CN112947378A - Turbojet engine fault-tolerant test system and method based on unmanned aerial vehicle carrying platform - Google Patents
Turbojet engine fault-tolerant test system and method based on unmanned aerial vehicle carrying platform Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0262—Confirmation of fault detection, e.g. extra checks to confirm that a failure has indeed occurred
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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Abstract
The turbojet engine fault-tolerant test system and method based on the unmanned aerial vehicle carrying platform are disclosed, wherein in the test system, the unmanned aerial vehicle carrying platform executes a preset flight state based on a flight instruction; the turbojet engine is supported on the unmanned aerial vehicle carrying platform and is provided with a plurality of sensors; the electronic controller is connected with the turbojet engine to execute an engine control command so as to control the turbojet engine, and the sensor outputs a sensor signal; the fault injection device is connected with the electronic controller and executes fault injection based on the sensor signal; the data acquisition device is connected with the turbojet engine and the fault injection device so as to acquire sensor signals and fault signals after fault injection; ground station wireless connection unmanned aerial vehicle carries on platform, electronic controller and data acquisition device, and the remote control receiver is connected to the host computer, and the fault-tolerant verification test parameter is set for to the host computer, receives test data.
Description
Technical Field
The invention relates to the technical field of aero-engine control, in particular to a turbojet engine fault-tolerant test system and method based on an unmanned aerial vehicle carrying platform.
Background
The control system is the 'nerve center' of the engine, and the task reliability and safety of the control system are the life of the engine. The fault-tolerant control is an important mission of a control system and is a core technology for ensuring safe and efficient operation of an engine. The fault tolerance is the primary requirement of the army mark control system of the army, and is also the main content of the civil airworthiness standard control system. Developing a fault-tolerant validation test is an important way to verify the effectiveness of a fault-tolerant control method.
At present, in a fault-tolerant test of an aeroengine control system, the fault-tolerant test generally comprises four levels of tests, namely a loop fault simulation test, a semi-physical fault simulation test, a ground test run and an overhead platform test run of a controller. Under the original test system, the test run of the high-altitude platform can accurately simulate the real flight environment, and is an important form of fault-tolerant control test. However, fault simulation has a risk and the high-altitude bench test run cost is high, so that it is difficult to develop a systematic fault-tolerant test, and the simulated environment and the engine in the high-altitude environment always have a gap, so that the test cost is high, the benefit is low, and the requirement of fault-tolerant verification is difficult to meet.
The above information disclosed in the background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is well known to those of ordinary skill in the art.
Disclosure of Invention
In view of the above problems, the present invention aims to overcome the defects in the prior art, and provide a turbojet engine fault-tolerant test system and method based on an unmanned aerial vehicle-mounted platform, so as to implement fault-tolerant control verification of a low-cost real test environment and improve validity of the verification. The purpose of the invention is realized by the following technical scheme.
A turbojet engine fault-tolerant test system based on an unmanned aerial vehicle carrying platform comprises,
an unmanned aerial vehicle-mounted platform that executes a predetermined flight state based on a flight instruction;
a turbojet engine supported by the unmanned aerial vehicle mounting platform, the turbojet engine having a plurality of sensors;
an electronic controller coupled to the turbojet engine to execute engine control commands to control the turbojet engine, the sensor outputting a sensor signal;
a fault injection device connected to the electronic controller, the fault injection device performing fault injection based on the sensor signal;
the data acquisition device is connected with the turbojet engine and the fault injection device so as to acquire the sensor signal and the fault signal of fault injection;
a ground station wirelessly connected with the unmanned aerial vehicle carrying platform, the electronic controller and the data acquisition device, the ground station comprises,
a remote control receiver for sending the flight command and the engine control command and receiving the sensor signal and the fault signal collected by the data collection device,
and the upper computer is connected with the remote control receiver and is used for setting fault-tolerant verification test parameters and receiving test data.
The turbojet engine fault-tolerant test system based on the unmanned aerial vehicle carrying platform comprises the unmanned aerial vehicle, a communication unit for receiving flight instructions, a controller module and a measuring module for measuring external environment parameters, wherein the controller module controls the unmanned aerial vehicle to execute a preset flight state based on the flight instructions, and the preset flight state comprises a preset flight attitude which is carried out in the flight process at a preset flight height and a preset flight speed.
