CN115788683A - Modal conversion control method based on combined engine - Google Patents
Modal conversion control method based on combined engine Download PDFInfo
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Abstract
The invention discloses a mode conversion control method based on a combined engine, which comprises the following steps: designing a top layer modal conversion state machine and a bottom layer modal state machine of the combined engine, wherein the top layer modal conversion state machine is used for representing the whole modal conversion process of the combined engine, and the bottom layer modal state machine is used for representing the working state of the bottom layer modal engine and is designed according to the working process of the engine; and establishing transfer conditions of the top layer modal conversion state machine, and then completing the design of the transfer conditions of the bottom layer modal state machine according to the state of the current top layer modal conversion state machine and the actual control requirement of the engine, thereby realizing the unified scheduling of each bottom layer modal state machine. The invention realizes the unified scheduling control of each modal bottom layer state machine of the combined engine by the top layer modal conversion state machine, and then realizes the unified scheduling control of each control variable by each bottom layer state machine, thereby reducing the control coupling degree between the modal engines.
Description
Technical Field
The invention relates to the field of control of combined engines, in particular to a mode conversion control method of a combined engine.
Background
The combined engine is formed by integrating and cooperatively working two or more engines of different types through structures, the advantages of the engines of different types in respective working envelopes are fully exerted, so that the purpose of expanding the working envelopes of the engines is achieved, the power device of the reusable hypersonic aircraft has higher efficiency and reliability in a wide flight envelope range, and the like, and is ideal power for the existing horizontal take-off and landing hypersonic aircraft.
The main forms of the prior combined engine are a turbine-based combined power cycle engine (TBCC), a rocket-based combined power cycle engine (RBCC), a turbine-rocket-based combined engine (TRRE) and the like, because the combined engine is formed by combining two or more different types of engines, the combined engine inevitably involves the work conversion problem of different engine modes in the working process, the mode conversion process is a large deviation and strong nonlinear process, and the control plan, the redundancy management, the fault diagnosis and treatment and the like among different engine modes are mutually coupled, so that the control logic is extremely complex, the stable control in the mode conversion process is difficult to realize, and the sum of the thrust of multiple modes is kept continuous. The traditional method of independently controlling the engine based on each mode and combining the engine based on a time sequence or an independent instruction cannot realize effective decoupling of the two engine modes, causes extremely complicated control logics of each dimension such as control planning, fault diagnosis and treatment and the like in the mode conversion process, cannot ensure stable control of the mode conversion process, and is difficult to realize continuous sum of thrust of the two modes.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects of the prior art, the invention provides a mode conversion control method of a combined engine, which can solve the problem of complex control of mutual coupling between different dimensions such as control plan, redundancy management, fault diagnosis and treatment and the like when the combined engine is converted between different engine working modes.
The technical scheme is as follows: the invention provides a mode conversion control method based on a combined engine, which comprises the following steps:
designing a top layer modal transformation state machine and a bottom layer modal state machine of the combined engine, wherein the top layer modal transformation state machine is used for representing the whole modal transformation process of the combined engine, and the bottom layer modal state machine is used for representing the working state of the bottom layer modal engine and is designed according to the working process of the engine;
constructing transfer conditions of a top layer modal conversion state machine so as to meet modal conversion control requirements of a combined engine, and then completing transfer condition design of a bottom layer modal state machine according to the state of the current top layer modal conversion state machine and by combining actual control requirements of the engine, thereby realizing unified scheduling of each bottom layer modal state machine;
and further, design of a combined engine control plan, combined engine redundancy management and a fault handling strategy are realized.
Further, the method comprises the following steps:
the top-layer modal transformation state machine ModeTranState comprises the following components: a modality-first engine state PG _ MT _ TB, a normal mode transition in-state PG _ MT _ ptring, a normal mode transition failure state PG _ MT _ PTFailed, a modality-second engine state PG _ MT _ RJ, and an inverse modality transition in-state PG _ MT _ RTing; the underlying modal state machines include a first engine state machine TB _ EngineState and a second engine state machine RJ _ EngineState.
