CN115857419A - Multi-loop decoupling control method for large-scale high-altitude platform cabin compression simulation system - Google Patents
Multi-loop decoupling control method for large-scale high-altitude platform cabin compression simulation system Download PDFInfo
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Abstract
The invention provides a multi-loop decoupling control method of a large-scale high-altitude platform cabin compression-molding simulation system, which comprises the following steps: step 1, acquiring coupling intermodulation interference generated when multiple loops of the same subsystem work cooperatively in a test object according to the characteristics of the test object; step 2, modeling each loop in the same subsystem and simplifying the engineering to obtain a single-input-single-output model of each loop when the multiple loops work cooperatively; and 3, designing an active disturbance rejection controller for the single-input-single-output model of each loop, and constructing a multi-loop parallel cooperative adjustment decoupling control framework according to the active disturbance rejection controller. In the high-altitude simulation test, the method can coordinate a plurality of loops of different types and specifications to simulate the aerial working environment of the engine at the same time so as to realize the invariance of the simulation of the working environment conditions under different running states and operating conditions of the engine, and particularly realize the thrust transient test process of generating large-scale violent rapid change in the air flow.
Description
Technical Field
The invention belongs to the field of high-altitude simulation tests of aero-engines, relates to an environment simulation control technology of a high-altitude simulation test bed, and particularly relates to a multi-loop decoupling control method of a large-scale high-altitude platform cabin compression simulation system.
Background
The large-scale aeroengine high altitude simulation test platform is used as a high altitude platform with the widest high altitude simulation test boundary in China at present, can meet the high altitude simulation test requirements of military warplane power and large-scale military transport machine power, and considers the test requirements of civil aircrafts with large bypass ratios.
According to the prior art, the variable characteristics of a wide range of flow rates cannot be met by controlling a single regulating device, which is caused by the following: the size of the regulating device required for air flow regulation requirements of this magnitude will far exceed the specifications that can be produced in the country at present, and its moment of inertia will also far exceed the engineering practice of the control of the high-altitude plant. Therefore, for the simulation of the environmental conditions of the high-altitude simulation test bed of the large-scale aircraft engine, the high-quality environmental simulation can be realized only by cooperatively controlling a plurality of adjusting devices with different specifications.
Although the problem that a single huge device cannot be produced and controlled can be effectively solved through the cooperative operation of multiple devices, a real-time decoupling cooperative control problem is brought. Because the inherent regulation characteristics and the constraint boundaries of a plurality of parallel regulation devices are different, although a plurality of devices can be called simultaneously to obviously improve the convergence speed in the wide-range and rapid dynamic regulation of thrust transient of a turbofan engine with a large bypass ratio, the problem of non-linear interference which cannot be measured is generated on target control due to inconsistent degree of flow regulation when the plurality of devices are actuated simultaneously.
Moreover, the PID control method or the single-loop active anti-interference control method used by the conventional high-altitude platform environment simulation system cannot effectively solve the problem of coupling interference generated in the process of multi-device cooperative automatic control and cannot support the adaptation of a large-scale engine high-altitude simulation test bed to high-altitude simulation tests of different types of engines.
Disclosure of Invention
In a high-altitude simulation test, in order to realize the purpose of simultaneously coordinating a plurality of adjusting devices with different types and specifications to simulate the aerial working environment of an engine so as to realize the invariance of the simulation of the working environment condition under different running states and operating conditions of the engine, particularly in the thrust transient test process of large-scale severe and rapid change of air flow, the invention designs a multi-loop decoupling control method of a large-scale high-altitude platform cabin compression simulation system.
The technical scheme for realizing the purpose of the invention is as follows: a multi-loop decoupling control method for a large-scale high-altitude platform cabin compression simulation system comprises the following steps:
step 1, acquiring coupling intermodulation interference generated when multiple loops of the same subsystem work cooperatively in a test object according to the characteristics of the test object;
step 2, modeling each loop in the same subsystem and simplifying engineering to obtain a single-input-single-output model of each loop when multiple loops work cooperatively;
and 3, designing an active disturbance rejection controller for the single-input-single-output model of each loop, and constructing a multi-loop parallel cooperative adjustment decoupling control framework according to the active disturbance rejection controller.
