CN113341760B - Modeling method of coupling performance model of test bed and engine for semi-physical simulation - Google Patents
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Abstract
Description
技术领域technical field
本发明涉及工程系统建模技术领域，是一种半实物仿真用试验台与发动机耦合性能模型建模方法。The invention relates to the technical field of engineering system modeling, and relates to a method for modeling the coupling performance of a semi-physical simulation test bench and an engine.
背景技术Background technique
超燃冲压发动机被认为是大气层内高超声速飞行器的理想推进装置，具有远距离、高比冲、高马赫巡航和单级入轨等优点，在空间运输和武器装备方面有广泛的应用前景，引起了许多国家的极大兴趣。随着近来各国科研力量上的投入，对超燃冲压发动机的研究越来越广泛和深入。The scramjet is considered to be an ideal propulsion device for hypersonic vehicles in the atmosphere. It has the advantages of long distance, high specific impulse, high Mach cruise and single-stage entry into orbit. It has a wide range of application prospects in space transportation and weaponry. of great interest in many countries. With the recent investment in scientific research in various countries, the research on scramjet is more and more extensive and in-depth.
目前，对于超燃冲压发动机的研究方法主要有数值模拟、地面试验与飞行试验三种方法，其中飞行试验成本较高，实施比较困难。而地面实验手段就成为了进行超燃研究的重要手段。在发动机的研究中为了尽可能的模拟高空来流的气流环境，可通过直连式发动机高空实验台进行，为了研究实验台的输出的气流参数特性和试验台的控制器参数设计就需要搭建实验台的数学模型。At present, the research methods of scramjet mainly include numerical simulation, ground test and flight test. Among them, flight test is expensive and difficult to implement. The ground experiment method has become an important method for scrambling research. In the engine research, in order to simulate the high-altitude airflow environment as much as possible, it can be carried out through the direct-connected engine high-altitude test bench. In order to study the airflow parameter characteristics of the output of the test bench and the design of the controller parameters of the test bench, it is necessary to build an experiment. Mathematical model of the platform.
发明内容SUMMARY OF THE INVENTION
本发明为提供一种半实物仿真用试验台与发动机耦合性能模型建模方法，其具有更高精度和实时性的模型，可分析试验台和发动机耦合过程的变化情况，进一步实现试验台的准确控制。，本发明提供了一种半实物仿真用试验台与发动机耦合性能模型建模方法，本发明提供了以下技术方案：The invention provides a model modeling method for the coupling performance of a test bench and an engine for semi-physical simulation, which has a model with higher precision and real-time performance, can analyze the change of the coupling process of the test bench and the engine, and further realizes the accuracy of the test bench. control. , the present invention provides a method for modeling the coupling performance between a test bench and an engine for hardware-in-the-loop simulation, and the present invention provides the following technical solutions:
一种半实物仿真用试验台与发动机耦合性能模型建模方法，包括以下步骤：A method for modeling the coupling performance of a test bench and an engine for hardware-in-the-loop simulation, comprising the following steps:
步骤1：通过建立总阀门数学模型给定的压力入口和背压以及阀门开度确定出口的的流量和阀门后总压、总压损失系数以及速度系数；Step 1: Determine the flow rate of the outlet, the total pressure after the valve, the total pressure loss coefficient and the velocity coefficient by establishing the pressure inlet and back pressure and the valve opening given by the mathematical model of the total valve;
步骤2：建立加热器模型，通过酒精的释热和气体的温升确定酒精燃烧后的加热器温度；Step 2: Establish a heater model, and determine the heater temperature after the alcohol is burned by the heat release of the alcohol and the temperature rise of the gas;
步骤3：确定发动机试验台耦合模型的PID控制器参数，确定总温试验台的传递函数，并对控制器所用参数进行整定。Step 3: Determine the PID controller parameters of the coupling model of the engine test bench, determine the transfer function of the total temperature test bench, and tune the parameters used by the controller.
