A method for controlling an electric servo pneumatic regulating valve for an aircraft

Abstract

The application provides a kind of electric servo pneumatic regulating valve control method for airplane. The butterfly valve opening of electric servo pneumatic regulating valve is obtained based on RVDT. Target parameters are set. The pressure, flow and temperature sensor collection values after and before the valve are obtained. The feedforward compensation of target parameters is obtained after the feedforward controller according to the sensor collection values before the valve. The final control target parameters are obtained by summing up the feedforward compensation and the set target parameters. The butterfly valve angle control command is obtained after the PID controller according to the difference between the control target parameters and the sensor collection values after the valve. The control current command is obtained after the PID controller according to the difference between the butterfly valve angle control command and the butterfly valve opening measured by RVDT. The control current command is converted into driving current signal to drive the torque motor of electric servo pneumatic regulating valve to dynamically adjust the butterfly valve opening of electric servo pneumatic regulating valve. The application can realize the fast, accurate and stable control of electric servo pneumatic regulating valve.

Description

Technical Field

[0001] This invention relates to aerospace engineering and aircraft bleed air systems, and particularly to a control method for an electro-servo pneumatic regulating valve in an aircraft bleed air system. Background Technology

[0002] The bleed air system is a subsystem of the aircraft's environmental control system. Its function is to bleed high-temperature, high-pressure air drawn from the aircraft engine / APU, regulated by bleed air valves, and supply downstream user systems with air at suitable temperature, pressure, and flow rate. Regulating the pressure, flow rate, and temperature of the bleed air is the core function of the bleed air system. The bleed air system adjusts the pressure, flow rate, and temperature of the bleed air to target values ​​by controlling the opening of the bleed air regulating valves.

[0003] As the core control component of the aircraft bleed air system, the bleed air regulating valve is mainly divided into three categories: mechanical, electric, and electro-servo pneumatic regulating valves.

[0004] Mechanical control valves use a purely mechanical linkage mechanism to drive the valve core, and their operation is directly affected by the upstream bleed air parameters. This type of valve has a simple structure and high reliability, but its adjustable range is usually limited to 10:1 to 20:1, and its adjustment characteristics are fixed. It is difficult to adapt to large fluctuations in upstream parameters of the bleed air system (pressure can reach 400 psi, temperature can reach 600℃), so its versatility is poor, and it is mostly used in small aircraft or early models with relatively stable operating conditions.

[0005] Electric control valves rely on a motor to drive the valve position, possessing high control precision and good dynamic response characteristics. They are also easy to integrate with digital control interfaces to achieve complex control logic and remote control. However, in bleed air environments with high temperatures (generally >150℃), high-frequency vibration, and severe electromagnetic interference, the motor and its associated electronic components suffer from insulation aging, lubrication failure, and shortened lifespan, making it difficult to meet the requirements of reliable operation over a long lifespan in modern aircraft bleed air systems. Summary of the Invention

[0006] This invention provides a control method for an electro-servo pneumatic control valve used in aircraft. This invention enables rapid, accurate, and stable control of the electro-servo pneumatic control valve.

[0007] Technical solution. A control method for an aircraft electro-servo pneumatic regulating valve, comprising the following steps: S1. Obtain the butterfly valve opening degree of the electro-servo pneumatic control valve based on RVDT; S2. Set the target pressure, flow rate, and temperature values; S3. Acquire the values ​​collected by the pressure, flow, and temperature sensors after the onboard servo pneumatic valve; S4. Acquire the values ​​collected by the pressure, flow rate, and temperature sensors before the onboard servo pneumatic valve; S5. Based on the values ​​collected by each sensor before the valve, the feedforward compensation amount of the target parameter is obtained after passing through the feedforward controller; S6. Based on the feedforward compensation amount of the target parameter and the target parameter set in S2, sum to obtain the final control target parameter; S7. Based on the difference between the control target parameter and the value collected by the sensor after the valve, the butterfly valve angle control command is obtained through the PID controller; S8. Based on the difference between the butterfly valve angle control command and the butterfly valve opening degree measured by RVDT, the control current command is obtained after passing through the PID controller; S9. Convert the control current command into a drive current signal to drive the torque motor of the electro-servo pneumatic regulating valve and dynamically adjust the butterfly valve opening of the electro-servo pneumatic regulating valve.