The turbojet engine fault-tolerant test system based on the unmanned aerial vehicle carrying platform is characterized in that the unmanned aerial vehicle carrying platform further comprises a driving module for providing auxiliary thrust output and a power module for providing electric energy, the unmanned aerial vehicle is a fixed-wing unmanned aerial vehicle, the measuring module comprises an IMU sensor, an airspeed tube, a magnetic compass and a GPS module, the driving module comprises a first auxiliary power motor and a second auxiliary power motor, and the controller module is connected with a front undercarriage steering engine, a left aileron steering engine, a right aileron steering engine, a horizontal tail elevator steering engine, a first vertical tail rudder steering engine and a second vertical tail rudder steering engine.
The turbojet engine fault-tolerant test system based on the unmanned aerial vehicle carrying platform comprises an engine body, a starting motor, an electronic speed regulator, an oil pump motor, an oil pump and a power supply, wherein the sensor comprises a temperature sensor for measuring the total air inlet temperature of the turbojet engine and the exhaust temperature after a turbine, a pressure sensor for measuring the total air inlet pressure of the turbojet engine and the total pressure after a gas compressor, and a rotating speed sensor for measuring the turbine rotating speed of the turbojet engine.
A turbojet engine fault-tolerant test system based on unmanned aerial vehicle carries on platform in, electronic controller includes embedded treater, IO interface, RS422 serial ports, PWM interface, throttle lever receiving module, monitoring signal sending module and communication unit, and the throttle lever control command that communication unit received that unmanned aerial vehicle ground satellite station transmitted transmits gives throttle lever receiving module, and embedded treater generates and exports fuel feeding signal, passes through the PWM interface and gives turbojet engine, embedded treater IO interface and RS422 serial ports are received the sensor signal that trouble injection device pours into the trouble, monitoring signal sending module wireless connection ground satellite station.
In the turbojet engine fault-tolerant test system based on the unmanned aerial vehicle carrying platform, an electronic controller outputs a fuel flow signal and controls the turbojet engine based on a throttle lever control signal, and a sensor outputs a sensor signal.
In the turbojet engine fault-tolerant test system based on the unmanned aerial vehicle carrying platform, the fault injection device comprises a breakpoint fault injection device and a drift fault injection device.
A test method of the turbojet engine fault-tolerant test system based on the unmanned aerial vehicle carrying platform comprises the following steps,
the method comprises the following steps that firstly, a turbojet engine is carried on an unmanned aerial vehicle carrying platform, a ground station sends a flight command to an unmanned aerial vehicle and an engine control command to an electronic controller, the turbojet engine is started on the ground, and an accelerator rod is adjusted to be in a slow-moving state;
the second step, the unmanned aerial vehicle carrying platform executes a preset flight state based on a flight instruction, the target altitude and the target Mach number are reached, an electronic controller executes an engine control instruction to control the turbojet engine, and a sensor outputs a sensor signal;
and thirdly, a fault injection device executes fault injection based on the sensor signal, a data acquisition device is used for acquiring the sensor signal and a fault signal of the fault injection, and a ground station upper computer receives a monitoring control signal sent by an electronic controller based on the sensor signal and the fault signal to monitor the control quality and the fault-tolerant index parameters.
In the test method described above, the test procedure,
in the first step, controller codes passing through a loop simulation fault-tolerant test and a ground test fault-tolerant test are downloaded to the electronic controller, an ignition instruction is sent out through a ground station upper computer, the starting of a turbojet engine is completed under the coordination of a starter, and the angle of an accelerator lever is adjusted to enable the turbojet engine to be in a slow running state;
in the second step, a target height and a target Mach number are set through a ground station upper computer, and the unmanned aerial vehicle carrying platform is controlled to fly to the set target height and the set target Mach number;
in the third step, according to the flight scene set by the upper computer of the ground station, the target height and the Mach number are synchronously set, the unmanned aerial vehicle is controlled to fly and a fault injection mode is set, wherein the fault injection mode comprises single electronic/electrical fault and pairwise combined electronic/electrical fault, and the data acquisition device acquires the rotating speed, pressure and temperature sensor signals of an engine and the rotating speed, pressure and temperature sensor signals after fault injection and transmits the signals back to the ground station; the controller transmits fault tolerance indicator parameters back to the ground station, wherein the fault tolerance indicators comprise surge margin, overtemperature, over-rotation indicators and thrust degradation indicators.
