CN115167546A - Aircraft engine rotating speed adjusting control method, control device and storage medium - Google Patents
Aircraft engine rotating speed adjusting control method, control device and storage medium Download PDFInfo
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Abstract
An aircraft engine speed regulation control method, a control device and a storage medium, wherein the method comprises the following steps: establishing an aeroengine switching control system model influenced by deterministic factors and random factors; determining a random promiscuous handover mechanism affected by deterministic factors and random factors; determining a dynamic event trigger sampling mechanism based on the random hybrid switching mechanism by using a preset dynamic event model; according to a preset undisturbed switching mechanism, based on the dynamic event trigger sampling mechanism, obtaining an undisturbed switching dynamic event trigger control scheme of the aircraft engine switching control system; and determining the parameters of the event-triggered undisturbed switching controller according to the random mixed switching mechanism and the undisturbed switching dynamic event trigger control scheme. The method can obviously improve the transient performance of the switching control mechanism, effectively reduce the information quantity in the communication channel, save system resources and is suitable for the rotating speed regulation control of an aircraft engine control system.
Description
Technical Field
The invention belongs to the technical field of automatic control, and particularly relates to a method, a device and a storage medium for regulating and controlling the rotating speed of an aircraft engine.
Background
Switching systems have a wide application background in the fields of aerospace, intelligent manufacturing, industrial processes and the like, and are receiving more and more attention. Switching systems exhibit multiple complexities due to the dynamic nature of the subsystems interleaved with the switching characteristics. The switching system includes a switching signal in addition to variables such as states, outputs, and inputs, which are the same as those of the non-switching system.
Along with the mutual penetration and mutual fusion of a network technology and a system control technology, the dependence degree of a modern control task of an aero-engine control system on a network is gradually improved, the contradiction between the task of switching control design and the task of pursuing smooth transition of the performance of the aero-engine control system is more and more prominent, and the important problem which needs to be solved urgently in the current aero-engine control system research is how to design a practical switching signal and research to realize the smooth transition of the performance between different modes under the designed switching signal.
Disclosure of Invention
An aircraft engine rotating speed regulation control method comprises the following steps: establishing an aeroengine switching control system model influenced by deterministic factors and random factors, designing a random hybrid switching mechanism simultaneously influenced by both the deterministic factors and the random factors, giving a dynamic event triggering sampling mechanism by utilizing an additional dynamic event model, introducing an undisturbed switching mechanism, obtaining an undisturbed switching dynamic event triggering controller design scheme of the aeroengine switching control system, and solving parameters of an event triggering undisturbed switching controller; the method can obviously improve the transient performance of the switching control mechanism, effectively reduce the information quantity in the communication channel, save system resources and is suitable for the rotating speed regulation control of an aircraft engine control system.
The technical problem to be solved by the invention is as follows: the undisturbed switching constraint condition is reconstructed, and the undisturbed switching dynamic event triggering strategy of the aircraft engine switching control system is provided by utilizing a dynamic event triggering sampling mechanism and a random mixed switching mechanism which is simultaneously influenced by both deterministic factors and random factors, so that the speed regulation control problem of the aircraft engine switching control system is solved, and the undisturbed switching performance is ensured.
In order to solve the above problem, the present invention provides, in a first aspect, an aircraft engine speed regulation control method, including:
establishing an aeroengine switching control system model influenced by deterministic factors and random factors;
determining a random promiscuous handover mechanism affected by deterministic factors and random factors;
determining a dynamic event trigger sampling mechanism based on a random hybrid switching mechanism by using a preset dynamic event model;
according to a preset undisturbed switching mechanism, a dynamic event trigger sampling mechanism is used for obtaining an undisturbed switching dynamic event trigger control scheme of the aero-engine switching control system;
and determining the parameters of the event-triggered undisturbed switching controller according to a random mixed switching mechanism and an undisturbed switching dynamic event-triggered control scheme.
