阅读说明：本技术 用于根据物理参数设定值对涡轮机的实时系统的物理参数进行调节的系统和方法 (System and method for adjusting physical parameters of a real-time system of a turbomachine according to physical parameter settings ) 是由 赛德瑞克·德杰拉希 于 2020-05-04 设计创作，主要内容包括：本发明公开了一种根据物理参数设定值(yc)对涡轮机的实时系统F(p)的物理参数(y)进行调节的调节系统(REG),包括用于在调节过程中优化所述参数化增益K的系统(OPTK),优化系统(OPTK)包括用于确定具有正值的第一增益常数K1的稳定性校正模块(2)、用于确定第二增益常数K2的响应时间的模块(3),稳定校正模块(2)被配置为在调节所述物理参数(y)的过程中检测到不稳定性(TopIS)时抑制所述响应时间校正模块(3),确定与先前确定的所述第一增益分量K1和所述第二增益分量K成函数关系的所述参数化增益K的确定模块(4)。(The invention discloses a regulation system (REG) for regulating a physical parameter (y) of a real-time system F (p) of a turbomachine according to a physical parameter set value (yc), comprising a system (OPTK) for optimizing said parameterized gain K during regulation, the optimization system (OPTK) comprising a stability correction module (2) for determining a first gain constant K1 having a positive value, a module (3) for determining a response time of a second gain constant K2, the stability correction module (2) being configured to suppress said response time correction module (3) when an instability (TopIS) is detected during regulation of said physical parameter (y), a determination module (4) for determining said parameterized gain K as a function of said first gain component K1 and said second gain component K previously determined.)

1. A regulation system (REG) for regulating a physical parameter (y) of a real-time system f (p) of a turbomachine on the basis of a set value (yc) of the physical parameter, characterized in that the regulation system (REG) has a response time and comprises:

a corrector comprising a correction function C1(p) and a parameterized gain K,

theoretical inverse transfer function F of real-time system F (p)^-1(p), and

-an optimization system (OPTK) for optimizing the parameterized gain K during the adjustment process, the optimization system comprising:

i. a stability correction module (2) configured to determine a first gain constant K1 having a positive value when instability of the regulation system (REG) is detected during the regulation of the physical parameter (y),

a response time correction module (3) of the regulation system (REG) configured to determine a second gain constant K2 having a negative value when a delay is detected in the regulation of the physical parameter (y), the stability correction module (2) being configured to suppress the response time correction module (3) when an instability (TopIS) is detected in the regulation of the physical parameter (y),

a determination module (4) configured to determine the parameterized gain K as a function of the previously determined first and second gain constants K1, K2.

2. A regulation system (REG) according to claim 1, characterized in that a deviation(s) is defined between the physical parameter (y) and the physical parameter set-point (yc), the stability correction module (2) comprising a stability detection module (21), the stability detection module (21) being configured to compare the deviation(s) with a high deviation threshold (SH) and a low deviation threshold (SB), the stability detection module (21) being configured to detect an instability (TopIS) if the deviation(s) is lower than the low deviation threshold (SB) after being continuously higher than the high deviation threshold (SH).

3. A regulation system (REG) according to claim 2, characterized in that said deviation(s) oscillates during instability (TopIS), said stability detection module (21) being configured to calculate the number of oscillations after detection of instability (TopIS) and to determine a stability correction parameter (TopCS) as a function of the calculated number of oscillations (NB-osc) and to determine said first gain constant K1 on the basis of said stability correction parameter (TopCS).

4. A regulation system (REG) according to claim 3, characterized in that the stability correction module (2) is configured to reset the counted number of oscillations (NB-osc) to zero when a transient resulting from a significant change in the physical parameter set-point (yc) is detected.

5. The regulation system (REG) according to any of claims 1 to 4, characterized in that said stability correction module (2) comprises an overshoot detection module (22), said overshoot detection module (22) being configured to determine an overshoot parameter (TopOS), said first gain constant K1 being determined by said overshoot parameter (TopOS).

