CN110161841A - A kind of feedforward-fuzzy PID control method suitable for temporarily rushing formula transonic wind tunnel - Google Patents
A kind of feedforward-fuzzy PID control method suitable for temporarily rushing formula transonic wind tunnel Download PDFInfo
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- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
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Abstract
Feedforward-fuzzy PID control method that the invention discloses a kind of suitable for temporarily rushing formula transonic wind tunnel, including fuzzy reasoning part, PID control part and feed-forward control portion, it is characterized in that control amount deviation and deviation variation rate are sent into fuzzy reasoning part by closed loop feedback by controller, obtain the parameter of PID control part in real time by fuzzy reasoning, and when the angle of attack changes, feed-forward control portion feeds back setting feedforward control amount according to the angle of attack, inhibits the disturbance of angle of attack variation bring.Using existing expertise and operation data, expertise is incorporated to the design of controller, by fuzzy rule, is adjusted the raising to realize stagnation pressure and Mach number control precision to PID controller parameter in real time；When Model angle of attack changes, the rapid disturbance suppression of feedforward amount, the transient state quality of lifting controller is added.
Description
Technical field
The present invention relates to aerospace industry wind-tunnel technique field, it is suitable for temporarily rushing formula across sound more particularly, to one kind
Feedforward-fuzzy PID control method of fast wind-tunnel.
Background technique
As flight vehicle aerodynamic force data is obtained, analysis and assessment layout designs are main with prediction flying quality for wind tunnel test
Means.With the fast development that aerospace flight vehicle is studied, the research of advance aerodynamic configuration, aerofoil profile is to important in Flow Field in Wind Tunnel
The control accuracy requirement of index stagnation pressure and Mach number is higher and higher.
Temporarily rush formula transonic wind tunnel be a typical close coupling, strong nonlinearity, large time delay, time-varying, disturbance frequently it is more
Multiple output system is inputted, is difficult accurately to obtain its mathematical model.Currently, using traditional PID in wind tunnel test control
Control algolithm, the controller parameter immobilize, and can not be adjusted in real time for the variation of experimental subjects to controller parameter,
The characteristics such as non-linear, close coupling, the more interference that cannot effectively occur in reply system, cause stagnation pressure and Mach number overshoot
Greatly, control precision is low, is no longer satisfied the demand of current advanced aircraft model experiment.
Fuzzy control is a kind of new type of control method developed in recent years, its advantage is that not requiring to grasp controll plant
Mathematical models thus determine the size of control amount and according to manual control regular weaves control decision table.Furthermore in wind
Ten Yu Nianzhong of hole operation have accumulated a large amount of field operational data, and have cultivated the execute-in-place people that a batch has rich experiences
Member, can use these advantages and establishes knowledge base, expertise be incorporated in the design process of controller.Feedforward control needle
To the previously given control amount of known deterministic perturbation, disturbance suppression bring can influence rapidly.
Summary of the invention
The purpose of invention is provided a kind of suitable for temporarily rushing formula transonic speed wind using existing expertise and operation data
Expertise: being incorporated the design of controller by the feedforward-fuzzy PID control method in hole, by fuzzy rule, is controlled in real time to PID
Device parameter processed is adjusted the raising to realize stagnation pressure and Mach number control precision；When Model angle of attack changes, before addition
Present the rapid disturbance suppression of compensation rate, the transient state quality of lifting controller.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of feedforward-fuzzy PID control method suitable for temporarily rushing formula transonic wind tunnel, controller includes fuzzy reasoning portion
Point, PID control part and feed-forward control portion, it is characterised in that controller is by closed loop feedback by control amount deviation and deviation
Change rate (the difference between control amount deviation feeling the pulse with the finger-tip scale value and value of feedback；Deviation variation rate refers to control amount deviation in the unit time
Change rate) be sent into fuzzy reasoning part, obtain the parameter of PID controller in real time by fuzzy reasoning, change in the angle of attack
When, feed-forward control portion feeds back setting feedforward control amount according to the angle of attack, inhibits the disturbance of angle of attack variation bring；
The fuzzy-adaptation PID control is in U (k)=KPE(k)+KI∑E(k)+KDEc(k) reasonable using fuzzy set on the basis of
By establishing parameter KP,KIAnd KDBinary continuous function relationship between absolute value of the bias and deviation variation rate absolute value:
And according to different experiment condition online self-tuning parameter KP,KIAnd KD, wherein E is output quantity deviation；EcIt is inclined
Poor change rate, KPFor proportional gain factor, KIIntegration gain factor and KDDifferential gain coefficient；
The feedforward control is that control amount appropriate is added while appearance for known disturbances to offset disturbance to control
The control method that quality damages, specifically: during the test, when Model angle of attack changes, the binding model angle of attack
Value of feedback refer to control amount appropriate to grid is added to offset model congestion degree variation bring flow field disturbance in advance, when the angle of attack not
When changing, in conjunction with stagnation pressure and Mach number control amount deviation and deviation variation rate, by fuzzy rule, in real time to PID control
Device parameter is adjusted, to improve Mach number control precision.