In some implementations of the first aspect, the model of the aircraft engine switching control system that is affected by deterministic and stochastic factors is:
wherein, x (t), u σ(t) (t), z (t) and ω (t) represent the system state, control input, controlled output and external disturbances respectively,
is a member of a tight collection
Of the scheduling variable, p i Is ρThe (c) th element of (a),
is the rate of change of rho in an s-dimensional vector space
Is that the material is bounded by the surface,
i＝1,...,s，
is that
The (c) th element of (a),ρ i is that
The lower bound of (a) is,
is that
Upper bound of (A), the scheduling variable ρ is measurable in real time, A σ(t) (ρ)、B σ(t) (ρ)、C σ(t) (ρ)、D σ(t) (ρ)、M σ(t) (p) and N σ(t) (p) is a continuous matrix function with respect to the scheduling variable p,
is a function of the switching of the network,
is a positive real number set, H is a positive integer set, the switching function σ (t) is used to assign the activation state of the subsystem, τ r R =0,1,2.. Is the switching time, when t e [ τ ∈ r ,τ r+1 ) When σ (t) = k, k ∈ H, that is, the kth subsystem is activated, and the state trajectory of the kth subsystem is the state trajectory of the system (1.1).
In some implementations of the first aspect, determining a random promiscuous handover mechanism affected by deterministic and stochastic factors includes:
given a time constant T k Let τ be r+1 -τ r ≥T k Definition of
k∈H，l＝0,1,...,L k -1, r =0,1,2, ·, time interval
When t ∈ [ tau ] r ,τ r+1 ) When σ (t) = k, k ∈ H, based on deterministic switching rules, for τ r ≤t＜τ r +T k The transition probability of the system from the mode k at the time t to the mode j at the time t + delta is
Wherein, delta is more than 0 and less than or equal to tau r +T k -t，k,j∈H，r＝0,1,2,...；
When tau is r +T k ≤t＜τ r+1 Based on the randomness switching rule, the transition probability of the system from the mode k at the time t to the mode j at the time t + delta is
Wherein the content of the first and second substances,
Δ > 0,o (Δ) is a high order infinitesimal quantity of Δ, π kj Is the transfer rate from modality k to modality j, and
k,j∈H，r＝0,1,2,...。
in some implementations of the first aspect, determining a dynamic event trigger sampling mechanism based on a random promiscuous handover mechanism using a preset dynamic event model includes:
definition of
In order to trigger the sampling sequence,
to trigger the sampling instant, wherein,
is a set of real numbers, the current trigger sampling instant
Less than the next trigger sample time
And the next trigger sample time
Is composed of
Wherein · - T Representing the transpose of a vector or matrix,
is the state sampling error, ξ σ(t) Is a non-negative constant, epsilon σ(t) Is a normal number, Ψ σ(t) (t, ρ) and φ σ(t) (t, ρ) are tuning parameters, η (t) satisfies a predetermined dynamic event model
Wherein the content of the first and second substances,
is an initial condition of eta (t), epsilon σ(t) Is a normal number, when σ (t) = k, k ∈ H, the adjusting parameter Φ k (t, ρ) and Ψ k (t, ρ) is selected as follows
Wherein, 1-L k /T k (t-τ k,l )＞0，L k /T k (t-τ k,l )＞0，Φ k,l (ρ)＞0，
Ψ k,l (ρ)＞0，
k∈H，l＝0,1,...,L k -1,r =0,1,2,. Is a tuning parameter;
calculating a value of the state sample based on the determined dynamic event trigger sampling mechanism
In some implementations of the first aspect, obtaining an undisturbed switching dynamic event trigger control scheme of an aircraft engine switching control system based on a dynamic event trigger sampling mechanism according to a preset undisturbed switching mechanism includes:
based on triggering the sampling mechanism according to the determined dynamic event, calculating the obtained state sampling value
Determining that an event triggers a switching controller to
Wherein the content of the first and second substances,
indicating the last transmitted state value, K σ(t) (t, ρ) is the controller gain to be designed, in the form of σ (t) = k, k ∈ H when σ (t) = k, k ∈ H
Wherein, K k (t, ρ) and
to design variables such that
(i) When ω (t) =0, the system (1.1) is stable;
(ii) Designed event-triggered switching controller (4.1) satisfies constraints
Wherein the content of the first and second substances,
is a normal number which is a positive number,
is a virtual control signal that is a virtual control signal,
is the virtual control gain, | | | · | | is the 2 norm of the vector;
(iii) System (1.1) under zero initial conditions, the constant γ > 0 exists for all
z (t) satisfies
Wherein the content of the first and second substances,
is an n-willebrand-lattice integrable space,
is a mathematical expectation of a stochastic process.
