CN112623240A - Auxiliary power system control method based on finite-state machine and electronic controller - Google Patents
Auxiliary power system control method based on finite-state machine and electronic controller Download PDFInfo
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- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
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Abstract
The invention belongs to the field of aviation power control, and relates to an auxiliary power system control method based on a finite-state machine and an electronic controller. The system control can be carried out in a finite state machine mode according to different starting modes of the auxiliary power system. The invention designs a control method based on a finite state machine on the basis of the traditional control strategy, can reproduce a system with discrete characteristics by describing the control strategy of a controlled object through a series of finite states, models the external behavior characteristics of the controlled object, can accurately grasp the development and change rules of the whole system, and simultaneously, visually describes the internal logic of a target system through the graphical form and is also beneficial to effective troubleshooting after the system fails.
Description
Technical Field
The invention belongs to the field of aviation power control, and relates to a control method of an auxiliary power system. The system control can be carried out in a finite state machine mode according to different starting modes of the auxiliary power system.
Background
The auxiliary power system is a power system independent from the engine, is used for providing auxiliary or emergency energy, bleed air power, hydraulic power and electric power for the airplane, and is a key system for ensuring safe flight of the airplane.
Along with the fact that the auxiliary power system provides the airplane with more and more abundant energy types/functions, more and more components and more complex control logic, the traditional control logic cannot meet the requirements of functions and performance, the complexity of the system is higher and higher, after a fault occurs in the control process, the existing data cannot support troubleshooting content, and the difficulty in locating the fault is increased.
Disclosure of Invention
The invention discloses a control method of an auxiliary power system electronic controller based on a finite-state machine, aiming at the defects of the traditional control method. The control method of the closed-loop system with the limited states not only identifies each working state of the auxiliary power system, but also can reflect the state change of the system from the beginning to any moment, and when the states are switched, a corresponding control strategy is formulated to switch the working states. The method controls the electronic controller of the auxiliary power system, can effectively monitor the control state, can provide data support for troubleshooting, and improves the safety, reliability and instantaneity of the system.
The technical scheme of the invention is as follows:
the control method of the auxiliary power system electronic controller based on the finite-state machine is characterized in that the control strategy based on the finite-state machine is realized, and comprises the following steps:
step 1, determining the working state of an auxiliary power system in a control strategy based on a finite-state machine;
the operating states of the auxiliary power system include: standby state, door opening state, APU starting state, APU stable state, EPU starting state, EPU stable state, EPU switching APU state, air entraining control state, normal parking state, protective parking state, door closing state, other starting state and advanced starting state;
step 2, determining a conversion sequence and a conversion condition among all working states of the auxiliary power system in a control strategy based on a finite-state machine, and realizing the control of the auxiliary power system;
step 2.1, when the auxiliary power system is in a standby state, the relevant operations of power-on self-test and system initialization are required to be completed;
step 2.1.1, when a starting command is received, judging an entering state according to the specific working condition at the starting moment;
step 2.1.1.1, when the system detects that the starting condition of the APU is met, the system enters a door opening state;
step 2.1.1.2, when the system detects that the EPU starting condition is established, entering the EPU starting state;
step 2.1.2, when a maintenance command is received, other starting trends are required to be entered;
step 2.1.3, when receiving a bleed air command, entering a bleed air control state;
2.2, when the auxiliary power system is in the door opening state, designing a control program to open an intake valve and an exhaust valve;
step 2.2.1, when a protective parking fault (PSD) occurs, entering a protective parking state;
step 2.2.2, when a normal parking command is received, entering a normal parking state;
step 2.2.3 when the intake valve and the exhaust valve are fully opened, the APU starting state is required to be entered;
2.3, when the auxiliary power system is in the starting state of the APU, a control program is designed to start the APU;
step 2.3.1, when a protective parking fault occurs, entering a protective parking state;
step 2.3.2 when a normal parking command is received, entering a normal parking state;
step 2.3.3, when the rotation speed of the APU is greater than the steady-state rotation speed of the APU, the APU should enter a steady state;
2.4, when the auxiliary power system is in the stable state of the APU, a control program is designed to stabilize the rotation speed of the APU at the stable rotation speed;
