CN117289606A - Aeroengine output adjusting control method based on switching T-S fuzzy model - Google Patents
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Abstract
The invention discloses an aeroengine output regulation control method based on a switching T-S fuzzy model, which comprises the steps of constructing an aeroengine system model based on the switching T-S fuzzy model under the influence of modeling disturbance and unmodeled disturbance, designing an event trigger mechanism, designing an event trigger switching fuzzy output feedback controller based on the event trigger mechanism, generating a regulation output signal and controller state information according to sensor data, an aeroengine subsystem active time interval, the event trigger mechanism and the event trigger switching fuzzy output feedback controller, generating a control input signal according to the regulation output signal and the controller state information, and controlling the aeroengine according to the control input signal. Not only is good control over complex systems achieved, but also robustness of the system is improved. And an event trigger mechanism is introduced into the switching fuzzy feedback controller, so that communication resources are effectively saved.
Description
Technical Field
The invention relates to the field of aero-engine control, in particular to an aero-engine output adjusting control method based on a switching T-S fuzzy model.
Background
In practical engineering, a switching system is used for describing phenomena such as multi-mode switching, multi-controller switching and the like, and is widely focused in the fields of aerospace, robots, intelligent transportation and the like. The method is characterized in that a limited number of subsystems are dynamically connected together through a switching rule, and the switching system covers all control problems of a non-switching system and has important research value. The aeroengine control system is an important application scene of the switching system.
The T-S fuzzy model presents a surprising advantage in modeling aircraft engine systems, which can be effectively modeled for aircraft engine systems with strong nonlinear characteristics. The research results of the prior aero-engine system based on the T-S fuzzy model are disclosed as follows: the document Takagi-Sugeno fuzzy model identification for turbofan aero-engines with guaranteed stability proves that the identified T-S fuzzy model has higher fitting precision, and simultaneously ensures the stability of the whole fuzzy system and all local models thereof; the document Fuzzy robust control for T-S aero-engine systems with network-induced factors underround-robin-like protocol proposes a control scheme for a T-S aero-engine system with fast response, interference suppression and good tracking performance. It is noted that the above documents do not take into account that various operating conditions are involved in the operation of the engine. The engine cannot adapt to different working states, resulting in low modeling accuracy and poor control performance.
Aero-engine systems have a number of control tasks, one of the important control issues being output regulation issues. For example, low pressure turbine outlet temperature of an aircraft engine is an important parameter in controlling and protecting engine operation. The turbine outlet temperature is adjusted to optimize engine performance and reliability, with higher turbine outlet temperatures increasing the specific thrust of the jet propulsion engine and reducing fuel consumption, but excessive temperatures may cause turbine blade overheating and damage. The turbine outlet temperature must be adjusted to a suitable range to avoid overheating of the outlet temperature resulting in ablation, fatigue and failure. Furthermore, it should be noted that in practice, the aero-engine system is not only affected by the modeling disturbances, but also by the unmodeled disturbances, which are not considered in the current research.
With the development of computer and network technologies, modern aeroengine systems generally employ networked controls, which can provide fast data transmission and processing capabilities to meet the requirements for real-time. However, aeroengines are a bandwidth-limited system, and therefore how to efficiently utilize limited communication resources is an interesting and meaningful topic.
In summary, since various operating states are not considered when the engine is operating. The engine cannot adapt to different working states and the influence of unmodeled disturbances is not considered, resulting in low modeling accuracy and poor control performance.
Disclosure of Invention
The invention provides an aero-engine output regulation control method based on a switching T-S fuzzy model so as to overcome the technical problems.
