CN101737171B - Aeroengine generation control device - Google Patents
Aeroengine generation control device Download PDFInfo
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- CN101737171B CN101737171B CN2009102635319A CN200910263531A CN101737171B CN 101737171 B CN101737171 B CN 101737171B CN 2009102635319 A CN2009102635319 A CN 2009102635319A CN 200910263531 A CN200910263531 A CN 200910263531A CN 101737171 B CN101737171 B CN 101737171B
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Abstract
The invention discloses an aeroengine generation control device, which comprises a high speed digital input module, a high accuracy analogue input module, a PWM output module, and a core control module. The high speed digital input module is used for acquiring a rotating speed of a driving shaft of an aeroengine generating set and pulse signals of which the frequency is higher than 100kHz; the high accuracy analogue input module is used for acquiring generated power of the aeroengine generating set and valve displacement of a fuel regulating valve with the accuracy higher than 0.0001; the PWM output module is used for outputting control quantity through an algorithm which is controlled by a PWM current to the fuel regulating valve so as to control the valve opening; and the core control module comprises a self-adaptive fuzzy PID control module for controlling the rotating speed, the power and the valve displacement. The aeroengine generation control device controls the rotating speed,the power and the valve displacement through the self-adaptive fuzzy PID control module, has strong adaptivity to environmental changes, and automatically corrects the controller in a random environment, so that under the condition of variable characteristics or disturbance, the aeroengine generating system has better dynamic/static characteristics and the control requirements of the aeroengine power generating system are met.
Description
Technical field
The present invention relates to a kind of Generation Control technical field, specifically, relate to a kind of with the control of aeroengine as the power generation system of generator drive power.
Background technique
The aeroengine generation technology is a development in recent years, with the generation technology of aeroengine (abbreviation plane) through a kind of efficient, the energy-saving and environmental protection that are applicable to terrestrial power generation after a series of transformations.The aeroengine generation system comprises aeroengine generation unit and aeroengine generation control system, wherein, it is object with the aeroengine generation unit that the aeroengine generation control system is one, relate to all multidisciplinary complex control systems such as control, computer, communication, power, electric power, be one of key technology of aeroengine generation, wherein aeroengine generation control device is the master controller of aeroengine generation control system.Along with the user is more and more higher to the requirement of power quality, safe and efficient, practical and reliable aeroengine generation control system seems particularly important, aeroengine generation control device is responsible for the supervision and the control of whole aeroengine generation system, is that whole aeroengine generation system is reliable, stable, the basis of safe operation.
PID control has kept its leading position in industrial process control always since 18th century were introduced the control field.The PID controller constitutes controlled quentity controlled variable by the linear combination of Comparative Examples P, integration I and differential D, and simple in structure because of it, each Control Parameter has tangible physical significance, and is easy to adjust, is subjected to liking of engineers and technicians deeply and is widely used in the middle of the industrial control.
In the aeroengine generation control system, the controlling object aeroengine itself be exactly a kind of typical models complexity the time become nonlinear system, the control difficulty is high.Because the aeroengine generation unit is usually used in the industrial environment of very severe, often be in the variable working condition state, at this moment, when common PID controlling method is applied to aeroengine generation control device, pid control parameter is fixed, in random environment, can't carry out from normal moveout correction, thereby reduce the control accuracy of system, be difficult to satisfy the high control accuracy requirement of plane the PID controller.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of aeroengine generation control device of high control accuracy is provided.
