Double-channel air guide valve control system

Abstract

According to the double-channel bleed valve control system, the bleed valves control the flow of the bleed system, engines on the left and right wings enable high-temperature and high-pressure gas to pass through respective bleed pipelines, enter the bleed system through the bleed valves, and are compressed, cooled and distributed into all the systems. The air guiding valve comprises a valve body, a rotary transformer servo motor, a speed reducer and an RVDT sensor. The dual-channel bleed valve control system collects motor positions of left and right bleed valves and RVDT sensor position information through a 422 communication protocol, calculates deviation between parameters and a new target through a three-ring full-digital closed-loop control algorithm, outputs respective deviation values of the two bleed valves, completes three-ring closed-loop control, and completes collection and control of the left and right bleed valves through a digital processor DSP. A design method of a minimum system is provided, and space resources of an engine bleed air system are optimized.

Description

Technical Field

[0001] The present application relates to the technical field of servo control, and in particular to a dual-channel air induction valve control system. Background Art

[0002] Airborne equipment usually carries two engine systems, and transmits high-temperature and high-pressure gas to the induced system through two bleed air pipes. The flow control of the traditional bleed air pipes is achieved manually and pneumatically. Due to the structural limitations of the left and right bleed air systems, the implementation method is not convenient enough and usually requires multiple devices to control. Traditional electric control improves convenience, but the accuracy is insufficient and it is impossible to achieve precise control of the bleed air flow.

[0003] The air induction valve based on RVDT sensor and resolver servo motor architecture has been proven to have the potential to be used in the air induction system of airborne equipment due to its high angular accuracy. Therefore, how to achieve intelligent control of the air induction valve has become a problem that needs to be solved urgently. Summary of the invention

[0004] The present application provides a dual-channel air induction valve control system, which can be used to solve the technical problem of insufficient precision of traditional electric control.

[0005] The control method adopted by the system includes the following steps:

[0006] Step 1: Get the motor and sensor positions.

[0007] First, the control system receives the position command angles θ of the left and right air induction valves sent by the upper level. C1 ,θ C2 , call the DSP acquisition function, based on the RD2S1210 resolver decoding circuit and the RD19230 angle / displacement decoding circuit, collect the left and right motor positions and RVDT sensor positions, and convert them into angles θ according to the mechanical structure speed ratio T1 ,θ T2 .

[0008] Step 2: Output speed command and speed feedback according to the position deviation.

[0009] After obtaining the current angle information, the deviation between the current acquisition angle and the command angle is calculated in combination with the position loop proportional coefficient Kpp, and the speed command is output;

[0010] The speed command is determined by the following method:

[0011] data(Vc1)=Kpp*data(θ C1 -θ T1 )

[0012] data(Vc2)=Kpp*data(θ C2 -θT2 )

[0013] Data represents the data volume of the current value, and the speed command value V of the left and right air induction valve motors is obtained. c1 、V c2 , that is, the speed command is obtained by the position loop;

[0014] The speed feedback value is obtained based on the accumulated difference between the rotary transformer sampling value within a control cycle and the sampling value of the motor rotating one circle. The speed feedback is determined by the following method:

[0015]

[0016] Where t1 and t2 are the sampling periods of the rotary encoders for the left and right air inlet valves, respectively, in seconds; θ1 and θ2 are the rotation angles of the motors for the left and right air inlet valves, respectively, in degrees, V t1 、V t2 They are the speed feedback values ​​of the left and right air induction valve motors respectively, and the speed unit is rpm.

[0017] Step 3: Determine the d-axis current, q-axis current command and feedback value according to the speed command and speed feedback.

[0018] Output d-axis current command Id1 according to speed command and speed feedback Ref 、Id2 Ref With q-axis current command Iq1 Ref , Iq2 Ref , the d-axis current command is zero, and the q-axis current command is:

[0019] Iq1 Ref =data(Kvi(V c1 -V t1 )+Kci*SatErr1+Kvp(V c1 -V t1 ))

[0020] Iq2 Ref =data(Kvi(V c2 -V t2 )+Kci*SatErr2+Kvp(V c2 -V t2 ))

[0021] Where Iq1 Ref , Iq2 Ref are the q-axis current commands of the left and right air induction valve motors, Kvp is the speed proportional coefficient, Kci is the speed anti-saturation coefficient, Kvi is the speed loop integral coefficient, SatErr1=Iq1 Ref -I′q1 Ref 、SatErr2=Iq2 Ref-I′q2 Ref , where I′q1 Ref With I′q2 Ref is the q-axis current command limit value of the left and right air induction valve motors given by the system;

[0022] After the current command value is obtained, the current feedback value is obtained; the current feedback is obtained through Clack and Park transformation:

[0023]

[0024] Where IA1 and IB1 are the current values ​​of the left induction valve motor phase A and phase B collected and converted by the Hall sensor and analog circuit in hardware; IA2 and IB2 are the current collection values ​​of the right induction valve motor phase, θ e1 ,θ e2 It is the electrical angle of the left and right air induction valve motors.