In the above-mentioned technical solutions, when the angle of attack does not change, in conjunction with stagnation pressure and Mach number control amount deviation and deviation
Change rate is in real time adjusted PID controller parameter by fuzzy rule, to improve Mach number control precision；Work as the angle of attack
When changing, the value of feedback of the binding model angle of attack refers to addition compensation rate to grid in advance according to expertise and historical data,
Fuzzy-adaptation PID control output quantity is superimposed realization with feedforward control compensation rate quickly to press down disturbance brought by angle of attack variation
System.
In the above-mentioned technical solutions, there are three input quantities for wind tunnel system tool: main exhaust valve aperture, main pressure regulator valve aperture and grid
Refer to that adjustment of displacement stagnation pressure and Mach number, three input quantities are controlled with three groups of PID controllers respectively, in which: main exhaust valve and
Main pressure regulator valve is responsible for controlling stagnation pressure；Grid refer to that system is responsible for controlling Mach number.
In the above-mentioned technical solutions, in the design process of fuzzy controller the following steps are included:
Step 1: stagnation pressure and Mach number deviation and deviation variation rate are blurred by defuzzification interface, i.e., will be adopted
The quantitative data that sample obtains is changed into the fuzzy variable of qualitative description；
Step 2: after obtaining fuzzy variable for the degree of membership of domain element, according to looking into the fuzzy rule taken in rule base
Fuzzy reasoning and anti fuzzy method process then are carried out to variable；
Step 3: fuzzy reasoning and anti fuzzy method process are completed by parameter tuning function, available fuzzy variable pair
The controller parameter answered.
In the above-mentioned technical solutions, shown step 1 is completed by the calculating of membership function, and membership function is by expertise
It predefines.
In the above-mentioned technical solutions, the fuzzy rule is predefined by expertise, structure be if, shape
Formula.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
Fuzzy PID control method combines fuzzy control with PID control, maximizes favourable factors and minimizes unfavourable ones, and has both had fuzzy control spirit
Advantage living and adaptable, and have the characteristics that PID control is with high accuracy, greatly improve the control precision of controller；
It is aided with feedforward control on fuzzy PID control method, when the angle of attack changes, greatly improves controller
Transient state quality realizes the rapid elimination of the disturbance caused by angle of attack variation, substantially increases the control precision of Flow Field in Wind Tunnel, is
Solid foundation has been established in the development of advanced aircraft；
The controller carries out simple refit in original control equipment can be realized.
Detailed description of the invention
Examples of the present invention will be described by way of reference to the accompanying drawings, in which:
Fig. 1 is system structure schematic block diagram of the invention；
Fig. 2 is the membership function form of fuzzy subset.
Fig. 3 is that control gate refers to parameter K in the PID controller of displacementpAdjust rule list.
Specific embodiment
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
Any feature disclosed in this specification (including any accessory claim, abstract and attached drawing), except non-specifically chatting
It states, can be replaced by other alternative features that are equivalent or have similar purpose.That is, unless specifically stated, each feature is only
It is an example in a series of equivalent or similar characteristics.
Feedforward-the fuzzy PID control method of the present embodiment is by fuzzy reasoning part, PID control part and feedforward control
Part forms.Fuzzy PID control method is one kind in Traditional PID adjuster:
U (k)=KPE(k)+KI∑E(k)+KDEc(k)
On the basis of, parameter K is established using Fuzzy Set TheoryP,KIAnd KDWith absolute value of the bias and change of error absolute value
Between binary continuous function relationship:
And according to different experiment condition online self-tuning parameter KP,KIAnd KD.Wherein, E is output quantity deviation；EcIt is inclined
Poor change rate, KPFor proportional gain factor, KIIntegration gain factor and KDDifferential gain coefficient.
Feedforward control is that control amount appropriate is added while appearance for known disturbances to offset disturbance to Control platform
The control method damaged.
