Jet nozzle collaborative active-disturbance-rejection control method based on control distribution

Abstract

The invention provides a jet nozzle cooperative active-disturbance-rejection control method based on control distribution, and relates to the field of aerospace, and the method comprises the steps: constructing a supersonic free jet test system; designing a collaborative optimization objective function including the flow area of the regulating valve, the outlet area of the spray pipe and the reference input of the fulcrum executing mechanism; a cooperative control framework comprising a pressure controller and a temperature controller of an air inlet subsystem and a throat height controller of a semi-deflection multi-fulcrum subsystem is constructed; the supersonic speed free jet flow test system is controlled through a cooperative control framework in combination with a cooperative optimization objective function, and cooperative active-disturbance-rejection control of the jet flow spray pipe is achieved. According to the technical scheme, a more accurate and more stable control solution is provided for the supersonic free jet test.

Description

Technical Field

[0001] This application relates to the aerospace field, and in particular to a method for cooperative active disturbance rejection control of jet nozzles based on control allocation. Background Technology

[0002] The supersonic free jet test system is a key experimental platform in the aerospace field for simulating the high Mach number flight environment of engines. It is mainly used to study the aerodynamic characteristics of aircraft, the performance of propulsion systems, and the thermal protection capabilities of materials.

[0003] With the development of hypersonic technology, the importance of this system is becoming increasingly prominent. It not only provides experimental data for aircraft design and propulsion system verification but also serves as a testing platform for advanced control algorithms, driving innovation in aerospace engineering technology. In the future, with breakthroughs in hypersonic vehicles, the requirements for the accuracy and reliability of the testing system will be further enhanced.

[0004] Current control technologies for supersonic free-jet testing systems have significant limitations. Supersonic flow exhibits complex characteristics such as strong nonlinearity and shock wave interference, posing challenges to the system including multivariable coupling and various disturbances. Traditional control methods struggle to meet the requirements of high precision and robustness, necessitating the development of intelligent control strategies.

[0005] The main problems are as follows: First, the existing system adopts a traditional single-loop control strategy, which makes it difficult to effectively coordinate the strong coupling relationship between the intake subsystem, the semi-deflection multi-point subsystem, and the jet nozzle subsystem, resulting in insufficient control accuracy. Second, the intake subsystem uses four regulating valves to control only two target variables, pressure and temperature, lacking an efficient coordination mechanism, resulting in low control efficiency and even affecting system stability due to regulating valve conflicts. In addition, there are also coordination mechanisms between subsystems. These defects seriously restrict the reliability, response speed, and accuracy of the supersonic test system, and there is an urgent need for a new control method that can take into account multi-variable coordination, strong anti-disturbance capability, and adaptability to complex working conditions. Summary of the Invention

[0006] The purpose of this invention is to provide a collaborative active disturbance rejection control method for jet nozzles based on control allocation, in order to solve the problem that the existing control methods of supersonic free jet test systems are difficult to meet the requirements of high precision and strong robustness.

[0007] The above-mentioned objective of this application is achieved through the following technical solution: S1: Construct a supersonic free jet test system; the supersonic free jet test system includes: an air inlet subsystem, a semi-deflection multi-support subsystem, and a jet nozzle subsystem; S2: The design includes a collaborative optimization objective function for the flow area of ​​the control valve, the nozzle exit area, and the reference input of the fulcrum actuator; S3: Construct a collaborative control architecture that includes a pressure controller and a temperature controller for the intake subsystem, as well as a throat height controller for the semi-deflection multi-pivot subsystem. S4: By using a collaborative control architecture and combining it with a collaborative optimization objective function, the supersonic free jet test system is controlled, realizing collaborative self-disturbance rejection control of the jet nozzle.

[0008] Optionally, the intake subsystem is used to generate the temperature and pressure required at the jet nozzle inlet; The intake subsystem includes: a pre-chamber cavity and a regulating valve; The anterior chamber includes: a first air intake, a second air intake, and an exhaust, wherein the first air intake is at a temperature of... The high-temperature hot airflow, the second air intake is at a temperature of Low-temperature cold airflow; The dynamic characteristic equations for the inlet pressure and temperature within the anterior chamber are as follows:

[0009]

[0010] In the formula and These are the cavity pressure, temperature, volume, gas isobaric specific heat capacity, enthalpy, average flow rate, and outflow mass flow rate; and The mass flow rate, gas enthalpy, and average flow velocity of the hot flow path are given. and The mass flow rate, gas enthalpy, and average flow velocity of the cold flow path are given. The gas constant is The heat transfer via convection between the cavity and the outside environment per unit time; The dynamic characteristic model of the control valve is shown in the following equation:

[0011] In the formula For equivalent gain, It is a time constant. The control quantity for the regulating valve; The flow characteristic model of the control valve is shown in the following equation:

[0012] In the formula The mass flow rate passing through the control valve. For flow coefficient, The total flow area of ​​the control valve. air density, This represents the pressure before the valve.