优选地，所述步骤1具体为：Preferably, the step 1 is specifically:
步骤1.1：Step 1.1:
设定一个总压损失系数，根据设定的总压损失系数，计算得到气动函数π(λ)，根据气动函数π(λ)得到速度系数λ，由速度系数λ求解得到流量系数q(λ)，确定阀门过程造成的总压损失系数，根据总压损失系数确定出口的参数，通过下式表示总压损失系数：Set a total pressure loss coefficient, calculate the aerodynamic function π(λ) according to the set total pressure loss coefficient, obtain the velocity coefficient λ according to the aerodynamic function π(λ), and obtain the flow coefficient q(λ) by solving the velocity coefficient λ , determine the total pressure loss coefficient caused by the valve process, determine the parameters of the outlet according to the total pressure loss coefficient, and express the total pressure loss coefficient by the following formula:
由总压损失系数，总温，流量系q(λ)得到流量，根据流量计算得到总压损失系数，由得到的总压损失继续进行计算迭代直到计算得到收敛的结果；The flow rate is obtained from the total pressure loss coefficient, the total temperature, and the flow coefficient q(λ), and the total pressure loss coefficient is calculated according to the flow rate, and the calculation iteration is continued from the obtained total pressure loss until the calculation converges;
步骤1.2：在主阀门的开度信号和流量给定的情况下计算得出主路阀门后的总压，在计算时，首先计算总压恢复系数，阀门的总压恢复系数与总压、总温、流量和阀门开度有关，因此通过输入参数直接求解出阀门后总压恢复系数，即求解出阀门后总压，通过下式表示阀门后总压：Step 1.2: Calculate the total pressure after the main valve when the opening signal of the main valve and the flow rate are given. When calculating, first calculate the total pressure recovery coefficient. The total pressure recovery coefficient of the valve is related to the total pressure and total pressure. Temperature, flow rate and valve opening are related, so the total pressure recovery coefficient after the valve is directly solved by inputting parameters, that is, the total pressure after the valve is solved, and the total pressure after the valve is expressed by the following formula:
根据进入阀门的总压和流量以及阀门开度等参数计算得出阀门造成的总压损失，进而计算得出阀门的出口总压。Calculate the total pressure loss caused by the valve according to the parameters such as the total pressure and flow into the valve and the valve opening, and then calculate the total outlet pressure of the valve.
优选地，所述步骤2具体为：Preferably, the step 2 is specifically:
在加热器中为了模拟飞行器高速飞行时的高焓气体来流，需要提高来流气体的总温，选用酒精在加热器中燃烧放热提高气流的总焓，建立加热器模型；In the heater, in order to simulate the inflow of high-enthalpy gas when the aircraft is flying at high speed, it is necessary to increase the total temperature of the incoming gas. Alcohol is used to burn and release heat in the heater to increase the total enthalpy of the air flow, and the heater model is established;
假定空气组分为79％的氮气和21％的氧气将空气中其他不参与反应的气体同一归入氮气；Assuming that the air composition is 79% nitrogen and 21% oxygen, other gases in the air that do not participate in the reaction are classified into nitrogen;
当有Cmol的空气，Amol的酒精参与燃烧，和Bmol的氧气补充进加热器，根据对酒精燃烧方程式得到以及补氧后的最终的氧气体积分数得到方程式：When there is Cmol of air, Amol of alcohol participates in the combustion, and Bmol of oxygen is supplemented into the heater. According to the alcohol combustion equation and the final oxygen volume fraction after oxygen supplementation, the equation is obtained:
通过分析已经得到需要补充的氧气质量和酒精质量的比值关系，通过酒精的释热和气体的温升计算出酒精燃烧后的加热器温度：By analyzing the ratio relationship between the oxygen mass and the alcohol mass that needs to be supplemented, the heater temperature after the alcohol is burned is calculated by the heat release of the alcohol and the temperature rise of the gas:
根据酒精的释热转换为混合燃气的温升就得到最终的气体温度。The final gas temperature is obtained by converting the heat release of the alcohol into the temperature rise of the mixed gas.
优选地，所述步骤3具体为：根据总温试验台的物理建模过程，将总温试验台的传递函数通过下式表示：Preferably, the step 3 is specifically: according to the physical modeling process of the total temperature test bench, the transfer function of the total temperature test bench is expressed by the following formula:
其中，系统的常数项仅代表增益环节，总温闭环控制系统将基于上述传递函数对象进行设计，整定控制器参数。Among them, the constant term of the system only represents the gain link, and the total temperature closed-loop control system will be designed based on the above transfer function object, and the controller parameters will be adjusted.