In some implementations of the first aspect, determining the event-triggered undisturbed handover controller parameter according to the random promiscuous handover mechanism and the undisturbed handover dynamic event-triggered control scheme includes:
presetting a positive integer L k Positive number T k Selecting a positive number epsilon k ，γ k ，
∈ k Matrix function Y k,l (ρ)，
Positive definite matrix function X k,l (ρ)，
For ρ ∈ Φ, k, j ∈ H, L =0,1 k 1, such that the inequality of 5.1-5.5 holds,
wherein the content of the first and second substances,
form a control gain K k Design variable K of (t, ρ) k (t, ρ) and
is composed of
In a second aspect, there is provided an aircraft engine speed regulation control apparatus, the apparatus comprising:
the establishing module is used for establishing an aircraft engine switching control system model influenced by deterministic factors and random factors;
the processing module is used for determining a random hybrid switching mechanism influenced by deterministic factors and random factors;
the processing module is also used for determining a dynamic event trigger sampling mechanism based on a random hybrid switching mechanism by utilizing a preset dynamic event model;
the processing module is also used for triggering a sampling mechanism based on a dynamic event according to a preset undisturbed switching mechanism to obtain an undisturbed switching dynamic event triggering control scheme of the aircraft engine switching control system;
and the processing module is also used for determining the parameters of the event-triggered undisturbed switching controller according to the random mixed switching mechanism and the undisturbed switching dynamic event-triggered control scheme.
In a third aspect, a computer storage medium is provided, on which computer program instructions are stored, which, when executed by a processor, implement the first aspect and any one of the implementation manners of the first aspect.
The invention has the beneficial effects that:
1) The model of the aircraft engine switching control system is described by using the stochastic hybrid switching model which is simultaneously influenced by both deterministic factors and stochastic factors, so that the characteristics of strong mixing and randomness of the aircraft engine switching control system can be well shown, and the dynamic characteristics of the aircraft engine switching control system can be well described.
2) By means of an additional dynamic event model, a dynamic event trigger sampling technology is designed, the size of information quantity in a communication channel is effectively reduced, and system resources are saved.
3) The method improves solvability conditions, optimizes the solving process and can solve the problem of undisturbed switching control of the aircraft engine switching control system.
Drawings
FIG. 1 is a schematic flow chart of a method for regulating and controlling the rotating speed of an aircraft engine according to the present invention;
fig. 2 is a schematic structural diagram of an aircraft engine speed regulation control device provided by the invention.
Detailed Description
Since the properties of the switching system are largely determined by the switching signal, the influence of the design of the switching signal on the switching system is self-evident. Although the introduction of switching systems and switching techniques brings an unprecedented opportunity for solving the complex control problem of an actual system with complex dynamics, the generated new problem cannot be ignored, in engineering practice, a control target can be realized only by switching a plurality of controllers, and due to the reasons that control signals are discontinuous at switching points, the states and the change rates of subsystems may have large changes, and the like, at this time, the switching may cause the performance of the system to oscillate in the transition process, and the stability of the system is damaged. The aero-engine works in a wide flight envelope and needs to operate in multiple working states, the external environment, the dynamic behavior rule and the control target of each mode are different, and corresponding switching of the controller is necessarily needed when different working modes are switched.
Along with the mutual penetration and mutual fusion of a network technology and a system control technology, the dependence degree of a modern control task of an aero-engine control system on a network is gradually improved, the contradiction between the task of switching control design and the task of pursuing smooth transition of the performance of the aero-engine control system is more and more prominent, and the important problem which needs to be solved urgently in the current aero-engine control system research is how to design a practical switching signal and research to realize the smooth transition of the performance between different modes under the designed switching signal. Based on the reasons, the invention provides a method for adjusting and controlling the rotating speed of an aircraft engine, which is a method for adjusting and controlling the rotating speed of an aircraft engine control system by considering dynamic event driving and undisturbed switching performance.
As shown in FIG. 1, the present invention is realized as follows (the speed control problem of the switching control system of an aircraft engine is taken as an example to explain the concrete realization of the method)
S101: establishing an aeroengine switching control system model influenced by deterministic factors and random factors;
s102: determining a random promiscuous handover mechanism affected by deterministic factors and random factors;
s103: determining a dynamic event trigger sampling mechanism based on a random hybrid switching mechanism by using a preset dynamic event model;
s104: according to a preset undisturbed switching mechanism, a dynamic event trigger sampling mechanism is based on, and an undisturbed switching dynamic event trigger control scheme of the aircraft engine switching control system is obtained;
s105: and determining the parameters of the event-triggered undisturbed switching controller according to a random mixed switching mechanism and the undisturbed switching dynamic event trigger control scheme.
