Airflow robustness control method and device for flight environment simulation system

Abstract

The invention relates to an airflow robustness control method and device of a flight environment simulation system. The method comprises the following steps: acquiring airflow demand information of a flight environment simulation system, and calculating a current opening instruction of a regulating valve of the flight environment simulation system based on the airflow demand information; on the basis of the current opening instruction, an actual opening instruction of the regulating valve is generated through a small closed-loop control strategy, and the opening value of the regulating valve is controlled on the basis of the actual opening instruction of the regulating valve; on the basis of the actual opening instruction, through a robust controller, an opening instruction of each sub-regulating valve of the regulating valve is generated, and through a rate saturation observer, a rate saturation deviation signal of the regulating valve is calculated; and adjusting a target sub-opening value of each sub-regulating valve of the regulating valve through a robust controller based on the rate saturation deviation signal and the opening instruction of each sub-regulating valve. By adopting the method, the control effect on the performance robustness of the flight environment simulation system can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of pressure and temperature control of a flight environment simulation system, and in particular to a method and device for controlling airflow robustness of a flight environment simulation system. Background Art

[0002] A flight environment simulation system (FES) is a large-scale ground-based test facility used to test and evaluate the high-altitude flight performance of aircraft engines. It simulates high-altitude flight conditions by adjusting the pressure and temperature of the airflow supplied to the engine. However, the rapid adjustment of airflow pressure and temperature in FES systems is subject to multiple sources of uncertainty, and the control valves are prone to rate saturation, leading to performance degradation or even instability in the control system. Therefore, improving the performance robustness of FES systems is a current research priority.

[0003] Conventional technology first designs a robust unconstrained controller, such as μ-integrated control, for a flight environment simulation system that does not exhibit rate saturation. It then designs an anti-saturation compensator to suppress the effects of rate saturation on the closed-loop system. However, this design approach results in a high-order controller, making it difficult to implement. Furthermore, suppressing rate saturation in the control valve requires that the rate saturation boundary of the control valve be precisely known. However, in practice, this rate saturation boundary cannot be accurately determined, and as the control valve's performance degrades over time, it can also change. This results in poor control of the flight environment simulation system and insufficient robustness in the control system's performance. Summary of the Invention

[0004] Based on this, it is necessary to provide a method, device, computer equipment, computer-readable storage medium and computer program product for airflow robustness control of a flight environment simulation system in response to the above technical problems.

[0005] In a first aspect, the present application provides an airflow robustness control method for a flight environment simulation system, comprising:

[0006] Acquiring airflow requirement information of a flight environment simulation system, and calculating a current opening instruction of a regulating valve of the flight environment simulation system based on the airflow requirement information;

[0007] Based on the current opening instruction, an actual opening instruction of the regulating valve is generated through a small closed-loop control strategy, and based on the actual opening instruction of the regulating valve, the opening value of the regulating valve is controlled;

[0008] Based on the actual opening instruction, generating the opening instruction of each sub-control valve of the control valve through a robust controller, and calculating the rate saturation deviation signal of the control valve through a rate saturation observer;

[0009] Based on the rate saturation deviation signal and the opening instructions of the sub-control valves, the target sub-opening value of each sub-control valve of the control valve is adjusted through an anti-saturation compensator.

[0010] Optionally, the calculating, based on the airflow demand information, a current opening instruction of the regulating valve of the flight environment simulation system includes:

[0011] Splitting the airflow demand information into airflow pressure demand information and airflow temperature demand information;

[0012] Based on the airflow pressure requirement information and the airflow temperature requirement information, generating an airflow pressure requirement dynamic table and an airflow temperature requirement dynamic table;

[0013] The dynamic table of airflow pressure requirements and the dynamic table of airflow temperature requirements are used to generate dynamic control instructions for the regulating valve through a regulating valve instruction generation strategy, and the dynamic control instructions are used as current opening instructions for the regulating valve of the flight environment simulation system.

[0014] Optionally, generating the actual opening instruction of the regulating valve through a small closed-loop control strategy based on the current opening instruction includes:

[0015] Based on the current opening instruction of the regulating valve, identifying the opening instruction sequence of the regulating valve, and based on the opening instruction sequence, identifying each opening change parameter of the regulating valve;

[0016] Through a small closed-loop control strategy, each of the opening change parameters is constrained to obtain the actual opening change parameters of the regulating valve, and based on each of the actual opening change parameters, the opening instruction sequence of the regulating valve is adjusted to obtain the actual opening instruction of the regulating valve.

[0017] Optionally, calculating the rate saturation deviation signal of the regulating valve by a rate saturation observer includes:

[0018] Based on each actual opening change parameter of the regulating valve, adjusting the initial rate saturation observer to obtain a rate saturation observer, and collecting the initial regulating valve rate signal of each sub-regulating valve of the regulating valve;

[0019] Based on the control valve rate signal of each sub-control valve at the current moment, identifying the control valve rate signal sequence of each sub-control valve through a rate saturation observer;

[0020] Based on the regulating valve rate signal sequence of each sub-regulating valve, the sub-rate saturation deviation signal of each sub-regulating valve is calculated respectively through the deviation signal algorithm, and the sub-rate saturation deviation signals of all sub-regulating valves are used as the rate saturation deviation signal of the regulating valve.