Further, the method comprises the following steps:
the method for constructing the transfer condition of the top-layer modal transformation state machine specifically comprises the following steps of:
s1, after the power-on initialization of a numerical control system is completed, entering a mode-first engine state by default, wherein a top-layer mode conversion state machine ModeTranState is set to be the mode-first engine state PG _ MT _ TB;
s2, when the ModeTranState of the top-layer modal transformation state machine is in a modal-first engine state PG _ MT _ TB, if a modal transformation entering condition RJ _ PTStartCMD is true, entering a modal transformation middle state, and setting the ModeTranState of the top-layer modal transformation state machine to be a positive modal transformation middle state PG _ MT _ PTing;
s3, when the ModeTranState conversion state machine is in the PG _ MT _ PTing state in the normal mode conversion, the following logic is performed:
s31, if the modal conversion failure condition PTingFailed _ Flag is true, setting a ModeTransState of a top-layer modal conversion state machine as a positive modal conversion failure state PG _ MT _ PTFailed, and entering a modal conversion failure state;
and S32, if the condition that the mode conversion enters the second engine state is true, setting the ModeTranState of the top-layer mode conversion state machine as a mode-second engine state PG _ MT _ RJ, and entering a mode-stamping level control state.
And S4, when the top-layer mode conversion state machine ModeTranState is in the mode-second engine state PG _ MT _ RJ, executing according to the following logic:
s41, if the reverse mode conversion condition RT _ CMD is true, setting a ModeTransState of a top-layer mode conversion state machine as a PG _ MT _ RTing in reverse mode conversion, and entering a PG _ MT _ RTing in reverse mode conversion;
and S42, if the mode second engine state is converted into the first engine mode control condition MTRJ2MTTB _ Flag to be true, setting the ModeTransState of the top-layer mode conversion state machine to be the mode-first engine state PG _ MT _ TB, and returning to the mode-turbine base control state.
S5, when the ModeTranState of the top-layer modal transformation state machine is in a state PG _ MT _ RTing in inverse modal transformation, if the inverse modal transformation enters a first engine control condition RTing2MTTB _ Flag to be true, setting the ModeTranState of the top-layer modal transformation state machine to be a modal state PG _ MT _ TB, successfully transforming the inverse modal, and entering a modal-turbine-based control state;
s6, when the top-level modal transition state machine ModeTranState is in the positive modal transition failed state PG _ MT _ PTFailed, the following logic is performed:
s61, if the mode conversion condition RJ _ PTStartCMD is true, setting the ModeTranState of the top-layer mode conversion state machine as a positive mode conversion in-process state PG _ MT _ PTing, and entering the positive mode conversion again for control;
s62, if the first engine state machine TB _ engine state is in the parking state PG _ ES _ Stop or enters the initial state, and receives the reverse mode transition command, and the reverse mode transition condition RT _ CMD is true, then enters the middle state of reverse mode transition, and sets the top mode transition state machine ModeTranState as the middle state of reverse mode transition PG _ MT _ RTing.
Further, the method comprises the following steps:
the first engine state machine TB _ EngineState comprises 8 states of an initial state, a parking state, a ground starting state, an air starting state, a slow vehicle state, a throttling state, an intermediate state and a boosting state;
the second engine state machine RJ _ EngineState comprises 5 states of a stamping stage initial state, a stamping stage stopping state, a stamping stage single starting state, a stamping stage modal starting state and a stamping stage working state.
Further, the method comprises the following steps:
the design for implementing the combined engine control plan includes:
a) According to the current states of a top-layer mode conversion state machine ModTranState, a first engine state machine TB _ EngineState and a second engine state machine RJ _ EngineState, the control plan design of the global variable air inlet adjusting area and the combined nozzle area of the combined engine is completed;
b) According to the current state of a first engine state machine TB _ EngineState and the actual control requirement of the engine, developing a control plan design of a first engine level control variable;
c) And developing a control plan design of the second engine level control variable according to the current state of the second engine state machine RJ _ EngineState and the actual control requirement of the engine.
Further, the method comprises the following steps:
implementing a combined engine redundancy management and fault handling strategy includes:
(1) Redundancy management, fault diagnosis and processing strategies of signals of sensors and the like related to a first engine level are respectively designed according to the state of a top-layer mode conversion state machine ModeTranState and the state of a first engine state machine TB _ EngineState and by combining actual engine control requirements;
(2) Designing redundancy management, fault diagnosis and processing strategies of signals of sensors and the like related to the second engine level, and respectively carrying out redundancy management, fault diagnosis and processing strategies in different states according to the state of a top-layer mode conversion state machine ModeTranState and the state of a second engine state machine RJ _ EngineState and combining with actual engine control requirements;
(3) Aiming at the redundancy management, fault diagnosis and processing strategy design of global variables which affect the control of a first engine and the control of a second engine, the redundancy management, fault diagnosis and processing strategy design are respectively designed according to the states of a top-layer mode conversion state machine ModeTranState, a first engine state machine TB _ EngineState and a second engine state machine RJ _ EngineState and by combining with actual engine control requirements.