In the step S101, establishing an aircraft engine switching control system model affected by deterministic factors and stochastic factors includes:
wherein, x (t), u σ(t) (t), z (t) and ω (t) represent the system state, control input, respectively,The controlled output and the external disturbance,
is a member of a tight collection
Of the scheduling variable, p i Is the i-th element in p,
is the rate of change of rho in an s-dimensional vector space
Is that the material is bounded by the surface,
i＝1,...,s，
is that
The (c) th element of (a),ρ i is that
The lower bound of (a) is,
is that
Upper bound of (A), the scheduling variable ρ is measurable in real time, A σ(t) (ρ)、B σ(t) (ρ)、C σ(t) (ρ)、D σ(t) (ρ)、M σ(t) (p) and N σ(t) (p) is a continuous matrix function with respect to the scheduling variable p,
is a function of the switching of the network,
is a set of positive real numbers, H is a set of positive integers, the switching function σ (t) is used to assign the activation state of the subsystem, τ r R =0,1,2.. Is the switching time, when t e [ τ ∈ r ,τ r+1 ) When σ (t) = k, k ∈ H, that is, the kth subsystem is activated, and the state trajectory of the kth subsystem is the state trajectory of the system (1.1), in this example implementation, an aircraft engine switching control system model is established as follows
Wherein Δ n F Is the low pressure rotor speed increase, Δ n C Is the high pressure rotor speed increase, Δ W F Is the fuel flow increment, Δ z EPR Is the engine compression ratio increment, ω (t) is the degradation parameter of the aircraft engine, σ (t): [0, ∞) → {1,2} is the switching signal, ρ = [ ρ = ] ρ 1 ,ρ 2 ] T Is the scheduling variable, p 1 Is the Mach number, p 2 Is the height, Δ n F And Δ n C As a system state, Δ W F As control input,. DELTA.z EPR As a control output, ω (t) is taken as a disturbance, let k =1,2, parameterizing the system matrix, which can be expressed as
C 1 (ρ)＝10 -5 [[-0.55 19.82]+ρ 1 [5.45 1.81]+ρ 2 [18.36 -0.55]]，
C 2 (ρ)＝10 -5 [[0 19.58]+ρ 1 [0 2.82]+ρ 2 [0 -0.56]]，
D 1 (ρ)＝0.0234+0.0018ρ 1 -0.0017ρ 2 ，D 2 (ρ)＝0.0169+0.0034ρ 1 +0.0041ρ 2 ，
The degradation parameter is selected to be omega (t) = e -t sint, mach number ρ is selected 1 In [0.1,0.4]Mach internal variation, height ρ 2 Is [0,0.8]×10 5 The length of each foot of the product,ρ i and
is 1.4.
