Double-butterfly valve linkage anti-interference control method for large-scale gas supply test device

Abstract

The invention provides a double-butterfly valve linkage anti-interference control method for a large air supply test device, which belongs to the technical field of aviation power devices and comprises the following steps of: simplifying inflow and outflow of an air supply adjusting system according to air mass flow into a one-way air inlet and three-way air exhaust structure; a slope pressure given signal and a pressure differential given signal are obtained based on a first discrete tracking differential module, and a filtering output signal and a differential extraction signal are obtained based on a second discrete tracking differential module; obtaining a total disturbance estimated value of the butterfly valve control loop by using the parameters based on a nonlinear discrete expansion state observation module; on the basis of the backstepping control module, the actual control quantity of the butterfly valve is obtained through the parameters; and adjusting the input gain estimation value of the butterfly valve control loop in real time based on a parameter self-adaptive adjustment module, and repeating the steps to realize the double-butterfly valve linkage anti-interference control of the large-scale gas supply test device. The method does not need manual intervention, and is fast in transient response, strong in anti-interference capability and high in robustness.

Description

Technical Field

[0001] The present invention relates to the technical field of aviation power devices, and in particular to a double butterfly valve linkage anti-disturbance control method for a large-scale air supply test device. Background Art

[0002] Large-scale air supply test equipment is a large and complex test device that is indispensable for air environment simulation tests. It is also the power source for achieving intake parameter simulation of aviation power plants. In large-scale air supply test equipment, the air supply pressure regulation system is the link between the large-scale air supply compressor group cluster and the intake simulation system. On the one hand, it ensures that the pressure ratio of the air supply compressor group always operates within the safe range. On the other hand, it must meet the stable pressure conditions before the intake simulation system of the simulation cabin. Currently, with the continuous development of new aviation power plants, the air supply system is required not only to have a wider parameter adjustment domain and a wider flow / flow rate adjustment range, but also to have high-quality control capabilities with fast response speed, short convergence time, and small pressure fluctuations. In order to achieve the above goals, large-scale air supply test equipment not only needs to be equipped with a double butterfly valve adjustment device with a wide range of adjustment capabilities, but also must seek an effective solution in the design and implementation of the double butterfly valve rapid linkage anti-disturbance control system. However, in the actual wide-range and large-scale adjustment and control process, the engine transient operating characteristics, equipment operating characteristics, butterfly valve strong nonlinear characteristics, and cross-modulation coupling characteristics in the rapid movement of the double butterfly valve will all change significantly with the rapid changes in the test conditions. These strongly uncertain nonlinear interference factors pose stringent requirements and severe challenges to the design and implementation of the double butterfly valve rapid linkage anti-disturbance control system for large-scale air supply equipment.

[0003] At present, there is a relative lack of research on the control technology of the air supply pressure regulation system, and it is still mainly focused on the single-variable PID feedback + manual experience control method or the control method based on the system precise model and optimization target solution. However, since the above methods cannot solve the problem of rapid suppression of various strong uncertain interferences in the actual control process, it is difficult to meet the high-quality regulation requirements under wide-range and large-scale instantaneous flow change rate impacts. Summary of the Invention

[0004] In view of this, an embodiment of the present invention provides a double butterfly valve linkage anti-interference control method for a large-scale gas supply test device to solve the problem of quickly suppressing various strong uncertain interferences in the actual control process of the large-scale gas supply test device, thereby achieving high-quality control requirements in a wide range of working processes.

[0005] An embodiment of the present invention provides a double butterfly valve linkage anti-disturbance control method for a large-scale air supply test device, the method comprising: Step 1: Simplify the air supply control system into a one-way intake and three-way exhaust structure according to the air mass flow rate inflow and outflow, where the one-way intake is the total mass flow rate W of the air supply compressor cluster.supply The first exhaust is the mass flow rate W through the first butterfly valve out1 The second exhaust is the mass flow rate W through the second butterfly valve out2 , the third exhaust is the mass flow rate W of the simulation cabin intake system inlet ; Step 2: Set the pressure target value p bset Input to the first discrete tracking differential module, output ramp pressure given signal x 1d and pressure differential given signal x 2d , input the noisy pressure sensor measurement signal p into the second discrete tracking differential module, and output the filtered output signal y1 and the differential extraction signal y2; Step 3: The actual control amount u of the first butterfly valve F1 The filtered output signal y1 is input to the first nonlinear discrete extended state observation module, which outputs the total disturbance estimate z of the first butterfly valve control loop. 13 , the actual control quantity u of the second butterfly valve F2 The filtered output signal y1 is input to the second nonlinear discrete extended state observation module, and the total disturbance estimation value z of the second butterfly valve control loop is output. 23 ; Step 4: Given signal x according to ramp pressure 1d The pressure error e1 is obtained by filtering the output signal y1 and giving the signal x according to the pressure differential. 2d The differential extraction signal y2 is used to obtain the pressure rate error e2, and the ramp pressure given signal x is used. 1d , pressure differential given signal x 2d , pressure error e1, pressure rate error e2, differential extraction signal y2 and total disturbance estimate z of the first butterfly valve control loop 13 Input to the first backstepping control module, output the actual control value u of the first butterfly valve F1 ; Set the ramp pressure as signal x 1d , pressure differential given signal x 2d , pressure error e1, pressure rate error e2, differential extraction signal y2 and total disturbance estimate z of the second butterfly valve control loop 23 Input to the second backstepping control module, output the actual control value u of the second butterfly valve F2 ; Step 5: Based on the mass flow rate W of the first butterfly valve out1 The first parameter adaptive adjustment module is used to input the gain estimation value b of the first butterfly valve control loop in the first nonlinear discrete expanded state observation module and the first backstepping control module. 01 Real-time adjustment; based on the mass flow rate W of the second butterfly valve out2The second parameter adaptive adjustment module is used to input the gain estimation value b of the second butterfly valve control loop in the second nonlinear discrete expanded state observation module and the second backstepping control module. 02 Real-time adjustments; Step 6: Encapsulate each module and complete the signal input and output connections according to the parameter transfer relationship specified in steps 2 to 5; Step 7: Repeat steps 2 to 6 to implement double butterfly valve linkage anti-disturbance control of the large-scale air supply test device.

