CN114237199A - Aero-engine execution loop fault detection method based on self-adaptive comparator - Google Patents
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Abstract
The application relates to an aeroengine execution loop fault detection method based on an adaptive comparator, which comprises the following steps: determining an execution loop and an execution loop model thereof in the aircraft engine, and constructing a fault detection model according to the execution loop model; determining a first threshold for fault detection in a steady state; filtering according to the acquired control output current value to obtain a filtering current value, fitting to obtain a first reference table, and inquiring the first reference table to obtain a second threshold corresponding to the filtering current value under the control current value; fitting to obtain a second reference table, and inquiring the second reference table to obtain a third threshold corresponding to the control current value; constructing a relational expression of the first threshold, the second threshold, the third threshold and the self-adaptive residual error; and comparing the relation between the absolute value of the difference value between the feedback value of the execution loop and the output value of the fault detection model and the self-adaptive residual error threshold value, wherein when the absolute value is greater than or equal to zero and reaches a plurality of periods, the execution loop is in fault, otherwise, the execution loop is not in fault.
Description
Technical Field
The application belongs to the technical field of aeroengine fault detection, and particularly relates to an aeroengine execution loop fault detection method based on an adaptive comparator.
Background
The aeroengine execution loop is used for accurately tracking, compensating the external interference, the nonlinear influence of an execution mechanism and a controlled object, obtaining the faster response of a closed loop system, and realizing the requirements of steady state and dynamic performance of the execution loop. The control system has complex execution loop, the performance of the closed loop system is affected by the faults of all links, and the working reliability of the control system is very important for the safety of the engine, so that the research on the fault detection technology of the execution loop is very necessary. At present, an aircraft engine usually monitors only control deviation and control variables, soft faults of an actuating mechanism are usually compensated by a PID controller, the control deviation approaches to 0, and if the control deviation and the control variables are monitored only, soft faults or small hard faults of a sensor cannot be detected.
Signal-based fault diagnosis of an execution loop of an aircraft engine usually presets the maximum value and the minimum value of a controlled variable and a first derivative of the controlled variable respectively, and a method for comparing a planned value and a feedback value of the controlled variable of the execution loop to detect faults is also adopted. If the controlled variable, or its derivative, or the projected value deviates from the feedback value by more than a threshold range, a failure of the servo loop is indicated. Although the fault judgment principle of the methods is simple and easy to realize, and the methods have better diagnosis results for hard faults, the soft faults have the possibility of false alarm, and the controlled variables have the possibility of false alarm due to normal fluctuation.
Another fault diagnosis method based on the model generally uses a first-order inertia link as a diagnosis model, and compares the model output with the controlled variable of a real execution loop. Because the actuating mechanism comprises a nonlinear link, the actuating mechanism has a constraint effect on the control energy output by the controller, the position and the speed of the actuating mechanism have the saturation problem, in order to take the transition state and the steady state into consideration, the fault detection time needs to be prolonged, meanwhile, the fault detection threshold range is set to be large, the problem of overlong detection time exists, a certain alarm missing rate exists, and the real-time performance and the accuracy of fault detection are influenced.
Disclosure of Invention
It is an object of the present application to provide an adaptive comparator based aeroengine implement loop fault detection method to address or mitigate at least one of the problems of the background art.
The technical scheme of the application is as follows: an adaptive comparator based aeroengine execution loop fault detection method, comprising:
determining an execution loop and an execution loop model thereof in the aircraft engine, and constructing a fault detection model according to the execution loop model;
determining a first threshold for fault detection in a steady state;
filtering according to the acquired control output current value to obtain a filtering current value, fitting the filtering current value to obtain a first reference table of the relation between a second threshold value and the filtering current value, and inquiring the first reference table to obtain a second threshold value corresponding to the filtering current value under the control current value;
fitting the control current value to obtain a second reference table of the relation between a third threshold value and the control current value, and inquiring the second reference table to obtain a third threshold value corresponding to the control current value;
constructing a relational expression of the first threshold, the second threshold, the third threshold and the self-adaptive residual error;
and comparing the relation between the absolute value of the difference value between the feedback value of the execution loop and the output value of the fault detection model and the self-adaptive residual error threshold value, wherein when the absolute value is greater than or equal to zero and reaches a plurality of periods, the execution loop is in fault, otherwise, the execution loop is not in fault.