step 2.4.1, when a protective parking fault occurs, entering a protective parking state;
step 2.4.2, when a normal parking command is received, entering a normal parking state;
step 2.4.3, when receiving a bleed air command, entering a bleed air control state;
step 2.5, when the auxiliary power system is in the EPU starting state, a control program is designed to start the EPU;
step 2.5.1, when a protective parking fault occurs, entering a protective parking state;
step 2.5.2, when a normal parking command is received, entering a normal parking state;
step 2.5.3, entering an EPU steady state when the EPU rotating speed is greater than the EPU steady state rotating speed;
step 2.6, when the auxiliary power system is in an EPU steady state, an EPU steady state control rule is designed;
step 2.6.1, when a protective parking fault occurs, entering a protective parking state;
step 2.6.2, when a normal parking command is received, entering a normal parking state;
2.6.3, when a start command is received, the EPU should enter the APU switching state;
step 2.7, when the auxiliary power system is in an EPU switching APU state, a control program is designed to start the APU;
step 2.7.1, when a protective parking fault occurs, entering a protective parking state;
step 2.7.2, when a normal parking command is received, entering a normal parking state;
step 2.7.3, when the APU speed is higher than the steady-state speed, the APU steady state should be entered;
2.8, when the auxiliary power system is in a bleed air control state, designing a control program to carry out ring control bleed air control or main bleed air control;
step 2.8.1, when a protective parking fault occurs, entering a protective parking state;
step 2.8.2, when a normal parking command is received, entering a normal parking state;
step 2.8.3, when the air entraining is finished, the stable state of the APU is required to be entered again;
step 2.9, when the auxiliary power system is in a normal parking state, all loads are required to be closed, and the APU and the EPU are gradually closed by designing a parking time sequence;
step 2.9.1, when the rotation speed of the APU is lower than N%, the APU is in a door closing state;
step 2.9.2, when a starting command is received, judging to enter a state according to the rotating speed of the APU:
step 2.9.2.1, entering early start dynamic state after the APU rotating speed is lower than N%;
step 2.9.2.2, keeping the APU in the present state when the rotation speed of the APU is greater than or equal to N%;
step 2.10, when the auxiliary power system is in a protective parking state, all actuating mechanisms are required to be closed immediately;
step 2.10.1, after the protective parking fault is cleared, the vehicle enters the standby state again;
step 2.11, when the auxiliary power system is in a door closing state, a control program is designed to close an intake valve and an exhaust valve;
step 2.11.1, when a protective parking fault occurs, entering a protective parking state;
step 2.11.2, when the intake valve and the exhaust valve are completely closed, the standby state is required to be entered again;
step 2.12, when the auxiliary power system is in other starting dynamic states, setting a control logic according to a specific command;
step 2.12.1, when a protective parking fault occurs, entering a protective parking state;
step 2.12.2, when a normal parking command is received, entering a normal parking state;
step 2.12.3, when the start is finished, the standby state should be entered again;
step 2.13, when the auxiliary power system is in the early start state, all the current actuating mechanisms should be immediately stopped to act, and the system is initialized;
when a protective parking fault occurs, a protective parking state is entered, step 2.13.1.
And 2.13.2, when the system initialization is finished, directly entering a door opening state.
The invention also provides an auxiliary power system electronic controller based on the finite-state machine, which is characterized in that: the system comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method comprises the following steps:
step 1, when the auxiliary power system is in a standby state, completing relevant operations of power-on self-test and initialization;
step 1.1, when a starting command is received, detecting a specific working condition at the starting moment, and judging an entering state according to the specific working condition at the starting moment;
step 1.1.1, when detecting that the starting condition of the APU is established, entering a door opening state;
step 1.1.2, entering EPU starting dynamic state when detecting that the EPU starting condition is satisfied;
step 1.2, when a maintenance command is received, entering other starting states;
step 1.3, entering a bleed air control state when a bleed air command is received;
step 2, when the auxiliary power system is in a door opening state, designing a control program to open an intake valve and an exhaust valve;
step 2.1, entering a protective parking state when a protective parking fault occurs;
step 2.2, entering a normal parking state when a normal parking command is received;
2.3, when the intake valve and the exhaust valve are completely opened, entering the APU to start dynamic;
step 3, when the auxiliary power system is in the starting state of the APU, designing a control program to start the APU;
step 3.1, entering a protective parking state when a protective parking fault occurs;
step 3.2, entering a normal parking state when a normal parking command is received;
3.3, when the rotating speed of the APU is greater than the steady-state rotating speed of the APU, entering the steady state of the APU;
