CN113065206B - Transition state control method and device, electronic equipment and storage medium - Google Patents
Transition state control method and device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN113065206B CN113065206B CN202110316758.6A CN202110316758A CN113065206B CN 113065206 B CN113065206 B CN 113065206B CN 202110316758 A CN202110316758 A CN 202110316758A CN 113065206 B CN113065206 B CN 113065206B
- Authority
- CN
- China
- Prior art keywords
- gas turbine
- turbine engine
- state point
- point
- converted
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02C—GAS-TURBINE PLANTS; AIR INTAKES FOR JET-PROPULSION PLANTS; CONTROLLING FUEL SUPPLY IN AIR-BREATHING JET-PROPULSION PLANTS
- F02C9/00—Controlling gas-turbine plants; Controlling fuel supply in air- breathing jet-propulsion plants
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/08—Thermal analysis or thermal optimisation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Geometry (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Pure & Applied Mathematics (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Feedback Control In General (AREA)
Abstract
The application relates to a transition state control method and device, electronic equipment and a storage medium, and belongs to the technical field of gas turbine engines. The method comprises the steps of obtaining a transition state point needing linearization, and determining the converted rotating speed and target parameters of the gas turbine engine at the transition state point; controlling the actual conversion rotating speed of the gas turbine engine according to the conversion rotating speed, and enabling the common working point of the gas turbine engine to move from the initial steady state point to a target steady state point with the same conversion rotating speed as the transition state point along the common working line; controlling the power of a rotating shaft of the gas turbine engine according to the target parameters, and enabling a common working point of the gas turbine engine to move from a target steady state point to a quasi-steady state point which has the same conversion rotating speed and the target parameters as the transition state point along an equal conversion rotating speed line; determining a linear model according to parameters of the gas turbine engine at a quasi-steady-state point and a preset state space linear model expression; the controller parameters are tuned according to the linear model to control the gas turbine engine.
Description
Technical Field
The application belongs to the technical field of gas turbine engines, and particularly relates to a transition state control method and device, electronic equipment and a storage medium.
Background
The performance of modern aviation gas turbine engines is higher and higher, and a perfect multivariable control technology is required to be used as a guarantee to fully exert the performance of each part and the whole gas turbine engine, wherein the multivariable transition state control becomes a key technology of an advanced control system.
The existing transition state control principle is shown in fig. 1 and comprises a steady state control law and an acceleration and deceleration plan, when a gas turbine engine works at a steady state point, the output of the steady state control law is selected, and at the moment, an output command signal is determined by the steady state control law; when the gas turbine engine is in the acceleration and deceleration process, the output of the transition state control law is selected because the gas turbine engine is far away from the steady state point, and the output command signal is determined by an acceleration or deceleration plan at the moment. Wherein, because a linearization method can be adopted to linearize the gas turbine engine model in the steady state process, a steady state control law can be designed by using a modern control theory. Due to the lack of a linearization method in the acceleration and deceleration process, the modern control theory is difficult to apply to the design of the transition state control law, so that the design of the transition state control law has high dependence on engineering experience and is difficult to design. In addition, because the steady-state control law and the transition-state control law in the prior art are designed independently, the problems of signal jump, integral saturation and the like can be caused by switching of different controllers in the control process.
Disclosure of Invention
In view of the above, an object of the present application is to provide a transition state control method, a transition state control apparatus, an electronic device, and a storage medium, so as to solve the problems in the design process of the existing transition state control law.
The embodiment of the application is realized as follows:
in a first aspect, an embodiment of the present application provides a transient state control method applied to a gas turbine engine, the method including: acquiring a transition state point needing linearization, and determining the converted rotating speed and target parameters of the gas turbine engine at the transition state point; controlling an actual converted rotation speed of the gas turbine engine according to the converted rotation speed, so that a common working point of the gas turbine engine moves from an initial steady state point to a target steady state point with the same converted rotation speed as the transition state point along a common working line; controlling the power of a rotating shaft of the gas turbine engine according to the target parameter, and enabling a common working point of the gas turbine engine to move from the target steady state point to a quasi-steady state point which has the same conversion rotating speed and the target parameter with the transition state point along an equal conversion rotating speed line; determining a linear model for guiding control parameters of a controller in the gas turbine engine according to parameters of the gas turbine engine at the quasi-steady state point and a preset state space linear model expression; setting a controller parameter according to the linear model to control the gas turbine engine.
In the embodiment of the application, by obtaining a linear model capable of representing the dynamic characteristic of a transition state point of a gas turbine engine in the process of working in the transition state, controlling the actual converted rotating speed of the gas turbine engine according to the converted rotating speed of the gas turbine engine at the transition state point, moving the common operating point of the gas turbine engine from an initial steady state point to a target steady state point with the same converted rotating speed as the transition state point along a common operating line, and controlling the power of a rotating shaft of the gas turbine engine according to the target parameter of the gas turbine engine at the transition state point, moving the common operating point of the gas turbine engine from the target steady state point to a quasi-steady state point with the same converted rotating speed and the same target parameter as the transition state point along an equivalent converted rotating speed line, so that the gas turbine engine can stably work in a quasi-steady state mode under the condition that the gas turbine engine cannot stably work in the original transition state, the linear model with the dynamic characteristics of the original transition state process at the rotating speed can be obtained by aligning the steady state point for linearization, and then the controller is designed by utilizing the modern control theory according to the linear model, so that the gas turbine engine can be controlled by the controller designed by the linear model. The method has the advantages that a quasi-steady-state dotted linear model with consistent dynamic characteristics with a transition state process is obtained by solving the problem of linearization of the transition state process of the engine, the design method of a steady-state control law can be popularized to the design of the transition state control law, the advantages of the design method of the steady-state multivariable control law in aspects of stability, robustness, servo tracking, interference resistance and the like are fully exerted, the performance of a controller is improved, meanwhile, the final control law is unified due to the fact that the same control law design method is used in the transition state process and the steady-state process, and the problems of signal jumping and integral saturation caused by control law switching in the running process of the engine are solved.