[0025] Step 4: After obtaining the current command and current feedback value, determine the voltage output value.

[0026] Combined with the current loop coefficient, substituting the current command and current feedback, the voltage output equation is:

[0027] Ud1=K p_id (Id1 Ref -Id1)+K ii_id (Id1 Ref -Id1)+K ic_id *SatErr_d1

[0028] Uq1=K p_iq (Iq1 Ref -Iq1)+K ii_iq (Iq1 Ref -Iq1)+K ic_iq *SatErr_q1

[0029] Ud2=K p_id (Id2 Ref -Id2)+K ii_id (Id2 Ref -Id2)+K ic_id *SatErr_d2

[0030] Uq2=K p_iq (Iq2 Ref -Iq2)+K ii_iq (Iq2 Ref -Iq2)+K ic_iq *SatErr_q2

[0031] Where K p_id is the current loop proportionality coefficient, K p_iqis the current loop proportionality coefficient, K ii_id is the current loop integral coefficient, K ii_iq is the current loop integral coefficient, K ic_id is the current loop anti-saturation coefficient, K ic_iq is the current loop anti-saturation coefficient, SatErr_q1=U q1 -U q ′1, SatErr_q2=U q2 -U q '2, SatErr_d1 = U d1 -U′ d1 , SatErr_d2=U d2 -U′ d2 , U′ q1 , U′ q2 is the q-axis command voltage limit value of the left and right air induction valve motors given by the system, U′ d1 , U′ d2 It is the voltage limit value of the d-axis command of the left and right air induction valve motors.

[0032] Finally, the SVPWM algorithm is used to output PWM chopping, and the inverter module controls the speed of the left and right air induction valve motors. When the angle position of the left and right air induction valves reaches the position command θ sent by the superior, C1 ,θ C2 At the same time, the three-loop closed-loop control of the speed loop, current loop and position loop of the left and right air induction valves is completed.

[0033] The control system uses a digital processor DSP in hardware, and the digital processor DSP has interface resources; 12 PWM output pins control 2 sets of inverter modules, 2 SPI interfaces communicate with RD2S1210 to collect the rotary position of the left and right air induction valve motors, and 16 bus interfaces switch the acquisition timing of the left and right air induction valves through the enable pin of RD19230 to realize the position acquisition of 2 RVDT sensors. The 16-channel bus communication mode makes the RVDT sensor acquisition resolution 16 bits, and the angle acquisition conversion accuracy reaches ≤0.2°. 1 RS422 communication completes the command control and information feedback between the upper controller;

[0034] The control system is equipped with EEPROM for parameter storage, and the dynamic response characteristics under different working conditions can be met through PID adjustment of the outer loop.

[0035] This application applies servo control technology to the control of the air induction valve, performs a closed loop through the position of the RVDT sensor, and combines the motor speed loop and the current loop to achieve three-loop closed-loop control of the air induction valve. It also makes full use of hardware resources to minimize the air induction control system of the airborne engine, improves the integration of the air induction valve control system, and enables the system to simultaneously collect the position information of the left and right air induction valves, and complete the air induction valve control of different instructions through the control algorithm. The optimization of the hardware acquisition in terms of resolution improves the acquisition accuracy of the air induction valve position and meets the accuracy requirements of the airborne equipment for the air induction flow control. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a hardware block diagram of the control system of the present invention;

[0037] Figure 2 This is a principle block diagram of the control algorithm of the present invention;

[0038] Figure 3 This is a control flow chart of the present invention. DETAILED DESCRIPTION

[0039] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0040] The following first introduces the embodiments of the present application in conjunction with the accompanying drawings.

[0041] This application adopts a dual-channel air induction valve control system, the hardware block diagram is as follows Figure 1 As shown, the control algorithm principle is as follows Figure 2 shown.