6. A regulation system (REG) as claimed in claim 5, characterized in that a deviation (ε) is defined between the physical parameter (y) and the physical parameter set-point (yc), the overshoot detection module (22) being configured to initiate a monitoring period of deviation (ε) after a significant increasing change in the parameter set-point (yc), the overshoot detection module (22) being configured to compare the deviation (ε) with at least one overshoot threshold (SD1, SD2) during the monitoring period, the overshoot detection module (22) being configured to detect an overshoot (TopOS) if the deviation (ε) is greater than the overshoot threshold (SD1, SD 2).

7. The regulation system (REG) according to any of claims 1 to 6, characterized in that said response time correction module (3) is configured to determine a tolerance range around said physical parameter set value and to determine a second gain constant K2 when said physical parameter (y) is not within said tolerance range.

8. A method for adjusting a physical parameter (y) by implementing an adjustment system (REG) according to any one of claims 1 to 7, characterized in that the adjustment method comprises:

-monitoring the stability while adjusting the physical parameter (y),

-determining a first gain constant K1 having a positive value when instability (TopIS) is detected during the adjustment of the physical parameter (y),

-monitoring the response time of the regulation system REG when the physical parameter (y) is regulated without instability (TopIS),

-determining a second gain constant K2 having a negative value when a delay is detected in adjusting the physical parameter (y),

determining the parameterized gain K of the corrector c (p) as a function of the first gain constant K1 and the second gain constant K2 to ensure the stability of the adjustment while optimizing the response time.

9. Computer program, characterized in that it comprises instructions for carrying out the steps of the regulation method according to claim 8, when said program is executed by a computer.

10. An electronic control unit for a turbine, characterised in that the electronic control unit comprises a memory storing instructions of a computer program according to claim 9.

11. A turbine comprising an electronic control unit according to claim 10.

Technical Field

The invention relates to a system for regulating physical parameters of a real-time system of a turbomachine in accordance with physical parameter settings. For example, the physical parameter may be a displacement speed of the turbojet valve, a fuel flow rate, an orientation angle of the vanes, and the like.

Background

As is known, the regulation system REG comprises a corrector comprising a correction function C1(p) and a parameterized gain K. The evaluation of the performance of the regulation system is mainly reflected in the evaluation of its response time and stability. In practice, the regulation system is parameterized to achieve a balance between response time and stability.

In practice, the real-time system of the turbine includes characteristics and variables (e.g., wear, drift, etc.) that may change over time and may degrade in performance over time. Thus, especially in terms of stability, a regulation system that runs optimally at commissioning may not be optimal after several months. To eliminate this potential disadvantage, the control system is parameterized to have a large stability margin during the commissioning process, which affects the response time.

The present invention aims to eliminate at least partly the above mentioned drawbacks by providing a regulation system that can be dynamically tuned in order to obtain a good stability and response time performance over time.

Incidentally, patent application US2004/0123600 discloses a regulation system which gives the hint to optimize the real-time system definition over time in order to integrate faults and faults that occur over time. The optimization of such real-time systems is complex (defining new transfer functions, etc.) and does not allow for responsiveness adjustments. The computational cost is very high.

Patent US5537310 also discloses an adaptive correction model in which the parameterized gain of the real-time system model is tuned during the transient phase. This patent only addresses transient stability and does not address the drawbacks in agility.

Disclosure of Invention

The invention relates to a system for regulating physical parameters of a real-time system of a turbomachine according to physical parameter set values, the regulation system having a response time and comprising:

a corrector comprising a correction function and a parameterized gain K,

theoretical inverse transfer function of real-time system, and

an optimization system for optimizing a parameterized gain K during tuning, the optimization system comprising:

a stability correction module configured to determine a first gain constant K1 having a positive value when instability of the conditioning system is detected during conditioning of the physical parameter,

a response time correction module of the adjustment system configured to determine a second gain constant K2 having a negative value upon detection of a delay in adjusting the physical parameter, the stability correction module configured to suppress the response time correction module upon detection of instability in adjusting the physical parameter, and

a determination module configured to determine a parameterized gain K as a function of previously determined first and second gain constants K1 and K2.