[0008] In the aforementioned control method for an aircraft electro-servo pneumatic regulating valve, in S1, the excitation method of the RVDT is as follows: the DA output is set to a sine wave using an FPGA, and after passing through the excitation circuit, the excitation alternating voltage is output to the RVDT. The RVDT feedback acquisition method is as follows: after rectification and filtering, an analog signal is generated, which is then converted into a digital signal by an AD conversion circuit and transmitted to the FPGA. The FPGA internally calculates the angle feedback signal, and then transmits it to the MCU through the data bus between the FPGA and the MCU.

[0009] In the aforementioned control method for an aircraft electro-servo pneumatic regulating valve, in S1, the MCU calculates the real-time opening degree of the butterfly valve every 5ms using the following formula: θc(Kc)=(4.0*RVT_Voltage(Kc) / RVT_Exc_Voltage-0.3) / 0.018; In the formula, RVT_Voltage(Kc) is the RVDT feedback voltage in the Kc-th acquisition cycle, RVT_Exc_Voltage is the effective value of the RVDT excitation voltage, and θc(Kc) is the butterfly valve angle calculated in the Kc-th acquisition cycle.

[0010] In the aforementioned control method for aircraft electro-servo pneumatic regulating valves, S3 specifically involves: acquiring analog voltage signals from the downstream pressure sensor, differential pressure flow sensor, and pipeline temperature sensor; converting these signals into digital signals via an AD conversion circuit and transmitting them to the FPGA; processing these signals internally within the FPGA to obtain pressure, flow, and temperature feedback values; and then transmitting these values ​​to the MCU via the data bus between the FPGA and the MCU, where they are input into the MCU's built-in closed-loop control algorithm.

[0011] In the aforementioned control method for aircraft electro-servo pneumatic regulating valves, S4 specifically involves: acquiring analog voltage signals from the valve inlet pressure sensor, differential pressure flow sensor, and pipeline temperature sensor; converting these signals into digital signals via an AD conversion circuit and transmitting them to the FPGA; having the FPGA internally calculate pressure, flow, and temperature feedback values; and then transmitting these values ​​to the MCU via the data bus between the FPGA and the MCU, where they are input into the MCU's built-in closed-loop control algorithm.

[0012] In the aforementioned control method for aircraft electro-servo pneumatic regulating valves, in S5, the pressure compensation amount output by the feedforward controller is calculated using the following formula: P 补偿 (K) = -0.2*(P) fq (K)-P fq (K-1)); In the formula, P fq (K) represents the inlet pressure of the valve in the Kth control cycle, P fq (K-1) represents the valve inlet pressure during the (K-2)th control cycle, P 补偿 (K) is the compensation amount output by the feedforward controller in the Kth control cycle.

[0013] In the aforementioned control method for aircraft electro-servo pneumatic regulating valves, in step S6, the final control target parameter is calculated using the following formula: P1(K) = P0 + P 补偿 (K); In the formula, P1(K) is the target control pressure in the Kth control cycle.

[0014] In the aforementioned control method for an aircraft electro-servo pneumatic regulating valve, S7 is as follows: The MCU calculates the difference between the control target parameter value and the value collected by the sensor after the valve to obtain the parameter difference value of the current control cycle. At the same time, it calculates the inner loop angle input command of the current control cycle by combining the outer loop control parameters Kp1, Ki1, and Kd1. The inner ring angle input command is determined by the following method: E1(K) = P1(K) - P2(K); Ts1 = 200ms; INT1(K)=Ki1*Ts1*E1(K)+INT1(K-1); θ(K)=E1(K)*Kp1+INT1(K)+Kd1 / Ts1*(E1(K)-E1(K-1)); If θ(K) > 90°, then θ(K) = 90°; if θ(K) < 0°, then θ(K) = 0°; otherwise, θ(K) = θ(K). In the formula, P1 represents the target pressure value, E1(K) represents the pressure difference value of the current control cycle, E1(K-1) represents the pressure difference value of the previous control cycle, Ts1 represents the outer loop control cycle, P2(K) represents the pressure feedback value of the downstream sensor in the current control cycle, INT1(K) represents the calculated value of the outer loop integral term in the current control cycle, INT1(K-1) represents the calculated value of the outer loop integral term in the previous control cycle, and θ(K) represents the inner loop angle input command in the current control cycle.

