CN113236443B - Self-tuning method for pressure feedback control parameter of variable thrust engine - Google Patents
Self-tuning method for pressure feedback control parameter of variable thrust engine Download PDFInfo
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- CN113236443B CN113236443B CN202110450193.0A CN202110450193A CN113236443B CN 113236443 B CN113236443 B CN 113236443B CN 202110450193 A CN202110450193 A CN 202110450193A CN 113236443 B CN113236443 B CN 113236443B
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000002485 combustion reaction Methods 0.000 claims abstract description 35
- 230000008859 change Effects 0.000 claims abstract description 21
- 239000003380 propellant Substances 0.000 claims description 37
- 230000008569 process Effects 0.000 claims description 23
- 230000004044 response Effects 0.000 claims description 17
- 238000012360 testing method Methods 0.000 claims description 14
- 230000010355 oscillation Effects 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 238000012935 Averaging Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 3
- 238000009423 ventilation Methods 0.000 claims description 3
- 125000004122 cyclic group Chemical group 0.000 claims description 2
- 239000007787 solid Substances 0.000 abstract description 10
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
- 238000005859 coupling reaction Methods 0.000 abstract description 3
- 239000004449 solid propellant Substances 0.000 abstract description 2
- 238000002679 ablation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
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- 230000007246 mechanism Effects 0.000 description 1
- 230000007363 regulatory process Effects 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02K—JET-PROPULSION PLANTS
- F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
- F02K9/08—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof using solid propellants
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02K—JET-PROPULSION PLANTS
- F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
- F02K9/80—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by thrust or thrust vector control
- F02K9/86—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by thrust or thrust vector control using nozzle throats of adjustable cross- section
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02K—JET-PROPULSION PLANTS
- F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
- F02K9/96—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by specially adapted arrangements for testing or measuring
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Abstract
本发明一种变推力发动机压力反馈控制参数自整定方法，由压力传感器对固体火箭发动机燃烧室压力进行实时采集后，经过反馈比较环节，根据实测压力与目标压力的偏差量，给出合适的控制输出量，使发动机燃烧室工作压力稳定在目标压力附近或跟随目标压力变化，通过控制发动机工作压力对固体推进剂燃烧状态进行控制，实现发动机推力调节和系统能量管理。固体发动机压力变化受到喉部面积、装药燃速、装药燃面等多因素耦合的影响，压力反馈控制系统是一个复杂的非线性时变系统，压力控制参数与系统状态实时关联。本发明专利提出了一种变推力发动机反馈控制参数自调节方法，有效实现固体发动机压力稳定控制，经验证压力控制偏差量小于2％。
The present invention is a method for self-tuning of pressure feedback control parameters of a variable thrust engine. After real-time acquisition of the solid rocket engine combustion chamber pressure by a pressure sensor, through a feedback comparison link, an appropriate control is given according to the deviation between the measured pressure and the target pressure. The output can stabilize the working pressure of the combustion chamber of the engine near the target pressure or follow the change of the target pressure, and control the combustion state of the solid propellant by controlling the working pressure of the engine to achieve engine thrust regulation and system energy management. The pressure change of solid engine is affected by the coupling of multiple factors such as throat area, charge burning rate, charge burning surface, etc. The pressure feedback control system is a complex nonlinear time-varying system, and the pressure control parameters are related to the system state in real time. The patent of the present invention proposes a self-adjusting method of variable thrust engine feedback control parameters, which effectively realizes the stable control of solid engine pressure, and the verified pressure control deviation is less than 2%.
Description
Technical Field
The invention relates to a method for setting pressure control parameters of a combustion chamber of a variable thrust engine, and belongs to the technical field of variable thrust solid rocket engines.