In the step of determining the random promiscuous handover mechanism affected by the deterministic factor and the random factor in S102, the specific steps may be: given a time constant T k Let τ be r+1 -τ r ≥T k Definition of τ r,0 ＝τ r ，
k∈H，l＝0,1,...,L k -1, r =0,1,2, ·, time interval
When t ∈ [ tau ] r ,τ r+1 ) When σ (t) = k, k ∈ H, a deterministic switching rule is first given, for τ r ≤t＜τ r +T k System by modality at time tThe transition probability of modality j at time k to t + Δ is
Wherein, delta is more than 0 and less than or equal to tau r +T k -t, k, j ∈ H, r =0,1,2, then give a stochastic switching rule when τ is r +T k ≤t＜τ r+1 The transition probability of the system from the mode k at the time t to the mode j at the time t + delta is
Wherein, the first and the second end of the pipe are connected with each other,
Δ > 0,o (Δ) is a high order infinitesimal quantity of Δ, π kj Is the transfer rate from modality k to modality j, and
k, j ∈ H, r =0,1,2, in this example implementation, k =1,2,t 1 ＝T 2 ＝0.6，L k ＝1，π 11 ＝-0.4，π 12 ＝0.4，π 21 ＝0.3，π 22 ＝-0.3。
In step S103, determining a dynamic event trigger sampling mechanism based on the random promiscuous switching mechanism by using a preset dynamic event model, specifically: definition of
Is a sequence of trigger samples that are,
is the trigger sampling instant, wherein,
is a set of real numbers, the current trigger sampling instant
Less than the next trigger sample time
And the next trigger sample time
Is composed of
Wherein · - T Representing the transpose of a vector or matrix,
is the state sampling error, ξ σ(t) Is a non-negative constant, epsilon σ(t) Is a normal number, Ψ σ(t) (t, ρ) and Φ σ(t) (t, ρ) are tuning parameters, η (t) satisfies the following dynamic event model
Wherein
Is an initial condition of eta (t), epsilon σ(t) Is a normal number, when σ (t) = k, k ∈ H, the parameter Φ is adjusted k (t, ρ) and Ψ k (t, ρ) is selected as follows
Wherein, 1-L k /T k (t-τ k,l )＞0，L k /T k (t-τ k,l )＞0，Φ k,l (ρ)＞0，
Ψ k,l (ρ)＞0，
k∈H，l＝0,1,...,L k -1,r =0,1,2, … are adjustment parameters, and the state sample value is obtained by using a designed dynamic event triggered sampling mechanism
The controller design for the next step, in this example implementation, may be a specific parameter, ξ 1 ＝0.1，ξ 2 ＝0.5，ε 1 ＝0.004，ε 2 ＝0.002， 1 ＝ 2 =7.1617, initial value η 0 ＝0.2。
In the process of obtaining the undisturbed switching dynamic event trigger control scheme of the aircraft engine switching control system based on the dynamic event trigger sampling mechanism according to the preset undisturbed switching mechanism at S104, the undisturbed switching mechanism can be specifically introduced to obtain the undisturbed switching dynamic event trigger controller design scheme of the aircraft engine switching control system: using the state sample value obtained in S103
Design event triggered switching controller
Wherein the content of the first and second substances,
a status value representing the last transmission is indicated,
is the controller gain to be designed when σ (t)) K ∈ H, the form is as follows
K k (t, ρ) and
to design variables such that
(i) When ω (t) =0, the system (1.1) is stable;
(ii) Designed event-triggered switching controller (4.1) satisfies constraints
Wherein, the first and the second end of the pipe are connected with each other,
is a normal number which is a positive number,
is a virtual control signal that is a virtual control signal,
is the virtual control gain, | | | · | | is the 2 norm of the vector;
(iii) System (1.1) at zero initial conditions, there is a constant γ > 0 for all
z (t) satisfies
Wherein the content of the first and second substances,
is an n-willebrand-lattice integrable space,
is a mathematical expectation of a stochastic process.
In the process of determining the parameters of the event-triggered undisturbed handover controller according to the random miscellaneous handover mechanism and the undisturbed handover dynamic event trigger control scheme in S105, the specific steps may be as follows: given a positive integer L k Positive number T k Selecting a positive number epsilon k ，γ k ，
∈ k Function of matrix Y k,l (ρ)，
Positive definite matrix function X k,l (ρ)，
For ρ ∈ Φ, k, j ∈ H, L =0,1, …, L k 1, such that the following inequality of 5.1-5.5 holds
Wherein the content of the first and second substances,
in this example implementation, from the data given above, one can obtain
Y 10 (ρ)＝10 -3 [[0.9 6.1]+ρ 1 [0.1698 0.6638]+ρ 2 [0.2621 0.1874]]，
Y 11 (ρ)＝10 -3 [[0.4 1.4]+ρ 1 [0.0387 0.1196]+ρ 2 [0.0071 -0.0523]]，
Y 20 (ρ)＝10 -3 [[1.3 7.1]+ρ 1 [0.1457 0.8985]+ρ 2 [-0.2822 -0.8437]]，
Y 21 (ρ)＝10 -3 [[0.5 1.7]+ρ 1 [0.0596 0.2142]+ρ 2 [-0.0967 -0.1668]]，
Undisturbed handover indicator
And H ∞ The performance index gamma =7.1454, constitutes the control gain K k Design variable K of (t, ρ) k (t, ρ) and
is given by
K k (t,ρ)＝[(1-L k /T k (t-τ k,l ))Y k,l (ρ)+L k /T k (t-τ k,l )Y k,l+1 (ρ)][(1-L k /T k (t-τ k,l ))X k,l (ρ)+L k /T k (t-τ k,l )X k,l+1 (ρ)] -1 ，
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or additions or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
In addition, the invention also provides an aircraft engine speed regulation control device, as shown in fig. 2, the device comprises:
the establishing module 201 is used for establishing an aircraft engine switching control system model influenced by deterministic factors and random factors;
a processing module 202, configured to determine a random promiscuous handover mechanism affected by a deterministic factor and a random factor;
the processing module 202 is further configured to determine, by using a preset dynamic event model, a dynamic event trigger sampling mechanism based on the random hybrid switching mechanism;
the processing module 202 is further configured to obtain an undisturbed switching dynamic event trigger control scheme of the aircraft engine switching control system based on the dynamic event trigger sampling mechanism according to a preset undisturbed switching mechanism;
the processing module 202 is further configured to determine an event-triggered undisturbed handover controller parameter according to the random miscellaneous handover mechanism and the undisturbed handover dynamic event-triggered control scheme.
