CN112664511A - Servo mechanism energy loop modeling method suitable for pneumatic motor driving - Google Patents

Abstract

The invention relates to a servo mechanism energy loop modeling method suitable for pneumatic motor driving, which comprises the following steps: s1, setting a servo mechanism physical element mathematical model and parameters driven by a pneumatic motor; s2, establishing a servo mechanism energy loop simulation model driven by a pneumatic motor: hydrogen enters a pneumatic motor to do work to generate torque, the pneumatic motor is driven to drive a coaxial hydraulic pump to rotate to generate hydraulic energy pressure and flow, and the hydraulic energy pressure and flow are charged into a pressure accumulator until the pressure accumulator gradually rises from initial pressure to reach stable hydraulic pump outlet pressure, and the system pressure building process is completed; and S3, setting an input pneumatic motor air inlet pressure parameter, introducing the input parameter into an electro-hydraulic servo mechanism energy simulation model driven by a pneumatic motor, and outputting a simulation result of the pressure accumulator and the rotating speed of the pneumatic motor. The input signals are hydrogen pressure and flow, the output signals are servo mechanism energy pressure curves, and by adopting the simulation modeling method, an energy simulation model which is closer to the actual energy simulation model can be quickly built, so that the efficiency is improved.

Description

Servo mechanism energy loop modeling method suitable for pneumatic motor driving

Technical Field

The invention relates to a servo mechanism energy loop modeling method suitable for pneumatic motor driving, and belongs to the technical field of carrier rocket electro-hydraulic servo mechanisms.

Background

The servo mechanism is a general name of the subsystem of the carrier rocket flight control executing mechanism in China, and the typical application is that a swing engine implements thrust vector control. The energy servo mechanism of the pneumatic machine drains high-pressure and low-temperature hydrogen from the rocket to drive the pneumatic machine to rotate, the overrunning clutch is used for coaxially transmitting the variable hydraulic pump to generate hydraulic energy, one part of the hydraulic energy is supplied to the servo mechanism actuator through the servo valve to generate control force for pushing the rocket engine nozzle to swing, and the other part of the hydraulic energy is supplied to the pressure accumulator to be stored for supplementing peak flow.

At present, for a servo mechanism of a conventional motor-driven hydraulic pump, a simple energy model is provided for simulation analysis. However, a hydraulic pump driven by a pneumatic motor is used as a servo mechanism of energy, an accurate energy loop model is not available, the simulation analysis of the characteristics of pressure build time, pressure, flow and the like of a hydraulic servo system driven by hydrogen energy cannot be carried out, the characteristics can only be obtained by testing through a real prototype test, and the corresponding test period and the cost are not acceptable.

Disclosure of Invention

The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides a servo mechanism energy loop modeling method suitable for being driven by a pneumatic motor, and accurately analyzes the pressure of a pressure accumulator of the servo mechanism and the rotating speed of the pneumatic motor under the given hydrogen energy condition.

The technical scheme of the invention is as follows:

a servo mechanism energy loop modeling method suitable for pneumatic motor driving comprises the following specific steps:

s1, setting a mathematical model and parameters of physical elements of a servo mechanism driven by a pneumatic motor,comprising determining the output torque T of the pneumatic motor_{Qi (Qi)}The rotating speed omega of the pneumatic motor and the output flow Q of the hydraulic pump_bZero leakage flow Q of servo valve_fFurther establishing the relationship between the pressure build-up pressure and the flow rate of the accumulator;

s2, establishing a servo mechanism energy loop simulation model driven by a pneumatic motor: hydrogen enters a pneumatic motor to do work to generate torque, the pneumatic motor is driven to drive a coaxial hydraulic pump to rotate to generate hydraulic energy pressure and flow, and the hydraulic energy pressure and flow are charged into a pressure accumulator until the pressure accumulator gradually rises from initial pressure to reach stable hydraulic pump outlet pressure, and the system pressure building process is completed;

and S3, setting an input pneumatic motor air inlet pressure parameter, introducing the input parameter into an electro-hydraulic servo mechanism energy simulation model driven by a pneumatic motor, and outputting a simulation result of the pressure accumulator and the rotating speed of the pneumatic motor.