Background
The solid rocket engine has the advantages of simple structure, reliable work and the like, and becomes an important power device of a weapon system. The variable thrust engine is a solid engine capable of adjusting thrust according to the flying state and the working requirement of a missile. The thrust of the engine can not be directly obtained during missile flight, the thrust is not controlled in the thrust adjusting process, the method belongs to open-loop adjustment, the work of the solid engine is influenced by coupling of various factors such as environment temperature, throat ablation, propellant burning speed change and the like, the preset adjusting quantity can not accurately correspond to the actual output thrust, the thrust is adjusted after pressure feedback control is introduced according to the relevance of the thrust pressure of the solid engine, the pressure of a combustion chamber is maintained to be stable in a safe range in the dynamic throat changing process, the structural integrity of the engine is ensured, and the temperature change and ablation influence are compensated. Aiming at a complex nonlinear time-varying system, system control parameters have self-adjusting capacity under different working states of an engine, so that stable following and thrust follow-up control adjustment of combustion chamber pressure are realized.
At present, the following problems are mainly caused in the process of adjusting the thrust and the pressure of a variable thrust engine:
1. the thrust adjustment precision is low. When the throat area is dynamically adjusted, the pressure of the combustion chamber and the thrust of the engine are in a nonlinear change rule, and are simultaneously influenced by coupling of multiple factors such as ambient temperature, structural ablation and the like, and the deviation between the set throat adjustment amount and the corresponding thrust variation amount is large.
2. The adjustment performance greatly changes with the engine operating state. The propellant is gradually consumed in the working process of the engine, the free volume is gradually increased, the response time of the thrust pressure is gradually increased, different initial working pressures are corresponding to different initial throat opening degrees, and the thrust, the dynamic pressure oscillation quantity and the steady-state control error are greatly changed under the same control parameters.
3. The structural integrity and reliability are reduced. When the throat part is adjusted, the pressure changes dynamically, so that the pressure of the combustion chamber is easily overhigh under the influence of various disturbances, the structural integrity is damaged, and the safe and reliable working requirements of a weapon system are difficult to meet.
Disclosure of Invention
The technical problem solved by the invention is as follows: aiming at the problem that the thrust, the pressure dynamic oscillation quantity and the steady-state control error change under the same control parameters are large in the pressure feedback adjusting process of the variable-thrust solid rocket engine, the engine pressure feedback control parameter self-adjusting method is provided, the control parameters can be self-adjusted according to the change of the working state of the engine, and the complete and reliable structure and the safe and stable working performance of the variable-thrust solid rocket engine are ensured.
The technical scheme of the invention is as follows: a pressure feedback control parameter self-tuning method for a variable thrust engine comprises the following steps:
(1) formulating an engine feedback pressure interpretation mode; setting the maximum adjusting pressure and the corresponding thrust of the variable thrust engine, redundantly measuring the working pressure of the engine by adopting a plurality of sensors and a plurality of measuring points, selecting partial data with consistent or close test data, removing data with larger deviation, and taking a test average value as the feedback quantity of the current state;
(2) setting a control dead zone value according to the control precision and the lowest control pressure;
(3) and performing feedback control on the pressure of the variable thrust engine.
The specific process of the step (1) is as follows:
and arranging a plurality of pressure measuring points and sensors, calculating difference values of the test data of each sensor in pairs, removing two data points with the largest difference of the test data, and averaging the rest data points to serve as feedback pressure data.
The specific process of the step (2) is as follows: designing an allowable maximum pressure control deviation amount, and entering the step (3) to perform control regulation when the deviation amount between the pressure value fed back by the pressure sensor and the target pressure value measured by the controller is greater than the allowable maximum pressure control deviation amount; otherwise, the dead zone is controlled, no adjustment is carried out, the step (1) is returned, and the next step of cyclic adjustment is continued.
The specific process of the step (3) is as follows:
31) sending a target pressure signal to the engine, enabling the engine to work, enabling the pressure sensor to output a feedback value, and completing control in one period;
32) collecting a current sensor signal, and reading a current pressure value according to the mode in the step (1);
33) establishing a corresponding change relation between the engine state parameter and the feedback pressure;
34) according to the current working state of the engine, solving an engine state regulation response time constant and an open loop gain coefficient, self-tuning a control parameter, and giving a regulation output quantity;
35) adjusting the throat area to complete pressure adjustment in a control period;
36) a saturation control amount is set.
