Forward frequency domain design method for integrating constant pressure drop control valve of fuel servo system
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摘要:
提出一种等压差活门的正向频域设计方法，内容包括：基于线性系统理论，推导了等压差活门的状态空间模型；基于频域分析方法，建立了等压差活门结构参数与系统性能的显式关系，提供结构参数设计指导；基于频域设计理论，提出了一种等压差活门的动态设计方法，指导镇定控制增益的设计。为了便于工程应用，提出了规则型孔设计图谱的概念，完成了规则型孔结构参数的设计。仿真结果表明：在1 MPa的进口油源压力和大幅值计量面积阶跃扰动下，设计的等压差活门稳态特性满足（0.81±0.01） MPa，静态误差小于1.2%，动态调节时间小于0.002 s，稳定裕度基本大于70°，系统具有伺服跟踪和鲁棒抗干扰性能。
Abstract:A forward frequency domain design method for integrating constant pressure drop control valve was proposed, and the contents of the presented study were given: the state space model of the constant pressure drop control valve was derived based on the linear system theory; the explicit relationships between the structural parameters and system performance were established based on the frequency domain analysis method, providing a design guidance of the structural parameters; a dynamic design method was proposed based on the frequency domain design theory, which realized the design of the stabilization control gain; for convenient engineering applications, the concept of design graph for regular orifices was proposed, and the design method of structural parameters for regular orifices was provided. The simulation results showed that, under bad conditions, including the 1 MPa strong step disturbance of the inlet pressure and the significant step disturbance of the metering area, the steady-state working range of the controlled pressure drop was （0.81±0.01） MPa, the static error was less than 1.2%, the settling time was less than 0.002 s, and the phase margin was almost more than 70°. The system had servo tracking and robust disturbance rejection performance.
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图 2 等压差活门闭环负反馈控制结构设计方案
Figure 2. Closed-loop negative feedback control structure design scheme of the constant pressure drop control valve
图 3 等压差活门闭环负反馈线性控制结构方框图
Figure 3. Closed-loop negative feedback linear control structure block diagram of the constant pressure drop control valve
图 4 等压差活门闭环负反馈线性控制设计原理
Figure 4. Closed-loop negative feedback linear control design principle of the constant pressure drop control valve
图 5 等压差活门开环频域Bode曲线
Figure 5. Open-loop frequency domain Bode curve of the constant pressure drop control valve
图 6 镇定控制增益改变时等压差活门开环频域Bode曲线
Figure 6. Open-loop frequency domain Bode curves of the constant pressure drop control valve when the stabilization control gain changes
图 7 镇定控制增益动态设计约束边界图示
Figure 7. Dynamic design constraint boundary diagrams of the stabilization control gain