step 4, when the auxiliary power system is in the stable state of the APU, designing a control program to stabilize the rotation speed of the APU at the stable rotation speed;
step 4.1, entering a protective parking state when a protective parking fault occurs;
step 4.2, entering a normal parking state when a normal parking command is received;
step 4.3, entering a bleed air control state when a bleed air command is received;
step 5, when the auxiliary power system is in the EPU starting state, designing a control program to start the EPU;
step 5.1, entering a protective parking state when a protective parking fault occurs;
step 5.2, entering a normal parking state when a normal parking command is received;
step 5.3, entering an EPU steady state when the EPU rotating speed is greater than the EPU steady state rotating speed;
step 6, when the auxiliary power system is in an EPU steady state, designing an EPU steady state control rule;
step 6.1, entering a protective parking state when a protective parking fault occurs;
step 6.2, entering a normal parking state when a normal parking command is received;
step 6.3, entering an EPU switching APU state when a starting command is received;
step 7, when the auxiliary power system is in an EPU switching APU state, designing a control program to start the APU;
7.1, entering a protective parking state when a protective parking fault occurs;
7.2, entering a normal parking state when a normal parking command is received;
7.3, entering the APU steady state when the rotation speed of the APU is greater than the steady state rotation speed;
step 8, when the auxiliary power system is in a bleed air control state, designing a control program to carry out ring control bleed air control or main bleed air control;
step 8.1, entering a protective parking state when a protective parking fault occurs;
step 8.2, entering a normal parking state when a normal parking command is received;
8.3, when the air entraining is finished, entering the stable state of the APU again;
step 9, when the auxiliary power system is in a normal parking state, all loads are closed, and a parking time sequence is designed to gradually close the APU and the EPU;
9.1, when the rotating speed of the APU is lower than N%, entering a door closing state; wherein N is a positive number;
and 9.2, judging to enter a state according to the rotating speed of the APU when a starting command is received:
9.2.1, entering early starting dynamic state after the rotation speed of the APU is lower than N%, wherein N is a positive number;
9.2.2, after the rotation speed of the APU is more than or equal to N percent, maintaining the APU in the current state;
step 10, when the auxiliary power system is in a protective parking state, all actuating mechanisms are required to be closed immediately;
step 10.1, after the protective parking fault is cleared, entering a standby state again;
step 11, when the auxiliary power system is in a door closing state, designing a control program to close an intake valve and an exhaust valve;
step 11.1, entering a protective parking state when a protective parking fault occurs;
step 11.2, when the intake valve and the exhaust valve are completely closed, entering a standby state again;
step 12, when the auxiliary power system is in other starting states, setting a control logic according to a specific command;
step 12.1, entering a protective parking state when a protective parking fault occurs;
step 12.2, entering a normal parking state when a normal parking command is received;
step 12.3, when the starting is finished, entering the standby state again;
step 13, when the auxiliary power system is in the early starting state, immediately stopping all the current actuating mechanisms to act, and initializing the system;
and step 13.1, entering a protective parking state when a protective parking fault occurs.
And step 13.2, directly entering a door opening state when the system initialization is finished.
The invention also provides a computer-readable storage medium, on which a computer program is stored, which is characterized in that the computer program realizes the following steps when being executed by a processor:
step 1, when the auxiliary power system is in a standby state, completing relevant operations of power-on self-test and initialization;
step 1.1, when a starting command is received, detecting a specific working condition at the starting moment, and judging an entering state according to the specific working condition at the starting moment;
step 1.1.1, when detecting that the starting condition of the APU is established, entering a door opening state;
step 1.1.2, entering EPU starting dynamic state when detecting that the EPU starting condition is satisfied;
step 1.2, when a maintenance command is received, entering other starting states;
step 1.3, entering a bleed air control state when a bleed air command is received;
step 2, when the auxiliary power system is in a door opening state, designing a control program to open an intake valve and an exhaust valve;
step 2.1, entering a protective parking state when a protective parking fault occurs;
step 2.2, entering a normal parking state when a normal parking command is received;
2.3, when the intake valve and the exhaust valve are completely opened, entering the APU to start dynamic;
step 3, when the auxiliary power system is in the starting state of the APU, designing a control program to start the APU;
step 3.1, entering a protective parking state when a protective parking fault occurs;
step 3.2, entering a normal parking state when a normal parking command is received;
3.3, when the rotating speed of the APU is greater than the steady-state rotating speed of the APU, entering the steady state of the APU;
step 4, when the auxiliary power system is in the stable state of the APU, designing a control program to stabilize the rotation speed of the APU at the stable rotation speed;