[0013] Optionally, the modeling steps for the semi-deflection multi-support subsystem are as follows: By using the single cantilever equation, the multi-support cantilever equation of the half-deflection multi-support subsystem is obtained:

[0014] in It refers to the horizontal position of the profile. That is the corresponding deflection. For the first beam arm model The force acting on each point , It is the elastic modulus. It is the moment of inertia of the cross section. For the first The horizontal position of each point on the surface This represents the total number of supports on the cantilever arm. The actuator controlling the movement of the fulcrum in the semi-deflection multi-support subsystem is a hydraulic press, and its equation is a third-order nonlinear differential equation, as follows:

[0015] in, Let V be the volume of the hydraulic oil pipeline. For load quality, The effective bulk modulus of hydraulic oil. The effective working area of ​​the hydraulic cylinder piston. This refers to the viscous damping coefficient between the hydraulic cylinder and the load. The leakage coefficient of the hydraulic pipeline. The stiffness coefficient of the load. For load displacement, For time, To control the flow gain of the valve, This is the input control signal for the control valve.

[0016] Optionally, the third-order nonlinear differential equation can be simplified to a second-order system, with the following simplification conditions: Let the bulk modulus of the oil be... The maximum value is assumed, meaning the oil is incompressible, and the effect of pressure changes on flow rate is negligible; it is also assumed that the hydraulic cylinder and control valve have no leakage. ; Under the above simplification conditions, the hydraulic press system can be simplified into a standard second-order system, and its mathematical model is as follows:

[0017] in, For load quality, The damping coefficient is... This is the stiffness coefficient. To control the valve flow gain, For control signals, This represents the piston displacement.

[0018] Optionally, the input to the jet nozzle subsystem is the nozzle exit area obtained by fitting the Mach number profile and using interpolation. 1. Pivot actuator hydraulic press output , back pressure setpoint of jet nozzle rear chamber Temperature generated by the intake subsystem and pressure ; The output of the jet nozzle system is the exit Mach number. ; The working principle of the jet nozzle subsystem is as follows: based on the required Mach number Calculate the characteristic pressure ratio parameter , , Its specific form is as follows:

[0019]

[0020]

[0021] in, , , The characteristic pressure ratio of the nozzle. This contributes to overall import pressure. , , For the back pressure of each section of the nozzle, , These are static pressure and critical static pressure, respectively. For reference pressure, The adiabatic index of the gas. It is the Mach number; Based on the characteristic pressure ratio parameter, the flow state within the Laval nozzle is divided into 7 operating states: First operating state: When the actual pressure ratio of the nozzle... It is in a state of underinflation, with low pressure in the aft compartment and oblique shock waves at the outlet. The second operating state: When the actual pressure ratio of the nozzle... The nozzle is in its designed state, with no shock waves outside the nozzle and a uniform supersonic airflow at the jet exit. Under this state, the nozzle flow is isentropic; (the maximum exit velocity of the Laval nozzle can be achieved in the designed state). The third operating state: when the actual pressure ratio of the nozzle... It is in an over-expansion state, and the pressure in the rear compartment is too high, which causes the normal shock wave in the expansion section to be parallel to the throat, and the exit section to be supersonic. The fourth operating state: when the actual pressure ratio of the nozzle... As the back pressure further increases, the oblique shock wave outside the nozzle becomes a normal shock wave that adheres to the nozzle opening. The sound velocity in the nozzle throat is supersonic, the expansion section is supersonic, and the exit wavefront is supersonic while the waveback is subsonic. Fifth operating state: When the actual pressure ratio of the nozzle... As the back pressure continues to increase, the positive shock wave at the nozzle moves into the pipe, the sound velocity in the nozzle throat, the supersonic speed before the wave front and the subsonic speed after the wave in the expansion section, and the subsonic speed at the outlet. The sixth operating state: when the actual pressure ratio of the nozzle... As the back pressure continues to increase, the positive shock wave inside the expansion section moves to the throat, the sound velocity in the nozzle throat, and the subsonic velocity in the expansion section and exit. The seventh operating state: when the actual pressure ratio of the nozzle... As the back pressure continues to increase, the positive shock wave in the throat disappears, and the nozzle throat, expansion section, and exit reach subsonic speeds. Calculate the actual Mach number based on the operating conditions.