The invention is remarkable in that the regulation system makes it possible to correct the stability defect dynamically by increasing the parametric gain and the delay dynamically by decreasing the parametric gain, so that the regulation system has an optimal performance. Thus, the regulation system is adaptive. Advantageously, the need to sacrifice response time for stability as in the prior art is eliminated. Thus, the regulation response is more agile. Advantageously, in unstable situations, the improvement in agility is controlled. In other words, the stability is preferably corrected, while the response time is improved only when the regulating system is stable. By means of the regulation system of the invention, the regulation is particularly effective in counteracting the periodic phenomena, which are characteristic of turbines with rotating elements, whose variation with time affects the regulation of the physical parameter.

Thus, the regulation system can self-correct according to its own response.

Preferably, a deviation is determined between the physical parameter and the physical parameter set point. The stability correction module includes a stability detection module configured to compare the deviation to a high deviation threshold and a low deviation threshold. The stability detection module is configured to detect instability if the deviation is below a low deviation threshold after being continuously greater than a high deviation threshold. In other words, the stability detection module can ensure a deviation to be measured from a predetermined range. Such detection is fast and robust.

Preferably, since the deviation oscillates during the instability, the stability detection module is configured to count the oscillations after the instability is detected and to determine a stability correction parameter TopCS as a function of the calculated number of oscillations NB-osc and to determine a first gain constant K1 from the stability correction parameter TopCS. Thus, by calculating the number of oscillations, the degree of instability can be determined and an appropriate degree of correction can be derived therefrom.

Preferably, the stability correction module is configured to set the calculated number of oscillations of NB-osc to zero when a transient is detected due to a significant change in the physical parameter set point.

In other words, the stability detection module is dedicated to ensuring stability during the stabilization phase, the stability of the transient phase being ensured by dedicated means. The correction is improved by allowing the calculation of the optimum correction value according to the type of instability.

Preferably, the stability detection module is configured to set the calculated number of oscillations to zero after determining the parameterized gain K according to a first gain constant K1. In other words, the new correction is suppressed as long as the previous correction has not yet produced its effect.

According to one aspect of the invention, the stability correction module includes an overshoot detection module configured to determine an overshoot parameter TopOS from which the first gain constant K1 is determined. According to the invention, the stability of the transient phase, here the accelerated transient phase, corresponding to an increase in the set value of the physical parameter is monitored by means of a dedicated device which ensures an optimal correction.

Preferably, the deviation is defined between the physical parameter and a physical parameter set point, the overshoot detection module being configured to initiate a deviation monitoring period following a significantly increasing change in the parameter set point. The overshoot detection module is configured to compare the deviation to at least one overshoot threshold, and the overshoot detection module is configured to detect overshoot if the deviation is greater than the overshoot threshold over the monitoring period. In other words, only overshoot or undershoot of the transient phase previously verified is taken into consideration. Overshoot or undershoot during the settling phase is advantageously ignored in the overshoot detection module. Handling the overshoot alone advantageously enables a responsive correction so that once the first overshoot or undershoot occurs, any future overshoot or undershoot will be suppressed. Because the monitoring window is narrow, the corrections made can be more relevant and the response more agile.

Preferably, the overshoot detection module is configured to suppress overshoot detection in case a decreasing change in the parameter setting value is detected. In other words, if the up-transient condition is no longer met, the monitoring period stops. Thereby avoiding any erroneous corrections.

According to an aspect of the invention, the stability correction module comprises an undershoot detection module configured to determine an undershoot parameter TopOS from which the first gain constant K1 is determined. Advantageously, acceleration transients and deceleration transients are handled differently, thereby enabling customized adjustment for different types of instabilities.

Preferably, the stability correction module comprises a transient detection module configured to measure the variation epsilon of the deviation from the closed loop response yBF of the physical parameter. In other words, to detect transients, the theoretical closed loop response needs to be calculated in advance to form a comparison standard. Such dynamic comparison criteria are advantageous for determining the monitoring period and performing a responsiveness correction.

Preferably, the response time correction module is configured to determine a tolerance range around the physical parameter set point and determine the second gain constant K2 when the physical parameter is not within the tolerance range. Thus, if excessive delay or advance is detected, dynamic correction is performed.