Has the advantages that: (1) The top-layer mode conversion state machine realizes the unified scheduling control of the bottom-layer state machines of all modes of the combined engine, and then the bottom-layer state machines realize the unified scheduling control of respective control variables, so that the control coupling degree between the engines of all modes is reduced. (2) The air inlet adjustment of the combined engine, the overall variable control of the combined spray pipe and the like are realized according to the top-layer modal conversion state machine and the bottom-layer modal state machines, the matching of the air inlet control and the air exhaust control with the state of the combined engine is realized, and the continuous flow control in the modal conversion process of the combined engine is ensured. (3) According to the top-layer mode conversion state machine, the classified control of redundancy management, fault diagnosis and processing under different processes of mode conversion is realized, the fault degradation speed of the combined engine control is reduced, and the safety and reliability of the combined engine control are improved.
Drawings
FIG. 1 is a schematic diagram of a control architecture of a multi-layer state machine according to an embodiment of the present invention;
fig. 2 is a flowchart of a top-level mode conversion state machine design method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention provides a mode conversion control method based on a combined engine, which comprises the following steps:
step 1, designing a top layer modal transformation state machine and a bottom layer modal state machine of the combined engine, wherein the top layer modal transformation state machine is used for representing the whole modal transformation process of the combined engine, and the bottom layer modal state machine is used for representing the working state of the bottom layer modal engine and is designed according to the working process of the engine;
the top-layer modal transformation state machine ModeTranState comprises the following components: a modality-first engine state PG _ MT _ TB, a normal mode transition in-state PG _ MT _ ptring, a normal mode transition failure state PG _ MT _ PTFailed, a modality-second engine state PG _ MT _ RJ, and an inverse modality transition in-state PG _ MT _ RTing; the underlying modal state machines include a first engine state machine TB _ EngineState and a second engine state machine RJ _ EngineState.
the method for constructing the transition condition of the top-layer modal conversion state machine specifically comprises the following steps:
s1, after the power-on initialization of a numerical control system is completed, entering a mode-first engine state by default, wherein a top-layer mode conversion state machine ModeTranState is set to be the mode-first engine state PG _ MT _ TB;
s2, when the ModeTranState of the top-layer modal transformation state machine is in a modal-first engine state PG _ MT _ TB, if a modal transformation entering condition RJ _ PTStartCMD is true, entering a modal transformation middle state, and setting the ModeTranState of the top-layer modal transformation state machine to be a positive modal transformation middle state PG _ MT _ PTing;
and S3, when the top-layer modal transformation state machine ModeTranState is in the positive-mode transformation state PG _ MT _ PTing, executing according to the following logic:
s31, if the modal conversion failure condition PTingFailed _ Flag is true, setting a ModeTransState of a top-layer modal conversion state machine as a positive modal conversion failure state PG _ MT _ PTFailed, and entering a modal conversion failure state;
s32, if the mode conversion enters the second engine state condition true, setting the mode transtate of the top layer mode conversion state machine as the mode-second engine state PG _ MT _ RJ, and entering the mode-ram level control state.
S4, when the top-layer mode conversion state machine ModeTranState is in the mode-the second engine state PG _ MT _ RJ, the following logic is performed:
s41, if the reverse mode conversion condition RT _ CMD is true, setting a ModeTransState of a top-layer mode conversion state machine as a PG _ MT _ RTing in reverse mode conversion, and entering a PG _ MT _ RTing in reverse mode conversion;
and S42, if the second modal engine state is converted into the first engine modal control condition MTRJ2MTTB _ Flag which is true, setting the ModeTransState conversion state machine ModeTransState to the first modal engine state PG _ MT _ TB, and returning to the modal-turbine-based control state.
