Active control of aero-engine turbine tip clearance is one of the best chances for engine performance uplift currently.To do that,the first requirement is real-time measurement of tip clearance in aero-engine working ...Active control of aero-engine turbine tip clearance is one of the best chances for engine performance uplift currently.To do that,the first requirement is real-time measurement of tip clearance in aero-engine working environment.However,turbine complexity makes it unlikely for tip clearance sensors to be loaded.In recognition of that,this paper proposed a model-based method for tip clearance measurement.Firstly,by considering previously wrongly neglected factors such as load deformation,a mathematical model to monitor dynamic tip clearance changes is built to improve calculation accuracy.Then,after clarifying the coupling relationship between engine models and tip clearance models,this paper builds a component-level mathematical model integrating dynamic characteristics of turbine tip clearance,which helps realize accurate measurement of tip clearance in working environment.How tip clearance affects turbine efficiency is studied afterwards and reported to aero-engine model,so as to mitigate performance difference between aero-engine model and real engines caused by turbine tip clearance.Lastly,by hardware-in-the-loop simulation,tip clearance model demonstrates 15.9%better accuracy than previously built models in terms of turbine centrifugal deformation calculation.As tip clearance measurement model takes averagely 0.34 ms in calculation,meeting the operation requirement,it proves to be an effective new way.展开更多
Surge active control can expand the stable operating range of the compressor.However,the difficulty of flow measurement,dynamic uncertainty disturbance,actuator delay characteristics,hard constraints of control variab...Surge active control can expand the stable operating range of the compressor.However,the difficulty of flow measurement,dynamic uncertainty disturbance,actuator delay characteristics,hard constraints of control variable,and system security measures have not been fully considered in the existing active control system,which significantly hinders its engineering application.Therefore,a nonlinear model predictive surge active control method is first presented based on flow estimator designed by using a continuous-time Kalman filter for dealing with the hard constraint of control variable and the impact of actuator delay of compression system with dynamic uncertainty.Then,a high-safety active/surge passive hybrid control strategy is designed,dominated by the surge active control and supplemented by the surge passive control,to ensure the compression system’s safe and stable operation.Lastly,the simulation results suggest that the flow estimator accurately estimates the compressor flow.When considering the delay impact of the actuators and sensors and measurement noise on the system,the proposed method exhibits stronger robustness than the existing meth-ods.The active/surge passive hybrid control strategy can successfully ensure the compression system’s safe and stable operation.This paper is of high practical significance for the engineering application of future compressor surge active control technologies.展开更多
Formation keeping is important for multiple Unmanned Aerial Vehicles(multi-UAV)to fully play their roles in cooperative combats and improve their mission success rate.However,in practical applications,it is difficult ...Formation keeping is important for multiple Unmanned Aerial Vehicles(multi-UAV)to fully play their roles in cooperative combats and improve their mission success rate.However,in practical applications,it is difficult to achieve formation keeping precisely and obstacle avoidance autonomously at the same time.This paper proposes a joint control method based on robust H∞ controller and improved Artificial Potential Field(APF)method.Firstly,we build a formation flight model based on the “Leader-Follower”structure and design a robust H∞ controller with three channels X,Y and Z to eliminate dynamic uncertainties,so as to realize high-precision formation keeping.Secondly,to fulfill obstacle avoidance efficiently in complex situations where UAVs fly at high speed with high inertia,this paper comes up with the improved APF method with deformation factor considered.The judgment criterion is proposed and applied to ensure flight safety.In the end,the simulation results show that the designed controller is effective with the formation keeping a high accuracy and in the meantime,it enables UAVs to avoid obstacles autonomously and recover the formation rapidly when coming close to obstacles.Therefore,the method proposed here boasts good engineering application prospect.展开更多
The onboard adaptive model can achieve the online real-time estimation of performance parameters that are difficult to measure in a real aero-engine,which is the key to realizing modelbased performance control.It must...The onboard adaptive model can achieve the online real-time estimation of performance parameters that are difficult to measure in a real aero-engine,which is the key to realizing modelbased performance control.It must possess satisfactory numerical stability and estimation accuracy.However,the positive definiteness of the state covariance matrix may be destroyed in filter estimation because of the existence of some uncertain factors,such as the accumulated measurement error,noise,and disturbance in the strongly nonlinear engine system,inevitably causing divergence of estimates of Cholesky decomposition-based Spherical Unscented Kalman Filter(SUKF).Therefore,this paper proposes an improved SUKF algorithm(iSUKF)and applies it to the performance degradation estimation of the engine.Compared to SUKF,the iSUKF mainly replaces the Cholesky decomposition with the Singular Value