CN110609493A - Real-time simulation method of aero-engine control system - Google Patents
Real-time simulation method of aero-engine control system Download PDFInfo
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- CN110609493A CN110609493A CN201910937696.3A CN201910937696A CN110609493A CN 110609493 A CN110609493 A CN 110609493A CN 201910937696 A CN201910937696 A CN 201910937696A CN 110609493 A CN110609493 A CN 110609493A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a real-time simulation method of an aero-engine control system, and belongs to the technical field of aero-engine control system simulation application. Firstly, building an aircraft engine control system model to realize pure digital simulation of a control system; secondly, a controller part and an engine model part in the control system are split, a control algorithm and a model are converted into a real-time application program through an automatic code generation technology and a model encapsulation technology and are operated in the real-time system to form a controller simulator and a model simulator; then, the controller simulator and the model simulator are in communication connection through a reflective memory, real-time simulation of an engine control loop is achieved, and meanwhile the engine simulator and the controller simulator upload operation results of the engine simulator and the controller simulator to respective monitoring upper computers; finally, a tester can observe the real-time simulation effect through the monitoring upper computer, and can directly perform online parameter adjustment on the controller according to the performance index of the control system until the system meets the performance index requirement.
Description
Technical Field
The invention provides a real-time simulation method of an aircraft engine control system, which is mainly applied to the technical field of control system simulation.
Background
The development of a control system of the aircraft engine is a very complex process due to the complex structure, large pneumatic variation parameters and the line width of a flight bag of the aircraft engine. In the simulation test link, most of the traditional aero-engine control system development uses a real engine to perform bench test, and after a problem is found, the structure or parameters of the controller are modified again to perform test again, so that the control system meets the design requirement. However, the repeated testing process using a real engine is tedious, expensive and inefficient in research and development, and the design of high-performance aircraft engines is more and more complex, which is also a challenge for testing and implementing a control system. Under the condition, the rapid test by using the real-time simulation technology is undoubtedly the optimal choice, namely, the semi-physical simulation is performed after the performance requirements are met by firstly performing the real-time hardware-in-loop simulation test on the engine model and the real controller, so that the research and development efficiency of the control system can be greatly improved, and the cost can be saved. However, the existing in-loop simulation test of the hardware of the aircraft engine does not combine an automatic code generation technology and a model encapsulation technology, and does not have rapidness and universality, so that many problems related to code execution and real-time performance still occur in the process of transplanting a control system to a semi-physical platform after the test simulation is completed, and the existing in-loop simulation method of the hardware is mostly specific to a specific system, has poor transportability, does not form a rapid development method, and has low efficiency.
The real-time simulation technology is an effective way for solving the complex problem of the control system of the aircraft engine. The real-time simulation technology is a real-time hardware-in-loop simulation technology which adopts a mode of combining hardware and software and verifies the feasibility of a system before a product object is tested; and in the later stage of product development and test, the real-time simulation test of the whole control system is realized through an automatic code generation technology, a model packaging technology and a real-time communication technology. The real-time simulation technology has important significance on the design of an engine control system, is applied to the field of control system design, can respectively download controller model codes and engine model codes to a hardware simulation platform through an automatic code generation technology and a model packaging technology after the initial pure digital simulation of the control system is completed, and finally realize the real-time simulation of a closed-loop control system through a real-time communication technology. For a complex system, a real-time simulation technology can simulate the real-time operation of an engine and a controller, simultaneously enable a control system designer to rapidly acquire the operation condition of the engine by monitoring an upper computer and simulation data, and timely adjust a control strategy and optimize an engine model according to the problems of the controller and an engine model. When the real-time simulation has problems, multiple simulation experiments can be carried out on the control system, and the simulation test is carried out on each design step, so that the system problems are quickly positioned, and the real-time simulation platform can fully exert the application value in each design stage. The real-time simulation design combines software design and hardware design, so that a real-time simulation platform can be used for carrying out simulation test on the existing research results at any time while a control system is designed, the design method is suitable for wide control system design, the defects of high cost, long test period, high risk and the like of the traditional aero-engine control system design are overcome, the experiment cost is reduced, the experiment efficiency is improved, and personal injury risks to testers are avoided.
