CN120428545B - Temperature control method and system for low-temperature wind tunnel based on composite adaptive control - Google Patents
Temperature control method and system for low-temperature wind tunnel based on composite adaptive controlInfo
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Abstract
The invention belongs to the field of wind tunnel flow field control, and discloses a low-temperature wind tunnel temperature control method and system based on composite self-adaptive control. The invention combines three control strategies of feedforward control, model reference self-adaptive control and PI control, can perform feedforward control aiming at the influence of known heat sources such as heat generation of a compressor and heat transfer of a tunnel wall in a wind tunnel, can effectively estimate and offset unmodeled real-time disturbance, and simultaneously ensures that the steady-state value of the wind tunnel temperature converges to a target value. In the process, the method estimates the existing time lag, considers the effect generated by the characteristics of the executing mechanism, and can realize the rapid and accurate control of the low-temperature wind tunnel temperature.
Description
Technical Field
The invention relates to the field of wind tunnel flow field control, in particular to a low-temperature wind tunnel temperature control method and system based on composite self-adaptive control.
Background
The test simulation capability of the wind tunnel to the high Reynolds number can be greatly improved by the low-temperature wind tunnel through a mode of reducing the total test temperature.
The temperature control of the low-temperature wind tunnel is realized by adjusting a liquid nitrogen injection system to control the liquid nitrogen amount injected into the tunnel, the injected liquid nitrogen amount is increased, the temperature decrease trend of the air flow in the tunnel is increased, and when the injected liquid nitrogen is decreased, the air flow temperature increase trend of the wind tunnel is enhanced. The characteristic of obvious strong coupling and multivariable control is generated between the control and the operation of the low-temperature wind tunnel flow field parameters due to the addition of the liquid nitrogen injection system. The temperature in the cavity is mainly influenced by liquid nitrogen vaporization and compressor working, and injected liquid nitrogen vaporization absorbs heat, so that on one hand, the heat generated by the compressor working is balanced, and on the other hand, the influence caused by heat transfer of the cavity wall is counteracted. Thus, temperature control is associated with both the liquid nitrogen injection system and the compressor system. However, the compressor system is a main system for influencing the Mach number of the wind tunnel, and is mutually coupled with the Mach number of the wind tunnel when the temperature of the wind tunnel is controlled. In addition, when wind tunnel pressure control is carried out, the change of the gas pressure and the density in the wind tunnel can lead to the change of the total mass of the gas in the wind tunnel, and the same liquid nitrogen spraying amount has different temperature adjusting effects, so that the temperature control and the wind tunnel pressure control are mutually coupled.
In view of this, the present invention has been made.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent.
For this purpose, the first technical scheme adopted by the invention is as follows:
The low-temperature wind tunnel temperature control method based on the composite self-adaptive control comprises the following steps:
Based on the fluid dynamics characteristics of the wind tunnel, calculating the transmission time lag from the spraying of the liquid nitrogen into the wind tunnel to the perception of the temperature sensor in real time;
According to the response characteristics of the input signal and the output flow of the liquid nitrogen valve, calculating the temperature influence caused by the characteristics of the actuating mechanism by combining the transmission time lag;
Based on the heat generating power of the compressor and the heat transfer model of the cavity wall, calculating feedforward control quantity for counteracting the heat disturbance;
Calculating an adaptive compensation amount by using the temperature-affected corrected error signal through the tracking target temperature output by the reference model;
When the actual temperature deviates from the target threshold value, the PI controller outputs an acceleration convergence control amount;
and synthesizing the feedforward control quantity, the self-adaptive compensation quantity and the acceleration convergence control quantity, and outputting a physical injection quantity to a liquid nitrogen system according to the saturation characteristic of the actuating mechanism and the transfer function model.
Preferably, the transmission time lag is composed of three parts, namely, delay from an actuating mechanism to a sensor, delay of the execution of a liquid nitrogen injection system and delay of acquisition of a temperature sensor.
Preferably, the transmission time lag τ is calculated by the following formula:
;
;
Wherein, the Is the delay of the actuator to the sensor,Is the execution delay of the liquid nitrogen injection system,Is the acquisition delay of the temperature sensor,、、、、The total pressure, temperature, mach number, volume and flow of the wind tunnel are respectively.