Compared with the prior art, the invention has the beneficial effects that:
the invention can realize continuous automatic simulation of important faults and effective verification of the high-altitude environment fault-tolerant method, the obtained verification effect is superior to the high-altitude platform test run, and the cost is far lower than the high-altitude platform test run.
The above description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly apparent, and to make the implementation of the content of the description possible for those skilled in the art, and to make the above and other objects, features and advantages of the present invention more obvious, the following description is given by way of example of the specific embodiments of the present invention.
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Various other advantages and benefits of the present invention will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. Also, like parts are designated by like reference numerals throughout the drawings.
In the drawings:
fig. 1 is a schematic structural diagram of a turbojet engine fault-tolerant test system based on an unmanned aerial vehicle-mounted platform according to an embodiment of the invention.
The invention is further explained below with reference to the figures and examples.
Detailed Description
A specific embodiment of the present invention will be described in more detail below with reference to fig. 1. While specific embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It should be noted that certain terms are used throughout the description and claims to refer to particular components. As one skilled in the art will appreciate, various names may be used to refer to a component. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. The description which follows is a preferred embodiment of the invention, but is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the scope of the invention. The scope of the present invention is defined by the appended claims.
For the purpose of facilitating understanding of the embodiments of the present invention, the following description will be made by taking specific embodiments as examples with reference to the accompanying drawings, and the drawings are not to be construed as limiting the embodiments of the present invention.
For better understanding, as shown in fig. 1, a turbojet engine fault-tolerant test system based on an unmanned aerial vehicle carrying platform comprises,
an unmanned aerial vehicle-mounted platform 1 that executes a predetermined flight state based on a flight instruction;
a turbojet engine 2 supported by the unmanned aerial vehicle mounting platform 1, the turbojet engine 2 having a plurality of sensors;
an electronic controller 3 connected to the turbojet engine 2 to execute engine control commands to control the turbojet engine 2, the sensors outputting sensor signals;
a fault injection device 4 connected to the electronic controller 3, the fault injection device 4 performing fault injection based on the sensor signal;
the data acquisition device 5 is connected with the turbojet engine 2 and the fault injection device 4 so as to acquire the sensor signal and the fault signal of fault injection;
a ground station 6 which is wirelessly connected with the unmanned aerial vehicle carrying platform 1, the electronic controller 3 and the data acquisition device 5, wherein the ground station 6 comprises,
a remote control receiver 7 which transmits the flight command and the engine control command, and receives the sensor signal and the fault signal collected by the data collection device 5,
and the upper computer 8 is connected with the remote control receiver 7, and the upper computer 8 sets fault-tolerant verification test parameters and receives test data.
In a preferred embodiment of the turbojet engine 2 fault-tolerant test system based on the unmanned aerial vehicle carrying platform 1, the unmanned aerial vehicle carrying platform 1 comprises an unmanned aerial vehicle, a communication unit for receiving flight instructions, a controller module and a measurement module for measuring external environment parameters, the controller module controls the unmanned aerial vehicle to execute a predetermined flight state based on the flight instructions, and the predetermined flight state comprises a predetermined flight attitude for executing flight at a predetermined flight height and a predetermined flight speed.
In a preferred embodiment of a turbojet engine 2 fault-tolerant test system based on unmanned aerial vehicle carries on platform 1, unmanned aerial vehicle carries on platform 1 still including the drive module that is used for providing supplementary thrust output and the power module that provides the electric energy, unmanned aerial vehicle is fixed wing unmanned aerial vehicle, measuring module includes IMU sensor, airspeed tube, magnetic compass and GPS module, drive module includes first supplementary power motor and second supplementary power motor, the controller module is connected front landing gear steering wheel, left aileron steering wheel, right aileron steering wheel, horizontal tail elevator steering wheel, first vertical tail rudder steering wheel and second vertical tail rudder steering wheel.
In the preferred embodiment of the turbojet engine 2 fault-tolerant test system based on the unmanned aerial vehicle carrying platform 1, the turbojet engine 2 comprises an engine body, a starting motor, an electronic speed regulator, an oil pump motor, an oil pump and a power supply, and the sensors comprise a temperature sensor for measuring the total air inlet temperature and the rear turbine exhaust temperature of the turbojet engine 2, a pressure sensor for measuring the total air inlet pressure of the turbojet engine 2 and the rear total pressure of an air compressor, and a rotation speed sensor for measuring the rotation speed of the turbine of the turbojet engine 2.
