CN107269399B - Control Method of Fluid Vector Engine Based on PWM Technology - Google Patents
Control Method of Fluid Vector Engine Based on PWM Technology Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02C—GAS-TURBINE PLANTS; AIR INTAKES FOR JET-PROPULSION PLANTS; CONTROLLING FUEL SUPPLY IN AIR-BREATHING JET-PROPULSION PLANTS
- F02C9/00—Controlling gas-turbine plants; Controlling fuel supply in air- breathing jet-propulsion plants
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Abstract
本发明涉及一种基于脉宽调制技术的流体矢量发动机控制方法，属于流体矢量发动机的控制技术领域。该方法包括以下步骤：1)确定流体矢量发动机矢量角非线性特性；2)根据步骤1）确定的非线性段特点，选取响应速度快、频率相应高的阀门控制器；3)确定开关器每次打开作用的时间和单位时间最大开关次数；4)根据风洞数据和流体矢量发动机的特性进行控制律设计；5)根据步骤4）确定的控制律进行软件的编程；6)对系统进行测试并优化系统控制。本方法可以实现对流体矢量发动机矢量角的精确控制。
The invention relates to a fluid vector motor control method based on pulse width modulation technology, and belongs to the technical field of fluid vector motor control. The method includes the following steps: 1) determining the nonlinear characteristics of the vector angle of the fluid vector motor; 2) selecting a valve controller with fast response speed and correspondingly high frequency according to the characteristics of the nonlinear segment determined in step 1); 3) determining each switch of the switch 4) Design the control law according to the wind tunnel data and the characteristics of the fluid vector engine; 5) Program the software according to the control law determined in step 4); 6) Test the system And optimize system control. The method can realize precise control of the vector angle of the fluid vector motor.
Description
Technical field
The present invention relates to a kind of fluids based on pulsewidth modulation (Pulse Width Modulator, abbreviation PWM) technology to swear
Engine control is measured, the control technology field of fluid vectors engine is belonged to.
Background technique
The direct control method that existing practical aero-engine control exports mostly or using conventional analog signal.
But with the appearance of requirement continuous improvement and vector engine to flying quality, especially novel fluid vector engine
Appearance, traditional control mode has been unable to meet flying quality to engine control in terms of hardware supported and design of control law
The requirement of system.
Vector engine occurs having greatly facilitated the raising of aircraft mobility, but is simultaneously also engine system control
System increases new channel and requirement.The appearance of fluid vectors engine especially of new generation, special fluid behaviour are even more
Stern challenge is proposed to legacy hardware devices and control method.
According to wind tunnel test it is found that the azimuth that fluid vectors are started has preferably linearly when deflection angle is smaller.
And it is then relatively easy to carry out accurate control to vector angle in linear control section.It is sent out corresponding to aircraft flight state and to vector
The response requirement of motivation, the lesser linearity range of the vector angle is mainly used to realize the stability contorting of aircraft, small overload at this time
It is motor-driven etc..And when aircraft progress big overload is motor-driven, then require engine has biggish azimuth.But tradition control
For method processed after the azimuth of fluid vectors engine deflects into certain angle, the response of azimuth will lose linear characteristic,
Show apparent non-linear and hesitation.At this point, to the control of the vector angle section by the difficulty of change, traditional controlling party
Formula is not able to satisfy requirement of the state of flight to engine control performance.
PWM is exactly pulse width modulation, the impulse waveform of variable duty ratio.Pulse width modulation is a kind of pair of analog signal
Level carries out digitally coded method.By the use of high-resolution counter, the duty ratio of square wave is modulated for one
The level of physical simulation signal is encoded.PWM wave be it is digital, wanted in the direct current supply at given any moment, full amplitude
There is (ON) completely or entirely without (OFF).Voltage or electric current are the repetition pulse sequences with a kind of logical (ON) or disconnected (OFF)
It is added to what fictitious load got on.Therefore, as long as bandwidth is enough, any analogue value can use PWM to be encoded.PWM control
Technology processed is exactly to control the turn-on and turn-off of semiconductor switch device, so that output end is obtained a series of assignment equal and wide
Unequal pulse is spent, sine wave or waveform required for other are replaced with these pulses.By certain rule to each pulse
Width be modulated, both can be changed inverter circuit output voltage size, also can be changed output frequency.