The invention also relates to a method for adjusting physical parameters by using an adjustment system REG as described above, the adjustment method comprising:

the stability is monitored while the physical parameters are adjusted,

upon detection of instability during the adjustment of the physical parameter, a first gain constant K1 is determined having a positive value,

when the physical parameters are adjusted without instability, the response time of the regulation system REG is monitored,

upon detection of a delay in adjusting the physical parameter, a second gain constant K2 having a negative value is determined,

the parameterized gain K of the corrector c (p) is determined according to a first gain constant K1 and a second gain constant K2 to ensure the stability of the adjustment while optimizing the response time.

The invention also relates to a computer program comprising instructions for carrying out the steps of the control method as described above, said program being executed by a computer.

The invention also relates to an electronic control unit for a turbomachine, comprising a memory storing computer program instructions as previously described.

The invention also relates to a turbomachine comprising an electronic unit as described above.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments are briefly introduced below, wherein like reference numerals are used to refer to like objects, and wherein:

FIG. 1 is a schematic diagram of a prior art real-time system corrected by an inverse model;

FIG. 2 is a schematic diagram of a tuning system for a real-time system with inverse model correction according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a stability correction module according to an embodiment of the invention;

FIG. 4 is a schematic diagram of an instability detection module in accordance with an embodiment of the invention;

FIG. 5 is a time series plot of the deviation ε used to detect instability in accordance with the present invention;

FIG. 6 is a schematic diagram of an overshoot detection module in accordance with an embodiment of the present invention;

FIG. 7 is a time series plot of a physical parameter after an incremental change in the parameter set point, i.e., an incremental transient phase, according to the present invention;

FIG. 8 is a time series set of transient phase physical parameters and offsets for determining overshoot correction values in accordance with the present invention;

FIG. 9 is a schematic diagram of a response time correction module according to an embodiment of the present invention;

fig. 10 is a time series plot of the physical parameter y against the physical parameter set point yc during the stabilization phase of the present invention;

FIG. 11 is a set of time series curves of physical parameters after a periodic delay affecting a real-time system in a prior art conditioning system;

fig. 12 shows a set of time series curves of physical parameters after a periodic delay affecting a real-time system in an inventive regulation system.

It should be noted that these drawings illustrate the invention in a detailed manner for practicing the invention, and of course can be used to better define the invention where necessary.

Detailed Description

Referring to fig. 1, a correction system SC configured to determine a control parameter y as a function of a parameter set point yc is shown. In the present embodiment, the correction system SC implements an inverse model corrector. In other words, the calibration system SC includes the calibrator C (p), the inverse model F-1(p), and the real-time system F (p) in sequence. The real-time system f (p) corresponds to a real-time system acting on the control parameter y. In practice, the real-time system f (p) performs several transfer functions. In essence, the real-time system f (p) changes over time (drift, wear, etc.) and does not correspond exactly the same to the parameter set point yc.

Correction system for implementing inverse model correctorIn SC, the real-time system F (p) is assumed to be mathematically invertible to define an inverse model F^-1(p) of the formula (I). According to this assumption, since F^-1(p) f (p) 1, the correction system SC essentially depends on the corrector c (p). In other words, the response time and stability of the correction system can be directly determined by the corrector c (p).

As known, the corrector c (p) comprises a transfer function ci (p) and a tuning gain K, known to the person skilled in the art, so as to obtain the following formula: c (p) × 1/K.

According to the invention, the tuning gain K is adjusted over time in order to adjust the response time and stability of the corrector c (p). Thus, if a pure delay occurs in the real-time system f (p), or the statistical gain of the real-time system f (p) changes, the tuning gain K can be modified to maintain optimal performance.

Hereinafter, the corrector C (p) and the inverse model F are included^-1The set of (p) is called the regulator REG and provides a preliminary physical parameter ya to the real-time system f (p). Referring to fig. 2, a regulator REG according to one embodiment of the present invention is shown. The regulator REG has a response time.

Referring to fig. 2, the corrector C (p) comprises an optimized system OPTK of transfer function C1(p) and parameterized gain K.

The optimization system OPTK comprises a stability correction module 2 to determine a first gain component K1, a response time correction module 3 to determine a second gain component K2 and a determination module 4 to determine a parameterized gain K as a function of the previously determined gain components K1, K2. Hereinafter, the deviation ∈ is defined to be equal to the difference between the physical parameter set value yc and the physical parameter y (∈ ═ yc-y).