The specific process of the step 31) is as follows:
and sending a target pressure signal and an ignition signal to the engine, wherein the actual pressure fed back by the pressure sensor after the engine is ignited deviates from the set target pressure, and the deviation amount is calculated by control parameters to give a dynamic adjustment amount so as to complete the control in one period.
The specific process of the step 33) is as follows:
establishing a corresponding change relation between the free volume of the engine and the working pressure, calculating a time constant and a system gain coefficient of a pressure closed-loop control system according to the working state of the variable-thrust engine in the next control period, wherein the working state of the variable-thrust engine comprises the current working pressure fed back by a pressure sensor and the free volume of the engine, the increment of the free volume is coupled with the working pressure of the engine and the combustion rate of a propellant, the combustion rate of the propellant is calculated by the real-time feedback pressure, and integrating the predicted combustion surface and the combustion rate of the propellant in a control algorithm program to obtain the increment of the free volume:
wherein, Vg0Is the initial free volume of the engine, AbThe area of propellant combustion is shown as a, the burning rate coefficient of the propellant is shown as a, p is the working pressure of the engine, and n is the pressure index of the propellant.
The specific process of the step 34) is as follows:
establishing a change relation between the state parameter and the control system time constant and the open loop gain, and carrying out linearization treatment on the pressure regulation response system according to a small deviation linearization theory to obtain a resolving relation between the engine state regulation response time constant and the open loop gain
Wherein, gamma is the specific heat function of the propellant, c is the propellantCharacteristic velocity, AtIs the area of the nozzle throat, ρpAs density of propellant, AbThe area is the combustion area of the propellant, a is the combustion rate coefficient of the propellant, p is the working pressure of the engine, and n is the pressure index of the propellant;
according to the time constant and the gain system of an engine adjusting system in the current control period, the control parameters are self-adjusted, the system response is slowed down when the time constant is increased, the control parameters are improved by increasing the proportional control loop parameters, overshoot oscillation easily occurs to the system when the open loop gain is increased, and the control parameters are improved by reducing the proportional loop and the integral loop, and the specific method is as follows:
kp＝kp0+aTp-bK，
ki＝ki0-cK，
wherein k isp0、ki0The initial control parameters of the proportional loop and the integral loop are respectively, and a, b and c are adjustment correction coefficients.
The specific process of the step 35) is as follows: calculating a control regulating quantity according to the control parameters obtained in the step:
wherein u (t) is the adjustment amount of the servo device; the position of the throat plug is adjusted by the servo device, so that the annular ventilation area between the throat part of the spray pipe and the head part of the throat plug is changed, and the pressure adjustment in a control period is completed.
The specific process of the step 36) is as follows: and setting a dynamic adjustment saturation output, wherein when the feedback pressure continuously deviates from the target pressure or the deviation exceeds the pressure adjustment capacity of the engine, the control adjustment quantity has an output limiting capacity, namely u (t) is less than or equal to M, wherein M is the maximum adjustment quantity which can be borne by the engine, and the problem that the throat area is infinitely adjusted to be small to cause engine failure is prevented.
The working state of the engine is obtained through redundant judgment after being fed back by a plurality of sensors.
Compared with the prior art, the invention has the advantages that:
(1) the self-tuning method of the pressure feedback control parameter of the variable thrust engine can realize the real-time feedback control of the working pressure of the engine, realize the control-following adjustment of the output thrust of the engine, overcome the influence of the combustion speed fluctuation of a propellant, the environmental temperature change and the like on the pressure of a combustion chamber, and improve the structural reliability of the variable thrust engine under dynamic adjustment.
(2) The invention adopts a plurality of sensors for redundant measurement, obtains the feedback pressure of the combustion chamber by taking the mean value after removing the large-deviation test data, increases the interpretation accuracy, prevents the influence of the test error on the pressure regulation and ensures the safety of the engine.
