CN116317794A - High-precision control method for electric actuator of aero-engine - Google Patents
High-precision control method for electric actuator of aero-engine Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
The invention belongs to the technical field of rapid disturbance rejection control under complex disturbance, and provides a high-precision control method for an electric actuator of an aero-engine. The electric cylinder combines the three-phase permanent magnet synchronous motor with the ball screw through a rigid connection mode, and the control problem of the electric cylinder is equivalent to the control problem of the motor. By combining a backstepping control technology and a finite time observation technology, a finite interference estimator is used for providing rapid lumped interference estimation and compensation, so that higher steady-state precision is realized; the deterministic transient performance is ensured by a backstepping method, so that the electric cylinder can well realize the tracking of input instructions.
Description
Technical Field
The invention relates to the technical field of rapid disturbance rejection control under complex disturbance, in particular to a high-precision control method for an electric actuator of an aero-engine.
Background
The aeroengine driving mechanism is turning to the electric driving device from the traditional hydraulic driving device, under the condition of providing the same output torque/torque mode, the novel electric cylinder cancels a complex hydraulic oil supply pipeline, devices such as an essential electromagnetic valve in a hydraulic cylinder system are not needed, and the like, and the light-weight cable is used for providing power, so that the weight of the engine is effectively reduced, and the compatibility of the executing mechanism to the multi-electric engine is improved. Under the layout of a future multi-electric engine, after the electric energy of the aircraft is integrated, the traditional hydraulic cylinder utilizes the electric energy secondarily through hydraulic oil media, and the electric cylinder directly applies the electric energy, so that the energy conversion times are reduced, and the limited electric energy use efficiency on the aircraft is effectively improved. Meanwhile, compared with the traditional hydraulic cylinder, the electric cylinder is smaller and more compact in size, better isolates external influences, has the advantages of simple structure, high precision, quick response, high stability and the like, and can provide better steady-state performance and transient performance.
At present, an electric cylinder has become a mainstream trend in the field of aeroengines, and the known aerobus A320 and Boeing 787 airliners all adopt an electric cylinder technology to replace part of the traditional low-load hydraulic actuating cylinders, so that the electric cylinder has the advantages of irreplaceable aspects such as weight reduction, use cost and maintenance cost of the engines. In the new generation of design process of a small turbofan aeroengine in China, the traditional A1/A2 and A8/A9 hydraulic cylinders are replaced by electric cylinders, however, the traditional hydraulic cylinder motion control algorithm is not suitable for controlling the electric cylinders. In addition, because aircraft engines often operate in complex environments with high temperatures, high pressures, and high loads, and are also subject to weather and other factors, engine airflow is subject to unpredictable surge conditions, causing the rams to continue to experience various unknown disturbance forces. When designing the electric cylinder control algorithm, the influence of interference should be considered as much as possible, and a certain method is introduced to perform quick estimation and compensation. In the disturbance rejection control process of the electric cylinder, the traditional observer and parameter self-adaptive means have various limitations, such as incapability of accurately modeling the disturbance and uncertainty thereof, and large hysteresis phenomenon in the integral process of self-adaptation, so that the rapid suppression of the disturbance cannot be well satisfied. At present, in the aspect of electric cylinder motion control technology, a traditional PID controller is still used in engineering, and the balance between overshoot and transient performance is difficult to grasp, which clearly increases the difficulty in developing a control algorithm. Therefore, it is urgently required to invent a technical means capable of ensuring high-precision motion control performance.
Disclosure of Invention
The electric cylinder of the aeroengine usually adopts a three-phase permanent magnet synchronous motor and a ball screw structure, and basically, the electric cylinder control is equivalent to motor control by a rigid connection mode, the motor control usually adopts a vector control means to change complex three-phase alternating current into d-q direct current control, and when d-axis current is equal to zero, the motion control of the motor and even the ball screw is realized by singly controlling q-axis current. Moreover, the response frequency of the current loop of the motor is far higher than the actual movement frequency of the ball screw, and the invention directly approximates the current loop to a proportional link.