In a preferred embodiment of the turbojet engine 2 fault-tolerant test system based on the unmanned aerial vehicle carrying platform 1, the electronic controller 3 comprises an embedded processor, an IO interface, an RS422 serial port, a PWM interface, a throttle lever receiving module, a monitoring signal sending module and a communication unit, the communication unit receives a throttle lever control instruction transmitted from the unmanned aerial vehicle ground station 6 and transmits the throttle lever receiving module, the embedded processor generates and outputs an oil supply signal, the oil supply signal is transmitted to the turbojet engine 2 through the PWM interface, the IO interface of the embedded processor and the RS422 serial port receive a sensor signal of a fault injected by the fault injection device 4, and the monitoring signal sending module is in wireless connection with the ground station 6.
In the preferred embodiment of the turbojet engine 2 fault-tolerant test system based on the unmanned aerial vehicle carrying platform 1, the electronic controller 3 outputs a fuel flow signal and controls the turbojet engine 2 based on a throttle lever control signal, and the sensor outputs a sensor signal.
In the preferred embodiment of the turbojet engine 2 fault-tolerant test system based on the unmanned aerial vehicle carrying platform 1, the fault injection device 4 comprises a breakpoint fault injection device 4 and a drift fault injection device 4.
In one embodiment, the turbojet engine 2 fault-tolerant test system based on the unmanned aerial vehicle mounting platform 1 includes:
the electronic controller 3 is used for receiving a ground remote throttle lever control signal, executing engine control and outputting a main fuel flow,
the turbojet engine 2 is used for receiving a main fuel flow signal of the electronic controller 3, operating according to the instruction of the controller and outputting the signal to a corresponding sensor,
the fixed-wing unmanned aerial vehicle carrying platform 1 controls the unmanned aerial vehicle to fly according to the set flying height and Mach number according to the flying instruction of the unmanned aerial vehicle ground station 6, provides a high-altitude test environment for the micro turbojet engine 2 carried by the platform,
an unmanned aerial vehicle ground station 6 for completing the bidirectional transmission of control instructions and return data between the ground station 6 and the unmanned aerial vehicle,
a fault injection device 4 for performing fault injection on the sensor signal output from the engine,
and the data acquisition device 5 is used for acquiring sensor signals output by the engine and fault signals processed by the fault injection device 4 and transmitting the sensor signals and the fault signals back to the ground.
In this embodiment, the electronic controller 3 includes an embedded processor, an IO interface, an RS422 serial port, a PWM interface, a throttle lever receiving module, a monitoring signal transmitting module, and a communication unit. The communication unit receives a throttle lever control instruction transmitted by the unmanned aerial vehicle ground station 6 and transmits the throttle lever control instruction to the throttle lever receiving module, after the throttle lever control instruction is processed, an oil supply signal is output after the throttle lever control instruction is calculated by the embedded processor according to a control program algorithm and transmitted to the micro turbojet engine 2 through the PWM interface, and meanwhile, the embedded processor runs the control program algorithm and transmits signals of various sensors, transmitted through the IO interface and the RS422 serial port, of faults injected into the sensors through the fault injection device 4. And the monitoring signal sending module is used for transmitting the important signals of the controller to the communication unit and transmitting the important signals back to the ground.
The micro turbojet engine 2 comprises an engine body, a temperature sensor, a pressure sensor, a rotating speed sensor, a starting motor, an electronic speed regulator, an oil pump motor, an oil pump and a power supply; an oil supply control instruction transmitted by the electronic controller 3 enters the electronic speed regulator to control the oil pump motor to drive the oil pump to supply oil to the engine, and sensor signals acquired by the synchronous temperature sensor, the pressure sensor and the rotating speed sensor are respectively transmitted to the fault injection device 4 and the data acquisition device 5. On the ground, the other electronic speed regulator receives a command of the controller to drive the starting motor to complete the starting of the engine.
The temperature sensor is used for measuring the total temperature of air inlet of the engine and the temperature of exhaust gas after the turbine;
the pressure sensor is used for measuring the total intake pressure of the engine and the total rear pressure of the compressor;
the speed sensor is used to measure the engine turbine speed.
Fixed wing unmanned aerial vehicle carries on platform 1 includes controller module, measuring module, drive module, power module and high altitude fixed wing unmanned aerial vehicle. The controller module receives external measurement parameters acquired by the measurement module, acquires a flight control instruction sent by the ground station 6 of the unmanned aerial vehicle through the communication module, and finishes auxiliary thrust output and flight attitude change through the driving module.