[0015] In the aforementioned control method for an aircraft electro-servo pneumatic regulating valve, S8 is as follows: The MCU calculates the difference between the inner loop angle input command and the RVDT feedback angle of the current control cycle, and calculates the current control command of the current control cycle by combining the inner loop control parameters Kp2, Ki2, and Kd2, and transmits it to the FPGA through the data bus. The current command is determined by the following method: θf(K)= ; E2(K) = θ(K) - θf(K); Ts2=50ms; INT2(K)=Ki2* Ts2*E2(K)+ INT2(K-1); C(K)=Kp2* E2(K)+INT2(K)+ Kd2 / Ts2*(E2(K)-E2(K-1)); If C(K) > 50mA, then C(K) = 50mA; if C(K) < 0mA, then C(K) = 0mA; otherwise, C(K) = C(K). In the formula, θf(K) represents the RVDT feedback angle of the current control cycle, E2(K) represents the angle difference of the current control cycle, E2(K-1) represents the angle difference of the previous control cycle, Ts2 represents the inner loop control cycle, C(K) represents the current command of the current control cycle, INT2(K) represents the calculated value of the inner loop integral term of the current control cycle, and INT2(K-1) represents the calculated value of the inner loop integral term of the previous control cycle.

[0016] In the aforementioned control method for an aircraft electro-servo pneumatic regulating valve, S9 is as follows: The FPGA receives the current command sent by the MCU, converts the current command into a variable duty cycle PWM drive current signal through the drive circuit, drives the torque motor that controls the electro-servo pneumatic regulating valve, and then dynamically adjusts the output angle of the electro-servo pneumatic regulating valve butterfly valve to achieve the purpose of closed-loop control of bleed air parameters.

[0017] Beneficial effects: The electro-servo pneumatic regulating valve controlled by this invention adopts a two-stage valve structure, which integrates the advantages of mechanical and electric regulating valves. It achieves high-precision, low-power pneumatic signal modulation, and combines the high environmental tolerance of mechanical valves (can work for a long time in environments >300℃) with the control precision and intelligent potential of electric valves. Its ability to precisely control is of great strategic significance to the development of my country's civil passenger aircraft.

[0018] The control method of this invention has a control architecture consisting of feedforward compensation of the pre-stage bleed air parameters and dual closed-loop cascaded PID controllers, which has the following advantages: a) Feedforward Control: To address the high-frequency and large-amplitude changes in the bleed air parameters of the upstream engine / APU, a feedforward controller calculates the compensation amount of the target parameters in real time. This method transforms the system's response to changes in upstream bleed air parameters from traditional passive feedback to active prediction and anticipatory correction, thereby significantly improving dynamic control quality. Taking pressure control as an example, actual measurements show that after adding feedforward compensation, the overshoot of pressure control is reduced by approximately 20%~30%, and the settling time is shortened by approximately 15%~25%. b) Dual-loop cascade PID: Inner loop (angle closed loop): The angle command output from the outer loop is used as the target control quantity, and the butterfly valve rotation angle acquired in real time by the RVDT is used as the feedback quantity. The control cycle is adjusted to 1 / 5 of the outer loop, forming a fast-execution inner loop. This angle closed loop is specifically designed to overcome the valve's own nonlinearity, such as hysteresis, dead zone, and drift of the output characteristic curve under different operating conditions. Actual measurements show that after adding the angle closed loop, the steady-state error of the butterfly valve tracking the target angle can be controlled within ±0.3° over a wide operating range, thus providing the outer loop with a near-ideal, fast, and accurate "actuator."

[0019] Outer Loop (Pressure / Temperature / Flow Closed Loop): This loop uses the target pressure / temperature / flow rate set by the bleed air system as the target control variable, and the feedback variables are collected by the downstream pressure / temperature / flow sensors. This constitutes the outer loop that dominates overall performance. The inner loop effectively isolates disturbances such as valve nonlinearity, allowing the outer loop to focus on optimizing control speed and steady-state accuracy, thus achieving excellent control performance over a wide operating range. Taking pressure control as an example, the measured steady-state accuracy of pressure control can reach ±1.5 psi, the settling time does not exceed 15 seconds, and the overshoot does not exceed 10%.