[0022] Optionally, the collaborative optimization objective function is designed as follows:

[0023] in For the first The flow area of ​​the regulating valve in each control cycle; For the first The flow area of ​​the regulating valve in each control cycle; For the first The controller outputs flow rate per control cycle; No. Control efficiency matrix for each control cycle; For the first The nozzle exit area for each control cycle; For the first Reference input for the fulcrum actuator in each control cycle. For the first The expected Mach number for each control cycle, , and These are temperature error, pressure error, and Mach number error, respectively. , This is the weight matrix. Specific heat ratio; Considering the limitations on the size and rate of change of the flow area of ​​the control valve, as well as the limitations on the reference input throat height of the fulcrum actuator, the following constraints exist when solving for the minimum value of the collaborative optimization objective function:

[0024]

[0025] in and They represent the first The upper and lower limits of the flow area of ​​the regulating valve for each control cycle; and They represent the first The upper and lower limits of the reference input for the fulcrum actuator in each control cycle.

[0026] Optionally, the active disturbance rejection controller is designed as follows: Based on the supersonic free jet test system, a linear expansion state observer is designed, with the following form:

[0027] in For the estimated pressure, For actual pressure, The derivative of the estimated pressure, To estimate the second derivative of the pressure, For the unmodeled disturbance term, Estimate the first derivative of the pressure. To control the input, For observer gain, The first derivative of the total perturbation;

[0028] in This is an estimate of the temperature. This is the actual temperature. To estimate the second derivative of temperature, To estimate the temperature, This is an estimate of the total disturbance. The first derivative of the total perturbation. To control the input, For observer gain; A linear expansion state observer is used to estimate and compensate for the total disturbance of the supersonic free jet test system in real time. Design a control law based on the output of the linear extended state observer. , as follows:

[0029] in , , , This is the controller gain.

[0030] An electronic device includes a processor, a memory, a user interface, and a network interface. The memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to enable the electronic device to perform a control allocation-based jet nozzle cooperative active disturbance rejection control method.

[0031] A computer-readable storage medium storing instructions that, when executed, perform a jet nozzle cooperative active disturbance rejection control method based on control allocation.

[0032] The beneficial effects of the technical solution provided in this application are: To address the issue of multi-actuator redundancy, a collaborative optimization objective function was designed, incorporating the flow area of ​​the regulating valve, the nozzle exit area, and the reference input of the fulcrum actuator. A weight matrix was used to balance actuator losses and tracking accuracy. Furthermore, to address the problems of strong multivariate coupling and high complexity in the model, a linear extended state observer was employed to estimate and compensate for the total system disturbance in real time. This effectively solved the problems of model uncertainty and external disturbances that traditional control methods struggle to handle. Finally, by constructing a collaborative control architecture including a pressure controller, a temperature controller, and a throat height controller, the control accuracy and robustness of the system under supersonic conditions were significantly improved, providing a more accurate and stable control solution for supersonic free-jet experiments. Attached Figure Description

[0033] The present application will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings: Figure 1 This is a step diagram of an embodiment of this application; Figure 2 This is a simplified diagram of the intake subsystem in the embodiments of this application; Figure 3 This is a simplified diagram of the jet nozzle system in the embodiments of this application; Figure 4 This is the top-level Mach number target curve diagram in the embodiments of this application; Figure 5 This is a diagram illustrating the pressure control effect of the intake subsystem in the embodiments of this application; Figure 6 This is a pressure error curve diagram from an embodiment of this application; Figure 7 This is a temperature control effect diagram in an embodiment of this application; Figure 8 This is a temperature error curve diagram from an embodiment of this application; Figure 9 This is a tracking effect diagram of the throat height in an embodiment of this application; Figure 10 This is a tracking result diagram of the Mach number in the embodiments of this application; Figure 11 This is a tracking error diagram of the Mach number in the embodiments of this application; Figure 12 This is a schematic diagram of the electronic device structure in the embodiments of this application. Detailed Implementation

[0034] To provide a clearer understanding of the technical features, objectives, and effects of this application, the specific embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0035] The embodiments of this application provide a collaborative active disturbance rejection control method for jet nozzles based on control allocation.