[0021] Optionally, generating the opening instructions of each sub-control valve of the control valve by a robust controller based on the actual opening instruction includes:

[0022] Based on the actual opening instruction, identifying the actual opening value of each sub-control valve of the control valve, and collecting various airflow parameter information of the current airflow;

[0023] Based on the actual opening value of each sub-control valve and each airflow parameter information, an opening instruction of each sub-control valve is generated through a linear model of each sub-control valve in a robust controller.

[0024] Optionally, adjusting the target sub-opening value of each sub-control valve of the control valve by a robust controller based on the rate saturation deviation signal and the opening instruction of each sub-control valve includes:

[0025] Based on the sub-rate saturation deviation signal of each sub-control valve, the control valve rate signal sequence of each sub-control valve, and the opening instruction of each sub-control valve, the target sub-opening value of each sub-control valve is generated respectively through the opening control optimization strategy corresponding to the robust controller.

[0026] In a second aspect, the present application further provides an airflow robustness control device for a flight environment simulation system, comprising:

[0027] an acquisition module, configured to acquire airflow requirement information of a flight environment simulation system and calculate a current opening instruction of a regulating valve of the flight environment simulation system based on the airflow requirement information;

[0028] a control module, configured to generate an actual opening instruction of the regulating valve based on the current opening instruction through a small closed-loop control strategy, and control the opening value of the regulating valve based on the actual opening instruction of the regulating valve;

[0029] a calculation module, configured to generate, based on the actual opening instruction, an opening instruction of each sub-control valve of the control valve through a robust controller, and calculate a rate saturation deviation signal of the control valve through a rate saturation observer;

[0030] The regulating module is configured to adjust the target sub-opening value of each sub-regulating valve of the regulating valve through an anti-saturation compensator based on the rate saturation deviation signal and the opening instruction of each sub-regulating valve.

[0031] Optionally, the acquisition module is specifically configured to:

[0032] Splitting the airflow demand information into airflow pressure demand information and airflow temperature demand information;

[0033] Based on the airflow pressure requirement information and the airflow temperature requirement information, generating an airflow pressure requirement dynamic table and an airflow temperature requirement dynamic table;

[0034] The dynamic table of airflow pressure requirements and the dynamic table of airflow temperature requirements are used to generate dynamic control instructions for the regulating valve through a regulating valve instruction generation strategy, and the dynamic control instructions are used as current opening instructions for the regulating valve of the flight environment simulation system.

[0035] Optionally, the control module is specifically configured to:

[0036] Based on the current opening instruction of the regulating valve, identifying the opening instruction sequence of the regulating valve, and based on the opening instruction sequence, identifying each opening change parameter of the regulating valve;

[0037] Through a small closed-loop control strategy, each of the opening change parameters is constrained to obtain the actual opening change parameters of the regulating valve, and based on each of the actual opening change parameters, the opening instruction sequence of the regulating valve is adjusted to obtain the actual opening instruction of the regulating valve.

[0038] Optionally, the computing module is specifically configured to:

[0039] Based on each actual opening change parameter of the regulating valve, adjusting the initial rate saturation observer to obtain a rate saturation observer, and collecting the initial regulating valve rate signal of each sub-regulating valve of the regulating valve;

[0040] Based on the control valve rate signal of each sub-control valve at the current moment, identifying the control valve rate signal sequence of each sub-control valve through a rate saturation observer;

[0041] Based on the regulating valve rate signal sequence of each sub-regulating valve, the sub-rate saturation deviation signal of each sub-regulating valve is calculated respectively through the deviation signal algorithm, and the sub-rate saturation deviation signals of all sub-regulating valves are used as the rate saturation deviation signal of the regulating valve.

[0042] Optionally, the computing module is specifically configured to:

[0043] Based on the actual opening instruction, identifying the actual opening value of each sub-control valve of the control valve, and collecting various airflow parameter information of the current airflow;

[0044] Based on the actual opening value of each sub-control valve and each airflow parameter information, an opening instruction of each sub-control valve is generated through a linear model of each sub-control valve in a robust controller.

[0045] Optionally, the adjustment module is specifically configured to:

[0046] Based on the sub-rate saturation deviation signal of each sub-control valve, the control valve rate signal sequence of each sub-control valve, and the opening instruction of each sub-control valve, the target sub-opening value of each sub-control valve is generated respectively through the opening control optimization strategy corresponding to the robust controller.

[0047] In a third aspect, the present application provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the methods described in the first aspect when executing the computer program.

[0048] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any one of the methods in the first aspect.

[0049] In a fifth aspect, the present application provides a computer program product, wherein the computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of any one of the methods in the first aspect are implemented.