优选地，所述模型通过试验台来流经过总阀门进行节流降压并且控制流量，经过加热系统并与酒精混合燃烧，从气流参数表现为一添加质量和气流温升的过程，而后经过一主路阀门将气流分为两路，主路是供给实验的气流，压力是由主路阀门控制，旁路则直接排入大气；实验台输出的总压受总阀门和主路阀门两个阀门控制，而输出总温受燃烧当量比控制，受酒精流量和来流空气流量影响，即受总阀门和酒精质量流量二者共同调节控制。Preferably, the model flows through the main valve through the test bench for throttling and depressurization and controlling the flow rate, passes through the heating system and mixes with alcohol and burns, from the airflow parameters as a process of adding mass and airflow temperature rise, and then through a The main circuit valve divides the air flow into two paths. The main circuit is the air supply for the experiment, the pressure is controlled by the main circuit valve, and the bypass is directly discharged into the atmosphere; the total pressure output by the test bench is controlled by the main valve and the main circuit valve. The total output temperature is controlled by the combustion equivalence ratio, and is affected by the alcohol flow and the incoming air flow, that is, it is jointly adjusted and controlled by the total valve and the alcohol mass flow.
优选地，在计算空气总阀门流量时，首先假定一预设的总压损失，而后根据二分法不断迭代更新直至求出符合实验要求的准确解，绝对误差小于0.001；使用固定步长的建模方式进行试验台模型的搭建，其中选择0.01秒作为所有模型搭建的基准步长。Preferably, when calculating the total air valve flow, a preset total pressure loss is first assumed, and then iteratively updated according to the dichotomy method until an accurate solution that meets the experimental requirements is obtained, and the absolute error is less than 0.001; modeling with a fixed step size The test-bed model was built in the same way, in which 0.01 second was selected as the benchmark step for all model building.
优选地，使用线型模型对所搭建的试验台模型进行辨识，进而得到试验台辨识模型。Preferably, a linear model is used to identify the built test bench model, thereby obtaining a test bench identification model.
优选地，使用PID控制器对所搭建的试验台模型进行控制，并对控制器所用参数进行整定。Preferably, a PID controller is used to control the built test bench model, and the parameters used by the controller are adjusted.
本发明具有以下有益效果：The present invention has the following beneficial effects:
本发明将试验台和发动机的耦合特性考虑在建模方式中，使用流量和压力的变化关系的积分将总阀门后的气流总压确定下来，而后利用主路阀门模块的计算将发动机所用的来流气流参数计算得出。在发动机实验台的总温计算中利用酒精燃烧后补氧的方式提升来流的总温，其中来流总温利用酒精比热和加入燃烧的酒精的质量确定。在控制器设计方案采用辨识的方式得到发动机的线性模型，并且采用PID控制对实验台和发动机的耦合性能模型进行控制，并对控制器参数进行整定。本发明的目的是为了部署在硬件上进行半实物仿真，因此无论是建模过程还是控制器设计过程统一采用固定步长的方式进行。本发明的建模和控制策略既兼顾了模型计算的快速性，又利用压力和流量的积分关系计算保证了计算的准确性，为部署在硬件上并进一步进行发动机实验提供了基础。The present invention takes the coupling characteristics of the test bench and the engine into consideration in the modeling method, uses the integral of the change relationship between the flow rate and the pressure to determine the total pressure of the airflow behind the main valve, and then uses the calculation of the main valve module to calculate the flow rate used by the engine. The airflow parameters are calculated. In the calculation of the total temperature of the engine test bench, the total temperature of the incoming flow is increased by supplementing oxygen after the alcohol is burned, and the total temperature of the incoming flow is determined by the specific heat of alcohol and the mass of the alcohol added to burn. In the controller design scheme, the linear model of the engine is obtained by means of identification, and the PID control is used to control the coupling performance model of the test bench and the engine, and the parameters of the controller are adjusted. The purpose of the present invention is to deploy on hardware to perform hardware-in-the-loop simulation, so both the modeling process and the controller design process are uniformly performed in a fixed-step manner. The modeling and control strategy of the present invention not only takes into account the rapidity of model calculation, but also ensures the accuracy of calculation by using the integral relationship between pressure and flow, and provides a basis for deploying on hardware and further performing engine experiments.