The common PWM control method of fluid vectors engine, PWM chip export different duty ratio control instructions, adjust
The size of air inlet is drained to adjust the size of drainage to play the purpose to azimuth control.
However, the fluid vectors engine azimuth response mode under control mode control is as shown in Figure 1.It can from the figure
Know, vector angular response there are following characteristics:
1) the small wind tunnel test of stationary linear azimuth shows only 7~8 degree；
2) Sudden Changing Rate is big as shown in Figure 1, azimuth can be directly from 8 degree of mutation to 18 degree or so when being mutated and occurring；
3) emergentness of mutation is varied less since mutation to mutation finishing control amount, i.e. Δ p is almost nil；
4) after mutation to maximum, increase expected angle, the vector angular response of engine increases slow；
5) push rod and the response curve put away sports equipment be not overlapped as shown in Figure 1, due to fluid sticky wall attachment effect, arrow when putting away sports equipment
Angulation response is slower.
According to the response characteristic of fluid vectors engine it is found that the azimuth started of fluid vectors is when deflection angle is smaller
With preferable linear, vector angle can effectively be controlled in this section tradition PWM control mode.But when starting
The azimuth of machine deflects into after certain angle, and the variation of azimuth can lose linearly, and show hesitation.At this point, often
The PWM control mode of rule is difficult to reach satisfied control effect, is not able to satisfy the requirement of engineer application.Therefore, usual controlling party
Case is only capable of reaching satisfied control effect in vector angle smaller range, significantly limits fluid vectors engine performance
It plays.
Summary of the invention
The present invention is directed on the characteristics of fluid vectors engine and traditional control method hardware and design of control law not
Foot, proposes a kind of fluid vectors engine control based on PWM modulation technology, by control to PWM action time,
The accurate control to fluid vector engine azimuth is realized in the determination of design of control law and control law parameter.
The present invention is to solve its technical problem to adopt the following technical scheme that
A kind of fluid vectors engine control based on pulse modulation technology, the following steps are included:
Step 1) determines fluid vectors engine azimuth nonlinear characteristic；
The non-linear section feature that step 2) is determined according to step 1) chooses fast response time, the correspondingly high valve control of frequency
Device processed；
Step 3) determines the derailing switch time of opening effect and unit time maximum on-off times every time；
Step 4) carries out design of control law according to the characteristic of wind tunnel data and fluid vectors engine；
Step 5) carries out the programming of software according to the control law that step 4) determines；
Step 6) test to system and optimization system controls.
Control system used by the fluid vectors engine control based on pulse modulation technology, including
PWM chip, signal modulation chip, valve positioner and detection sensor, the detection sensor include angular transducer and pressure
Force snesor, in which: PWM chip, signal modulation chip, valve positioner and fluid vectors engine are linked in sequence, fluid arrow
Engine, detection sensor and PWM chip is measured to be linked in sequence.
The output frequency of the PWM chip is fixed.
The pressure sensor is right in the face pressure sensor.
Valve positioner in step 2) is the continuously adjustable electric valve controller of valve opening.
Beneficial effects of the present invention are as follows:
1, it is based on PWM duration control method, overcomes fluid vectors engine control problem.
2, hardware device is simple, not complicated servo actuator, and system reliability is strong, convenient for safeguarding.
3, improve the deficiency for using analog signal control accuracy difference originally by using PWM count word control technology.
4, the control problem of fluid vectors engine azimuth is solved by high-frequency digital control instruction.
5, by the raising of design of control law and hardware system performance, higher control precision and jamproof may be implemented
Ability.