Further, in step 1, the test object characteristics include total intake pressure, simulated altitude, air flow rate dynamic change time, and air flow rate dynamic change range.
Further, in step 1, the coupling intermodulation interference generated when the multiple loops of the same system work cooperatively is obtained in the simulation environment according to the PID algorithm.
Further, in step 1, the same subsystem multi-loop is configured for parallel overdrive.
Further, in step 2, modeling and engineering simplification are performed on each loop in the same subsystem, and a single-input-single-output model of each loop during multi-loop cooperative work is obtained, including:
step 2.1, acquiring a multi-loop cooperative work simulation model;
and 2.2, according to the multi-loop active disturbance rejection decoupling control technology, regarding each loop as a single-input and single-output nonlinear model which is subjected to unknown disturbance in the simulation model when the multi-loop cooperative work is performed, simplifying the multi-loop cooperative work simulation model, and obtaining a single-input and single-output model of each loop.
Further, in step 3, the active disturbance rejection controller for the single-input-single-output model of each loop is designed and obtained according to a single-loop control technology.
Further, the multi-loop decoupling control method further comprises the following steps:
and 4, verifying the multi-loop parallel cooperative adjustment decoupling control framework.
Compared with the prior art, the invention has the beneficial effects that: the multi-loop decoupling control method of the large-scale high-altitude platform cabin pressure simulation system effectively solves the control problem when multiple loops (which can also be called as multiple execution mechanisms or multiple adjusting devices) act cooperatively, and can greatly improve the deterioration influence on the simulation quality of total intake pressure, cabin pressure and press ratio caused by poor overall dynamic response, long adjusting process time, strong disturbance generated in the relay process and incapability of inhibiting the coupling intermodulation generated when the multiple devices act simultaneously in the traditional relay type control strategy.
Meanwhile, the multi-loop decoupling control method not only greatly improves the quality of flight height condition simulation, provides better test conditions for large-duct tests than civil aircraft tests, but also solves the problem of cooperative control of the DN4500 double-disc butterfly valve for the first time, ensures the high-precision requirement of flight environment simulation of a certain large and medium-sized turbojet turbofan engine high-altitude simulation test bed in China, ensures the progress of high-altitude simulation tests of engines in important models, is favorable for promoting the design and construction of other large-sized high-altitude test beds in China, has an important promotion effect on the design and application of subsequent other large-sized high-altitude cabin environment simulation systems, and has obvious engineering practical value.
Drawings
In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings used in the description of the embodiment will be briefly introduced below.
FIG. 1 is a flow chart of a multi-loop decoupling control method of a large-scale high-altitude platform cabin pressure simulation system according to the invention;
FIG. 2 is a simulation model of a "dual tuned loop" for a height simulation cavity of a mid-and-large turbojet turbofan engine according to an embodiment;
FIG. 3 is a decoupling control framework of a "dual-loop controller-dual-regulation device" designed for a height simulation cavity of a certain medium and large turbojet turbofan engine according to a specific embodiment.
Detailed Description
The invention will be further described with reference to specific embodiments, and the advantages and features of the invention will become apparent as the description proceeds. These examples are illustrative only and do not limit the scope of the present invention in any way. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention, and that such changes and modifications may be made without departing from the spirit and scope of the invention.
The specific embodiment provides a multi-loop decoupling control method for a large-scale high-altitude platform cabin compression simulation system, which is shown in fig. 1 and comprises the following steps:
step 1, acquiring coupling intermodulation interference generated when the same subsystem in a test object works in a multi-loop cooperation mode according to the characteristics of the test object.
In this step, the test object characteristics include total intake pressure, simulation height, air flow dynamic change time, and air flow dynamic change range.
In this step, the coupling intermodulation interference generated when the multiple loops of the same system work cooperatively is obtained in the simulation environment according to the PID algorithm.
It should be noted that a test object may include a plurality of subsystems, and each subsystem is provided with a plurality of circuits for performing cooperative control. For example: the test object can be a main large test object of a high-altitude simulation test bed of a certain large engine, namely the engine, and the subsystem can be a simulation cavity with a certain height in the engine, and is cooperatively controlled by a plunger valve of DN2000 of a loop 1 and a butterfly valve of DN1800 of a loop 2.