The different modules will now be explained in detail.

Referring to fig. 2, the stability correction module 2 is configured to determine a first gain component K1 and an instability TopIS as a function of the control parameter y and the parameter set point yc.

Stability correction module 2 (fig. 3)

Fig. 3 schematically shows the stability correction module 2, which comprises an instability detection module 21, the instability detection module 21 being configured to detect an instability TopIS and to determine a stability correction parameter TopCS from the deviation epsilon and the parameter set value yc. In practice, the instability detection module 21 allows to detect instability around the parameter set point yc, as explained below.

The stability correction module 2 further comprises an overshoot detection module 22 configured to detect an overshoot TopOS based on epsilon, the control parameter y and the parameter set value yc. In other words, during a rapidly increasing change of the parameter set point yc, the physical parameter y can overshoot or undershoot the parameter set point yc and cause instability associated with transient phases. Hereinafter, the abbreviation "transient" will also be used to refer to transient phases.

Similarly, the stability correction module 2 further comprises an undershoot detection module 23 configured to detect an undershoot TopUS from epsilon, the control parameter y and the parameter set value yc.

Stability correction module 2 finally further comprises a stability correction module 24, which stability correction module 24 is configured to determine a first gain component K1, which first gain component K1 is in functional relationship with the overshoot detection parameter TopOS, the undershoot detection parameter TopUS and the stability correction parameter TopCS obtained by the other modules 21, 22, 23 of stability correction module 2.

Stability detection module 21

Fig. 4 schematically shows the stability detection module 21. The stability detection module 21 comprises a first module 211 for detecting an instability TopIS in case the value of e is greater than a high threshold SH-CS or lower than a low threshold SB-CS. The instability TopIS is detected when the high threshold SH-CS and the low threshold SB-CS continuously overshoot or undershoot.

As an example, the first module 211 is configured to compare the deviation s on the one hand with a high threshold SH-CS and on the other hand with a low threshold SB-CS. If the deviation epsilon is greater than the high threshold SH-CS, an overshoot or undershoot is stored in memory. Similarly, if the deviation ε is below the high threshold SB-CS, an overshoot or undershoot is stored in memory. If two overshoots or undershoots of different properties are detected continuously, an instability TopIS is detected, as shown in fig. 5. If the thresholds SB-CS and SH-CS are not exceeded, then the instability TopIS is not detected.

As shown in fig. 4, the stability detection module 21 further comprises a second module 212 for calculating the number NB-osc of oscillations of the physical parameter y when the instability TopIS detected. The oscillation times NB-osc can be conveniently obtained by calculating the number of consecutive overshoots or undershoots in the settling phase and storing it in a memory.

The second module 212 is also configured to receive a zero-back reset command to reset the number of oscillations NB-osc to zero. To this end, as shown in fig. 4, the stability detection module 21 comprises a third module 213 and a fourth module 214 for determining the return-to-zero reset RAZ.

As shown in fig. 4, the stability detection module 21 comprises a fifth module 215 configured to determine a correction parameter TopCS as a function of the number of oscillations NB-osc. In this embodiment, if the number of oscillations Nb-osc is greater than 3, correction is performed and the correction parameter TopCS is sent by the stability detection module 21. As shown in fig. 4, during the correction, the return-to-zero reset information RAZ is also transmitted to avoid repeating the same correction.

Referring again to fig. 4, the stability detection module 21 comprises a third module 213 for detecting a transient, i.e. a significant change in the parameter set value yc, and resetting the number of oscillations NB-ocs to zero after the transient has been detected. To this end, the third module 213 monitors whether the deviation ε remains between a second high threshold SH2 and a second low threshold SB 2. Preferably, the second high threshold SH2 is greater than the high threshold SH-CS and the second low threshold SB2 is less than the previously used low threshold SB-CS in order to detect the reserved space for instability TopIS. If the second threshold SB2, SH2 is exceeded, the presence of a transient is detected, which resets the oscillation number NB-osc to zero and stops the stability correction. In practice, transient related corrections are handled by overshoot detection module 22 and undershoot detection module 23.