[0050] The aforementioned flight environment simulation system airflow robustness control method and apparatus obtains airflow demand information from the flight environment simulation system and, based on the airflow demand information, calculates the current opening command of the control valve of the flight environment simulation system. Based on the current opening command, a small closed-loop control strategy is used to generate an actual opening command for the control valve, and the valve opening value is controlled based on the actual opening command. A rate saturation observer is used to calculate a rate saturation deviation signal for the control valve, and based on the actual opening command, a robust controller and an anti-windup compensator are used to generate opening commands for each sub-valve of the control valve. Based on the rate saturation deviation signal and the opening commands for each sub-valve, the robust controller is used to adjust the target sub-valve opening value of each sub-valve of the control valve. This solution constrains the rate of change of the control valve through a small closed-loop control strategy, thereby accelerating the dynamics of the control valve, facilitating the subsequent control system to quickly suppress the impact of uncertainty on system performance. Furthermore, it can lower the order of the subsequently designed robust controller. Secondly, during rapid dynamic changes in the control valve, this solution accurately estimates the unknown rate saturation deviation by designing a method based on an improved observer, thereby accelerating the control valve dynamics. Furthermore, because this solution can handle unknown rate saturation, it eliminates the need to identify the control valve rate saturation boundary. Even if the control valve performance degrades and the rate saturation boundary changes during long-term use, the controller proposed in this solution automatically adapts, thereby comprehensively improving the robustness of the control performance of the flight environment simulation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 FIG. 1 is an application environment diagram of an airflow robustness control system of a flight environment simulation system in one embodiment;

[0053] Figure 2 1 is a flow chart of an airflow robustness control method for a flight environment simulation system in one embodiment;

[0054] Figure 3 Schematic diagram of the structure of a small closed-loop control system of a regulating valve in one embodiment;

[0055] Figure 4 A schematic diagram of a fixed-structure robust H∞ controller design framework in one embodiment;

[0056] Figure 5 1 is a schematic diagram of a robust control framework including an anti-windup compensator in one embodiment;

[0057] Figure 6 A dynamic change table for changing controller parameters to speed up the dynamics of the regulating valve in one embodiment;

[0058] Figure 7 is a comparison table of temperature responses in one embodiment;

[0059] Figure 8 is a comparison table of pressure responses in one embodiment;

[0060] Figure 9 A schematic flow chart of an example of airflow robustness control of a flight environment simulation system in one embodiment;

[0061] Figure 10 is a structural block diagram of an airflow robustness control device of a flight environment simulation system in one embodiment;

[0062] Figure 11 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0064] The airflow robustness control method of the flight environment simulation system provided in the embodiment of the present application can be applied to Figure 1 The application environment of the airflow robustness control system of a flight environment simulation system is shown. A complete controller is added before the flight environment simulation system. The complete controller includes a robust controller, an anti-windup compensator (H), and an observer for rate saturation information (i.e., an observer). The complete controller can be applied to a terminal. The terminal can be, but is not limited to, various personal computers, laptops, mid-range computers, etc. The terminal constrains the change rate of the control valve through a small closed-loop control strategy, thereby accelerating the dynamics of the control valve. This helps the subsequent control system quickly suppress the impact of uncertainty on system performance and also reduces the order of the robust controller designed subsequently. Secondly, during the rapid dynamic changes of the control valve, this solution accurately estimates the unknown rate saturation deviation by designing a method based on an improved observer, thereby accelerating the control valve dynamics. Furthermore, because this solution can handle unknown rate saturation, it does not require identification of the control valve rate saturation boundary. Even if the control valve performance degrades during long-term use, causing the rate saturation boundary to change, the controller proposed in this solution automatically adapts, thereby comprehensively improving the robustness of the control performance of the flight environment simulation system.

[0065] In an exemplary embodiment, Figure 2 As shown, a method for controlling airflow robustness of a flight environment simulation system is provided, which is described by taking the application of the method to a terminal as an example, and includes the following steps S201 to S204. Among them:

[0066] Step S201 : obtaining airflow requirement information of a flight environment simulation system, and calculating a current opening instruction of a regulating valve of the flight environment simulation system based on the airflow requirement information.

[0067] In this embodiment, the terminal responds to a flight simulation task input by a staff member and collects simulated airflow demand information during the flight simulation task, obtaining airflow demand information. This airflow demand information includes airflow pressure demand information and airflow temperature demand information. Based on this airflow demand information, the terminal then calculates the current opening command for the control valve of the flight environment simulation system. Due to unstable airflow, the current opening command for the control valve of the flight environment simulation system is a dynamic opening command. The specific identification process will be described in detail later.

[0068] Step S202: Based on the current opening instruction, the regulating valve is driven to reach a specified opening value through a small closed-loop control strategy.

[0069] In this embodiment, the terminal controls the opening value of the regulating valve based on the current opening instruction through a small closed-loop control strategy. Figure 3 The small closed-loop control system of the regulating valve shown adjusts its proportional controller parameter k p , in order to speed up the dynamic strategy of the control valve, the specific generation process will be described in detail later.

[0070] In step S203, the rate saturation deviation signal of the control valve is calculated through the rate saturation observer, and based on the actual opening instruction and the rate saturation deviation signal of the control valve, the opening instructions of each sub-control valve of the control valve are generated through the robust controller and the anti-saturation compensator.

[0071] In this embodiment, the terminal calculates the rate saturation deviation signal of the control valve based on the actual opening instruction through the rate saturation observer, and generates the opening instructions of each sub-control valve of the control valve through the robust controller and the anti-saturation compensator. Figure 4 The fixed structure robust H ∞ The anti-saturation compensator is as follows: Figure 5 The anti-saturation compensator in the anti-saturation robust control framework shown is included, and the rate saturation observer is an algorithm for identifying the rate saturation deviation signal of the control valve. The specific algorithm content and generation process will be described in detail later.