In combination with a possible implementation of the embodiment of the first aspect, determining the scaled rotation speed of the gas turbine engine at the transition state point includes: acquiring the rotor speed of the gas turbine engine at the transition state point and the air temperature in front of a compressor in the gas turbine engine; and determining the converted rotating speed of the gas turbine engine at the transition state point according to the rotating speed of the rotor and the air temperature before the air compressor. In the embodiment of the application, the converted rotating speed of the gas turbine engine at the transition state point can be quickly obtained by obtaining the rotating speed of the rotor of the gas turbine engine at the transition state point and the air temperature in the gas turbine engine before the compressor.
In combination with one possible implementation of the embodiment of the first aspect, determining the target parameter of the gas turbine engine at the transition state point includes: if the target parameter is a pressure ratio, respectively acquiring the air pressures of the front and the back of an air compressor in the gas turbine engine, and determining the pressure ratio of the gas turbine engine at the transition point according to the air pressure of the back of the air compressor and the air pressure of the front of the air compressor; if the target parameter is converted flow, acquiring air flow, air pressure and air temperature before a compressor in the gas turbine engine, and determining the converted flow of the gas turbine engine at the transition point according to the air flow, the air pressure and the air temperature; and if the target parameter is a surge margin, respectively acquiring the pressure ratio and the converted flow of a compressor in the gas turbine engine, acquiring the pressure ratio and the converted flow of a point with the same converted rotating speed on a surge line, and determining the surge margin of the gas turbine engine at the transition point according to the pressure ratio and the converted flow of the compressor and the pressure ratio and the converted flow on the surge line.
With reference to one possible implementation of the embodiment of the first aspect, controlling the actual converted rotational speed of the gas turbine engine according to the converted rotational speed includes: controlling fuel oil input into the gas turbine engine according to a deviation between the converted rotating speed of the gas turbine engine at the transition state point and the fed-back actual converted rotating speed, so as to control the actual converted rotating speed of the gas turbine engine. In the embodiment of the application, the deviation between the converted rotating speed of the gas turbine engine at the transition state point and the fed back actual converted rotating speed is used as the input of a controller for controlling fuel oil in the gas turbine engine, and a closed-loop control mode is adopted, so that the control stability and robustness are better, and the anti-interference capability is realized.
In combination with a possible implementation manner of the embodiment of the first aspect, the controlling the power of the gas turbine engine rotating shaft according to the target parameter includes: extracting power consistent with the residual power from a rotating shaft of the gas turbine engine according to the deviation of the target parameter of the gas turbine engine at the transition state point and the fed-back actual target parameter. In the embodiment of the application, the deviation between the target parameter of the gas turbine engine at the transition state point and the fed-back actual target parameter is used as the control input quantity of a rotating shaft power extraction loop for controlling the gas turbine engine, so as to control the residual power to be extracted, so that the power of a compressor and the power of a turbine of the gas turbine engine at the target transition state point are in a balanced state, and the transition state point is converted into a quasi-steady state point and a corresponding linear model is extracted through the extraction of the residual power, thereby converting the design problem of the transition state control law into the design problem of the quasi-steady state control law in the same dynamic state; by adopting a steady-state control law design method and combining a closed-loop control mode, the system has anti-interference capability in the transition state process.
In combination with a possible implementation of the embodiment of the first aspect, the parameters of the gas turbine engine at the quasi-steady-state point include: inputting fuel oil in the gas turbine engine, air pressure after a compressor, air pressure after a turbine, temperature after the turbine and rotor rotating speed of the gas turbine engine.
In a second aspect, embodiments of the present application further provide a transient state control device applied to a gas turbine engine, the device including: the device comprises an acquisition module and a processing module; the obtaining module is used for obtaining a transition state point needing linearization and determining the conversion rotating speed and the target parameter of the gas turbine engine at the transition state point; a processing module for controlling an actual converted rotational speed of the gas turbine engine according to the converted rotational speed, such that a common operating point of the gas turbine engine moves from an initial steady state point to a target steady state point having the same converted rotational speed as the transition state point along a common operating line; controlling the power of a rotating shaft of the gas turbine engine according to the target parameters, and enabling a common working point of the gas turbine engine to move from the target steady state point to a quasi steady state point which has the same conversion rotating speed and the target parameters with the transition state point along an equal conversion rotating speed line; determining a linear model for guiding control parameters of a controller in the gas turbine engine according to parameters of the gas turbine engine at the quasi-steady-state point and a preset state space linear model expression; tuning a controller parameter according to the linear model to control the gas turbine engine.
With reference to a possible implementation manner of the embodiment of the second aspect, the obtaining module is specifically configured to: acquiring the rotor speed of the gas turbine engine at the transition state point and the air temperature in front of a compressor in the gas turbine engine; and determining the converted rotating speed of the gas turbine engine at the transition state point according to the rotating speed of the rotor and the air temperature before the air compressor.