As shown in fig. 4, the stability detection module 21 includes a fourth timing module 214, and the fourth timing module 214 is configured to detect whether correction has been performed and issue a return-to-zero reset RAZ instruction if the result is yes. In other words, the new correction is suppressed by the fourth module 4 when the previous correction has not yet taken effect. In the present embodiment, the fourth module 214 takes the form of timing, which is a function of the response time of the real-time system f (p).

Advantageously, the stability detection module 21 is able to determine a correction parameter TopCS as a function of the number of oscillations NB-osc after detection of the instability TopIS. Advantageously, any corrections are suppressed in case transients or corrections have not been taken into account by the real-time system f (p). As will be explained later, the correction parameter TopCS calculated in this way makes it possible to improve the regulation stability.

Overshoot detection module 22

Fig. 3 schematically illustrates the overshoot detection module 22. The determination of the upper limit correction value TopOS is allowed if the physical parameter y to be adjusted overshoots at the end of the transient. In other words, the overshoot detection module 22 enables correction immediately after an increasing change in the parameter set value yc.

In practice, with reference to fig. 6, the overshoot detection module 22 comprises a module 221 for determining the response of the real-time system f (p) in the closed loop Yb after receiving the physical parameter set value yc. This allows the theoretical ideal response of the real-time system f (p) to be determined. In the present embodiment, the determination module 221 is of the "low-pass" type, in particular a first-order or second-order filter.

Overshoot detection module 22 also includes transient detection module 222, i.e., the change in deviation ε, and in particular the derivative thereof, from closed loop response yBF. In this way, it is determined whether the regulation is actually in the up-transient phase, i.e. an increasing change in the control set value yc. If the deviation ε deviates from the closed loop response yBF, an acceleration TopAccel may be detected. An example of a transient with instability in the transient output (damping defect) is schematically shown in fig. 7.

Referring again to fig. 6, the overshoot detection module 22 further comprises a storage module 223, the storage module 223 being configured to start a monitoring period when an acceleration TopAccel is detected. Thus, overshoot detection module 22 focuses on detecting instability during transient acceleration phases. In fact, the overshoot detection module 22 does not aim at detecting overshoots or undershoots of the physical parameter y when the parameter set yc is static, which corresponds to regulation instability.

The overshoot detection module 22 further comprises a module for monitoring the deviation epsilon with respect to the overshoot thresholds SD1, SD 2. In this embodiment, the monitoring module 222 includes two overshoot thresholds SD1, SD2, which in this embodiment are hysteresis-type thresholds.

As shown in fig. 6, if an overshoot of the overshoot threshold SD1, SD2 is detected during the monitoring period, the overshoot correction value TopOS is output by the overshoot detection module 22.

Advantageously, the overshoot detection module 22 includes a module that stops the monitoring cycle of the storage module 224 in case of a detection of a settling (module 225) or a deceleration set point (module 226). In fact, it is necessary to avoid detecting an overshoot by a deceleration of the physical parameter set value yc. Untimely corrections that constitute sources of instability can be avoided.

Fig. 8 is an example of overshoot detection. In the present embodiment, after the transient acceleration phase, the deviation epsilon overshoots the first overshoot threshold SD1, thereby starting the overshoot correction TopCS, and then overshoots the second overshoot threshold SD2, thereby starting the overshoot correction TopOS again. In other words, the correction is agile and the adjustment can be corrected immediately when the overshoot occurs at the end of the transient. This correction is possible because it is only performed in the presence of transients.

Undershoot detection module 23

Figure 3 schematically illustrates undershoot detection module 23. Since it is similar to the overshoot detection module 22, it will not be described in detail below, but its purpose is to detect undershoot, i.e. deceleration of the physical parameter set point yc, during a decreasing change in the parameter set point yc.

Similar to overshoot detection module 22, if a transient is detected and exceeding of the lower threshold is detected, undershoot correction value TopUS is output from undershoot detection module 23.

Calculation module 24

The calculation module 24 is schematically shown in fig. 3, and has the function of determining the first correction component K1 from the correction values TopCS, TopOS and TopUS.