[0020] c) The feedforward + cascaded PID control architecture proposed in this invention is easy to implement in engineering and has superior performance. It not only provides an efficient and reliable control scheme for the control of the electro-servo pneumatic regulating valve of the aircraft bleed air system, solving the problem of stable, accurate, and rapid control of bleed air parameters under conditions of large changes in the air source parameters of the aircraft bleed air system; at the same time, the control architecture has good scalability, and the PID controller can be replaced with a higher-performance ADRC, robust controller, etc., as needed; and this control architecture is being applied to the field of civil passenger aircraft for the first time in China, which is of great value for improving the overall performance and independent controllability of domestic aircraft bleed air systems. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a block diagram illustrating the principle of the electro-servo pneumatic regulating valve of the present invention. Figure 2 This is a hardware block diagram of the control system of the present invention; Figure 3 This is a block diagram of the control algorithm principle of the present invention (taking pressure control as an example; the same applies to temperature and flow control). Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] The features and illustrative embodiments of various aspects of the present invention will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention may be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention. The invention is by no means limited to any specific setups and methods set forth below, but covers any improvements, substitutions, and modifications to structures, methods, and devices without departing from the spirit of the invention. Well-known structures and techniques are not shown in the drawings and the following description to avoid unnecessarily obscuring the invention.

[0025] In the description of this invention, it should be noted that the directions or positional relationships indicated by terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing and simplifying the invention, and should not be construed as limiting the invention. Furthermore, the use of ordinal numbers (e.g., "first and second," etc.) is for distinguishing objects and is not limited to this order, and should not be construed as indicating or implying relative importance.

[0026] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly, encompassing both direct connection and indirect connection via an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0027] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited in each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0029] Example 1. This example provides a control method for an electro-servo pneumatic regulating valve used in an aircraft bleed air system. The control object block diagram is as follows. Figure 1 As shown, the controller block diagram used is as follows: Figure 2 As shown, the control algorithm principle block diagram is as follows: Figure 3 As shown.

[0030] The control method adopted by the system includes the following steps: Step 1: Install an angular displacement sensor to obtain the butterfly valve opening degree of the electro-servo pneumatic control valve.

[0031] The angular displacement sensor uses an RVDT, which can provide real-time feedback on the butterfly valve opening of the electro-servo pneumatic control valve. The angle acquisition range should be 0°~90°.

[0032] RVDT incentive methods such as Figure 2 As shown, the FPGA is used to set the DA output to a sine wave, which, after passing through the excitation circuit, outputs an excitation alternating voltage to the RVDT.

[0033] The RVDT feedback collection method is as follows: Figure 2As shown, after rectification and filtering, an analog signal is generated, which is then converted into a digital signal by an AD conversion circuit and transmitted to the FPGA. The FPGA internally calculates the angle feedback signal, which is then transmitted to the MCU via the data bus between the FPGA and the MCU.

[0034] The MCU calculates the real-time opening degree of the butterfly valve every 5ms using the following formula: θc(Kc)=(4.0*RVT_Voltage(Kc) / RVT_Exc_Voltage-0.3) / 0.018; In the formula, RVT_Voltage(Kc) is the RVDT feedback voltage in the Kc-th acquisition cycle, RVT_Exc_Voltage is the effective value of the RVDT excitation voltage, and θc(Kc) is the butterfly valve angle calculated in the Kc-th acquisition cycle.

[0035] Step 2: Set the target pressure, flow rate, and temperature values.

[0036] Based on the full working profile of the aircraft, the pressure, flow rate, and temperature values ​​required for the bleed air system to output air are determined and embedded in the closed-loop control algorithm built into the MCU.

[0037] Step 3: Obtain the feedback values ​​of pressure, flow rate, and temperature after the on-board electric servo pneumatic valve.