In a third aspect, an embodiment of the present application further provides an electronic device, including: the processor is connected with the memory; the memory is used for storing programs; the processor is configured to invoke a program stored in the memory to perform the method according to the first aspect embodiment and/or any possible implementation manner of the first aspect embodiment.
In a fourth aspect, embodiments of the present application further provide a storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the method provided in the foregoing first aspect and/or any one of the possible implementation manners of the first aspect.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts. The above and other objects, features and advantages of the present application will become more apparent from the accompanying drawings. Like reference numerals refer to like parts throughout the drawings. The drawings are not intended to be to scale as practical, emphasis instead being placed upon illustrating the subject matter of the present application.
FIG. 1 is a schematic diagram of a control scheme for a prior art gas turbine engine during a transient state.
Fig. 2 is a schematic diagram illustrating a process of moving an operating point of a gas turbine engine on a compressor map during a transition state according to an embodiment of the present application.
FIG. 3 is a block diagram of a gas turbine engine provided in an embodiment of the present application.
Fig. 4 shows a flowchart of a transition state control method provided in an embodiment of the present application.
FIG. 5 is a schematic diagram illustrating an engine scaled speed closed loop negative feedback loop according to an embodiment of the present disclosure.
FIG. 6 is a schematic diagram of a dual variable closed-loop negative feedback loop of an engine according to an embodiment of the present application.
Fig. 7 is a schematic diagram illustrating a process of moving an operating point of a gas turbine engine on a compressor map according to an embodiment of the present application.
Fig. 8 shows a block diagram of a transition state control device according to an embodiment of the present application.
Fig. 9 shows a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, relational terms such as "first," "second," and the like may be used solely in the description herein to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Further, the term "and/or" in the present application is only one kind of association relationship describing the associated object, and means that three kinds of relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone.
All parts of the gas turbine engine need to meet the common working conditions of flow balance, pressure balance, power balance and the like at a steady state point, and the gas turbine engine always works on a common working line in the steady state process of any rotating speed. During the transient state, the power of the compressor and the power of the turbine are not matched, and the residual power exists, so that the rotating shaft has an acceleration, the gas turbine engine deviates from a common working line and accelerates along an acceleration line or decelerates along a deceleration line, and finally the balance is at a new steady-state working point, and the movement process of the working point on the characteristic diagram is shown by a dotted line in fig. 2. In the whole transition state process, due to the existence of the residual power, the gas turbine engine is always in an unsteady state working point (transition state point), and a state space linear model of the gas turbine engine cannot be extracted, so that the application of the modern control theory is limited.
Due to the lack of a state space linear model for representing the transition state characteristics, the existing transition state control law design technology has a plurality of problems, such as:
(1) therefore, the stability derivation on the mathematical theory is lacked in the design of the transition state control law, so that the dependence on engineering experience is high, and the design is difficult.
(2) And the control law and the steady-state control law can not be designed in a unified way, so that the problems of signal jump, integral saturation and the like caused by switching between different controllers (because the steady-state control law and the acceleration and deceleration control law are designed independently, the controllers need to be independent) can not be avoided in the complete control process.
(3) And because the acceleration and deceleration plan adopts open-loop control, the acceleration and deceleration control rule does not have servo tracking and anti-interference capability.
For ease of understanding, the following description will be made in conjunction with the structure of the gas turbine engine shown in fig. 3, which is used to satisfy the common operating conditions of flow balance, pressure balance, power balance, etc. for stable operation of the gas turbine engine, namely:
(1) when air flows through an air inlet channel, a gas compressor, a combustion chamber, a turbine and a tail nozzle in sequence in the engine, the flow rate of the air is continuous between adjacent parts;
(2) when air flows through an air inlet channel, a gas compressor, a combustion chamber, a turbine and a tail nozzle in sequence in the engine, the pressure of adjacent parts is balanced;
(3) the power transmitted to the rotating shaft by the turbine is equal to the power consumed by the compressor without considering the mechanical efficiency and the power extraction;
(4) and the rotating speed of the turbine is equal to that of the compressor.
Because the power transmitted to the rotating shaft by the turbine is not matched with the power consumed by the compressor in the transition state process, the rotor has acceleration, which is the root cause of the failure of linearization of the engine model. The acceleration calculation formula is as follows:
Based on this, the embodiment of the application provides a transition state control method applied to a gas turbine engine, which is characterized in that a transition state point of the gas turbine engine in the transition state process is linearized, so that the gas turbine engine can stably work in a quasi-steady state mode under the condition of an unstable rotating speed in the original transition state process, and a linear model with the dynamic characteristics of the original transition state process at the rotating speed can be obtained by linearizing the steady state point, so that the design of the transition state process has the basis of developing the design by using the modern control theory.
The transition state control method provided by the embodiment of the present application will be described below with reference to fig. 4. The method comprises the following steps:
step S101: a transition state point requiring linearization is obtained, and a scaled rotational speed and target parameters of the gas turbine engine at the transition state point are determined.
And acquiring a transition state point needing linearization, such as a transition state point C, wherein the transition state point can be selected by a designer according to design requirements, and after the designer selects the transition state point needing linearization, the machine can acquire the transition state point needing linearization and determine the converted rotating speed and the target parameters of the gas turbine engine at the transition state point.
