Abstract
The traditional model predictive control (tMPC) algorithms have a large amount of online calculation, which makes it difficult to apply them directly to turboshaft engine–rotor systems because of real time requirements. Therefore, based on the theory of the perturbed piecewise affine system (PWA) and multi-parameter quadratic programming explicit model predictive control (mpQP-eMPC) algorithm, we develop a controller design method for turboshaft engine–rotor systems, which can be used for engine steady-state, transient state and limit protection control. This method consists of two steps: controller offline design and online implementation. Firstly, the parameter space of the PWA system is divided into several partitions offline based on the disturbance and performance constraints. Each partition has its own control law, which is in the form of piecewise affine linear function between the controller and the parameters. The control laws for those partitions are also obtained in this offline step. After which, for the online control implementation step, the corresponding control law can be obtained by a real-time query of a corresponding partition, which the current engine state falls into. This greatly reduces the amount of online calculation and thus improves the real-time performance of the MPC controller. The effectiveness of the proposed method is verified by simulating the steady-state and transient process of a turboshaft engine–rotor system with a limit protection requirement. Compared with tMPC, an mpQP-eMPC based controller can not only guarantee good steady-state, dynamic control performance and limit protection, but can also significantly improve the real-time performance of the control system.
Highlights
Helicopters play an important role in short distance transportation, aerial photography, agriculture, disaster search and rescue and other fields
Since the dynamics of the propeller rotor and the engine are coupled through the gear transmission system, the working state of the turboshaft engine will be affected by the propeller rotor load with large inertia
The traditional model predictive control (tMPC) optimization problem of the turboshaft engine–rotor system is transformed into a standard mpQP-eMPC problem; The turboshaft engine controller design based on mpQP-eMPC
Summary
Helicopters play an important role in short distance transportation, aerial photography, agriculture, disaster search and rescue and other fields. Since there are few model predictive real-time controller designs of turboshaft engines and the real-time performance is of great importance for engines, mpQP-eMPC real-time research is carried out in this paper. Considering the high real-time requirements of a turboshaft engine rotor system’s control system, this paper will design a turboshaft engine controller based on mpQP-eMPC to solve the problem of tMPC being unable to guarantee real-time performance. Based on the perturbed PWA model of turboshaft engine rotor systems, through theoretical derivation, this paper transforms the control problem of turboshaft engines into a standard mpQP-eMPC controller design problem. By way of the derivation introduced in this paper, the detailed piecewise affine linear function relationship between the controller and the related parameters on each parameter partition is obtained These are all conducted in the offline step.
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