Further, in S1, the pneumatic motor intake pressure P is set_{Air inlet}With the pressure P of the exhaust_{Exhaust of gases}The difference of (A) is the gas pressure drop after work application Delta P_{Qi (Qi)}The pressure-torque conversion coefficient R of the pneumatic motor is measured through tests_tAccording to the pressure-torque conversion equation T of the pneumatic motor_{Qi (Qi)}＝R_t×ΔP_{Qi (Qi)}Calculating to obtain the output torque T of the pneumatic motor_{Qi (Qi)}。

Further, in S1, the pneumatic motor rotation speed ω can be calculated according to the pneumatic motor-hydraulic pump torque balance equation, and the corresponding mathematical model is as follows:

wherein: j is the moment of inertia of the pneumatic motor and the hydraulic pump, T_{Static friction}Is static friction moment of pneumatic motor and hydraulic pump, T_{Dynamic friction}Is the kinetic friction moment of the blade of the pneumatic motor under the action of air pressure C₀Is the dynamic friction coefficient of the blade of a pneumatic motor, T_{Pump and method of operating the same}Is the hydraulic pump rotational torque.

Further, in S1, the hydraulic pump rotates the torque

Wherein P is the output pressure of the hydraulic pump, P_mFor zero flow pressure of hydraulic pumps, P_sIs the full flow pressure of the hydraulic pump, q is the rotary displacement of the hydraulic pump, eta_mThe hydraulic pump mechanical efficiency.

Further, in S1, the output flow rate of the hydraulic pump

Q_b＝ω·q·η_v P≤P_s

Wherein eta is_vFor hydraulic pump volumetric efficiency, ω is the hydraulic pump rotational speed, i.e., the pneumatic motor rotational speed.

Further, in S1, according to the zero leakage equation of the servo valve

Calculating zero leakage flow Q of servo valve_fWherein, C₁For zero leakage coefficient of spool valve of servo valve, C₂And delta P is the zero leakage coefficient of the nozzle of the servo valve and the pressure difference between the inlet and the outlet of the servo valve.

Further, in S1, according to the accumulator pressure buildup equation,

obtaining the relation between the pressure build-up pressure of the accumulator and the flow rate,

wherein, P_v0Is the initial charge pressure of the accumulator, n is the gas state index, V₀For charging volume of accumulator, Q_bFor delivery of flow from a hydraulic pump, Q_fIs the servo valve leakage flow.

Further, in S2, an arrow leading from the engineFeeding hydrogen gas, the inlet pressure of the gas entering the pneumatic motor is P_{Air inlet}By which the air motor is driven to rotate, corresponding air motor rotating speed omega and rotating torque T are generated_{Qi (Qi)}Further drive the coaxial hydraulic pump to rotate at the same rotation speed omega and output hydraulic flow Q_bAnd a hydraulic pressure P; flow rate Q_bIs a part of (Q)_fThe pressure of the accumulator is gradually increased from the initial lower pressure until the pressure is the same as the higher pressure output by the hydraulic pump; the hydrogen gas which has done work in the pneumatic motor is directly discharged out of the pneumatic motor, and the discharge pressure is P_{Exhaust of gases}。

Further, in S3, the specific implementation method is as follows:

s3.1 setting input parameter P_{Air inlet}Outputting parameters of the rotation speed of the pneumatic motor, namely the rotation speed omega of the oil pump and the pressure p of the accumulator;

s3.2 rotating speed according to the torque balance equation of the pneumatic motor-hydraulic pump, and the air inlet pressure P of the pneumatic motor_{Air inlet}For input, it is related to the exhaust pressure P_{Exhaust of gases}Is multiplied by the pneumatic motor pressure-torque conversion coefficient R_tObtaining the rotation torque of the pneumatic motor, and substituting the rotation speed omega of the hydraulic pump into a function f (u) ═ C₀*u²To obtain C₀w²At the same time, the static friction moment T of the air motor_{Static friction}Moment of kinetic friction T_{Dynamic friction}And hydraulic pump torque T_{Pump and method of operating the same}Obtaining the differential dw/dt of the oil pump rotating speed, and obtaining the oil pump rotating speed w of the output parameter of the simulation model after integration;

s3.3, calculating the output flow of the hydraulic pump according to the rotating speed omega of the hydraulic pump, introducing the pressure of the pressure accumulator into the first change-over switch module for judgment, and if P is less than or equal to P_sIf yes, the first switching switch module outputs omega; if P_s≤P≤P_mThe first switching switch module outputs (Pm-p)/(Pm-Ps) × ω, and multiplies this module output by q × η |_vI.e. the output flow Q of the hydraulic pump_b；