To achieve the above object of the invention, aeroengine generation control device of the present invention, comprise load module, output module, core processing module, load module is sent into the Operational Limits of the aeroengine generation unit that collects in the core processing module, core processing module is carried out corresponding operation according to Operational Limits output controlled quentity controlled variable to corresponding actuator, it is characterized in that:
Load module comprises a high-speed figure load module and a high speed digital input module, and wherein, the high-speed figure load module is used to gather the rotating speed of aeroengine generation unit live axle, can frequency acquisition be higher than the pulse signal of 100KHz; High speed digital input module is used to gather the valve position displacement of the generated output and the fuel control valve of aeroengine generation unit, and acquisition precision is higher than ten thousand/;
Output module comprises a PWM output module, is used to utilize the algorithm of PWM Current Control to export controlled quentity controlled variable and gives fuel control valve to realize the control to valve opening;
Kernel control module comprises an adaptive Fuzzy PID Control module;
At the aeroengine generation unit operation during in lonely net pattern, core processing module is according to given rotating speed and gather rotating speed, calculating current speed error and speed error changes, then, adaptive Fuzzy PID Control module in the core processing module changes according to current speed error and speed error, according to the rotating speed fuzzy rule, calculate fuel control valve valve setting value; Wherein current speed error is the difference of current collection rotating speed and given rotating speed, speed error be changed to current speed error and last time speed error difference;
At the aeroengine generation unit operation when being incorporated into the power networks pattern, core processing module is according to given power and gather power, calculating current power sum of errors power error changes, then, adaptive Fuzzy PID Control module in the core processing module changes according to current power sum of errors power error, according to the power fuzzy rule, calculate fuel control valve valve setting value; Wherein the current power error is the difference of current collection power and given power, power error be changed to the current power error and last time power error difference;
Obtain after the valve setting value, valve setting value that the core processing module basis calculates and the valve position Displacement Feedback value of gathering from the aeroengine generation unit, calculating current valve position sum of errors valve position error changes, then, adaptive Fuzzy PID Control module in the core processing module changes according to current valve position sum of errors valve position error, according to the displacement fuzzy rule, calculate the valve position controlled quentity controlled variable, and be converted into PWM Current Control amount, actuator's fuel control valve by PWM output module output control aeroengine generation system, realization is to the control of valve opening, the valve position of fuel control valve is presented as the fuel flow rate of plane, thereby controlled the generated output of plane rotating speed and unit, wherein, current valve position error is the valve position Displacement Feedback value of gathering and the difference of valve setting value, the valve position error be changed to current valve position error and last time the valve position error difference.
The object of the present invention is achieved like this:
In the present invention, valve setting value and valve position controlled quentity controlled variable all adopt adaptive Fuzzy PID Control, thereby finish the rotating speed and the power control of aeroengine generation system, and adaptive Fuzzy PID Control has merged fuzzy control and classical PID control.
The Adaptive Fuzzy PID module controls is made up of fuzzy controller and PID controller two-part.Wherein fuzzy controller adopts the form of two inputs, three outputs, and changing ec with error e and error is input, three parameters of PID controller, and promptly scaling factor kp, integral coefficient ki, differential coefficient kd are output variable.Fuzzy controller mainly is made up of fuzzy discrete module, fuzzy rule module and de-fuzzy module three parts.The fuzzy discrete module will adopt different quantizing factors with input variable e, fuzzy input variable E, the EC of turning to of ec languageization.According to E, EC, search fuzzy reasoning table, draw KP, KI, three parameters of KD.The de-fuzzy module converts KP, KI, three output of KD fuzzy quantity to the accurate numerical value of PID controller kp, ki, three parameters of kd.Fuzzy controller will be exported to the PID controller by parameter kp, ki, the kd that the fuzzy rule reasoning obtains.In aeroengine generation system running, aeroengine generation control device detects the value of feedback of aeroengine generation unit generation power and plane rotating speed in real time, input value as the adaptive Fuzzy PID Control module, rotating speed or the prior generated output value of setting according to starting curve is provided with calculate the sum of errors error and change, obtain the integrated value that the sum of errors error changes.Based on fuzzy rule the pid parameter in the fuzzy control module is adjusted, obtained the valve given location of actuator's fuel control valve of aeroengine generation system, realized the closed loop control of fuel control valve valve position, plane rotating speed, unit generation power.
The present invention adopts the Adaptive Fuzzy PID module that rotating speed, power and valve position displacement are controlled, environmental change there is stronger adaptive ability, in random environment, can carry out from normal moveout correction controller, make system performance change or the disturbance situation under, the aeroengine generation system has static and dynamic performance preferably, satisfies the control requirement of aeroengine generation system.
Description of drawings
Fig. 1 is the structured flowchart of a kind of embodiment of aeroengine generation control device of the present invention;
Fig. 2 is the control flow chart of invention aeroengine generation control device shown in Figure 1;
Fig. 3 is the theory diagram of adaptive Fuzzy PID Control module shown in Figure 1;
Fig. 4 is that the warm starting of aeroengine generation control device shown in Figure 1 is limit warm plotted curve.
