一种基于增量式动态逆的涡轴发动机抗扰综合控制方法

An Integrated Disturbance Rejection Control Method for Turboshaft Engine Based on Incremental Dynamic Inversion

针对全包线内涡轴发动机转速抗扰控制效果一致性与鲁棒性难以保证的问题,提出一种基于增量式动态逆的综合抗扰控制方法。结合涡轴发动机的转子动力学特性,提出一种基于增量式动态逆的主控回路设计方法。针对传统负载扭矩估计方法需要大量数据支撑的问题,提出一种基于非线性观测器的发动机端负载扭矩在线估计方法。基于主控回路动态逆算法和负载扭矩估计方法,创新性地将动态逆输入与输出的定量关系和转子加速度扰动变化量结合,提出了一种负载扭矩扰动全补偿前馈控制方法,并从理论上推导了该方法,能够使得由于负载扭矩导致的转子加速度扰动得到全补偿。基于倾转旋翼机/发动机综合非线性仿真模型,针对倾转旋翼机不同飞行的模式,进行抗扰控制效果仿真验证。结果表明:在频域上,基于增量式动态逆的综合抗扰控制方法能保证全包线的频域性能的一致性;在时域上,相比于具有相同带宽下的PID控制器,基于增量式动态逆的综合抗扰控制方法能够在全包线内使动力涡轮转速跟踪的调节时间降低1s,并可有效降低动力涡轮转速的下垂量至1%以内,具有优越的抗扰效果。

In order to solve the problem that it is difficult to guarantee the consistency and robustness of the speed disturbance rejection control of the full envelope inner turboshaft engine,a comprehensive disturbance rejection control method based on incremental dynamic inversion is proposed.Firstly,based on the rotor dynamic characteristics of turboshaft engine,a design method of main control loop based on incremental dynamic inversion is proposed.Secondly,aiming at the problem that traditional load torque estimation methods need a lot of data support,an online engine load torque estimation method based on nonlinear observer is proposed.Based on the dynamic inversion algorithm of the main control loop and the load torque estimation method,the quantitative relationship between the dynamic inversion input and output is innovatively combined with the variation of the rotor acceleration disturbance,a feedforward full compensation method for the load torque disturbance is proposed,and it is theoretically deduced that this method can fully compensate the rotor acceleration disturbance caused by the load torque.Finally,based on the tiltrotor/engine integrated nonlinear simulation model,the effectiveness of anti-interference control is verified by simulation for different flight modes of the tiltrotor.The results show that in the frequency domain,the integrated anti-interference control method based on incremental dynamic inversion can ensure the consistency of the frequency domain performance of the full envelope.In time domain,compared with the PID controller with the same bandwidth,the integrated disturbance rejection control method based on incremental dynamic inversion can reduce the adjustment time of power turbine speed tracking by 1s within the full envelope,and can effectively reduce the drop of power turbine speed by more than 1%,which has superior disturbance rejection effect.