An aero-engine output regulation control method based on a switching T-S fuzzy model comprises the following steps of,
step one, constructing an aeroengine system model based on a switching T-S fuzzy model under the influence of modeling disturbance and unmodeled disturbance,
step two, designing an event trigger mechanism,
step three, designing an event trigger switching fuzzy output feedback controller based on an event trigger mechanism,
step four, judging whether the sensor data at the switching moment of the aircraft engine subsystem meets an event triggering mechanism in the active time interval of the aircraft engine subsystem,
if the event triggering mechanism is met, generating an adjusting output signal and controller state information according to the sensor data and an aeroengine system model based on a switching T-S fuzzy model, transmitting the adjusting output signal and the controller state information to an event triggering switching fuzzy output feedback controller to generate a control input signal, controlling the aeroengine by an executor according to the control input signal,
if the event triggering mechanism is not satisfied, continuing to acquire the sensor data of the next moment and re-judging whether the sensor data of the aeroengine subsystem of the next moment satisfies the event triggering mechanism,
and if the event triggering mechanism is met, acquiring the event times meeting the event triggering mechanism in an active event interval of the subsystem of the aero-engine, representing the event times as p, generating an adjusting output signal and controller state information according to the moment of the current event, sensor data and an aero-engine system model based on a switching T-S fuzzy model for each event, transmitting the adjusting output signal and the controller state information to an event triggering switching fuzzy output feedback controller to generate a control input signal, and controlling the aero-engine by an executor according to the control input signal.
Preferably, the first step includes constructing an aircraft engine system model based on a switched T-S fuzzy model according to equation (1),
where α (t), u (t), φ (t), y (t), v (t) represent the aeroengine state, the control input, the reference signal or disturbance generated by the external system or both, the regulated output signal, the unmodeled external disturbance input, θ (t) →W= {1, …, W } represents the switching signal, h ε P= {1, …, n } represents the fuzzy rule,is a standardized membership function after fuzzy reasoning,/-degree>Is a constant matrix.
Preferably, the design event trigger mechanism is a design event trigger mechanism according to equation (2),
wherein,is two adjacent trigger times, o=1, 2, …, p, epsilon (t) is the controller status information.
Preferably, the third step includes designing an event-triggered switching fuzzy output feedback controller according to equation (3),
where o=1, 2, …, p,is the controller gain matrix, ε (t) is the controller state information, [ t ] n ,t n+1 ) Is subsystem i active time.
The invention provides an aeroengine output regulation control method based on a switching T-S fuzzy model, which considers the influence of modeling interference and unmodeled interference in an aeroengine system based on the switching T-S fuzzy model, thereby not only realizing good control on a complex system, but also improving the robustness of the system. And an event trigger mechanism is introduced into the switching fuzzy feedback controller, so that communication resources are effectively saved. And, the constructed switching fuzzy feedback controller has a plurality of controller gains and a higher degree of freedom.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a block diagram of an event-triggered feedback control for switching a T-S fuzzy system in accordance with the present invention;
FIG. 3 is a graph showing the change of the switching signal according to the present invention;
FIG. 4 is a plot of the fuel delta of the main chamber of the present invention;
FIG. 5 is a graph showing the variation of the speed increment of the high pressure shaft and the low pressure shaft according to the present invention;
FIG. 6 is a graph showing the variation of the low pressure turbine outlet temperature increase according to the present invention;
fig. 7 is a reference numeral illustration of a trigger time sequence of the event trigger mechanism of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
FIG. 1 is a flowchart of the method of the present invention, as shown in FIG. 1, the method of the present embodiment may include:
step one, constructing an aeroengine system model based on a switching T-S fuzzy model under the influence of modeling disturbance and unmodeled disturbance,
step two, designing an event trigger mechanism,
step three, designing an event trigger switching fuzzy output feedback controller based on an event trigger mechanism,
step four, judging whether the sensor data at the switching moment of the aircraft engine subsystem meets an event triggering mechanism in the active time interval of the aircraft engine subsystem,
if the event triggering mechanism is met, generating an adjusting output signal and controller state information according to the sensor data and an aeroengine system model based on a switching T-S fuzzy model, transmitting the adjusting output signal and the controller state information to an event triggering switching fuzzy output feedback controller to generate a control input signal, controlling the aeroengine by an executor according to the control input signal,
if the event triggering mechanism is not satisfied, continuing to acquire the sensor data of the next moment and re-judging whether the sensor data of the aeroengine subsystem of the next moment satisfies the event triggering mechanism,
if the event triggering mechanism is met, acquiring the event times meeting the event triggering mechanism in an active event interval of an aero-engine subsystem and expressing the event times as p, generating an adjusting output signal and controller state information according to the moment of the current event, sensor data and an aero-engine system model based on a switching T-S fuzzy model for each event, transmitting the adjusting output signal and the controller state information to an event triggering switching fuzzy output feedback controller to generate a control input signal, controlling the aero-engine by an executor according to the control input signal,
based on the scheme, the influence of modeling interference and unmodeled interference is simultaneously considered in the aeroengine system based on the switching T-S fuzzy model, so that not only is the good control on the complex system realized, but also the robustness of the system is improved. And an event trigger mechanism is introduced into the switching fuzzy feedback controller, so that communication resources are effectively saved. And, the constructed switching fuzzy feedback controller has a plurality of controller gains and a higher degree of freedom. In addition, the constructed event triggering mechanism can realize dynamic balance between ensuring performance and adjusting the maximum event triggering interval.