Disclosure of Invention
Aiming at the requirements of an aero-engine control system on hardware-in-loop simulation and the defects of the existing hardware-in-loop simulation method, the invention provides a real-time simulation method of an aero-engine control system, which is suitable for the field of control system simulation verification, can be used for verifying the effectiveness of the control system and mainly solves the problems of rapidness and universality and instantaneity of the aero-engine control system hardware in loop simulation.
The technical scheme of the invention is as follows:
a real-time simulation method of an aircraft engine control system comprises the following steps:
step A, building an aero-engine model and a controller model thereof in MATLAB/Simulink software to complete pure digital simulation of an aero-engine control system; the controller model and the engine model are separated, and the connection between the output of the controller model and the input of the engine model is disconnected; respectively generating respective source codes for a controller model and an engine model by an automatic code generation technology of MATLAB software;
step B, respectively packaging the controller model and the engine model into RTDLL files running in a real-time environment;
c, calling a controller model and an engine model in a real-time environment, and respectively establishing a controller model real-time simulator and an engine model real-time simulator;
the controller model real-time simulator mainly comprises an industrial personal computer, a reflective memory card and an optical fiber, and comprises a communication module and a controller module, wherein hardware of the communication module comprises the reflective memory card and the optical fiber carried by the simulator, and is responsible for real-time communication connection between an engine and the controller; the controller module is responsible for operating a control algorithm, giving a control instruction according to feedback data of the engine model real-time simulator in each operating period, and sending the control instruction to the engine model real-time simulator through the communication module;
the engine model real-time simulator mainly comprises an industrial personal computer, a reflective memory card and an optical fiber, and comprises a communication module and an engine module, wherein hardware of the communication module comprises the reflective memory card and the optical fiber carried by the simulator and is responsible for real-time communication connection between an engine and a controller, and the engine model real-time simulator mainly has the functions of sending engine model output data to the controller model real-time simulator and receiving a control instruction from the controller model real-time simulator; the engine module receives a control instruction sent by the controller model real-time simulator through the communication module, runs in real time, calculates the output parameters of the engine model simulator according to the control instruction and sends the output parameters to the controller module through the reflective memory;
the monitoring upper computer comprises a controller monitoring upper computer and an engine monitoring upper computer, wherein the controller monitoring upper computer receives input and output data of the controller through a shared memory and updates and displays the input and output data in real time, and the engine monitoring upper computer receives input and output data of the engine through the shared memory and updates and displays the input and output data in real time; the controller monitors functions realized by the upper computer and the engine monitoring upper computer, and comprises a monitoring interface for updating display data in real time, drawing an operation curve, storing data and controlling the start and stop of a model; starting and stopping control over an engine model and a controller model is realized through an upper computer calling model; the method supports online parameter adjustment, directly modifies the parameters of the controller through the upper computer, and receives the modified parameters through the shared memory by the lower computer, so that the complicated steps of code generation, packaging, downloading and the like after the parameters are modified in the model are avoided, and the method is convenient, rapid and easy to operate;
step D, communication connection is completed through a communication module, the engine model sends an output signal to the controller in real time, and the controller sends a control instruction to the engine model after the controller outputs expansion operation according to the received engine model, so that real-time simulation of an engine control loop can be realized; simultaneously, the input and output data of the controller model and the engine model are sent to a controller monitoring upper computer and a model monitoring upper computer through a shared memory;
and E, observing the operation effects of the controller and the model in real time by monitoring the upper computer, modifying the control algorithm on line by the upper computer according to the control performance requirements, and repeatedly modifying until the simulation result meets the performance requirements of the control system.
The invention has the beneficial effects that:
(1) and the real-time simulation of the control system of the aero-engine is realized by pure numbers of the control system, model encapsulation and model downloading. The real-time simulation method is convenient, efficient and easy to master, is convenient for development and testing personnel to use, and has a friendly upper computer monitoring interface, so that after the abnormality is observed by the development personnel through the upper computer, the development personnel can quickly carry out online parameter adjustment through upper computer monitoring software, and the direct modification of related parameters in the controller is realized. The problems of high test cost, high cost, low efficiency and the like in the traditional research and development process are solved.
(2) The invention designs a communication module to realize the communication connection between the controller and the engine model in the engine control system. The real-time transmission characteristic of communication is realized by reflecting the high-speed communication function of the memory, and the real-time simulation precision is improved.