step 4.1, entering a protective parking state when a protective parking fault occurs;
step 4.2, entering a normal parking state when a normal parking command is received;
step 4.3, entering a bleed air control state when a bleed air command is received;
step 5, when the auxiliary power system is in the EPU starting state, designing a control program to start the EPU;
step 5.1, entering a protective parking state when a protective parking fault occurs;
step 5.2, entering a normal parking state when a normal parking command is received;
step 5.3, entering an EPU steady state when the EPU rotating speed is greater than the EPU steady state rotating speed;
step 6, when the auxiliary power system is in an EPU steady state, designing an EPU steady state control rule;
step 6.1, entering a protective parking state when a protective parking fault occurs;
step 6.2, entering a normal parking state when a normal parking command is received;
step 6.3, entering an EPU switching APU state when a starting command is received;
step 7, when the auxiliary power system is in an EPU switching APU state, designing a control program to start the APU;
7.1, entering a protective parking state when a protective parking fault occurs;
7.2, entering a normal parking state when a normal parking command is received;
7.3, entering the APU steady state when the rotation speed of the APU is greater than the steady state rotation speed;
step 8, when the auxiliary power system is in a bleed air control state, designing a control program to carry out ring control bleed air control or main bleed air control;
step 8.1, entering a protective parking state when a protective parking fault occurs;
step 8.2, entering a normal parking state when a normal parking command is received;
8.3, when the air entraining is finished, entering the stable state of the APU again;
step 9, when the auxiliary power system is in a normal parking state, all loads are closed, and a parking time sequence is designed to gradually close the APU and the EPU;
9.1, when the rotating speed of the APU is lower than N%, entering a door closing state; wherein N is a positive number;
and 9.2, judging to enter a state according to the rotating speed of the APU when a starting command is received:
9.2.1, entering early starting dynamic state after the rotation speed of the APU is lower than N%;
9.2.2, after the rotation speed of the APU is more than or equal to N percent, maintaining the APU in the current state;
step 10, when the auxiliary power system is in a protective parking state, all actuating mechanisms are required to be closed immediately;
step 10.1, after the protective parking fault is cleared, entering a standby state again;
step 11, when the auxiliary power system is in a door closing state, designing a control program to close an intake valve and an exhaust valve;
step 11.1, entering a protective parking state when a protective parking fault occurs;
step 11.2, when the intake valve and the exhaust valve are completely closed, entering a standby state again;
step 12, when the auxiliary power system is in other starting states, setting a control logic according to a specific command;
step 12.1, entering a protective parking state when a protective parking fault occurs;
step 12.2, entering a normal parking state when a normal parking command is received;
step 12.3, when the starting is finished, entering the standby state again;
step 13, when the auxiliary power system is in the early starting state, immediately stopping all the current actuating mechanisms to act, and initializing the system;
and step 13.1, entering a protective parking state when a protective parking fault occurs.
And step 13.2, directly entering a door opening state when the system initialization is finished.
The invention has the beneficial effects that:
1. the invention designs a control method based on a finite state machine on the basis of the traditional control strategy, can reproduce a system with discrete characteristics by describing the control strategy of a controlled object through a series of finite states, models the external behavior characteristics of the controlled object, can accurately grasp the development and change rules of the whole system, and simultaneously, visually describes the internal logic of a target system through the graphical form and is also beneficial to effective troubleshooting after the system fails.
2. The control method can design the control strategy by dividing different stages of the starting assembly. In a normal parking state, if a starting command is received, the current action can be immediately terminated, and the APU/EPU can be directly started. In the protective parking state, the standby state can be entered again by clearing the fault.
3. The control method of the invention designs the early starting state, so that the running system can be restarted without stopping completely, thereby saving the running time and energy consumption of the system.
Drawings
FIG. 1 is a state transition diagram for controlling an auxiliary power system utilizing the electronic controller of the present invention;
FIG. 2 is a screenshot of the APU operating to steady state in the ground air supply mode;
fig. 3 is a screenshot of the APU running to steady state in air mode.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
As shown in fig. 1, the working states of the auxiliary power system in the finite-state machine-based control strategy of the embodiment include: standby state, door opening state, APU starting state, APU stable state, EPU starting state, EPU stable state, EPU switching APU state, air entraining control state, normal parking state, protective parking state, door closing state, other starting states and advanced starting states.
