Airflow robustness control method and apparatus for flight environment simulation systems

Abstract

The application relates to an airflow robustness control method and device of a flight environment simulation system. The method comprises the following steps: obtaining airflow demand information of the flight environment simulation system, and calculating a current opening degree instruction of an adjusting valve of the flight environment simulation system based on the airflow demand information; generating an actual opening degree instruction of the adjusting valve through a small closed loop control strategy based on the current opening degree instruction, and controlling an opening value of the adjusting valve based on the actual opening degree instruction of the adjusting valve; generating an opening degree instruction of each sub-adjusting valve of the adjusting valve through a robust controller based on the actual opening degree instruction, and calculating a rate saturation deviation signal of the adjusting valve through a rate saturation observer; and adjusting a target sub-opening value of each sub-adjusting valve of the adjusting valve through the robust controller based on the rate saturation deviation signal and the opening degree instruction of each sub-adjusting valve. The method can improve the control effect of the performance robustness of the flight environment simulation system.

Description

Technical Field

[0001] This application relates to the field of pressure and temperature control technology for flight environment simulation systems, and in particular to a method and apparatus for robust airflow control in a flight environment simulation system. Background Technology

[0002] Flight environment simulation systems are large-scale ground-based test facilities used to test and evaluate the high-altitude flight performance of aero-engines. They simulate the high-altitude flight environment by adjusting the airflow pressure and temperature supplied to the engine. However, flight environment simulation systems suffer from multi-source uncertainties when rapidly adjusting airflow pressure and temperature, and the regulating valves are prone to rate saturation, leading to performance degradation or even instability of the control system. Therefore, improving the performance robustness of flight environment simulation systems is a current research focus.

[0003] Traditional techniques involve first designing a robust, unconstrained controller, such as μ-synthetic control, for flight environment simulation systems without rate saturation. Then, an anti-saturation compensator is designed to suppress the impact of rate saturation on the closed-loop system. However, this approach suffers from several drawbacks. First, the resulting controller has a high order, making implementation difficult. Second, suppressing rate saturation in the control valve requires a precisely known rate saturation boundary. In reality, this boundary is difficult to obtain precisely, and its change is caused by performance degradation over time. This results in poor control performance for the flight environment simulation system and insufficient robustness of the control system. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for airflow robust control of a flight environment simulation system to address the aforementioned technical problems.

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

[0006] Obtain airflow demand information from the flight environment simulation system, and calculate the current opening command of the regulating valve of the flight environment simulation system based on the airflow demand information;

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

[0008] Based on the actual opening command, the opening command of each sub-control valve of the control valve is generated by the robust controller, and the rate saturation deviation signal of the control valve is calculated by the rate saturation observer.

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

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

[0011] The airflow demand information is broken down into airflow pressure demand information and airflow temperature demand information;

[0012] Based on the airflow pressure demand information and the airflow temperature demand information, a dynamic table of airflow pressure demand and a dynamic table of airflow temperature demand are generated.

[0013] The dynamic tables of airflow pressure demand and airflow temperature demand are used to generate dynamic control commands for the regulating valve through a regulating valve command generation strategy. These dynamic control commands are then used as the current opening command for the regulating valve of the flight environment simulation system.

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

[0015] Based on the current opening command of the control valve, identify the opening command sequence of the control valve, and based on the opening command sequence, identify each opening change parameter of the control valve;

[0016] By using 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. Based on each of the actual opening change parameters, the opening command sequence of the regulating valve is adjusted to obtain the actual opening command of the regulating valve.

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

[0018] Based on the actual opening change parameters of the control valve, the initial rate saturation observer is adjusted to obtain the rate saturation observer, and the initial control valve rate signal of each sub-control valve of the control valve is collected.

[0019] Based on the control valve rate signal of each sub-control valve at the current moment, the control valve rate signal sequence of each sub-control valve is identified by the rate saturation observer.