[0038] The analog voltage signals fed back from the downstream pressure sensor, differential pressure flow sensor, and pipeline temperature sensor are collected and then processed via... Figure 2 The AD conversion circuit in the FPGA converts the signal into a digital signal and transmits it to the FPGA. The FPGA then calculates the pressure, flow, and temperature feedback values ​​and transmits them to the MCU via the data bus between the FPGA and the MCU. The data is then input into the MCU's built-in closed-loop control algorithm.

[0039] Step 4: Obtain the feedback values ​​of pressure, flow rate, and temperature before the onboard servo pneumatic valve.

[0040] The analog voltage signals fed back by the upstream pressure sensor, differential pressure flow sensor, and pipeline temperature sensor are collected and then processed via... Figure 2 The AD conversion circuit in the FPGA converts the signal into a digital signal and transmits it to the FPGA. The FPGA then calculates the pressure, flow, and temperature feedback values ​​and transmits them to the MCU via the data bus between the FPGA and the MCU. The data is then input into the MCU's built-in closed-loop control algorithm.

[0041] Step 5: Based on the values ​​collected by the upstream sensor, the feedforward compensation amount of the target parameter is obtained after passing through the feedforward controller.

[0042] The pressure compensation output of the feedforward controller is calculated using the following formula (taking pressure control as an example): P补偿 (K) = -0.2*(P) fq (K)-P fq (K-1)); In the formula, P fq (K) represents the inlet pressure of the valve in the Kth control cycle, P fq (K-1) represents the valve inlet pressure during the (K-2)th control cycle, P 补偿 (K) is the compensation amount output by the feedforward controller in the Kth control cycle.

[0043] Step 6: Based on the feedforward compensation amount of the target parameter and the set target parameter, sum to obtain the final control target parameter.

[0044] The final control target parameters are calculated using the following formula (taking pressure control as an example): P1(K) = P0 + P 补偿 (K); In the formula, P1(K) is the target control pressure in the Kth control cycle.

[0045] Step 7: Based on the difference between the control target parameter and the value collected by the downstream sensor, the butterfly valve angle control command is obtained through the PID controller.

[0046] The MCU calculates the difference between the target control parameter value and the value collected by the downstream sensor to obtain the parameter difference value of the current control cycle. At the same time, it calculates the inner loop angle input command of the current control cycle by combining the outer loop control parameters Kp1, Ki1, and Kd1. The inner loop angle input command is determined using the following method (taking pressure control as an example): E1(K) = P1(K) - P2(K); Ts1 = 200ms; INT1(K)=Ki1*Ts1*E1(K)+INT1(K-1); θ(K)=E1(K)*Kp1+INT1(K)+Kd1 / Ts1*(E1(K)-E1(K-1)); If θ(K) > 90°, then θ(K) = 90°; if θ(K) < 0°, then θ(K) = 0°; otherwise, θ(K) = θ(K). In the formula, P1 represents the target pressure value, E1(K) represents the pressure difference value of the current control cycle, E1(K-1) represents the pressure difference value of the previous control cycle, Ts1 represents the outer loop control cycle, P2(K) represents the pressure feedback value of the downstream sensor in the current control cycle, INT1(K) represents the calculated value of the outer loop integral term in the current control cycle, INT1(K-1) represents the calculated value of the outer loop integral term in the previous control cycle, and θ(K) represents the inner loop angle input command in the current control cycle.

[0047] Step 8: Based on the difference between the butterfly valve input angle command and the butterfly valve angle measured by the RVDT, the control current command is obtained through the PID controller.

[0048] The MCU calculates the difference between the inner loop angle input command and the RVDT feedback angle in the current control cycle. At the same time, it calculates the current control command in the current control cycle by combining the inner loop control parameters Kp2, Ki2, and Kd2, and transmits it to the FPGA through the data bus. The current command is determined by the following method: θf(K)= ; E2(K) = θ(K) - θf(K); Ts2=50ms; INT2(K)=Ki2* Ts2*E2(K)+ INT2(K-1); C(K)=Kp2* E2(K)+INT2(K)+ Kd2 / Ts2*(E2(K)-E2(K-1)); If C(K) > 50mA, then C(K) = 50mA; if C(K) < 0mA, then C(K) = 0mA; otherwise, C(K) = C(K). In the formula, θf(K) represents the RVDT feedback angle of the current control cycle, E2(K) represents the angle difference of the current control cycle, E2(K-1) represents the angle difference of the previous control cycle, Ts2 represents the inner loop control cycle, C(K) represents the current command of the current control cycle, INT2(K) represents the calculated value of the inner loop integral term of the current control cycle, and INT2(K-1) represents the calculated value of the inner loop integral term of the previous control cycle.