附图说明Description of drawings
图1为本发明的发动机实验台耦合模型的基本工作原理；Fig. 1 is the basic working principle of the engine test bench coupling model of the present invention;
图2为本发明的实验台和发动机耦合性能模型基本输入输出参数；Fig. 2 is the basic input and output parameters of the experimental bench and the engine coupling performance model of the present invention;
图3为本发明的控制用模型的闭环bode图的频域响应；Fig. 3 is the frequency domain response of the closed-loop bode diagram of the control model of the present invention;
图4为本发明的原始模型和辨识模型的总温信号在阶跃信号下的响应。FIG. 4 is the response of the total temperature signal of the original model and the identification model of the present invention under a step signal.
具体实施方式Detailed ways
以下结合具体实施例，对本发明进行了详细说明。The present invention is described in detail below with reference to specific embodiments.
具体实施例一：Specific embodiment one:
根据图1至图4所示，本发明提供一种半实物仿真用试验台与发动机耦合性能模型建模方法，包括以下步骤：As shown in FIGS. 1 to 4 , the present invention provides a method for modeling the coupling performance of a test bench and an engine for hardware-in-the-loop simulation, comprising the following steps:
一种半实物仿真用试验台与发动机耦合性能模型建模方法，包括以下步骤：A method for modeling the coupling performance of a test bench and an engine for hardware-in-the-loop simulation, comprising the following steps:
步骤1：通过建立总阀门数学模型给定的压力入口和背压以及阀门开度确定出口的的流量和阀门后总压、总压损失系数以及速度系数；Step 1: Determine the flow rate of the outlet, the total pressure after the valve, the total pressure loss coefficient and the velocity coefficient by establishing the pressure inlet and back pressure and the valve opening given by the mathematical model of the total valve;
所述步骤1具体为：The step 1 is specifically:
步骤1.1：Step 1.1:
设定一个总压损失系数，根据设定的总压损失系数，计算得到气动函数π(λ)，根据气动函数π(λ)得到速度系数λ，由速度系数λ求解得到流量系数q(λ)，确定阀门过程造成的总压损失系数，根据总压损失系数确定出口的参数，通过下式表示总压损失系数：Set a total pressure loss coefficient, calculate the aerodynamic function π(λ) according to the set total pressure loss coefficient, obtain the velocity coefficient λ according to the aerodynamic function π(λ), and obtain the flow coefficient q(λ) by solving the velocity coefficient λ , determine the total pressure loss coefficient caused by the valve process, determine the parameters of the outlet according to the total pressure loss coefficient, and express the total pressure loss coefficient by the following formula:
σ-总压损失系数σ-total pressure loss coefficient
P*-来流总压P * - Total incoming pressure
Pb-背压P b - back pressure
k-气体比热比k-gas specific heat ratio
λ-速度系数λ-speed coefficient
T*-气流总温T * - Total airflow temperature
W-质量流量W-mass flow
α-阀门开度α-Valve opening
由总压损失系数，总温，流量系q(λ)得到流量，根据流量计算得到总压损失系数，由得到的总压损失继续进行计算迭代直到计算得到收敛的结果；The flow rate is obtained from the total pressure loss coefficient, the total temperature, and the flow coefficient q(λ), and the total pressure loss coefficient is calculated according to the flow rate, and the calculation iteration is continued from the obtained total pressure loss until the calculation converges;
步骤1.2：在主阀门的开度信号和流量给定的情况下计算得出主路阀门后的总压，在计算时，首先计算总压恢复系数，阀门的总压恢复系数与总压、总温、流量和阀门开度有关，因此通过输入参数直接求解出阀门后总压恢复系数，即求解出阀门后总压，通过下式表示阀门后总压：Step 1.2: Calculate the total pressure after the main valve when the opening signal of the main valve and the flow rate are given. When calculating, first calculate the total pressure recovery coefficient. The total pressure recovery coefficient of the valve is related to the total pressure and total pressure. Temperature, flow rate and valve opening are related, so the total pressure recovery coefficient after the valve is directly solved by inputting parameters, that is, the total pressure after the valve is solved, and the total pressure after the valve is expressed by the following formula:
σ-总压损失系数σ-total pressure loss coefficient
P*-来流总压P * - Total incoming pressure
T*-气流总温T * - Total airflow temperature
W-质量流量W-mass flow
α-阀门开度α-Valve opening
根据进入阀门的总压和流量以及阀门开度等参数计算得出阀门造成的总压损失，进而计算得出阀门的出口总压。Calculate the total pressure loss caused by the valve according to the parameters such as the total pressure and flow into the valve and the valve opening, and then calculate the total outlet pressure of the valve.