[0036] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating the steps of a jet nozzle cooperative active disturbance rejection control method based on control allocation in an embodiment of this application, including: S1: Construct a supersonic free jet test system; the supersonic free jet test system includes: an air inlet subsystem, a semi-deflection multi-support subsystem, and a jet nozzle subsystem; S2: The design includes a collaborative optimization objective function for the flow area of ​​the control valve, the nozzle exit area, and the reference input of the fulcrum actuator; As one example, to address the issue of multiple actuator redundancy, a collaborative optimization objective function was designed, which includes the flow area of ​​the regulating valve, the nozzle exit area, and the reference input of the fulcrum actuator. The weight matrix is ​​used to balance actuator loss and tracking accuracy. S3: Construct a collaborative control architecture that includes a pressure controller and a temperature controller for the intake subsystem, as well as a throat height controller for the semi-deflection multi-pivot subsystem. S4: By using a collaborative control architecture and combining it with a collaborative optimization objective function, the supersonic free jet test system is controlled, realizing collaborative self-disturbance rejection control of the jet nozzle.

[0037] As one example, by constructing a collaborative control architecture that includes a pressure controller, a temperature controller, and a throat height controller, the control accuracy and robustness of the system under supersonic conditions are significantly improved, providing a more accurate and stable control solution for supersonic free jet experiments.

[0038] The air intake subsystem is used to generate the temperature and pressure required at the inlet of the jet nozzle; As one embodiment, the basic principle of the simulation control of the free-jet nozzle inlet environment (pre-chamber cavity pressure and temperature characterization) is as follows: Pressure and temperature sensors are used to detect the inlet pressure and temperature in the pre-chamber cavity in real time. Feedback control generates a control valve opening command, driving the control valve to move, thereby regulating the flow rate of hot and cold air entering the mixer cavity, thus achieving automatic control of the inlet pressure and temperature in the pre-chamber cavity. The controlled object model for inlet pressure and temperature is relatively complex, mainly including: the pre-chamber cavity flow characteristics, the movement and flow characteristics of the regulating valve, and the function of the inlet subsystem to generate the required temperature and pressure at the nozzle inlet. Its simplified structural diagram is shown below. Figure 2 As shown.

[0039] The intake subsystem includes: a pre-chamber cavity and a regulating valve; The anterior chamber includes: a first air intake, a second air intake, and an exhaust, wherein the first air intake is at a temperature of... The high-temperature hot airflow, the second air intake is at a temperature of Low-temperature cold airflow; The dynamic characteristic equations for the inlet pressure and temperature within the anterior chamber are as follows:

[0040]

[0041] In the formula and These are the cavity pressure, temperature, volume, gas isobaric specific heat capacity, enthalpy, average flow rate, and outflow mass flow rate; and The mass flow rate, gas enthalpy, and average flow velocity of the hot flow path are given. and The mass flow rate, gas enthalpy, and average flow velocity of the cold flow path are given. The gas constant is The heat transfer via convection between the cavity and the outside environment per unit time; The dynamic characteristic model of the control valve is shown in the following equation:

[0042] In the formula For equivalent gain, It is a time constant. The control quantity for the regulating valve; The flow characteristic model of the control valve is shown in the following equation:

[0043] In the formula The mass flow rate passing through the control valve. For flow coefficient, The total flow area of ​​the control valve. air density, This represents the pressure before the valve.

[0044] The modeling steps for the semi-deflection multi-support subsystem are as follows: By using the single cantilever equation, the multi-support cantilever equation of the half-deflection multi-support subsystem is obtained:

[0045] in It refers to the horizontal position of the profile. That is the corresponding deflection. For the first beam arm model The force acting on each point , It is the elastic modulus. It is the moment of inertia of the cross section. For the first The horizontal position of each point on the surface This represents the total number of supports on the cantilever arm. The actuator controlling the movement of the fulcrum in the semi-deflection multi-support subsystem is a hydraulic press, and its equation is a third-order nonlinear differential equation, as follows:

[0046] in, Let V be the volume of the hydraulic oil pipeline. For load quality, The effective bulk modulus of hydraulic oil. The effective working area of ​​the hydraulic cylinder piston. This refers to the viscous damping coefficient between the hydraulic cylinder and the load. The leakage coefficient of the hydraulic pipeline. The stiffness coefficient of the load. For load displacement, For time, To control the flow gain of the valve, This is the input control signal for the control valve.

