CN117075481B - Mach number composite control method for wind tunnel transonic ladder variable attack angle test - Google Patents
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Abstract
The invention discloses a Mach number composite control method for a wind tunnel transonic step variable attack angle test, which relates to the field of wind tunnel flow field control, wherein Mach number is adjusted based on a composite control mode in the wind tunnel transonic step variable attack angle test, and the composite control comprises feedforward control and feedback control; wherein the feedforward control is configured to be implemented by adopting a piecewise three-degree Hermite interpolation polynomial MPCHIP based on local monotone, and the feedback control is implemented by adopting incremental PI control. The invention provides a Mach number composite control method for a wind tunnel transonic speed step variable attack angle test, when a model attack angle changes, feedforward control can timely restrain disturbance and reduce Mach number fluctuation, feedback control can further reduce Mach number control deviation, and the Mach number control deviation and the feedback control are combined, so that Mach number can be fast and stable, and Mach number adjustment time is shortened.
Description
Technical Field
The invention relates to the field of wind tunnel flow field control. More particularly, the invention relates to a Mach number composite control method for a wind tunnel transonic speed step variable attack angle test.
Background
The step variable attack angle is a common test mode of a wind tunnel, and a plurality of test model attack angle sequences exist in a single test, so that the steady-state aerodynamic parameters are required to be measured under each attack angle state. Transonic stepped angle of attack tests, angle of attack has a relatively significant disturbance to Mach number control, and this disturbance is strongly nonlinear, with changes in angle of attack causing fluctuations in Mach number.
The existing Mach number control method is mainly based on classical PID control or is improved on the basis of classical PID control, but the control method is difficult to restrain interference of attack angles on Mach numbers, mach number control errors usually exceed an error band in the step change attack angle process, and Mach numbers are controlled and stabilized again for a few seconds.
The wind tunnel is a device with huge energy consumption, the wind tunnel test is usually timed in seconds, and in order to further shorten Mach number stabilization time and reduce wind tunnel test energy consumption, researchers have proposed Mach number feedforward-feedback composite control. Feedback control is still based on PID control, and the key link is the design of the feedforward controller. The feedforward control needs to perform feedforward compensation on the Mach number adjusting device according to the change of the attack angle, and the feedforward compensation quantity is related to various factors such as Mach number, model blocking degree, attack angle, model aerodynamic profile and the like, and particularly the aerodynamic profile of the model is difficult to be characterized by a specific function. The existing feedforward control method mainly obtains feedforward compensation quantity through statistical data, and for a new test model and a new test working condition, the accuracy of the feedforward compensation quantity is difficult to ensure, and the Mach number fluctuation is aggravated, particularly for a newly built wind tunnel, the feedforward control method based on the statistical data is difficult to implement due to lack of historical test data.
Disclosure of Invention
It is an object of the present invention to address at least the above problems and/or disadvantages and to provide at least the advantages described below.
To achieve these objects and other advantages and in accordance with the purpose of the invention, as embodied and broadly described herein, there is provided a mach number composite control method for a wind tunnel transonic step variable angle of attack test, in which mach numbers are adjusted based on a composite control method, and the composite control includes feedforward control and feedback control;
wherein the feedforward control is configured to be implemented by adopting a piecewise three-degree Hermite interpolation polynomial MPCHIP based on local monotone, and the feedback control is implemented by adopting incremental PI control.
Preferably, the obtaining manner of the MPCHIP interpolation function in the feedforward control is as follows:
s1, based on known sample pointsx 0 ，y 0 )，(x 1 ，y 1 )，……，(x n ，y n ) Establishing a piecewise interpolation functionf(x)；
S2, conducting derivation processing on each internal point and each end point in the sample points to obtain a piecewise interpolation functionf(x) The values of the coefficients in (a).