Embodiment
For understanding the present invention better, the present invention is made a more detailed description below in conjunction with the drawings and specific embodiments.In the following description, when perhaps the detailed description of existing prior art can desalinate subject content of the present invention, these were described in here and will be left in the basket.
Fig. 1 is the structured flowchart of a kind of embodiment of aeroengine generation control device of the present invention
In the present embodiment, as shown in Figure 1, aeroengine generation control device, comprise load module 1, output module 2, core processing module 3, load module 1 is sent into the Operational Limits of the aeroengine generation unit that collects in the core processing module 3, and core processing module 3 is carried out corresponding operation according to Operational Limits output controlled quentity controlled variable to corresponding actuator.
In the present embodiment, aeroengine generation control device physically adopts modular design, the circuit sub-module design of difference in functionality will be realized, independent mutually, and support live inserting and pulling on the hardware, each module increases reliability, stability and the anti-interference of aeroengine generation control device by power isolation module 4 and external isolation with this.Insulating power supply module 4 is supplied with by outside civil power, through the direct current of this control gear is provided after the conversion.
In the present embodiment, load module 1 comprises DIM digital input module 101, analog input module 102, high-speed figure load module 103 and high speed analog input module 104.DIM digital input module 101 is used to detect pressure state, fuel level in tank situation and the various manual control command of each monitoring point of aeroengine generation unit, its input is a switching signal, low or high as pressure, fuel level in tank is low or high, in the present embodiment, 0V represents low level signal, and 24V represents high level signal.Analog input module 102 receives the current signal of 4-20mA, can be used for receiving the temperature and pressure signal from being placed in each Check point transmitter of aeroengine generation unit and sensor.High-speed figure load module 103 is used to gather the rotating speed of aeroengine generation unit live axle, can frequency acquisition be higher than the pulse signal of 100KHz.High speed digital input module 104 is used to gather the valve position displacement of the generated output and the fuel control valve of aeroengine generation unit, and acquisition precision is higher than ten thousand/.
In the present embodiment, output module 2 comprises a digital output module 201 and a PWM output module 202, numeral output module 201 is that aeroengine generation control device is given an order and is used to control on-the-spot actuator and moves, it is a switching signal, as ignition order, the closure plane group command, in the present embodiment, 0V in the numeral output module 201 represents low level signal, and 24V represents high level signal.PWM output module 202 is used to utilize the algorithm of PWM Current Control to export controlled quentity controlled variable to give fuel control valve to realize the control to valve opening.
Comprise an adaptive Fuzzy PID Control module 301 in the core processing module 3.
In addition, aeroengine generation control device also communication interface module 5 provides three kinds of communication interfaces, and RS232 is mainly used in debugging and online real-time monitoring, and CAN can expand and be used for Fieldbus Control and transmission, and the EPA mouth is used for ethernet communication.
Fig. 2 is the control flow chart of invention aeroengine generation control device shown in Figure 1
In the present embodiment, as shown in Figure 2, aeroengine generation control device is by the external I/O interface of load module 1 real time scan, and the I/O interface comprises the external interface of DIM digital input module 101, analog input module 102, high-speed figure load module 103, high-precision analog amount load module 104.Each load module scans after rotating speed or the power collecting data, to previous data contrast, if any change, then through after effective filtering protection processing and the anti-interference process, sends to core processing module 1, as not changing, then returns and continues scanning.
In the present embodiment; because the aeroengine generation system is under the strong interference environment; may be superimposed with various interference to signal from the scene; can cause the supplemental characteristic collection to make mistakes; even there is a very big undesired signal of some amplitudes; may cause the inefficacy of supplemental characteristic acquisition channel; therefore; design has filtering and limiter protection circuit on the hardware of load module 1 high speed DIM digital input module 103, high-precision analog amount load module 104, to rotating speed or power collecting data filtering and amplitude limiting processing.But it is far from being enough having only hardware filtering and amplitude limit, in core processing module 3, the algorithm of limit filtration, middle position value filtering, arithmetic mean filtering and four kinds of filtering mode combinations of recurrence average filtering of also having interted carries out further filtering and amplitude limit to rotating speed or power collecting data, like this random disturbances and PERIODIC INTERFERENCE is all had the good restraining effect.Compare with single filtering algorithm, the dual redundant filtering that this hardware combines with software is greatly improved to the smoothness and the sensitivity of supplemental characteristic.