[0042] The control method adopted by the system includes the following steps:

[0043] Step 1: Get the motor and sensor positions.

[0044] First, the control system receives the position command angles θ of the left and right air induction valves sent by the upper level. C1 ,θ C2 , call the DSP acquisition function, based on the RD2S1210 resolver decoding circuit and the RD19230 angle / displacement decoding circuit, collect the left and right motor positions and RVDT sensor positions, and convert them into angles θ according to the mechanical structure speed ratio T1 ,θ T2 .

[0045] Step 2: Output speed command and speed feedback according to the position deviation.

[0046] After obtaining the current angle information, the deviation between the current acquisition angle and the command angle is calculated in combination with the position loop proportional coefficient Kpp, and the speed command is output;

[0047] The speed command is determined by the following method:

[0048] data(Vc1)=Kpp*data(θ C1 -θ T1 )

[0049] data(Vc2)=Kpp*data(θ C2 -θ T2 )

[0050] Data represents the data volume of the current value, and the speed command value V of the left and right air induction valve motors is obtained. c1 、V c2 , that is, the speed command is obtained by the position loop;

[0051] The speed feedback value is obtained based on the accumulated difference between the rotary transformer sampling value within a control cycle and the sampling value of the motor rotating one circle. The speed feedback is determined by the following method:

[0052]

[0053] Where t1 and t2 are the sampling periods of the rotary encoders for the left and right air inlet valves, respectively, in seconds; θ1 and θ2 are the rotation angles of the motors for the left and right air inlet valves, respectively, in degrees, V t1 、V t2 They are the speed feedback values ​​of the left and right air induction valve motors respectively, and the speed unit is rpm.

[0054] Step 3: Determine the d-axis current, q-axis current command and feedback value according to the speed command and speed feedback.

[0055] Output d-axis current command Id1 according to speed command and speed feedback Ref 、Id2 Ref With q-axis current command Iq1 Ref , Iq2 Ref , the d-axis current command is zero, and the q-axis current command is:

[0056] Iq1 Ref =data(Kvi(V c1 -V t1 )+Kci*SatErr1+Kvp(V c1 -V t1 ))

[0057] Iq2 Ref =data(Kvi(V c2 -V t2 )+Kci*SatErr2+Kvp(V c2 -V t2 ))

[0058] Where Iq1 Ref , Iq2 Ref are the q-axis current commands of the left and right air induction valve motors, Kvp is the speed proportional coefficient, Kci is the speed anti-saturation coefficient, Kvi is the speed loop integral coefficient, SatErr1=Iq1 Ref -I′q1 Ref 、SatErr2=Iq2 Ref -I′q2 Ref , where I′q1 Ref With I′q2 Ref is the q-axis current command limit value of the left and right air induction valve motors given by the system;

[0059] After the current command value is obtained, the current feedback value is obtained; the current feedback is obtained through Clack and Park transformation:

[0060]

[0061]

[0062] Where IA1 and IB1 are the current values ​​of the left induction valve motor phase A and phase B collected and converted by the Hall sensor and analog circuit in hardware; IA2 and IB2 are the current collection values ​​of the right induction valve motor phase, θ e1 ,θ e2 It is the electrical angle of the left and right air induction valve motors.

[0063] Step 4: After obtaining the current command and current feedback value, determine the voltage output value.

[0064] Combined with the current loop coefficient, substituting the current command and current feedback, the voltage output equation is:

[0065] Ud1=K p_id (Id1 Ref -Id1)+K ii_id (Id1 Ref -Id1)+K ic_id *SatErr_d1

[0066] Uq1=K p_iq (Iq1 Ref -Iq1)+K ii_iq (Iq1 Ref -Iq1)+K ic_iq *SatErr_q1

[0067] Ud2=K p_id (Id2 Ref -Id2)+K ii_id (Id2 Ref -Id2)+K ic_id*SatErr_d2

[0068] Uq2=K p_iq (Iq2 Ref -Iq2)+K ii_iq (Iq2 Ref -Iq2)+K ic_iq *SatErr_q2

[0069] Where K p_id is the current loop proportionality coefficient, K p_iq is the current loop proportionality coefficient, K ii_id is the current loop integral coefficient, K ii_iq is the current loop integral coefficient, K ic_id is the current loop anti-saturation coefficient, K ic_iq is the current loop anti-saturation coefficient, SatErr_q1=U q1 -U′ q1 , SatErr_q2=U q2 -U′ q2 , SatErr_d1=U d1 -U′ d1 , SatErr_d2=U d2 -U′ d2 , U′ q1 , U′ q2 is the q-axis command voltage limit value of the left and right air induction valve motors given by the system, U′ d1 , U′ d2 It is the voltage limit value of the d-axis command of the left and right air induction valve motors.