It is preferred that the composition of the present invention,
in S1, the piecewise interpolation functionf(x) In [x j ，x j+1 ]Within the segment interval, expressed as:
in the above, c 1 、c 2 、c 3 、c 4 For piecewise interpolation functionsf(x) Each coefficient in (a);
is provided withIs the first derivative, then:
by the end pointx j Andx j+1 the values at two points can be obtained:
order thex j The difference quotient isIs thatδ j ，/>Is marked asd j Order-makingx j+1 -x j =h j Then:
in the abovey j Is the known sample point #)x 0 ，y 0 )，(x 1 ，y 1 )，……，(x n ，y n ) Is the j-th point in (a).
Preferably, in S2, the derivative calculation rule at each inner point is:
if at firstjDifference quotient near individual nodesδ j-1 Andδ j opposite sign, or one of them is 0, the first derivative of the point is 0;
if at firstjDifference quotient near individual nodesδ j-1 Andδ j the signs are the same, the first derivative at that pointd j Equal to the weighted average of the left and right difference quotient;
order thehs j =h j+1 +h j ，，/>，/>，；
Then:
in the above, ifδ j =δ j+1 Thenδ jmin =δ jmax =δ j =δ j+1 ，
If it isδ j ≠δ j+1 Thenδ jmin δ jmax =δ j =δ j+1 Therefore:
。
preferably, in S2, the derivative at each endpoint is obtained by:
solving the first derivative value at the end point by adopting a non-midpoint three-point formula, namely adopting three points @x 0 ，y 0 )，(x 1 ，y 1 )，(x 2 ，y 2 ) The quadratic interpolation polynomial of (2) is represented as follows:
then its derivative is:
will bex=x 0 ，x 2 Substituting the above formula, and simplifying to obtain:
then:
if it isd 0 Andδ 0 when the symbols are inconsistent, thend 0 Set to 0;
if it isδ 0 Andδ 1 inconsistent symbols, i.e.x 1 An extreme point is arranged at the position, letd 0 =3δ 0 ；
If it isd n Andδ n-1 if the symbols are inconsistent, thend n Is 0;
if it isδ n-2 Andδ n-1 inconsistent symbols, i.e.x n-1 An extreme point is arranged at the position, letd n =3δ n-1 。
Preferably, the implementation manner of the feedforward control is as follows:
s3, creating two equal-dimension one-dimensional arraysA、SArray ofAFor storing sequence values of angle of attack, arraysSThe method is used for storing the position of the Mach number adjusting structure corresponding to each attack angle after the flow field is stabilized, and the elements are expressed as #A[1]，S[1]）、（A[2]，S[2]）……（A[m]，S[m]) Sample points set as MPCHIP interpolation functions;
s4, based on the sample points in the S3, acquiring each coefficient of the MPCHIP interpolation function according to the flow of the S1-S2;
s5, in feedforward control, when the attack angle sequence number m is less than or equal to 3, the feedforward compensation quantity is 0;
when the attack angle serial number m is more than 3, the feedforward control quantityu F (k) Calculated according to the following formula:
in the above-mentioned method, the step of,anda(k) Feedforward control quantity and attack angle value for the current control period, respectively, < >>Anda(k-1) feedforward control quantity and attack angle value for the last control period, respectively, f () being the MPCHIP interpolation function.
Preferably, the incremental PI control in the feedback controlu pi (k) The method is obtained by the following formula:
in the above-mentioned method, the step of,k p is a coefficient of proportionality and is used for the control of the power supply,k i as an integral coefficient of the power supply,e(k) For controlling target value of systemy * And system actual outputyA difference between;
the composite controlu sum (k) The output expression of (2) is:
。
the invention at least comprises the following beneficial effects:
the composite control method provided by the invention has a good inhibition effect on Mach number interference caused by the attack angle of the transonic test of the wind tunnel, can enable Mach number to be fast and stable, shortens the test time of the wind tunnel and reduces the operation energy consumption of the wind tunnel.
Secondly, the feedforward control method provided by the invention carries out online interpolation operation based on wind tunnel real-time test data, does not depend on a mathematical model of a controlled object, does not need parameter identification and modeling, has simple and easy control algorithm realization, and has good engineering applicability.