[0006] According to a specific implementation of the embodiment of the present invention, the first discrete tracking differential module and the second discrete tracking differential module adopt the same calculation strategy, and the implementation steps are as follows: , Where k is the time series step of the discretized system, r is the speed factor, h is the sampling step, v(k) is the input signal at the current moment, and v _1 is the value of v(k) at the previous moment, r 11 (k) is the initial filtered signal output by the tracking differential module, r 11_1 For r 11 (k) the value at the previous moment, r 12 (k) is the final differential signal output by the tracking differential module, r 12_1 For r 12 (k) The first value of the previous moment, x 12 For r 12 (k) The second value of the previous moment, c 01 is the smoothness coefficient, x 11 is the output tracking error, out(k) is the final filtered output signal of the tracking differential module after correction, fast is the fastest control synthesis function, and Fast-TD is the discrete tracking differential module; For the first discrete tracking derivative module, v(k), out(k) and r 12 (k) respectively correspond to the actual parameters p bset 、x 1d and x 2d ;For the second discrete tracking derivative module, v(k), out(k) and r 12 (k) correspond to the actual parameters p, y1 and y2 respectively.

[0007] According to a specific implementation of an embodiment of the present invention, the discrete implementation form of the fastest control synthesis function is:

[0008] , Among them, x1 and x2 are the first state and the second state of the second-order series system respectively, and curve is the state sliding surface equation. is a symbolic function, t1 and t2 are the time calculation parameters related to the state sliding surface, and d and d0 are intermediate variables.

[0009] According to a specific implementation of the embodiment of the present invention, the first nonlinear discrete extended state observation module and the second nonlinear discrete extended state observation module adopt the same calculation strategy, and the implementation steps are as follows: , Among them, μ is the error scaling coefficient, w is the scaling error, θ1, θ2, θ3 are the gains of the nonlinear discrete extended state observation module, z1(k) is the pressure estimate output at the current moment, and z 1_1 is the value of z1(k) at the previous moment, z2(k) is the estimated value of the output pressure differential at the current moment, and z 2_1 is the value of z2(k) at the previous moment, z3(k) is the estimated value of the total disturbance of the control loop at the current moment, and z 3_1 is the value of z3(k) at the previous moment, e1(k) is the estimated error at the current moment, e 1_1 is the value of e1(k) at the previous moment, u(k) is the control input at the current moment, x(k) is the filtered output signal of the second tracking differential module at the current moment, and x _1 is the value of x(k) at the previous moment, b 0m Enter the estimated gain value for the first butterfly valve control loop or the estimated gain value for the second butterfly valve control loop, 、 and are the nonlinear state error feedback functions respectively; For the first nonlinear discrete extended state observation module, x(k), u(k), z3(k) and b 0m Corresponding to the actual parameters y1, u respectively F1 、z 13 and b 01 ; For the second nonlinear discrete extended state observation module, x(k), u(k), z3(k) and b 0m Corresponding to the actual parameters y1, u respectively F2 、z 23 and b 02 .

[0010] According to a specific implementation of an embodiment of the present invention, 、 and The expression is: , in, is a symbolic function, 、 are the index coefficients reflecting the degree of nonlinearity.

[0011] According to a specific implementation of the embodiment of the present invention, the actual control amount u of the first butterfly valve is F1 The calculation process is: According to the ramp pressure given signal x 1d , pressure differential given signal x 2d , pressure error e1, pressure rate error e2, differential extraction signal y2 and total disturbance estimate z of the first butterfly valve control loop 13 , obtain the first butterfly valve virtual control quantity u 01 ,u 01 The calculation formula is: , Among them, k1 and k2 are the gains of the first backstepping control module, k1 and k2 are both greater than 0 and k1 <k2, is the ramp pressure given signal x 1d The second-order differential signal of According to the virtual control quantity u of the first butterfly valve 01 and the estimated value b of the first butterfly valve control loop input gain 01 , obtain the actual control quantity u of the first butterfly valve F1 ,u F1 The calculation formula is: .

[0012] According to a specific implementation of the embodiment of the present invention, the actual control amount u of the second butterfly valve is F2 The calculation process is: According to the ramp pressure given signal x 1d , pressure differential given signal x 2d , pressure error e1, pressure rate error e2, differential extraction signal y2 and total disturbance estimate z of the second butterfly valve control loop 23 , obtain the second butterfly valve virtual control quantity u 02 ,u 02 The calculation formula is: , Among them, k3 and k4 are the gains of the second backstepping control module, k3 and k4 are both greater than 0 and k3 <k4; According to the virtual control quantity u of the second butterfly valve 02 and the second butterfly valve control loop input gain estimate b 02 , obtain the actual control quantity u of the second butterfly valve F2 ,u F2 The calculation formula is: .

[0013] According to a specific implementation of the embodiment of the present invention, the first parameter adaptive adjustment module is used to input the gain estimation value b of the first butterfly valve control loop in the first nonlinear discrete expanded state observation module and the first backstepping control module. 01 Real-time adjustments, including: The calculation model of the mass flow of the first butterfly valve is established, and the expression is: , in, is the flow coefficient of the first butterfly valve, is the density before the first butterfly valve, A is the difference between the pressure before and after the first butterfly valve. 01 is the effective flow area of the first butterfly valve; Based on the first butterfly valve mass flow calculation model, the first butterfly valve control loop input gain estimation value b 01 Perform preliminary update calculations. The preliminary update expression is: , Among them, b 01cal Enter the preliminary calculated value of the gain for the first butterfly valve control loop, and are adjustment coefficients respectively, and , , VP1 is the first butterfly valve angle, is the mass flow rate W of the first butterfly valve out1 The differential of Based on the preliminary update expression, the estimated value b of the first butterfly valve control loop input gain is formed. 01 The first adaptive adjustment strategy is to adjust the b in the first nonlinear discrete expansion state observation module and the first backstepping control module in real time. 01 Parameters, the first adaptive adjustment strategy expression is: , Among them, b min1 for b 01 Parameter lower limit, b max1 for b 01 Upper limit of the parameter.