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

[0021] Optionally, the step of generating opening commands for each sub-controller of the control valve based on the actual opening command, using a robust controller, includes:

[0022] Based on the actual opening command, the actual opening value of each sub-control valve of the control valve is identified, and the current airflow parameter information is collected;

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

[0024] Optionally, adjusting the target sub-opening value of each sub-controller of the control valve based on the rate saturation deviation signal and the opening command of each sub-controller, via a robust controller, 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 command 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.

[0026] Secondly, this application also provides an airflow robustness control device for a flight environment simulation system, comprising:

[0027] The acquisition module is used to acquire airflow demand information of the flight environment simulation system and, based on the airflow demand information, calculate the current opening command of the regulating valve of the flight environment simulation system.

[0028] The control module is used to generate the actual opening command of the regulating valve based on the current opening command through a small closed-loop control strategy, and to control the opening value of the regulating valve based on the actual opening command of the regulating valve.

[0029] The calculation module is used to generate the opening commands of each sub-control valve of the control valve based on the actual opening command through a robust controller, and to calculate the rate saturation deviation signal of the control valve through a rate saturation observer.

[0030] The adjustment module is used to adjust the target sub-opening value of each sub-control valve of the control valve based on the rate saturation deviation signal and the opening command of each sub-control valve, through an anti-saturation compensator.

[0031] Optionally, the acquisition module is specifically used for:

[0032] The airflow demand information is broken down into airflow pressure demand information and airflow temperature demand information;

[0033] Based on the airflow pressure demand information and the airflow temperature demand information, a dynamic table of airflow pressure demand and a dynamic table of airflow temperature demand are generated.

[0034] The dynamic tables of airflow pressure demand and airflow temperature demand are used to generate dynamic control commands for the regulating valve through a regulating valve command generation strategy. These dynamic control commands are then used as the current opening command for the regulating valve of the flight environment simulation system.

[0035] Optionally, the control module is specifically used for:

[0036] Based on the current opening command of the control valve, identify the opening command sequence of the control valve, and based on the opening command sequence, identify each opening change parameter of the control valve;

[0037] By using 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. Based on each of the actual opening change parameters, the opening command sequence of the regulating valve is adjusted to obtain the actual opening command of the regulating valve.

[0038] Optionally, the computing module is specifically used for:

[0039] Based on the actual opening change parameters of the control valve, the initial rate saturation observer is adjusted to obtain the rate saturation observer, and the initial control valve rate signal of each sub-control valve of the control valve is collected.

[0040] Based on the control valve rate signal of each sub-control valve at the current moment, the control valve rate signal sequence of each sub-control valve is identified by the rate saturation observer.

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

[0042] Optionally, the computing module is specifically used for:

[0043] Based on the actual opening command, the actual opening value of each sub-control valve of the control valve is identified, and the current airflow parameter information is collected;

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

[0045] Optionally, the adjustment module is specifically used for:

[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 command 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.

[0047] Thirdly, this application provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the method described in any one of the first aspects.

[0048] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0049] Fifthly, this application provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0050] The aforementioned airflow robust control method and apparatus for a flight environment simulation system acquires airflow demand information from the flight environment simulation system and calculates the current opening command of the control valve based on this information. Based on the current opening command, a small closed-loop control strategy is used to generate the actual opening command of the control valve, and the valve's opening value is controlled accordingly. A rate saturation observer calculates the rate saturation deviation signal of the control valve, and based on the actual opening command, a robust controller and an anti-saturation compensator generate the opening commands for each sub-control valve. Based on the rate saturation deviation signal and the opening commands of each sub-control valve, the robust controller adjusts the target sub-opening value of each sub-control valve. This scheme constrains the control valve's rate of change through a small closed-loop control strategy, thereby accelerating the valve's dynamics and facilitating the subsequent control system's rapid suppression of uncertainties on system performance. Simultaneously, it allows for a lower order robust controller in the subsequent design. Secondly, this solution accurately estimates the unknown rate saturation deviation during the rapid dynamic changes of the control valve by designing a method based on an improved observer, thereby allowing for faster control valve dynamics. Furthermore, since this solution can handle unknown rate saturation, there is no need to identify the rate saturation boundary of the control valve. Even if the control valve performance degrades during long-term use, causing changes in the rate saturation boundary, the controller provided by this solution automatically adapts, thus comprehensively improving the robustness of the control performance of the flight environment simulation system. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0053] Figure 2 This is a flowchart illustrating the airflow robustness control method of a flight environment simulation system in one embodiment;