[0070] Finally, the SVPWM algorithm is used to output PWM chopping, and the inverter module controls the speed of the left and right air induction valve motors. When the angle position of the left and right air induction valves reaches the position command θ sent by the superior, C1 ,θ C2 At the same time, the three-loop closed-loop control of the speed loop, current loop and position loop of the left and right air induction valves is completed.

[0071] The control system uses a digital processor DSP in hardware, and the digital processor DSP has interface resources; 12 PWM output pins control 2 sets of inverter modules, 2 SPI interfaces communicate with RD2S1210 to collect the rotary position of the left and right air induction valve motors, and 16 bus interfaces switch the acquisition timing of the left and right air induction valves through the enable pin of RD19230 to realize the position acquisition of 2 RVDT sensors. The 16-channel bus communication mode makes the RVDT sensor acquisition resolution 16 bits, and the angle acquisition conversion accuracy reaches ≤0.2°. 1 RS422 communication completes the command control and information feedback between the upper controller;

[0072] The control system is equipped with EEPROM for parameter storage, and the dynamic response characteristics under different working conditions can be met through PID adjustment of the outer loop.

[0073] like Figure 3 The control flow chart is shown below. The system will power on to check whether there is any fault. If there is no fault, the system will wait for the host computer to send a control command. After enabling, it will enter the position mode and complete the action command of the air induction valve through the position closed-loop control of the control system.

[0074] The air bleed valve is a key device for controlling the flow of the air bleed system inside the airborne engine. The engines on the left and right wings pass the high-temperature and high-pressure gas through their respective air bleed pipes, and enter the air bleed system through the air bleed valves. After compression and cooling, it is distributed to various systems to meet various needs during high-altitude flight. The air bleed valve includes a valve body, a rotary servo motor, a reducer, and an RVDT sensor. The dual-channel air bleed valve control system proposed in this application collects the motor position and RVDT sensor position information of the left and right air bleed valves through the 422 communication protocol, calculates the deviation between the parameters of the three-ring full digital closed-loop control algorithm and the new target, outputs the deviation of each of the two air bleed valves, completes the three-ring closed-loop control, and makes full use of hardware resources. The acquisition and control of the left and right air bleed valves are completed through the digital processor DSP, and a minimum system design method is proposed to optimize the space resources of the engine air bleed system.

[0075] The above-described embodiments of the present application do not constitute a limitation on the protection scope of the present application.

Claims

1. A dual-channel air induction valve control system, characterized in that: The method adopted by the system includes: Step 1: Get the motor and sensor positions; Step 2: Output speed command and speed feedback according to position deviation; Step 3: Determine the d-axis current, q-axis current command and feedback value according to the speed command and speed feedback; Step 4: After obtaining the current command and current feedback value, determine the voltage output value.

2. The system according to claim 1, characterized in that Step 1: Get the motor and sensor positions, including: First, the control system receives the position command angles θ of the left and right air induction valves sent by the upper level. C1 ,θ C2 , call the DSP acquisition function, based on the RD2S1210 resolver decoding circuit and the RD19230 angle / displacement decoding circuit, collect the left and right motor positions and RVDT sensor positions, and convert them into angles θ according to the mechanical structure speed ratio T1 ,θ T2 .

3. The system according to claim 2, characterized in that Step 2: Output speed command and speed feedback according to position deviation, including: After obtaining the current angle information, the deviation between the current acquisition angle and the command angle is calculated in combination with the position loop proportional coefficient Kpp, and the speed command is output; The speed command is determined by the following method: data(Vc1)=Kpp*data(θ C1 -θ T1 ) data(Vc2)=Kpp*data(θ C2 -θ T2 ) Data represents the data volume of the current value, and the speed command value V of the left and right air induction valve motors is obtained. c1 、V c2 , that is, the speed command is obtained by the position loop; The speed feedback value is obtained based on the accumulated difference between the rotary transformer sampling value within a control cycle and the sampling value of the motor rotating one circle. The speed feedback is determined by the following method: Where t1 and t2 are the sampling periods of the rotary encoders for the left and right air inlet valves, respectively, in seconds; θ1 and θ2 are the rotation angles of the motors for the left and right air inlet valves, respectively, in degrees, V t1 、V t2 They are the speed feedback values ​​of the left and right air induction valve motors respectively, and the speed unit is rpm.