[0014] According to a specific implementation of the embodiment of the present invention, the second parameter adaptive adjustment module is used to input the gain estimation value b of the second butterfly valve control loop in the second nonlinear discrete expanded state observation module and the second backstepping control module. 02 Real-time adjustments, including: The mass flow calculation model of the second butterfly valve is established, and the expression is: , in, is the flow coefficient of the second butterfly valve, is the density before the second butterfly valve, A is the difference between the pressure before and after the second butterfly valve. 02 is the effective flow area of the second butterfly valve; Based on the second butterfly valve mass flow calculation model, the second butterfly valve control loop input gain estimation value b 02 Perform preliminary update calculations. The preliminary update expression is: , Among them, b 02cal Enter the preliminary calculated value of the gain for the second butterfly valve control loop, and are adjustment coefficients respectively, and , , VP2 is the second butterfly valve angle, is the mass flow rate W of the second butterfly valve out2 The differential of Based on the preliminary updated expression, the estimated value b of the second butterfly valve control loop input gain is formed. 02 The second adaptive adjustment strategy is to adjust the b in the second nonlinear discrete expansion state observation module and the second backstepping control module in real time. 02 Parameters, the second adaptive adjustment strategy expression is: , Among them, b min2 for b 02 Parameter lower limit, b max2 for b 02 Upper limit of the parameter.

[0015] According to a specific implementation of the embodiment of the present invention, the first butterfly valve is set to a DN700 butterfly valve, and the second butterfly valve is set to a DN1400 butterfly valve.

[0016] Beneficial effects: The dual-valve linkage anti-disturbance control method for a large-scale gas supply test rig, described in an embodiment of the present invention, employs a fast-linked, nonlinear robust control method and algorithm for dual-valve linkages that integrates a nonlinear discrete tracking differential module, a nonlinear discrete expanded state observation module, a nonlinear backstepping control module, and real-time adjustment of control parameters. This method not only effectively addresses the effects of strong noise and strong uncertainty interference on the control system, but also efficiently resolves the crosstalk coupling problem of the dual-valve during rapid motion. It meets the high-quality control requirements of the gas supply pressure regulation system for wide-range operation, including fast response speed, short convergence time, and minimal pressure fluctuation. This provides an effective solution for rapid, high-precision, and adaptive regulation of wide-range pressure targets in large-scale gas supply test rigs, offering significant advantages such as no need for manual intervention, fast transient response, strong anti-disturbance capability, and high robustness. Furthermore, this embodiment is easy to implement, requires minimal hardware resources, and has significant engineering application value. Application of this technology not only significantly reduces operator workload and the risk of misoperation, but also helps maximize the performance of gas supply clusters and efficiently conduct airborne simulation tests. It has laid a solid foundation for improving the air environment simulation capability, especially the high-response, strong anti-interference transition environment simulation and control capability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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 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 paying any creative work.

[0018] Figure 1 A schematic diagram of the pressure control principle of a large-scale air supply test device according to one embodiment of the present invention; Figure 2 2. It is a principle diagram of a double butterfly valve linkage anti-disturbance control method for a large-scale gas supply test device according to one embodiment of the present invention; Figure 3 is a diagram of an intake air flow change interference process according to an embodiment of the present invention; Figure 4 Schematic diagram of the control effect of the large-scale air supply test device under the working condition of 200kPa to 300kPa air supply pressure according to one embodiment of the present invention; Figure 5 Schematic diagram of adaptive real-time adjustment of working parameters of a large-scale gas supply test device with a gas supply pressure of 200kPa to 300kPa according to one embodiment of the present invention; Figure 6 Schematic diagram of the adjustment angle of the double butterfly valve of a large-scale air supply test device with an air supply pressure of 200kPa to 300kPa according to one embodiment of the present invention; Figure 7Schematic diagram of the control effect of the working condition of the large-scale air supply test device with air supply pressure of 200kPa to 400kPa according to one embodiment of the present invention; Figure 8 This is a schematic diagram of adaptive real-time adjustment of working parameters of a large-scale gas supply test device with a gas supply pressure of 200 kPa to 400 kPa according to one embodiment of the present invention; Figure 9 Schematic diagram of the adjustment angle of the double butterfly valve of a large-scale air supply test device with an air supply pressure of 200kPa to 400kPa according to one embodiment of the present invention. DETAILED DESCRIPTION

[0019] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0020] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0021] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present invention, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement an apparatus and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this apparatus and / or practice this method.

[0022] It should also be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. The illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0023] Additionally, in the following description, specific details are provided to provide a thorough understanding of the examples. However, one skilled in the art will appreciate that the aspects described can be practiced without these specific details.

[0024] The present invention provides a method for anti-interference control of double butterfly valves in a large-scale gas supply test device, which integrates a nonlinear tracking differential module, a nonlinear discrete expansion state observation module, a nonlinear backstepping control module and real-time adjustment of control parameters. This method can cleverly transform the problem of strong uncertain nonlinear interference into an interference observation problem between control channels. At the same time, the designed real-time adaptive adjustment strategy of the core parameters can not only effectively eliminate the cross-modulation coupling problem during the rapid movement of the double butterfly valves, but also further improve the interference observation accuracy and system response speed. It has the significant advantages of low model dependence, fast transient response, strong anti-interference ability and easy engineering implementation, and meets the high-quality adjustment requirements of the gas supply pressure regulation system over a wide range. Refer to the following Figures 1 to 9 The double butterfly valve linkage anti-disturbance control method for a large-scale gas supply test device provided by an embodiment of the present invention is described in detail.