Thirdly, the composite control method provided by the invention adopts an incremental algorithm, and the control method can not cause abrupt change of control quantity in the cutting and throwing processes, thereby realizing undisturbed switching.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a graph showing comparison of MPCHIP and Spline interpolation results;
fig. 2 is a comparison diagram of the composite control and PI control results.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
In order to inhibit interference caused by variation of attack angle of wind tunnel transonic test on Mach number control and shorten Mach number adjustment time, the invention provides a novel feedforward-feedback composite control method. The feedforward control is based on a locally monotonic piecewise three-degree Hermite interpolation polynomial (Monotone Piecewise Cubic Hermite Interpolating Polynomial, MPCHIP), and the feedback control adopts incremental PI control. When the attack angle of the model changes, the feedforward control can timely restrain disturbance and reduce the fluctuation of Mach numbers, the feedback control further reduces the Mach number deviation, and the feedforward control and the feedback control are combined to enable the Mach numbers to be fast and stable and shorten the Mach number adjusting time.
The implementation steps of the invention are described by taking a transonic step-change attack angle test of a high-speed wind tunnel as an example. In the step variable attack angle test process, the attack angle is nonlinear to the Mach number interference, the attack angle change speed is far greater than the bandwidth of the Mach number control system, the control difficulty of the Mach number is further increased, and the method comprises the following steps when in specific implementation:
s1: establishing an interpolation function;
MPCHIP interpolation is based on Hermite interpolation. Hermite interpolation is a kind of cubic polynomial interpolation that requires equal function values at sample points and also requires equal corresponding derivative values. Is provided withy=F(x) Is interval [x in ,x end ]The function of the above and the sample point of the function is knownx 0 ，y 0 )，(x 1 ，y 1 )，……，(x n ，y n ) The piecewise interpolation function needs to be calculatedf(x). Interpolation functionf(x) Between each cell [x j ，x j+1 ]，j=0，1，2，…nThree polynomials are above-1.f(x) In [x j ，x j+1 ]Within the segment interval, it can be expressed in the form of
Is provided withIs the first derivative, then:
by the end pointx j Andx j+1 the values at two points can be obtained:
order thex j The difference quotient isFor simplicity and convenience is marked asδ j ，/>Is marked asd j Order-makingx j+1 -x j =h j Finally, the following steps are:
wherein,h j ，δ j ，y j are known and the key problem is now to findx j 、x j+1 First derivative atd j 、d j+1 。
S2: solving the derivative at the inner point;
interior points refer to points other thanx 0 Andx n other points outside and the derivative of the inner point are calculated according to the following principle:
1. if the first isjDifference quotient near individual nodesδ j-1 Andδ j opposite sign, or one of them is 0, the first derivative of this point is 0.
2. If the first isjDifference quotient near individual nodesδ j-1 Andδ j the signs are the same, the first derivative at that pointd j Equal to the weighted average of the left and right difference quotient.
Order thehs j =h j+1 +h j ，，/>，/>，；
Then:
analyzing the above, ifδ j =δ j+1 Thenδ jmin =δ jmax =δ j =δ j+1 ，
If it isδ j ≠δ j+1 Thenδ jmin δ jmax =δ j =δ j+1 Therefore:
s3: derivative solution at the end points;
the first derivative value at the end point uses a three-point formula that is not a midpoint and requires monotonous, the formula is derived as follows.
By three ofPoint of%x 0 ，y 0 )，(x 1 ，y 1 )，(x 2 ，y 2 ) Can be expressed as:
then its derivative is:
will bex=x 0 ，x 2 Substituting the above formula, and simplifying to obtain:
then:
however, it is necessary tod 0 Andd n some decisions were made:
1. if it isd 0 Andδ 0 inconsistent symbols, direct letd 0 Is 0;
2. fruit setδ 0 Andδ 1 inconsistent symbols, i.e.x 1 An extreme point is arranged at the position, letd 0 =3δ 0 ；
3. If it isd n Andδ n-1 inconsistent symbols, direct letd n Is 0;
4. if it isδ n-2 Andδ n-1 symbol coincidence, i.ex n-1 An extreme point is arranged at the position, letd n =3δ n-1 。
The derivative obtained by the method can lead MPCHIP interpolation to meet the monotonic shape retention characteristic. The monotonic shape-preserving characteristic refers to ensuring monotonicity of interpolation results in the interpolation interval.