步骤2：建立加热器模型，通过酒精的释热和气体的温升确定酒精燃烧后的加热器温度；Step 2: Establish a heater model, and determine the heater temperature after the alcohol is burned by the heat release of the alcohol and the temperature rise of the gas;
所述步骤2具体为：The step 2 is specifically:
在加热器中为了模拟飞行器高速飞行时的高焓气体来流，需要提高来流气体的总温，选用酒精在加热器中燃烧放热提高气流的总焓，建立加热器模型；In the heater, in order to simulate the inflow of high-enthalpy gas when the aircraft is flying at high speed, it is necessary to increase the total temperature of the incoming gas. Alcohol is used to burn and release heat in the heater to increase the total enthalpy of the air flow, and the heater model is established;
假定空气组分为79％的氮气和21％的氧气将空气中其他不参与反应的气体同一归入氮气；Assuming that the air composition is 79% nitrogen and 21% oxygen, other gases in the air that do not participate in the reaction are classified into nitrogen;
当有Cmol的空气，Amol的酒精参与燃烧，和Bmol的氧气补充进加热器，根据对酒精燃烧方程式得到以及补氧后的最终的氧气体积分数得到方程式：When there is Cmol of air, Amol of alcohol participates in the combustion, and Bmol of oxygen is supplemented into the heater. According to the alcohol combustion equation and the final oxygen volume fraction after oxygen supplementation, the equation is obtained:
则可以得到
通过分析已经得到需要补充的氧气质量和酒精质量的比值关系，通过酒精的释热和气体的温升计算出酒精燃烧后的加热器温度：By analyzing the ratio relationship between the oxygen mass and the alcohol mass that needs to be supplemented, the heater temperature after the alcohol is burned is calculated by the heat release of the alcohol and the temperature rise of the gas:
根据酒精的释热转换为混合燃气的温升就得到最终的气体温度。The final gas temperature is obtained by converting the heat release of the alcohol into the temperature rise of the mixed gas.
步骤3：确定发动机试验台耦合模型的PID控制器参数，确定总温试验台的传递函数，并对控制器所用参数进行整定。Step 3: Determine the PID controller parameters of the coupling model of the engine test bench, determine the transfer function of the total temperature test bench, and tune the parameters used by the controller.
所述步骤3具体为：根据总温试验台的物理建模过程，将总温试验台的传递函数通过下式表示：The step 3 is specifically: according to the physical modeling process of the total temperature test bench, the transfer function of the total temperature test bench is expressed by the following formula:
其中，系统的常数项仅代表增益环节，总温闭环控制系统将基于上述传递函数对象进行设计，整定控制器参数。Among them, the constant term of the system only represents the gain link, and the total temperature closed-loop control system will be designed based on the above transfer function object, and the controller parameters will be adjusted.
所述模型通过试验台来流经过总阀门进行节流降压并且控制流量，经过加热系统并与酒精混合燃烧，从气流参数表现为一添加质量和气流温升的过程，而后经过一主路阀门将气流分为两路，主路是供给实验的气流，压力是由主路阀门控制，旁路则直接排入大气；实验台输出的总压受总阀门和主路阀门两个阀门控制，而输出总温受燃烧当量比控制，受酒精流量和来流空气流量影响，即受总阀门和酒精质量流量二者共同调节控制。The model flows through the test bench through the main valve for throttling and depressurization and controlling the flow rate, and then passes through the heating system and is mixed with alcohol for combustion. The airflow is divided into two paths, the main path is the airflow for the experiment, the pressure is controlled by the main path valve, and the bypass is directly discharged into the atmosphere; the total pressure output from the test bench is controlled by the main valve and the main path valve, while The total output temperature is controlled by the combustion equivalence ratio, and is affected by the alcohol flow and the incoming air flow, that is, it is jointly adjusted and controlled by the total valve and the alcohol mass flow.