[0025] In one embodiment, a method for controlling double butterfly valve linkage disturbances in a large-scale gas supply test device includes the following steps: Step 1: Simplify the air supply control system into a one-way intake and three-way exhaust structure according to the air mass flow rate inflow and outflow, where the one-way intake is the total mass flow rate W of the air supply compressor cluster. supply The first exhaust is the mass flow rate W through the first butterfly valve out1 The second exhaust is the mass flow rate W through the second butterfly valve out2 , the third exhaust is the mass flow rate W of the simulation cabin intake system inlet ; Step 2: Set the pressure target value p bset Input to the first discrete tracking differential module, output ramp pressure given signal x 1d and pressure differential given signal x 2d , input the noisy pressure sensor measurement signal p into the second discrete tracking differential module, and output the filtered output signal y1 and the differential extraction signal y2; Step 3: The actual control amount u of the first butterfly valve F1 The filtered output signal y1 is input to the first nonlinear discrete extended state observation module, which outputs the total disturbance estimate z of the first butterfly valve control loop. 13 , the actual control quantity u of the second butterfly valve F2 The filtered output signal y1 is input to the second nonlinear discrete extended state observation module, and the total disturbance estimation value z of the second butterfly valve control loop is output. 23 ; Step 4: Given signal x according to ramp pressure 1dThe pressure error e1 is obtained by filtering the output signal y1 and giving the signal x according to the pressure differential. 2d The differential extraction signal y2 is used to obtain the pressure rate error e2, and the ramp pressure given signal x is used. 1d , pressure differential given signal x 2d , pressure error e1, pressure rate error e2, differential extraction signal y2 and total disturbance estimate z of the first butterfly valve control loop 13 Input to the first backstepping control module, output the actual control value u of the first butterfly valve F1 ; Set the ramp pressure as signal x 1d , pressure differential given signal x 2d , pressure error e1, pressure rate error e2, differential extraction signal y2 and total disturbance estimate z of the second butterfly valve control loop 23 Input to the second backstepping control module, output the actual control value u of the second butterfly valve F2 ; Step 5: Based on the mass flow rate W of the first butterfly valve out1 The first parameter adaptive adjustment module is used to input the gain estimation value b of the first butterfly valve control loop in the first nonlinear discrete expanded state observation module and the first backstepping control module. 01 Real-time adjustment; based on the mass flow rate W of the second butterfly valve out2 The second parameter adaptive adjustment module is used to input the gain estimation value b of the second butterfly valve control loop in the second nonlinear discrete expanded state observation module and the second backstepping control module. 02 Real-time adjustments; Step 6: Encapsulate each module and complete the signal input and output connections according to the parameter transfer relationship specified in steps 2 to 5; Step 7: Repeat steps 2 to 6 to implement double butterfly valve linkage anti-disturbance control of the large-scale air supply test device.

[0026] In specific implementation, the first butterfly valve is set to a DN700 butterfly valve, and the second butterfly valve is set to a DN1400 butterfly valve. The control module quickly establishes the Pb supply pressure by adjusting the mass flow of the DN700 butterfly valve and the DN1400 butterfly valve in a coordinated manner, and resists the mass flow W from the simulation cabin intake system. inlet Changing interference and various types of uncertain interference.

[0027] Specifically, the schematic diagram of the pressure control principle of the large-scale air supply test device used is as follows: Figure 1As shown, the air supply compressor group cluster mainly includes a compressor group, an inlet valve and an outlet valve connected to the front and rear of the compressor group. The front end of the air supply compressor group cluster is connected to the air intake filter tower, and the rear end is connected to the air supply main pipe and related pipeline cavities. The atmosphere enters the air supply compressor group cluster through the air intake filter tower. A part of the air supply main pipe and the related pipeline cavity is connected to the simulation cabin through the air intake regulating valve, and the other part is connected to the air supply system double butterfly valve rapid linkage control system. The rear end of the air supply system double butterfly valve rapid linkage control system is discharged to the atmosphere through the exhaust silencer tower. The controlled objects of the air supply system double butterfly valve rapid linkage control system mainly include sensors (pressure sensor (PT), displacement sensor 1 (ZT1) and displacement sensor 2 (ZT2)), 1 DN700 hydraulic regulating butterfly valve, 1 DN1400 hydraulic regulating butterfly valve, air supply main pipe and related pipe network, electro-hydraulic servo actuator (hydraulic cylinder, transmission mechanism, electro-hydraulic servo valve, hydraulic pump and oil tank) and PLC controller (Programmable Logic Controller), etc. Its interference sources are mainly the interference of the intake flow change of the test engine in the simulation cabin, measurement noise interference and various uncertain interferences of large equipment. The control module quickly establishes the air supply pressure of the large air supply test device (Pb) by rapidly linking and adjusting the mass flow of the DN700 and DN1400 butterfly valves, and resists the mass flow change and various uncertain interferences from the intake system. The structural principle of the large air supply test device double butterfly valve linkage anti-interference control method designed by the present invention is as follows: Figure 2 As shown in Figure 1, the control structure includes the following core algorithm modules: two discrete tracking differential modules (the first discrete tracking differential module Fast-TD1 and the second discrete tracking differential module Fast-TD2), two nonlinear discrete extended state observation modules (the first nonlinear discrete extended state observation module NESO-1 and the second nonlinear discrete extended state observation module NESO-2), two nonlinear backstepping control modules (the first backstepping control module BSC-1 and the second backstepping control module BSC-2), and two sets of parameter adaptive modules (the first parameter adaptive adjustment module adju1 and the second parameter adaptive adjustment module adju2). Figure 2 In the figure, Valve1 is the first butterfly valve and Valve2 is the second butterfly valve.