Decomposition(SVD),which is numerically stable without any strict requirement for the state covariance matrix.Meanwhile,a correction factor is designed to assess the measurement deviation between the real engine and the nonlinear onboard model to correct the state covariance matrix,thus maintaining better numerical stability of parameters estimated by the filter.Then,an offline correction strategy is also proposed to eliminate the influence of the degradation of unestimated health parameters or the filter’s inadequate estimation of the coupled health parameters.This action effectively promotes the onboard adaptive model’s estimation accuracy concerning the degradation of the engine’real health parameters and its performance parameters.Finally,the simulation results show that the iSUKF can maintain the numerical stability of the filter’s estimation of health parameters.Compared with the existing methods,the offline correction strategy improves the estimation accuracy of the iSUKF-based nonlinear onboard adaptive model for the performance parameters of the real engine by more than 50%.The proposed method will provide feasible technical support for model-based aero-engine performance control.展开更多
Increasing attention has been attracted to the dynamic performance and safety of advanced performance predictive control systems of the next-generation aeroengine.The latest research demonstrates that Subspace-based I...Increasing attention has been attracted to the dynamic performance and safety of advanced performance predictive control systems of the next-generation aeroengine.The latest research demonstrates that Subspace-based Improved Model Predictive Control(SIMPC)can overcome the difficulty in solving the predictive model in MPC/NMPC applications.However,applying constant design parameters cannot maintain consistent control effects in all states.Meanwhile,the designed system relies too much on sensor-measured data,and thus it is difficult to thoroughly validate the safety of the system because of its high complexity.This means that any potential hardware/software faults will endanger the engine.Therefore,this paper first presents a novel nonlinear mapping relationship to adaptively tune the tracking weight online with the change of Power Lever Angle(PLA)and real-time relative tracking error.Thus,without introducing additional design parameters,an Adaptive Tracking Weight-based SIMPC(ATW-SIMPC)controller is designed to improve the control performance in all operating states effectively.Then,a Primary/Backup Hybrid Control(PBHC)strategy with the ATW-SIMPC controller as the primary system and the traditional speed(Nf)controller as the backup system is proposed to ensure safety.The designed affiliated switching controller and the real-time monitor therein can be used to realize reasonable and smooth switching between primary/backup systems,so as to avoid bump transition.The PBHC system switches to the Nf controller when the ATW-SIMPC controller is wrong because of potential hardware/software faults;otherwise,the ATW-SIMPC controller keeps acting on the engine.The main results prove that the ATW-SIMPC controller with the optimal nonlinear mapping relationship,compared with the existing SIMPC controller,uplifts the dynamic control performance by 32%and reduces overshoots to an allowable limit,resulting in a better control effect in full state.The comparison results consistently indicate that the PBHC can guarantee engine safety in occurrence of hardware/software faults,such as sensor/onboard adaptive model faults.The approach proposed is applicable to the design of a model-based engine intelligent control system.展开更多
Modular Unmanned Aerial Vehicles(UAVs)can adapt to rapidly changing payload requirements based on the shape and weight of the load by adding or subtracting units,reconfiguring,or changing the type of units.The existin...Modular Unmanned Aerial Vehicles(UAVs)can adapt to rapidly changing payload requirements based on the shape and weight of the load by adding or subtracting units,reconfiguring,or changing the type of units.The existing research has addressed aerial docking and hover control post-docking but fails to achieve coordinated flight following combination,leading to delayed response and oscillations as the number of UAV units increases.Moreover,the configuration of modular UAVs is complex and variable,making it challenging to adjust the controller parameters of each unit online.Therefore,this paper presents:(A)Adaptive attitude allocation method for different combined UAV configurations:establishing a mapping relationship between constant controller parameters of the unit and the combination angular acceleration.The desired torque of the combination is allocated based on the size of the lever arm,enabling adaptive attitude control of the combination for varying configurations by controlling the attitude of the local unit;(B)A power allocation strategy based on a leader-wingman mode:employing a leader to control the entire combination,distributing the combination’s force and torque to wingman units according to the mapping relationship of the attitude allocation method.This transforms the complex control of the combination into unit control in the leader-wingman mode.Compared to current average allocation methods,the step response of attitude angle improves by about 60% on average,and spatial trajectory tracking increases by an average of 11.5%.As the number of units grows,the response of the combination becomes similar to that of a single,independently flying UAV,resolving the oscillation issue in combined flight.Additionally,this approach eliminates the need to change the controller parameters of all units,facilitating convenient reconfiguration and coordinated flight for modular UAVs post-combination.展开更多
基金supported by the National Natural Science Foundation of China(Nos.51906103,52176009).