S5, when the ModeTranState of the top-layer modal transformation state machine is in a state PG _ MT _ RTing in inverse modal transformation, if the inverse modal transformation enters a first engine control condition RTing2MTTB _ Flag to be true, setting the ModeTranState of the top-layer modal transformation state machine to be a modal state PG _ MT _ TB, successfully transforming the inverse modal, and entering a modal-turbine-based control state;
s6, when the top-level modal transition state machine ModeTranState is in the positive modal transition failed state PG _ MT _ PTFailed, the following logic is performed:
s61, if the mode conversion condition RJ _ PTStartCMD is true, setting a ModeTranState of a top-layer mode conversion state machine as a PG _ MT _ PTing in positive mode conversion, and entering the positive mode conversion again for control;
s62, if the first engine state machine TB _ engine state is in the parking state PG _ ES _ Stop or enters the initial state, and receives the reverse mode transition command, and the reverse mode transition condition RT _ CMD is true, then enters the middle state of reverse mode transition, and sets the top mode transition state machine ModeTranState as the middle state of reverse mode transition PG _ MT _ RTing.
The first engine state machine TB _ EngineState comprises 8 states including an initial state, a parking state, a ground starting state, an air starting state, a slow vehicle state, a throttling state, an intermediate state and a stress application state;
the second engine state machine RJ _ EngineState comprises 5 states of a stamping stage initial state, a stamping stage stopping state, a stamping stage single starting state, a stamping stage modal starting state and a stamping stage working state.
And 3, further realizing the design of a combined engine control plan, the combined engine redundancy management and a fault handling strategy.
The design for implementing the combined engine control plan includes:
a) According to the current states of a top mode conversion state machine ModeTranState, a first engine state machine TB _ EngineState and a second engine state machine RJ _ EngineState, the control plan design of the global variable air inlet adjusting area and the combined nozzle area of the combined engine is completed;
b) According to the current state of a first engine state machine TB _ EngineState and the actual control requirement of the engine, developing a control plan design of a first engine level control variable;
c) And developing a control plan design of the second engine level control variable according to the current state of the RJ _ EngineState of the second engine state machine and the actual control requirement of the engine.
Implementing a combined engine redundancy management and fault handling strategy includes:
(1) Redundancy management, fault diagnosis and processing strategies of signals of sensors and the like related to a first engine level are respectively designed according to the state of a ModeTranState of a top-layer modal transformation state machine and the state of a TB _ EngineState of a first engine state machine in combination with actual engine control requirements under different states;
(2) Designing redundancy management, fault diagnosis and processing strategies of signals of sensors and the like related to a second engine level, and respectively performing redundancy management, fault diagnosis and processing strategies in different states according to the state of a ModeTranState of a top-layer mode conversion state machine and the state of an RJ _ EngineState of a second engine state machine in combination with actual engine control requirements;
(3) Aiming at the redundancy management, fault diagnosis and processing strategy design of global variables which affect the control of a first engine and the control of a second engine, the redundancy management, fault diagnosis and processing strategy design are respectively designed according to the states of a top-layer mode conversion state machine ModeTranState, a first engine state machine TB _ EngineState and a second engine state machine RJ _ EngineState and by combining with actual engine control requirements.
In order to illustrate the technical solution of the present invention, the following examples are further made:
the invention relates to a mode conversion control method based on a multilayer state machine, which comprises the steps of firstly establishing a top layer mode conversion state machine of a combined engine, then establishing each bottom layer mode state machine of the combined engine, realizing uniform scheduling control on each bottom layer mode state machine by the top layer mode conversion state machine, identifying a mode conversion process by the top layer mode conversion state machine, and realizing classification coordination control of a control plan, redundancy management, fault diagnosis and treatment and the like of the combined engine before mode conversion, during mode conversion and after mode conversion according to the top layer mode conversion state machine and each bottom layer mode state machine, thereby achieving decoupling of each dimension of the control plan design, the redundancy management, the fault diagnosis and treatment strategy and the like of the combined engine and realizing the purpose of stably controlling the mode conversion process of the combined engine.
The operation is carried out according to the control architecture of the combined engine, as shown in fig. 1, in turn according to the following steps.