[0047] The third-order nonlinear differential equation is simplified to a second-order system, with the following simplification conditions: Let the bulk modulus of the oil be... The maximum value is assumed, meaning the oil is incompressible, and the effect of pressure changes on flow rate is negligible; it is also assumed that the hydraulic cylinder and control valve have no leakage. ; Under the above simplification conditions, the hydraulic press system can be simplified into a standard second-order system, and its mathematical model is as follows:

[0048] in, For load quality, The damping coefficient is... This is the stiffness coefficient. To control the valve flow gain, For control signals, This represents the piston displacement.

[0049] The input to the jet nozzle subsystem is the nozzle exit area obtained by fitting the Mach number profile and using interpolation. 1. Pivot actuator hydraulic press output , back pressure setpoint of jet nozzle rear chamber Temperature generated by the intake subsystem and pressure ; The output of the jet nozzle system is the exit Mach number. ; As one embodiment, a simplified diagram of the jet nozzle subsystem is shown below. Figure 3 As shown.

[0050] The working principle of the jet nozzle subsystem is as follows: based on the required Mach number Calculate the characteristic pressure ratio parameter , , Its specific form is as follows:

[0051]

[0052]

[0053] in, , , The characteristic pressure ratio of the nozzle. This contributes to overall import pressure. , , For the back pressure of each section of the nozzle, , These are static pressure and critical static pressure, respectively. For reference pressure, The adiabatic index of the gas. It is the Mach number; Based on the characteristic pressure ratio parameter, the flow state within the Laval nozzle is divided into 7 operating states: First operating state: When the actual pressure ratio of the nozzle... It is in a state of underinflation, with low pressure in the aft compartment and oblique shock waves at the outlet. The second operating state: When the actual pressure ratio of the nozzle... The nozzle is in its designed state, with no shock waves outside the nozzle and a uniform supersonic airflow at the jet exit. Under this state, the nozzle flow is isentropic; (the maximum exit velocity of the Laval nozzle can be achieved in the designed state). The third operating state: when the actual pressure ratio of the nozzle... It is in an over-expansion state, and the pressure in the rear compartment is too high, which causes the normal shock wave in the expansion section to be parallel to the throat, and the exit section to be supersonic. The fourth operating state: when the actual pressure ratio of the nozzle... As the back pressure further increases, the oblique shock wave outside the nozzle becomes a normal shock wave that adheres to the nozzle opening. The sound velocity in the nozzle throat is supersonic, the expansion section is supersonic, and the exit wavefront is supersonic while the waveback is subsonic. Fifth operating state: When the actual pressure ratio of the nozzle... As the back pressure continues to increase, the positive shock wave at the nozzle moves into the pipe, the sound velocity in the nozzle throat, the supersonic speed before the wave front and the subsonic speed after the wave in the expansion section, and the subsonic speed at the outlet. The sixth operating state: when the actual pressure ratio of the nozzle... As the back pressure continues to increase, the positive shock wave inside the expansion section moves to the throat, the sound velocity in the nozzle throat, and the subsonic velocity in the expansion section and exit. The seventh operating state: when the actual pressure ratio of the nozzle... As the back pressure continues to increase, the positive shock wave in the throat disappears, and the nozzle throat, expansion section, and exit reach subsonic speeds. Calculate the actual Mach number based on the operating conditions.

[0054] The collaborative optimization objective function is designed as follows: In one embodiment, the intake subsystem has four regulating valves: two for controlling the hot flow and two for controlling the cold flow. However, only one controller is used for each of the hot and cold flow controls, and the control objectives are singular: temperature and pressure. Therefore, when the number of actuator regulating valves exceeds the number of controllers, control allocation is needed to coordinate the actions of multiple regulating valves to achieve the final control objective. Simultaneously, the pivot control subsystem requires a more precise reference input to the pivot actuator to generate the throat height required for the jet nozzle. Therefore, a term optimizing the pivot actuator reference input is added to the original objective function.