(3) The pressure feedback control parameters can self-adjust the control parameters according to the real-time working state of the variable thrust engine, and the stable control of the pressure of the combustion chamber is realized by adjusting the control parameters under the condition of adjusting the dynamic change of the response system, so that the defect of large pressure adjustment quality change of the variable thrust engine in different working states is overcome.
Drawings
FIG. 1 is a schematic diagram of the time constant and gain coefficient variation process of the pressure response system for dynamic throat adjustment of a variable thrust engine according to the present invention, wherein (a) is the variation of the time constant of the system, and (b) is the variation of the gain coefficient.
FIG. 2 is a schematic diagram of a feedback control parameter self-tuning process in the present invention.
Detailed Description
The pressure feedback control parameter self-tuning method of the variable thrust engine is further described in detail with reference to the accompanying drawings.
As shown in FIG. 2, the invention provides a pressure feedback control parameter self-tuning method for a variable thrust engine, which comprises the following main steps:
(1) formulating an engine feedback pressure interpretation mode:
setting the maximum adjusting pressure and the corresponding thrust of the variable-thrust engine, selecting a sensor covered by a measuring range according to the designed maximum working pressure of the engine, redundantly measuring the working pressure of the engine by adopting multiple sensors and multiple measuring points, selecting partial data with the difference value less than 2% in the test data, removing the rest data, and taking the test average value as the feedback quantity of the current state;
the method specifically comprises the following steps: setting n (n is more than or equal to 3) pressure measuring points and sensors, calculating difference values of the test data of each sensor in pairs, removing data points with the difference value of more than 2% in the test data, and averaging the rest data points to serve as feedback pressure data.
(2) Setting a control dead zone value according to the control precision and the lowest control pressure;
the method specifically comprises the following steps: and designing an allowable maximum pressure control deviation amount, performing control adjustment after the deviation amount of the feedback pressure value and the target pressure value is greater than the allowable maximum control deviation amount, otherwise, performing control dead zone, and not performing adjustment, thereby avoiding high-frequency adjustment of the actuating mechanism.
(3) Pressure feedback control of the variable thrust engine:
1) sending a target pressure signal to the engine, enabling the engine to work, and outputting by a pressure sensor;
sending a target pressure signal and an ignition signal to the engine, wherein the actual pressure fed back by a pressure sensor after the engine is ignited deviates from the set target pressure, and the deviation amount is calculated by control parameters to give a dynamic adjustment amount so as to complete the control in one period;
2) collecting signals of a current sensor, arranging a pressure measuring point at the head of the combustion chamber, processing data of each pressure sensor according to the mode in the step (1), and feeding back a current pressure value;
3) establishing a corresponding change relation between the engine state parameter and the feedback pressure;
establishing a corresponding change relation between the free volume of the engine and the working pressure, calculating a time constant and a system gain coefficient of a pressure closed-loop control system according to the working state of the variable-thrust engine in the next control period, and accordingly adjusting control parameters, wherein the working state comprises the current working pressure fed back by a sensor and the free volume of the engine, the change of the free volume is caused by the combustion of a solid propellant, the free volume is gradually increased along with the consumption of the propellant, the increase is coupled with the pressure of a combustion chamber and the combustion speed of the propellant, the combustion speed of the charge is calculated by the real-time feedback pressure, and the predicted combustion surface and the charge combustion speed are integrated in a control algorithm program to obtain the free volume increase:
wherein, Vg0Is the initial free volume of the engine, AbThe area of propellant combustion is shown as a, the burning rate coefficient of the propellant is shown as a, p is the working pressure of the engine, and n is the pressure index of the propellant.