Specifically, the method provided by the embodiment comprises the following steps of
Step one, constructing an aeroengine system model based on a switching T-S fuzzy model under the influence of modeling disturbance and unmodeled disturbance, wherein the step one comprises constructing the aeroengine system model based on the switching T-S fuzzy model according to a formula (1),
wherein α (t), u (t), phi (t), y (t), v (t) represent an aeroengine state, a control input, a reference signal generated by an external system, or a stem, respectivelyDisturbance, or both, conditioning the output signal,is an unmodeled external disturbance input, θ (t) →w= {1, …, W } represents a switching signal, h ε P= {1, …, n } represents a fuzzy rule, < }>Is a standardized membership function after fuzzy reasoning,/-degree>Is a constant matrix. The following definitions are given:
wherein pi (n) 1l ,Π 2l Is a non-singular matrix with different dimensions.
And secondly, designing an event triggering mechanism, wherein the event triggering mechanism can enable the controller to intermittently transmit signals, so that communication resources are effectively saved. When the conditions are met, the controller calculates and transmits signals, so that communication resources are saved, and the designed event trigger mechanism is beneficial to avoiding the occurrence of the gano action. The design event trigger mechanism is a design event trigger mechanism according to equation (3),
wherein,is two adjacent trigger times, o=1, 2, …, p, epsilon (t) is the controller status information.
Designing an event trigger switching fuzzy output feedback controller based on an event trigger mechanism, wherein the step three comprises designing the event trigger switching fuzzy output feedback controller according to a formula (4),
where o=1, 2, …, p,is the controller gain matrix, ε (t) is the controller state information, [ t ] n ,t n+1 ) Is subsystem i active time.
Step four, judging whether the sensor data at the switching moment of the aircraft engine subsystem meets an event triggering mechanism in the active time interval of the aircraft engine subsystem,
if the event triggering mechanism is met, generating an adjusting output signal and controller state information according to the sensor data and an aeroengine system model based on a switching T-S fuzzy model, wherein the adjusting output signal and the controller state information are generated according to formulas (4) and (5), transmitting the adjusting output signal and the controller state information to an event triggering switching fuzzy output feedback controller to generate a control input signal, controlling the aeroengine according to the control input signal by an executor,
if the event triggering mechanism is not satisfied, continuing to acquire the sensor data of the next moment and re-judging whether the sensor data of the aeroengine subsystem of the next moment satisfies the event triggering mechanism,
in particular, the present embodiment is active in the first subsystem time interval [ t ] due to the intermixing of event trigger time and subsystem switch time n ,t n+1 ) The design of an event-triggered switching fuzzy feedback controller is discussed in two cases:
(1) No event triggering occurs during the period of the first subsystem active, i.e.:
(2) During the period of the active of the first subsystem, p event triggers occur, namely:the occurrence of each trigger event is determined according to equation (3).
Further, the constructed closed loop system equation is specifically:
wherein,
the designed event trigger mechanism, the event trigger switching fuzzy output feedback controller and the switching signal enable:
(i) The closed-loop system (5) is stable when phi (t) ≡0, v (t) ≡0, when phi (t) +.0, v (t) ≡0,
(ii) Under zero initial conditions, the regulated output y (t) and the external disturbance input v (t) satisfy the inequality constraint for all φ (t), v (t)
Wherein,r represents L 2 Gain level.