The unmanned aerial vehicle ground station 6 comprises a data transmission radio station, an upper computer 8 and an RC remote control and receiver 7. The upper computer 8 plans the flight path of the unmanned aerial vehicle, the target height and the Mach number in advance and a conventional task profile according to program setting, and sends a control command to the fixed-wing unmanned aerial vehicle carrying platform 1 through a data transmission radio station. The RC remote control and receiver 7 can be used for the situation that complex instructions and working conditions cannot be accurately predicted, particularly in the processes of taking off and landing, and the high crosswind flight is often switched to the manual operation of a flyer.
The fault injection device 4 realizes breakpoint fault injection and drift fault injection. The break-point fault injection adopts a post-drive fault injection method, which is essentially characterized in that a new low internal resistance power supply is incorporated at a circuit injection point, and transient large current is injected or pulled out to force the potential of the power supply to be higher or lower as required so as to achieve the purpose of applying excitation, thereby realizing the injection of the switching value signal fault. And in the case of drift continuous faults, a voltage summation fault injection method is adopted, and a controllable current is introduced by connecting a rear drive pin in series with a current-limiting impedance to achieve the purpose of analog quantity fault injection. The topology of the circuit is changed into an adder by injecting controllable current (sensor signal of analog deviation) into an input pin of an operational amplifier, so that the value of an output signal (sensor signal drift) is changed, and the drift amount is randomly generated through Monte Carlo and converted into current injection.
A test method using the turbojet engine 2 fault-tolerant test system based on the unmanned aerial vehicle carrying platform 1 comprises the following steps,
the method comprises the following steps that firstly, a turbojet engine 2 is carried on an unmanned aerial vehicle carrying platform 1, and a ground station sends a flight instruction to an unmanned aerial vehicle and an engine control instruction to an electronic controller 3;
secondly, the unmanned aerial vehicle carrying platform 1 executes a preset flight state based on a flight instruction, the electronic controller 3 executes an engine control instruction to control the turbojet engine 2, and the sensor outputs a sensor signal;
a third step of performing fault injection by the fault injection means 4 based on the sensor signal, and acquiring the sensor signal and a fault signal in response to the fault injection by the data acquisition means 5;
and step four, setting fault-tolerant verification test parameters by the upper computer of the upper computer 8 and receiving test data.
In the preferred embodiment of the test method, in the first step, the turbojet engine 2 is mounted on the unmanned aerial vehicle carrying platform 1, the turbojet engine 2 is started on the ground, the throttle lever is adjusted to be in a slow-moving state,
in the second step, starting the unmanned aerial vehicle carrying platform 1, and controlling the unmanned aerial vehicle carrying platform to fly to a set target height and a set target Mach number;
in the third step, the angle of the throttle lever is controlled and adjusted according to the set detected flight scene; fault injection is synchronously carried out, signals of an engine sensor are observed in real time, control quality and fault-tolerant index parameters are monitored, and the position of an unmanned aerial vehicle flight envelope line is synchronously adjusted.
In the first step, controller codes of a loop simulation fault-tolerant test and a ground test fault-tolerant test are downloaded to the electronic controller 3, an ignition instruction is sent out by an upper computer 8 of a ground station 6, the turbojet engine 2 is started under the cooperation of a starter, and the angle of an accelerator lever is adjusted to enable the turbojet engine to be in a slow running state;
in the second step, a target height and a target Mach number are set through the upper computer 8 of the ground station 6, and the unmanned aerial vehicle carrying platform 1 is controlled to fly to the set target height and the set target Mach number;
in the third step, the flight scene of the electronic controller 3 is set through the upper computer 8 of the ground station 6, the target altitude and the Mach number are synchronously set, the unmanned aerial vehicle is controlled to fly to the target altitude and the Mach number, and a fault injection mode is set, wherein the fault injection mode comprises a single electronic/electrical fault and a two-two combined electronic/electrical fault, the data acquisition device 5 acquires the engine rotating speed, the pressure, the temperature sensor signal and the fault tolerance index parameter and transmits the signal back to the ground station 6, and the fault tolerance index comprises a surge margin, an over-temperature index, an over-rotation index and a thrust degradation index.