1) Establishing a top-level modal transformation state machine (ModeTransState) according to a combined engine modal transformation process, wherein the top-level modal transformation state machine mainly comprises 5 states of a modal-turbine base state (PG _ MT _ TB), a positive modal transformation middle state (PG _ MT _ PTing), a positive modal transformation failure state (PG _ MT _ PTfailed), a modal-stamping level state (PG _ MT _ RJ) and a reverse modal transformation middle state (PG _ MT _ RTing);
2) Respectively establishing bottom layer mode state machines with different working modes according to different modes of the combined engine, taking a turbine-based combined cycle engine (TBCC) as an example, and establishing a turbine-based state machine (TB _ EngineState) and a ram-level state machine (RJ _ EngineState);
3) Designing a turbine base state machine (TB _ EngineState) according to the actual requirement and the working state of an engine, wherein the TB _ EngineState mainly comprises 8 states of an initial state, a parking state, a ground starting state, an air starting state, a slow vehicle state, a throttling state, an intermediate state and a boosting state;
4) Designing a stamping stage state machine (RJ _ EngineState) according to the actual requirement and the working state of an engine, wherein the RJ _ EngineState mainly comprises 5 states of a stamping stage initial state, a stamping stage stopping state, a stamping stage single starting state, a stamping stage modal starting state and a stamping stage working state;
5) Designing the transition conditions and the operation scheme of the top-level modal conversion state machine, as shown in fig. 2, the detailed steps are as follows:
a) After the power-on initialization of the numerical control system is completed, entering a mode-turbine base state by default, wherein the ModeTranState of a top-layer mode conversion state machine is set to be a mode-turbine base state PG _ MT _ TB;
b) When the top-layer modal transformation state machine ModeTranState is in a modal turbine base state PG _ MT _ TB, if a modal transformation entry condition RJ _ PTStartCMD is true, entering a modal transformation middle state, and setting the top-layer modal transformation state machine ModeTranState as a positive modal transformation middle state PG _ MT _ PTing;
c) When the top-level modal transformation state machine ModeTranState is in the positive modal transformation state PG _ MT _ PTing, the following logic is performed:
i) If the modal conversion failure condition PTingfailed _ Flag is true, setting a ModeTransState of a top-layer modal conversion state machine as a positive modal conversion failure state PG _ MT _ PTfailed, and entering a modal conversion failure state;
ii) if the mode conversion entering stamping condition PTing2MTRJ _ Flag is true, setting the ModeTransState of the top-layer mode conversion state machine to a mode-stamping level state PG _ MT _ RJ, and entering a mode-stamping level control state.
d) When the top-level modality conversion state machine ModeTranState is in the modality stamping level control state PG _ MT _ RJ, the following logic is executed:
i) If the reverse mode conversion condition RT _ CMD is true, setting a ModeTranState of a top layer mode conversion state machine as a PG _ MT _ RTing in reverse mode conversion, and entering a PG _ MT _ RTing in reverse mode conversion;
ii) if the mode stamping level-to-turbine-base control condition MTRJ2MTTB _ Flag is true, setting the ModeTranState of the top-layer mode conversion state machine to a mode-turbine-base state PG _ MT _ TB, and returning to the mode-turbine-base control state.
e) When the ModeTranState of the top-layer modal transformation state machine is in the inverse modal transformation middle state PG _ MT _ RTing, if the inverse modal transformation enters the turbine-based control condition RTing2MTTB _ Flag to be true, setting the ModeTranState of the top-layer modal transformation state machine to be the modal-turbine-based state PG _ MT _ TB, successfully performing inverse modal transformation, and entering the modal-turbine-based control state;
f) When the top-level modal transformation state machine ModTranState is in a positive modal transformation failure state PG _ MT _ PTFailed, the following logic is performed:
i) If the mode conversion condition RJ _ PTStartCMD is true, setting a ModeTranState of a top-layer mode conversion state machine as a PG _ MT _ PTing state in positive mode conversion, and entering control in positive mode conversion again;
ii) if the turbine base is stopped (the turbine base state machine TB _ EngineState is in the stopped state PG _ ES _ Stop) or enters the initial state (the turbine base state machine TB _ EngineState is in the initial state PG _ ES _ Origin) at this time, and meanwhile, the reverse mode conversion command is received, and the reverse mode conversion condition RT _ CMD is true, the turbine base enters the state in reverse mode conversion, and the state in top layer mode conversion state machine mode transtate is set to the state in reverse mode conversion PG _ MT _ RTing.