[0072] Step S204 : Based on the rate saturation deviation signal and the opening instructions of the sub-control valves, the robust controller is used to adjust the target sub-opening values of the sub-control valves.

[0073] In this embodiment, the terminal adjusts the target opening value of each sub-control valve of the control valve through a robust controller based on the rate saturation deviation signal and the opening instruction of each sub-control valve. The specific adjustment process will be described in detail later.

[0074] Based on the above scheme, the change rate of the control valve is constrained by a small closed-loop control strategy, thereby accelerating the dynamics of the control valve, which is beneficial for the subsequent control system to quickly suppress the impact of uncertainty on system performance. At the same time, the order of the robust controller designed subsequently can be lower. Secondly, during the process of rapid dynamic changes of the control valve, this scheme accurately estimates the unknown rate saturation deviation by designing a method based on an improved observer, thereby allowing the dynamics of the control valve to be accelerated. In addition, since this scheme can handle unknown rate saturation, there is no need to identify the rate saturation boundary of the control valve. During long-term use, even if the performance of the control valve degrades and the rate saturation boundary changes, the controller provided by this scheme will automatically adapt, thereby comprehensively improving the robustness of the control performance of the flight environment simulation system.

[0075] Optionally, based on the airflow demand information, the current opening instruction of the control valve of the flight environment simulation system is calculated, including: splitting the airflow demand information into airflow pressure demand information and airflow temperature demand information; generating an airflow pressure demand dynamic table and an airflow temperature demand dynamic table based on the airflow pressure demand information and the airflow temperature demand information; using the airflow pressure demand dynamic table and the airflow temperature demand dynamic table through a control valve instruction generation strategy to generate a dynamic control instruction for the control valve, and using the dynamic control instruction as the current opening instruction of the control valve of the flight environment simulation system.

[0076] In this embodiment, the terminal splits the airflow demand information into airflow pressure demand information and airflow temperature demand information. Since the simulated airflow is the airflow during the actual operation of the aircraft engine, the temperature and pressure of the airflow are both dynamically changing, that is, the airflow pressure demand information and the airflow temperature demand information are both dynamic information. Then, the terminal generates an airflow pressure demand dynamic table and an airflow temperature demand dynamic table based on the airflow pressure demand information and the airflow temperature demand information. Then, the terminal generates a dynamic control instruction for the control valve using the airflow pressure demand dynamic table and the airflow temperature demand dynamic table through the control valve instruction generation strategy, and uses the dynamic control instruction as the current opening instruction of the control valve of the flight environment simulation system. Among them, the control valve instruction generation strategy includes the conversion relationship between different airflow pressure demand values, airflow temperature demand values, and the opening value of the control valve. Among them, the conversion relationship can also be a controller algorithm that calculates the opening value of the control valve by combining the above-mentioned airflow pressure demand value and airflow temperature demand value through a controller. The specific algorithm calculation formula is:

[0077]

[0078] Where, ξ M,i and ξ R,i Respectively represent the amplitude and rate of change of the opening of the i-th regulating valve, λ i is an adjustable parameter, η i is the damping ratio, ω i is the natural frequency, u c,i is the input, u p,i is the output. The saturation function φ(ξ R,i )for:

[0079]

[0080] Where, and ξ R,i They are ξ R,i The maximum and minimum limits of d are defined as follows: R,i =φ(ξ R,i )-ξ R,i .

[0081] Then, the terminal converts the airflow pressure demand value and the airflow temperature demand value at each moment into the opening value of the regulating valve at each moment according to the above-mentioned conversion relationship, and obtains the opening value sequence of the regulating valve. Then, based on the opening value sequence of the regulating valve, the terminal generates a dynamic control instruction of the regulating valve through a preset instruction generation strategy. The dynamic control instruction can control the regulating valve to switch according to the opening value sequence.

[0082] Based on the above solution, the dynamic control instructions of the regulating valve are identified based on the airflow demand information, thereby improving the control efficiency and control accuracy of the regulating valve.

[0083] Optionally, based on the current opening instruction, an actual opening instruction of the control valve is generated through a small closed-loop control strategy, including: identifying the opening instruction sequence of the control valve based on the current opening instruction of the control valve, and identifying each opening change parameter of the control valve based on the opening instruction sequence; constraining each opening change parameter through the small closed-loop control strategy to obtain each actual opening change parameter of the control valve, and adjusting the opening instruction sequence of the control valve based on each actual opening change parameter to obtain the actual opening instruction of the control valve.

[0084] In this embodiment, the terminal identifies the opening instruction sequence of the regulating valve based on the current opening instruction of the regulating valve, and based on the opening instruction sequence, identifies each opening change parameter of the regulating valve. The opening change parameter is the amplitude and rate of the regulating valve opening change. The terminal then constrains each opening change parameter through a small closed-loop control strategy to obtain each actual opening change parameter of the regulating valve. Based on each actual opening change parameter, the terminal adjusts the opening instruction sequence of the regulating valve to obtain the actual opening instruction of the regulating valve. The small closed-loop control strategy allows the regulating valve to experience rate saturation, and the time during which the valve opening changes at the saturated rate from fully closed to fully open is no less than 95% of the total adjustment time.