(3) The invention downloads the controller project and the engine project into two industrial personal computers respectively, and the controller project and the engine project are subjected to closed-loop simulation through the communication module, so that the simulation of a real aero-engine control system is realized. The real-time simulation method is not only suitable for real-time simulation of the engine control system, but also has applicability to a common closed-loop control system.
Drawings
FIG. 1 is a comparison graph of low-pressure rotor speed pure digital simulation and real-time simulation.
Detailed Description
In order to make the technical solutions and technical problems of the present invention more clear, the following specifically describes the technical solutions of the present invention with reference to the accompanying drawings.
The simulation platform has the functions of rapid control prototype and real-time simulation, and is structurally shown in figure 1, wherein a controller model machine and an engine model machine are in reflective memory communication, and a controller model machine and a controller monitoring upper computer and an engine model machine and an engine monitoring upper computer are in shared memory communication.
The real-time simulation system comprises the following components:
(1) the controller simulator runs in an RTX real-time operation system in an industrial personal computer, and a reflection memory board card is installed in the RTX real-time operation system and can be used for communication with an engine model machine.
(2) The engine model simulator runs in an RTX real-time operating system in an industrial personal computer, and a reflection memory board card is installed in the RTX real-time operating system and can be used for communication with the engine model simulator.
(3) The monitoring upper computer and a Windows operating system running in the industrial personal computer mainly realize the functions of calling the model, controlling the starting and stopping of the model, displaying the running curve and running data of each channel, adjusting parameters on line and the like. The controller simulator and the monitoring upper computer thereof operate on the same industrial personal computer, and the engine model simulator and the controller thereof also operate on the same industrial personal computer.
In order to ensure the safe operation of the aircraft and improve the development efficiency of research and development personnel, the whole control system needs to meet the requirements of instantaneity, reliability and highest development efficiency. The invention mainly has the following advantages in the real-time simulation process of the aeroengine control system:
(1) good real-time performance. The control system has the operation period of 25ms, an industrial personal computer is used as the operation environment of the controller and the engine model based on the RTX real-time environment, a reflective memory card is used as the communication connection between the engine and the controller simulator, and the high-speed transmission speed of the control system can ensure the real-time communication.
(2) And (4) high reliability. In order to ensure the reliability of the control system, the invention has reliability design in the aspect of software design, and simultaneously, a hardware platform adopts a high-performance industrial personal computer and a reflection memory card to meet the operation and communication requirements of a controller and an engine model. The industrial personal computer is stable and reliable, the performance is superior, the reflective memory card has a high-speed communication function, the reflective memory card and the reflective memory card work together to complete the construction of the real-time simulation platform, and the industrial personal computer has an anti-interference function. Taking a low-pressure rotor rotating speed channel of an engine model as an example, showing pure digital simulation and RTX-based real-time simulation comparative analysis, and knowing through comparison that the real-time simulation result is very close to the pure digital simulation result; the calculated steady-state error is lower than 0.5%, the dynamic error is lower than 0.2%, and the simulation precision of the system is verified to meet the requirement.
(3) Faster development efficiency. The invention can quickly realize the real-time simulation of the control system. After the pure digital simulation of the control system is completed, the automatic code generation, the model encapsulation and the model calling have reusability, and the steps can be completed by only simple operation in each simulation. The upper computer monitoring software can realize the functions of real-time monitoring, curve drawing, online parameter adjustment, model start-stop control and the like, and is convenient for operation of testers.
The invention provides a real-time simulation method of an aero-engine control system, which comprises the following specific steps:
step A, an aero-engine model and a controller model thereof are built in MATLAB/Simulink software, wherein a control algorithm adopted by a controller is direct thrust multivariable active disturbance rejection control, the engine model is an airborne adaptive model to complete pure digital simulation of an aero-engine control system, and the effectiveness and feasibility of the control algorithm are verified; the controller model and the engine model are separated, and the connection between the output of the controller model and the input of the engine model is disconnected; respectively generating respective source codes for a controller model and an engine model by an automatic code generation technology of MATLAB software;
step B, respectively packaging the controller model and the engine model into RTDLL files capable of running in a real-time environment;
and C, calling the controller model and the engine model in a real-time environment, and respectively establishing the controller real-time simulator and the engine model real-time simulator.