6) According to actual control requirements of a turbine base and a stamping stage and the current state of a top-layer mode conversion state machine ModeTranState, state transition conditions of 8 states of a turbine base state machine TB _ EnginState and 5 states of a stamping-stage state machine RJ _ EnginState are designed, and unified scheduling and management of the top-layer mode conversion state machine on a bottom-layer mode state machine are achieved; the unified scheduling and management are realized mainly by a plurality of state machines, the operation of the state machines can be transferred only by the condition, the transfer condition of the bottom-layer modal state machine contains the state of the top layer, and the transfer of the bottom-layer modal state machine can be realized only by combining a certain state of the top layer with some transfer conditions of the bottom layer, so that the planning and management of the bottom-layer state machine are realized by the top-layer state machine, and the method is a planning-integrated idea.
7) Developing a control plan design based on a multilayer state machine, wherein the specific method comprises the following steps of;
a) According to the current states of a top-layer mode conversion state machine ModeTranState, a turbine base state machine TB _ EngineState and a stamping-level state machine RJ _ EngineState, the control plan design of the global variable air inlet adjusting area and the combined nozzle area of the combined engine is completed;
b) According to the current state of a turbine base state machine TB _ EngineState and the actual control requirement of an engine, developing a control plan design of a turbine base control variable;
c) And developing a control plan design of the stamping-level control variable according to the current state of the stamping-level state machine RJ _ EngineState and by combining the actual control requirement of the engine.
8) Redundancy management, fault diagnosis and processing design based on a multilayer state machine are developed, and the specific method comprises the following steps:
a) Redundancy management, fault diagnosis and processing strategies of signals of a turbine base related sensor and the like are respectively designed according to the state of a top-layer mode conversion state machine ModeTranState and the state of a turbine base state machine TB _ EngineState and by combining actual engine control requirements;
b) Designing redundancy management, fault diagnosis and processing strategies of signals of sensors and the like related to a stamping stage, and respectively carrying out redundancy management, fault diagnosis and processing strategies in different states according to the state of a ModeTranState of a top-level mode conversion state machine and the state of an RJ _ EngineState of a stamping-stage state machine and combining with actual engine control requirements;
c) Aiming at the redundancy management, fault diagnosis and processing strategy design of global variables (such as control signals related to air inlet regulation, a combined nozzle and the like) which affect both the turbine base control and the stamping stage control, the design needs to be respectively carried out according to the states of a top-layer mode conversion state machine ModeTranState, a turbine base state machine TB _ EngineState and a stamping stage state machine RJ _ EngineState and by combining with the actual engine control requirements.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present invention without departing from the spirit or scope of the embodiments of the invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to encompass such modifications and variations.
Claims (6)
1. A mode conversion control method based on a combination engine, characterized by comprising:
designing a top layer modal conversion state machine and a bottom layer modal state machine of the combined engine, wherein the top layer modal conversion state machine is used for representing the whole modal conversion process of the combined engine, and the bottom layer modal state machine is used for representing the working state of the bottom layer modal engine and is designed according to the working process of the engine;
constructing transfer conditions of a top layer modal conversion state machine so as to meet modal conversion control requirements of a combined engine, and then completing transfer condition design of a bottom layer modal state machine according to the state of the current top layer modal conversion state machine and combining actual control requirements of the engine, thereby realizing unified scheduling of each bottom layer modal state machine;
and further, design of a combined engine control plan, combined engine redundancy management and a fault handling strategy are realized.
2. The compound engine based mode transition control method according to claim 1, wherein the top-level mode transition state machine ModeTranState includes: a modality-first engine state PG _ MT _ TB, a normal modality conversion in-progress state PG _ MT _ PTing, a normal modality conversion failure state PG _ MT _ PTfailed, a modality-second engine state PG _ MT _ RJ and an inverse modality conversion in-progress state PG _ MT _ RTing; the underlying modal state machines include a first engine state machine TB _ EngineState and a second engine state machine RJ _ EngineState.
3. The combination engine-based mode conversion control method according to claim 2, wherein the constructing of the transition conditions of the top-level mode conversion state machine specifically comprises the following steps:
s1, after the power-on initialization of a numerical control system is completed, entering a mode-first engine state by default, wherein a top-layer mode conversion state machine ModeTranState is set to be in a mode-first engine state PG _ MT _ TB;
s2, when the ModeTranState of the top-layer modal transformation state machine is in a modal-first engine state PG _ MT _ TB, if a modal transformation entering condition RJ _ PTStartCMD is true, entering a modal transformation middle state, and setting the ModeTranState of the top-layer modal transformation state machine as a positive modal transformation middle state PG _ MT _ PTing;
s3, when the ModeTranState conversion state machine is in the PG _ MT _ PTing state in the normal mode conversion, the following logic is performed:
s31, if the modal conversion failure condition PTingFailed _ Flag is true, setting a ModeTransState of a top-layer modal conversion state machine as a positive modal conversion failure state PG _ MT _ PTFailed, and entering a modal conversion failure state;
s32, if the mode conversion enters the second engine state condition true, setting the mode transtate of the top layer mode conversion state machine as the mode-second engine state PG _ MT _ RJ, and entering the mode-ram level control state.