图 9 三角形型孔流通面积与开度关系
Figure 9. Relationship between the flow area and underlap of triangular holes
图 12 $ \Delta {p_{\rm{s}}} $阶跃扰动时不同$ {K_{\rm{c}} } $下$ \Delta {p_{\rm{e}} } $的阶跃响应曲线
Figure 12. Step response curves of $ \Delta {p_{\rm{e}} } $ with different $ {K_{\rm{c}} } $ when $ \Delta {p_{\rm{s}}} $ steps
图 13 $ \Delta {A_{{\mathrm{j}}} } $阶跃扰动时不同$ {K_{\rm{c}} } $下$ \Delta {p_{\rm{e}} } $的阶跃响应曲线
Figure 13. Step response curves of $ \Delta {p_{\rm{e}} } $ with different $ {K_{\rm{c}} } $ when $ \Delta {A_{{\mathrm{j}}} } $ steps
图 14 不同$ {K_{\rm{c}} } $下系统开环频域Bode曲线
Figure 14. Open-loop frequency domain Bode curves of the system with different $ {K_{\rm{c}} } $
图 15 不同$ {K_{\rm{c}} } $下从$ \Delta {p_{\rm{s}}} $到$ \Delta {p_{\rm{e}} } $的闭环频域Bode曲线
Figure 15. Closed-loop frequency domain Bode curves from $ \Delta {p_{\rm{s}}} $ to $ \Delta {p_{\rm{e}} } $ of the system with different $ {K_{\rm{c}} } $
图 16 不同$ {K_{\rm{c}} } $下从$ \Delta {A_{j} } $到$ \Delta {p_{\rm{e}} } $的闭环频域Bode曲线
Figure 16. Closed-loop frequency domain Bode curves from $ \Delta {A_{j} } $ to $ \Delta {p_{\rm{e}} } $ of the system with different $ {K_{\rm{c}} } $
图 17 镇定控制增益约束边界图
Figure 17. Constraint boundary diagram of the stabilization control gain
图 18 三角形型孔结构参数方案设计
Figure 18. Design scheme of structure parameters for the triangular hole
图 19 等压差活门的非线性仿真模型
Figure 19. Nonlinear simulation model of the constant pressure drop control valve
图 22 $ {p_{\rm{s}}} $阶跃扰动时$ {p_{\rm{e}} } $的响应曲线
Figure 22. Step response curves of $ {p_{\rm{e}} } $ when $ {p_{\rm{s}}} $ steps
图 23 $ {A_{{\mathrm{j}}} } $阶跃扰动时$ {p_{\rm{e}} } $的响应曲线
Figure 23. Step response curves of $ {p_{\rm{e}} } $ when $ {A_{{\mathrm{j}}} } $ steps
图 24 $ {p_{\rm{s}}} $正弦扰动时$ {p_{\rm{e}} } $的响应曲线
Figure 24. Response curves of $ {p_{\rm{e}} } $ when $ {p_{\rm{s}}} $ sinusoidal disturbs
图 25 $ {A_{{\mathrm{j}}} } $正弦扰动时压差的响应曲线
Figure 25. Response curves of $ {p_{\rm{e}} } $ when $ {A_{{\mathrm{j}}} } $ sinusoidal disturbs
图 26 等压差活门泄漏的非线性仿真模型
Figure 26. Leakage nonlinear simulation model of the constant pressure drop control valve
图 27 泄漏时$ {p_{\rm{s}}} $阶跃扰动时$ {p_{\rm{e}} } $的响应曲线
Figure 27. Step response curves of $ {p_{\rm{e}} } $ when $ {p_{\rm{s}}} $ steps while leaking
图 28 泄漏时$ {A_{{\mathrm{j}}} } $阶跃扰动$ {p_{\rm{e}} } $的响应曲线
Figure 28. Step response curves of $ {p_{\rm{e}} } $ when $ {A_{{\mathrm{j}}} } $ steps while leaking
表 1 镇定控制增益动态设计约束边界
Table 1. Dynamic design constraint boundaries of the stabilization control gain