Furthermore, the execution circuit in the aircraft engine comprises a main fuel metering execution circuit, an boosting fuel metering execution circuit, an angle execution circuit and a nozzle area execution circuit.
Further, the process of constructing the fault detection model according to the execution loop model includes:
obtaining a deviation e according to the displacement planning value of the execution loop and the displacement output value of the fault detection model;
constructing a relational expression of the output current I of the controller and the balance current I _ BAL in the actuating mechanism;
subtracting the expected balance current I _ BAL from the controller output current I to obtain the input current of the servo valve;
a second-order link is adopted to approximately express a transfer function model of the servo valve, an integrator is used for a mathematical prototype to equivalently execute a valve in a loop, a delay function is adopted to simulate a driving force process and a flow establishing process, a flow difference of an electro-hydraulic servo valve is obtained after the equivalent second-order transfer function of the servo valve, a single-step integral quantity of the displacement of the metering valve is obtained by performing delay processing on the flow in the delay link, and the displacement of the metering valve is obtained after the integral;
and limiting the upper limit and the lower limit of the single-step integral quantity, accumulating the limited single-step integral, and limiting the range of the movement stroke of the valve to finally obtain the airborne fault detection model.
Further, the controller output current I has the following relationship with the balance current I _ BAL in the actuator:
in the formula, kpIs a proportional control coefficient, e is a deviation, TiAnd TDRespectively, an integration time constant and a differentiation time constant, and t is time.
Further, the input current Δ I of the servo valve is: Δ I — I _ BAL.
Further, the transfer function model of the second-order link is as follows:
where Kac is the loop gain, w is the natural frequency, and ξ is the damping ratio.
Further, the fault detection model is as follows:
in the formula, Lm _ mdl is a fault detection model, Delay _ Lm is a Delay link, and Delta I is input current of the servo valve.
Further, the control output current value I and the filter current value I _ f satisfy the following:
in the formula (I), the compound is shown in the specification,
is a filter.
Further, the first threshold, the second threshold, and the third threshold have the following relations with the adaptive residual:
wherein r is an adaptive residual threshold, C1、C2、C3Respectively a first threshold value, a second threshold value and a third threshold value,
is a filter.
The method for detecting the fault of the execution loop of the aircraft engine based on the self-adaptive comparator has the following advantages:
1) compared with the traditional fault detection method, the execution loop fault diagnosis method based on the model can realize the fault detection of soft faults and is also effective for smaller partial execution faults;
2) the execution loop fault detection method based on the model has short fault judgment time (usually 3 control cycles) and low false alarm rate and false alarm rate.
Drawings
In order to more clearly illustrate the technical solutions provided by the present application, the following briefly introduces the accompanying drawings. It is to be expressly understood that the drawings described below are only illustrative of some embodiments of the invention.
FIG. 1 is a schematic diagram of an execution loop model in the present application.
Fig. 2 is a schematic diagram of adaptive thresholds in the present application.
FIG. 3 is a graph illustrating comparison of model output and experimental data according to an embodiment of the present application.
Fig. 4 is a schematic diagram of a balanced current drift fault according to an embodiment of the present application.
Fig. 5 is a schematic diagram of a ram leak failure in accordance with an embodiment of the present application.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application.
The method comprises the steps of firstly establishing an execution loop model for fault detection, and carrying out loop fault detection by using a residual error between an output value of the execution loop model and a real feedback value, so that in a transition state process, the output value of an execution mechanism is closer to an actual feedback value of the execution mechanism than a planned value of the execution mechanism, a selected fault judgment threshold value is greatly reduced, the accuracy of fault judgment is improved, and false alarm faults are reduced; secondly, an execution mechanism model containing nonlinear links such as execution mechanism position and velocity saturation is established, the application range of model fault diagnosis is expanded, and particularly for a scene of large-range transition state motion of an execution loop; finally, the method not only utilizes the deviation of the output value and the feedback value of the control variable model, but also utilizes the control quantity information to design the self-adaptive threshold value, thereby effectively solving the problem of incompatibility of the steady-state threshold value and the transition-state threshold value and improving the real-time performance and the accuracy of fault detection of the execution loop.
In the present application, the execution circuit model includes a main fuel metering execution circuit model, an boosted fuel metering execution circuit model, an angle execution circuit model, a throat area execution circuit model, and the like.