Detailed description of the invention
Fig. 1 traditional control method azimuth response characteristic figure.
Fig. 2 control mode azimuth response characteristic figure of the present invention.
Fig. 3 system hardware constitutes figure.
Fig. 4 System control structures figure.
Response diagram of Fig. 5 control system to specified signal.
Response of Fig. 6 control system to step signal.
Specific embodiment
The invention is described in further details with reference to the accompanying drawing.
The present invention proposes a kind of fluid vectors engine control based on pulse modulation technology, utilizes PWM high-frequency
The characteristic of control carries out fluid vector engine vulnerable to disturbing influence, the apparent vector angle of nonlinear characteristic accurate, stable
Control.It can be summarized as the control process of fluid vector engine:
1) according to external control instruction and fluid vectors engine information, control law calculates corresponding control signal, and
Corresponding control time command is exported by PWM module；
2) according to PWM module output response time command, signal modulation module demodulates the output controlled valve folding time
Control instruction；
3) specified angle is gone to according to the azimuth that controlled valve opens and closes time control instruction control fluid vectors engine
Purpose is controlled to reach expected.
The design realized below to the control process is described in detail.
The present invention is to export the action time of electric current as basic regulative mode.Therefore, in control design case of the invention,
The output frequency of PWM chip is fixed.In fixed output frequency, the ON/OFF time ratio of control valve controller.In signal
There is a fiducial time ratio in modulation chip, output quantity determines which valve positioner executes instruction compared with the datum quantity.
Hardware device of the invention includes PWM chip, signal modulation chip, valve positioner and measurement sensor.Wherein,
PWM chip and signal modulation chip have been integrated into PWM equipment.
It is as follows to specific design procedure of the invention below:
Step 1) determines fluid vectors engine azimuth time control response particular fluid vector engine azimuth
Time control response characteristic and traditional strength control mode are very different.Selection and control law for hardware device
Design needs to obtain engine azimuth by wind tunnel experiment and exports the response data under ratio in different time and sufficiently analyze
The response characteristic of solution system.
Step 2), the time control for choosing valve positioner fluid vectors engine azimuth according to determined by step 1
Response characteristic chooses fast response time, the valve positioner more than unit time response times.Valve positioner is this control system
Important hardware device, it is desirable that the valve positioner is enable to respond quickly ON/OFF control instruction, and can be with multiple in the short time
Quick response control instruction.Require valve positioner that there is preferable service life and fatigue resistance simultaneously.
Step 3) determines that the fastest response period of the fastest response period valve positioner of valve positioner determines PWM
The selection for programming frequency, determines the accuracy of vector angular response.Therefore, it is necessary to the response characteristics according to fluid vectors engine
It is specific to determine.
Step 4) carries out design of control law according to fluid vectors engine characteristics.
Step 5), the fastest response period of the valve positioner determined according to step 3) and control law carry out PWM programming control
System.
Step 6) test simultaneously optimization system control to system.
Above step more detailed description and specific performance require as follows:
Step 1) determines fluid vectors engine azimuth response characteristic
According to wind tunnel test it is found that fluid vectors engine is as shown in Figure 2 to the response curve of control amount.It can from figure
The control mode mainly has the following characteristics that out
1) response mode has certain range of linearity；
2) but in High Angle of Attack section still have apparent non-linear；
3) vector angular response air exercise ETAD expected time of arrival and departure has a respective threshold.
And in the control of non-linear section, the quick response of the adjusting and valve positioner that rely primarily on control law is realized accurate
Control.
Step 2) chooses valve positioner and chooses fast response time, the valve positioner more than unit time response times.Together
Shi Yaoqiu valve positioner has preferable service life and fatigue resistance.In the present invention, aperture continuously adjustable is chosen
Electric valve controller.There is the controller valve opening to be continuously adjusted, fast response time, high temperature resistant property are good, repair more
Change the advantages that facilitating.