Further, analyzing the constructed closed-loop system, and obtaining a resolvable criterion of an aeroengine system event trigger almost output adjustment problem based on a switching T-S fuzzy model, wherein the resolvable criterion is as follows:
the switching signal satisfies the average dwell time constraint:
wherein, kappa d Is the average residence time, r > 0, beta 0 More than 0, mu > 1 is a constant, pi 1l ,Π 2l ,Σ l,k Is a non-singular matrix, U l ,U k Is a positive definite matrix, representing a symmetric matrixIs a symmetric term of (c).
The Lyapunov function is designed as follows:
V(t)＝V l (t)＝ξ T (t)U l ξ(t) (12)
through verification, when the dissolubility condition constructed in the fifth step is satisfied, the following formula holds:
then, it can be said that the designed event-triggered switching fuzzy feedback controller stabilizes the constructed closed-loop system and can satisfy the output regulation characteristics and L of the aero-engine system based on the switching T-S fuzzy model 2 Interference suppression characteristics.
An aeroengine event trigger output control system based on a switching T-S fuzzy model comprises a model construction module, a trigger design module, a controller design module and an aeroengine control module,
the model building module is used for building an aeroengine system model based on a switching T-S fuzzy model under the influence of modeling disturbance and unmodeled disturbance,
the trigger design module is used for designing an event trigger mechanism,
the controller design module is used for designing an event trigger switching fuzzy output feedback controller based on the event trigger mechanism,
the aeroengine control module is used for generating an adjusting output signal and controller state information according to the sensor data, the active time interval of the aeroengine subsystem, an event triggering mechanism and the event triggering switching fuzzy output feedback controller, generating a control input signal according to the adjusting output signal and the controller state information, and controlling the aeroengine according to the control input signal.
FIG. 2 is a block diagram of an event-triggered output feedback control for switching a T-S fuzzy system according to the present invention. The system comprises an augmentation system, a sensor, an event triggering mechanism, a controller and an actuator, wherein the augmentation system is obtained by coordinate transformation of an aeroengine system based on a switching T-S fuzzy model and an external system (1). The augmentation system transmits signals to the event triggering mechanism module through the sensor; the event triggering mechanism module judges whether triggering can be performed according to the constructed event triggering conditions, when the event triggering conditions are met, the controller performs calculation and signal updating, otherwise, the signal at the last triggering moment is still kept; the controller transmits signals to the actuator so as to control the aero-engine system; this process solves the problem of almost output regulation of aero-engine systems based on a switched T-S fuzzy model and saves communication resources.
The proposed event-triggered almost output regulation control method is applied in this embodiment to temperature regulation at the outlet of the low-pressure turbine of an aircraft engine based on a switched T-S fuzzy model. The adopted aeroengine based on the switching T-S fuzzy model is described as follows:
wherein DeltaN H (t) and deltaN L (t) the rotational speed increment of the high pressure shaft and the low pressure shaft, ΔW fm (T) represents the fuel increment of the main combustion chamber, deltaT 6 (T) is the low pressure turbine outlet temperature delta, deltaT 6a (T) and DeltaT 6b (T) is respectively DeltaT 6 The two dimensions of (t), θ (t) ∈ {1,2} represent the switching signal, in this embodiment, a triangular membership function is used and arranged in a grid, the reference track or external disturbance signal φ (t) is generated by the external system as follows:
the external disturbance input v (t) is expressed as:
v(t)＝0.1sint·e -0.8t (16)
main combustion chamber fuel increment delta W fm (t) is expressed as:
where ε (t) is the state of the controller,is the controller gain to be designed.