And S4, when the top-layer mode conversion state machine ModeTranState is in the mode-second engine state PG _ MT _ RJ, executing according to the following logic:
s41, if the reverse mode conversion condition RT _ CMD is true, setting a ModeTranState of a top layer mode conversion state machine as a PG _ MT _ RTing in reverse mode conversion, and entering a PG _ MT _ RTing in reverse mode conversion;
and S42, if the mode second engine state is converted into the first engine mode control condition MTRJ2MTTB _ Flag to be true, setting the ModeTransState of the top-layer mode conversion state machine to be the mode-first engine state PG _ MT _ TB, and returning to the mode-turbine base control state.
S5, when the ModeTranState of the top-layer modal transformation state machine is in a state PG _ MT _ RTing in inverse modal transformation, if the inverse modal transformation enters a first engine control condition RTing2MTTB _ Flag to be true, setting the ModeTranState of the top-layer modal transformation state machine to be a modal state PG _ MT _ TB, successfully transforming the inverse modal, and entering a modal-turbine-based control state;
s6, when the top-level modal transition state machine ModeTranState is in the positive modal transition failed state PG _ MT _ PTFailed, the following logic is performed:
s61, if the mode conversion condition RJ _ PTStartCMD is true, setting a ModeTranState of a top-layer mode conversion state machine as a PG _ MT _ PTing in positive mode conversion, and entering the positive mode conversion again for control;
s62, if the first engine state machine TB _ engine state is in the parking state PG _ ES _ Stop or enters the initial state, and receives the reverse mode transition command, and the reverse mode transition condition RT _ CMD is true, then enters the middle state of reverse mode transition, and sets the top mode transition state machine ModeTranState as the middle state of reverse mode transition PG _ MT _ RTing.
4. The combination engine based mode transition control method according to claim 3, wherein the first engine state machine TB _ EngineState includes 8 states in total of an initial state, a parking state, a ground start state, an air start state, a slow vehicle state, a throttle state, an intermediate state, and a boost state;
the second engine state machine RJ _ EngineState comprises 5 states of a stamping stage initial state, a stamping stage stopping state, a stamping stage single starting state, a stamping stage modal starting state and a stamping stage working state.
5. The compound engine-based mode transition control method according to claim 4, wherein the design to implement the compound engine control plan includes:
a) According to the current states of a top mode conversion state machine ModeTranState, a first engine state machine TB _ EngineState and a second engine state machine RJ _ EngineState, the control plan design of the global variable air inlet adjusting area and the combined nozzle area of the combined engine is completed;
b) According to the current state of a first engine state machine TB _ EngineState and the actual control requirement of the engine, developing a control plan design of a first engine level control variable;
c) And developing a control plan design of the second engine level control variable according to the current state of the second engine state machine RJ _ EngineState and the actual control requirement of the engine.
6. The combined engine-based mode transition control method according to claim 4, wherein the implementing of the combined engine redundancy management and fault handling strategy comprises:
(1) Redundancy management, fault diagnosis and processing strategies of signals of sensors and the like related to a first engine level are respectively designed according to the state of a top-layer mode conversion state machine ModeTranState and the state of a first engine state machine TB _ EngineState and by combining actual engine control requirements;
(2) Designing redundancy management, fault diagnosis and processing strategies of signals of sensors and the like related to the second engine level, and respectively carrying out redundancy management, fault diagnosis and processing strategies in different states according to the state of a top-layer mode conversion state machine ModeTranState and the state of a second engine state machine RJ _ EngineState and combining with actual engine control requirements;
(3) Aiming at the redundancy management, fault diagnosis and processing strategy design of global variables which affect the control of a first engine and the control of a second engine, the redundancy management, fault diagnosis and processing strategy design are respectively designed according to the states of a top-layer mode conversion state machine ModeTranState, a first engine state machine TB _ EngineState and a second engine state machine RJ _ EngineState and by combining with actual engine control requirements.
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