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

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

[0056] Figure 5 This is a schematic diagram of a robust control framework with an anti-saturation compensator in one embodiment;

[0057] Figure 6 A dynamic change table showing how controller parameters are changed to accelerate the control valve dynamics in one embodiment;

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

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

[0060] Figure 9 This is a flowchart illustrating an example of airflow robustness control in a flight environment simulation system in one embodiment.

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

[0062] Figure 11 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0064] The airflow robustness control method for flight environment simulation systems provided in this application embodiment can be applied to, for example... Figure 1 The application environment of the airflow robust control system in the flight environment simulation system is illustrated. Before the flight environment simulation system, a complete controller is added. This complete controller includes a robust controller, an anti-saturation compensator (H), and an observer for rate saturation information (i.e., the observer). This complete controller can be applied to a terminal, which can be, but is not limited to, various personal computers, laptops, mid-range computers, etc. The terminal constrains the rate of change of the control valve through a small closed-loop control strategy, thereby accelerating the dynamics of the control valve and facilitating the subsequent control system to quickly suppress the impact of uncertainties on system performance. Simultaneously, it allows for a lower order of the subsequently designed robust controller. Secondly, during the 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, thus allowing for faster control valve dynamics. Furthermore, since this scheme can handle unknown rate saturation, there is no need to identify the rate saturation boundary of the control valve. Even if the performance of the control valve degrades during long-term use, causing changes in the rate saturation boundary, the controller provided in this scheme automatically adapts, thereby comprehensively improving the robustness of the control performance of the flight environment simulation system.

[0065] In one exemplary embodiment, such as Figure 2 As shown, a robust airflow control method for a flight environment simulation system is provided. Taking the application of this method to a terminal as an example, the method includes the following steps S201 to S204. Wherein:

[0066] Step S201: Obtain the airflow demand information of the flight environment simulation system, and calculate the current opening command of the regulating valve of the flight environment simulation system based on the airflow demand information.

[0067] In this embodiment, the terminal responds to the flight simulation task input by the staff. During the flight simulation task, it collects simulation demand information related to airflow to obtain airflow demand information, which includes airflow pressure demand information and airflow temperature demand information. Then, based on the airflow demand information, the terminal calculates the current opening command of the regulating valve of the flight environment simulation system. Since the airflow is unstable, the current opening command of the regulating valve of the flight environment simulation system is a dynamic opening command; the specific recognition process will be explained in detail later.

[0068] Step S202: Based on the current opening command, the regulating valve is driven to reach the 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 command through a small closed-loop control strategy. This small closed-loop control strategy involves, for example... Figure 3 The small closed-loop control system of the regulating valve shown adjusts its proportional controller parameter k. p This is a strategy to accelerate the dynamics of the control valve; the specific generation process will be explained in detail later.

[0070] Step S203: Calculate the rate saturation deviation signal of the control valve using the rate saturation observer, and generate the opening command of each sub-control valve of the control valve based on the actual opening command and the rate saturation deviation signal of the control valve using a robust controller and an anti-saturation compensator.