In the main fuel metering execution loop model, the main fuel metering mechanism comprises a main fuel servo valve, a follow-up piston and a main fuel metering valve, and the change of an electric signal can change the pressure of an upper cavity of the follow-up piston, so that the follow-up piston moves up and down, and the opening of the main fuel metering valve is controlled to provide the required oil quantity. The state variable is the displacement of the main fuel metering valve, the control quantity selects the electric signal of the main fuel servo valve, and the model is provided with speed and position saturation limits.
In the boosted fuel metering execution loop model, a boosted fuel metering mechanism comprises a boosted fuel servo valve and a boosted fuel metering valve, and the opening degree of the boosted fuel metering valve is controlled by an electric signal to provide the required fuel. The state variable is the displacement of the boost fuel metering valve, the control quantity is the boost fuel servo valve electric signal, and the model sets the speed and position saturation limits.
In the angle execution loop model, an executing mechanism of the fan inlet adjustable blade angle, the high-pressure compressor inlet adjustable stator blade angle and the vector spray pipe angle consists of a servo valve and an actuating cylinder. The state variable is the displacement of the actuator cylinder, and the control variable is an electric signal of the servo valve. The change of the electric signal of the servo valve changes the flow rate to the actuating cylinder cavity, so that pressure difference is generated at the two ends of the actuating cylinder to move the actuating cylinder, and the angle of the angle-adjustable position mechanism is driven to change.
In the nozzle area execution loop model, a nozzle area execution mechanism consists of a servo valve, an oil distribution valve and an actuating cylinder. The change of the electric signal of the servo valve changes the pressure of the upper cavity of the oil distribution valve, so that the sliding valve of the oil distribution valve moves; the displacement change of the oil distributing valve slide valve can change the flow area of high-pressure oil and low-pressure oil to the cavity of the actuating cylinder, and the pressure difference is generated at two ends of the actuating cylinder to move the actuating cylinder, so that the area of the nozzle is changed. The area of the outlet of the spray pipe comprises double rings, the state variables are the displacement of the oil distributing valve and the displacement of the actuating cylinder, and the control quantity is an electric signal of the servo valve.
In the application, a residual error is generated by adopting an output value of an actuating mechanism loop model and a real sensor feedback value of an actuating loop, and if the residual error is larger than a given threshold value, a servo loop is determined to have a fault after the fault judgment time is exceeded. And setting a self-adaptive residual threshold value by utilizing the relation between the control deviation and the amplitude and frequency of the controlled variable, wherein the self-adaptive residual threshold value comprises a steady-state error threshold value, a static threshold value proportional to the controlled variable and a dynamic threshold value related to the change of the controlled variable. Wherein the transition state threshold is amplified using a first order high pass filter, and then the sum of the three thresholds is smoothed using a low pass filter.
The main fuel metering execution circuit is taken as an example for explanation, and the method and the steps of the rest of the aeroengine execution circuits are basically the same as those of the main fuel metering execution circuit.
The method comprises the following specific processes:
firstly, establishing an execution loop model of a main fuel metering execution mechanism
As above, main fuel metering mechanism includes follow-up piston and main fuel metering valve, and the change of current signal makes follow-up piston epicoele pressure change to make follow-up piston reciprocate, and then control metering valve's aperture, in order to provide required oil mass, state variable is the displacement of metering valve, and the controlled variable is current signal, consequently has:
1.1) obtaining a deviation amount according to a displacement planning value LmDem of an execution loop and a displacement output value Lm _ mdl of a fault detection model: LmDem-Lm _ mdl
1.2) the controller output current I and the balance current I _ BAL in the actuator have the following relationship:
wherein k ispFor proportional control coefficients, TiAnd TDRespectively, an integral time constant and a differential time constant, wherein t is time;
1.3) subtracting an expected balance current I _ BAL from the output current I of the controller to obtain an input current delta I of the servo valve;
ΔI＝I-I_BAL
1.4) due toThe natural frequency of the metering valve in the execution loop is far lower than the frequency width of the servo valve, a servo valve transfer function model can be approximately represented by a second-order link, and the mathematical prototype of the valve in the execution loop is equivalent by an integrator. In addition, the process of establishing the driving force and the process of establishing the flow rate have a small delay and are simulated by adopting a delay function. Equivalent second order transfer function through servo valve
Then obtaining the flow difference delta Q of the electro-hydraulic servo valve, carrying out time Delay processing on the flow in a Delay link Delay _ Lm to obtain a single-step integral quantity of the displacement of the metering valve, and obtaining the displacement of the metering valve after integration;
1.5) when the valve is actuated, a limit response speed exists, the limit speed is generally related to the saturation flow of the servo valve, the single step integral quantity is limited not to exceed an upper limit and a lower limit, the limited single step integral is accumulated, the range of the motion stroke of the valve is limited, and finally an airborne fault detection model Lm _ mdl is obtained:
where Kac is the loop gain, w is the natural frequency, and ξ is the damping ratio.
