涡轴发动机时延鲁棒串级PI控制器设计

陈义峰; 郭迎清; 毛皓天

doi:10.13700/j.bh.1001-5965.2021.0273

涡轴发动机时延鲁棒串级PI控制器设计

doi: 10.13700/j.bh.1001-5965.2021.0273

西北工业大学动力与能源学院，西安 710072

基金项目: 国家科技重大专项(2017-Ⅴ-0015-0067)

详细信息

通讯作者:
E-mail：yqguo@nwpu.edu.cn

中图分类号: V233.7
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出版历程
- 收稿日期: 2021-05-26
- 录用日期: 2021-08-20
- 网络出版日期: 2021-09-13
- 整期出版日期: 2023-03-30

Design of time-delay robust cascade PI controller for turboshaft engine

School of Power and Energy，Northwestern Polytechnical University，Xi’an 710072，China

Funds: National Science and Technology Major Project (2017-Ⅴ-0015-0067)

More Information

Corresponding author: E-mail：yqguo@nwpu.edu.cn

摘要

摘要:
针对涡轴发动机分布式控制系统中存在时延导致系统性能退化的问题，利用线性矩阵不等式（LMI）方法设计了时延鲁棒串级PI控制器。先利用内模控制（IMC）方法得到涡轴发动机串级控制器内、外环的PI控制器结构；再利用频域回路成形的方法给出保证系统具有期望性能的LMI形式约束条件；利用梯度近似的方法通过劳斯-赫尔维茨判据得到保证系统稳定的控制器参数约束条件；最后，在基于TrueTime的涡轴发动机分布式非线性仿真平台上进行数字仿真。仿真结果表明：在0.04 s时延条件下，当功率需求下降5%时，系统的调节时间小于5 s，功率涡轮转速超调不超过0.5%，且其最大燃油变化率只有传统串级PI控制系统的67%；设计的控制器能有效应对涡轴发动机分布式控制系统中存在的时延问题，同时能够以更小的代价保证系统具有期望的性能。
- 涡轴发动机分布式控制系统 /
- 时延 /
- 鲁棒串级PI控制器 /
- 线性矩阵不等式 /
- 频域回路成形 /
- TrueTime仿真
Abstract:
To address the problem of system performance degradation caused by time delay in the distributed control system of turboshaft engines, this study proposes a method for designing a time-delay robust cascade PI controller based on linear matrix inequalities (LMIs) method. Firstly, the PI controller structure of the inner and outer loops of the cascade controller of the turboshaft engine is obtained according to the internal model control (IMC) method. The constraints in the form of LMI are given by the frequency loop shaping method, which ensures that the system has the desired performance. Then, gradient approximation method is used to derive stability constraints of the system based on the Routh-Hurwitz criterion. Finally, the digital simulation is carried out on the distributed nonlinear simulation platform for the turboshaft engine. The simulation results show that when the power demand drops by 5% with 0.04 s time delay, the adjustment time of the system is less than 5 s, and the power turbine speed overshoot does not exceed 0.5%, with the maximum fuel rate being 67% of the legacy control loop. This shows that the proposed method can effectively deal with the time delay in the turboshaft engine with distributed control system, and ensure the desired system performance at a lower cost .
- distributed control system of turboshaft engine /
- time delay /
- robust cascade PI controller /
- linear matrix inequalities /
- frequency loop shaping /
- TrueTime simulation

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图 1 涡轴发动机串级控制系统原理^[2]

Figure 1. Block of cascade control system of turboshaft engine^[2]

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图 2 涡轴发动机分布式控制系统第ⅢNCCS结构示意图

Figure 2. Type Ⅲ NCCS configuration of distributed control system of turboshaft engine

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图 3 IMC 控制系统结构示意图

Figure 3. IMC control system

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图 4 由4条切线构成的凸可行域

Figure 4. Feasible convex region divided by four tangents

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图 5 内环开环系统的Bode图

Figure 5. Bode plot of inner open loop

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图 6 外环开环系统的Bode图

Figure 6. Bode plot of outer open loop

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图 7 基于TrueTime的涡轴发动机分布式控制系统仿真平台

Figure 7. Simulation platform of TrueTime based distributed control system of turboshaft engine

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图 8 外环穿越频率为3 rad/s，不同时延时2个控制器作用下系统的性能比较

Figure 8. Comparison of control performance of two controllers with different time delays when crossing freqency of outer loop is 3 rad/s

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图 9 外环穿越频率为1 rad/s，不同时延时2个控制器作用下系统的性能比较

Figure 9. Comparison of control performance of two controllers with different time delays when crossing freqency of outer loop is 1 rad/s

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图 10 在固定时延与随机时延下系统性能对比

Figure 10. Performance comparison with constant and random time delays

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