As the aeroengine generation unit operation under lonely net pattern, then core processing module 3 is according to given rotating speed and collection rotating speed, calculating current speed error and speed error changes, then, adaptive Fuzzy PID Control module 301 in the core processing module 3 changes according to current speed error and speed error, according to the rotating speed fuzzy rule, calculate fuel control valve valve setting value; Wherein current speed error is the difference of current collection rotating speed and given rotating speed, speed error be changed to current speed error and last time speed error difference;
Otherwise, the aeroengine generation unit operation is under the pattern of being incorporated into the power networks, core processing module 3 is according to given power and gather power, calculating current power sum of errors power error changes, then, adaptive Fuzzy PID Control module 301 in the core processing module 3 changes according to current power sum of errors power error, according to the rotating speed fuzzy rule, calculates fuel control valve valve setting value; Wherein the current power error is the difference of current collection power and given power, power error be changed to the current power error and last time power error difference;
Obtain after the valve setting value, valve setting value that core processing module 3 bases calculate and the valve position Displacement Feedback value of gathering from the aeroengine generation unit, calculating current valve position sum of errors valve position error changes, then, adaptive Fuzzy PID Control module 301 in the core processing module 3 changes according to current valve position sum of errors valve position error, according to the displacement fuzzy rule, calculate the valve position controlled quentity controlled variable, and be converted into PWM Current Control amount, actuator's fuel control valve by PWM output module output control aeroengine generation system, realization is to the control of valve opening, the valve position of fuel control valve is presented as the fuel flow rate of plane, thereby controlled the generated output of plane rotating speed and unit, wherein, current valve position error is the valve position Displacement Feedback value of gathering and the difference of valve setting value, the valve position error be changed to current valve position error and last time the valve position error difference.
Fig. 3 is the theory diagram of adaptive Fuzzy PID Control module shown in Figure 1
In the present embodiment, for convenience of description, come the compute control process of adaptive Fuzzy PID Control module is described with the control of rotating speed.The adaptive Fuzzy PID Control module comprises three adaptive Fuzzy PID Control devices, respectively rotating speed, power and valve position displacement is controlled.
As shown in Figure 3, the Adaptive Fuzzy PID module controls is made up of fuzzy controller and PID controller two-part.Wherein fuzzy controller adopts the form of two inputs, three outputs, changing nec with speed error ne and speed error is input, and three parameter rotating speed scale parameter nkp, rotating speed integral parameter nki, rotating speed differential parameter nkd of adaptive Fuzzy PID Control device are output variable.The fuzzy discrete module adopts different quantizing factors that input variable speed error ne, speed error are changed fuzzy input variable NE, the NEC of turning to of nec language, its span is NB, NM, NS, O, PS, PM, PB, respectively representative negative big, negative in, negative little, zero, just little, center, honest.
Search 3*49=147 bar rotating speed fuzzy reasoning table at NE, NEC, draw NKP, NKI, NKD, its span is S, M, B, represent respectively little, in, big.
The de-fuzzy module converts NKP, NKI, three output of NKD fuzzy quantity to the accurate numerical value of PID controller rotating speed scale parameter nkp, rotating speed integral parameter nki, three parameters of rotating speed differential parameter nkd, and export to the PID controller, finish the rotating speed control of aeroengine generation system again by pid control algorithm.
The formation and the working principle of adaptive Fuzzy PID Control device belong to prior art, do not repeat them here.In the present embodiment, the rotating speed fuzzy reasoning table is:
Table 1
In the table, NB, NM, NS, O, PS, PM, PB represent respectively negative big, negative in, negative little, zero, just little, center, honest, that S, M, B represent respectively is little, in, greatly.
Fig. 4 is that the warm starting of aeroengine generation control device shown in Figure 1 is limit warm plotted curve
The aeroengine generation system in the warm starting process, the T4 temperature, i.e. plane turbine exhaust gas temperature control is of crucial importance, this parameter value can be uprushed after igniting, in this process,, can produce serious thermal shock to the heating part of turbine if improper to the T4 temperature controlling, very big to the unit durability influence.Therefore, in the warm starting process, must control the T4 temperature, prevent the appearance of overtemperature.