Wherein the process of determining the scaled rotational speed of the gas turbine engine at the transition state point may be: acquiring the rotor speed of the gas turbine engine at the transition state point and the air temperature in front of a compressor in the gas turbine engine; and determining the converted rotating speed of the gas turbine engine at the transition state point according to the rotating speed of the rotor and the air temperature before the air compressor. For ease of understanding, the rotor speed of the gas turbine engine at this transition point is denoted as n in r/min and the pre-compressor air temperature in the gas turbine engine is denoted as T 1 Expressed in K, the reduced rotational speed of the gas turbine engine at the transition point is represented as n cor Then, there are: n is cor ＝n/sqrt(T 1 /288), sqrt refers to square root computation.
The target parameter is any one of a pressure ratio, a converted flow rate, and a surge margin of a compressor in the gas turbine engine at the transition state point.
If the target parameter is a pressure ratio, the process of determining the target parameter for the gas turbine engine at the transition state point may be: respectively obtaining the air pressure before and after a compressor in the gas turbine engine, and determining the pressure ratio of the gas turbine engine at the transition point according to the air pressure after the compressor and the air pressure before the compressor. For ease of understanding, the pre-compressor air pressure in the gas turbine engine at this transition point is denoted as P 1 Expressing post-compressor air pressure in a gas turbine engine at a transition state point as P 2 Expressing the pressure ratio as P r Then there is P r ＝P 2 /P 1 。
If the target parameter is a scaled flow, then the process of determining the target parameter for the gas turbine engine at the transition state point may be: and acquiring the air flow, the air pressure and the air temperature before a compressor in the gas turbine engine, and determining the converted flow of the gas turbine engine at the transition state point according to the air flow, the air pressure and the air temperature. For ease of understanding, the pre-compressor air flow in the gas turbine engine at the transition point is denoted as W in kg/s and the pre-compressor air pressure in the gas turbine engine at the transition point is denoted as P 1 The air temperature before the compressor in the gas turbine engine at this transition point is denoted T in kPa 1 In K, the converted flow rate is expressed as W cor Then, there are: w cor ＝W*101.325/P 1 *sqrt(T 1 /288)。
If the target parameter is a surge margin, the process of determining the target parameter for the gas turbine engine at the transition state point may be: obtaining pressure ratio and converted flow of a compressor in a gas turbine engine, and obtaining surge line toolAnd determining the surge margin of the gas turbine engine at the transition state point according to the pressure ratio and the converted flow of the compressor and the pressure ratio and the converted flow on the surge line. For ease of understanding, the pressure ratio of the compressor in the gas turbine engine at this transition point is denoted as P r And the reduced flow of the compressor in the gas turbine engine at the transition state point is expressed as W cor The pressure ratio on the surge line at the same converted rotational speed is represented as P rs The converted flow rate on the surge line at the same converted rotational speed is represented as W cors Let SM denote the surge margin of the gas turbine engine at this transition point, then: SM ═ P rs /W cors )/(P r /W cor )-1)*100％。
Step S102: and controlling the actual converted rotating speed of the gas turbine engine according to the converted rotating speed, so that the common working point of the gas turbine engine moves from the initial steady state point to the target steady state point with the same converted rotating speed as the transition state point along the common working line.
After the converted rotating speed and the target parameters of the gas turbine engine at the transition state point are determined, the actual converted rotating speed of the gas turbine engine is controlled according to the converted rotating speed, and the common working point of the gas turbine engine is moved from the initial steady state point to the target steady state point with the same converted rotating speed as the transition state point along the common working line.
In one embodiment, the process of controlling the actual converted rotational speed of the gas turbine engine based on the converted rotational speed may be: and controlling fuel oil input into the gas turbine engine according to the deviation of the converted rotating speed of the gas turbine engine at the transition state point and the fed back actual converted rotating speed to control the actual converted rotating speed of the gas turbine engine, so that the common working point of the gas turbine engine moves from the initial steady state point to a target steady state point with the same converted rotating speed as the transition state point along the common working line. As explained in connection with the schematic diagram shown in fig. 5, the fuel input to the gas turbine engine is controlled by a PI controller as shown in fig. 5. The control command input into the PI controller is a deviation between the converted rotation speed command and the converted rotation speed feedback signal, so as to control the fuel oil input into the gas turbine engine, and the common operating point of the gas turbine engine is moved from an initial steady state point (for example, point a) to a target steady state point (for example, point B) having the same converted rotation speed as the transition state point (for example, point C) along the common operating line, and the operating point of the gas turbine engine is still located on the common operating line.
Step S103: and controlling the power of the rotating shaft of the gas turbine engine according to the target parameter, so that the common working point of the gas turbine engine moves from the target steady state point to a quasi-steady state point which has the same conversion rotating speed and the target parameter with the transition state point along an equal conversion rotating speed line.
After controlling the actual converted rotation speed of the gas turbine engine according to the converted rotation speed, and moving the common operating point of the gas turbine engine from the initial steady state point (for example, point A) to a target steady state point (for example, point B) with the same converted rotation speed as the transition state point (for example, point C) along the common operating line, the power of the rotating shaft of the gas turbine engine is controlled according to the target parameter, and the common operating point of the gas turbine engine is moved from the target steady state point (for example, point B) to a quasi-steady state point (for example, point C') with the same converted rotation speed and target parameter as the transition state point along the equivalent converted rotation speed line.