[0028] This embodiment proposes a nonlinear anti-interference control strategy and an overall control technology architecture for real-time adaptive adjustment of core parameters. A fast-linked, nonlinear robust control method and algorithm for dual butterfly valves is designed, integrating a nonlinear discrete tracking differential module, a nonlinear discrete extended state observation module, a nonlinear backstepping control module, and real-time adjustment of control parameters. This method effectively addresses the effects of strong noise and strong uncertainty interference on the control system and efficiently resolves the crosstalk coupling problem of the dual butterfly valves during rapid motion. It meets the high-quality control requirements of the gas supply pressure regulation system, requiring fast response speed, short convergence time, and minimal pressure fluctuations over a wide range of operating conditions. This provides an effective solution for rapid, high-precision, and adaptive adjustment of wide-range pressure targets in large-scale gas supply test facilities, offering significant advantages such as no manual intervention, fast transient response, strong anti-interference capabilities, and high robustness. Furthermore, this embodiment is easy to implement, requires minimal hardware resources, and has significant engineering application value. Application of this technology not only significantly reduces operator workload and the risk of misoperation, but also helps maximize the performance of gas supply clusters and efficiently conduct airborne simulation tests. It has laid a solid foundation for improving the air environment simulation capability, especially the high-response, strong anti-interference transition environment simulation and control capability.

[0029] In one embodiment, the first discrete tracking differential module and the second discrete tracking differential module adopt the same calculation strategy, and the implementation steps are as follows: (1), Where k is the time series step of the discretized system, r is the speed factor, h is the sampling step, v(k) is the input signal at the current moment, and v _1 is the value of v(k) at the previous moment, r 11 (k) is the initial filtered signal output by the tracking differential module, r 11_1 For r 11 (k) the value at the previous moment, r 12 (k) is the final differential signal output by the tracking differential module, r 12_1 For r 12 (k) The first value of the previous moment, x 12 For r 12 (k) The second value of the previous moment, c 01 is the smoothness coefficient, x 11 is the output tracking error, out(k) is the final filtered output signal of the tracking differential module after correction, fast is the fastest control synthesis function, and Fast-TD is the discrete tracking differential module; For the first discrete tracking derivative module, v(k), out(k) and r 12 (k) respectively correspond to the actual parameters p bset 、x 1d and x2d ;For the second discrete tracking derivative module, v(k), out(k) and r 12 (k) correspond to the actual parameters p, y1 and y2 respectively.

[0030] Furthermore, the discrete implementation form of the fastest control comprehensive function is:

[0031] (2), Among them, x1 and x2 are the first state and the second state of the second-order series system respectively, and curve is the state sliding surface equation. is a symbolic function, t1 and t2 are time calculation parameters related to the state sliding surface, d and d0 are intermediate variables. The purpose of using the fastest control synthesis function is to make the states x1 and x2 of the second-order series system reach the origin quickly and stably.

[0032] In one embodiment, the first nonlinear discrete extended state observation module and the second nonlinear discrete extended state observation module adopt the same calculation strategy, and the implementation steps are as follows: (3), Among them, μ is the error scaling coefficient, w is the scaling error, θ1, θ2, θ3 are the gains of the nonlinear discrete extended state observation module, z1(k) is the pressure estimate output at the current moment, and z 1_1 is the value of z1(k) at the previous moment, z2(k) is the estimated value of the output pressure differential at the current moment, and z 2_1 is the value of z2(k) at the previous moment, z3(k) is the estimated value of the total disturbance of the control loop at the current moment, and z 3_1 is the value of z3(k) at the previous moment, e1(k) is the estimated error at the current moment, e 1_1 is the value of e1(k) at the previous moment, u(k) is the control input at the current moment, x(k) is the filtered output signal of the second tracking differential module at the current moment, and x _1 is the value of x(k) at the previous moment, b 0m Enter the estimated gain value for the first butterfly valve control loop or the estimated gain value for the second butterfly valve control loop, 、 and are the nonlinear state error feedback functions respectively; For the first nonlinear discrete extended state observation module, x(k), u(k), z3(k) and b 0m Corresponding to the actual parameters y1, u respectively F1 、z 13 and b 01; For the second nonlinear discrete extended state observation module, x(k), u(k), z3(k) and b 0m Corresponding to the actual parameters y1, u respectively F2 、z 23 and b 02 .

[0033] Further, 、 and The expression is: (4), in, is a symbolic function, 、 are the index coefficients reflecting the degree of nonlinearity.

[0034] In one embodiment, the actual control amount u of the first butterfly valve F1 The calculation process is: According to the ramp pressure given signal x 1d , pressure differential given signal x 2d , pressure error e1, pressure rate error e2, differential extraction signal y2 and total disturbance estimate z of the first butterfly valve control loop 13 , obtain the first butterfly valve virtual control quantity u 01 ,u 01 The calculation formula is: (5), Among them, k1 and k2 are the gains of the first backstepping control module, k1 and k2 are both greater than 0 and k1 <k2, is the ramp pressure given signal x 1d The second-order differential signal of According to the virtual control quantity u of the first butterfly valve 01 and the estimated value b of the first butterfly valve control loop input gain 01 , obtain the actual control amount u of the first butterfly valve that ultimately acts on the first butterfly valve F1 ,u F1 The calculation formula is: (6).

[0035] In one embodiment, the actual control amount u of the second butterfly valve F2 The calculation process is: According to the ramp pressure given signal x 1d , pressure differential given signal x 2d , pressure error e1, pressure rate error e2, differential extraction signal y2 and total disturbance estimate z of the second butterfly valve control loop 23 , obtain the second butterfly valve virtual control quantity u02 ,u 02 The calculation formula is: (7), Among them, k3 and k4 are the gains of the second backstepping control module, k3 and k4 are both greater than 0 and k3 <k4; According to the virtual control quantity u of the second butterfly valve 02 and the second butterfly valve control loop input gain estimate b 02 , obtain the actual control quantity u of the second butterfly valve F2 ,u F2 The calculation formula is: (8).