S3.4 substituting the accumulator pressure p into the servo valve leakage function f (u) to obtain the leakage flow Q in the servo valve_f；

S3.5 mixing the solutionOutput flow Q of pressure pump_bAnd the leakage flow rate Q in the servo valve_fIs input into the accumulator module, outputs an accumulator pressure p;

s3.6 substitutes the accumulator pressure p output by the module into the function f (u) ═ u^(1+1/n)Multiplied by the input Q_bAnd Q_fAnd after difference, integrating the result to obtain the output parameter pressure accumulator pressure p of the simulation model.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, the input signals are hydrogen pressure and flow, the output signals are a servo mechanism energy pressure curve, and by adopting the simulation modeling method, an energy simulation model which is closer to the actual energy simulation model can be quickly built without carrying out complex test analysis, so that the efficiency is improved, and the purpose of quickly carrying out research and analysis on the energy characteristics of the hydrogen energy servo mechanism is achieved.

Drawings

FIG. 1 is a process flow diagram of the present invention;

FIG. 2 is a schematic diagram of an energy circuit of the pneumatic motor of the present invention;

FIG. 3 is a system simulation model of the present invention;

FIG. 4 is an accumulator module sub-function of the present invention;

FIG. 5 shows the simulation analysis result of the present invention.

Detailed Description

The invention is further illustrated by the following examples.

A servo mechanism energy loop modeling method suitable for pneumatic motor driving is disclosed, as shown in figure 1, and comprises the following specific steps: s1, setting mathematical model and parameters of physical elements of servo mechanism driven by pneumatic motor, including determining output torque T of pneumatic motor_{Qi (Qi)}The rotating speed omega of the pneumatic motor and the output flow Q of the hydraulic pump_bZero leakage flow Q of servo valve_fFurther establishing the relationship between the pressure build-up pressure and the flow rate of the accumulator;

s2, establishing a servo mechanism energy loop simulation model driven by a pneumatic motor: hydrogen enters a pneumatic motor to do work to generate torque, the pneumatic motor is driven to drive a coaxial hydraulic pump to rotate to generate hydraulic energy pressure and flow, and the hydraulic energy pressure and flow are charged into a pressure accumulator until the pressure accumulator gradually rises from initial pressure to reach stable hydraulic pump outlet pressure, and the system pressure building process is completed;

and S3, setting an input pneumatic motor air inlet pressure parameter, introducing the input parameter into an electro-hydraulic servo mechanism energy simulation model driven by a pneumatic motor, and outputting a simulation result of the pressure accumulator and the rotating speed of the pneumatic motor.

Step S1 specifically includes:

1) setting the inlet pressure P of the pneumatic motor_{Air inlet}With the pressure P of the exhaust_{Exhaust of gases}The difference of (A) is the gas pressure drop after work application Delta P_{Qi (Qi)}The pressure-torque conversion coefficient R of the pneumatic motor is measured through tests_tAccording to the pressure-torque conversion equation T of the pneumatic motor_{Qi (Qi)}＝R_t×ΔP_{Qi (Qi)}Calculating to obtain the output torque T of the pneumatic motor_{Qi (Qi)}。

2) And calculating to obtain the rotating speed omega of the pneumatic motor according to a torque balance equation of the pneumatic motor and the hydraulic pump. The corresponding mathematical model is as follows:

wherein: j is the moment of inertia of the pneumatic motor and the hydraulic pump, T_{Static friction}Is static friction moment of pneumatic motor and hydraulic pump, T_{Dynamic friction}Is the kinetic friction moment of the blade of the pneumatic motor under the action of air pressure C₀Is the dynamic friction coefficient of the blade of a pneumatic motor, T_{Pump and method of operating the same}Is the hydraulic pump rotational torque.

Because the pneumatic motor and the hydraulic pump are coaxially driven, the rotating speed of the hydraulic pump is the same as that of the pneumatic motor.