Wherein the process of controlling the power of the gas turbine engine shaft according to the target parameter may be: power consistent with the remaining power is extracted from a rotating shaft of the gas turbine engine according to a deviation of a target parameter of the gas turbine engine at the transition state point and the fed back actual target parameter. For convenience of understanding, as described in conjunction with the schematic diagram shown in fig. 6, since the residual power exists during the transient state, which may cause the rotating shaft to have an acceleration, and cause the gas turbine engine to deviate from the common operating line and accelerate along the acceleration line or decelerate along the deceleration line, the power of the rotating shaft of the gas turbine engine is controlled, so that the gas turbine engine can stably operate in a quasi-steady state under the rotating speed condition that cannot be stabilized during the original transient state. That is, the power extraction is performed by a bivariate closed-loop negative feedback structure shown in fig. 6, in which the main control loop controls the converted rotation speed by the PI controller, the command signal of the power extraction loop can be selected as any one of the parameters of the pressure ratio, the converted flow rate and the surge margin, and the feedback signal needs to be consistent with the selected command signal, for example, if the pressure ratio is selected as the command signal, the collected feedback signal is the pressure ratio signal of the gas turbine engine, and then, the power extraction loop PI controller is designed, and the PI controller inputs the deviation e between the command signal r and the feedback signal y as r-y and outputs the deviation e as the power value u to be extracted. By power extraction, the gas turbine engine common operating point is moved from the steady state point B along the iso-scaled rotation rate line to a quasi-steady state point C' with a consistent scaled rotation rate, target parameter (pressure ratio, scaled flow or surge margin) with the transition state point C. The specific power extraction process is as follows:
(i) and designing the PI controller by using a loop shaping method for the command signal, wherein the design parameters are a proportional coefficient Kp and an integral coefficient Ki. For three different command signals r (pressure ratio, conversion flow or surge margin), different Kp and Ki values are obtained through design;
(ii) at time 0, the power extraction is not started, i.e. u (0) is 0; the feedback signal y can be obtained by real-time calculation of an engine model, and the initial value of the feedback signal y is y (0); since the command signal is constant, let the initial value r (0) be r; the deviation signal e (0) is r-y (0);
(iii) at the time t, calculating by an engine model to obtain a feedback signal y (t); since the command signal is always unchanged, i.e., r (t) r; in this case, the deviation signal e (t) is r-y (t);
(iv) the extraction amount u (t +1) ═ u (t) + Kpe (t) + Ki/s × e (t) at the time t +1 calculated by the PI controller, wherein s is a Laplace operator;
(v) the power extraction functional module is directly connected with a rotating shaft of the gas turbine engine, corresponding power is extracted from the rotating shaft of the engine according to the output quantity of the controller, and finally the engine reaches a quasi-steady state point C'.
For ease of understanding, the moving trajectory of the gas turbine engine operating point on the compressor map during power extraction will be described below in conjunction with fig. 7. Assuming that the selected transition state point needing linearization is a point C, controlling the actual converted rotation speed of the gas turbine engine according to the converted rotation speed of the gas turbine engine at the transition state point, moving the common working point of the gas turbine engine from an initial steady state point A to a target steady state point B with the same converted rotation speed as the transition state point C along a common working line, and then controlling the power of a rotating shaft of the gas turbine engine according to the target parameters of the gas turbine engine at the transition state point, so that the common working point of the gas turbine engine moves from the target steady state point B to a quasi-steady state point C' with the same converted rotation speed and target parameters as the transition state point C along an equal converted rotation speed line.
Step S104: and determining a linear model according to the parameters of the gas turbine engine at the quasi-steady-state point and a preset state space linear model expression.
And determining a linear model for guiding control parameters of a controller in the gas turbine engine according to the parameters of the gas turbine engine at a quasi-steady state point such as C' and a preset state space linear model expression, such as a proportional coefficient Kp and an integral coefficient Ki for guiding the design of the controller. Parameters of the gas turbine engine at quasi-steady state points include: fuel oil input into the gas turbine engine, air pressure after the compressor, air pressure after the turbine, temperature after the turbine, and rotor speed of the gas turbine engine.
The model linearization work is carried out at the quasi-steady-state point C', and the linearization goal is to obtain a state space linear model. The preset state space linear model expression is as follows:
the pending matrix A, B, C, D may be calculated using an order method.
(1) Giving a small increment of rotation speed at point C + n 0 E (e.g. 1%) to yield n + ＝n 0 +n 0 E, balancing the engine model by iteration, solving for all P T+ ,P C+ ,P 2+ ,P 3+ ,T 2+ Then, then
Likewise, at point C' a small negative increment-n is given to the speed 0 Epsilon to obtain n - ＝n 0 -n 0 Epsilon, the engine model is balanced by iteration. Finding all P T- ,P C- ,P 2- ,P 3- ,T 2- Then, then
Thus, one can obtain:
(2) a small increment of + m for the oil supply at point C f E (e.g. 1%) to yield m f+ ＝m f +m f Epsilon, the engine model is balanced by iteration. Finding all n + ,P T+ ,P C+ ,P 2+ ,P 3+ ,T 2+ Then, then
At C', a negative small increment-m f Epsilon to obtain m f- ＝m f -m f Epsilon, the engine model is balanced by iteration. Finding all n - ,P T- ,P C- ,P 2- ,P 3- ,T 2- Then, then
Thus, the following is obtained:
in this way, a state space linear model of the quasi-steady state point C' is obtained, so that the gas turbine engine can be subsequently controlled to operate according to the linear model.