In one embodiment, the method comprises the steps of:
the first step, start the miniature turbojet engine 2 on the ground, regulate the throttle lever to make it in the state of slow-moving vehicle;
in this step, firstly, the controller code passing the ground-based on-loop simulation fault-tolerant test and the ground test run fault-tolerant test is downloaded to the controller, specifically as follows:
the super terminal is connected with the controller through a serial port line, and the serial port is configured to be 115200, 8, 1 and N; and setting the working mode of the equipment as a sensor acquisition mode, opening TFTP, and downloading the controller compiling code to a hardware platform.
Then, an ignition instruction is sent out through an upper computer 8 of the unmanned aerial vehicle ground station 6, the starting of the engine is completed under the coordination of a starter, and the angle of the throttle lever is adjusted to be 10 on the upper computer 8 so that the engine is in a slow-speed state.
Secondly, starting the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to a set target height and a set target Mach number;
in the step, firstly, a target height is set through an upper computer 8 of an unmanned aerial vehicle ground station 6, the height is 5000 meters by taking an aerial slow vehicle as an example, and the Mach number is 0.2; and then, controlling the unmanned aerial vehicle to carry the vortex jet to fly to the set target height and the set target Mach number according to the set program until the vortex jet is stabilized.
Step three, controlling and adjusting the angle of the throttle lever according to a set test flight scene; fault injection is synchronously carried out, the parameters of an engine sensor are observed in real time, and the control quality and the fault-tolerant index parameters are monitored; and synchronously adjusting the position of the unmanned aerial vehicle flight envelope line.
In the step, firstly, a controller flight scene including slow vehicle, acceleration to an intermediate state, deceleration, parking and free flight is set through an upper computer 8 of an unmanned aerial vehicle ground station 6, and after an application scene is set by taking the acceleration to the intermediate state as an example, the angle of a throttle lever is automatically set to be 60; then, synchronously setting a target height of 6000 m and a Mach number of 0.3 through the upper computer 8 of the ground station 6 of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to fly to the target height and the Mach number, and simultaneously setting a fault injection mode through the upper computer 8 of the ground station 6 of the unmanned aerial vehicle, for example, traversing and injecting the sensor open circuit fault at this time; and finally, transmitting the measured sensor parameters such as the rotating speed, the pressure and the temperature of the engine and the fault-tolerant index parameters such as surge margin, over-temperature, over-rotation and thrust degradation back to the ground station 6 for analysis, and evaluating the efficiency of the fault-tolerant algorithm of the controller.
Industrial applicability
The turbojet engine fault-tolerant test system and method based on the unmanned aerial vehicle carrying platform 1 can be manufactured and used in the field of engines.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (9)
1. A turbojet engine fault-tolerant test system based on an unmanned aerial vehicle carrying platform is characterized by comprising,
an unmanned aerial vehicle-mounted platform that executes a predetermined flight state based on a flight instruction;
a turbojet engine supported by the unmanned aerial vehicle mounting platform, the turbojet engine having a plurality of sensors;
an electronic controller coupled to the turbojet engine to execute engine control commands to control the turbojet engine, the sensor outputting a sensor signal;
a fault injection device connected to the electronic controller, the fault injection device performing fault injection based on the sensor signal;
the data acquisition device is connected with the turbojet engine and the fault injection device so as to acquire the sensor signal and the fault signal of fault injection;
a ground station wirelessly connected with the unmanned aerial vehicle carrying platform, the electronic controller and the data acquisition device, the ground station comprises,
a remote control receiver for sending the flight command and the engine control command and receiving the sensor signal and the fault signal collected by the data collection device,
and the upper computer is connected with the remote control receiver and is used for setting fault-tolerant verification test parameters and receiving test data.
2. The turbojet engine fault-tolerant test system based on an unmanned aerial vehicle carrying platform as claimed in claim 1, wherein preferably the unmanned aerial vehicle carrying platform comprises an unmanned aerial vehicle, a communication unit for receiving flight instructions, a controller module and a measurement module for measuring external environment parameters, the controller module controls the unmanned aerial vehicle to execute a predetermined flight state based on the flight instructions, and the predetermined flight state comprises a predetermined flight attitude for flying at a predetermined flight height and a predetermined flight speed.