In order to better realize high control precision of the electric cylinder, the technical scheme of the invention is as follows:
a high-precision control method for an electric actuator of an aero-engine comprises the following steps:
s1: modeling a mechanism of the electric cylinder;
s1.1: defining the load displacement x of an electric cylinder L m, speed
Lead hm, motor rotation angle θrad, rotation angular velocity ω r rad/s; the electric cylinder adopts a motor and ball screw structure, the motor is rigidly connected with the ball screw, and the control of the electric cylinder is equivalent to the control of the motor;
the relation between the load displacement and the rotation angle of the electric cylinder and the relation between the speed and the rotation angular velocity are as follows:
s1.2: given an output electromagnetic torque model of the motor:
wherein T is e Is electromagnetic torque, the unit is N.m, p n Is the number of pairs of magnetic poles of the motor,
is magnetic flux, L d 、L q Inductance coefficients of d-axis and q-axis, i d 、i q Currents of d axis and q axis respectively, the unit is A;
s1.3: constructing a motor rotation model;
in the method, in the process of the invention,
B f =b/J, J is the motor and its load moment of inertia in kg·m 2 B is the viscous friction coefficient in N.rad.s,/L>
For the reference current signal, the unit a, d represents lumped interference as follows:
wherein T is L Load torque, the unit is N.m, g represents uncertainty of other parameters;
s1.4: combining the steps S1.1-S1.3, constructing a motion model of the electric cylinder as follows:
in the method, in the process of the invention,
s2: finite disturbance estimator is designed to lumped disturbance to q-axis
Calculating and processing;
s2.1: on an aeroengine, an electric cylinder works under a limited load condition, and an upper bound of q-axis lumped interference born and an upper bound of a first derivative of the q-axis lumped interference are set according to actual data, wherein the upper bound is expressed by the following formula:
in E-shape 1 ,∈ 2 >0 is two bounded constants;
s2.2: definition of electric cylinder speed
Observation variable +.>
q-axis lumped interference->
Estimate of +.>
The electric cylinder speed and q-axis lumped disturbance are observed by:
wherein lambda is 1 ,λ 2 L is a given positive real number, a function sgn * (★)＝|★| * sign(★)；
S3: after the finite disturbance estimator is obtained, when the lumped disturbance meets the formula (6), the lumped disturbance realizes accurate observation in finite time, and the lumped disturbance comprises all parameter uncertainties, external disturbance torque and unmodeled dynamics; given the desired instruction x d First derivative
And its second derivative +.>
Then, designing a backstepping controller based on limited interference estimation by a backstepping method;
s3.1: defining tracking error z 1 ＝x L -x d After derivation, the method comprises the following steps:
defining virtual errors
The virtual control inputs are constructed as follows:
wherein k is 1 Is the gain of the feedback control,
is the reference movement speed; substituting the virtual control formula (9) to formula (8) yields the following formula:
s3.2: for virtual error z 2 The derivation is as follows:
designing a control input based on the limited disturbance estimator of step S2
The following are provided:
wherein k is 2 Is the speed feedback control gain; substituting the formula (11) into the formula (10) yields the following formula:
the design of the backstepping controller based on limited interference estimation is completed, and the calculation is iterated until the system tracking error is converged to zero.
The technical scheme can provide a complete closed-loop convergence theorem of the electric cylinder system of the aero-engine, and is specifically as follows.
Summary of the inventionmathematical theory supports the needle. For an electric cylinder system of an aeroengine, namely a motion model (5) of the electric cylinder, finite disturbance estimators (7.1) - (7.3) and a backstepping controller (12) based on the finite disturbance estimators are designed, if lumped disturbance exists, accurate observation of the lumped disturbance is realized in a finite time when a hypothesis (6) is met, and a system tracking error index converges to zero. Lumped disturbances include parameter uncertainty, external disturbance torque, and other unmodeled dynamics.
The theoretical design is divided into two steps, wherein the first step is based on the fact that the observation error of the homogeneous differential equation accurately converges to zero in a limited time, and the second step is based on the Lyapunov function to ensure that the tracking error index of the electric cylinder control system converges to zero.