The whole control flow is completed by adopting the following steps:
1. when the auxiliary power system is in a standby state, the relevant operations of power-on self-test and system initialization are required to be completed;
1.1, when a starting command is received, judging an entering state according to a specific working condition at the starting moment;
1.1.1, when detecting that the starting condition of the APU is met, the system enters a door opening state;
1.1.2, when the system detects that the EPU starting condition is met, entering the EPU starting dynamic state;
1.2, when a maintenance command is received, entering other starting states;
1.3, when a bleed air command is received, entering a bleed air control state;
2. when the auxiliary power system is in a door opening state, a control program is designed to open an intake valve and an exhaust valve;
2.1, when a protective parking fault (PSD) occurs, entering a protective parking state;
2.2 when a normal parking command is received, entering a normal parking state;
2.3 when the intake valve and the exhaust valve are fully opened, the APU starting state is required to be entered;
3. when the auxiliary power system is in the starting state of the APU, a control program is designed to start the APU;
3.1, when a protective parking fault occurs, entering a protective parking state;
3.2 when a normal parking command is received, entering a normal parking state;
3.3 when the rotation speed of the APU is greater than the steady-state rotation speed of the APU, the APU should enter the steady state;
4. when the auxiliary power system is in the stable state of the APU, a control program is designed to stabilize the rotation speed of the APU at the stable rotation speed;
4.1, when a protective parking fault occurs, entering a protective parking state;
4.2, when a normal parking command is received, entering a normal parking state;
4.3, when receiving a bleed air command, entering a bleed air control state;
5. when the auxiliary power system is in the EPU starting state, a control program is designed to start the EPU;
5.1, when a protective parking fault occurs, entering a protective parking state;
5.2, when a normal parking command is received, entering a normal parking state;
5.3, entering an EPU steady state when the EPU rotating speed is greater than the EPU steady state rotating speed;
6. when the auxiliary power system is in an EPU steady state, an EPU steady state control rule is designed;
6.1, when a protective parking fault occurs, entering a protective parking state;
6.2, when a normal parking command is received, entering a normal parking state;
6.3, when a starting command is received, an EPU switches an APU state;
7. when the auxiliary power system is in an EPU switching APU state, the control program is designed to start the APU;
7.1, when a protective parking fault occurs, entering a protective parking state;
7.2, when a normal parking command is received, entering a normal parking state;
7.3, when the rotating speed of the APU is greater than the steady-state rotating speed, the APU should enter the steady state;
8. when the auxiliary power system is in a bleed air control state, a control program is designed to carry out ring control bleed air control or main bleed air control;
8.1, when a protective parking fault occurs, entering a protective parking state;
8.2, when a normal parking command is received, entering a normal parking state;
8.3, when the bleed air is finished, the stable state of the APU is required to be entered again;
9. when the auxiliary power system is in a normal parking state, all loads are required to be closed, and a parking time sequence is designed to gradually close the APU and the EPU;
9.1, when the rotating speed of the APU is lower than N%, the APU should enter a door closing state; and N is a positive number and is dynamically adjusted according to the influence of the rotor of the APU on the system.
9.2, when a starting command is received, judging to enter a state according to the rotating speed of the APU:
9.2.1, entering early starting dynamic state after the rotation speed of the APU is lower than N%;
9.2.2, the APU is maintained in the state after the rotation speed of the APU is greater than or equal to N%;
10. when the auxiliary power system is in a protective parking state, all actuating mechanisms are immediately closed;
10.1, when the protective parking fault is cleared, the vehicle enters the standby state again;
11. when the auxiliary power system is in a door closing state, a control program is designed to close an intake valve and an exhaust valve;
11.1, when a protective parking fault occurs, entering a protective parking state;
11.2, when the intake valve and the exhaust valve are completely closed, the standby state is required to be entered again;
12. when the auxiliary power system is in other starting states, setting a control logic according to a specific command;
12.1, when a protective parking fault occurs, entering a protective parking state;
12.2, when a normal parking command is received, entering a normal parking state;
12.3, when the starting is finished, the standby state is required to be entered again;
13. when the auxiliary power system is in the early starting state, all the current actuating mechanisms should be immediately stopped to act, and the system is initialized;
and 13.1, when a protective parking fault occurs, entering a protective parking state.
And 13.2, when the system initialization is finished, directly entering a door opening state.
The auxiliary power system electronic controller based on the finite-state machine of the embodiment comprises a memory and a processor, wherein a computer program is stored in the memory, and the computer program is executed by the processor to execute the steps 1 to 13.
The computer program described above may be stored in a computer readable storage medium, the program when executed enabling the performance of the above steps 1 to 13. In some possible embodiments, the invention may also be implemented in the form of a program product comprising program code means for causing a terminal device to carry out the steps according to various exemplary embodiments of the invention described in the method part of the description above, when said program product is run on the terminal device. A program product for implementing the above method, which may employ a portable compact disc read only memory (CD-ROM) and include program code, may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in the present invention, the computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The method of the invention is verified by simulation tests as follows:
aiming at an electronic controller of a certain type of auxiliary power system, the method is adopted for control, the stable rotating speed of the APU is set to be 98%, the stable rotating speed of the EPU is set to be 98%, and the N% is set to be 5%. The functional performance reliability of the control method is verified on the environment test equipment, the wheel load signal is set as the ground, the ground air source signal is set to be effective, and the APU is started normally through the environment test equipment. It can be seen from fig. 2 that in the mode of starting the APU at ground origin, the APU can be normally started by this method.
Aiming at an electronic controller of a certain type of auxiliary power system, the method is adopted to control the electronic controller of the auxiliary power system, the steady-state rotating speed of the APU is set to be 98%, the steady-state rotating speed of the EPU is set to be 98%, and the N% is set to be 5%. And verifying the functional performance reliability of the control method on the environment test equipment, setting the wheel load signal to be in the air, setting the ground air source signal to be invalid, and normally starting the APU through the environment test equipment. It can be seen from fig. 3 that the APU can be normally started by the method in the air when the flying height of the air is 9 km.