[0071] In this embodiment, the terminal calculates the rate saturation deviation signal of the control valve based on the actual opening command using a rate saturation observer, and generates the opening commands of each sub-control valve of the control valve through a robust controller and an anti-saturation compensator. The robust controller is as follows: Figure 4 The fixed structure shown is robust H ∞ The controller, the anti-saturation compensator is as follows Figure 5 The diagram shows an anti-saturation compensator in a robust control framework with anti-saturation capabilities, while the rate saturation observer is an algorithm used to identify rate saturation deviation signals of the control valve. The specific algorithm content and generation process will be explained in detail later.

[0072] Step S204: Based on the rate saturation deviation signal and the opening command of each sub-control valve, the target sub-opening value of each sub-control valve of the control valve is adjusted by a robust controller.

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

[0074] Based on the above scheme, by constraining the rate of change of the control valve through a small closed-loop control strategy, the dynamics of the control valve can be accelerated, which is beneficial for the subsequent control system to quickly suppress the impact of uncertainties on system performance. Simultaneously, it allows for a lower order of the robust controller designed later. Secondly, during the 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, thus allowing for faster control valve dynamics. Furthermore, since this scheme can handle unknown rate saturation, there is no need to identify the rate saturation boundary of the control valve. Even if the performance of the control valve degrades during long-term use, causing changes in the rate saturation boundary, the controller provided by this scheme automatically adapts, thereby comprehensively improving the robustness of the control performance of the flight environment simulation system.

[0075] Optionally, based on airflow demand information, the current opening command of the regulating 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 a dynamic table of airflow pressure demand and a dynamic table of airflow temperature demand based on the airflow pressure demand information and the airflow temperature demand information; generating a dynamic control command for the regulating valve through a regulating valve command generation strategy using the dynamic table of airflow pressure demand and the dynamic table of airflow temperature demand, and using the dynamic control command as the current opening command of the regulating valve of the flight environment simulation system.

[0076] In this embodiment, the terminal breaks down 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 an aircraft engine, both the airflow temperature and pressure are dynamically changing; that is, both airflow pressure and temperature demand information are dynamic. Therefore, the terminal generates dynamic airflow pressure and temperature demand tables based on these information. Then, the terminal uses these tables, along with a control valve command generation strategy, to generate dynamic control commands for the control valve. These dynamic control commands are then used as the current valve opening command for the flight environment simulation system. The control valve command generation strategy includes the conversion relationship between different airflow pressure and temperature demand values ​​and the control valve opening value. This conversion relationship can also be achieved through a controller algorithm that combines the aforementioned airflow pressure and temperature demand values ​​to calculate the control valve opening value. The specific algorithm calculation formula is as follows:

[0077]

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

[0079]

[0080] In the formula, and ξ R,i They are respectively ξ R,i The maximum and minimum limits. Define d. 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 conversion relationship, thus obtaining 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 command for the regulating valve through a preset command generation strategy. This dynamic control command can control the regulating valve to open and close according to the opening value sequence.

[0082] Based on the above scheme, by identifying the dynamic control commands of the regulating valve based on airflow demand information, the control efficiency and accuracy of the regulating valve are improved.

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

[0084] In this embodiment, the terminal identifies the valve's opening command sequence based on the current opening command of the control valve, and identifies various opening change parameters of the control valve based on the opening command sequence. These opening change parameters include the amplitude and rate of the valve's opening change. Then, the terminal constrains these opening change parameters using a small closed-loop control strategy to obtain the actual opening change parameters of the control valve. Based on these actual opening change parameters, the terminal adjusts the valve's opening command sequence to obtain the actual opening command of the control valve. This small closed-loop control strategy allows the control valve to experience rate saturation, and during the process from fully closed to fully open, the time for the valve opening to change at the saturation rate is not less than 95% of the total adjustment time.

[0085] The current opening command of the regulating valve can be characterized as follows:

[0086]

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

[0088]

[0089] In the formula, and ξ R,i They are respectively ξ R,i The maximum and minimum limits. Define d. R,i =φ(ξ R,i )-ξ R,i .