[0055]

[0056] in For the first The flow area of ​​the regulating valve in each control cycle; For the first The flow area of ​​the regulating valve in each control cycle; For the first The controller outputs flow rate per control cycle; No. Control efficiency matrix for each control cycle; For the first The nozzle exit area for each control cycle; For the first Reference input for the fulcrum actuator in each control cycle. For the first The expected Mach number for each control cycle, , and These are temperature error, pressure error, and Mach number error, respectively. , This is the weight matrix. Specific heat ratio; Considering the limitations on the size and rate of change of the flow area of ​​the control valve, as well as the limitations on the reference input throat height of the fulcrum actuator, the following constraints exist when solving for the minimum value of the collaborative optimization objective function:

[0057]

[0058] in and They represent the first The upper and lower limits of the flow area of ​​the regulating valve for each control cycle; and They represent the first The upper and lower limits of the reference input for the fulcrum actuator in each control cycle.

[0059] The active disturbance rejection controller is designed as follows: As one embodiment, the temperature controller and pressure controller of the intake subsystem and the nozzle throat height controller of the pivot subsystem all adopt active disturbance rejection controllers. This application only describes the active disturbance rejection controller of the intake subsystem, and the controller design principle of the pivot subsystem is the same.

[0060] Based on the supersonic free jet test system, a linear expansion state observer is designed, with the following form:

[0061] in For the estimated pressure, For actual pressure, The derivative of the estimated pressure, To estimate the second derivative of the pressure, For the unmodeled disturbance term, Estimate the first derivative of the pressure. To control the input, For observer gain, The first derivative of the total perturbation;

[0062] in This is an estimate of the temperature. This is the actual temperature. To estimate the second derivative of temperature, To estimate the temperature, This is an estimate of the total disturbance. The first derivative of the total perturbation. To control the input, For observer gain; A linear expansion state observer is used to estimate and compensate for the total disturbance of the supersonic free jet test system in real time. As one example, to address the problems of strong coupling of multiple variables and high complexity in the model, a linear extended state observer is used to estimate and compensate for the total disturbance of the system in real time, which effectively solves the problems of model uncertainty and external disturbance that are difficult to deal with by traditional control methods.

[0063] Design a control law based on the output of the linear extended state observer. , as follows:

[0064] in , , , This is the controller gain.

[0065] In one embodiment of this application, the experimental simulation was performed using MATLAB / SIMULINK software. The simulation duration was set to 300 s, the solver was ode4, and the step size was fixed at 0.01 s. All experiments simulated supersonic conditions, so the target Mach number was set to vary from 1.01 Ma to 2.5 Ma. The specific variation curves are shown below. Figure 4 As shown. The pressure control effect of the intake subsystem is as follows. Figure 5 As shown in the figure, under the control method of this patent, the pressure can track the target pressure well in real time, and its error curve is as follows. Figure 6 As shown, the maximum error is on the order of 10³, which is negligible compared to the control target of 10⁵. The temperature control effect is as follows... Figure 7 As shown in the figure, the actual temperature can be tracked well in real time to the target temperature, and its error curve is as follows. Figure 8 As shown, from Figure 8 It can be seen that its maximum error does not exceed 3K, which is almost negligible. The tracking effect of the throat height of the pivot subsystem is as follows: Figure 9As shown in the figure, the control method of this patent can achieve almost error-free tracking control. The final Mach number tracking result is as follows. Figure 10 As shown, its tracking error is as follows: Figure 11 As shown, the maximum error is less than 0.007 Ma, and the simulation results demonstrate that the method of this patent can effectively control the Mach number of the jet nozzle.

[0066] This application also discloses an electronic device. (See reference...) Figure 12 , Figure 12 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of this application. The electronic device 500 may include: at least one processor 501, at least one network interface 504, a user interface 503, a memory 505, and at least one communication bus 502.

[0067] The communication bus 502 is used to enable communication between these components.

[0068] The user interface 503 may include a display screen, and optionally, the user interface 503 may also include a standard wired interface or a wireless interface.

[0069] The network interface 504 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0070] This application also discloses a computer-readable storage medium storing multiple instructions adapted for loading by a processor to execute the aforementioned control allocation-based jet nozzle cooperative active disturbance rejection control method.

[0071] The above are merely exemplary embodiments of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure.