Wind tunnel system is that the multi input majority with three inputs, two output goes out system, is opened respectively by main exhaust valve
Degree, main pressure regulator valve aperture and grid refer to that (wherein, it is total to be responsible for control for main exhaust valve and main pressure regulator valve for adjustment of displacement stagnation pressure and Mach number
Pressure；Grid refer to that system is responsible for controlling Mach number).For three input quantities, controlled respectively using three groups of PID controllers.In mould
During pasting PID controller design, stagnation pressure and Mach number deviation and deviation variation rate are carried out by mould by defuzzification interface first
The quantitative data that sampling obtains is changed into the fuzzy variable of qualitative description by gelatinization.This process mainly passes through membership function
Calculating complete, membership function predefines by expertise.After obtaining variable referring now to the degree of membership of domain element, according to
It looks into and the fuzzy rule in rule base is taken to carry out fuzzy reasoning and anti fuzzy method process to variable.Fuzzy rule is also by expertise
Predefine, structure be " if " form, such as: if E is big and EcFor in, then KP=KPi； KI=KIi；KD
=KDi.Fuzzy reasoning and anti fuzzy method process are completed by parameter tuning function, the corresponding controller of available fuzzy variable
Parameter.
Thus PID controller parameter K is establishedP,KIAnd KDAnd deviation E and deviation variation rate EcBetween ambiguity function relationship,
The fuzzy on-line Self-tuning System of pid parameter is realized, to meet system in different E, EcUnder to controller parameter difference require.
Add the complex controll mode of fuzzy using feedforward compensation when angle of attack variation occurs for experimental model.Angle of attack variation
As the main but known interference volume of wind tunnel test, the serious dynamic quality for influencing controlled volume.In the present embodiment, it is attacking
Artificial addition feedforward control amount in several control periods when angle changes, with rapid disturbance suppression amount, lifting controller
Control effect.The output of controller at this time by fuzzy and the feedforward amount of addition superposition obtain, be added feedforward amount size with
And lasting control number of cycles is determined by the variation range and expertise of the angle of attack.
It is adjusted as shown in Figure 1, stagnation pressure and Mach number deviation and deviation variation rate are sent into fuzzy parameter under feedback effect
The domain of device, deviation and deviation variation rate is respectively [- E, E] and [- Ec, Ec], be divided into 7 fuzzy subsets NB, NM, NS,
Z0, PS, PM, PB }, wherein NB, NM, NS, Z0, PS, PM, PB be negative respectively it is big, negative in, bear it is small, zero, it is just small, center, honest.
The membership function of each fuzzy subset uses the form such as Fig. 2.
Obtaining stagnation pressure and Mach number deviation and deviation variation rate is corresponded to and taken by looking by special after the degree of membership of fuzzy subset
The empirically determined controller parameter of family adjusts rule list.For example, referring to parameter K in the PID controller of displacement for control gatepAdjustment
It is regular as shown in Figure 3.
The degree of membership and controller parameter tune of fuzzy subset are corresponded in conjunction with stagnation pressure and Mach number deviation and deviation variation rate
Whole rule list seeks controller parameter setting value by parameter tuning function.Such as refer to the PID controller of displacement for control gate
Middle parameter Kp, adjusting function is with following form:
Wherein μiFor membership function；N is domain subset number；KpiIt is found by parameter adjustment rule list.For its in system
The parameter K of its controllerp、KIAnd KD, parameter tuning function is identical as the formula.
On the basis of fuzzy controller, increase feedforward controller.Feedforward control amount in fuzzy controller by giving
It is determined on the basis of control amount multiplied by the coefficient greater than 1 out.The size of the coefficient and lasting periodicity are by the current angle of attack
The experience of size, the angle of attack number and expert that will change determines.