3) Step 2) the hydraulic pump rotating torque T_{Pump and method of operating the same}This is obtained according to the following equation:

wherein P is the output pressure of the hydraulic pump, P_mFor zero flow pressure of hydraulic pumps, P_sIs the full flow pressure of the hydraulic pump, q is the rotary displacement of the hydraulic pump, eta_mThe hydraulic pump mechanical efficiency.

Namely when the output pressure P of the hydraulic pump is less than or equal to P_sThe hydraulic pump displacement is at a maximum q, at which the pump output flow is also at a maximum. When P is present_s≤P≤P_mThe hydraulic pump displacement is gradually reduced as the output pressure increases, and at the same time the pump flow is also gradually reduced.

4) Calculating to obtain the output flow Q of the hydraulic pump by utilizing the output flow equation of the hydraulic pump according to the rotating speed of the hydraulic pump, namely the rotating speed omega of the pneumatic motor obtained in the step 2)_bThe concrete formula is as follows:

Q_b＝ω·q·η_v P≤P_s

wherein eta is_vIs the volumetric efficiency of the hydraulic pump.

5) According to the equation of zero leakage of the servo valve

Calculating zero leakage flow Q of servo valve_f. Wherein, C₁For zero leakage coefficient of spool valve of servo valve, C₂And delta P is the zero leakage coefficient of the nozzle of the servo valve and the pressure difference between the inlet and the outlet of the servo valve.

6) The output flow Q of the hydraulic pump obtained according to the step 4) and the step 5)_bAnd servo valve leakage flow rate Q_fSubstituting the pressure-building equation of the pressure accumulator into the pressure-building equation of the pressure accumulator to obtain the relation between the pressure-building pressure of the pressure accumulator and the flow.

Wherein, P_v0To store pressureInitial inflation pressure of the device, n is gas state index, V₀The accumulator is charged with a volume.

Step S2 specifically includes:

1) the energy source loop principle of the pneumatic motor driving servo mechanism is shown in figure 2, hydrogen enters the pneumatic motor to do work to generate torque, the pneumatic motor is driven to drive the coaxial hydraulic pump to rotate to generate hydraulic energy pressure and flow, the hydraulic energy pressure and flow are charged into the pressure accumulator until the pressure accumulator gradually rises from initial pressure to reach stable hydraulic pump outlet pressure, and the system pressure building process is completed.

Specifically, hydrogen on the arrow which is led from the engine is guided, and the air inlet pressure which enters the pneumatic motor is P_{Air inlet}By which the air motor is driven to rotate, corresponding air motor rotating speed omega and rotating torque T are generated_{Qi (Qi)}Further drive the coaxial hydraulic pump to rotate at the same rotation speed omega and output hydraulic flow Q_bAnd a hydraulic pressure P. Flow rate Q_bIs a part of (Q)_fThe pressure in the accumulator is gradually increased from the initial lower pressure to the same as the higher pressure output by the hydraulic pump. The hydrogen gas which has done work in the pneumatic motor is directly discharged out of the pneumatic motor, and the discharge pressure is P_{Exhaust of gases}。

2) And (3) substituting the mathematical models of the links in the step 1) into the system model shown in the figure 2 to obtain the system simulation model shown in the figure 3.

Specifically, the method comprises the following steps: 1) setting input parameters P_{Air inlet}And the output parameters are the rotating speed of the pneumatic motor, namely the rotating speed omega of the oil pump and the pressure p of the accumulator.

2) The rotating speed is based on the torque balance equation of the pneumatic motor-hydraulic pump, and the air inlet pressure P of the pneumatic motor_{Air inlet}For input, it is related to the exhaust pressure P_{Exhaust of gases}Is multiplied by the pneumatic motor pressure-torque conversion coefficient R_tObtaining the rotation torque of the pneumatic motor, and substituting the rotation speed omega of the hydraulic pump into a function f (u) ═ C₀*u²To obtain C₀w²At the same time, the static friction moment T of the air motor_{Static friction}Constant, kinetic friction torque T_{Dynamic friction}Constant value and hydraulic pump torque T_{Pump and method of operating the same}To obtain the oil pump in FIG. 3And integrating the speed differential dw/dt to obtain the output parameter oil pump rotating speed w (unit is rpm) of the simulation model.