S4.1: note that the finite disturbance estimators (7.1) - (7.3) and the motion model (5) of the electric cylinder, when they are differenced, yield the following equation:
from the interference derivatives it is known that:
obviously, selecting the appropriate λ 1 ,λ 2 With L parameters, a limited time accurate observation of speed and lumped interference can be achieved, i.e
Next, it was demonstrated how to achieve exponential convergence of tracking errors. Given Lyapunov function
The derivative is as follows:
from the equation (16) and the finite-interference estimators (7.1) to (7.3), it is known that, in a finite time T 1 After that, when T is greater than or equal to T 1 ,
Thus, there is the following equation:
obviously, formula (18) can be deduced as follows:
|V(t)|≤e -2kt V(0)， (19)
where k=min { k 1 ,k 2 V (0) represents the initial value of V (t). Tracking error z at this time 1 The exponent converges to zero, i.e.:
the exponential convergence of tracking errors and the limited accurate estimation performance of the interfering observer are well documented.
The invention has the beneficial effects that: by equating the control problem of the electric cylinder to the control problem of the motor, a backstepping control technique and a limited disturbance estimation technique are combined. The limited interference estimator provides rapid lumped interference estimation and compensation, so that higher steady-state precision is realized; the deterministic transient performance is ensured by a backstepping method, so that the electric cylinder can well realize the tracking of input instructions.
Drawings
FIG. 1 is a control flow diagram of an avionics cylinder and a limited disturbance estimator thereof;
FIG. 2 is a simulation diagram of the expected displacement trajectory and actual output of an electric cylinder ball screw;
FIG. 3 is a simulation of the desired and actual speeds of an electric cylinder ball screw;
FIG. 4 is a simulation diagram of a reference control current actually generated by the q-axis of the electric cylinder motor;
fig. 5 is a simulation diagram of the real-time estimate of the given disturbance and disturbance of the electric cylinder.
Detailed Description
In practice, the electric cylinder combines the three-phase permanent magnet synchronous motor with the ball screw by means of a rigid connection, so that the control problem of the electric cylinder is equivalent to that of the motor. Based on the traditional three-phase motor vector control technology, the permanent magnet synchronous motor is subjected to coordinate transformation, and finally, a direct current motor control strategy can be adopted to control an alternating current motor, so that the motion control of the ball screw is realized. Based on this, the invention aims to provide a new control algorithm, which combines a backstepping control technology and a finite time observation technology. The limited interference estimator provides rapid lumped interference estimation and compensation, so that higher steady-state precision is realized; the deterministic transient performance is ensured by a backstepping method, so that the electric cylinder can well realize the tracking of input instructions.
The invention will be further described with reference to the accompanying drawings, the flow chart of which is shown in fig. 1. The implementation case is based on a certain model of a turbofan aeroengine, a mechanism simulation model of the electric cylinder is built according to actual physical parameters, the use flow of the invention is shown in detail, and meanwhile, a simulation diagram of system performance and interference suppression performance is provided, so that the algorithm of the invention is better understood.
S1: physical parameters of the electric cylinder.
The displacement movement range of the electric cylinder actuator cylinder is x L ∈[0,0.3]m, maximum running speed
Load torque T L ∈[-10,10]N.m. And (3) selecting other parameters: h=0.02 m, j=0.003 kg·m 2 ，p n ＝4，
L d ＝0.01，L q ＝0.01。
S2: and selecting a reference track and an initial value. The reference track is: x is x L -0.25cos (pi t) +0.25m, the initial value of the electric cylinder state is: x is x L (0)＝0.03m，
The initial value of the limited interference estimator is chosen to be +.>
S3: the backstepping controller and the limited interference estimator parameter design. The back-step controller parameters are: k (k) 1 ＝k 2 =50; the observer parameters were: lambda (lambda) 1 ＝10，λ 2 ＝10，L＝4。
S4: external interference is introduced. The external interference is selected as follows:
i.e. the reference input current input of the actual system is: />
S5: from fig. 5 it is clear that the good effect of the finite impulse estimator of the invention, whose actively estimated trajectory converges to an impulse true value in a finite time; in addition, the designed backstepping controller can well realize the effect of stabilizing the tracking error index.