In this enforcement, when warm starting and operation, aeroengine generation control device has added the temperature control of T4 limit on the basis of original Fuzzy Adaptive PID Control.
In the present embodiment, aeroengine generation control device also comprises the exhaust gas temperature sensor thermocouple and the temperature acquisition load module of plane power turbine tail end, the temperature acquisition load module is sent into the T4 temperature of gathering in the kernel control module by the sensor thermocouple, then with according to rotating speed, the highest limit temperature curve and minimum temperature curve under the different rotating speeds of determining according to laboratory data and machine unit characteristic, obtain maximum temperature and minimum temperature compares, if surpass maximum temperature, then reduce the valve setting value, thereby reduce the flow fuel of aeroengine generation unit, reduce the T4 temperature, if be lower than minimum temperature, then strengthen the valve setting value, thereby increase the flow fuel of aeroengine generation unit, improve the T4 temperature.
As shown in Figure 4, minimum temperature curve prevents heat and hangs on the basis that reduces the T4 rate of rise in temperature, and the highest limit temperature curve then prevents T4 temperature overtemperature.
Aeroengine generation control device of the present invention has the following advantages:
1, this control gear employing modularization framework, each module is supported live inserting and pulling, has to change convenient, advantages such as assembling is flexible, communication facility, application and extensibility are good.
2, the high speed digital input module of this control gear is special adopts 16 A/D, is used to gather the Displacement Feedback amount of actuator's fuel control valve and the generated output of aeroengine generation unit, acquisition precision up to ten thousand/; The high-speed figure load module is used to gather the rotating speed of aeroengine generation unit live axle, can frequency acquisition be higher than the pulse signal of 100KHz.
3, the signal acquiring system of this control gear has adopted the dual redundant filtering protection on the software and hardware, and random disturbances and PERIODIC INTERFERENCE are all had the good restraining effect.Compare with single filtering algorithm, the redundant filtering algorithm that this hardware combines with software is greatly improved to the smoothness and the sensitivity of data.
4, this control gear adopts the adaptive Fuzzy PID Control strategy that fuzzy control and the adjustable PID control of parameter are formed, realize the two closed loop controls of accurate control, the rotating speed/power in the generator set running of fuel valve valve position, and solved the problem of unit operation poor stability under the variable working condition state.
5, the design philosophy of this control gear software adds T4 (turbine exhaust gas temperature) limit temperature control strategy on the basis of Fuzzy Adaptive PID Control algorithm.In the middle of warm starting and power generation process, add the T4 limit temperature control algorithm of plane, when temperature occurring and be higher than the warm curve of limit, directly on existing valve location, reduce the control equivalent to guarantee the safety of unit.The accurate control of plane rotating speed and generated output and the safety of unit have been guaranteed like this.
Although above the illustrative embodiment of the present invention is described; but should be understood that; the invention is not restricted to the scope of embodiment; to those skilled in the art; as long as various variations appended claim limit and the spirit and scope of the present invention determined in; these variations are conspicuous, and all utilize innovation and creation that the present invention conceives all at the row of protection.