Response time correction Module 3 (FIG. 9)

Fig. 9 schematically shows the response time correction module 3, which comprises a stability detection module 31, which stability detection module 31 is configured to detect whether the parameter set-point yc is indeed stable. In practice, the stability detection module 31 checks that the parameter set value yc has not changed much, i.e. has not changed transient. The stability detection module 31 generates a stability confirmation signal ConfS for the calculation module 33.

Still referring to fig. 9, the response time correction module 3 includes a module 32 for determining a tolerance range around the physical parameter set point yc. In this embodiment, the low and high templates GabBTR and GabHTR are predetermined and derived therefrom to define a tolerance range defined between yc-GabBTR and yc + GabHTR. The tolerance range corresponds to the allowable delay between the physical parameter y and the physical parameter set value yc. Preferably, after receiving the physical parameter set value yc, the templates gabtr, GabHTR are determined according to the response of the real-time system f (p) in the closed loop yBF. Thus, the templates gabtr, GabHTR are perfectly determined, thereby defining the reference tolerance range.

The response time correction module 3 further comprises a calculation module 33, the calculation module 33 being configured to determine a second gain constant K2 if the physical parameter y does not fall within the tolerance range of the stabilization phase identified by the identification signal ConfS.

In practice, the response time correction module 3 may monitor any delay of the physical parameter y with respect to the physical parameter set point yc. For example, such a delay may be related to increasing too much parametric gain K, especially after detecting instability. The second gain constant K2 having a negative value makes it possible to improve the response time. Advantageously, multipoint correction is thereby performed.

As shown in fig. 10, the physical parameter y deviates from the monitoring range in the regions P31 and P32, which reflects the delay of the adjustment. The response time correction module 3 determines the second gain constant K2 based on the number of deviations outside the monitoring range.

Module 4 for determining a parameterized gain K (FIG. 2)

As shown in fig. 2, the module 4 for determining the parameterized gain K is configured to add the first gain constant K1 determined by the stationary line correction module 2 and the second gain constant K2 determined by the response time correction module 3. Preferably, a static gain constant is also added to determine the parameterized gain K. In practice, the parameterized gain K is modified in real time.

Whereas the first gain constant K1 is positive and the second gain constant K2 is negative, the parameterized gain K is dynamically modified during adjustment to accommodate changes and correct for any offset over time.

Embodiment of the adjusting method with dynamic optimization of the tuning gain K

The adjusting method comprises the following steps: monitoring stability while adjusting physical parameters; determining a first gain constant K1 having a positive value when instability is detected during the adjustment of the physical parameter y; monitoring the response time when the physical parameter is adjusted without instability; determining a second gain constant K2 having a negative value when a delay is detected in adjusting the physical parameter; a step of determining a parameterized gain K of the corrector c (p) according to a first gain constant K1 and a second gain constant K2, in order to ensure the stability of the regulation while optimizing the response time.

As an example, to illustrate the advantages of the invention with respect to the prior art, fig. 11 shows a time series of a physical parameter y as a function of a physical parameter set value yc (upper curve) when the real-time system f (p) experiences a periodic delay RET (middle curve) for a static parameterized gain (lower curve). In the present embodiment, the delay RET ranges between 0.2s and 3 s.

As shown in fig. 11, when the delay RET becomes significant, significant instability of the physical parameter y occurs during both steady operation and transients. Moreover, the agility is not optimal. This adjustment is not satisfactory.

Referring to fig. 12, a time series of the physical parameter y as a function of the physical parameter set value yc (upper curve) when the real-time system f (p) experiences a periodic delay RET (middle curve) of the dynamic parameterized gain (lower curve) optimized by the regulation system REG according to the invention.

As shown in fig. 12, when the delay RET becomes significant, instability of the physical parameter y occurs, which is actively corrected by an increase in the parameterized gain K. This increase is related to the stability correction module 2, which stability correction module 2 has increased the first gain constant K1 after detecting an unstable TopIS. The past increase of the parameterized gain K is detrimental to the response time and introduces hysteresis when the delay RET becomes small. This lag is positively corrected by a reduction of the parameterized gain K. This reduction is associated with the response time correction module 3, which response time correction module 3 has increased the second gain constant K2 after the lag has been detected.

By means of the invention, the stability and response time of the regulation system REG are dynamically and actively corrected over time. Due to its adaptivity, the performance of the regulation system is optimal.