Claims (3)
1. A control method of an auxiliary power system based on a finite-state machine is characterized in that the control strategy based on the finite-state machine is realized, and comprises the following steps:
step 1, determining the working state of an auxiliary power system in a control strategy based on a finite-state machine;
the operating states of the auxiliary power system include: standby state, door opening state, APU starting state, APU stable state, EPU starting state, EPU stable state, EPU switching APU state, air entraining control state, normal parking state, protective parking state, door closing state, other starting state and advanced starting state;
step 2, determining a conversion sequence and a conversion condition among all working states of the auxiliary power system in a control strategy based on a finite-state machine, and realizing the control of the auxiliary power system;
step 2.1, when the auxiliary power system is in a standby state, completing relevant operations of power-on self-test and initialization;
step 2.1.1, when a starting command is received, detecting the specific working condition at the starting moment, and judging the entering state according to the specific working condition at the starting moment;
step 2.1.1.1, when detecting that the starting condition of the APU is established, entering a door opening state;
step 2.1.1.2, entering EPU starting dynamic state when detecting that the EPU starting condition is established;
step 2.1.2, when a maintenance command is received, other starting trends are required to be entered;
step 2.1.3, entering a bleed air control state when a bleed air command is received;
2.2, when the auxiliary power system is in the door opening state, designing a control program to open an intake valve and an exhaust valve;
step 2.2.1, entering a protective parking state when a protective parking fault occurs;
step 2.2.2, entering a normal parking state when a normal parking command is received;
2.2.3, when an intake valve and an exhaust valve are completely opened, entering the APU to start dynamic;
2.3, when the auxiliary power system is in the starting state of the APU, designing a control program to start the APU;
step 2.3.1, entering a protective parking state when a protective parking fault occurs;
step 2.3.2, entering a normal parking state when a normal parking command is received;
2.3.3, when the rotation speed of the APU is greater than the steady-state rotation speed of the APU, entering the steady state of the APU;
2.4, when the auxiliary power system is in the stable state of the APU, designing a control program to stabilize the rotation speed of the APU at the stable rotation speed;
step 2.4.1, entering a protective parking state when a protective parking fault occurs;
step 2.4.2, entering a normal parking state when a normal parking command is received;
step 2.4.3, entering a bleed air control state when a bleed air command is received;
step 2.5, when the auxiliary power system is in the EPU starting state, designing a control program to start the EPU;
step 2.5.1, entering a protective parking state when a protective parking fault occurs;
step 2.5.2, entering a normal parking state when a normal parking command is received;
step 2.5.3, entering an EPU steady state when the EPU rotating speed is greater than the EPU steady state rotating speed;
step 2.6, when the auxiliary power system is in an EPU steady state, designing an EPU steady state control rule;
step 2.6.1, entering a protective parking state when a protective parking fault occurs;
step 2.6.2, entering a normal parking state when a normal parking command is received;
step 2.6.3, entering EPU switching APU state when receiving starting command;
step 2.7, when the auxiliary power system is in an EPU switching APU state, designing a control program to start the APU;
step 2.7.1, entering a protective parking state when a protective parking fault occurs;
step 2.7.2, entering a normal parking state when a normal parking command is received;
step 2.7.3, when the APU speed is larger than the steady-state speed, entering the APU steady state;
2.8, when the auxiliary power system is in a bleed air control state, designing a control program to carry out environment control bleed air control or main bleed air control;
step 2.8.1, entering a protective parking state when a protective parking fault occurs;
step 2.8.2, entering a normal parking state when a normal parking command is received;
2.8.3, when the air entraining is finished, entering the stable state of the APU again;
step 2.9, when the auxiliary power system is in a normal parking state, all loads are closed, and the APU and the EPU are gradually closed by designing a parking time sequence;
step 2.9.1, when the rotation speed of the APU is lower than N%, entering a door closing state; wherein N is a positive number;
step 2.9.2, when a starting command is received, judging to enter a state according to the rotating speed of the APU:
step 2.9.2.1, entering early start dynamic state after the APU rotating speed is lower than N%;
step 2.9.2.2, after the APU speed is greater than or equal to N%, maintaining the APU in the present state;
step 2.10, when the auxiliary power system is in a protective parking state, all actuating mechanisms are required to be closed immediately;
step 2.10.1, after the protective parking fault is cleared, entering a standby state again;
step 2.11, when the auxiliary power system is in a door closing state, designing a control program to close an intake valve and an exhaust valve;
step 2.11.1, entering a protective parking state when a protective parking fault occurs;
step 2.11.2, when the intake valve and the exhaust valve are completely closed, entering a standby state again;
step 2.12, when the auxiliary power system is in other starting dynamic states, setting a control logic according to a specific command;
step 2.12.1, entering a protective parking state when a protective parking fault occurs;
step 2.12.2, when a normal parking command is received, entering a normal parking state;
step 2.12.3, when the starting is finished, entering the standby state again;
step 2.13, when the auxiliary power system is in the early start state, immediately stopping the action of all the current actuating mechanisms, and initializing the system;
step 2.13.1, entering a protective parking state when a protective parking fault occurs;
and 2.13.2, directly entering a door opening state when the system initialization is finished.