[0085] Among them, the current opening instruction of the control valve can be represented as:

[0086]

[0087] Where, ξ M,i and ξ R,i Respectively represent the amplitude and rate of change of the opening of the i-th regulating valve, λ i is an adjustable parameter, η i is the damping ratio, ω i is the natural frequency, u c,i is the input, u p,i is the output. The saturation function φ(ξ R,i )for:

[0088]

[0089] Where, and ξ R,i They are ξ R,i The maximum and minimum limits of d are defined as follows: R,i =φ(ξ R,i )-ξ R,i .

[0090] In the actual test process, Figure 6 As shown, changing the controller parameters to speed up the dynamics of the regulating valve is more efficient and more stable.

[0091] Based on the above scheme, the fast dynamic control valve can quickly suppress the impact of uncertainty on system performance in the subsequent control system. At the same time, the order of the subsequently designed robust controller can be lower.

[0092] Optionally, based on the actual opening instruction, the opening instructions of each sub-control valve of the control valve are generated through a robust controller and an anti-saturation compensator, including: when the rate saturation deviation signal meets the preset rate saturation deviation condition, based on the actual opening instruction, identifying the actual opening value of each sub-control valve of the control valve, and collecting the various airflow parameter information of the current airflow; based on the actual opening value of each sub-control valve, and the various airflow parameter information, generating the opening instruction of each sub-control valve through the robust controller.

[0093] In this embodiment, the terminal identifies the actual opening values of each sub-control valve of the control valve based on the generated actual opening instruction and collects various airflow parameter information of the current airflow. The airflow parameter information includes airflow input parameters, airflow state parameters, airflow output parameters, and airflow flow disturbance parameters.

[0094] Then, based on the actual opening value of each sub-control valve and the airflow parameter information, the terminal generates the opening instruction of each sub-control valve through a robust controller. The robust controller is constructed by multiple linear models, wherein the model formula of the linear model is as follows:

[0095]

[0096] Where u p =[u p,1 u p, 2] T 、x p =[pT] T 、y p =[pT] T 、 are input, state, output, and flow disturbance respectively. p,1 and u p,2Indicates the opening of control valve 1 and control valve 2. p is the controlled pressure. T is the controlled temperature. The flow disturbance.

[0097] When rate saturation is not considered, φ(ξ R,i )=ξ R,i Based on formula (1), we can get a linear model that comprehensively describes the dynamics of control valve 1 and control valve 2, denoted as G a (s).

[0098] Based on G a (s), G p (s), considering the performance weighting function W s (s), disturbance weighting function W d (s), noise weighting function W n (s), design a fixed-structure robust H with multivariable PI control form ∞ controller,

[0099] Based on the framework corresponding to the above scheme, the standard MATLAB robust control toolbox can be used to solve H ∞ Controller parameter K PH , K IH and ensure the robustness of the closed-loop system. ∞ The controller has a fixed PI control structure, the controller order is low, and G a (s) has fast dynamics, which ensures the existence of such a low-order controller.

[0100] Optionally, the rate saturation deviation signal of the control valve is calculated through a rate saturation observer, including: adjusting the initial rate saturation observer based on the actual opening change parameters of the control valve to obtain the rate saturation observer, and collecting the initial control valve rate signals of each sub-control valve of the control valve; identifying the control valve rate signal sequence of each sub-control valve through the rate saturation observer based on the control valve rate signal of each sub-control valve at the current moment; calculating the sub-rate saturation deviation signal of each sub-control valve through a deviation signal algorithm based on the control valve rate signal sequence of each sub-control valve, and using the sub-rate saturation deviation signals of all sub-control valves as the rate saturation deviation signal of the control valve.

[0101] In this embodiment, the terminal adjusts the initial rate saturation observer based on each actual opening change parameter of the control valve to obtain a rate saturation observer, and collects the initial control valve rate signal of each sub-control valve of the control valve.

[0102] Then, the terminal identifies the regulating valve rate signal sequence of each sub-regulating valve through a rate saturation observer based on the regulating valve rate signal of each sub-regulating valve at the current moment.

[0103] Specifically, the terminal is based on formula (1) and d R,i The definition of , we can get:

[0104]

[0105] Formula (4) contains the non-matching disturbance term d R,i , the traditional observer cannot be directly applied. The present invention defines z1=ξ M,i 、z2=d R,i +ξ R,i 、 The improved observer is designed as follows:

[0106]

[0107] Where β1, β2, and β3 are adjustable parameters. are the estimated values of z1, z2, and z3 respectively.

[0108] Then, based on the control valve rate signal sequence of each sub-control valve, the terminal calculates the sub-rate saturation deviation signal of each sub-control valve through the deviation signal algorithm, and uses the sub-rate saturation deviation signals of all sub-control valves as the rate saturation deviation signal of the control valve. Among them, the deviation signal algorithm is calculated based on formula (5) According to formula (6), calculate d at the current k moment R,i (k).