[0072] This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are to be considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. A method for cooperative active disturbance rejection control of a jet nozzle based on control allocation, characterized in that, The method includes the following steps: S1: Construct a supersonic free jet test system; The supersonic free jet test system includes: an air intake subsystem, a semi-deflection multi-support subsystem, and a jet nozzle subsystem; S2: The design includes a collaborative optimization objective function for the flow area of ​​the control valve, the nozzle exit area, and the reference input of the fulcrum actuator; S3: Construct a collaborative control architecture that includes a pressure controller and a temperature controller for the intake subsystem, as well as a throat height controller for the semi-deflection multi-pivot subsystem. S4: By using a collaborative control architecture and combining it with a collaborative optimization objective function, the supersonic free jet test system is controlled, realizing collaborative self-disturbance rejection control of the jet nozzle.

2. The jet nozzle cooperative active disturbance rejection control method based on control allocation as described in claim 1, characterized in that, The air intake subsystem is used to generate the temperature and pressure required at the inlet of the jet nozzle; The intake subsystem includes: a pre-chamber cavity and a regulating valve; The anterior chamber includes: a first air intake, a second air intake, and an exhaust, wherein the first air intake is at a temperature of... The high-temperature hot airflow, the second air intake is at a temperature of Low-temperature cold airflow; The dynamic characteristic equations for the inlet pressure and temperature within the anterior chamber are as follows: In the formula and These are the cavity pressure, temperature, volume, gas isobaric specific heat capacity, enthalpy, average flow rate, and outflow mass flow rate; and The mass flow rate, gas enthalpy, and average flow velocity of the hot flow path are given. and The mass flow rate, gas enthalpy, and average flow velocity of the cold flow path are given. The gas constant is... The heat transfer via convection between the cavity and the outside environment per unit time; The dynamic characteristic model of the control valve is shown in the following equation: In the formula For equivalent gain, It is a time constant. The control quantity for the regulating valve; The flow characteristic model of the control valve is shown in the following equation: In the formula The mass flow rate passing through the control valve. For flow coefficient, The total flow area of ​​the control valve. air density, This represents the pressure before the valve.

3. The jet nozzle cooperative active disturbance rejection control method based on control allocation as described in claim 1, characterized in that, The modeling steps for the semi-deflection multi-support subsystem are as follows: By using the single cantilever equation, the multi-support cantilever equation of the half-deflection multi-support subsystem is obtained: in It refers to the horizontal position of the profile. That is the corresponding deflection. For the first beam arm model The force acting on each point , It is the elastic modulus. It is the moment of inertia of the cross section. For the first The horizontal position of each point on the surface This represents the total number of supports on the cantilever arm. The actuator controlling the movement of the fulcrum in the semi-deflection multi-support subsystem is a hydraulic press, and its equation is a third-order nonlinear differential equation, as follows: in, Let V be the volume of the hydraulic oil pipeline. For load quality, The effective bulk modulus of hydraulic oil. The effective working area of ​​the hydraulic cylinder piston. This refers to the viscous damping coefficient between the hydraulic cylinder and the load. The leakage coefficient of the hydraulic pipeline. The stiffness coefficient of the load. For load displacement, For time, To control the flow gain of the valve, This is the input control signal for the control valve.

4. The jet nozzle cooperative active disturbance rejection control method based on control allocation as described in claim 2, characterized in that, The third-order nonlinear differential equation is simplified to a second-order system, with the following simplification conditions: Let the bulk modulus of the oil be... The maximum value is assumed, meaning the oil is incompressible, and the effect of pressure changes on flow rate is negligible; it is also assumed that the hydraulic cylinder and control valve have no leakage. ; Under the above simplification conditions, the hydraulic press system can be simplified into a standard second-order system, and its mathematical model is as follows: in, For load quality, The damping coefficient is... This is the stiffness coefficient. To control the valve flow gain, For control signals, This represents the piston displacement.

5. The jet nozzle cooperative active disturbance rejection control method based on control allocation as described in claim 1, characterized in that, The input to the jet nozzle subsystem is the nozzle exit area obtained by fitting the Mach number profile and using interpolation.