Claims (1)
1. The high-precision control method for the electric actuating mechanism of the aero-engine is characterized by comprising the following steps of:
s1: modeling a mechanism of the electric cylinder;
s1.1: defining the load displacement x of an electric cylinder L m, speed
Lead hm, motor rotation angle θrad, rotation angular velocity ω r rad/s; the electric cylinder adopts a motor and ball screw structure, the motor is rigidly connected with the ball screw, and the control of the electric cylinder is equivalent to the control of the motor;
the relation between the load displacement and the rotation angle of the electric cylinder and the relation between the speed and the rotation angular velocity are as follows:
s1.2: given an output electromagnetic torque model of the motor:
wherein T is e Is electromagnetic torque, the unit is N.m, p n Is the number of pairs of magnetic poles of the motor,
is magnetic flux, L d 、L q Inductance coefficients of d-axis and q-axis, i d 、i q Currents of d axis and q axis respectively, the unit is A;
s1.3: constructing a motor rotation model;
in the method, in the process of the invention,
j is motor and load moment of inertia thereof, and the unit is kg.m 2 B is the viscous friction coefficient in N.rad.s,/L>
For the reference current signal, the unit a, d represents lumped interference as follows:
wherein T is L Load torque, the unit is N.m, g represents uncertainty of other parameters;
s1.4: combining the steps S1.1-S1.3, constructing a motion model of the electric cylinder as follows:
in the method, in the process of the invention,
s2: finite disturbance estimator is designed to lumped disturbance to q-axis
Calculating and processing;
s2.1: on an aeroengine, an electric cylinder works under a limited load condition, and an upper bound of q-axis lumped interference born and an upper bound of a first derivative of the q-axis lumped interference are set according to actual data, wherein the upper bound is expressed by the following formula:
in E-shape 1 ，∈ 2 > 0 is two bounded constants;
s2.2: definition of electric cylinder speed
Observation variable +.>
q-axis lumped interference->
Estimate of +.>
The electric cylinder speed and q-axis lumped disturbance are observed by:
wherein lambda is 1 ，λ 2 L is a given positive real number, a function sgn * (★)＝|★| * sign(★)；
S3: after the finite disturbance estimator is obtained, when the lumped disturbance meets the formula (6), the lumped disturbance realizes accurate observation in finite time, and the lumped disturbance comprises all parameter uncertainties, external disturbance torque and unmodeled dynamics; given the desired instruction x d First derivative
And its second derivative +.>
Then, designing a backstepping controller based on limited interference estimation by a backstepping method;
s3.1: defining tracking error z 1 ＝x L -x d After derivation, the method comprises the following steps:
defining virtual errors
The virtual control inputs are constructed as follows:
wherein k is 1 Is the gain of the feedback control,
is the reference movement speed; substituting the virtual control formula (9) to formula (8) yields the following formula:
s3.2: for virtual error z 2 The derivation is as follows:
designing a control input based on the limited disturbance estimator of step S2
The following are provided:
wherein k is 2 Is the speed feedback control gain; substituting the formula (11) into the formula (10) yields the following formula:
the design of the backstepping controller based on limited interference estimation is completed, and the calculation is iterated until the system tracking error is converged to zero.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116755342A (en) * | 2023-08-17 | 2023-09-15 | 中国科学院工程热物理研究所 | Self-adaptive control system and method for anti-interference of back-stepping of aero-engine |
| CN116880162A (en) * | 2023-09-06 | 2023-10-13 | 中国科学院工程热物理研究所 | Aeroengine anti-interference control system and method considering dynamic characteristics of oil pump |
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2023
- 2023-03-06 CN CN202310204785.3A patent/CN116317794A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116755342A (en) * | 2023-08-17 | 2023-09-15 | 中国科学院工程热物理研究所 | Self-adaptive control system and method for anti-interference of back-stepping of aero-engine |
| CN116755342B (en) * | 2023-08-17 | 2023-10-24 | 中国科学院工程热物理研究所 | Self-adaptive control system and method for anti-interference of back-stepping of aero-engine |
| CN116880162A (en) * | 2023-09-06 | 2023-10-13 | 中国科学院工程热物理研究所 | Aeroengine anti-interference control system and method considering dynamic characteristics of oil pump |
| CN116880162B (en) * | 2023-09-06 | 2023-11-14 | 中国科学院工程热物理研究所 | Aeroengine anti-interference control system and method considering dynamic characteristics of oil pump |
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