3) And calculating the output flow of the hydraulic pump according to the rotation speed omega of the hydraulic pump. The accumulator pressure is introduced into the selector switch module 1 for the determination. If P is less than or equal to P_sIf yes, the change-over switch module 1 outputs omega; if P_s≤P≤P_mThe selector switch module 1 outputs (Pm-p)/(Pm-Ps) × ω. Multiplying the module output by q ^ η ^_vI.e. the output flow Q of the hydraulic pump_b。

4) The accumulator pressure p is substituted into the servo valve leakage function f (u) to obtain the leakage flow Q in the servo valve_f。

5) Output flow Q of hydraulic pump_bAnd the leakage flow rate Q in the servo valve_fIs inputted into the accumulator module, and an accumulator pressure p is outputted.

6) The accumulator module sub-function is as in figure 4. The accumulator pressure p output by the module is substituted into a function f (u) ═ u^{(1 +1/n)}Multiplied by the input Q_bAnd Q_fAnd after difference, integrating the result to obtain the output parameter pressure accumulator pressure p of the simulation model.

In the specific implementation process, the pressure and the flow of the hydrogen are input signals, and the output signal is a servo mechanism energy pressure curve. By adopting the simulation modeling method, an energy simulation model which is closer to the actual condition can be quickly built without carrying out complex test analysis, the efficiency is improved, the purpose of quickly carrying out the research and analysis of the energy characteristics of the hydrogen energy servo mechanism is achieved, and the simulation analysis result is shown in figure 5.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.

Claims (9)

1. A servo mechanism energy loop modeling method suitable for pneumatic motor driving is characterized by comprising the following specific steps:

s1, setting mathematical model and parameters of physical elements of servo mechanism driven by pneumatic motor, including determining output torque T of pneumatic motor_{Qi (Qi)}The rotating speed omega of the pneumatic motor and the output flow Q of the hydraulic pump_bZero leakage flow Q of servo valve_fFurther establishing the relationship between the pressure build-up pressure and the flow rate of the accumulator;

s2, establishing a servo mechanism energy loop simulation model driven by a pneumatic motor: hydrogen enters a pneumatic motor to do work to generate torque, the pneumatic motor is driven to drive a coaxial hydraulic pump to rotate to generate hydraulic energy pressure and flow, and the hydraulic energy pressure and flow are charged into a pressure accumulator until the pressure accumulator gradually rises from initial pressure to reach stable hydraulic pump outlet pressure, and the system pressure building process is completed;

and S3, setting an input pneumatic motor air inlet pressure parameter, introducing the input parameter into an electro-hydraulic servo mechanism energy simulation model driven by a pneumatic motor, and outputting a simulation result of the pressure accumulator and the rotating speed of the pneumatic motor.

2. The modeling method for the power circuit of a servo mechanism suitable for pneumatic motor drive according to claim 1, wherein in S1, the pneumatic motor intake pressure P is set_{Air inlet}With the pressure P of the exhaust_{Exhaust of gases}The difference of (A) is the gas pressure drop after work application Delta P_{Qi (Qi)}The pressure-torque conversion coefficient R of the pneumatic motor is measured through tests_tAccording to the pressure-torque conversion equation T of the pneumatic motor_{Qi (Qi)}＝R_t×ΔP_{Qi (Qi)}Calculating to obtain the output torque T of the pneumatic motor_{Qi (Qi)}。

3. The method for modeling the power circuit of a servo mechanism adapted to be driven by a pneumatic motor according to claim 1, wherein in S1, the rotational speed ω of the pneumatic motor is calculated according to the pneumatic motor-hydraulic pump moment balance equation, and the corresponding mathematical model is as follows:

wherein: j is the moment of inertia of the pneumatic motor and the hydraulic pump, T_{Static friction}Is static friction moment of pneumatic motor and hydraulic pump, T_{Dynamic friction}Is the kinetic friction moment of the blade of the pneumatic motor under the action of air pressure C₀Is the dynamic friction coefficient of the blade of a pneumatic motor, T_{Pump and method of operating the same}Is the hydraulic pump rotational torque.

4. The method for modeling an energy circuit of a servo mechanism suitable for a pneumatic motor drive as claimed in claim 1, wherein in S1, the rotational torque of the hydraulic pump

Wherein P is the output pressure of the hydraulic pump, P_mFor zero flow pressure of hydraulic pumps, P_sIs the full flow pressure of the hydraulic pump, q is the rotary displacement of the hydraulic pump, eta_mThe hydraulic pump mechanical efficiency.