4. The system according to claim 3, characterized in that Step 3: Determine the d-axis current, q-axis current command and feedback value according to the speed command and speed feedback, including: Output d-axis current command Id1 according to speed command and speed feedback Ref 、Id2 Ref With q-axis current command Iq1 Ref , Iq2 Ref , the d-axis current command is zero, and the q-axis current command is: Iq1 Ref =data(Kvi(V c1 -V t1 )+Kci*SatErr1+Kvp(V c1 -V t1 )) Iq2 Ref =data(Kvi(V c2 -V t2 )+Kci*SatErr2+Kvp(V c2 -V t2 )) Where Iq1 Ref , Iq2 Ref are the q-axis current commands of the left and right air induction valve motors, Kvp is the speed proportional coefficient, Kci is the speed anti-saturation coefficient, Kvi is the speed loop integral coefficient, SatErr1=Iq1 Ref -I′q1 Ref 、SatErr2=Iq2 Ref -I′q2 Ref , where I′q1 Ref With I′q2 Ref is the q-axis current command limit value of the left and right air induction valve motors given by the system; After the current command value is obtained, the current feedback value is obtained; the current feedback is obtained through Clack and Park transformation: Where IA1 and IB1 are the current values ​​of the left induction valve motor phase A and phase B collected and converted by the Hall sensor and analog circuit in hardware; IA2 and IB2 are the current collection values ​​of the right induction valve motor phase, θ e1 ,θ e2 It is the electrical angle of the left and right air induction valve motors.

5. The system according to claim 4, characterized in that Step 4: After obtaining the current command and current feedback value, determine the voltage output value, including: Combined with the current loop coefficient, substituting the current command and current feedback, the voltage output equation is: Out1=K p_id (Id1 Ref -Id1)+K ii_id (Id1 Ref -Id1)+K ic_id *SatErr_d1 Uq1=K p_iq (Iq1 Ref -Iq1)+K ii_iq (Iq1 Ref -Iq1)+K ic_iq *SatErr_q1 <h2 style=";text-align:left;direction:ltr">Ud2=K<h2 style=";text-align:left;direction:ltr"> p_id <h2 style=";text-align:left;direction:ltr"> (Id2<h2 style=";text-align:left;direction:ltr"> Ref <h2 style=";text-align:left;direction:ltr"> -Id2)+K<h2 style=";text-align:left;direction:ltr"> ii_id <h2 style=";text-align:left;direction:ltr"> (Id2<h2 style=";text-align:left;direction:ltr"> Ref <h2 style=";text-align:left;direction:ltr"> -Id2)+K<h2 style=";text-align:left;direction:ltr"> ic_id <h2 style=";text-align:left;direction:ltr"> *SatErr_d2 Uq2=K p_iq (Iq2 Ref -Iq2)+K ii_iq (Iq2 Ref -Iq2)+K ic_iq *SatErr_q2 Where K p_id is the current loop proportionality coefficient, K p_iq is the current loop proportionality coefficient, K ii_id is the current loop integral coefficient, K ii_iq is the current loop integral coefficient, K ic_id is the current loop anti-saturation coefficient, K ic_iq is the current loop anti-saturation coefficient, SatErr_q1=U q1 -U′ q1 , SatErr_q2=U q2 -U′ q2 , SatErr_d1=U d1 -U′ d1 , SatErr_d2=U d2 -U′ d2 , U′ q1 , U′ q2 is the q-axis command voltage limit value of the left and right air induction valve motors given by the system, U′ d1 , U′ d2 It is the voltage limit value of the d-axis command of the left and right air induction valve motors.

6. The system according to claim 1, characterized in that The control system uses a digital processor DSP in hardware, and the digital processor DSP has interface resources; among them, 12 PWM output pins control 2 sets of inverter modules, 2 SPI interfaces communicate with RD2S1210 to collect the rotary position of the left and right air induction valve motors, and 16 bus interfaces switch the acquisition timing of the left and right air induction valves through the enable pin of RD19230 to realize the position acquisition of 2 RVDT sensors. The 16-channel bus communication mode makes the RVDT sensor acquisition resolution 16 bits, and 1 RS422 communication completes the command control and information feedback between the upper controller; The control system is configured with EEPROM for parameter storage.

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