[0090] In actual testing, such as Figure 6 As shown, changing the controller parameters to accelerate the dynamics of the regulating valve is more efficient and 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, it can make the order of the robust controller designed later lower.

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

[0093] In this embodiment, the terminal identifies the actual opening value of each sub-control valve of the control valve based on the generated actual opening command, and collects various airflow parameter information of the current airflow. This 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 values ​​of each sub-control valve and the airflow parameter information, the terminal generates opening commands for each sub-control valve through a robust controller. This robust controller is constructed using multiple linear models, the formulas of which are shown below:

[0095]

[0096] In the formula, u p =[u p,1 u p, 2] T x p =[pT] T y p =[pT] T , These are input, state, output, and flow disturbance, respectively. p,1 and u p,2This indicates the opening degree of regulating valve 1 and regulating valve 2. p is the controlled pressure. T is the controlled temperature. For traffic disturbance.

[0097] Without considering rate saturation, φ(ξ) R,i )=ξ R,i The equation is valid. Based on equation (1), a linear model comprehensively describing the dynamics of control valve 1 and control valve 2 can be obtained, denoted as G. a (s).

[0098] Based on G a (s), G p (s), considering the performance weighting function W s (s), perturbation 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, H can be solved using the standard MATLAB Robust Control Toolbox. ∞ Controller parameter K PH K IH And ensure the robustness of the closed-loop system. Because of this H ∞ The controller has a fixed PI control structure, a low controller order, and G a (s) has fast dynamics, which guarantees the existence of this low-order controller.

[0100] Optionally, the rate saturation deviation signal of the control valve is calculated using 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 acquiring 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 based on the control valve rate signal of each sub-control valve at the current moment using the rate saturation observer; calculating the sub-rate saturation deviation signal of each sub-control valve based on the control valve rate signal sequence of each sub-control valve using a deviation signal algorithm, and taking 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 the actual opening change parameters of the control valve to obtain the rate saturation observer, and collects the initial control valve rate signals of each sub-control valve of the control valve.

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

[0103] Specifically, the terminal is based on equation (1) and d R,i From the definition, we can obtain:

[0104]

[0105] Equation (4) contains a non-matching perturbation term d. R,i Traditional observers cannot be directly applied. This invention defines z1 = ξ. M,i z2=d R,i +ξ R,i , The improved observer design is as follows:

[0106]

[0107] In the formula, β1, β2, and β3 are adjustable parameters. These are the estimated values ​​for 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 using a 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. The deviation signal algorithm is based on equation (5). According to equation (6), calculate d at the current time k. R,i (k).

[0109]

[0110] In the formula, T s Sampling time.

[0111] According to equation (6), d can be calculated respectively. 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 method of using a regulating valve model for calculation is avoided, which requires prior knowledge of the rate saturation boundary. and ξ R,i The problem is that even if the performance of the regulating valve degrades during long-term use, causing the rate saturation boundary to change, the controller provided by this invention will automatically adapt without human correction or adjustment, thereby comprehensively improving the robust control effect on the performance of the flight environment simulation system.

[0114] Optionally, based on the rate saturation deviation signal and the opening command of each sub-control valve, the target sub-opening value of each sub-control valve is adjusted through the anti-saturation compensator. This includes: generating 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 command of each sub-control valve, through the opening control optimization strategy corresponding to the robust controller.