By extracting the residual power in the transition state process of the gas turbine engine, the gas turbine engine can stably work in a quasi-stable state under the condition that the rotating speed cannot be stabilized in the original transition state process, and a linear model with the dynamic characteristics of the original transition state process at the rotating speed can be obtained by linearizing a quasi-stable state point, so that the design of the transition state process has the basis of developing the design by using a modern control theory. In the power extraction process of a certain transition state point, the gas turbine engine is firstly accelerated to a certain rotating speed, and at the moment, the converted rotating speed of a gas compressor in the gas turbine engine is the same as the transition state point; and then reaches the transition state working condition along the equivalent conversion rotating speed. The compressor map for the gas turbine engine operating point is shown in FIG. 7 throughout the process.
Step S105: tuning a controller parameter according to the linear model to control the gas turbine engine.
After the linear model of the quasi-steady-state point C' in the transition state process is obtained, the controller can be designed according to the linear model by using a modern control theory, namely the control parameters of the controller are set by using the linear model, and then the gas turbine engine can be controlled by using the controller designed by the linear model. The process of designing the controller based on the linear model is consistent with the process of designing the steady-state control law using the modern control theory in the steady-state process, which is well known to those skilled in the art and will not be described herein.
According to the method, the problem of linearization of the transition state process of the engine is solved, so that a quasi-steady-state point linear model with the consistent dynamic characteristic with the transition state process is obtained, and the design method of the steady-state control law can be popularized to the design of the transition state control law. Aiming at a linear model of a quasi-steady-state point, the closed-loop stability of the system can be ensured through a Lyapunov stability theory used in the design of a steady-state control rule; by aligning the characteristic analysis of the steady-state point linear model, the system can have a higher type level by adding an integrator, so that the closed-loop controller designed by the technology has the transient servo tracking capability; through the quasi-steady-state point linear model-based active disturbance rejection design, the system in the transition state process has disturbance rejection capability. By extracting the residual power, the design problem of the transition state control law is converted into the design problem of the quasi-steady state control law under the same dynamic state, so that the design method of the steady state multivariable control law is popularized to the design of the closed-loop control of the transition state main control loop, the advantages of the design method of the steady state multivariable control law in the aspects of stability, robustness, servo tracking, interference resistance and the like are fully exerted, and the performance of the controller is improved. Meanwhile, the same control law design method is used in the transition state process and the steady state process, so that the final control laws are unified, and the problems of signal jump and integral saturation caused by control law switching in the running process of the engine are solved.
Based on the same inventive concept, the embodiment of the present application further provides a transition state control apparatus 100, as shown in fig. 8. The transition state control apparatus 100 includes: an acquisition module 110 and a processing module 120.
An obtaining module 110 is configured to obtain a transition state point that needs to be linearized, and determine a scaled rotation speed and a target parameter of the gas turbine engine at the transition state point.
A processing module 120, configured to control an actual converted rotation speed of the gas turbine engine according to the converted rotation speed, so that a common operating point of the gas turbine engine moves from an initial steady state point to a target steady state point having the same converted rotation speed as the transition state point along a common operating line; controlling the power of a rotating shaft of the gas turbine engine according to the target parameter, and enabling a common working point of the gas turbine engine to move from the target steady state point to a quasi-steady state point which has the same conversion rotating speed and the target parameter with the transition state point along an equal conversion rotating speed line; determining a linear model for guiding control parameters of a controller in the gas turbine engine according to parameters of the gas turbine engine at the quasi-steady-state point and a preset state space linear model expression; tuning a controller parameter according to the linear model to control the gas turbine engine.
The obtaining module 110 is specifically configured to: acquiring the rotor speed of the gas turbine engine at the transition point and the air temperature in front of a compressor in the gas turbine engine; and determining the converted rotating speed of the gas turbine engine at the transition state point according to the rotating speed of the rotor and the air temperature before the air compressor.
The obtaining module 110 is specifically configured to: if the target parameter is a pressure ratio, respectively acquiring the air pressures of the front and the back of a compressor in the gas turbine engine, and determining the pressure ratio of the gas turbine engine at the transition point according to the air pressure of the back of the compressor and the air pressure of the front of the compressor; if the target parameter is converted flow, acquiring air flow, air pressure and air temperature before an air compressor in the gas turbine engine, and determining the converted flow of the gas turbine engine at the transition state point according to the air flow, the air pressure and the air temperature; and if the target parameter is a surge margin, respectively acquiring the pressure ratio and the converted flow of a compressor in the gas turbine engine, acquiring the pressure ratio and the converted flow of a point with the same converted rotating speed on a surge line, and determining the surge margin of the gas turbine engine at the transition point according to the pressure ratio and the converted flow of the compressor and the pressure ratio and the converted flow on the surge line.
The processing module 120 is specifically configured to: controlling fuel oil input into the gas turbine engine according to a deviation between the converted rotating speed of the gas turbine engine at the transition state point and the fed-back actual converted rotating speed, so as to control the actual converted rotating speed of the gas turbine engine.
The processing module 120 is specifically configured to: extracting power consistent with the residual power from a rotating shaft of the gas turbine engine according to the deviation of the target parameter of the gas turbine engine at the transition state point and the fed-back actual target parameter.
The implementation principle and the resulting technical effect of the transient state control apparatus 100 provided in the embodiment of the present application are the same as those of the foregoing method embodiments, and for the sake of brief description, no mention may be made in the apparatus embodiment, and reference may be made to the corresponding contents in the foregoing method embodiments.