The controller real-time simulator comprises an industrial personal computer, a reflective memory card and an optical fiber, and comprises a communication module and a controller module, wherein the main hardware of the communication module comprises the reflective memory card and the optical fiber carried by the simulator, is responsible for real-time communication connection between an engine and the controller, and has the main functions of sending a control instruction to the engine model real-time simulator and receiving an output parameter from the engine model real-time simulator; the controller module is responsible for operating a control algorithm, giving a control instruction according to feedback data of the engine model real-time simulator in each operating period, and sending the control instruction to the engine model real-time simulator through the communication module;
the real-time engine simulator comprises an industrial personal computer, a reflective memory card and an optical fiber, and comprises a communication module and an engine module, wherein the main hardware of the communication module comprises the reflective memory card and the optical fiber carried by the simulator, and is responsible for real-time communication connection between an engine and a controller, and the main function of the real-time engine simulator is to send engine model output data to the real-time controller simulator and receive a control instruction from the real-time controller simulator; the engine module receives a control instruction sent by the real-time simulator of the controller through the communication module, runs in real time, calculates the output parameters of the engine model simulator according to the control instruction and sends the output parameters to the controller module through the reflective memory;
the monitoring upper computer comprises a controller monitoring upper computer and an engine monitoring upper computer, wherein the controller monitoring upper computer receives input and output data of the controller through a shared memory and updates and displays the input and output data in real time, and the engine monitoring upper computer receives input and output data of the engine through the shared memory and updates and displays the input and output data in real time. The functions of the controller monitoring upper computer and the engine monitoring upper computer are similar, and the functions mainly comprise real-time updating of display data of a monitoring interface, drawing of an operation curve, data storage and model start-stop control; the start and stop control of the engine and the controller model is realized by calling the model through the upper computer; the online parameter adjustment is supported, the parameters of the controller can be directly modified through the upper computer, and the modified parameters are received by the lower computer through the shared memory, so that the complicated steps of code generation, packaging, downloading and the like after the parameters are modified in the model are avoided, and the method is convenient, rapid and easy to operate;
and D, completing communication connection through the communication module, transmitting the output signal to the controller by the engine model in real time, and transmitting a control instruction to the engine model by the controller after the controller outputs and expands operation according to the received engine model, so that the real-time simulation of the engine control loop can be realized. Simultaneously, the input and output data of the controller and the engine model are sent to a controller monitoring upper computer and a model monitoring upper computer through a shared memory;
and E, observing the operation effects of the controller and the model in real time by monitoring the upper computer, modifying the control algorithm on line by the upper computer according to the control performance requirements, and repeatedly modifying until the simulation result meets the performance requirements of the control system. Aiming at the control system, an XNLC channel output by an engine model is taken for result analysis, a control effect comparison graph is shown in figure 1, and a pure digital simulation and real-time simulation comparison curve shows that the real-time simulation effect is very close to the pure digital simulation, the steady-state error is lower than 0.5%, and the feasibility of the real-time simulation method of the embodiment is verified.
In the real-time simulation method of the aircraft engine control system, the communication connection among the modules is as follows:
(1) the controller simulator and the engine model simulator are both provided with a reflective memory card, the controller simulator and the engine model simulator are communicated through the reflective memory card through optical fiber connection, and the transmission speed is high.
(2) Shared memory communication is adopted between the controller simulator and the controller monitoring upper computer, the controller simulator and the controller monitoring upper computer run in the same system environment, and the same is true between the engine model simulator and the engine monitoring upper computer.
In conclusion, the real-time simulation method of the aero-engine control system mainly comprises a controller model simulator, an engine model simulator and monitoring upper computers of the controller model simulator and the engine model simulator. Before the simulator is set up, pure digital simulation of a control system is required to be completed, and correctness of a control algorithm and an engine model is ensured; and then, after the controller and the engine model in the control system are disassembled, respectively and automatically generating codes through an automatic code generation function of the MATLAB, and packaging and calling the model, so that the establishment of the simulator can be completed. The communication part adopts a reflective memory card and optical fibers to realize communication connection between the controller simulator and the engine simulator, and the high-speed communication function of the reflective memory card can ensure the real-time performance of communication between the two simulators. The monitoring upper computer and the simulation machine run in the same industrial personal computer, the monitoring upper computer and the simulation machine are in communication connection through a shared memory, the simulation machine is responsible for sending real-time running data to the upper computer for displaying, the upper computer sends control instructions to determine starting, running, stopping, resetting and the like of the simulation machine, meanwhile, the upper computer can also directly modify controller parameters to achieve online parameter adjustment, and tedious steps of re-performing rapid prototype control and the like after the designer modifies the controller parameters through a traditional mode are avoided. The method provided by the invention is suitable for real-time simulation experiments of various control systems, can be used after pure digital simulation of the control systems is completed, and has the advantages of simplicity and convenience in operation, high development efficiency, low cost, wide applicability and the like.