It should also be particularly emphasized that the multi-circuit cooperation here can also be referred to as multi-actuator cooperation or multi-regulator cooperation.
In this step, the multiple loops of the same subsystem are configured for parallel overdrive.
And 2, modeling each loop in the same subsystem, simplifying engineering, and obtaining a single-input-single-output model of each loop when the multiple loops work cooperatively.
In this step, the basic theory of the coupling intermodulation interference optimization is as follows: the theory of realizing multi-loop cooperative control by adopting a multi-loop decoupling control method is deduced by taking the concept of invariance of active disturbance rejection control as a core. Specifically, modeling each loop in the same subsystem and simplifying engineering to obtain a single-input-single-output model when multiple loops work cooperatively, comprises:
step 2.1, acquiring a multi-loop cooperative work simulation model;
and 2.2, according to the multi-loop active disturbance rejection decoupling control technology, regarding each loop as a single-input-single-output nonlinear model which is subjected to unknown disturbance in the simulation model when the multi-loop is in cooperative work, simplifying the multi-loop cooperative work simulation model, and obtaining the single-input-single-output model of each loop.
And 3, designing an active disturbance rejection controller for the single-input-single-output model of each loop, and constructing a multi-loop parallel cooperative adjustment decoupling control framework according to the active disturbance rejection controller.
In this step, the active disturbance rejection controller for the single-input-single-output model of each loop is designed and obtained according to the single-loop control technology.
In an alternative embodiment, referring to fig. 1, the multi-loop parallel coordinated adjustment decoupling control framework is constructed, and the effects thereof need to be verified, that is:
and 4, verifying the multi-loop parallel coordinated adjustment decoupling control framework.
The multi-loop decoupling control method of the large-scale high-altitude platform cabin compression-molding simulation system disclosed by the specific embodiment is successfully applied to a flight altitude condition simulation control system of a large-scale engine high-altitude simulation test bed, and is effectively tested by a high-altitude simulation test of a turbofan engine with a large bypass ratio. Compared with a traditional cabin pressure simulation system adopting single-loop regulation, the multi-loop active disturbance rejection control structure and the method effectively solve the problem of the special multi-execution mechanism cooperative actuation control of the cabin, particularly greatly improve the quality of flight altitude condition simulation, provide better test conditions for large-channel civil aircraft tests, and solve the problem of the cooperative control of a DN4500 double-disc butterfly valve for the first time.
In the specific embodiment, a large and medium-sized turbojet turbofan engine high-altitude cabin is designed in a wide mode, a double-loop cooperative work formed by parallel connection of a plunger valve and a butterfly valve in a certain height simulation cavity system is taken as an example, the plunger valve and the butterfly valve generate non-linear interference which cannot be measured on target control due to inconsistent flow regulation degrees, and a multi-loop decoupling control method is described in detail:
firstly, a height simulation containing cavity of a certain large and medium-sized turbojet turbofan engine is taken as a research object, and coupling intermodulation interference generated when multiple loops work cooperatively is obtained in a simulation environment according to characteristics of total intake pressure, simulation height, dynamic change time of air flow, dynamic change range of air flow and the like of the large and medium-sized turbojet turbofan engine and a PID algorithm.
The specific method for acquiring the coupling intermodulation interference comprises the following steps: referring to fig. 2, a modeling simulation is performed on the height simulation cavity with a double regulation loop, wherein the No. 1 regulation device represents a plunger valve of DN2000, the No. 2 regulation device represents a butterfly valve of DN1800, during simulation analysis, a dynamic motion process with a large difference is presented due to different response characteristics of actuating mechanisms of the plunger valve and the butterfly valve, meanwhile, a flow variation trend with unequal amplitude is generated due to the difference between specifications and inherent flow characteristics of each device, and finally, coupling interference generated by the pressure in the height simulation cavity can be calculated in a simulation process through a PID algorithm.