As shown in fig. 9, fig. 9 is a block diagram illustrating a structure of an electronic device 200 according to an embodiment of the present disclosure. The electronic device 200 includes: a transceiver 210, a memory 220, a communication bus 230, and a controller 240. The electronic device 200 includes, but is not limited to, a computer in a gas turbine engine, and the like.
The elements of the transceiver 210, the memory 220, and the controller 240 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, the components may be electrically coupled to each other via one or more communication buses 230 or signal lines. The transceiver 210 is used for transceiving data. The memory 220 is used for storing a computer program such as the software functional module shown in fig. 8, that is, the transition state control apparatus 100. The transition state control apparatus 100 includes at least one software function module, which may be stored in the memory 220 in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the electronic device 200. The controller 240 is configured to execute an executable module stored in the memory 220, such as a software functional module or a computer program included in the transition state control apparatus 100. For example, a controller 240 for obtaining a transition state point to be linearized, and determining a scaled rotational speed and target parameters of the gas turbine engine at the transition state point; controlling an actual converted rotation speed of the gas turbine engine according to the converted rotation speed, so that a common working point of the gas turbine engine moves from an initial steady state point to a target steady state point with the same converted rotation speed as the transition state point along a common working line; controlling the power of a rotating shaft of the gas turbine engine according to the target parameters, and enabling a common working point of the gas turbine engine to move from the target steady state point to a quasi steady state point which has the same conversion rotating speed and the target parameters with the transition state point along an equal conversion rotating speed line; determining a linear model for guiding control parameters of a controller in the gas turbine engine according to parameters of the gas turbine engine at the quasi-steady state point and a preset state space linear model expression; tuning a controller parameter according to the linear model to control the gas turbine engine.
The Memory 220 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
The controller 240 may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the controller 240 may be any conventional processor or the like.
The present embodiment also provides a non-volatile computer-readable storage medium (hereinafter, referred to as a storage medium), where a computer program is stored on the storage medium, and when the computer program is run by the electronic device 200 as described above, the computer program executes the transition state control method described above.
It should be noted that, in this specification, each embodiment is described in a progressive manner, and each embodiment focuses on differences from other embodiments, and portions that are the same as and similar to each other in each embodiment may be referred to.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a notebook computer, a server, or an electronic device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A transient state control method for use with a gas turbine engine, the method comprising:
acquiring a transition state point needing linearization, and determining the converted rotating speed and target parameters of the gas turbine engine at the transition state point;
controlling an actual converted rotation speed of the gas turbine engine according to the converted rotation speed, so that a common working point of the gas turbine engine moves from an initial steady state point to a target steady state point with the same converted rotation speed as the transition state point along a common working line;
controlling the power of a rotating shaft of the gas turbine engine according to the target parameter, and enabling a common working point of the gas turbine engine to move from the target steady state point to a quasi-steady state point which has the same conversion rotating speed and the target parameter with the transition state point along an equal conversion rotating speed line;
determining a linear model for guiding control parameters of a controller in the gas turbine engine according to parameters of the gas turbine engine at the quasi-steady-state point and a preset state space linear model expression;
tuning a controller parameter according to the linear model to control the gas turbine engine.
2. The method of claim 1, wherein determining the scaled rotational speed of the gas turbine engine at the transition state point comprises:
acquiring the rotor speed of the gas turbine engine at the transition point and the air temperature in front of a compressor in the gas turbine engine;
and determining the conversion rotating speed of the gas turbine engine at the transition point according to the rotating speed of the rotor and the air temperature before the compressor.
3. The method of claim 1, wherein determining a target parameter of the gas turbine engine at the transition state point comprises:
if the target parameter is a pressure ratio, respectively acquiring the air pressures of the front and the back of an air compressor in the gas turbine engine, and determining the pressure ratio of the gas turbine engine at the transition point according to the air pressure of the back of the air compressor and the air pressure of the front of the air compressor;
if the target parameter is converted flow, acquiring air flow, air pressure and air temperature before an air compressor in the gas turbine engine, and determining the converted flow of the gas turbine engine at the transition state point according to the air flow, the air pressure and the air temperature;
and if the target parameter is a surge margin, respectively acquiring the pressure ratio and the converted flow of a compressor in the gas turbine engine, acquiring the pressure ratio and the converted flow of a point with the same converted rotating speed on a surge line, and determining the surge margin of the gas turbine engine at the transition point according to the pressure ratio and the converted flow of the compressor and the pressure ratio and the converted flow on the surge line.
4. The method of claim 1, wherein controlling an actual converted rotational speed of the gas turbine engine as a function of the converted rotational speed comprises:
controlling fuel oil input into the gas turbine engine according to a deviation between the converted rotation speed of the gas turbine engine at the transition point and the fed back actual converted rotation speed, thereby controlling the actual converted rotation speed of the gas turbine engine.
5. The method of claim 1, wherein controlling the power of the gas turbine engine spool based on the target parameter comprises:
extracting power consistent with the residual power from a rotating shaft of the gas turbine engine according to the deviation of the target parameter of the gas turbine engine at the transition state point and the fed-back actual target parameter.
6. The method of claim 1, wherein the parameters of the gas turbine engine at the quasi-steady state point comprise:
inputting fuel oil in the gas turbine engine, air pressure after a compressor, air pressure after a turbine, temperature after the turbine and rotor rotating speed of the gas turbine engine.