[0049] Step 9: Convert the obtained current command into a drive current signal to drive the torque motor of the electric servo pneumatic regulating valve, dynamically adjust the disc valve angle of the electric servo pneumatic regulating valve, and achieve the purpose of dynamic control of air pressure, flow rate and temperature of the bleed air system.

[0050] The FPGA receives the current command sent by the MCU and converts it into a variable duty cycle PWM drive current signal through the drive circuit. This signal drives the torque motor that controls the electro-servo pneumatic regulating valve, thereby dynamically adjusting the output angle of the electro-servo pneumatic regulating valve butterfly valve to achieve closed-loop control of the bleed air parameters.

[0051] The above description is merely illustrative of the technical solutions of this invention. Those skilled in the art can modify or make equivalent substitutions to the technical solutions of this invention. All modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A control method for an aircraft electro-servo pneumatic regulating valve, characterized in that, The steps are as follows: S1. Obtain the butterfly valve opening degree of the electro-servo pneumatic control valve based on RVDT; S2. Set the target pressure, flow rate, and temperature values; S3. Acquire the values ​​collected by the pressure, flow, and temperature sensors after the onboard servo pneumatic valve; S4. Acquire the values ​​collected by the pressure, flow rate, and temperature sensors before the onboard servo pneumatic valve; S5. Based on the values ​​collected by each sensor before the valve, the feedforward compensation amount of the target parameter is obtained after passing through the feedforward controller; S6. Based on the feedforward compensation amount of the target parameter and the target parameter set in S2, sum to obtain the final control target parameter; S7. Based on the difference between the control target parameter and the value collected by the sensor after the valve, the butterfly valve angle control command is obtained through the PID controller; S8. Based on the difference between the butterfly valve angle control command and the butterfly valve opening degree measured by RVDT, the control current command is obtained after passing through the PID controller; S9. Convert the control current command into a drive current signal to drive the torque motor of the electro-servo pneumatic regulating valve and dynamically adjust the butterfly valve opening of the electro-servo pneumatic regulating valve.

2. The control method for an aircraft electro-servo pneumatic regulating valve according to claim 1, characterized in that, In S1, the excitation method of RVDT is as follows: the FPGA sets the DA output to a sine wave, which, after passing through the excitation circuit, outputs an excitation alternating voltage to RVDT; The RVDT feedback acquisition method is as follows: after rectification and filtering, an analog signal is generated, which is then converted into a digital signal by an AD conversion circuit and transmitted to the FPGA. The FPGA internally calculates the angle feedback signal, and then transmits it to the MCU through the data bus between the FPGA and the MCU.

3. The control method for an aircraft electro-servo pneumatic regulating valve according to claim 2, characterized in that, In S1, the MCU calculates the real-time opening degree of the butterfly valve every 5ms using the following formula: θc(Kc)=(4.0*RVT_Voltage(Kc) / RVT_Exc_Voltage-0.3) / 0.018; In the formula, RVT_Voltage(Kc) is the RVDT feedback voltage in the Kc-th acquisition cycle, RVT_Exc_Voltage is the effective value of the RVDT excitation voltage, and θc(Kc) is the butterfly valve angle calculated in the Kc-th acquisition cycle.

4. The control method for an aircraft electro-servo pneumatic regulating valve according to claim 1, characterized in that, Specifically, S3 collects analog voltage signals from the downstream pressure sensor, differential pressure flow sensor, and pipeline temperature sensor, converts them into digital signals via an AD conversion circuit, and transmits them to the FPGA. The FPGA then calculates the pressure, flow, and temperature feedback values, which are then transmitted to the MCU via the data bus between the FPGA and the MCU and input into the MCU's built-in closed-loop control algorithm.