In addition, it should be noted that the apparatus provided in the present invention can implement any step in the method shown in fig. 1, and can implement the technical effect thereof, and for brevity, the details are not described herein again.
Furthermore, the present invention also provides a computer storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method of any of fig. 1.
It should also be noted that the exemplary embodiments mentioned in this patent describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based computer instructions which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
As described above, only the specific embodiments of the present invention are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the scope of the present invention.
Claims (8)
1. An aircraft engine speed regulation control method, characterized in that the method comprises:
establishing an aeroengine switching control system model influenced by deterministic factors and random factors;
determining a random promiscuous handover mechanism influenced by deterministic factors and random factors;
determining a dynamic event trigger sampling mechanism based on the random hybrid switching mechanism by using a preset dynamic event model;
according to a preset undisturbed switching mechanism, based on the dynamic event trigger sampling mechanism, obtaining an undisturbed switching dynamic event trigger control scheme of the aircraft engine switching control system;
and determining the parameters of the event-triggered undisturbed switching controller according to the random hybrid switching mechanism and the undisturbed switching dynamic event trigger control scheme.
2. The method of claim 1, wherein the aircraft engine switching control system model affected by deterministic and stochastic factors is:
wherein, x (t), u σ(t) (t), z (t) and ω (t) represent the system state, control input, controlled output and external disturbances respectively,
is a member of a tight collection
Of the scheduling variable, p i Is the i-th element in p,
is the rate of change of rho in an s-dimensional vector space
Is that the material is bounded by the surface,
is that
The (c) th element of (a),ρ i is that
The lower bound of (a) is,
is that
Upper bound of (A), the scheduling variable ρ is measurable in real time, A σ(t) (ρ)、B σ(t) (ρ)、C σ(t) (ρ)、D σ(t) (ρ)、M σ(t) (p) and N σ(t) (p) is a continuous matrix function with respect to the scheduling variable p,
is a function of the switching of the network,
is a positive real number set, H is a positive integer set, the switching function σ (t) is used to assign the activation state of the subsystem, τ r R =0,1,2.. Is the switching time, when t e [ τ ∈ r ,τ r+1 ) When σ (t) = k, k ∈ H, that is, the kth subsystem is activated, and the state trajectory of the kth subsystem is the state trajectory of the system (1.1).