The invention is not limited to specific embodiments above-mentioned.The present invention, which expands to, any in the present specification to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (5)
1. a kind of feedforward-fuzzy PID control method suitable for temporarily rushing formula transonic wind tunnel, controller includes fuzzy reasoning portion
Point, PID control part and feed-forward control portion, it is characterised in that controller becomes control amount deviation and deviation by closed loop feedback
Rate is sent into fuzzy reasoning part, obtains the parameter of PID control part in real time by fuzzy reasoning, when the angle of attack changes,
Feed-forward control portion feeds back setting feedforward control amount according to the angle of attack, inhibits the disturbance of angle of attack variation bring；
The fuzzy-adaptation PID control is in U (k)=KPE(k)+KI∑E(k)+KDEc(k) it is built on the basis of using Fuzzy Set Theory
Vertical parameter KP,KIAnd KDBinary continuous function relationship between absolute value of the bias and deviation variation rate absolute value:
And according to different experiment condition online self-tuning parameter KP,KIAnd KD；Wherein, E is control amount
Difference between deviation feeling the pulse with the finger-tip scale value and value of feedback；EcRefer to the change rate of control amount deviation in the unit time, K for deviation variation rateP
For proportional gain factor, KIIntegration gain factor and KDDifferential gain coefficient；
The feedforward control is that control amount appropriate is added while appearance for known disturbances to offset disturbance to Control platform
The control method damaged, specifically: during the test, when Model angle of attack changes, the binding model angle of attack it is anti-
Feedback value refers to grid in advance is added control amount appropriate to offset model congestion degree variation bring flow field disturbance, when the angle of attack does not occur
When variation, in conjunction with stagnation pressure and Mach number control amount deviation and deviation variation rate, by fuzzy rule, PID controller is joined in real time
Number is adjusted, to improve Mach number control precision.
2. a kind of feedforward-fuzzy PID control method suitable for temporarily rushing formula transonic wind tunnel according to claim 1,
Be characterized in that wind tunnel system tool there are three input quantity: main exhaust valve aperture, main pressure regulator valve aperture and grid refer to adjustment of displacement stagnation pressure and
Mach number, three input quantities are controlled with three groups of PID controllers respectively, in which: main exhaust valve and main pressure regulator valve are responsible for control
Stagnation pressure, grid, which refer to, is responsible for control Mach number.
3. a kind of feedforward-fuzzy PID control method suitable for temporarily rushing formula transonic wind tunnel according to claim 3,
Be characterized in that the design process in fuzzy controller the following steps are included:
Step 1: stagnation pressure and Mach number deviation and deviation variation rate are blurred by defuzzification interface, i.e., will be sampled
To quantitative data be changed into the fuzzy variable of qualitative description；
Step 2: after obtaining fuzzy variable for the degree of membership of domain element, according to looking into the fuzzy rule pair taken in rule base
Variable carries out fuzzy reasoning and anti fuzzy method process；
Step 3: fuzzy reasoning and anti fuzzy method process are completed by parameter tuning function, and available fuzzy variable is corresponding
Controller parameter.
4. a kind of feedforward-fuzzy PID control method suitable for temporarily rushing formula transonic wind tunnel according to claim 3,
It is characterized in that shown step 1 is completed by the calculating of membership function, membership function is predefined by expertise.
5. a kind of feedforward-fuzzy PID control method suitable for temporarily rushing formula transonic wind tunnel according to claim 3,
Be characterized in that the fuzzy rule is predefined by expertise, structure be if, form so.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111006843A (en) * | 2019-12-04 | 2020-04-14 | 中国航天空气动力技术研究院 | Continuous variable speed pressure method of temporary impulse type supersonic wind tunnel |
| CN113008507A (en) * | 2021-03-18 | 2021-06-22 | 南京航空航天大学 | High-flow high-stability Mach number wind tunnel rapid adjusting system and method based on temporary flushing gas source |