7. A transient state control device for use with a gas turbine engine, the device comprising:
the acquiring module is used for acquiring a transition state point needing linearization and determining the converted rotating speed and the target parameter of the gas turbine engine at the transition state point;
a processing module for controlling an actual converted rotational speed of the gas turbine engine according to the converted rotational speed, such that a common operating point of the gas turbine engine moves from an initial steady state point to a target steady state point having the same converted rotational speed as the transition state point along a common operating line; controlling the power of a rotating shaft of the gas turbine engine according to the target parameter, and enabling a common working point of the gas turbine engine to move from the target steady state point to a quasi-steady state point which has the same conversion rotating speed and the target parameter with the transition state point along an equal conversion rotating speed line; determining a linear model for guiding control parameters of a controller in the gas turbine engine according to parameters of the gas turbine engine at the quasi-steady state point and a preset state space linear model expression; tuning a controller parameter according to the linear model to control the gas turbine engine.
8. The apparatus of claim 7, wherein the obtaining module is specifically configured to: acquiring the rotor speed of the gas turbine engine at the transition state point and the air temperature in front of a compressor in the gas turbine engine; and determining the converted rotating speed of the gas turbine engine at the transition state point according to the rotating speed of the rotor and the air temperature before the air compressor.
9. An electronic device, comprising:
the processor is connected with the memory;
the memory is used for storing programs;
the processor to invoke a program stored in the memory to perform the method of any of claims 1-6.
10. A storage medium having stored thereon a computer program which, when executed by a processor, performs the method according to any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110316758.6A CN113065206B (en) | 2021-03-24 | 2021-03-24 | Transition state control method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110316758.6A CN113065206B (en) | 2021-03-24 | 2021-03-24 | Transition state control method and device, electronic equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113065206A CN113065206A (en) | 2021-07-02 |
| CN113065206B true CN113065206B (en) | 2022-08-23 |
Family
ID=76562286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110316758.6A Active CN113065206B (en) | 2021-03-24 | 2021-03-24 | Transition state control method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113065206B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114013665B (en) * | 2021-11-19 | 2024-02-27 | 中国航发沈阳发动机研究所 | State transition control method and device for aviation gas turbine engine |
| CN114676530A (en) * | 2022-04-16 | 2022-06-28 | 中国航发沈阳发动机研究所 | Method for designing transition state working line of gas turbine engine |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104392039A (en) * | 2014-11-19 | 2015-03-04 | 中国航空工业集团公司沈阳飞机设计研究所 | Transition state engine simulation modeling method |
| US10480421B2 (en) * | 2016-08-04 | 2019-11-19 | Pratt & Whitney Canada Corp. | System and method for an engine controller based on acceleration power |
| CN107239634B (en) * | 2017-06-26 | 2019-10-11 | 大连理工大学 | A kind of aero-engine transient process modeling method |
| CN108804850B (en) * | 2018-06-27 | 2020-09-11 | 大连理工大学 | Method for predicting parameters of aircraft engine in transient acceleration process based on spatial reconstruction |
| US11392094B2 (en) * | 2018-12-11 | 2022-07-19 | Dalian University Of Technology | Steady state and transition state multi-variable control method of a turbofan engine based on an active disturbance rejection control theory (ADRC) |
| CN110222401A (en) * | 2019-05-30 | 2019-09-10 | 复旦大学 | Aero-engine nonlinear model modeling method |
-
2021
- 2021-03-24 CN CN202110316758.6A patent/CN113065206B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113065206A (en) | 2021-07-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113065206B (en) | Transition state control method and device, electronic equipment and storage medium | |
| CN108762089B (en) | Model prediction-based aero-engine online optimization and multivariable control design method | |
| WO2019237320A1 (en) | Aero-engine online optimization and multivariable control design method based on model prediction | |
| CN101446807B (en) | Realization method for heat-engine plant speed regulating system model in power system simulation | |
| CN109611217B (en) | Design method for optimizing transition state control law of aircraft engine | |
| US9598977B2 (en) | Systems and methods for boundary control during steam turbine acceleration | |
| US20160069277A1 (en) | Turboshaft engine control | |
| CN103197542A (en) | Time delay system PID controller stabilization method based on data drive | |
| Wang et al. | Overshoot-free acceleration of aero-engines: An energy-based switching control method | |
| Yiyang et al. | Direct thrust control for multivariable turbofan engine based on affine linear parameter-varying approach | |
| CN110867893B (en) | Primary frequency modulation control method and device of combined cycle unit | |
| Yu et al. | A new method for the design of optimal control in the transient state of a gas turbine engine | |
| CN114415506B (en) | Design method of dual-mode tracking prediction control system of aero-engine | |
| CN111665793A (en) | Distributed control module with cumulative command reference | |
| CN104049541A (en) | Parameter setting method for robust controller of direct current motor | |
| CN112668162A (en) | Aero-engine modeling method based on inertia sliding mode | |
| Wang et al. | Gain scheduling controller of the aero-engine based on LPV model | |
| CN113741195B (en) | Nonlinear control method and system for aero-engine | |
| Mao et al. | Versatile simulation platform for turboshaft engine control system | |
| CN111734533A (en) | Turbofan engine-based model prediction method and system | |
| Gu et al. | Model predictive controller design based on the linear parameter varying model method for a class of turboshaft engines | |
| CN113311771B (en) | Aeroengine control method and device and electronic equipment | |
| CN116088296B (en) | Modeling method, device and storage medium for pumping-storage energy-storage hydroelectric generating set | |
| An-hua | GRA-based approach to PID parameter tuning for closed-loop servo systems | |
| CN112879167B (en) | Engine closed-loop control system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |