CN113419558B - Unmanned aerial vehicle engine cylinder temperature self-adaptive control method - Google Patents
Unmanned aerial vehicle engine cylinder temperature self-adaptive control method Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle engine cylinder temperature self-adaptive control method. Firstly, the on-board computer carries out maximum value, minimum value and average value calculation on the engine cylinder temperature collected by an engine electronic injection control unit, and wild value elimination and filtering are carried out on the average value; then, the onboard computer judges and calculates the control quantity of the electric steering engine according to the cylinder temperature, outputs a voltage value for controlling the deflection of the steering engine according to the calculated control quantity value of the electric steering engine, drives the electric steering engine to adjust the opening degree of an air passage, thereby realizing the control of air flow blowing to the cylinder body of the engine and finally finishing the cylinder temperature regulation. According to the invention, a finite-state machine control mode is adopted to realize a cylinder temperature self-adaptive control strategy under the condition of not increasing equipment and other structures, the probability of failure of the engine due to overhigh or overlow cylinder temperature is reduced, and the automation level of the cylinder temperature control of the fixed-wing unmanned aerial vehicle engine is improved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to an unmanned aerial vehicle engine cylinder temperature self-adaptive control method.
Background
The engine is the heart of unmanned aerial vehicle, is the system that the fault rate is the highest among the unmanned aerial vehicle system mechanical equipment, adjusts the most complicated, the maintenance work volume is the biggest, and the safe flight of unmanned aerial vehicle will directly be influenced to the quality of its operating condition. Adopt piston engine's fixed wing unmanned aerial vehicle, mainly judge its operating condition through monitoring engine cylinder temperature at the flight in-process, and the control to engine cylinder temperature is a very critical task, most fixed wing unmanned aerial vehicle's engine cylinder temperature control is all implemented according to the experience by the manual work at present, mainly rely on the artifical monitoring cylinder temperature of ground flight operating personnel, when being higher than the ideal working cylinder temperature of regulation, with the opening of engine cooling air flue mechanism increase, otherwise when crossing excessively will cool off air flue mechanism opening and reduce. The manual real-time intervention method inevitably increases the complexity of system operation, reduces the reliability and seriously threatens the safety performance of the unmanned aerial vehicle system.
The key that unmanned aerial vehicle engine cylinder temperature is difficult to control lies in its complicated characteristic that changes, can not control through a specific air flue aperture control mode. Most of existing unmanned aerial vehicle systems are provided with an area specially used for controlling the opening degree of a cooling air passage in a ground control vehicle, so that the cylinder temperature is adjusted, and the cylinder Wen Xianxing is changed, so that the unmanned aerial vehicle system can be implemented only by experience.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an unmanned aerial vehicle engine cylinder temperature self-adaptive control method. According to the thought of the temperature regulating process of the control theory, the operation practical experience of flight operators on engine cylinder temperature control is used for reference, the collection functions of a cooling air passage and an electronic injection control unit of the unmanned aerial vehicle are effectively utilized, and a cylinder temperature self-adaptive control strategy is realized by adopting a finite-state machine control mode under the condition that equipment and other structures are not added. Firstly, the on-board computer carries out maximum value, minimum value and average value calculation on the engine cylinder temperature collected by an engine electronic injection control unit, and wild value elimination and filtering are carried out on the average value; then, the onboard computer judges and calculates the control quantity of the electric steering engine according to the cylinder temperature, outputs a voltage value for controlling the deflection of the steering engine according to the calculated control quantity value of the electric steering engine, drives the electric steering engine to adjust the opening degree of an air passage, thereby realizing the control of air flow blowing to the cylinder body of the engine and finally finishing the cylinder temperature regulation. By adopting the method, the working environment of the engine can be improved, the probability of the engine failing due to overhigh or overlow cylinder temperature is reduced, meanwhile, the automation level of the cylinder temperature control of the fixed wing unmanned aerial vehicle engine is improved, the working strength of flight operators is reduced, and the flight safety and the task completion degree of the unmanned aerial vehicle are favorably improved.
An unmanned aerial vehicle engine cylinder temperature self-adaptive control method is characterized by comprising the following steps:
step 1: after the engine of the unmanned aerial vehicle works, an engine electronic injection control unit acquires the temperature of an engine cylinder and transmits the temperature to an onboard computer through RS 422;
and 2, step: the onboard computer runs software every T 1 Obtaining the temperature of 4 cylinders of the engine in time, and calculating the maximum value T of the temperature of 4 cylinders Max Minimum value T Min And average value T Avg And to the average value T Avg Wild value elimination and filtering are carried out;
the T is 1 Time for an on-board computer task ring to run;
the wild value is a value outside-40 ℃ to 470 ℃;
the filtering means that a value after filtering at any time t is obtained by calculation according to the following formula:
where y (t) represents the filtered value at time t, and N represents the filter queue length, set to 6,z i (t) denotes the ith measurement in one sampling period, Z (t) max Represents the maximum measurement value in one sampling period, Z (t) min Represents the minimum measurement value within one sampling period;
and step 3: the onboard computer judges and calculates the control quantity of the electric steering engine according to the cylinder temperature, and outputs a voltage value for controlling the steering engine to deflect according to the calculated control quantity value of the electric steering engine, so that the electric steering engine is driven to adjust the opening of an air passage, and the cylinder temperature is adjusted; the control quantity of the electric steering engine, the voltage value and the air passage opening degree meet the linear relation in numerical value, the control quantity value is 4 times of the voltage value, the minimum control quantity value corresponds to the air passage opening degree which is 0 degrees, and the maximum value of the air passage opening degree is 40 degrees;
the method for judging and calculating the control quantity of the electric steering engine according to the cylinder temperature specifically comprises the following steps:
state a: if the current 4 cylinder temperatures are in the normal working range of the engine and the average value T of the current 4 cylinder temperatures is in the normal working range of the engine Avg Within an ideal range, the onboard computer outputs the control quantity delta of the electric steering engine qd Keeping the opening of the current cooling air passage unchanged;
state b: if the current 4 cylinder temperatures are in the normal working range of the engine and the average value T of the current 4 cylinder temperatures is in the normal working range of the engine Avg If the control quantity delta is not within the ideal range, the onboard computer calculates and outputs the control quantity delta of the electric steering engine according to the following formula qd ：
Wherein k is t Is a proportionality coefficient, k ti As an integral coefficient, T a Is the current 4 cylinder temperature average temperature, T g Adjusting the target temperature, delta, for a given cylinder temperature qd0 The current control quantity of the electric steering engine, t, is the time when the temperature of the current 4 cylinders is in a normal working range and the average value of the temperature is not in an ideal range; k is as described t The value range of-1 to 1,k ti The value range is-0.5 to 0.5 t And k ti Remote control adjustment is carried out through a ground control station;
and c, state c: if the maximum value T of the current 4 cylinder temperatures Max Greater than high temperature boundary of engine operationAnd the minimum value T of the cylinder temperature Min If the temperature is not less than the low-temperature boundary of the engine, the onboard computer calculates and outputs the control quantity delta of the electric steering engine according to the following formula qd ：
δ qd ＝Δδ 0 +k C *t C /T 1 +δ qdc (3)
Wherein, delta delta 0 Setting the control quantity as a constant value one, and setting the control quantity as 10% of the range of the left and right deflection angles of the steering engine; delta qdc Controlling the value of the electric steering engine at the moment of entering the state c; k is a radical of C Indicating the amount of electric steering engine control, k, added during each operating task cycle C ＝(40-Δδ 0 )/(T C /T 1 )，T C The time required for the opening of the air passage from closed to full open; time t of timing C Is the maximum value T of cylinder temperature Max Greater than high temperature boundary and minimum cylinder temperature value T Min A time not less than a low temperature boundary;
and a state d: if the maximum value T of the current 4 cylinder temperatures is Max Not greater than the high temperature boundary and a minimum value T Min If the temperature is less than the low-temperature boundary, the onboard computer calculates and outputs the control quantity delta of the electric steering engine according to the following formula qd ：
δ qd ＝δ qdd -Δδ 0 -k C *t d /T 1 (4)
Wherein, delta qdd Controlling the magnitude value of the electric steering engine at the moment of entering the state d; t is t d Is the maximum value T of cylinder temperature Max Not greater than high temperature boundary and minimum value of cylinder temperature T Min A time less than the low temperature boundary;
and a state e: if the maximum value T of the current 4 cylinder temperatures Max Greater than the high temperature boundary of engine operation and a minimum value T Min If the temperature is less than the low-temperature boundary of the engine operation, the onboard computer calculates the control quantity delta of the electric steering engine according to the following formula qd ：
δ qd ＝Δδ 0 +k C *t e1 /T 1 +δ qde (5)
Wherein, t e1 For timing the time of the opening increase, set to 120s, δ qde Controlling the value of the electric steering engine at the moment of entering the state e;
t e1 after the time, the airway opening degree is set to the opening degree when the state e is entered, and t is kept e12 Time, then calculate the electric steering engine control quantity delta according to the following formula qd ：
δ qd ＝δ qde (6)
Wherein, t e12 The time for keeping the opening degree is set to be 120s;
state f: if the maximum value T of 4 cylinder temperatures after the e state Max Still greater than the high temperature boundary of engine operation and minimum value T Min And if the temperature is smaller than the low-temperature boundary of the engine, immediately alarming and prompting, switching the unmanned aerial vehicle from the flight state to level flight and direct flight, and disconnecting automatic cylinder temperature control.
The invention has the beneficial effects that: the self-adaptive control strategy of the cylinder temperature is realized by adopting a finite-state machine control mode, so that the engine cylinder temperature basically controls an ideal temperature range, and the problem that flight operators manually drag a cooling air passage to control the cylinder temperature is greatly solved; by adopting the cylinder temperature self-adaptive control strategy, the working environment of the engine is effectively improved, the cylinder temperature is well controlled within the range of 120-180 ℃, the probability of the engine breaking down due to overhigh or overlow cylinder temperature is reduced, the automation level of the cylinder temperature control of the unmanned aerial vehicle engine is improved, the working intensity of flight operators is reduced, and the flight safety and the task completion degree of the unmanned aerial vehicle are improved.
Drawings
FIG. 1 is a flow chart of a method for adaptive control of cylinder temperature of an unmanned aerial vehicle engine according to the present invention;
FIG. 2 is a schematic illustration of the engine cylinder temperature state switching logic of the method of the present invention.
Detailed Description
The present invention will be further described with reference to the following drawings and examples, which include, but are not limited to, the following examples.
As shown in fig. 1, the invention provides an adaptive control method based on the cylinder temperature of an unmanned aerial vehicle engine with a cooling air passage mechanism, which is implemented by the following steps:
step 1: after the engine of the unmanned aerial vehicle works, an engine electronic injection control unit acquires the temperature of an engine cylinder and transmits the temperature to an onboard computer through RS 422;
step 2: on-board computer running software, every T 1 Obtaining the temperature of 4 cylinders of the engine in time, and calculating the maximum value T of the temperature of 4 cylinders Max Minimum value T Min And average value T Avg And to the average value T Avg Wild value elimination and filtering are carried out;
the T is 1 The time is the time of the task ring operation of the airborne computer, namely the temperature acquisition task is operated once every other time, and T can be generally set 1 ＝10ms；
The wild value is a value outside-40 ℃ to 470 ℃;
the filtering means that a value after filtering at a certain time is obtained by calculation according to the following formula:
wherein y (t) represents the filtering value at the time t, N represents the length of the filtering queue, and the selected value is 6,z i (t) denotes the ith measurement in one sampling period, Z (t) max Represents the maximum measurement value in one sampling period, Z (t) min Represents the minimum measurement value within one sampling period;
and 3, step 3: the onboard computer judges and calculates the control quantity of the electric steering engine according to the cylinder temperature, and outputs a voltage value for controlling the steering engine to deflect according to the calculated control quantity value of the electric steering engine, so that the electric steering engine is driven to adjust the opening of an air passage, and the cylinder temperature is adjusted; the control quantity of the electric steering engine, the voltage value and the air passage opening degree meet the linear relation in numerical value, the control quantity value is 4 times of the voltage value, the minimum control quantity value corresponds to the air passage opening degree which is 0 degrees, and the maximum value of the air passage opening degree is 40 degrees;
the method for judging and calculating the control quantity of the electric steering engine according to the cylinder temperature specifically comprises the following steps:
the temperature of 4 cylinders is in the normal working range (120-180 ℃) of the engine and the average value T of the temperature is Avg Within the ideal range, the airborne meterComputer output electric steering engine control quantity delta qd Keeping the opening degree of the current cooling air passage unchanged, and defining the current opening degree as a state a; in this embodiment, the normal operating range of the engine is 120 ℃ to 180 ℃, and the ideal range is 130 ℃ to 170 ℃.
Over time, in the a state, the average value T appears Avg The state b is defined as the state not in the ideal range, the state a is switched to the state b, and the onboard computer calculates and outputs the control quantity delta of the electric steering engine according to the following formula qd ：
Wherein, T a The current 4 cylinder temperature average temperature, T g Adjusting the target temperature, delta, for a given cylinder temperature qd0 The current control quantity t of the electric steering engine is the time when the temperatures of the current 4 cylinders are in a normal working range and the average value of the temperatures is not in an ideal range; k is t In this embodiment, k is selected from the range of-1 to 1 t Is 0.25,k ti The value range is-0.5 to 0.5, in the embodiment, k is selected ti Is-0.01,k t And k ti The integral term is adjusted by remote control of a ground control station under the condition of | T a -T g The absolute value is less than or equal to 20, integral term saturation: (T) a -T g ) dt is less than or equal to 10, integral dead zone | T a -T g |≤5；
In the b state, a maximum value T of 4 cylinder temperatures occurs Max Greater than 180 deg.C boundary of high temperature of this engine and minimum value T of cylinder temperature Min The condition that the temperature is not less than the low temperature 120 ℃ boundary of the engine is defined as a state c, the state b is switched to the state c at the moment, and the onboard computer calculates and outputs the control quantity delta of the electric steering engine according to the following formula at the moment qd ：
δ qd ＝Δδ 0 +k C *t C /T 1 +δ qdc (9)
Wherein, delta delta 0 For the constant value of the control quantity, the range is set to 10% of the range of the left and right deflection angles of the steering engine, which is the value of one in the embodiment5；δ qdc Controlling the magnitude value of the electric steering engine at the moment of entering the state c; k is a radical of C Indicating the amount of electric steering engine control, k, added during each operating task cycle C ＝(40-Δδ 0 )/(T C /T 1 )，T C The time required for the opening of the air passage from closing to full opening is 140s in the embodiment; time t of timing C Is the maximum value T of the cylinder temperature Max Greater than high temperature boundary and minimum cylinder temperature value T Min A time period not less than the low temperature boundary;
in the b or c state, a maximum value T of 4 cylinder temperatures occurs Max Not greater than the high temperature boundary of operation of this type of engine and the minimum value T Min The condition of being smaller than the low-temperature boundary of the engine is defined as a state d, and the on-board computer calculates and outputs the electric steering engine control quantity delta according to the following formula qd ：
δ qd ＝δ qdd -Δδ 0 -k C *t d /T 1 (10)
Wherein, delta qdd Controlling the value of the electric steering engine at the moment of entering the state d; t is t d Is the maximum value T of cylinder temperature Max Not greater than high temperature boundary and minimum value of cylinder temperature T Min A time period less than a low temperature boundary;
in the c or d state, a maximum value T of 4 cylinder temperatures occurs Max Greater than the high temperature boundary of the engine operation and the minimum value T Min The condition of being smaller than the low-temperature boundary of the operation of the engine is defined as a state e, and the on-board computer calculates the control quantity delta of the electric steering engine according to the following formula qd ：
δ qd ＝Δδ 0 +k C *t e1 /T 1 +δ qde (11)
Wherein, t e1 For timing the time with increased opening, the value is 120s, delta qde Controlling the value of the electric steering engine at the moment of entering the state e;
t e1 after time, the airway opening is set to the opening at the time of entering the state e, and t is maintained e12 Time, on-board computer calculates the electric steering engine control quantity delta according to the following formula qd ：
δ qd ＝δ qde (12)
Wherein, t e12 The time for keeping the timing opening is 120s.
After the e state adjustment, the maximum value T of the 4 cylinder temperatures appears Max Still greater than the high temperature boundary of operation of this type of engine and the minimum value T Min And the condition of the low-temperature boundary which is smaller than the working condition of the engine is defined as a state f, the onboard computer immediately downloads an alarm prompt, the unmanned aerial vehicle is switched into flat flight and straight flight from the flight state, and the automatic cylinder temperature control is disconnected.
The range of each state mode can be judged according to the temperature value, and the control modes can be switched with each other.
Claims (1)
1. An unmanned aerial vehicle engine cylinder temperature self-adaptive control method is characterized by comprising the following steps:
step 1: after the engine of the unmanned aerial vehicle works, an engine electronic injection control unit acquires the temperature of an engine cylinder and transmits the temperature to an onboard computer through RS 422;
step 2: on-board computer running software, every T 1 Obtaining the temperature of 4 cylinders of the engine in time, and calculating the maximum value T of the temperature of 4 cylinders Max Minimum value T Min And average value T Avg And to the average value T Avg Wild value elimination and filtering are carried out;
the T is 1 Time for an on-board computer task ring to run;
the wild value is a value outside-40 ℃ to 470 ℃;
the filtering means that a value after filtering at any time t is obtained by calculation according to the following formula:
where y (t) represents the filtered value at time t, and N represents the filter queue length, set to 6,z i (t) denotes the ith measurement in one sampling period, Z (t) max Represents the maximum measurement value in one sampling period, Z (t) min Represents the minimum measurement value within one sampling period;
and step 3: the onboard computer judges and calculates the control quantity of the electric steering engine according to the cylinder temperature, and outputs a voltage value for controlling the steering engine to deflect according to the calculated control quantity value of the electric steering engine, so that the electric steering engine is driven to adjust the opening of an air passage, and the cylinder temperature is adjusted; the control quantity of the electric steering engine, the voltage value and the air passage opening degree meet the linear relation in numerical value, the control quantity value is 4 times of the voltage value, the minimum control quantity value corresponds to the air passage opening degree which is 0 degrees, and the maximum value of the air passage opening degree is 40 degrees; the method for judging and calculating the control quantity of the electric steering engine according to the cylinder temperature specifically comprises the following steps:
state a: if the current 4 cylinder temperatures are in the normal working range of the engine and the average value T of the current 4 cylinder temperatures is in the normal working range of the engine Avg Within an ideal range, the onboard computer outputs the control quantity delta of the electric steering engine qd Keeping the opening of the current cooling air passage unchanged;
state b: if the current 4 cylinder temperatures are in the normal working range of the engine and the average value T is Avg If the control quantity delta is not within the ideal range, the onboard computer calculates and outputs the control quantity delta of the electric steering engine according to the following formula qd ：
Wherein k is t Is a proportionality coefficient, k ti As an integral coefficient, T a The current 4 cylinder temperature average temperature, T g Adjusting the target temperature, delta, for a given cylinder temperature qd0 The current control quantity t of the electric steering engine is the time when the temperatures of the current 4 cylinders are in a normal working range and the average value of the temperatures is not in an ideal range; k is t The value range of-1 to 1,k ti The value range is-0.5 to 0.5 t And k ti Remote control adjustment is carried out through a ground control station;
and c, state: in the state b, if the maximum value T of the current 4 cylinder temperatures is Max Greater than the high temperature boundary of engine operation and the minimum value of cylinder temperature T Min Not less than the low-temperature boundary of engine operationThe load computer calculates and outputs the control quantity delta of the electric steering engine according to the following formula qd ：
δ qd ＝Δδ 0 +k C *t C /T 1 +δ qdc (3)
Wherein, delta delta 0 Setting the control quantity as a constant value one, and setting the control quantity as 10% of the range of the left and right deflection angles of the steering engine; delta. For the preparation of a coating qdc Controlling the magnitude value of the electric steering engine at the moment of entering the state c; k is a radical of C Indicating the amount of electric steering engine control, k, added during each operating task cycle C ＝(40-Δδ 0 )/(T C /T 1 )，T C The time required for the opening of the air passage from closed to full open; time t of timing C Is the maximum value T of the cylinder temperature Max Greater than high temperature boundary and minimum cylinder temperature value T Min Time not less than low temperature boundary;
and a state d: in the state b or c, if the maximum value T of the current 4 cylinder temperatures Max Not greater than the high temperature boundary and a minimum value T Min If the temperature is less than the low-temperature boundary, the onboard computer calculates and outputs the control quantity delta of the electric steering engine according to the following formula qd ：
δ qd ＝δ qdd -Δδ 0 -k C *t d /T 1 (4)
Wherein, delta qdd Controlling the magnitude value of the electric steering engine at the moment of entering the state d; t is t d Is the maximum value T of the cylinder temperature Max Not greater than high temperature boundary and minimum value of cylinder temperature T Min A time less than the low temperature boundary;
and a state e: in the state c or d, if the maximum value T of the current 4 cylinder temperatures Max Greater than the high temperature boundary of engine operation and a minimum value T Min If the temperature is less than the low-temperature boundary of the engine, the onboard computer calculates the control quantity delta of the electric steering engine according to the following formula qd ：
δ qd ＝Δδ 0 +k C *t e1 /T 1 +δ qde (5)
Wherein, t e1 For timing the time of the opening increase, 120s, δ is set qde Controlling the value of the electric steering engine at the moment of entering the state e;
t e1 after time, the airway opening is set to the opening at the time of entering the state e, and t is maintained e12 Time, then calculate the electric steering engine control quantity delta according to the following formula qd ：
δ qd ＝δ qde (6)
Wherein, t e12 The time for keeping the timing opening is set to be 120s;
state f: if 4 cylinder temperatures after e-state maximum T Max Still greater than the high temperature boundary of engine operation and minimum value T Min And if the temperature is smaller than the low-temperature boundary of the engine, the warning prompt is given immediately, the unmanned aerial vehicle is switched from the flight state to the flat flight and direct flight, and the automatic cylinder temperature control is disconnected.
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