| CN113267314A (en) * | 2021-04-25 | 2021-08-17 | 中国航天空气动力技术研究院 | Supersonic flow field total pressure control system of temporary-impulse wind tunnel |
| CN113532786A (en) * | 2021-06-10 | 2021-10-22 | 中国航天空气动力技术研究院 | Second throat control system and method for temporary-impulse wind tunnel |
| CN114185266A (en) * | 2022-02-15 | 2022-03-15 | 中国空气动力研究与发展中心高速空气动力研究所 | Total pressure composite control method suitable for temporary impulse type wind tunnel |
| CN114185265A (en) * | 2022-02-15 | 2022-03-15 | 中国空气动力研究与发展中心高速空气动力研究所 | Large-scale opening jet flow wind tunnel ultrasonic speed constant total pressure continuous variable Mach number control method |
| CN114186690A (en) * | 2022-02-16 | 2022-03-15 | 中国空气动力研究与发展中心计算空气动力研究所 | Aircraft knowledge graph construction method, device, equipment and storage medium |
| CN114326849A (en) * | 2021-12-30 | 2022-04-12 | 中国汽车工程研究院股份有限公司 | Temperature control method for automobile environment wind tunnel |
| CN114428456A (en) * | 2020-10-29 | 2022-05-03 | 北京国电智深控制技术有限公司 | Control method and device of thermal power generating unit control system |
| CN116954060A (en) * | 2023-09-19 | 2023-10-27 | 中国空气动力研究与发展中心高速空气动力研究所 | Control method for resisting time-varying interference of wind tunnel flow field |
| CN117075481A (en) * | 2023-10-13 | 2023-11-17 | 中国空气动力研究与发展中心高速空气动力研究所 | Mach number composite control method for wind tunnel transonic ladder variable attack angle test |
| CN117555231A (en) * | 2023-05-30 | 2024-02-13 | 中国航空工业集团公司沈阳空气动力研究所 | Wind tunnel flow field control method based on fuzzy rule, electronic equipment and storage medium |
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| CN111006843A (en) * | 2019-12-04 | 2020-04-14 | 中国航天空气动力技术研究院 | Continuous variable speed pressure method of temporary impulse type supersonic wind tunnel |
| CN114428456A (en) * | 2020-10-29 | 2022-05-03 | 北京国电智深控制技术有限公司 | Control method and device of thermal power generating unit control system |
| CN114428456B (en) * | 2020-10-29 | 2024-05-14 | 北京国电智深控制技术有限公司 | Control method and device for thermal power generating unit control system |
| CN113008507A (en) * | 2021-03-18 | 2021-06-22 | 南京航空航天大学 | High-flow high-stability Mach number wind tunnel rapid adjusting system and method based on temporary flushing gas source |
| CN113267314A (en) * | 2021-04-25 | 2021-08-17 | 中国航天空气动力技术研究院 | Supersonic flow field total pressure control system of temporary-impulse wind tunnel |
| CN113532786A (en) * | 2021-06-10 | 2021-10-22 | 中国航天空气动力技术研究院 | Second throat control system and method for temporary-impulse wind tunnel |
| CN113532786B (en) * | 2021-06-10 | 2024-05-03 | 中国航天空气动力技术研究院 | Second throat control system and method for temporary flushing type wind tunnel |
| 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 automobile environment wind tunnel |
| CN114326849A (en) * | 2021-12-30 | 2022-04-12 | 中国汽车工程研究院股份有限公司 | Temperature control method for automobile environment wind tunnel |
| CN114185266B (en) * | 2022-02-15 | 2022-04-22 | 中国空气动力研究与发展中心高速空气动力研究所 | Total pressure composite control method suitable for temporary impulse type wind tunnel |
| CN114185265A (en) * | 2022-02-15 | 2022-03-15 | 中国空气动力研究与发展中心高速空气动力研究所 | Large-scale opening jet flow wind tunnel ultrasonic speed constant total pressure continuous variable Mach number control method |
| CN114185266A (en) * | 2022-02-15 | 2022-03-15 | 中国空气动力研究与发展中心高速空气动力研究所 | Total pressure composite control method suitable for temporary impulse type wind tunnel |
| CN114186690A (en) * | 2022-02-16 | 2022-03-15 | 中国空气动力研究与发展中心计算空气动力研究所 | Aircraft knowledge graph construction method, device, equipment and storage medium |
| CN117555231A (en) * | 2023-05-30 | 2024-02-13 | 中国航空工业集团公司沈阳空气动力研究所 | Wind tunnel flow field control method based on fuzzy rule, electronic equipment and storage medium |
| CN117555231B (en) * | 2023-05-30 | 2024-04-19 | 中国航空工业集团公司沈阳空气动力研究所 | Wind tunnel flow field control method based on fuzzy rule, electronic equipment and storage medium |
| CN116954060A (en) * | 2023-09-19 | 2023-10-27 | 中国空气动力研究与发展中心高速空气动力研究所 | Control method for resisting time-varying interference of wind tunnel flow field |
| CN116954060B (en) * | 2023-09-19 | 2023-12-05 | 中国空气动力研究与发展中心高速空气动力研究所 | Control method for resisting time-varying interference of wind tunnel flow field |
| CN117075481A (en) * | 2023-10-13 | 2023-11-17 | 中国空气动力研究与发展中心高速空气动力研究所 | Mach number composite control method for wind tunnel transonic ladder variable attack angle test |
| CN117075481B (en) * | 2023-10-13 | 2023-12-19 | 中国空气动力研究与发展中心高速空气动力研究所 | Mach number composite control method for wind tunnel transonic ladder variable attack angle test |
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Application publication date: 20190823 |