Preferably, the calculation method of the temperature influence caused by the actuator characteristic is as follows:
Calculating the difference between the actual liquid nitrogen injection quantity and the theoretical liquid nitrogen injection quantity by combining the transmission time lag;
dynamically determining the temperature control gain of each kilogram of liquid nitrogen based on the current wind tunnel working condition;
dividing the difference by the temperature control gain to obtain the temperature influence caused by the characteristic of the actuating mechanism.
Preferably, the calculation method of the feedforward control quantity for counteracting the thermal disturbance comprises the following steps:
collecting the outlet temperature, the inlet temperature and the pressure of the compressor, and calculating the heat generating power of the compressor;
Collecting the wall temperature and the airflow temperature of key measuring points, and calculating the wall heat transfer power according to a convection heat transfer formula;
and the heat-generating power of the compressor and the heat-transferring power of the cavity wall are combined to obtain feedforward control quantity for counteracting the heat disturbance.
Preferably, the transfer function of the reference model is:
wherein ,,Representing the transfer function, s is the complex variable in the laplace transform.
Preferably, the method for calculating the adaptive compensation amount comprises the following steps:
Calculating an error between the tracking target temperature output by the reference model and the actual wind tunnel temperature;
The temperature effects caused by the introduction of actuator characteristics are error corrected,
Dynamically adjusting the parameter structure of the controller according to a preset self-adaptive law according to the correction error calculated in real time so as to minimize the correction error;
The control law after the update is adjusted is the self-adaptive compensation quantity.
Preferably, the physical injection quantity μacl is generated according to the following rule:
, wherein, Synthetic control amount representing the feedforward control amount, the adaptive compensation amount, and the acceleration convergence control amountRate clipping and stroke clipping are performed and,Is the transfer function of the liquid nitrogen injection system.
The second technical scheme adopted by the invention is as follows:
Low temperature wind tunnel temperature control system based on compound self-adaptation control includes:
The first calculation module is used for calculating transmission time lags from the spraying of liquid nitrogen into the wind tunnel to the perception of the temperature sensor in real time based on the hydrodynamic characteristics of the wind tunnel;
The second calculation module is used for calculating the temperature influence caused by the characteristics of the actuating mechanism according to the response characteristics of the input signal and the output flow of the liquid nitrogen valve and combining the transmission time lag;
The third calculation module is used for calculating feedforward control quantity for counteracting the thermal disturbance based on the heat generation power of the compressor and the heat transfer model of the cavity wall;
the fourth calculation module is used for calculating the self-adaptive compensation quantity by utilizing the temperature-affected corrected error signal through the tracking target temperature output by the reference model;
The first output module is used for outputting an acceleration convergence control quantity when the actual temperature deviates from a target threshold value;
and the second output module is used for synthesizing the feedforward control quantity, the self-adaptive compensation quantity and the acceleration convergence control quantity and outputting a physical injection quantity to the liquid nitrogen system according to the saturation characteristic of the actuating mechanism and the transfer function model.
Compared with the prior art, the invention has the following beneficial effects:
The invention eliminates the mutual coupling of the temperature and other flow field parameters, realizes the temperature decoupling control, and can realize the convergence of the low-temperature wind tunnel temperature control to the target temperature according to the designed reference model by the controller output.
Drawings
FIG. 1 is a schematic flow chart of a low-temperature wind tunnel temperature control method based on composite adaptive control according to an embodiment of the present invention;
Fig. 2 is a schematic structural diagram of a low-temperature wind tunnel temperature control system based on composite adaptive control according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application become more apparent, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the application. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present application without inventive faculty, are intended to be within the scope of the present application.
Referring to fig. 1, a first embodiment of the present invention provides a low-temperature wind tunnel temperature control method based on composite adaptive control, which specifically includes the following steps.
S101, calculating transmission time lag from spraying liquid nitrogen into the wind tunnel to sensing by a temperature sensor in real time based on the hydrodynamic characteristics of the wind tunnel.
The method aims at actively estimating time lag, the time lag is regarded as a fixed value in the existing scheme, but the time lag changes along with the flow in the actual control process, and the influence of the time lag on the system performance is reduced or compensated by online calculation and updating of the time lag, so that the dynamic performance and the steady-state performance of the system are improved.
Specifically, the transmission time lag tau is composed of three parts, namely, delay of an actuating mechanism to a sensor, delay of the actuating of a liquid nitrogen injection system and delay of acquisition of a temperature sensor. The calculation formula is as follows:
,
, wherein, Is the delay of the actuator to the sensor, is the time lag,Is the execution delay of the liquid nitrogen injection system, is a fixed time lag,Is the acquisition delay of the temperature sensor, is fixed time lag,、、、、The total pressure, temperature, mach number, volume and flow of the wind tunnel are respectively.