[0115] In this embodiment, the terminal generates the target sub-opening value for each sub-control valve based on the sub-rate saturation deviation signal, the control valve rate signal sequence, and the opening command of each sub-control valve, using the opening control optimization strategy corresponding to the robust controller. The aforementioned information refers to d... R,i =φ(ξ R,i )-ξ R,i (Opening instructions for each sub-control valve) (Sub-rate saturation deviation signal of each sub-control valve) (Control valve rate signal sequence of each sub-control valve) (Upper boundary of the control valve rate signal for each sub-control valve) (Lower boundary of the control valve rate signal for each sub-control valve) (Opening commands for 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 a flight environment simulation system, an actuator considering rate saturation, a designed robust controller, and an anti-saturation compensator, is modeled as follows:

[0117]

[0118] In the formula,

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

[0120]

[0121] In the formula, ε1, ε2, ε3, ε4 are given positive constants. γ i Let i = 1, 2, 3, 4 be the smallest possible positive constants. Choose a diagonal matrix N and a diagonal positive definite matrix S, satisfying equation (8). K = [0 2×2 I 2×2 0 2×4 ]. Matrix H (located in matrix B) G Both the symmetric matrix {Q>0, X1>0, X2>0, Z1, Z2, Y1>0, Y2>0} and the symmetric matrix {Q>0, X1>0, X2>0, Z1, Z2, Y1>0, Y2>0} are 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 pressure overshoot and fluctuation, and the temperature response adjustment time is longer. The method of the present invention can ensure that the pressure and temperature response is stable and fast, indicating that the method of the present invention has better control performance.

[0125] Based on the above scheme, by designing an observer to collect the control valve rate signal sequence of each sub-control valve, and then using an anti-saturation compensator, the control effect of each sub-control valve is dynamically adjusted when the control valve rate is saturated, thereby improving the robustness of the control effect on the flight environment simulation system.

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

[0127] Step S901: Obtain airflow demand information from the flight environment simulation system.

[0128] Step S902: The airflow demand information is broken down into airflow pressure demand information and airflow temperature demand information.

[0129] Step S903: Based on the airflow pressure demand information and the airflow temperature demand information, generate a dynamic table of airflow pressure demand and a dynamic table of airflow temperature demand.

[0130] Step S904: The dynamic table of airflow pressure demand and the dynamic table of airflow temperature demand are used to generate dynamic control commands for the regulating valve through the regulating valve command generation strategy, and the dynamic control commands are used as the current opening command of the regulating valve of the flight environment simulation system.

[0131] Step S905: Based on the current opening command of the control valve, identify the opening command sequence of the control valve, and based on the opening command sequence, identify each opening change parameter of the control valve.

[0132] Step S906: By using a small closed-loop control strategy, constrain each opening change parameter to obtain each actual opening change parameter of the control valve, and adjust the opening command sequence of the control valve based on each actual opening change parameter to obtain the actual opening command of the control valve.

[0133] Step S907: Based on the actual opening command of the regulating valve, control the opening value of the regulating valve.

[0134] Step S908: Based on the actual opening command, identify the actual opening value of each sub-control valve of the control valve, and collect the current airflow parameter information.

[0135] Step S909: Based on the actual opening value of each sub-control valve and the airflow parameter information, the opening command 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 the actual opening change parameters of the control valve, adjust the initial rate saturation observer to obtain the rate saturation observer, and collect the initial control valve rate signals of each sub-control valve of the control valve.

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

[0138] Step S912: Based on the control valve rate signal sequence of each sub-control valve, calculate the sub-rate saturation deviation signal of each sub-control valve using the deviation signal algorithm, and use the sub-rate saturation deviation signals of all sub-control valves as the rate saturation deviation signal of the control 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 command 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 steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0141] Based on the same inventive concept, this application also provides an airflow robustness control device for a flight environment simulation system to implement the airflow robustness control method of the flight environment simulation system described above. The solution provided by this device is similar to the solution described in the above 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 limitations of the airflow robustness control method for the flight environment simulation system described above, and will not be repeated here.

[0142] In one exemplary embodiment, such as 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] The acquisition module 1010 is used to acquire airflow demand information of the flight environment simulation system and calculate the current opening command of the regulating valve of the flight environment simulation system based on the airflow demand information.

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

[0145] The calculation module 1030 is used to generate the opening command of each sub-control valve of the control valve based on the actual opening command through a robust controller, and to calculate the rate saturation deviation signal of the control valve through a rate saturation observer.