3. The method of claim 1, wherein determining a random promiscuous handover mechanism affected by deterministic and stochastic factors comprises:
given a time constant T k Let τ be r+1 -τ r ≥T k Definition of τ r,0 ＝τ r ，
Time interval
When t ∈ [ tau ] r ,τ r+1 ) When σ (t) = k, k ∈ H, based on deterministic switching rules, for τ r ≤t＜τ r +T k The transition probability of the system from the mode k at the time t to the mode j at the time t + delta is
Wherein, delta is more than 0 and less than or equal to tau r +T k -t，k,j∈H，r＝0,1,2,...；
When tau is r +T k ≤t＜τ r+1 Based on the randomness switching rule, the transition probability of the system from the mode k at the time t to the mode j at the time t + delta is
Wherein the content of the first and second substances,
o (Δ) is a higher order infinitesimal quantity of Δ, π kj Is the transfer rate from modality k to modality j, and
4. the method according to claim 1, wherein the determining a dynamic event trigger sampling mechanism based on the stochastic hybrid handover mechanism by using a preset dynamic event model comprises:
definition of
In order to trigger the sampling sequence,
to trigger the sampling instant, wherein,
is a set of real numbers, the current trigger sampling instant
Less than the next trigger sample time
And the next trigger sample time
Is composed of
Wherein the content of the first and second substances,
representing the transpose of a vector or matrix,
is the state sampling error, ξ σ(t) Is a non-negative constant, epsilon σ(t) Is a normal number, Ψ σ(t) (t, ρ) and φ σ(t) (t, ρ) are tuning parameters, η (t) satisfies a predetermined dynamic event model
Wherein the content of the first and second substances,
is an initial condition of eta (t), epsilon σ(t) Is a normal number, when σ (t) = k, k ∈ H, the adjusting parameter Φ k (t, ρ) and Ψ k (t, ρ) is selected as follows
Wherein, 1-L k /T k (t-τ k,l )＞0，L k /T k (t-τ k,l )＞0，Φ k,l (ρ)＞0，
Ψ k,l (ρ)＞0，
k∈H，l＝0,1,...,L k -1,r =0,1,2,. Is a tuning parameter;
calculating a value of the state sample based on the determined dynamic event trigger sampling mechanism
5. The method according to claim 4, wherein the obtaining of the undisturbed switching dynamic event triggered control scheme for the aircraft engine switching control system based on the dynamic event triggered sampling mechanism according to a preset undisturbed switching mechanism comprises:
based on triggering the sampling mechanism according to the determined dynamic event, calculating the obtained state sampling value
Determining that an event triggers switching of the controller to
Wherein the content of the first and second substances,
a status value representing the last transmission is indicated,
is the controller gain to be designed, when σ (t) = k, k ∈ H, the form is
Wherein, K k (t, ρ) and
to design variables such that
(i) When ω (t) =0, the system (1.1) is stable;
(ii) The designed event-triggered switching controller (4.1) satisfies the constraint
Wherein the content of the first and second substances,
is a normal number which is a positive number,
is a virtual control signal that is a virtual control signal,
is the virtual control gain, | | | · | | is the 2 norm of the vector;
(iii) The system (1.1) is under zero initial conditions,the constant gamma > 0 exists for all
z (t) satisfies
Wherein the content of the first and second substances,
is an n-willebrand-lattice integrable space,
is a mathematical expectation of a stochastic process.
6. The method of claim 1, wherein determining event-triggered undisturbed handover controller parameters based on the stochastic hybrid handover mechanism and the undisturbed handover dynamic event-triggered control scheme comprises:
presetting a positive integer L k Positive number T k Selecting a positive number epsilon k ，γ k ，
∈ k Function of matrix Y k,l (ρ)，
Positive definite matrix function X k,l (ρ)，
For ρ ∈ Φ, k, j ∈ H, L =0,1 k 1, such that the inequality of 5.1-5.5 holds,
wherein, the first and the second end of the pipe are connected with each other,
form a control gain
Design variable K of k (t, ρ) and
is composed of
K k (t,ρ)＝[(1-L k /T k (t-τ k,l ))Y k,l (ρ)+L k /T k (t-τ k,l )Y k,l+1 (ρ)][(1-L k /T k (t-τ k,l ))X k,l (ρ)+L k /T k (t-τ k,l )X k,l+1 (ρ)] -1 ，
7. An aircraft engine speed regulation control apparatus, the apparatus comprising:
the establishing module is used for establishing an aircraft engine switching control system model influenced by deterministic factors and random factors;
the processing module is used for determining a random hybrid switching mechanism influenced by deterministic factors and random factors;
the processing module is further configured to determine, by using a preset dynamic event model, a dynamic event trigger sampling mechanism based on the random hybrid switching mechanism;
the processing module is further used for triggering a sampling mechanism based on the dynamic event according to a preset undisturbed switching mechanism to obtain an undisturbed switching dynamic event triggering control scheme of the aircraft engine switching control system;
the processing module is further configured to determine an event-triggered undisturbed handover controller parameter according to the random miscellaneous handover mechanism and the undisturbed handover dynamic event-triggered control scheme.
8. A computer storage medium having computer program instructions stored thereon which, when executed by a processor, implement the method of any one of claims 1-6.
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