5. The method for modeling the power circuit of a servo mechanism suitable for use in a pneumatic motor drive as claimed in claim 1, wherein the output flow rate of the hydraulic pump in S1

Q_b＝ω·q·η_v P≤P_s

Wherein eta is_vFor hydraulic pump volumetric efficiency, ω is the hydraulic pump rotational speed, i.e., the pneumatic motor rotational speed.

6. The method for modeling the power circuit of a servo mechanism suitable for a pneumatic motor drive as claimed in claim 1, wherein in S1, the equation for zero leakage is based on the servo valve zero position

Calculating zero leakage flow Q of servo valve_fWherein, C₁For zero leakage coefficient of spool valve of servo valve, C₂And delta P is the zero leakage coefficient of the nozzle of the servo valve and the pressure difference between the inlet and the outlet of the servo valve.

7. The method of claim 1, wherein in S1, the pressure is built up according to an accumulator,

obtaining the relation between the pressure build-up pressure of the accumulator and the flow rate,

wherein, P_v0Is the initial charge pressure of the accumulator, n is the gas state index, V₀For charging volume of accumulator, Q_bFor delivery of flow from a hydraulic pump, Q_fIs the servo valve leakage flow.

8. The method for modeling the energy circuit of a servo mechanism suitable for driving a pneumatic motor according to claim 1, wherein in S2, hydrogen gas on an arrow from the engine is introduced, and the intake pressure into the pneumatic motor is P_{Air inlet}By which the air motor is driven to rotate, corresponding air motor rotating speed omega and rotating torque T are generated_{Qi (Qi)}Further drive the coaxial hydraulic pump to rotate at the same rotation speed omega and output hydraulic flow Q_bAnd a hydraulic pressure P; flow rate Q_bIs a part of (Q)_fThe pressure of the accumulator is gradually increased from the initial lower pressure until the pressure is the same as the higher pressure output by the hydraulic pump; the hydrogen gas which has done work in the pneumatic motor is directly discharged out of the pneumatic motor, and the discharge pressure is P_{Exhaust of gases}。

9. The method for modeling the power circuit of a servo mechanism suitable for pneumatic motor drive according to claim 1, wherein S3 is implemented by:

s3.1 setting input parameter P_{Air inlet}Outputting parameters of the rotation speed of the pneumatic motor, namely the rotation speed omega of the oil pump and the pressure p of the accumulator;

s3.2 rotating speed according to the torque balance equation of the pneumatic motor-hydraulic pump, and the air inlet pressure P of the pneumatic motor_{Air inlet}For input, it is related to the exhaust pressure P_{Exhaust of gases}Is multiplied by the pneumatic motor pressure-torque conversion coefficient R_tObtaining the rotation torque of the pneumatic motor, and substituting the rotation speed omega of the hydraulic pump into a function f (u) ═ C₀*u²To obtain C₀w²At the same time, the static friction moment T of the air motor_{Static friction}Moment of kinetic friction T_{Dynamic friction}And hydraulic pump torque T_{Pump and method of operating the same}Obtaining the differential dw/dt of the oil pump rotating speed, and obtaining the oil pump rotating speed w of the output parameter of the simulation model after integration;

s3.3, calculating the output flow of the hydraulic pump according to the rotating speed omega of the hydraulic pump, introducing the pressure of the pressure accumulator into the first change-over switch module for judgment, and if P is less than or equal to P_sIf yes, the first switching switch module outputs omega; if P_s≤P≤P_mThe first switching switch module outputs (Pm-p)/(Pm-Ps) × ω, and multiplies this module output by q × η |_vI.e. the output flow Q of the hydraulic pump_b；

S3.4 substituting the accumulator pressure p into the servo valve leakage function f (u) to obtain the leakage flow Q in the servo valve_f；

S3.5 outputting the output flow Q of the hydraulic pump_bAnd the leakage flow rate Q in the servo valve_fIs input into the accumulator module, outputs an accumulator pressure p;

s3.6 substitutes the accumulator pressure p output by the module into the function f (u) ═ u^(1+1/n)Multiplied by the input Q_bAnd Q_fAnd after difference, integrating the result to obtain the output parameter pressure accumulator pressure p of the simulation model.

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