5. The control method for an aircraft electro-servo pneumatic regulating valve according to claim 1, characterized in that, Specifically, S4 collects analog voltage signals from the pressure sensor, differential pressure flow sensor, and pipeline temperature sensor before the valve. These signals are then converted into digital signals by an AD conversion circuit and transmitted to the FPGA. The FPGA internally calculates these signals into pressure, flow, and temperature feedback values, which are then transmitted to the MCU via the data bus between the FPGA and the MCU. Finally, these values ​​are input into the MCU's built-in closed-loop control algorithm.

6. The control method for an aircraft electro-servo pneumatic regulating valve according to claim 1, characterized in that, In S5, the pressure compensation output by the feedforward controller is calculated using the following formula: P 补偿 (K)= -0.2*(P fq (K)- P fq (K-1)); In the formula, P fq (K) represents the inlet pressure of the valve in the Kth control cycle, P fq (K-1) represents the valve inlet pressure during the (K-2)th control cycle, P 补偿 (K) is the compensation amount output by the feedforward controller in the Kth control cycle.

7. The control method for an aircraft electro-servo pneumatic regulating valve according to claim 1, characterized in that, In S6, the final control target parameters are calculated using the following formula: P1(K) = P0+P 补偿 (TO); In the formula, P1(K) is the target control pressure in the Kth control cycle.

8. The control method for an aircraft electro-servo pneumatic regulating valve according to claim 1, characterized in that, S7 is as follows: The MCU calculates the difference between the control target parameter value and the value collected by the sensor after the valve to obtain the parameter difference value of the current control cycle. At the same time, it calculates the inner loop angle input command of the current control cycle by combining the outer loop control parameters Kp1, Ki1, and Kd1. The inner ring angle input command is determined by the following method: E1(K) = P1(K) - P2(K); Ts1 = 200ms; INT1(K)=Ki1*Ts1*E1(K)+INT1(K-1); θ(K)=E1(K)*Kp1+INT1(K)+Kd1 / Ts1*(E1(K)-E1(K-1)); If θ(K) > 90°, then θ(K) = 90°; if θ(K) < 0°, then θ(K) = 0°; otherwise, θ(K) = θ(K). In the formula, P1 represents the target pressure value, E1(K) represents the pressure difference value of the current control cycle, E1(K-1) represents the pressure difference value of the previous control cycle, Ts1 represents the outer loop control cycle, P2(K) represents the pressure feedback value of the downstream sensor in the current control cycle, INT1(K) represents the calculated value of the outer loop integral term in the current control cycle, INT1(K-1) represents the calculated value of the outer loop integral term in the previous control cycle, and θ(K) represents the inner loop angle input command in the current control cycle.

9. The control method for an aircraft electro-servo pneumatic regulating valve according to claim 1, characterized in that, S8 is as follows: The MCU calculates the difference between the inner loop angle input command and the RVDT feedback angle of the current control cycle, and at the same time, combined with the inner loop control parameters Kp2, Ki2, and Kd2, calculates the current control command of the current control cycle and transmits it to the FPGA through the data bus; The current command is determined by the following method: θf(K)= ; E2(K) = θ(K) - θf(K); Ts2=50ms; INT2(K)=Ki2* Ts2*E2(K)+ INT2(K-1); C(K)=Kp2* E2(K)+INT2(K)+ Kd2 / Ts2*(E2(K)-E2(K-1)); If C(K) > 50mA, then C(K) = 50mA; if C(K) < 0mA, then C(K) = 0mA; otherwise, C(K) = C(K). In the formula, θf(K) represents the RVDT feedback angle of the current control cycle, E2(K) represents the angle difference of the current control cycle, E2(K-1) represents the angle difference of the previous control cycle, Ts2 represents the inner loop control cycle, C(K) represents the current command of the current control cycle, INT2(K) represents the calculated value of the inner loop integral term of the current control cycle, and INT2(K-1) represents the calculated value of the inner loop integral term of the previous control cycle.

10. The control method for an aircraft electro-servo pneumatic regulating valve according to claim 1, characterized in that, S9 is as follows: The FPGA receives the current command sent by the MCU, and converts the current command into a variable duty cycle PWM drive current signal through the drive circuit. This signal drives the torque motor that controls the electric servo pneumatic regulating valve, thereby dynamically adjusting the output angle of the electric servo pneumatic regulating valve butterfly valve to achieve the purpose of closed-loop control of the bleed air parameters.

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