S102, according to the response characteristics of the input signal and the output flow of the liquid nitrogen valve, and the transmission time lag, calculating the temperature influence caused by the characteristics of the actuating mechanism.
The temperature influence caused by the characteristics of the liquid nitrogen injection system is calculated, namely, the temperature change caused by inconsistent liquid nitrogen injection quantity and controller output due to the characteristics of an actuating mechanism is output to S104 and S106. According to the invention, the model tracking precision is remarkably improved by introducing the characteristic temperature influence of the actuating mechanism.
The specific calculation method of the temperature influence caused by the characteristics of the actuating mechanism comprises the following steps:
calculating the difference value mu 1 (t-tau) -mu 2 between the actual liquid nitrogen injection quantity mu 1 and the theoretical liquid nitrogen injection quantity mu 2 at the moment t by combining the transmission time lag tau;
dynamically determining a temperature control gain g of each kilogram of liquid nitrogen based on the current wind tunnel working condition;
Dividing the difference by the temperature control gain yields the temperature effect Δt, i.e., Δt= (μ1 (T- τ) - μ2)/g, caused by the actuator characteristic.
The temperature control gain g is updated in real time along with working conditions and is more accurate than fixed gain compensation.
S103, calculating feedforward control quantity for counteracting the thermal disturbance based on the heat generating power of the compressor and the heat transfer model of the cavity wall.
The step is feedforward control, and the feedforward control quantity is used for counteracting the heat generated by the compressor and the heat transfer of the cavity wall, so that the measurable disturbance is solved.
Specifically, the calculation method of feedforward control quantity for canceling thermal disturbance is as follows:
Collecting the outlet temperature, the inlet temperature and the pressure of the compressor, calculating the power of the compressor and converting the power into the heat-generating power of the compressor;
Collecting the wall temperature and the airflow temperature of key measuring points, and calculating the wall heat transfer power according to a convection heat transfer formula;
and synthesizing the heat generating power of the compressor and the heat transferring power of the cavity wall to obtain feedforward control quantity for counteracting the heat disturbance, namely counteracting the liquid nitrogen flow required by the heat generating of the compressor and the heat transferring of the cavity wall.
S104, calculating the self-adaptive compensation quantity by using the temperature-influence-corrected error signal through the tracking target temperature output by the reference model.
The step is model reference self-adaptive dynamic compensation control, and aims to offset unmodeled disturbance (such as airflow pulsation and sensor noise) in a wind tunnel in real time so that the actual temperature accurately tracks an ideal track.
Specifically, the method for calculating the adaptive compensation amount comprises the following steps:
s104-1, establishing a controlled object reference model.
The method aims at designing a critical damping second-order reference model, and parameters of the critical damping second-order reference model are specifically optimized (natural frequency is 0.7, damping ratio is 0.95), the model converts set target temperature into a smooth transition curve, step change is avoided, and the output temperature track is ensured to have an index convergence characteristic without overshoot. The transfer function of the reference model is that,Wherein,Ωn controls the convergence speed (the smaller the value, the slower), epsilon sets the critical damping (avoids overshoot),Representing the transfer function, s is the complex variable in the laplace transform.
S104-2, calculating an error between the tracking target temperature output by the reference model and the actual wind tunnel temperature.
S104-3, introducing temperature influence caused by the characteristics of the actuating mechanism to correct errors.
The purpose of S104-2 and S104-3 is to calculate a corrected tracking error e, e=tt-Tc- Δt, tc being the tracking target temperature, tt being the actual wind tunnel temperature. In the step, delta T quantifies temperature deviation caused by nonlinearity (such as dead zone and saturation) of a liquid nitrogen valve, and the interference is removed from the error, so that the self-adaptive law focuses on the real disturbance.
S104-3, dynamically adjusting the parameter structure of the controller according to a preset self-adaptive law according to the correction error calculated in real time so as to minimize the correction error.
The method aims at dynamically optimizing compensation parameters, and based on correction errors e, adjusting control parameters in real time through an adaptive law, wherein when |e| is large, compensation force is quickly enhanced, disturbance is quickly restrained, and when |e| is close to zero, the fine adjustment parameters avoid oscillation.
S104-4, adjusting the updated control law to be the self-adaptive compensation quantity.