Fig. 1 shows the comparison result of the Spline cubic interpolation and the MPCHIP interpolation proposed by the present invention, and it can be seen from the figure that the Spline interpolation curve is smoother, but the Spline interpolation has the problems of overshoot and oscillation, which can bring uncontrollable risks to the control system. MPCHIP interpolation can ensure that interpolation results are monotonic and free of overshoot and oscillation in interpolation intervals. The last point in the graph is not within the sample point, and actually belongs to the extrapolation. From the results, MPCHIP interpolation is more stable than Spline in terms of extrapolation results, and does not lead to dramatic changes in interpolation results, which is critical to feed forward control.
S4: calculating an interference feedforward compensation amount;
the feedforward control is implemented according to the following steps:
s41: creating two equal-dimensional one-dimensional arraysA、SArray ofAFor storing sequence values of angle of attack, arraysSThe element is used for storing the position of the Mach number adjusting structure corresponding to each attack angle after the flow field is stabilizedA[1]，S[1]）、（A[2]，S[2]）……（A[m]，S[m]) Constructing MPCHIP interpolation sample points;
s42: calculating an interpolation function according to the sample points and steps S1 to S3f(x) Coefficients of (2);
s43: since MPCHIP interpolation requires at least three sample points, the feedforward compensation amount is made 0 when the angle of attack sequence number m.ltoreq.3. When the attack angle sequence number m is larger than 3, the feedforward control quantity is calculated according to the following formula:
in the method, in the process of the invention,anda(k) Feedforward control quantity and attack angle value for the current control period, respectively, < >>Anda(k-1) feedforward control quantity and attack angle value for the last control period respectively
S5: designing an incremental PI controller;
the incremental PI control is derived from the following formula:
in the method, in the process of the invention,k p is a coefficient of proportionality and is used for the control of the power supply,k i as an integral coefficient of the power supply,e(k) For controlling target value of systemy * And system actual outputyAnd (3) a difference.
S6: the novel feedforward-feedback composite control output expression is:
to further illustrate the beneficial effects of the present invention, FIG. 2 shows a test curve for a high speed wind tunnel. The attack angle sequences are 10 degrees, 12 degrees, 14 degrees, 16 degrees, 18 degrees, 20 degrees, 22 degrees and 24 degrees, the total of 8 attack angle steps are 8, and the test Mach number is 0.8. The Mach number curve in the figure is a Mach number control curve using PI control alone, and the Mach number 1 curve in the figure is a Mach number control curve using the composite control method proposed by the present invention. As can be seen from the figure, the Mach number error is basically within 0.002 in the whole step attack angle changing process by adopting the compound control method, and compared with the PI control alone, the blowing time is reduced by about 7 s.
The above is merely illustrative of a preferred embodiment, but is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
The number of equipment and the scale of processing described herein are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be readily apparent to those skilled in the art.