[0109]

[0110] Where, T s is the sampling time.

[0111] According to formula (6), d R,1 d R,2 , therefore, the saturation deviation signal can be obtained

[0112]

[0113] Based on the above scheme, by designing an observer for rate saturation information, the traditional use of the control valve model for calculation is avoided, which requires the prediction of the rate saturation boundary. and ξ R,i In order to solve the problem of flight environment simulation system performance, even if the performance of the regulating valve degrades and the rate saturation boundary changes during long-term use, the controller provided by the present invention will automatically adapt without manual correction or adjustment, thereby comprehensively improving the control effect of the performance robustness of the flight environment simulation system.

[0114] Optionally, based on the rate saturation deviation signal and the opening instructions of each sub-control valve, the target sub-opening value of each sub-control valve of the control valve is adjusted through an anti-saturation compensator, including: based on the sub-rate saturation deviation signal of each sub-control valve, the control valve rate signal sequence of each sub-control valve, and the opening instructions of each sub-control valve, the target sub-opening value of each sub-control valve is generated respectively through the opening control optimization strategy corresponding to the robust controller.

[0115] In this embodiment, the terminal generates the target sub-opening value of each sub-control valve based on the sub-rate saturation deviation signal of each sub-control valve, the control valve rate signal sequence of each sub-control valve, and the opening instruction of each sub-control valve through the opening control optimization strategy corresponding to the robust controller. Among them, the above information is d R,i =φ(ξ R,i )-ξ R,i (Opening instructions of each sub-control valve), (Sub-rate saturation deviation signal of each sub-control valve), (regulating valve rate signal sequence of each sub-regulating valve), (Upper limit of the control valve rate signal of each sub-control valve), (lower limit of the control valve rate signal of each sub-control valve), (Opening instructions of each sub-control valve). Among them, the opening control optimization strategy corresponding to the robust controller is the anti-saturation optimization method of the traditional anti-saturation optimization method.

[0116] The closed-loop system consisting of the flight environment simulation system, the actuator considering rate saturation, the designed robust controller, and the anti-saturation compensator is modeled as follows:

[0117]

[0118] Where,

[0119] The anti-saturation compensator is obtained by solving the following optimization problem.

[0120]

[0121] Where ε1, ε2, ε3, ε4 are given positive constants. i , i=1,2,3,4 is a normal number as small as possible. Select the diagonal matrix N and the diagonal positive definite matrix S, and satisfy the formula (8). K=[0 2×2 I 2×2 0 2×4 ].Matrix H (located in matrix B G ) and the symmetric matrix {Q>0,X1>0,X2>0,Z1,Z2,Y1>0,Y2>0} are all free variables

[0122] (ξ R -Φ(ξ R )) T S(Φ(ξ R )-Nξ R )≥0,ξ R ∈L(N) (8)

[0123] in,

[0124] like Figure 7 、 Figure 8 The pressure and temperature response curves are shown. It can be seen that when the rate saturation boundary is accurately known, the traditional method can achieve a better anti-saturation effect. However, when the rate saturation boundary value is reduced by 40%, the traditional method causes overshoot and fluctuation in pressure, and the temperature response adjustment time is longer. The method of the present invention can ensure that the pressure and temperature responses are smooth and fast, indicating that the method of the present invention has better control performance.

[0125] Based on the above scheme, an observer of rate saturation information is designed to collect the control valve rate signal sequence of each sub-control valve, and then an anti-saturation compensator is used to ensure that each sub-control valve can be dynamically regulated when the rate of the control valve is saturated, thereby improving the control effect of the performance robustness of the flight environment simulation system.

[0126] This application also provides an example of airflow robustness control of a flight environment simulation system, such as Figure 9 As shown, the specific processing process includes the following steps:

[0127] Step S901: Obtain airflow requirement information of the flight environment simulation system.

[0128] Step S902 : splitting the airflow requirement information into airflow pressure requirement information and airflow temperature requirement information.

[0129] Step S903 : generating an airflow pressure requirement dynamic table and an airflow temperature requirement dynamic table based on the airflow pressure requirement information and the airflow temperature requirement information.

[0130] In step S904, the dynamic table of airflow pressure demand and the dynamic table of airflow temperature demand are used to generate a dynamic control instruction for the control valve through a control valve instruction generation strategy, and the dynamic control instruction is used as the current opening instruction of the control valve of the flight environment simulation system.

[0131] Step S905 : identifying the opening instruction sequence of the regulating valve based on the current opening instruction of the regulating valve, and identifying each opening variation parameter of the regulating valve based on the opening instruction sequence.

[0132] Step S906: Constraining the opening variation parameters through the small closed-loop control strategy to obtain the actual opening variation parameters of the regulating valve, and adjusting the opening instruction sequence of the regulating valve based on the actual opening variation parameters to obtain the actual opening instruction of the regulating valve.

[0133] Step S907: controlling the opening value of the regulating valve based on the actual opening instruction of the regulating valve.

[0134] Step S908 : Based on the actual opening instruction, the actual opening value of each sub-control valve of the control valve is identified, and the airflow parameter information of the current airflow is collected.

[0135] Step S909 : Based on the actual opening value of each sub-control valve and each airflow parameter information, an opening instruction of each sub-control valve is generated through the linear model of each sub-control valve in the robust controller.