[0146] The adjustment module 1040 is used 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 command of each sub-control valve.

[0147] Optionally, the acquisition module 1010 is specifically used for:

[0148] The airflow demand information is broken down into airflow pressure demand information and airflow temperature demand information;

[0149] Based on the airflow pressure demand information and the airflow temperature demand information, a dynamic table of airflow pressure demand and a dynamic table of airflow temperature demand are generated.

[0150] The dynamic tables of airflow pressure demand and airflow temperature demand are used to generate dynamic control commands for the regulating valve through a regulating valve command generation strategy. These dynamic control commands are then used as the current opening command for the regulating valve of the flight environment simulation system.

[0151] Optionally, the control module 1020 is specifically used for:

[0152] Based on the current opening command of the control valve, identify the opening command sequence of the control valve, and based on the opening command sequence, identify each opening change parameter of the control valve;

[0153] By using 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. Based on each of the actual opening change parameters, the opening command sequence of the regulating valve is adjusted to obtain the actual opening command of the regulating valve.

[0154] Optionally, the computing module 1030 is specifically used for:

[0155] Based on the actual opening change parameters of the control valve, the initial rate saturation observer is adjusted to obtain the rate saturation observer, and the initial control valve rate signal of each sub-control valve of the control valve is collected.

[0156] Based on the control valve rate signal of each sub-control valve at the current moment, the control valve rate signal sequence of each sub-control valve is identified by the rate saturation observer.

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

[0158] Optionally, the computing module 1030 is specifically used for:

[0159] Based on the actual opening command, the actual opening value of each sub-control valve of the control valve is identified, and the current airflow parameter information is collected;

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

[0161] Optionally, the adjustment module 1040 is specifically used for:

[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 command 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.

[0163] The modules in the airflow robustness control device of the aforementioned flight environment simulation system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0164] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 11 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a robust airflow control method for a flight environment simulation system. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

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

[0166] In one exemplary embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program that, when executed by the processor, implements the steps of the following airflow robust control method for a flight environment simulation system.

[0167] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the following method for airflow robust control of a flight environment simulation system.

[0168] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of a method for airflow robust control 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, data stored, data displayed, 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 the relevant data must comply with relevant regulations.

[0170] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can 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 can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0171] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A robust airflow control method for a flight environment simulation system, characterized in that, The method includes: Obtain airflow demand information from the flight environment simulation system, and calculate the current opening command of the regulating valve of the flight environment simulation system based on the airflow demand information; Based on the current opening command, the actual opening command of the regulating valve is generated through a small closed-loop control strategy, and the opening value of the regulating valve is controlled based on the actual opening command of the regulating valve. Based on the actual opening change parameters of the control valve, the initial rate saturation observer is adjusted to obtain the rate saturation observer, and the initial control valve rate signal of each sub-control valve of the control valve is collected. Based on the control valve rate signal of each sub-control valve at the current moment, the control valve rate signal sequence of each sub-control valve is identified by the rate saturation observer. Based on the control valve rate signal sequence of each sub-control valve, the sub-rate saturation deviation signal of each sub-control valve is calculated using a deviation signal algorithm, and the sub-rate saturation deviation signals of all sub-control valves are used as the rate saturation deviation signal of the control valve; the calculation formula of the deviation signal algorithm is as follows: In the above formula, It is an adjustable parameter. for The estimated value for The estimated value for The estimated value, , , , , For input, Let be the amplitude of the change in the opening degree of the i-th regulating valve. Let be the rate of change of the opening degree of the i-th regulating valve. for Maximum limit value, The minimum limit value, Sampling time, For each sub-control valve, there is a sub-rate saturation deviation signal, where k is the current time. It is an adjustable parameter. For the damping ratio, It is the natural frequency; The above formula can be used to calculate the following: Then the rate saturation deviation signal is ; Based on the actual opening command, the opening commands of each sub-control valve of the control valve are generated through a robust controller and an anti-saturation compensator. Based on the rate saturation deviation signal and the opening commands of each 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, The step of calculating the current opening command of the regulating valve of the flight environment simulation system based on the airflow demand information includes: The airflow demand information is broken down into airflow pressure demand information and airflow temperature demand information; Based on the airflow pressure demand information and the airflow temperature demand information, a dynamic table of airflow pressure demand and a dynamic table of airflow temperature demand are generated. The dynamic tables of airflow pressure demand and airflow temperature demand are used to generate dynamic control commands for the regulating valve through a regulating valve command generation strategy. These dynamic control commands are then used as the current opening command for the regulating valve of the flight environment simulation system.

