双变量协同的无人直升机发动机恒转速滑模控制  

Bivariate Coordinated Sliding Mode Constant Speed Controller for an Unmanned Helicopter Engine

作　　者：胡春明[1,2] 魏石峰 刘娜[1] 宋玺娟[1] 米雪 Hu Chunming;Wei Shifeng;Liu Na;Song Xijuan;Mi Xue(Tianjin Internal Combustion Engine Research Institute,Tianjin University,Tianjin 300072,China;School of Mechanical Engineering,Tianjin University,Tianjin 300350,China)

机构地区：[1]天津大学内燃机研究所,天津300072 [2]天津大学机械工程学院,天津300350

出　　处：《天津大学学报（自然科学与工程技术版）》2020年第5期483-491,共9页Journal of Tianjin University：Science and Technology

基　　金：国家自然科学基金资助项目(51476112).

摘　　要：针对无人直升机发动机恒转速控制问题,提出了一种油门/点火提前角双变量协同调节的恒转速滑模控制策略.发动机输出扭矩控制是恒转速控制问题关键的一环,而油门开度和点火提前角作为调节发动机输出扭矩的两个变量具有不同的特点.油门调节虽然调节范围宽,但是响应较慢,易受时滞效应的影响而产生超调现象;点火提前角响应较快,但是调节范围有限.将二者的优点结合起来实现协同控制,可以进一步加强恒转速控制效果.为实现此目的,对发动机进行了数学建模,并基于该模型和滑模控制设计了协同控制策略.该策略包括点火提前角优先调节的主逻辑和点火提前角回归逻辑.最终通过仿真和试验验证了控制策略的效果.仿真结果显示:负载突变时,双变量协同滑模控制器相较于传统PID控制器,转速误差减小61%;同样基于滑模控制,双变量协同控制相较于双变量分离控制,转速误差减小21.4%;存在负载扭矩干扰或进气压力波动时,双变量协同滑模控制的转速稳定性也优于其他两种控制方式;整机系留试验中,双变量协同滑模控制的转速波动范围比双变量分离滑模控制小24%,比传统PID控制小62%.经过多次系留试验观测,使用双变量协同滑模控制,可使转速波动范围在±70 r/min以内,控制误差在2%以内,能够满足无人直升机飞行稳定性的要求.The constant speed control of unmanned helicopter engines is important.To address this issue,a bivariate coordinated sliding mode constant speed controller is proposed.In this study,bivariate refers to throttle opening and ignition advance angle.Notably,throttle opening and ignition advance angle,as two important variables for adjusting engine torque,have different characteristics.Throttle opening has a wide adjustment range but a slow responsiveness,which makes it susceptible to overshoot by the effects of time delay.By contrast,ignition advance angle has a narrow adjustment range but a fast responsiveness.If the advantages of these two variables are combined,then the constant speed control effect could be further enhanced.For this purpose,the engine was mathematically modeled.On the basis of the model of sliding mode control,a bivariate coordinated control strategy was designed.The strategy includes a master logic,spark advance angle priority adjustment based on sliding mode,and spark advance angle regression logic.Finally,the effect of the control strategy was verified by simulation and experiment.The simulation results showed that,when the load changes abruptly,the bivariate coordinated sliding mode controller reduces the speed error by 61%compared with the traditional PID controller.Furthermore,on the basis of sliding mode control,the bivariate coordinated controller reduces the speed error by 21.4%compared with the bivariate separated controller.Moreover,when the load and intake disturbance is simulated,the proposed controller has better anti-interference capability than the two other controllers.Finally,the results of the helicopter mooring experiment showed that the speed fluctuation range of the bivariate coordinated sliding mode controller is 24%smaller than that of the bivariate separated sliding mode controller and 62%smaller than that of the traditional PID controller.The results of multiple experiments showed that the speed fluctuation range is within±70 r/min using the bivariate coordinated slidin

关 键 词：双变量协同调节 滑模控制 发动机数学模型 恒转速控制 无人直升机 

分 类 号：V233.742[航空宇航科学与技术—航空宇航推进理论与工程]