跨介质动力系统入水过程转速动态特性与控制研究

Dynamic Characteristics and Control of Rotational Speed During Water Entry in Trans-media Propulsion Systems

摘要

潜空航行器入水瞬间会因工作介质突变导致负载力矩急剧增大、动力系统转速骤降乃至燃烧室熄火。为实现入水过程中涡轮机转速的稳定控制并量化系统安全运行裕度,本文提出了一种面向入水瞬态的跨介质动力系统转速闭环控制方法。首先,建立了考虑燃烧室温度随压力动态变化的跨介质动力系统非线性数学模型,将轴流泵负载力矩作为主要干扰输入;进而,设计了以涡轮机转速为被控量的基本PI转速闭环控制方案,并针对实际工程中传感器与执行机构存在的延迟响应,进一步提出了转速闭环滞后控制策略。通过数值仿真,对比分析了两种控制方案的动态特性与系统安全裕度。结果表明:基本PI闭环控制能够有效抑制负载扰动,转速调节时间约为8 s,但要求控制器在负载冲击后几乎立即介入;闭环滞后控制通过主动引入0.9 s的无控制安全运行窗口,使调节时间延长至约11 s,从而为信号采样、滤波、计算及执行机构响应预留了关键时间预算。系统无控制状态下的理论安全运行时间极限约为0.7 s,基于滞后控制的实际安全运行时间可达0.9 s,超过该阈值时系统将因超调而无法安全恢复。本文所提方法明确了负载扰动下动力系统对控制响应速度的定量要求,可为跨介质航行器入水过程的动力系统控制设计提供理论依据与工程参考。

Abstract

During water entry of a submersible aerial vehicle,the working medium changes abruptly from air to seawater. This leads to a sharp increase in load torque,a sudden drop in power system rotational speed,and the risk of combustion chamber flameout. To achieve stable control of turbine rotational speed while quantifying the system safety margin,this paper proposes a closed-loop rotational speed control method for trans-media power systems tailored to the water-entry transient. First,a nonlinear mathematical model of the trans-media power system is established,incorporating the dynamic variation of combustion chamber temperature with pressure,with the axial-flow pump load torque treated as the primary disturbance input. Subsequently,a basic PI closed-loop speed control scheme is designed,with turbine speed as the controlled variable. Furthermore,considering the response delays inherent in sensors and actuators in practical engineering,a lag-compensated closed-loop speed control strategy is proposed. Numerical simulations are conducted to compare the dynamic characteristics and system safety margins of the two control schemes. The results indicate that the basic PI closed-loop control can effectively suppress load disturbances,achieving a settling time of approximately 8 s. However,it requires the controller to intervene almost immediately after the load impact. In contrast,the lag-compensated control actively introduces an uncontrolled safe operation window of 0.9 s,extending the settling time to about 11 s. This window provides a critical time budget for signal sampling,filtering,computation,and actuator response. The theoretical safe operation time limit under uncontrolled conditions is approximately 0.7 s,whereas the practical safe operation time based on lag-compensated control can reach 0.9 s. Exceeding this threshold will lead to unsafe recovery due to overshoot. The proposed method quantifies the control response speed requirements for the power system under load disturbances,providing theoretical guidance and engineering reference for the control system design of trans-media vehicles during water entry.

关键词

跨介质动力系统 / 变燃烧室温度 / 大负载变化 / 滞后控制 / 动态特性

Key words

trans-medium power system / variable combustion chamber temperature / large load variation / lag compensation control / dynamic characteristics

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基金资助

国家自然科学基金(52476035)

国家自然科学基金(52571370)

陕西省创新能力支撑计划资助(2024RS-CXTD-15)