[0036] In one embodiment, the first parameter adaptive adjustment module is used to input the gain estimation value b of the first butterfly valve control loop in the first nonlinear discrete expanded state observation module and the first backstepping control module. 01 Real-time adjustments, including: (1) Establish the calculation model of the mass flow of the first butterfly valve, the expression is: (9), in, is the flow coefficient of the first butterfly valve, Determined from Table 1, is the density before the first butterfly valve, A is the difference between the pressure before and after the first butterfly valve. 01 is the effective flow area of the first butterfly valve; (2) Based on the mass flow calculation model of the first butterfly valve, the estimated value b of the input gain of the first butterfly valve control loop is 01 Perform preliminary update calculations. The preliminary update expression is: (10), Among them, b 01cal Enter the preliminary calculated value of the gain for the first butterfly valve control loop, and are adjustment coefficients respectively, and , , VP1 is the first butterfly valve angle, is the mass flow rate W of the first butterfly valve out1 The differential of Obtained by the discrete tracking differential module in step 2; (3) Based on the preliminary update expression, the estimated value b of the first butterfly valve control loop input gain is formed 01 The first adaptive adjustment strategy is to adjust the b in the first nonlinear discrete expansion state observation module and the first backstepping control module in real time. 01Parameters, the first adaptive adjustment strategy expression is: (11), Among them, b min1 for b 01 Parameter lower limit, b max1 for b 01 Upper limit of the parameter.

[0037] According to the above-mentioned parameter adaptive adjustment module adju1 algorithm, real-time adjustment of parameters in NESO-1 and BSC-1 is achieved.

[0038] Table 1 DN700 butterfly valve flow coefficient table

[0039] In Table 1, VP1 is the angle of DN700 butterfly valve, and Pr1 is the ratio of the pressure after the DN700 butterfly valve to the pressure before the valve. Obtained by two-dimensional interpolation of VP1 and Pr1.

[0040] In one embodiment, the second parameter adaptive adjustment module is used to input the gain estimation value b of the second butterfly valve control loop in the second nonlinear discrete expanded state observation module and the second backstepping control module. 02 Real-time adjustments, including: (1) Establish the second butterfly valve mass flow calculation model, the expression is: (12), in, is the flow coefficient of the second butterfly valve, Determined from Table 2, is the density before the second butterfly valve, A is the difference between the pressure before and after the second butterfly valve. 02 is the effective flow area of the second butterfly valve; (2) Based on the mass flow calculation model of the second butterfly valve, the input gain estimation value b of the second butterfly valve control loop is 02 Perform preliminary update calculations. The preliminary update expression is: (13), Among them, b 02cal Enter the preliminary calculated value of the gain for the second butterfly valve control loop, and are adjustment coefficients respectively, and , , VP2 is the second butterfly valve angle, is the mass flow rate W of the second butterfly valve out2 The differential of Obtained by the discrete tracking differential module in step 2; (3) Based on the preliminary updated expression, the estimated value b of the second butterfly valve control loop input gain is formed 02 The second adaptive adjustment strategy is to adjust the b in the second nonlinear discrete expansion state observation module and the second backstepping control module in real time. 02 Parameters, the second adaptive adjustment strategy expression is: (14), Among them, b min2 for b 02 Parameter lower limit, b max2 for b 02 Upper limit of the parameter.

[0041] According to the above-mentioned parameter adaptive adjustment module adju2 algorithm, real-time adjustment of parameters in NESO-2 and BSC-2 is achieved.

[0042] Table 2 DN1400 butterfly valve flow coefficient table

[0043] In Table 2, VP2 is the angle of DN1400 butterfly valve, and Pr2 is the ratio of the pressure after the DN1400 butterfly valve to the pressure before the valve. Obtained by two-dimensional interpolation of VP2 and Pr2.

[0044] In one embodiment, in step 6, the control step sizes of the Fast-TD1, Fast-TD2, NESO-1, and NESO-2 algorithm modules are set to 1ms and 2ms, respectively. The discrete control step sizes of the BSC-1, BSC-2, adju1, and adju2 algorithm modules are set to 10ms and 2ms, respectively.

[0045] A detailed embodiment is provided below to describe the effect of implementing the method of the present invention.

[0046] In order to verify the anti-disturbance control effect of the double butterfly valve linkage of the large-scale air supply test device proposed in this invention, including the overall control effect of the integrated discrete tracking differential module, the nonlinear discrete expanded state observation module, the backstepping control module and the parameter adaptive adjustment module, the following simulation of a certain air supply control device is used to illustrate.

[0047] The signal-to-noise ratio of the Pb supply pressure measurement signal is set to 30dB to avoid strong noise influence. First, a stable working condition of 200kPa Pb supply pressure is established. Then, a ramp input trajectory of the set pressure value from 200kPa to 300kPa (or 200kPa to 400kPa) is generated. Finally, under the stable working condition of 300kPa (or 400kPa) Pb supply pressure, a rapid transient state test of the engine is simulated in the time period of 100s to 200s, so that the intake flow rate is subjected to rapid change interference within 1s, such as increasing from 10kg / s to 35kg / s, decreasing from 35kg / s to 10kg / s, increasing from 10kg / s to 45kg / s, and decreasing from 45kg / s to 10kg / s. The maximum change rate reaches 35kg / s. 2 , verify the anti-disturbance control effect of the double butterfly valve linkage of the large-scale air supply test device.

[0048] Rapid disturbance changes in intake air flow such as Figure 3 As shown, the effect of the Pb gas supply pressure of 200kPa~300kPa is as follows Figure 4 、 Figure 5 、 Figure 6 As shown, the effect of Pb gas supply pressure 200kPa ~ 400kPa Figure 7 、 Figure 8 、 Figure 9 shown.

[0049] Depend on Figure 4 、 Figure 7 As can be seen, the dual-button valve linkage anti-disturbance control technology achieves high-quality control targets, both when tracking the set pressure ramp trajectory from 200 kPa to 300 kPa (or 200 kPa to 400 kPa) and when subject to transient, high-flow rate disturbances. Even under transient, high-flow rate disturbances, the controlled pressure quickly converges to the set pressure value, with the maximum transient fluctuation never exceeding 2.2 kPa and the adjustment time never exceeding 5 seconds. Figure 5 、 Figure 8 The paper reflects the core parameters and real-time automatic tuning and adjustment process under the action of the parameter adaptive adjustment module. This method can achieve the double butterfly valve fast linkage effect without oscillation and coupling while realizing refined anti-interference. Figure 6 、 Figure 9 This shows that under the action of the overall control algorithm, the movement process of the two butterfly valves can always achieve a smooth and chatter-free transition. It also shows that the use of this method in the control process can significantly reduce the influence of measurement noise.