1. Pivot actuator hydraulic press output , back pressure setpoint of jet nozzle rear chamber Temperature generated by the intake subsystem and pressure ; The output of the jet nozzle system is the exit Mach number. ; The working principle of the jet nozzle subsystem is as follows: based on the required Mach number Calculate the characteristic pressure ratio parameter , , Its specific form is as follows: in, , , The characteristic pressure ratio of the nozzle. This contributes to overall import pressure. , , For the back pressure of each section of the nozzle, , These are static pressure and critical static pressure, respectively. For reference pressure, The adiabatic index of the gas. It is the Mach number; Based on the characteristic pressure ratio parameter, the flow state within the Laval nozzle is divided into 7 operating states: First operating state: When the actual pressure ratio of the nozzle... It is in a state of underinflation, with low pressure in the aft compartment and oblique shock waves at the outlet. The second operating state: When the actual pressure ratio of the nozzle... The nozzle is in its designed state, with no shock waves outside the nozzle and a uniform supersonic airflow at the jet exit. Under this state, the nozzle flow is isentropic; (the maximum exit velocity of the Laval nozzle can be achieved in the designed state). The third operating state: when the actual pressure ratio of the nozzle... It is in an over-expansion state, and the pressure in the rear compartment is too high, which causes the normal shock wave in the expansion section to be parallel to the throat, and the exit section to be supersonic. The fourth operating state: when the actual pressure ratio of the nozzle... As the back pressure further increases, the oblique shock wave outside the nozzle becomes a normal shock wave that adheres to the nozzle opening. The sound velocity in the nozzle throat is supersonic, the expansion section is supersonic, and the exit wavefront is supersonic while the waveback is subsonic. Fifth operating state: When the actual pressure ratio of the nozzle... As the back pressure continues to increase, the positive shock wave at the nozzle moves into the pipe, the sound velocity in the nozzle throat, the supersonic speed before the wave front and the subsonic speed after the wave in the expansion section, and the subsonic speed at the outlet. The sixth operating state: when the actual pressure ratio of the nozzle... As the back pressure continues to increase, the positive shock wave inside the expansion section moves to the throat, the sound velocity in the nozzle throat, and the subsonic velocity in the expansion section and exit. The seventh operating state: when the actual pressure ratio of the nozzle... As the back pressure continues to increase, the positive shock wave in the throat disappears, and the nozzle throat, expansion section, and exit reach subsonic speeds. Calculate the actual Mach number based on the operating conditions.

6. The jet nozzle cooperative active disturbance rejection control method based on control allocation as described in claim 1, characterized in that, The collaborative optimization objective function is designed as follows: in For the first The flow area of ​​the regulating valve in each control cycle; For the first The flow area of ​​the regulating valve in each control cycle; For the first The controller outputs flow rate per control cycle; No. Control efficiency matrix for each control cycle; For the first The nozzle exit area for each control cycle; For the first Reference input for the fulcrum actuator in each control cycle. For the first The expected Mach number for each control cycle, , and These are temperature error, pressure error, and Mach number error, respectively. , This is the weight matrix. Specific heat ratio; Considering the limitations on the size and rate of change of the flow area of ​​the control valve, as well as the limitations on the reference input throat height of the fulcrum actuator, the following constraints exist when solving for the minimum value of the collaborative optimization objective function: in and They represent the first The upper and lower limits of the flow area of ​​the regulating valve for each control cycle; and They represent the first The upper and lower limits of the reference input for the fulcrum actuator in each control cycle.

7. The jet nozzle cooperative active disturbance rejection control method based on control allocation as described in claim 1, characterized in that, The active disturbance rejection controller is designed as follows: Based on the supersonic free jet test system, a linear expansion state observer is designed, with the following form: in For the estimated pressure, For actual pressure, The derivative of the estimated pressure, To estimate the second derivative of the pressure, For the unmodeled disturbance term, Estimate the first derivative of the pressure. To control the input, For observer gain, The first derivative of the total perturbation; in This is an estimate of the temperature. This is the actual temperature. To estimate the second derivative of temperature, To estimate the temperature, This is an estimate of the total disturbance. The first derivative of the total perturbation. To control the input, For observer gain; A linear expansion state observer is used to estimate and compensate for the total disturbance of the supersonic free jet test system in real time. Design a control law based on the output of the linear extended state observer. , as follows: in , , , This is the controller gain.

8. An electronic device, characterized in that, The device includes a processor, a memory, a user interface, and a network interface. The memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to cause the electronic device to perform the method as described in any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed by a computer, perform the method as described in any one of claims 1-7.

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