Step 3), the fastest response period for determining valve positioner and response lag
The determination in fastest response period: determine that the fastest response period main purpose of valve positioner is to ensure that every output
Instruction is all completely responded, while being programmed for PWM and being determined working frequency.
Here regulation valve positioner receives open instructions and receives out code and be closed completely to fully opening to arrive again
For a complete period.This control system fastest response period determines the on the one hand limit by valve positioner response speed
System, while the characteristic also by PWM chip maximum output frequency and fluid vectors engine is limited.In general, PWM chip
Maximum output frequency is much larger than valve positioner response frequency, therefore will not become the limit in the fastest response period of valve positioner
Factor processed.Here mainly consider the limitation of the characteristic of fluid vectors engine.Define fluid vectors engine mainstream for deflect
Under state, drainage valve opens Secondary Flow and is flowed into the time that mainstream azimuth has obvious deflection response (as deflected 1 ° of azimuth)
For the response time of fluid vectors engine azimuth.In order to guarantee the response characteristic of system, fluid vectors are chosen here and are started
Fastest response period of 1.2 times of the response time of machine azimuth as valve positioner.
The determination of response lag: response lag is the minimum that fluid vectors engine azimuth has response to control valve
Opening time.Value needs are specifically determined according to wind tunnel experiment.
Step 4), the PWM output frequency determined according to step 3 and fluid vectors engine characteristics carry out design of control law.
It is characteristic of the invention that hardware device is simple, working service is convenient.But controlled device is non-linear and simple
Computer hardware makes design of control law relative complex.
The Control System Design matter of utmost importance to be considered is the measurement problem of feedback signal.Within the system, can pass through
Velocity probe obtains mainstream, secondary stream flow rate information.But it can not reach only with feedback mainstream and time stream flow rate information to master
The ideal control effect of stray arrow angulation, this just needs additional feedback control signal.Use vector angle information as feedback signal control
The deflection of azimuth processed is ideal control method.But the direct measurement of vector angle information is very difficult, and wall surface pressure
The measurement of force information is then relatively easy.Therefore, vector angle signal can obtain vectorial force using measurement and vector is then calculated
The mode of angle signal.In fluid vectors engine azimuth design of control law, since there are errors for the measurement of azimuth, so
Secondary Flow flow velocity is measured using right in the face pressure sensor and then is calculated based on the measurement method of vector angle and as primary feedback
Signal, the azimuth angle signal that reciprocal of duty cycle probe measures is as auxiliary.In order to realize the control to motor power and azimuth,
Control system control parameter includes the flow velocity of primary and secondary stream, and control feedback signal includes mainstream, secondary stream flow velocity, mainstream azimuth.It is logical
The adjusting to mainstream flow velocity is crossed, the control to thrust may be implemented.By adjusting time stream flow velocity, it can be achieved that mainstream azimuth
Control.
Selected hardware device according to above-mentioned identified sensing system and above, each system structure topology of the invention
As shown in Figure 3.
Final goal of the invention is to realize the accurate control of azimuth.Therefore, eliminating azimuth response error is control
Restrain the emphasis of design.Model due to establishing the description of fluid vectors engine accurate mathematical equation is very difficult and is difficult to completely anti-
The characteristics of answering system brings certain difficulty to Control System Design.To reach accurate control effect, herein using to model
It relies on lesser deviation principle thought and carries out system control sytsem design.
According to the concrete condition of hardware device and fluid vectors engine vector angular response, control law structure of the invention is such as
Shown in Fig. 4.In the control structure, including inner-loop compensator, outer ring instruction trace responsor and outer ring tracking error compensator.
Here, inner-loop compensator and outer ring tracking error compensator are referred to as compensator system.Wherein, the effect of inner-loop compensator is
Compensation system it is non-linear, create conditions for the design of outer ring controller；The effect of outer ring instruction trace responsor is to realize control
Make the tracking of instruction；Outer ring tracking error compensator is error of the elimination system to given instruction trace, to realize system
Error free response.