The purpose of this step is to output a disturbance compensation quantity, i.e. an adaptive compensation quantity, the value of which is proportional to the estimated unmodeled disturbance intensity, i.e. an increasing injection quantity of liquid nitrogen if a positive disturbance is detected and a decreasing injection quantity if a negative disturbance is detected.
S105, when the actual temperature deviates from the target threshold, the PI controller outputs the acceleration convergence control amount.
When the actual wind tunnel temperature does not converge to the target temperature for a long time, the PI control module is activated to output the accelerating convergence control quantity, and the hysteresis defect of the self-adaptive control is overcome. The layering strategy realizes the accurate classification processing of the disturbance type.
S106, synthesizing the feedforward control quantity, the self-adaptive compensation quantity and the acceleration convergence control quantity, and outputting a physical injection quantity to a liquid nitrogen system according to the saturation characteristic of the actuating mechanism and the transfer function model.
Specifically, the synthesis control amount [ ]) =Feedforward control amount+adaptive compensation amount+acceleration convergence control amount. The synthesized control quantity is corrected by the characteristic of an executing mechanism and then outputs a physical injection quantity muacl, wherein the muacl is generated according to the following rule:
, wherein, Synthetic control amount representing the feedforward control amount, the adaptive compensation amount, and the acceleration convergence control amountRate clipping and stroke clipping are performed and,Is the transfer function of the liquid nitrogen injection system.
The embodiment of the invention combines three control strategies of feedforward control, model reference self-adaptive control and PI control, can perform feedforward control on the influence of known heat sources such as heat generation of a compressor in a wind tunnel and heat transfer of a tunnel wall, can effectively estimate and offset unmodeled real-time disturbance, and simultaneously ensures that the steady-state value of the wind tunnel temperature converges to a target value. In the process, the method estimates the existing time lag, considers the effect generated by the characteristics of the executing mechanism, and can realize the rapid and accurate control of the low-temperature wind tunnel temperature.
Referring to fig. 2, a second embodiment of the present invention provides a low-temperature wind tunnel temperature control system 200 based on composite adaptive control, which includes a first calculation module 201, a second calculation module 202, a third calculation module 203, a fourth calculation module 204, a first output module 205, and a second output module 206, where the functions of the modules are specifically described as follows:
a first calculation module 201, configured to calculate, in real time, a transmission time lag from liquid nitrogen injection to sensing by a temperature sensor based on a fluid dynamics characteristic of the wind tunnel;
the second calculation module 202 is configured to calculate a temperature effect caused by the characteristic of the actuator according to the response characteristic of the input signal and the output flow of the liquid nitrogen valve and in combination with the transmission time lag;
A third calculation module 203, configured to calculate a feedforward control amount for counteracting the thermal disturbance based on the compressor heat generation power and the hole wall heat transfer model;
A fourth calculation module 204, configured to calculate an adaptive compensation amount by using the temperature-affected corrected error signal through the tracking target temperature output by the reference model;
A first output module 205, configured to output an acceleration convergence control amount by the PI controller when the actual temperature deviates from the target threshold;
And the second output module 206 is configured to synthesize the feedforward control amount, the adaptive compensation amount, and the acceleration convergence control amount, and output a physical injection amount to the liquid nitrogen system according to the saturation characteristic of the actuator and the transfer function model.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (7)
1. The low-temperature wind tunnel temperature control method based on the composite self-adaptive control is characterized by comprising the following steps of:
Based on the fluid dynamics characteristics of the wind tunnel, calculating the transmission time lag from the spraying of the liquid nitrogen into the wind tunnel to the perception of the temperature sensor in real time;
According to the response characteristics of the input signal and the output flow of the liquid nitrogen valve, calculating the temperature influence caused by the characteristics of the actuating mechanism by combining the transmission time lag;
Based on the heat generating power of the compressor and the heat transfer model of the cavity wall, calculating feedforward control quantity for counteracting the heat disturbance;
Calculating an adaptive compensation amount by using the temperature-affected corrected error signal through the tracking target temperature output by the reference model;
When the actual temperature deviates from the target threshold value, the PI controller outputs an acceleration convergence control amount;
The feedforward control quantity, the self-adaptive compensation quantity and the acceleration convergence control quantity are synthesized, and the physical injection quantity is output to a liquid nitrogen injection system according to the saturation characteristic of an actuating mechanism and a transfer function model, wherein the transmission time lag consists of the following three parts of delay from the actuating mechanism to a temperature sensor, delay of the actuating mechanism and acquisition delay of the temperature sensor, and the calculation formula of the transmission time lag tau is as follows:
;
;
Wherein, the Is the delay of the actuator to the temperature sensor,Is the execution delay of the liquid nitrogen injection system,Is the acquisition delay of the temperature sensor,、、、、The total pressure, temperature, mach number, volume and flow of the wind tunnel are respectively.