文摘Active control of aero-engine turbine tip clearance is one of the best chances for engine performance uplift currently.To do that,the first requirement is real-time measurement of tip clearance in aero-engine working environment.However,turbine complexity makes it unlikely for tip clearance sensors to be loaded.In recognition of that,this paper proposed a model-based method for tip clearance measurement.Firstly,by considering previously wrongly neglected factors such as load deformation,a mathematical model to monitor dynamic tip clearance changes is built to improve calculation accuracy.Then,after clarifying the coupling relationship between engine models and tip clearance models,this paper builds a component-level mathematical model integrating dynamic characteristics of turbine tip clearance,which helps realize accurate measurement of tip clearance in working environment.How tip clearance affects turbine efficiency is studied afterwards and reported to aero-engine model,so as to mitigate performance difference between aero-engine model and real engines caused by turbine tip clearance.Lastly,by hardware-in-the-loop simulation,tip clearance model demonstrates 15.9%better accuracy than previously built models in terms of turbine centrifugal deformation calculation.As tip clearance measurement model takes averagely 0.34 ms in calculation,meeting the operation requirement,it proves to be an effective new way.
基金supported by the National Natural Science Foundation of China(Nos.51906103,52176009).
文摘Surge active control can expand the stable operating range of the compressor.However,the difficulty of flow measurement,dynamic uncertainty disturbance,actuator delay characteristics,hard constraints of control variable,and system security measures have not been fully considered in the existing active control system,which significantly hinders its engineering application.Therefore,a nonlinear model predictive surge active control method is first presented based on flow estimator designed by using a continuous-time Kalman filter for dealing with the hard constraint of control variable and the impact of actuator delay of compression system with dynamic uncertainty.Then,a high-safety active/surge passive hybrid control strategy is designed,dominated by the surge active control and supplemented by the surge passive control,to ensure the compression system’s safe and stable operation.Lastly,the simulation results suggest that the flow estimator accurately estimates the compressor flow.When considering the delay impact of the actuators and sensors and measurement noise on the system,the proposed method exhibits stronger robustness than the existing meth-ods.The active/surge passive hybrid control strategy can successfully ensure the compression system’s safe and stable operation.This paper is of high practical significance for the engineering application of future compressor surge active control technologies.
基金supported by Funding from the National Key Laboratory of Rotorcraft Aeromechanics,China(No.61422202108)the National Natural Science Foundation of China(No.52176009).
文摘Formation keeping is important for multiple Unmanned Aerial Vehicles(multi-UAV)to fully play their roles in cooperative combats and improve their mission success rate.However,in practical applications,it is difficult to achieve formation keeping precisely and obstacle avoidance autonomously at the same time.This paper proposes a joint control method based on robust H∞ controller and improved Artificial Potential Field(APF)method.Firstly,we build a formation flight model based on the “Leader-Follower”structure and design a robust H∞ controller with three channels X,Y and Z to eliminate dynamic uncertainties,so as to realize high-precision formation keeping.Secondly,to fulfill obstacle avoidance efficiently in complex situations where UAVs fly at high speed with high inertia,this paper comes up with the improved APF method with deformation factor considered.The judgment criterion is proposed and applied to ensure flight safety.In the end,the simulation results show that the designed controller is effective with the formation keeping a high accuracy and in the meantime,it enables UAVs to avoid obstacles autonomously and recover the formation rapidly when coming close to obstacles.Therefore,the method proposed here boasts good engineering application prospect.
基金the National Natural Science Foundation of China(Nos.51906103,52176009).