Claims (1)
1. aeroengine generation control device, comprise load module, output module, core processing module, load module is sent into the Operational Limits of the aeroengine generation unit that collects in the core processing module, core processing module is carried out corresponding operation according to Operational Limits output controlled quentity controlled variable to corresponding actuator, it is characterized in that:
Load module comprises a high-speed figure load module and a high speed digital input module, and wherein, the high-speed figure load module is used to gather the rotating speed of aeroengine generation unit live axle, can frequency acquisition be higher than the pulse signal of 100KHz; High speed digital input module is used to gather the valve position displacement of the generated output and the fuel control valve of aeroengine generation unit, and acquisition precision is higher than ten thousand/;
Output module comprises a PWM output module, is used to utilize the algorithm of PWM Current Control to export controlled quentity controlled variable and gives fuel control valve to realize the control to valve opening;
Core processing module comprises an adaptive Fuzzy PID Control module;
At the aeroengine generation unit operation during in lonely net pattern, core processing module is according to given rotating speed and gather rotating speed, calculating current speed error and speed error changes, then, adaptive Fuzzy PID Control module in the core processing module changes according to current speed error and speed error, according to the rotating speed fuzzy rule, calculate fuel control valve valve setting value; Wherein current speed error is the difference of current collection rotating speed and given rotating speed, speed error be changed to current speed error and last time speed error difference;
At the aeroengine generation unit operation when being incorporated into the power networks pattern, core processing module is according to given power and gather power, calculating current power sum of errors power error changes, then, adaptive Fuzzy PID Control module in the core processing module changes according to current power sum of errors power error, according to the power fuzzy rule, calculate fuel control valve valve setting value; Wherein the current power error is the difference of current collection power and given power, power error be changed to the current power error and last time power error difference;
Obtain after the valve setting value, valve setting value that the core processing module basis calculates and the valve position Displacement Feedback value of gathering from the aeroengine generation unit, calculating current valve position sum of errors valve position error changes, then, adaptive Fuzzy PID Control module in the core processing module changes according to current valve position sum of errors valve position error, according to the displacement fuzzy rule, calculate the valve position controlled quentity controlled variable, and be converted into PWM Current Control amount, actuator's fuel control valve by PWM output module output control aeroengine generation system, realization is to the control of valve opening, the valve position of fuel control valve is presented as the fuel flow rate of plane, thereby controlled the generated output of plane rotating speed and unit, wherein, current valve position error is the valve position Displacement Feedback value of gathering and the difference of valve setting value, the valve position error be changed to current valve position error and last time the valve position error difference;
Design has filtering and limiter protection circuit on the hardware of described high-speed figure load module, high speed digital input module, to rotating speed or power collecting data filtering and amplitude limiting processing; In core processing module, the algorithm of limit filtration, middle position value filtering, arithmetic mean filtering and four kinds of filtering mode combinations of recurrence average filtering of also having interted carries out further filtering and amplitude limit to rotating speed or power collecting data.
The fuzzy reasoning table of the rotating speed fuzzy controller of described adaptive Fuzzy PID Control module is:
In the table, NE, NEC are respectively speed error, speed error changes the input variable after the language obfuscation, NB, NM, NS, ZO, PS, PM, PB represent respectively negative big, negative in, negative little, zero, just little, center, honest, that S, M, B represent respectively is little, in, greatly;
Described aeroengine generation control device also comprises the exhaust gas temperature sensor thermocouple and the temperature acquisition load module of plane power turbine tail end, the temperature acquisition load module is sent into the plane turbine exhaust gas temperature of gathering in the core processing module by the sensor thermocouple, then with according to rotating speed, the highest limit temperature curve and minimum temperature curve under the different rotating speeds of determining according to laboratory data and machine unit characteristic, obtain maximum temperature and minimum temperature compares, if surpass maximum temperature, then reduce the valve setting value, thereby reduce the flow fuel of aeroengine generation unit, reduce the plane turbine exhaust gas temperature, if be lower than minimum temperature, then strengthen the valve setting value, thereby increase the flow fuel of aeroengine generation unit, improve the plane turbine exhaust gas temperature.
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| CN102811015B (en) * | 2012-08-22 | 2015-01-21 | 电子科技大学 | Alternating current induction motor control system based on self-immunity to interference control |
| CN103424566A (en) * | 2013-08-20 | 2013-12-04 | 杭州日鼎控制技术有限公司 | Motor speed detection device and motor speed detection method |
| CN103605393B (en) * | 2013-10-11 | 2016-06-08 | 北京航科发动机控制系统科技有限公司 | A kind ofly provide the general purpose closed loop control system of positive and negative constant flow source for aircraft engine |
| CN106873361A (en) * | 2017-03-06 | 2017-06-20 | 沈阳航天新光集团有限公司 | A kind of fuel oil dehydration and deoxidation apparatus control method based on Self Adaptive Control |
| CN110454281B (en) * | 2019-07-17 | 2021-09-28 | 哈尔滨工程大学 | Diesel engine control method for anti-return power of emergency power station |
| CN114961907A (en) * | 2022-03-17 | 2022-08-30 | 西安热工研究院有限公司 | Thermoelectric decoupling control method and system for double-extraction supercritical intermediate reheating unit |
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