It should be noted that those skilled in the art should understand that: the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same, and different technical features appearing in different embodiments may be combined to obtain advantageous effects. Other variations of the disclosed embodiments can be understood and effected by those skilled in the art in view of the foregoing description, appended claims, and accompanying drawings. It should be noted that, the present invention has been described in detail with reference to the foregoing embodiments, and modifications and equivalents may be made to the technical solutions mentioned in the foregoing embodiments or to some or all of the technical features thereof without departing from the scope of the technical solutions of the embodiments of the present invention.
Claims (1)
1. A real-time simulation method of an aircraft engine control system is characterized by comprising the following steps:
step A, building an aero-engine model and a controller model thereof in MATLAB/Simulink software to complete pure digital simulation of an aero-engine control system; the controller model and the engine model are separated, and the connection between the output of the controller model and the input of the engine model is disconnected; respectively generating respective source codes for a controller model and an engine model by an automatic code generation technology of MATLAB software;
step B, respectively packaging the controller model and the engine model into RTDLL files running in a real-time environment;
c, calling a controller model and an engine model in a real-time environment, and respectively establishing a controller model real-time simulator and an engine model real-time simulator;
the controller model real-time simulator mainly comprises an industrial personal computer, a reflective memory card and an optical fiber, and comprises a communication module and a controller module, wherein hardware of the communication module comprises the reflective memory card and the optical fiber carried by the simulator, and is responsible for real-time communication connection between an engine and the controller; the controller module is responsible for operating a control algorithm, giving a control instruction according to feedback data of the engine model real-time simulator in each operating period, and sending the control instruction to the engine model real-time simulator through the communication module;
the engine model real-time simulator mainly comprises an industrial personal computer, a reflective memory card and an optical fiber, and comprises a communication module and an engine module, wherein hardware of the communication module comprises the reflective memory card and the optical fiber carried by the simulator and is responsible for real-time communication connection between an engine and a controller, and the engine model real-time simulator mainly has the functions of sending engine model output data to the controller model real-time simulator and receiving a control instruction from the controller model real-time simulator; the engine module receives a control instruction sent by the controller model real-time simulator through the communication module, runs in real time, calculates the output parameters of the engine model simulator according to the control instruction and sends the output parameters to the controller module through the reflective memory;
the monitoring upper computer comprises a controller monitoring upper computer and an engine monitoring upper computer, wherein the controller monitoring upper computer receives input and output data of the controller through a shared memory and updates and displays the input and output data in real time, and the engine monitoring upper computer receives input and output data of the engine through the shared memory and updates and displays the input and output data in real time; the controller monitors functions realized by the upper computer and the engine monitoring upper computer, and comprises a monitoring interface for updating display data in real time, drawing an operation curve, storing data and controlling the start and stop of a model; starting and stopping control over an engine model and a controller model is realized through an upper computer calling model; the method supports online parameter adjustment, directly modifies the parameters of the controller through the upper computer, and receives the modified parameters through the shared memory by the lower computer, so that the complicated steps of code generation, packaging, downloading and the like after the parameters are modified in the model are avoided, and the method is convenient, rapid and easy to operate;
step D, communication connection is completed through a communication module, the engine model sends an output signal to the controller in real time, and the controller sends a control instruction to the engine model after the controller outputs expansion operation according to the received engine model, so that real-time simulation of an engine control loop can be realized; simultaneously, the input and output data of the controller model and the engine model are sent to a controller monitoring upper computer and a model monitoring upper computer through a shared memory;
and E, observing the operation effects of the controller and the model in real time by monitoring the upper computer, modifying the control algorithm on line by the upper computer according to the control performance requirements, and repeatedly modifying until the simulation result meets the performance requirements of the control system.
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20191224 |
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| WW01 | Invention patent application withdrawn after publication |