Although embodiments of the invention have been disclosed above, they are not limited to the use listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. Therefore, the invention is not to be limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (5)
1. A Mach number composite control method for a wind tunnel transonic step variable attack angle test is characterized in that Mach number is adjusted based on a composite control mode in the wind tunnel transonic step variable attack angle test, and the composite control comprises feedforward control and feedback control;
wherein the feedforward control is configured to be realized by adopting a piecewise three-degree Hermite interpolation polynomial based on local monotone, and the feedback control is realized by adopting incremental PI control;
the acquisition mode of the piecewise three-order Hermite interpolation polynomial interpolation function based on local monotone in the feedforward control is as follows:
s1, based on known sample pointsx 0 ，y 0 )，(x 1 ，y 1 )，……，(x n ，y n ) Establishing a piecewise interpolation functionf(x)；
S2, conducting derivation processing on each internal point and each end point in the sample points to obtain a piecewise interpolation functionf(x) The value of each coefficient in (a);
the feedforward control is realized by the following steps:
s3, creating two equal-dimension one-dimensional arraysA、SArray ofAFor storing sequence values of angle of attack, arraysSThe method is used for storing the position of the Mach number adjusting structure corresponding to each attack angle after the flow field is stabilized, and the elements are expressed as #A[1]，S[1]）、（A[2]，S[2]）……（A[m]，S[m]) Sample points set as a piecewise cubic Hermite interpolation polynomial interpolation function based on local monotone;
s4, based on the sample points in the S3, acquiring each coefficient of a piecewise cubic Hermite interpolation polynomial interpolation function based on local monotone according to the flow of the S1-S2;
s5, in feedforward control, when the attack angle sequence number m is less than or equal to 3, the feedforward compensation quantity is 0;
when the attack angle serial number m is more than 3, the feedforward control quantityu F (k) Calculated according to the following formula:
in the above-mentioned method, the step of,anda(k) Feedforward control quantity and attack angle value for the current control period, respectively, < >>Anda(k-1) feedforward control quantity and attack angle value of the last control period respectively, f () is a piecewise cubic Hermite interpolation polynomial interpolation function based on local monotonous.
2. The Mach number composite control method for wind tunnel transonic step-change attack angle test as set forth in claim 1, wherein in S1, said piecewise interpolation functionf(x) In [x j ，x j+1 ]Within the segment interval, expressed as:
in the above, c 1 、c 2 、c 3 、c 4 For piecewise interpolation functionsf(x) Each coefficient in (a);
is provided withIs the first derivative, then:
by the end pointx j Andx j+1 the values at two points can be obtained:
order thex j Difference quotient of the placesIs thatδ j ，/>Is marked asd j Order-makingx j+1 -x j =h j Then:
yj in the above formula is the j-th point in the known sample points (x 0, y 0), (x 1, y 1), … …, (xn, yn).
3. The mach number composite control method of the wind tunnel transonic step-change attack angle test of claim 1, wherein in S2, the derivative calculation rule at each inner point is:
if the difference quotient delta j-1 and delta j near the jth node are opposite in sign, or one of the difference quotient delta j-1 and delta j is 0, the first derivative of the point is 0;
if at firstjDifference quotient near individual nodesδ j-1 Andδ j the signs are the same, the first derivative at that pointd j Equal to the weighted average of the left and right difference quotient;
order thehs j =h j+1 +h j ，，/>，/>，Then:
in the above, ifδ j =δ j+1 Thenδ jmin =δ jmax =δ j =δ j+1 ，
If it isδ j ≠δ j+1 Thenδ jmin δ jmax =δ j =δ j+1 Therefore:
。
4. the mach number composite control method of a wind tunnel transonic step-change attack angle test according to claim 1, wherein in S2, the derivative at each end point is obtained by:
by non-neutralSolving the first derivative value at the end point by using a three-point formula of the points, namely adopting three points @x 0 ，y 0 )，(x 1 ，y 1 )，(x 2 ，y 2 ) The quadratic interpolation polynomial of (2) is represented as follows:
then its derivative is:
will bex=x 0 ，x 2 Substituting the above formula, and simplifying to obtain:
then:
if it isd 0 Andδ 0 when the symbols are inconsistent, thend 0 Set to 0;
if it isδ 0 Andδ 1 inconsistent symbols, i.e.x 1 An extreme point is arranged at the position, letd 0 =3δ 0 ；
If it isd n Andδ n-1 if the symbols are inconsistent, thend n Is 0;
if it isδ n-2 Andδ n-1 inconsistent symbols, i.e.x n-1 An extreme point is arranged at the position, letd n =3δ n-1 。
5. The Mach number composite control method for wind tunnel transonic step-change attack angle test as set forth in claim 1, wherein incremental PI control in said feedback controlu pi (k) The method is obtained by the following formula:
in the above-mentioned method, the step of,k p is a coefficient of proportionality and is used for the control of the power supply,k i as an integral coefficient of the power supply,e(k) For controlling target value of systemy * And system actual outputyA difference between;
the composite controlu sum (k) The output expression of (2) is:
。
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