2. An auxiliary power system electronic controller based on a finite state machine, characterized in that: the system comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method comprises the following steps:
step 1, when the auxiliary power system is in a standby state, completing relevant operations of power-on self-test and initialization;
step 1.1, when a starting command is received, detecting a specific working condition at the starting moment, and judging an entering state according to the specific working condition at the starting moment;
step 1.1.1, when detecting that the starting condition of the APU is established, entering a door opening state;
step 1.1.2, entering EPU starting dynamic state when detecting that the EPU starting condition is satisfied;
step 1.2, when a maintenance command is received, entering other starting states;
step 1.3, entering a bleed air control state when a bleed air command is received;
step 2, when the auxiliary power system is in a door opening state, designing a control program to open an intake valve and an exhaust valve;
step 2.1, entering a protective parking state when a protective parking fault occurs;
step 2.2, entering a normal parking state when a normal parking command is received;
2.3, when the intake valve and the exhaust valve are completely opened, entering the APU to start dynamic;
step 3, when the auxiliary power system is in the starting state of the APU, designing a control program to start the APU;
step 3.1, entering a protective parking state when a protective parking fault occurs;
step 3.2, entering a normal parking state when a normal parking command is received;
3.3, when the rotating speed of the APU is greater than the steady-state rotating speed of the APU, entering the steady state of the APU;
step 4, when the auxiliary power system is in the stable state of the APU, designing a control program to stabilize the rotation speed of the APU at the stable rotation speed;
step 4.1, entering a protective parking state when a protective parking fault occurs;
step 4.2, entering a normal parking state when a normal parking command is received;
step 4.3, entering a bleed air control state when a bleed air command is received;
step 5, when the auxiliary power system is in the EPU starting state, designing a control program to start the EPU;
step 5.1, entering a protective parking state when a protective parking fault occurs;
step 5.2, entering a normal parking state when a normal parking command is received;
step 5.3, entering an EPU steady state when the EPU rotating speed is greater than the EPU steady state rotating speed;
step 6, when the auxiliary power system is in an EPU steady state, designing an EPU steady state control rule;
step 6.1, entering a protective parking state when a protective parking fault occurs;
step 6.2, entering a normal parking state when a normal parking command is received;
step 6.3, entering an EPU switching APU state when a starting command is received;
step 7, when the auxiliary power system is in an EPU switching APU state, designing a control program to start the APU;
7.1, entering a protective parking state when a protective parking fault occurs;
7.2, entering a normal parking state when a normal parking command is received;
7.3, entering the APU steady state when the rotation speed of the APU is greater than the steady state rotation speed;
step 8, when the auxiliary power system is in a bleed air control state, designing a control program to carry out ring control bleed air control or main bleed air control;
step 8.1, entering a protective parking state when a protective parking fault occurs;
step 8.2, entering a normal parking state when a normal parking command is received;
8.3, when the air entraining is finished, entering the stable state of the APU again;
step 9, when the auxiliary power system is in a normal parking state, all loads are closed, and a parking time sequence is designed to gradually close the APU and the EPU;
9.1, when the rotating speed of the APU is lower than N%, entering a door closing state; wherein N is a positive number;
and 9.2, judging to enter a state according to the rotating speed of the APU when a starting command is received:
9.2.1, entering early starting dynamic state after the rotation speed of the APU is lower than N%, wherein N is a positive number;
9.2.2, after the rotation speed of the APU is more than or equal to N percent, maintaining the APU in the current state;
step 10, when the auxiliary power system is in a protective parking state, all actuating mechanisms are required to be closed immediately;
step 10.1, after the protective parking fault is cleared, entering a standby state again;
step 11, when the auxiliary power system is in a door closing state, designing a control program to close an intake valve and an exhaust valve;
step 11.1, entering a protective parking state when a protective parking fault occurs;
step 11.2, when the intake valve and the exhaust valve are completely closed, entering a standby state again;
step 12, when the auxiliary power system is in other starting states, setting a control logic according to a specific command;
step 12.1, entering a protective parking state when a protective parking fault occurs;
step 12.2, entering a normal parking state when a normal parking command is received;
step 12.3, when the starting is finished, entering the standby state again;
step 13, when the auxiliary power system is in the early starting state, immediately stopping all the current actuating mechanisms to act, and initializing the system;
step 13.1, entering a protective parking state when a protective parking fault occurs;
and step 13.2, directly entering a door opening state when the system initialization is finished.