[0050] In summary, the present invention effectively achieves rapid convergence and stabilization of the air supply device pressure over a wide target pressure range, under the impact of instantaneous high flow rate changes, and under various types of uncertain interference. This lays a solid foundation for improving intake environment simulation capabilities, especially the high-response, highly anti-interference transient environment simulation control capabilities. Furthermore, the core parameter adaptive adjustment method designed in the present invention achieves a control process that does not require human intervention. This not only significantly reduces the operator's labor intensity and the risk of misoperation, but also ensures the effective performance of the air supply unit cluster and the efficient and safe conduct of aerial simulation tests.

[0051] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A double butterfly valve linkage anti-disturbance control method for a large-scale air supply test device, characterized in that: The method comprises: Step 1: Simplify the air supply control system into a one-way intake and three-way exhaust structure according to the air mass flow rate inflow and outflow, where the one-way intake is the total mass flow rate W of the air supply compressor cluster. supply The first exhaust is the mass flow rate W through the first butterfly valve out1 The second exhaust is the mass flow rate W through the second butterfly valve out2 , the third exhaust is the mass flow rate W of the simulation cabin intake system inlet ; Step 2: Set the pressure target value p bset Input to the first discrete tracking differential module, output ramp pressure given signal x 1d and pressure differential given signal x 2d , input the noisy pressure sensor measurement signal p into the second discrete tracking differential module, and output the filtered output signal y1 and the differential extraction signal y2; Step 3: The actual control amount u of the first butterfly valve F1 The filtered output signal y1 is input to the first nonlinear discrete extended state observation module, which outputs the total disturbance estimate z of the first butterfly valve control loop. 13 , the actual control quantity u of the second butterfly valve F2 The filtered output signal y1 is input to the second nonlinear discrete extended state observation module, and the total disturbance estimation value z of the second butterfly valve control loop is output. 23 ; Step 4: Given signal x according to ramp pressure 1d The pressure error e1 is obtained by filtering the output signal y1 and giving the signal x according to the pressure differential. 2d The differential extraction signal y2 is used to obtain the pressure rate error e2, and the ramp pressure given signal x is used. 1d , pressure differential given signal x 2d , pressure error e1, pressure rate error e2, differential extraction signal y2 and total disturbance estimate z of the first butterfly valve control loop 13 Input to the first backstepping control module, output the actual control value u of the first butterfly valve F1 ; Set the ramp pressure as signal x 1d , pressure differential given signal x 2d , pressure error e1, pressure rate error e2, differential extraction signal y2 and total disturbance estimate z of the second butterfly valve control loop 23 Input to the second backstepping control module, output the actual control value u of the second butterfly valve F2 ; Step 5: Based on the mass flow rate W of the first butterfly valve out1 The first parameter adaptive adjustment module is used to input the gain estimation value b of the first butterfly valve control loop in the first nonlinear discrete expanded state observation module and the first backstepping control module. 01 Real-time adjustment; based on the mass flow rate W of the second butterfly valve out2 The second parameter adaptive adjustment module is used to input the gain estimation value b of the second butterfly valve control loop in the second nonlinear discrete expanded state observation module and the second backstepping control module. 02 Real-time adjustments; Step 6: Encapsulate each module and complete the signal input and output connections according to the parameter transfer relationship specified in steps 2 to 5; Step 7: Repeat steps 2 to 6 to implement double butterfly valve linkage anti-disturbance control of the large-scale air supply test device.

2. The double butterfly valve linkage anti-disturbance control method for a large-scale gas supply test device according to claim 1 is characterized in that: The first discrete tracking differential module and the second discrete tracking differential module adopt the same calculation strategy, and the implementation steps are as follows: ， Where k is the time series step of the discretized system, r is the speed factor, h is the sampling step, v(k) is the input signal at the current moment, and v _1 is the value of v(k) at the previous moment, r 11 (k) is the initial filtered signal output by the tracking differential module, r 11_1 For r 11 (k) the value at the previous moment, r 12 (k) is the final differential signal output by the tracking differential module, r 12_1 For r 12 (k) The first value of the previous moment, x 12 For r 12 (k) The second value of the previous moment, c 01 is the smoothness coefficient, x 11 is the output tracking error, out(k) is the final filtered output signal of the tracking differential module after correction, fast is the fastest control synthesis function, and Fast-TD is the discrete tracking differential module; For the first discrete tracking derivative module, v(k), out(k) and r 12 (k) respectively correspond to the actual parameters p bset 、x 1d and x 2d ;For the second discrete tracking derivative module, v(k), out(k) and r 12 (k) correspond to the actual parameters p, y1 and y2 respectively.

3. The double butterfly valve linkage anti-disturbance control method for a large-scale gas supply test device according to claim 2 is characterized in that: The discrete implementation form of the fastest control comprehensive function is: ， Among them, x1 and x2 are the first state and the second state of the second-order series system respectively, and curve is the state sliding surface equation. is a symbolic function, t1 and t2 are the time calculation parameters related to the state sliding surface, and d and d0 are intermediate variables.