The failure detection model architecture of the boosting fuel oil execution loop, the fan inlet adjustable blade angle execution loop, the high-pressure compressor inlet adjustable stator blade angle execution loop, the vector spray pipe angle execution loop and the nozzle area execution loop is consistent with the above contents.
Second, closed loop fault detection
At present, all digital electronic controllers have a built-in-test (BIT) function, so that fault detection of the digital electronic controllers does not generally need to utilize a model, current output is considered to be free of faults, and fault detection of an execution loop is carried out on the premise. Generating a residual error by adopting the output of the execution loop model and the feedback value of the real linear displacement sensor of the execution loop; if the residual error is larger than the given threshold value, the servo loop is determined to be in fault after the fault determination time is determined.
2.1) determining the first threshold value of the steady-state fault diagnosis to be C1First threshold value C1Is a constant;
2.2) controlling the output current value I to obtain a filtering current value after filtering
2.3) the value of the filtered current I _ f is obtained by looking up the first reference table or curve to obtain the second threshold value C2The control output current value I can be obtained by detection, the filtering current value I _ f is obtained by constructing a relational expression of the control output current value I and the filtering current value I _ f, and the first table or the curve can be obtained by fitting the filtering current value I _ f;
2.4) obtaining a third threshold value C by controlling the output current value I to look up a second reference table/curve3Fitting the control output current value I to obtain a second reference table/curve;
2.5) the self-adaptive residual threshold r is based on the sum of three residual thresholds and is filtered smoothly by a filter;
and obtaining an absolute value of a difference value according to the feedback value Lm (acquired by a sensor) of the execution loop and the model output value Lm _ mdl, comparing the absolute value with the self-adaptive residual error r, and sending a fault signal when the absolute value is greater than or equal to 0 and a confirmation period is reached.
Taking a full-authority control system of a turbofan engine with a certain double-rotor small bypass ratio as an example, an execution loop model of the engine is established by adopting the method, and an execution mechanism comprises an electro-hydraulic servo valve and an actuating cylinder: the gain of the whole loop current to the position of the actuating cylinder is-12 mm/mA; the rate limiting range is-250-270 mm/mA/s; the displacement range is limited to-5-90 mm. By adopting the method, the open-loop model is compared and verified according to typical test run data of a certain time, the real output current of the digital electronic controller is used as the input of the open-loop model, the actual displacement change of the actuating cylinder is compared with the model output as shown in figure 3, and the model can be used as an airborne fault diagnosis model.
First threshold value C1Is set to 1.5mm, and a second threshold value C2The slope in the graph is 0.015mm/mA, the slope in the graph of the third threshold value C3 is 0.3mm/mA, and T1＝0.8s，T2＝0.4s，T30.05s, control parameter Kp-0.8 mA/mm, Ki-0.006 mA/mm/s, and Kd-0.
As shown in fig. 4, in the simulation test of the balance current drift fault, when the loop balance current drifts by 5mA, the fault can be diagnosed when the residual error exceeds the adaptive threshold by 3 control cycles, but the fault cannot be diagnosed through a conventional extreme value and slope fault, and the fault cannot be diagnosed through the deviation between the planned value and the feedback value of the loop position after the steady state.
As shown in the actuator cylinder leakage fault simulation test of fig. 4, a fault can be diagnosed when the residual error exceeds the adaptive threshold for 3 control cycles, but the fault cannot be diagnosed through a conventional extreme value and slope fault, and the fault cannot be diagnosed through the deviation of a loop position planning value and a feedback value after a steady state.