4) Resolving an engine state regulation response time constant and an open loop gain coefficient according to the current working state of the engine, self-tuning a control parameter, and giving a regulation output quantity;
establishing a change relation between the state parameter and the control system time constant and the open loop gain, and carrying out linearization processing on the pressure regulation response system according to a small deviation linearization theory to obtain a resolving relation between the engine state regulation response time constant and the open loop gain;
wherein, gamma is the specific heat function of the propellant, c is the characteristic speed of the propellant, AtIs the area of the nozzle throat, ρpAs density of propellant, AbThe area of propellant combustion is shown as a, the burning rate coefficient of the propellant is shown as a, p is the working pressure of the engine, and n is the pressure index of the propellant.
Preferably, the time constant and the gain system of the engine regulating system are calculated according to the method according to the pressure state and the throat regulating quantity fed back in the current control period, and the attached figure 1 shows the change of the time constant and the gain coefficient in the dynamic regulating process.
When the time constant is increased, the system response is slowed down, the improvement is carried out by increasing the parameters of the proportional control loop, when the open-loop gain is increased, the overshoot oscillation is easy to occur in the system, and the improvement is carried out by reducing the control parameters of the proportional loop and the integral loop;
kp＝kp0+aT-bK
ki＝ki0-cK
wherein k isp0、ki0The initial control parameters of the proportional loop and the integral loop are respectively, a, b and c are adjustment correction coefficients, and the empirical values a are 0.85, b are 0.48 and c are 0.5.
5) Adjusting the throat area to complete pressure adjustment in a control period;
the position of the throat plug is adjusted by the servo device according to the control output quantity, so that the annular ventilation area between the throat part of the spray pipe and the head part of the throat plug is changed, and the pressure adjustment in a control period is completed.
6) Setting a saturation control quantity;
and setting a dynamic adjustment saturation output quantity, wherein when the feedback pressure continuously deviates from the target pressure or the deviation quantity is overlarge, the control parameter adjusting quantity has saturation limiting capacity, and the control output quantity also has saturation limiting capacity, so that the throat area is prevented from being infinitely adjusted to be small.
The self-tuning method for the pressure feedback control parameter of the variable thrust engine provided by the invention respectively compares the thrust pressure response performance in an open loop regulation state with the regulation response performance of fixed control parameters, can realize better regulation and control performance under different working conditions of high pressure and low pressure and different free volume changes, and overcomes the pressure oscillation phenomenon during boosting regulation.
Claims (9)
1. A pressure feedback control parameter self-tuning method of a variable thrust engine is characterized by comprising the following steps:
(1) formulating an engine feedback pressure interpretation mode; setting the maximum adjusting pressure and the corresponding thrust of the variable thrust engine, redundantly measuring the working pressure of the engine by adopting a plurality of sensors and a plurality of measuring points, selecting partial data with consistent or close test data, removing data with larger deviation, and taking a test average value as the feedback quantity of the current state;
(2) setting a control dead zone value according to the control precision and the lowest control pressure;
(3) performing feedback control on the pressure of the variable thrust engine; the specific process of the step (3) is as follows:
31) sending a target pressure signal to the engine, enabling the engine to work, enabling the pressure sensor to output a feedback value, and completing control in one period;
32) collecting a current sensor signal, and reading a current pressure value according to the mode in the step (1);
33) establishing a corresponding change relation between the engine state parameter and the feedback pressure;
34) according to the current working state of the engine, solving an engine state regulation response time constant and an open loop gain coefficient, self-tuning a control parameter, and giving a regulation output quantity;
35) adjusting the throat area to complete pressure adjustment in a control period;
36) a saturation control amount is set.
2. The pressure feedback control parameter self-tuning method of the variable thrust engine according to claim 1, characterized in that: the specific process of the step (1) is as follows:
and arranging a plurality of pressure measuring points and sensors, calculating difference values of the test data of each sensor in pairs, removing two data points with the largest difference of the test data, and averaging the rest data points to serve as feedback pressure data.
3. The pressure feedback control parameter self-tuning method of the variable thrust engine according to claim 1, characterized in that: the specific process of the step (2) is as follows: designing an allowable maximum pressure control deviation amount, and entering the step (3) to perform control regulation when the deviation amount between the pressure value fed back by the pressure sensor and the target pressure value measured by the controller is greater than the allowable maximum pressure control deviation amount; otherwise, the dead zone is controlled, no adjustment is carried out, the step (1) is returned, and the next step of cyclic adjustment is continued.