In fluid vectors engine azimuth design of control law, since there are errors for the measurement of azimuth, so to split
Face pressure force snesor measures Secondary Flow flow velocity and then is calculated based on the measurement method of vector angle, and believes as primary feedback
Number.The azimuth angle signal that air speed probe measures is as auxiliary.The control law of the compensating controller of mainstream azimuth are as follows:
Wherein:
For inner-loop compensator,γ (t), v (t) are that controller needs to design
Parameter；
For outer ring tracker,
To need the parameter designed, γrFor desired vector angle, vrFor desired stream flow velocity.
In engineering, above-mentioned control is often expressed as following errors of form:
Wherein:
It is the correction of the azimuth angle signal measured to air speed probe, specific correction process mode is as follows:
Here eγ(t)=γ (t)-γr
It is the correction that Secondary Flow flow velocity signal is measured to right in the face pressure sensor, specific correction process mode is as follows:
Here ev(t)=v (t)-vr(t)
For the parameter to be designed.
In practical application, the sampling period enough it is short can with summation replace integral, backward difference replace differential method table
Show.The above control law is handled with following Digital Discreteization.Below by taking the PID controller of standard as an example, introducing system discretization
Process and parameter tuning method:
In formula: T is the system fixed sampling period；K is sampling sequence number；kpFor proportional gain；TI, TDNeeds design
Parameter；E (i) is systematic error, wherein e (k) is system error current, and e (k-1) is System History error.
For programming and convenient storage, the incremental form of above formula are as follows:
Δ u (k)=u (k)-u (k-1)=Kp[e(k)-e(k-1)]+KIee(k)+KD[e(k)-2e(k-1)+e(k-2)] (4)
In formula:
KIe-- integral coefficient,KD-- differential coefficient,U (k) is current state, and u (k-1) is
System History state, e (k-2) are the state at -2 moment of system kth.
Arranging to above formula can obtain:
Δ u (k)=q0e(k)+q1e(k-1)+q2e(k-2) (5)
In formula:
Wherein identical, T in each symbolic significance and formula (3) and formula (4)ITo need the design parameter measured.
Since the mathematical model of fluid vectors engine is inaccurate, another parameter tuning based on test is provided here
Method.This method is that expanding critical proportion degree method adjusts controller parameter.The advantages of this method is that reality can be passed through
The method tested makes up the uncertainty of model.Steps are as follows for specific adjusting:
Select a sampling period short enough, it is desirable that this sampling period for empty object deposit ten point one of lag time with
Under；
Remove the differential term and integral term in controller, retaining ratio item makes system work with the selected sampling period.
It is gradually reduced proportional band δ (δ=1/Kp), until system occurs to continue self-sustained oscillation.Note makes system occur to continue self-sustained oscillation
Critical proportionality range is δcrWith the critical concussion cycle T of systemcr。
Selecting degree of control degree of control is on the basis of analog controller, by the control effect of digital controller (DDC)
Compared with analog control effect.The evaluation function of control effect usually uses the integral representation of square-error:
Wherein: e2It (t) is systematic error square.
The amount describes the power of number with the control effect of analog controller, there is very big freedom and master in the choice
The property seen, can specifically choose according to specific object.
According to selected degree of control, the value of controller parameter is determined according to table 1.
1 expanding critical proportion degree method setting parameter of table
In table: δcrFor critical proportionality range；TcrFor the critical concussion period of system；T is the system fixed sampling period；kp
TI, TDTo need the controller parameter designed.
The setting method of various types of controller architecture parameters is given in table, therefore can be according to the controller knot of design
Structure compares the table and adjusts to controller.Therefore, according to the above attitude conirol method, the mistake of parameter tuning is known as
By inner ring to outer ring, i.e., first inner-loop compensator, then outer ring instruction trace responsor, followed by outer ring tracking error compensator.
Step 5), the fastest response period of the valve positioner determined according to step 3 and control law carry out PWM programming control
System.