稳态点 $ {A_{\rm{c}}} $ $ {K_{\rm{s}}} $ $ {K_{g} } $ $ [{K_{{\mathrm{l}}} },{K_{{\mathrm{h}}} }] $ （$ {p_{{{\mathrm{s}}} ,1}} $,${A_{{{\mathrm{j}}} ,1}}$） ${A_{{{\mathrm{c}}} ,1}}$ $ {K_{{{\mathrm{s}}} ,1}} $ $ {K_{{g} ,1}} $ $ [{K_{{{\mathrm{l}}} ,1}},{K_{{{\mathrm{h}}} ,1}}] $ （$ {p_{{{\mathrm{s}}} ,2}} $,${A_{{{\mathrm{j}}} ,2}}$） ${A_{{{\mathrm{c}}} ,2}}$ $ {K_{{{\mathrm{s}}} ,2}} $ $ {K_{{g} ,2}} $ $ [{K_{{{\mathrm{l}}} ,2}},{K_{{\mathrm{h}},2}}] $ $\vdots $ $\vdots $ $\vdots $ $\vdots $ $\vdots $ （${p_{{{\mathrm{s}}} ,m}}$,$ {A_{{{\mathrm{j}}} ,m}} $） ${A_{{{\mathrm{c}}} ,m}}$ $ {K_{{{\mathrm{s}}} ,m}} $ $ {K_{{g} ,m}} $ $ [{K_{{{\mathrm{l}}} ,m}},{K_{{{\mathrm{h}}} ,m}}] $ 
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表 2 等压差活门结构参数
Table 2. Structural parameters of the constant pressure drop control valve
参数 数值 参数 数值 $ {m_{\mathrm{y}}} $/kg 0.015 $ {V_{\rm{c}}} $/10−6 m3 2 $ c $/（N·m/s） 15 $ {V_{\mathrm{o}}} $/10−5 m3 5.0265 $ k $/（N/m） 2 000 $ \rho $/（kg/m3） 780 $ {A_{\mathrm{y}}} $/10−4 m2 1.7671 $ B $/MPa 1700 $ {A_{\mathrm{o}}} $/10−5 m2 4.4179 $ {C_{\rm{q}}} $ 0.7 $ {p_{\mathrm{t}}} $/MPa 0.2
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表 3 镇定控制增益约束边界
Table 3. Constraint boundaries of the stabilization control gain
（$ {p_{\rm{s}}} $,$ {A_{\rm{j}}} $）/（MPa, mm2） $ {A_{\rm{c}}} $/ mm2 $ {K_{{\mathrm{s}}} } $ $ [{K_{{\mathrm{l}}} },{K_{{\mathrm{h}}} }] $ Kg $ g=70{\text{°}} $ $ g=60{\text{°}} $ $ g=50{\text{°}} $ （3, 2.00） 1.2765187 0.175 [0.002, 0.125] 0 0 0.016 （3, 3.50） 2.2358336 0.309 [0.002, 0.195] 0.011 0.024 0.041 （3, 6.50） 4.1653465 0.602 [0.003, 0.250] 0.016 0.026 0.042 （3, 9.50） 6.1187902 0.938 [0.003, 0.235] 0.014 0.023 0.035 （3, 12.5） 8.1081119 1.348 [0.003, 0.170] 0.013 0.020 0.031 （5, 2.00） 0.9013146 0.105 [0.001, 0.075] 0 0 0.002 （5, 3.50） 1.5779781 0.186 [0.003, 0.125] 0.004 0.014 0.026 （5, 6.50） 2.9351195 0.356 [0.003, 0.165] 0.011 0.019 0.030 （5, 9.50） 4.3005865 0.544 [0.004, 0.155] 0.011 0.017 0.027 （5, 12.5） 5.6783760 0.757 [0.004, 0.130] 0.010 0.015 0.023 （7, 2.00） 0.7355620 0.081 [0.001, 0.055] 0 0 0.001 （7, 3.50） 1.2876016 0.143 [0.002, 0.095] 0.002 0.010 0.020 （7, 6.50） 2.3937513 0.273 [0.003, 0.145] 0.009 0.016 0.025 （7, 9.50） 3.5044088 0.413 [0.003, 0.160] 0.009 0.014 0.022 （7, 12.5） 4.6217099 0.570 [0.003, 0.155] 0.008 0.013 0.020 （9, 2.00） 0.6368604 0.068 [0.001, 0.045] 0 0 0.001 （9, 3.50） 1.1147446 0.120 [0.001, 0.080] 0.001 0.008 0.017 （9, 6.50） 2.0718558 0.228 [0.002, 0.125] 0.008 0.014 0.022 （9, 9.50） 3.0318872 0.345 [0.002, 0.130] 0.008 0.012 0.019 （9, 12.5） 3.9962132 0.473 [0.002, 0.110] 0.007 0.011 0.017
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