Further, based on the above design scheme, the model parameters in this embodiment are given as follows:
further, the controller gain matrix is designed to:
the simulation results of the embodiment of the invention are shown in fig. 3-7, and the specific analysis is as follows: FIG. 3 is a graph of the change in switching signal of the present invention using an average dwell time dependent switching signal; FIG. 4 is a plot of the main chamber fuel delta, i.e., control input, for the present invention; fig. 5 is a graph showing the variation of the increment of the rotation speed of the high-pressure shaft and the low-pressure shaft, namely, the variation of the system state in two dimensions. It can be seen from the graph that when phi (t) ≡0, v (t) ≡0, the closed loop system is asymptotically stable, and the high-pressure shaft and low-pressure shaft rotation speed increases are gradually converged to 0; FIG. 6 is a graph of the low pressure turbine outlet temperature increase, i.e., the regulated output, of the present invention. It can be seen from the graph that the low pressure turbine outlet temperature increase of the system is gradually converging to 0 when φ (t) noteq0, v (t) ≡0. FIGS. 5 and 6 illustrate that the constructed event-triggered switching fuzzy feedback controller can effectively solve the problem of near output regulation of aero-engine event triggering based on a switching T-S fuzzy model; fig. 7 shows a trigger time sequence of the event trigger mechanism according to the present invention, and it can be seen from the figure that the number of triggers is significantly reduced, and communication resources are greatly saved while system performance is ensured. As can be seen from simulation experiments, the event trigger switching fuzzy feedback controller provided by the invention reduces the update frequency and the trigger times of control input signals through the constraint of event trigger conditions, effectively saves communication resources, solves the problem of almost output adjustment of an aeroengine system, and effectively adjusts the temperature increment of the low-pressure turbine outlet of the engine system.
The whole beneficial effects are that:
the invention provides an aeroengine control method and system based on a switching T-S fuzzy model, which simultaneously considers the influence of modeling interference and unmodeled interference in an aeroengine system based on the switching T-S fuzzy model, thereby not only realizing good control on a complex system, but also improving the robustness of the system. And an event trigger mechanism is introduced into the switching fuzzy feedback controller, so that communication resources are effectively saved. And, the constructed switching fuzzy feedback controller has a plurality of controller gains and a higher degree of freedom.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (4)
1. The aero-engine output regulation control method based on the switching T-S fuzzy model is characterized by comprising the following steps of,
step one, constructing an aeroengine system model based on a switching T-S fuzzy model under the influence of modeling disturbance and unmodeled disturbance,
step two, designing an event trigger mechanism,
step three, designing an event trigger switching fuzzy output feedback controller based on an event trigger mechanism,
step four, judging whether the sensor data at the switching moment of the aircraft engine subsystem meets an event triggering mechanism in the active time interval of the aircraft engine subsystem,
if the event triggering mechanism is met, generating an adjusting output signal and controller state information according to the sensor data and an aeroengine system model based on a switching T-S fuzzy model, transmitting the adjusting output signal and the controller state information to an event triggering switching fuzzy output feedback controller to generate a control input signal, controlling the aeroengine by an executor according to the control input signal,
if the event triggering mechanism is not satisfied, continuing to acquire the sensor data of the next moment and re-judging whether the sensor data of the aeroengine subsystem of the next moment satisfies the event triggering mechanism,
and if the event triggering mechanism is met, acquiring the event times meeting the event triggering mechanism in an active event interval of the subsystem of the aero-engine, representing the event times as p, generating an adjusting output signal and controller state information according to the moment of the current event, sensor data and an aero-engine system model based on a switching T-S fuzzy model for each event, transmitting the adjusting output signal and the controller state information to an event triggering switching fuzzy output feedback controller to generate a control input signal, and controlling the aero-engine by an executor according to the control input signal.
2. The method for controlling output regulation of an aircraft engine based on a switched T-S fuzzy model according to claim 1, wherein said step one includes constructing an aircraft engine system model based on a switched T-S fuzzy model according to formula (1),
where α (t), u (t), φ (t), y (t), v (t) represent the aeroengine state, the control input, the reference signal generated by the external system or the disturbance or both, the regulated output signal, the unmodeled external disturbance input, θ (t) →W= {1, …, W } represent the switching signal, h εP= {1, …, n } represent the fuzzy rule,is a standardized membership function after fuzzy reasoning,/-degree>Is a constant matrix.
3. The method for controlling output regulation of an aircraft engine based on a switched T-S fuzzy model of claim 1 wherein the design event trigger mechanism is a design event trigger mechanism according to formula (2),
wherein,a＞0,σ 0 ＞0,δ＞0/>is two adjacent trigger times, o=1, 2, …, p, epsilon (t) is the controller status information.
4. The method of controlling output regulation of an aircraft engine based on a switched T-S fuzzy model of claim 2 wherein step three includes designing an event-triggered switched fuzzy output feedback controller in accordance with equation (3),
where o=1, 2, …, p,is the controller gain matrix, ε (t) is the controller state information, [ t ] n ,t n+1 ) Is subsystem i active time.
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