actuator 1 closed-loop control unit, an actuator 2 Bode diagram measurement unit and an actuator 2 transfer function extraction unit; The closed-loop control unit of the actuator 1 is connected to the output end of the transfer function extraction unit of the actuator 1, and is used to design a closed-loop controller of the actuator 1 based on the transfer function of the actuator 1 and the closed-loop control target, so as to realize the closed-loop control of the actuator 1; Actuator 2 Bode plot measurement unit, used to implement open-loop Bode plot test of actuator 2, so as to draw amplitude-frequency characteristic curve and phase-frequency characteristic curve of actuator 2; The actuator 2 transfer function extraction unit is connected to the actuator 2 Bode diagram measurement unit, and is used to convert the amplitude-frequency characteristic curve data and the phase-frequency characteristic curve data of the actuator 2, so as to calculate the transfer function of the actuator 2, that is, the control model of the actuator 2.

8. The control model identification device for a fuel regulator according to any one of claims 1 to 7, characterized in that: The fuel regulator overall model identification algorithm module is specifically used to perform a product operation on the transfer function of the actuator 1 and the transfer function of the actuator 2 to obtain the overall transfer function model of the fuel regulator.

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