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

4. The method according to claim 1, characterized in that, The process of generating opening commands for each sub-control valve of the control valve based on the actual opening command, through a robust controller and an anti-saturation compensator, includes: Based on the actual opening command, the actual opening value of each sub-control valve of the control valve is identified, and the current airflow parameter information is collected; Based on the actual opening value of each sub-control valve and the airflow parameter information, a robust controller generates an opening command for each sub-control valve.

5. The method according to claim 4, characterized in that, The step of adjusting the target sub-opening value of each sub-control valve of the control valve based on the rate saturation deviation signal and the opening command of each sub-control valve through a robust controller 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 command 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.

6. An airflow robustness control device for a flight environment simulation system, characterized in that, The device includes: The acquisition module is used to acquire airflow demand information of the flight environment simulation system and, based on the airflow demand information, calculate the current opening command of the regulating valve of the flight environment simulation system. The control module is used to generate the actual opening command of the regulating valve based on the current opening command through a small closed-loop control strategy, and to control the opening value of the regulating valve based on the actual opening command of the regulating valve. The calculation module is used to adjust the initial rate saturation observer based on the actual opening change parameters of the control valve, obtain the rate saturation observer, and collect the initial control valve rate signals of each sub-control valve of the control valve; based on the control valve rate signals of each sub-control valve at the current moment, the control valve rate signal sequence of each sub-control valve is identified through the rate saturation observer; based on the control valve rate signal sequence of each sub-control valve, the sub-rate saturation deviation signal of each sub-control valve is calculated through a deviation signal algorithm, and the sub-rate saturation deviation signals of all sub-control valves are used as the rate saturation deviation signal of the control valve; the calculation formula of the deviation signal algorithm is: In the above formula, It is an adjustable parameter. for The estimated value for The estimated value for The estimated value, , , , , For input, Let be the amplitude of the change in the opening degree of the i-th regulating valve. Let be the rate of change of the opening degree of the i-th regulating valve. for Maximum limit value, The minimum limit value, Sampling time, For each sub-control valve, there is a sub-rate saturation deviation signal, where k is the current time. It is an adjustable parameter. For the damping ratio, The natural frequency; the above formula can be used to calculate the following: Then the rate saturation deviation signal is Based on the actual opening command, the opening commands of each sub-control valve of the control valve are generated through a robust controller and an anti-saturation compensator. The adjustment module is used to adjust the target sub-opening value of each sub-control valve of the control valve based on the rate saturation deviation signal and the opening command of each sub-control valve, through a robust controller.

7. The apparatus according to claim 6, characterized in that, The acquisition module is specifically used for: The airflow demand information is broken down into airflow pressure demand information and airflow temperature demand information; Based on the airflow pressure demand information and the airflow temperature demand information, a dynamic table of airflow pressure demand and a dynamic table of airflow temperature demand are generated. The dynamic tables of airflow pressure demand and airflow temperature demand are used to generate dynamic control commands for the regulating valve through a regulating valve command generation strategy. These dynamic control commands are then used as the current opening command for the regulating valve of the flight environment simulation system.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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