在计算空气总阀门流量时，首先假定一预设的总压损失，而后根据二分法不断迭代更新直至求出符合实验要求的准确解，绝对误差小于0.001；使用固定步长的建模方式进行试验台模型的搭建，其中选择0.01秒作为所有模型搭建的基准步长。When calculating the total air valve flow, first assume a preset total pressure loss, and then iteratively update according to the dichotomy method until an accurate solution that meets the experimental requirements is obtained, and the absolute error is less than 0.001; use a fixed-step modeling method to conduct experiments The construction of the table model, in which 0.01 second is selected as the benchmark step size for all model construction.
在加热器中为了模拟飞行器高速飞行时的高焓气体来流，需要提高来流气体的总温，因此选用酒精在加热器中燃烧放热提高气流的总焓，但是单纯使用酒精提高总温会造成加热器出口气流的氧气组分减少，影响后续的实验。因此需要在酒精燃烧升温后将氧气组分补充到常规空气中氧气的组分，也就是要保证最终氧气的体积分数为21％。基于以上思路建立加热器模型。In the heater, in order to simulate the inflow of high-enthalpy gas when the aircraft is flying at high speed, it is necessary to increase the total temperature of the incoming gas, so alcohol is used to burn and release heat in the heater to increase the total enthalpy of the airflow, but simply using alcohol to increase the total temperature will The oxygen component in the outlet gas flow of the heater is reduced, which affects the subsequent experiments. Therefore, it is necessary to supplement the oxygen component to the oxygen component in the conventional air after the alcohol is burned and heated, that is, to ensure that the final oxygen volume fraction is 21%. Based on the above ideas, a heater model is established.
C2H5OH+3O2＝2CO2+3H2OC 2 H 5 OH+3O 2 =2CO 2 +3H 2 O
使用线型模型对所搭建的试验台模型进行辨识，进而得到试验台辨识模型。The line model is used to identify the built test bench model, and then the test bench identification model is obtained.
使用PID控制器对所搭建的试验台模型进行控制，并对控制器所用参数进行整定。考虑到实际应用中PID控制器微分环节受噪声影响较大，多采用PI控制器进行被控对象的闭环控制。对闭环系统进行性能和鲁棒性分析可知：上升时间为0.694秒，稳定时间为2.37秒，超调量为5.5％，相角裕度为75°。上述结果表明，控制系统设计满足稳定性要求，且具有良好的控制性能。The PID controller is used to control the built test bench model, and the parameters used by the controller are adjusted. Considering that the differential link of the PID controller is greatly affected by noise in practical applications, the PI controller is mostly used for closed-loop control of the controlled object. The performance and robustness analysis of the closed-loop system shows that the rise time is 0.694 seconds, the settling time is 2.37 seconds, the overshoot is 5.5%, and the phase angle margin is 75°. The above results show that the control system design meets the stability requirements and has good control performance.
在实验台总压调节的控制器设计中，由于压力参数的计算涉及到多个阀门部件和多个变量的参与，直接推导出其传递函数则十分复杂，因此可采用辨识的方法进行。通过对阶跃信号的响应分析，可以用一阶惯性环节进行分析。In the controller design of the total pressure regulation of the test bench, since the calculation of pressure parameters involves the participation of multiple valve components and variables, it is very complicated to directly derive its transfer function, so the identification method can be used. By analyzing the response of the step signal, the first-order inertial link can be used for analysis.
采用辨识模型和原始模型进行分析可知在阶跃信号的响应下二者十分接近，可以采用辨识模型进行控制器的设计。压力控制器参数的设计方法与温度控制器的参数设计方法相同。控制器选用PI控制器。The identification model and the original model are used for analysis, and it can be seen that the two are very close under the response of the step signal, and the identification model can be used to design the controller. The design method of the parameters of the pressure controller is the same as that of the temperature controller. The controller selects PI controller.
以上所述仅是一种半实物仿真用试验台与发动机耦合性能模型建模方法的优选实施方式，一种半实物仿真用试验台与发动机耦合性能模型建模方法的保护范围并不仅局限于上述实施例，凡属于该思路下的技术方案均属于本发明的保护范围。应当指出，对于本领域的技术人员来说，在不脱离本发明原理前提下的若干改进和变化，这些改进和变化也应视为本发明的保护范围。The above is only a preferred embodiment of a method for modeling the coupling performance of a test bench for hardware-in-the-loop simulation and an engine. Embodiments, all technical solutions under this idea belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, some improvements and changes without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.
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