4. The pressure feedback control parameter self-tuning method of the variable thrust engine according to claim 1, characterized in that: the specific process of the step 31) is as follows:
and sending a target pressure signal and an ignition signal to the engine, wherein the actual pressure fed back by the pressure sensor after the engine is ignited deviates from the set target pressure, and the deviation amount is calculated by control parameters to give a dynamic adjustment amount so as to complete the control in one period.
5. The variable thrust engine pressure feedback control parameter self-tuning method of claim 4, wherein: the specific process of the step 33) is as follows:
establishing a corresponding change relation between the free volume of the engine and the working pressure, calculating a time constant and a system gain coefficient of a pressure closed-loop control system according to the working state of the variable-thrust engine in the next control period, wherein the working state of the variable-thrust engine comprises the current working pressure fed back by a pressure sensor and the free volume of the engine, the increment of the free volume is coupled with the working pressure of the engine and the combustion rate of a propellant, the combustion rate of the propellant is calculated by the real-time feedback pressure, and integrating the predicted combustion surface and the combustion rate of the propellant in a control algorithm program to obtain the increment of the free volume:
wherein, Vg0Is the initial free volume of the engine, AbThe area of propellant combustion is shown as a, the burning rate coefficient of the propellant is shown as a, p is the working pressure of the engine, and n is the pressure index of the propellant.
6. The variable thrust engine pressure feedback control parameter self-tuning method of claim 5, characterized in that: the specific process of the step 34) is as follows:
establishing a change relation between the state parameter and the control system time constant and the open loop gain, and carrying out linearization treatment on the pressure regulation response system according to a small deviation linearization theory to obtain a resolving relation between the engine state regulation response time constant and the open loop gain
Wherein, gamma is the specific heat function of the propellant, c is the characteristic speed of the propellant, AtIs the area of the nozzle throat, ρpAs density of propellant, AbThe area is the combustion area of the propellant, a is the combustion rate coefficient of the propellant, p is the working pressure of the engine, and n is the pressure index of the propellant;
according to the time constant and the gain system of an engine adjusting system in the current control period, the control parameters are self-adjusted, the system response is slowed down when the time constant is increased, the control parameters are improved by increasing the proportional control loop parameters, overshoot oscillation easily occurs to the system when the open loop gain is increased, and the control parameters are improved by reducing the proportional loop and the integral loop, and the specific method is as follows:
kp＝kp0+aTp-bK，
ki＝ki0-cK，
wherein k isp0、ki0The initial control parameters of the proportional loop and the integral loop are respectively, and a, b and c are adjustment correction coefficients.
7. The variable thrust engine pressure feedback control parameter self-tuning method of claim 6, characterized in that: the specific process of the step 35) is as follows: calculating a control regulating quantity according to the control parameters obtained in the step:
wherein u (t) is the adjustment amount of the servo device; the position of the throat plug is adjusted by the servo device, so that the annular ventilation area between the throat part of the spray pipe and the head part of the throat plug is changed, and the pressure adjustment in a control period is completed.
8. The pressure feedback control parameter self-tuning method of the variable thrust engine according to claim 7, characterized in that: the specific process of the step 36) is as follows: and setting a dynamic adjustment saturation output, wherein when the feedback pressure continuously deviates from the target pressure or the deviation exceeds the pressure adjustment capacity of the engine, the control adjustment quantity has an output limiting capacity, namely u (t) is less than or equal to M, wherein M is the maximum adjustment quantity which can be borne by the engine, and the problem that the throat area is infinitely adjusted to be small to cause engine failure is prevented.
9. The variable thrust engine pressure feedback control parameter self-tuning method according to any one of claims 1-8, characterized in that: the working state of the engine is obtained through redundant judgment after being fed back by a plurality of sensors.
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