3. A computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, carries out the steps of:
step 1, when the auxiliary power system is in a standby state, completing relevant operations of power-on self-test and initialization;
step 1.1, when a starting command is received, detecting a specific working condition at the starting moment, and judging an entering state according to the specific working condition at the starting moment;
step 1.1.1, when detecting that the starting condition of the APU is established, entering a door opening state;
step 1.1.2, entering EPU starting dynamic state when detecting that the EPU starting condition is satisfied;
step 1.2, when a maintenance command is received, entering other starting states;
step 1.3, entering a bleed air control state when a bleed air command is received;
step 2, when the auxiliary power system is in a door opening state, designing a control program to open an intake valve and an exhaust valve;
step 2.1, entering a protective parking state when a protective parking fault occurs;
step 2.2, entering a normal parking state when a normal parking command is received;
2.3, when the intake valve and the exhaust valve are completely opened, entering the APU to start dynamic;
step 3, when the auxiliary power system is in the starting state of the APU, designing a control program to start the APU;
step 3.1, entering a protective parking state when a protective parking fault occurs;
step 3.2, entering a normal parking state when a normal parking command is received;
3.3, when the rotating speed of the APU is greater than the steady-state rotating speed of the APU, entering the steady state of the APU;
step 4, when the auxiliary power system is in the stable state of the APU, designing a control program to stabilize the rotation speed of the APU at the stable rotation speed;
step 4.1, entering a protective parking state when a protective parking fault occurs;
step 4.2, entering a normal parking state when a normal parking command is received;
step 4.3, entering a bleed air control state when a bleed air command is received;
step 5, when the auxiliary power system is in the EPU starting state, designing a control program to start the EPU;
step 5.1, entering a protective parking state when a protective parking fault occurs;
step 5.2, entering a normal parking state when a normal parking command is received;
step 5.3, entering an EPU steady state when the EPU rotating speed is greater than the EPU steady state rotating speed;
step 6, when the auxiliary power system is in an EPU steady state, designing an EPU steady state control rule;
step 6.1, entering a protective parking state when a protective parking fault occurs;
step 6.2, entering a normal parking state when a normal parking command is received;
step 6.3, entering an EPU switching APU state when a starting command is received;
step 7, when the auxiliary power system is in an EPU switching APU state, designing a control program to start the APU;
7.1, entering a protective parking state when a protective parking fault occurs;
7.2, entering a normal parking state when a normal parking command is received;
7.3, entering the APU steady state when the rotation speed of the APU is greater than the steady state rotation speed;
step 8, when the auxiliary power system is in a bleed air control state, designing a control program to carry out ring control bleed air control or main bleed air control;
step 8.1, entering a protective parking state when a protective parking fault occurs;
step 8.2, entering a normal parking state when a normal parking command is received;
8.3, when the air entraining is finished, entering the stable state of the APU again;
step 9, when the auxiliary power system is in a normal parking state, all loads are closed, and a parking time sequence is designed to gradually close the APU and the EPU;
9.1, when the rotating speed of the APU is lower than N%, entering a door closing state; wherein N is a positive number;
and 9.2, judging to enter a state according to the rotating speed of the APU when a starting command is received:
9.2.1, entering early starting dynamic state after the rotation speed of the APU is lower than N%;
9.2.2, after the rotation speed of the APU is more than or equal to N percent, maintaining the APU in the current state;
step 10, when the auxiliary power system is in a protective parking state, all actuating mechanisms are required to be closed immediately;
step 10.1, after the protective parking fault is cleared, entering a standby state again;
step 11, when the auxiliary power system is in a door closing state, designing a control program to close an intake valve and an exhaust valve;
step 11.1, entering a protective parking state when a protective parking fault occurs;
step 11.2, when the intake valve and the exhaust valve are completely closed, entering a standby state again;
step 12, when the auxiliary power system is in other starting states, setting a control logic according to a specific command;
step 12.1, entering a protective parking state when a protective parking fault occurs;
step 12.2, entering a normal parking state when a normal parking command is received;
step 12.3, when the starting is finished, entering the standby state again;
step 13, when the auxiliary power system is in the early starting state, immediately stopping all the current actuating mechanisms to act, and initializing the system;
step 13.1, entering a protective parking state when a protective parking fault occurs;
and step 13.2, directly entering a door opening state when the system initialization is finished.
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