4. The double butterfly valve linkage anti-disturbance control method for a large-scale gas supply test device according to claim 2 is characterized in that: The first nonlinear discrete extended state observation module and the second nonlinear discrete extended state observation module adopt the same calculation strategy, and the implementation steps are as follows: ， Among them, μ is the error scaling coefficient, w is the scaling error, θ1, θ2, θ3 are the gains of the nonlinear discrete extended state observation module, z1(k) is the pressure estimate output at the current moment, and z 1_1 is the value of z1(k) at the previous moment, z2(k) is the estimated value of the output pressure differential at the current moment, and z 2_1 is the value of z2(k) at the previous moment, z3(k) is the estimated value of the total disturbance of the control loop at the current moment, and z 3_1 is the value of z3(k) at the previous moment, e1(k) is the estimated error at the current moment, e 1_1 is the value of e1(k) at the previous moment, u(k) is the control input at the current moment, x(k) is the filtered output signal of the second tracking differential module at the current moment, and x _1 is the value of x(k) at the previous moment, b 0m Enter the estimated gain value for the first butterfly valve control loop or the estimated gain value for the second butterfly valve control loop, 、 and are the nonlinear state error feedback functions respectively; For the first nonlinear discrete extended state observation module, x(k), u(k), z3(k) and b 0m Corresponding to the actual parameters y1, u respectively F1 、z 13 and b 01 ; For the second nonlinear discrete extended state observation module, x(k), u(k), z3(k) and b 0m Corresponding to the actual parameters y1, u respectively F2 、z 23 and b 02 .

5. The double butterfly valve linkage anti-disturbance control method for a large-scale gas supply test device according to claim 4 is characterized in that: 、 and The expression is: ， in, is a symbolic function, 、 are the index coefficients reflecting the degree of nonlinearity.

6. The double butterfly valve linkage anti-disturbance control method for a large-scale gas supply test device according to claim 1 is characterized in that: The actual control amount u of the first butterfly valve F1 The calculation process is: According to the ramp pressure given signal x 1d , pressure differential given signal x 2d , pressure error e1, pressure rate error e2, differential extraction signal y2 and total disturbance estimate z of the first butterfly valve control loop 13 , obtain the first butterfly valve virtual control quantity u 01 ,u 01 The calculation formula is: ， Among them, k1 and k2 are the gains of the first backstepping control module, k1 and k2 are both greater than 0 and k1 <k2, is the ramp pressure given signal x 1d The second-order differential signal of According to the virtual control quantity u of the first butterfly valve 01 and the estimated value b of the first butterfly valve control loop input gain 01 , obtain the actual control quantity u of the first butterfly valve F1 ,u F1 The calculation formula is: 。 7. The double butterfly valve linkage anti-disturbance control method for a large-scale gas supply test device according to claim 6 is characterized in that: The actual control amount u of the second butterfly valve F2 The calculation process is: According to the ramp pressure given signal x 1d , pressure differential given signal x 2d , pressure error e1, pressure rate error e2, differential extraction signal y2 and total disturbance estimate z of the second butterfly valve control loop 23 , obtain the second butterfly valve virtual control quantity u 02 ,u 02 The calculation formula is: ， Among them, k3 and k4 are the gains of the second backstepping control module, k3 and k4 are both greater than 0 and k3 <k4; According to the virtual control quantity u of the second butterfly valve 02 and the second butterfly valve control loop input gain estimate b 02 , obtain the actual control quantity u of the second butterfly valve F2 ,u F2 The calculation formula is: 。 8. The double butterfly valve linkage anti-disturbance control method for a large-scale gas supply test device according to claim 1 is characterized in that: The first parameter adaptive adjustment module is used to input the gain estimation value b of the first butterfly valve control loop in the first nonlinear discrete expanded state observation module and the first backstepping control module. 01 Real-time adjustments, including: The calculation model of the mass flow of the first butterfly valve is established, and the expression is: ， in, is the flow coefficient of the first butterfly valve, is the density before the first butterfly valve, A is the difference between the pressure before and after the first butterfly valve. 01 is the effective flow area of the first butterfly valve; Based on the first butterfly valve mass flow calculation model, the first butterfly valve control loop input gain estimation value b 01 Perform preliminary update calculations. The preliminary update expression is: ， Among them, b 01cal Enter the preliminary calculated value of the gain for the first butterfly valve control loop, and are adjustment coefficients respectively, and , , VP1 is the first butterfly valve angle, is the mass flow rate W of the first butterfly valve out1 The differential of Based on the preliminary update expression, the estimated value b of the first butterfly valve control loop input gain is formed. 01 The first adaptive adjustment strategy is to adjust the b in the first nonlinear discrete expansion state observation module and the first backstepping control module in real time. 01 Parameters, the first adaptive adjustment strategy expression is: ， Among them, b min1 for b 01 Parameter lower limit, b max1 for b 01 Upper limit of the parameter.

9. The double butterfly valve linkage anti-disturbance control method for a large-scale gas supply test device according to claim 1 is characterized in that: The second parameter adaptive adjustment module is used to input the gain estimation value b of the second butterfly valve control loop in the second nonlinear discrete expanded state observation module and the second backstepping control module. 02 Real-time adjustments, including: The mass flow calculation model of the second butterfly valve is established, and the expression is: ， in, is the flow coefficient of the second butterfly valve, is the density before the second butterfly valve, A is the difference between the pressure before and after the second butterfly valve. 02 is the effective flow area of the second butterfly valve; Based on the second butterfly valve mass flow calculation model, the second butterfly valve control loop input gain estimation value b 02 Perform preliminary update calculations. The preliminary update expression is: ， Among them, b 02cal Enter the preliminary calculated value of the gain for the second butterfly valve control loop, and are adjustment coefficients respectively, and , , VP2 is the second butterfly valve angle, is the mass flow rate W of the second butterfly valve out2 The differential of Based on the preliminary update expression, the estimated value b of the second butterfly valve control loop input gain is formed. 02 The second adaptive adjustment strategy is to adjust the b in the second nonlinear discrete expansion state observation module and the second backstepping control module in real time. 02 Parameters, the second adaptive adjustment strategy expression is: ， Among them, b min2 for b 02 Parameter lower limit, b max2 for b 02 Upper limit of the parameter.

10. The double butterfly valve linkage anti-disturbance control method for a large-scale gas supply test device according to any one of claims 1 to 9, characterized in that: The first butterfly valve is set to a DN700 butterfly valve, and the second butterfly valve is set to a DN1400 butterfly valve.

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