[0136] Step S910 : Based on each actual opening variation parameter of the regulating valve, an initial rate saturation observer is adjusted to obtain a rate saturation observer, and initial regulating valve rate signals of each sub-regulating valve of the regulating valve are collected.

[0137] Step S911 : Based on the control valve rate signal of each sub-control valve at the current moment, a control valve rate signal sequence of each sub-control valve is identified through a rate saturation observer.

[0138] Step S912: Based on the regulating valve rate signal sequence of each sub-regulating valve, the sub-rate saturation deviation signal of each sub-regulating valve is calculated separately through the deviation signal algorithm, and the sub-rate saturation deviation signals of all sub-regulating valves are used as the rate saturation deviation signal of the regulating valve.

[0139] Step S913: Based on the sub-rate saturation deviation signal of each sub-control valve, the control valve rate signal sequence of each sub-control valve, and the opening instruction of each sub-control valve, the target sub-opening value of each sub-control valve is generated through the opening control optimization strategy corresponding to the robust controller.

[0140] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0141] Based on the same inventive concept, embodiments of the present application also provide an airflow robustness control device for a flight environment simulation system, for implementing the aforementioned airflow robustness control method for a flight environment simulation system. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more embodiments of the airflow robustness control device for a flight environment simulation system provided below can be found in the aforementioned limitations of the airflow robustness control method for a flight environment simulation system, and will not be further elaborated here.

[0142] In an exemplary embodiment, Figure 10 As shown, an airflow robustness control device for a flight environment simulation system is provided, comprising: an acquisition module 1010, a control module 1020, a calculation module 1030, and an adjustment module 1040, wherein:

[0143] an acquisition module 1010 for acquiring airflow requirement information of a flight environment simulation system and calculating a current opening instruction of a regulating valve of the flight environment simulation system based on the airflow requirement information;

[0144] The control module 1020 is configured to generate an actual opening instruction of the regulating valve based on the current opening instruction through a small closed-loop control strategy, and control the opening value of the regulating valve based on the actual opening instruction of the regulating valve;

[0145] a calculation module 1030 configured to generate, based on the actual opening instruction, an opening instruction for each sub-control valve of the control valve through a robust controller, and calculate a rate saturation deviation signal of the control valve through a rate saturation observer;

[0146] The adjustment module 1040 is configured to adjust the target sub-opening value of each sub-control valve of the control valve through an anti-saturation compensator based on the rate saturation deviation signal and the opening instruction of each sub-control valve.

[0147] Optionally, the acquisition module 1010 is specifically configured to:

[0148] Splitting the airflow demand information into airflow pressure demand information and airflow temperature demand information;

[0149] Based on the airflow pressure requirement information and the airflow temperature requirement information, generating an airflow pressure requirement dynamic table and an airflow temperature requirement dynamic table;

[0150] The dynamic table of airflow pressure requirements and the dynamic table of airflow temperature requirements are used to generate dynamic control instructions for the regulating valve through a regulating valve instruction generation strategy, and the dynamic control instructions are used as current opening instructions for the regulating valve of the flight environment simulation system.

[0151] Optionally, the control module 1020 is specifically configured to:

[0152] Based on the current opening instruction of the regulating valve, identifying the opening instruction sequence of the regulating valve, and based on the opening instruction sequence, identifying each opening change parameter of the regulating valve;

[0153] Through a small closed-loop control strategy, each of the opening change parameters is constrained to obtain the actual opening change parameters of the regulating valve, and based on each of the actual opening change parameters, the opening instruction sequence of the regulating valve is adjusted to obtain the actual opening instruction of the regulating valve.

[0154] Optionally, the calculation module 1030 is specifically configured to:

[0155] Based on each actual opening change parameter of the regulating valve, adjusting the initial rate saturation observer to obtain a rate saturation observer, and collecting the initial regulating valve rate signal of each sub-regulating valve of the regulating valve;

[0156] Based on the control valve rate signal of each sub-control valve at the current moment, identifying the control valve rate signal sequence of each sub-control valve through a rate saturation observer;

[0157] Based on the regulating valve rate signal sequence of each sub-regulating valve, the sub-rate saturation deviation signal of each sub-regulating valve is calculated respectively through the deviation signal algorithm, and the sub-rate saturation deviation signals of all sub-regulating valves are used as the rate saturation deviation signal of the regulating valve.

[0158] Optionally, the calculation module 1030 is specifically configured to:

[0159] Based on the actual opening instruction, identifying the actual opening value of each sub-control valve of the control valve, and collecting various airflow parameter information of the current airflow;

[0160] Based on the actual opening value of each sub-control valve and each airflow parameter information, an opening instruction of each sub-control valve is generated through a linear model of each sub-control valve in a robust controller.

[0161] Optionally, the adjustment module 1040 is specifically configured to:

[0162] Based on the sub-rate saturation deviation signal of each sub-control valve, the control valve rate signal sequence of each sub-control valve, and the opening instruction of each sub-control valve, the target sub-opening value of each sub-control valve is generated respectively through the opening control optimization strategy corresponding to the robust controller.