文摘The onboard adaptive model can achieve the online real-time estimation of performance parameters that are difficult to measure in a real aero-engine,which is the key to realizing modelbased performance control.It must possess satisfactory numerical stability and estimation accuracy.However,the positive definiteness of the state covariance matrix may be destroyed in filter estimation because of the existence of some uncertain factors,such as the accumulated measurement error,noise,and disturbance in the strongly nonlinear engine system,inevitably causing divergence of estimates of Cholesky decomposition-based Spherical Unscented Kalman Filter(SUKF).Therefore,this paper proposes an improved SUKF algorithm(iSUKF)and applies it to the performance degradation estimation of the engine.Compared to SUKF,the iSUKF mainly replaces the Cholesky decomposition with the Singular Value Decomposition(SVD),which is numerically stable without any strict requirement for the state covariance matrix.Meanwhile,a correction factor is designed to assess the measurement deviation between the real engine and the nonlinear onboard model to correct the state covariance matrix,thus maintaining better numerical stability of parameters estimated by the filter.Then,an offline correction strategy is also proposed to eliminate the influence of the degradation of unestimated health parameters or the filter’s inadequate estimation of the coupled health parameters.This action effectively promotes the onboard adaptive model’s estimation accuracy concerning the degradation of the engine’real health parameters and its performance parameters.Finally,the simulation results show that the iSUKF can maintain the numerical stability of the filter’s estimation of health parameters.Compared with the existing methods,the offline correction strategy improves the estimation accuracy of the iSUKF-based nonlinear onboard adaptive model for the performance parameters of the real engine by more than 50%.The proposed method will provide feasible technical support for model-based aero-engine performance control.
基金National Natural Science Foundation of China (Nos. 52176009, 51906103) for financial support
文摘Increasing attention has been attracted to the dynamic performance and safety of advanced performance predictive control systems of the next-generation aeroengine.The latest research demonstrates that Subspace-based Improved Model Predictive Control(SIMPC)can overcome the difficulty in solving the predictive model in MPC/NMPC applications.However,applying constant design parameters cannot maintain consistent control effects in all states.Meanwhile,the designed system relies too much on sensor-measured data,and thus it is difficult to thoroughly validate the safety of the system because of its high complexity.This means that any potential hardware/software faults will endanger the engine.Therefore,this paper first presents a novel nonlinear mapping relationship to adaptively tune the tracking weight online with the change of Power Lever Angle(PLA)and real-time relative tracking error.Thus,without introducing additional design parameters,an Adaptive Tracking Weight-based SIMPC(ATW-SIMPC)controller is designed to improve the control performance in all operating states effectively.Then,a Primary/Backup Hybrid Control(PBHC)strategy with the ATW-SIMPC controller as the primary system and the traditional speed(Nf)controller as the backup system is proposed to ensure safety.The designed affiliated switching controller and the real-time monitor therein can be used to realize reasonable and smooth switching between primary/backup systems,so as to avoid bump transition.The PBHC system switches to the Nf controller when the ATW-SIMPC controller is wrong because of potential hardware/software faults;otherwise,the ATW-SIMPC controller keeps acting on the engine.The main results prove that the ATW-SIMPC controller with the optimal nonlinear mapping relationship,compared with the existing SIMPC controller,uplifts the dynamic control performance by 32%and reduces overshoots to an allowable limit,resulting in a better control effect in full state.The comparison results consistently indicate that the PBHC can guarantee engine safety in occurrence of hardware/software faults,such as sensor/onboard adaptive model faults.The approach proposed is applicable to the design of a model-based engine intelligent control system.
基金supported by the Funding of National Key Laboratory of Rotorcraft Aeromechanics,China(No.61422202108)the National Natural Science Foundation of China(No.52176009)the Postgraduate Research&Practice Innovation Program of NUAA,China(No.xcxjh20220214).
文摘Modular Unmanned Aerial Vehicles(UAVs)can adapt to rapidly changing payload requirements based on the shape and weight of the load by adding or subtracting units,reconfiguring,or changing the type of units.The existing research has addressed aerial docking and hover control post-docking but fails to achieve coordinated flight following combination,leading to delayed response and oscillations as the number of UAV units increases.Moreover,the configuration of modular UAVs is complex and variable,making it challenging to adjust the controller parameters of each unit online.Therefore,this paper presents:(A)Adaptive attitude allocation method for different combined UAV configurations:establishing a mapping relationship between constant controller parameters of the unit and the combination angular acceleration.The desired torque of the combination is allocated based on the size of the lever arm,enabling adaptive attitude control of the combination for varying configurations by controlling the attitude of the local unit;(B)A power allocation strategy based on a leader-wingman mode:employing a leader to control the entire combination,distributing the combination’s force and torque to wingman units according to the mapping relationship of the attitude allocation method.This transforms the complex control of the combination into unit control in the leader-wingman mode.Compared to current average allocation methods,the step response of attitude angle improves by about 60% on average,and spatial trajectory tracking increases by an average of 11.5%.As the number of units grows,the response of the combination becomes similar to that of a single,independently flying UAV,resolving the oscillation issue in combined flight.Additionally,this approach eliminates the need to change the controller parameters of all units,facilitating convenient reconfiguration and coordinated flight for modular UAVs post-combination.