Secondly, obtaining 1, 2, \8230 \ 8230;, n loop cooperative work simulation models in the multi-loop, respectively regarding the n loops as single input-single output nonlinear models which are subjected to unknown disturbance in the simulation models, simplifying the multi-loop cooperative work simulation models, and obtaining the single input-single output models of the n loops;
in this embodiment, for any nth loop, the following input-output relationship may be obtained, so that each loop may be modified into a single-input-single-output system:
wherein the content of the first and second substances,
is an integer and n is greater than or equal to>
≥1，/>
Is the first->
System output of each circuit, based on the comparison result>
Is the first->
Greater or lesser than two loop input variables>
The derivative of order->
Is system order, and>
is the first->
First derivative of a loop input variable, <' > or>
Is the first->
Input variables for several circuits>
Is the first->
External perturbation of a circuit>
Is the first->
An internal indeterminate disturbance of an individual loop and a lumped disturbance of an external unknown disturbance (the external unknown disturbance comprising disturbances of other loops in the multi-loop), and->
Is the first->
Control gain of each circuit->
Is the first->
The system input of each loop, X is variable, n is the number of loops in the multi-loop, and t is time.
Then, 2 loops in the "dual-regulation loop" of the height simulation cavity are all transformed into a single-input-single-output model (which may also be referred to as SISO model), an active disturbance rejection controller of a single SISO is designed for each loop to control each loop, and a decoupling control framework of the "dual-loop controller-dual-regulation device" is constructed, that is, the decoupling control framework of the entire control system is realized by referring to the dual-loop parallel cooperative regulation decoupling control framework shown in fig. 3, that is, cooperative control is realized.
Finally, the decoupling control framework of the double-loop controller and the double-adjusting device is verified, and the decoupling control framework of the double-loop controller and the double-adjusting device is verified through tests and has the remarkable characteristics of large steady-state air inlet flow and wide transition-state flow change range. In addition, in the high-altitude simulation test, because the fan is mostly in an uncritical state, particularly in the plateau starting process, common-frequency oscillation is generated due to mutual coupling of total intake pressure and cabin pressure, so that the dissimilarity difference is enlarged, and the performance evaluation of the plateau starting process is meaningless by adopting the conventional method. When the multi-loop decoupling control method provided by the specific embodiment is adopted in the total intake pressure and cabin pressure simulation control system of the large and medium turbojet turbofan engine high-altitude cabin environment simulation system, the multi-mechanism cooperative control can be realized, the pressure coupling buffeting phenomenon in the plateau starting process can be inhibited, and the simulation quality is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.
Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.
Claims (7)
1. A multi-loop decoupling control method for a large-scale high-altitude platform cabin compression simulation system is characterized by comprising the following steps:
step 1, acquiring coupling intermodulation interference generated when multiple loops of the same subsystem work cooperatively in a test object according to the characteristics of the test object;
step 2, modeling each loop in the same subsystem and simplifying engineering to obtain a single-input-single-output model of each loop when multiple loops work cooperatively;
and 3, designing an active disturbance rejection controller for the single-input-single-output model of each loop, and constructing a multi-loop parallel cooperative adjustment decoupling control framework according to the active disturbance rejection controller.
2. The multi-loop decoupling control method according to claim 1, wherein in step 1, the test object characteristics comprise total intake air pressure, simulated altitude, air flow dynamic change time and air flow dynamic change range.
3. The multi-loop decoupling control method according to claim 1, wherein in step 1, the coupling intermodulation interference generated when the multi-loops of the same system work cooperatively is obtained in a simulation environment according to a PID algorithm.
4. The multi-loop decoupling control method of claim 1, wherein in step 1, the same subsystem multi-loop is configured for parallel overdrive.
5. The multi-loop decoupling control method of claim 1, wherein: in step 2, modeling each loop in the same subsystem and simplifying engineering to obtain a single-input-single-output model of each loop when multiple loops work cooperatively, comprising:
step 2.1, acquiring a multi-loop cooperative work simulation model;
and 2.2, according to the multi-loop active disturbance rejection decoupling control technology, regarding each loop as a single-input-single-output nonlinear model which is subjected to unknown disturbance in the simulation model when the multi-loop is in cooperative work, simplifying the multi-loop cooperative work simulation model, and obtaining the single-input-single-output model of each loop.
6. The multi-loop decoupling control method of claim 1, wherein in step 3, the active disturbance rejection controller for the single-input-single-output model of each loop is designed and obtained according to a single-loop control technology.
7. The multi-loop decoupling control method of claim 1, further comprising:
and 4, verifying the multi-loop parallel cooperative adjustment decoupling control framework.
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