[0163] Each module in the aforementioned airflow robustness control device for the flight environment simulation system can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor within a computer device in hardware form, or stored in a computer device memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0164] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 11 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for controlling the airflow robustness of a flight environment simulation system is implemented. The display unit of the computer device is used to form a visually visible image, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0165] Those skilled in the art will understand that Figure 11 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0166] In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the following steps of a method for controlling airflow robustness of a flight environment simulation system are implemented.

[0167] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the following method for controlling airflow robustness of a flight environment simulation system are implemented.

[0168] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps of a method for controlling airflow robustness of a flight environment simulation system.

[0169] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0170] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0171] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0172] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for controlling airflow robustness of a flight environment simulation system, characterized in that: The method comprises: Acquiring airflow requirement information of a flight environment simulation system, and calculating a current opening instruction of a regulating valve of the flight environment simulation system based on the airflow requirement information; Based on the current opening instruction, an actual opening instruction of the regulating valve is generated through a small closed-loop control strategy, and based on the actual opening instruction of the regulating valve, the opening value of the regulating valve is controlled; Calculating a rate saturation deviation signal of the regulating valve through a rate saturation observer, and generating an opening instruction for each sub-regulating valve of the regulating valve through a robust controller and an anti-saturation compensator based on the actual opening instruction; Based on the rate saturation deviation signal and the opening instructions of the sub-control valves, the target sub-opening value of each sub-control valve of the control valve is adjusted by a robust controller.

2. The method according to claim 1, characterized in that Calculating a current opening instruction of a regulating valve of the flight environment simulation system based on the airflow demand information includes: Splitting the airflow demand information into airflow pressure demand information and airflow temperature demand information; Based on the airflow pressure requirement information and the airflow temperature requirement information, generating an airflow pressure requirement dynamic table and an airflow temperature requirement dynamic table; The dynamic table of airflow pressure requirements and the dynamic table of airflow temperature requirements are used to generate dynamic control instructions for the regulating valve through a regulating valve instruction generation strategy, and the dynamic control instructions are used as current opening instructions for the regulating valve of the flight environment simulation system.

3. The method according to claim 2, characterized in that The generating of the actual opening instruction of the regulating valve through a small closed-loop control strategy based on the current opening instruction includes: Based on the current opening instruction of the regulating valve, identifying the opening instruction sequence of the regulating valve, and based on the opening instruction sequence, identifying each opening change parameter of the regulating valve; Through a small closed-loop control strategy, each of the opening change parameters is constrained to obtain the actual opening change parameters of the regulating valve, and based on each of the actual opening change parameters, the opening instruction sequence of the regulating valve is adjusted to obtain the actual opening instruction of the regulating valve.

4. The method according to claim 3, characterized in that Calculating the rate saturation deviation signal of the regulating valve through the rate saturation observer includes: Based on each actual opening change parameter of the regulating valve, adjusting the initial rate saturation observer to obtain a rate saturation observer, and collecting the initial regulating valve rate signal of each sub-regulating valve of the regulating valve; Based on the control valve rate signal of each sub-control valve at the current moment, identifying the control valve rate signal sequence of each sub-control valve through a rate saturation observer; Based on the regulating valve rate signal sequence of each sub-regulating valve, the sub-rate saturation deviation signal of each sub-regulating valve is calculated respectively through the deviation signal algorithm, and the sub-rate saturation deviation signals of all sub-regulating valves are used as the rate saturation deviation signal of the regulating valve.

5. The method according to claim 1, wherein The generating of the opening instructions of each sub-control valve of the control valve based on the actual opening instruction through a robust controller and an anti-saturation compensator includes: Based on the actual opening instruction, identifying the actual opening value of each sub-control valve of the control valve, and collecting various airflow parameter information of the current airflow; Based on the actual opening value of each sub-control valve and the airflow parameter information, an opening instruction of each sub-control valve is generated through a robust controller.

6. The method according to claim 5, characterized in that The method of adjusting the target sub-opening value of each sub-control valve of the control valve by a robust controller based on the rate saturation deviation signal and the opening instruction of each sub-control valve includes: Based on the sub-rate saturation deviation signal of each sub-control valve, the control valve rate signal sequence of each sub-control valve, and the opening instruction of each sub-control valve, the target sub-opening value of each sub-control valve is generated respectively through the opening control optimization strategy corresponding to the robust controller.

7. An airflow robustness control device for a flight environment simulation system, characterized in that: The device comprises: an acquisition module, configured to acquire airflow requirement information of a flight environment simulation system and calculate a current opening instruction of a regulating valve of the flight environment simulation system based on the airflow requirement information; a control module, configured to generate an actual opening instruction of the regulating valve based on the current opening instruction through a small closed-loop control strategy, and control the opening value of the regulating valve based on the actual opening instruction of the regulating valve; a calculation module, configured to calculate a rate saturation deviation signal of the control valve through a rate saturation observer, and generate an opening instruction for each sub-control valve of the control valve based on the actual opening instruction through a robust controller and an anti-saturation compensator; The regulating module is configured to adjust the target sub-opening value of each sub-regulating valve of the regulating valve through a robust controller based on the rate saturation deviation signal and the opening instruction of each sub-regulating valve.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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