Step 6) test simultaneously optimization system control to system.
The acquisition of system excellent performance is the process adjusted repeatedly by controller parameter.Therefore, step 4) and step are completed
It is rapid 5) after, need to carry out experiment test to the azimuth response characteristic of fluid vector engine.It is wanted if system response is not able to satisfy
It asks, then repeatedly step 4) and step 5) are finely adjusted controller parameter, terminate optimization tune until obtaining satisfied response results
Examination process.
According to hardware above equipment, control law structure and attitude conirol method, obtained controller believes sine
Number and step signal response and error it is as shown in Figure 5 and Figure 6.
From response results it is found that system can quick tracking response signal, no steady-state error.Response speed and error meet
Engine request.
Claims (5)
1. a kind of fluid vectors engine control based on PWM technology, which comprises the following steps:
Step 1) determines fluid vectors engine azimuth nonlinear characteristic；
The non-linear section feature that step 2) is determined according to step 1) chooses fast response time, the correspondingly high valve positioner of frequency；
Step 3) determines the derailing switch time of opening effect and unit time maximum on-off times every time；
Step 4) carries out design of control law according to the characteristic of wind tunnel data and fluid vectors engine；
Step 5) carries out the programming of software according to the control law that step 4) determines；
Step 6) test to system and optimization system controls.
2. the fluid vectors engine control according to claim 1 based on PWM technology, it is characterised in that the control
Control system used by method includes PWM chip, signal modulation chip, valve positioner and detection sensor, the detection
Sensor includes angular transducer and pressure sensor, in which: PWM chip, signal modulation chip, valve positioner and fluid arrow
It measures engine to be linked in sequence, fluid vectors engine, detection sensor and PWM chip are linked in sequence.
3. the fluid vectors engine control according to claim 2 based on PWM technology, it is characterised in that described
The output frequency of PWM chip is fixed.
4. the fluid vectors engine control according to claim 2 based on PWM technology, it is characterised in that the pressure
Force snesor is right in the face pressure sensor.
5. the fluid vectors engine control according to claim 1 based on PWM technology, which is characterized in that step
2) valve positioner in is the continuously adjustable electric valve controller of valve opening.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5784884A (en) * | 1995-12-20 | 1998-07-28 | United Technologies Corporation | Fail-safe transfer valve |
| CN103437911A (en) * | 2013-09-04 | 2013-12-11 | 北京航空航天大学 | Partition-bearing fluid control binary vector nozzle tube and vector thrust generation and control method thereof |
| CN105353682A (en) * | 2015-11-20 | 2016-02-24 | 泉州装备制造研究所 | Airplane power supply system experiment platform device |
| CN105947187A (en) * | 2016-05-16 | 2016-09-21 | 西北工业大学 | Posture control device and control method for vertical take-off and landing aircraft |
| CN106094853A (en) * | 2016-06-29 | 2016-11-09 | 北京航空航天大学 | A kind of control method of Upper Stage Orbit Transformation section vectored thrust |
-
2017
- 2017-05-17 CN CN201710348292.1A patent/CN107269399B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5784884A (en) * | 1995-12-20 | 1998-07-28 | United Technologies Corporation | Fail-safe transfer valve |
| CN103437911A (en) * | 2013-09-04 | 2013-12-11 | 北京航空航天大学 | Partition-bearing fluid control binary vector nozzle tube and vector thrust generation and control method thereof |
| CN105353682A (en) * | 2015-11-20 | 2016-02-24 | 泉州装备制造研究所 | Airplane power supply system experiment platform device |
| CN105947187A (en) * | 2016-05-16 | 2016-09-21 | 西北工业大学 | Posture control device and control method for vertical take-off and landing aircraft |
| CN106094853A (en) * | 2016-06-29 | 2016-11-09 | 北京航空航天大学 | A kind of control method of Upper Stage Orbit Transformation section vectored thrust |
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