3. The turbojet engine fault-tolerant test system based on the unmanned aerial vehicle carrying platform as claimed in claim 2, wherein the unmanned aerial vehicle carrying platform further comprises a driving module for providing auxiliary thrust output and a power module for providing electric energy, the unmanned aerial vehicle is a fixed-wing unmanned aerial vehicle, the measuring module comprises an IMU sensor, an airspeed tube, a magnetic compass and a GPS module, the driving module comprises a first auxiliary power motor and a second auxiliary power motor, and the controller module is connected with a front landing gear steering engine, a left aileron steering engine, a right aileron steering engine, a horizontal tail elevator steering engine, a first vertical tail rudder steering engine and a second vertical tail rudder steering engine.
4. The turbojet engine fault-tolerant test system based on the unmanned aerial vehicle carrying platform as claimed in claim 1, wherein the turbojet engine comprises an engine body, a starting motor, an electronic speed regulator, an oil pump motor, an oil pump and a power supply, and the sensors comprise a temperature sensor for measuring the total air inlet temperature and the exhaust temperature after the turbine of the turbojet engine, a pressure sensor for measuring the total air inlet pressure and the total pressure after the compressor of the turbojet engine, and a rotation speed sensor for measuring the rotation speed of the turbine of the turbojet engine.
5. The turbojet engine fault-tolerant test system based on the unmanned aerial vehicle carrying platform as claimed in claim 1, wherein the electronic controller comprises an embedded processor, an IO interface, an RS422 serial port, a PWM interface, a throttle lever receiving module, a monitoring signal sending module and a communication unit, the communication unit receives a throttle lever control command transmitted from the unmanned aerial vehicle ground station and transmits the command to the throttle lever receiving module, the embedded processor generates and outputs an oil supply signal which is transmitted to the turbojet engine through the PWM interface, the IO interface and the RS422 serial port of the embedded processor receive a sensor signal of a fault injected by the fault injection device, and the monitoring signal sending module is wirelessly connected with the ground station.
6. The turbojet engine fault-tolerant test system based on an unmanned aerial vehicle carrying platform as claimed in claim 1, wherein an electronic controller outputs a fuel flow signal and controls the turbojet engine based on a throttle lever control signal, and the sensor outputs a sensor signal.
7. The turbojet engine fault-tolerant test system based on the unmanned aerial vehicle carrying platform as claimed in claim 1, wherein the fault injection device comprises a breakpoint-type fault injection device and a drift-type fault injection device.
8. A test method of the turbojet engine fault-tolerant test system based on the unmanned aerial vehicle carrying platform, which utilizes any one of claims 1 to 7, comprises the following steps,
the method comprises the following steps that firstly, a turbojet engine is carried on an unmanned aerial vehicle carrying platform, a ground station sends a flight command to an unmanned aerial vehicle and an engine control command to an electronic controller, the turbojet engine is started on the ground, and an accelerator rod is adjusted to be in a slow-moving state;
the second step, the unmanned aerial vehicle carrying platform executes a preset flight state based on a flight instruction, the target altitude and the target Mach number are reached, an electronic controller executes an engine control instruction to control the turbojet engine, and a sensor outputs a sensor signal;
and thirdly, a fault injection device executes fault injection based on the sensor signal, a data acquisition device is used for acquiring the sensor signal and a fault signal of the fault injection, and a ground station upper computer receives a monitoring control signal sent by an electronic controller based on the sensor signal and the fault signal to monitor the control quality and the fault-tolerant index parameters.
9. The assay of claim 8, wherein,
in the first step, controller codes passing through a loop simulation fault-tolerant test and a ground test fault-tolerant test are downloaded to the electronic controller, an ignition instruction is sent out through a ground station upper computer, the starting of a turbojet engine is completed under the coordination of a starter, and the angle of an accelerator lever is adjusted to enable the turbojet engine to be in a slow running state;
in the second step, a target height and a target Mach number are set through a ground station upper computer, and the unmanned aerial vehicle carrying platform is controlled to fly to the set target height and the set target Mach number;
in the third step, according to the flight scene set by the upper computer of the ground station, the target height and the Mach number are synchronously set, the unmanned aerial vehicle is controlled to fly and a fault injection mode is set, wherein the fault injection mode comprises single electronic/electrical fault and pairwise combined electronic/electrical fault, and the data acquisition device acquires the rotating speed, pressure and temperature sensor signals of an engine and the rotating speed, pressure and temperature sensor signals after fault injection and transmits the signals back to the ground station; the controller transmits fault tolerance indicator parameters back to the ground station, wherein the fault tolerance indicators comprise surge margin, overtemperature, over-rotation indicators and thrust degradation indicators.
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