2. The low-temperature wind tunnel temperature control method based on composite adaptive control according to claim 1, wherein the calculation method of the temperature influence caused by the actuator characteristic is as follows:
Calculating the difference between the actual liquid nitrogen injection quantity and the theoretical liquid nitrogen injection quantity by combining the transmission time lag;
dynamically determining the temperature control gain of each kilogram of liquid nitrogen based on the current wind tunnel working condition;
dividing the difference by the temperature control gain to obtain the temperature influence caused by the characteristic of the actuating mechanism.
3. The low-temperature wind tunnel temperature control method based on composite adaptive control according to claim 1, wherein the calculation method of feedforward control quantity for counteracting thermal disturbance is as follows:
collecting the outlet temperature, the inlet temperature and the pressure of the compressor, and calculating the heat generating power of the compressor;
Collecting the wall temperature and the airflow temperature of key measuring points, and calculating the wall heat transfer power according to a convection heat transfer formula;
and the heat-generating power of the compressor and the heat-transferring power of the cavity wall are combined to obtain feedforward control quantity for counteracting the heat disturbance.
4. The method for controlling the temperature of a low-temperature wind tunnel based on composite adaptive control according to claim 1, wherein the transfer function of the reference model is:
wherein ,,Representing the transfer function, s is the complex variable in the laplace transform.
5. The low-temperature wind tunnel temperature control method based on composite adaptive control according to claim 1 or 4, wherein the adaptive compensation amount calculating method is as follows:
Calculating an error between the tracking target temperature output by the reference model and the actual wind tunnel temperature;
The temperature effects caused by the introduction of actuator characteristics are error corrected,
Dynamically adjusting the parameter structure of the controller according to a preset self-adaptive law according to the correction error calculated in real time so as to minimize the correction error;
The control law after the update is adjusted is the self-adaptive compensation quantity.
6. The low-temperature wind tunnel temperature control method based on composite adaptive control according to claim 1, wherein the physical injection quantity μacl is generated according to the following rule:
, wherein, Synthetic control amount representing the feedforward control amount, the adaptive compensation amount, and the acceleration convergence control amountRate clipping and stroke clipping are performed and,Is the transfer function of the liquid nitrogen injection system.
7. A low temperature wind tunnel temperature control system based on composite adaptive control configured to perform the low temperature wind tunnel temperature control method based on composite adaptive control according to any one of claims 1 to 6, comprising:
The first calculation module is used for calculating transmission time lags from the spraying of liquid nitrogen into the wind tunnel to the perception of the temperature sensor in real time based on the hydrodynamic characteristics of the wind tunnel;
The second calculation module is used for calculating the temperature influence caused by the characteristics of the actuating mechanism according to the response characteristics of the input signal and the output flow of the liquid nitrogen valve and combining the transmission time lag;
the third calculation module is used for calculating feedforward control quantity for counteracting thermal disturbance based on the heat generation power of the compressor and the heat transfer model of the cavity wall;
the fourth calculation module is used for calculating the self-adaptive compensation quantity by utilizing the temperature-affected corrected error signal through the tracking target temperature output by the reference model;
The first output module is used for outputting an acceleration convergence control quantity when the actual temperature deviates from a target threshold value;
And the second output module is used for synthesizing the feedforward control quantity, the self-adaptive compensation quantity and the acceleration convergence control quantity and outputting a physical injection quantity to the liquid nitrogen injection system according to the saturation characteristic of the actuating mechanism and the transfer function model.
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| CN114326849B (en) * | 2021-12-30 | 2022-07-08 | 中国汽车工程研究院股份有限公司 | Temperature control method for automotive environmental wind tunnel |
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| CN118817225B (en) * | 2024-09-19 | 2024-11-29 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | Method and system for optimizing uniformity of low-temperature wind tunnel temperature field |
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| CN108106746A (en) * | 2017-12-06 | 2018-06-01 | 西北工业大学 | The temperature survey of continuous wind tunnel cooling system and data collecting system |
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