The method for detecting the fault of the execution loop of the aircraft engine based on the self-adaptive comparator has the following advantages:
1) compared with the traditional fault detection method, the execution loop fault diagnosis method based on the model can realize the fault detection of soft faults and is also effective for smaller partial execution faults;
2) the execution loop fault detection method based on the model has short fault judgment time (usually 3 control cycles) and low false alarm rate and false alarm rate.
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 changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within 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 (9)
1. An aeroengine execution loop fault detection method based on an adaptive comparator is characterized by comprising the following steps:
determining an execution loop and an execution loop model thereof in the aircraft engine, and constructing a fault detection model according to the execution loop model;
determining a first threshold for fault detection in a steady state;
filtering according to the acquired control output current value to obtain a filtering current value, fitting the filtering current value to obtain a first reference table of the relation between a second threshold value and the filtering current value, and inquiring the first reference table to obtain a second threshold value corresponding to the filtering current value under the control current value;
fitting the control current value to obtain a second reference table of the relation between a third threshold value and the control current value, and inquiring the second reference table to obtain a third threshold value corresponding to the control current value;
constructing a relational expression of the first threshold, the second threshold, the third threshold and the self-adaptive residual error;
and comparing the relation between the absolute value of the difference value between the feedback value of the execution loop and the output value of the fault detection model and the self-adaptive residual error threshold value, wherein when the absolute value is greater than or equal to zero and reaches a plurality of periods, the execution loop is in fault, otherwise, the execution loop is not in fault.
2. The adaptive comparator-based aeroengine implement loop fault detection method of claim 1, wherein the implement loops in the aeroengine comprise a main fuel metering implement loop, an boost fuel metering implement loop, an angle implement loop and a throat area implement loop.
3. The adaptive comparator-based aeroengine implement loop fault detection method according to claim 1 or 2, wherein the process of constructing the fault detection model based on the implement loop model comprises:
obtaining a deviation e according to the displacement planning value of the execution loop and the displacement output value of the fault detection model;
constructing a relational expression of the output current I of the controller and the balance current I _ BAL in the actuating mechanism;
subtracting the expected balance current I _ BAL from the controller output current I to obtain the input current of the servo valve;
a second-order link is adopted to approximately express a transfer function model of the servo valve, an integrator is used for a mathematical prototype to equivalently execute a valve in a loop, a delay function is adopted to simulate a driving force process and a flow establishing process, a flow difference of an electro-hydraulic servo valve is obtained after the equivalent second-order transfer function of the servo valve, a single-step integral quantity of the displacement of the metering valve is obtained by performing delay processing on the flow in the delay link, and the displacement of the metering valve is obtained after the integral;
and limiting the upper limit and the lower limit of the single-step integral quantity, accumulating the limited single-step integral, and limiting the range of the movement stroke of the valve to finally obtain the airborne fault detection model.
4. The adaptive comparator based aeroengine implement loop fault detection method of claim 3, wherein the controller output current I and the balance current I _ BAL in the implement mechanism have the following relationship:
in the formula, kpIs a proportional control coefficient, e is a deviation, TiAnd TDRespectively, an integration time constant and a differentiation time constant, and t is time.
5. The adaptive comparator-based aeroengine-implemented loop fault detection method according to claim 4, wherein the input current Δ I of the servo valve is:
ΔI＝I-I_BAL。
6. the adaptive comparator-based aeroengine implement loop fault detection method of claim 5, wherein the transfer function model of the second order link is:
where Kac is the loop gain, w is the natural frequency, and ξ is the damping ratio.
7. The adaptive comparator-based aeroengine implement loop fault detection method of claim 6, wherein the fault detection model is:
in the formula, Lm _ mdl is a fault detection model, Delay _ Lm is a Delay link, and Delta I is input current of the servo valve.
8. The adaptive comparator-based aeroengine implement loop fault detection method of claim 7, wherein the control output current value I and the filtered current value I _ f satisfy the following:
in the formula (I), the compound is shown in the specification,
is a filter.
9. The adaptive comparator-based loop fault detection method for an aircraft engine as claimed in claim 8, wherein the first threshold value, the second threshold value, the third threshold value and the adaptive residual error have the following relationships:
wherein r is an adaptive residual threshold, C1、C2、C3Respectively a first threshold value, a second threshold value and a third threshold value,
is a filter.
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