Servo valve break-in device, servo valve evaluation method, electronic device, and storage medium

Abstract

The present application relates to the technical field of servo valve maintenance, and particularly relates to a servo valve running-in device, a servo valve evaluation method, an electronic device and a storage medium, the servo valve running-in device is provided with multiple installation modules, multiple aviation servo valves can be installed at one time, and the multiple aviation servo valves are run-in at the same time, and the running-in efficiency is high. The servo valve running-in device is provided with a pressure reducing valve and an overflow valve, so that the multiple aviation servo valves are run-in under a predetermined pressure difference and under a predetermined running-in condition, and the running-in effect is more reliable. The servo valve evaluation method compares a driving signal waveform, analyzes a flow waveform, evaluates the characteristics of the servo valve according to the analysis result of the flow waveform, and performs a test based on the condition that the characteristics of the servo valve meet the predetermined condition, so that the running-in and the test can be timely connected, and the efficiency of the running-in and the test process is improved.

Description

Technical Field

[0001] This invention relates to the field of servo valve repair technology, and in particular to a servo valve break-in device, a servo valve evaluation method, electronic equipment, and a storage medium. Background Technology

[0002] During the repair of aviation servo valves, a certain period of break-in is required, followed by testing. The purpose of this is to remove burrs and impurities generated during the repair process, ensuring the reliability of the aviation servo valves.

[0003] The relevant technology employs a break-in process on a test bench. However, due to the limited number of test benches, problems such as insufficient break-in time and low work efficiency have consistently arisen during the break-in process.

[0004] The purpose of this invention is to address the shortcomings of current methods by designing a servo valve break-in device to improve the efficiency of break-in and testing. Summary of the Invention

[0005] The present invention provides a servo valve break-in device, a servo valve evaluation method, an electronic device, and a storage medium to solve the problem of low break-in efficiency of aviation servo valves in the prior art.

[0006] In a first aspect, embodiments of the present invention provide a servo valve break-in device, comprising: a pressure reducing valve, an overflow valve, a servo valve drive board, and multiple mounting modules;

[0007] The oil outlet of the pressure reducing valve is connected to the oil inlet of the mounting module, and the oil inlet of the overflow valve is connected to the oil outlet of the mounting module.

[0008] The mounting module has a first port connected to the oil inlet of the mounting module and a second port connected to the oil outlet of the mounting module.

[0009] When the pressure port and return port of the servo valve are connected to the first port and the second port respectively, and the coil of the servo valve is electrically connected to the servo valve drive board, the servo valve drive board generates a drive signal to drive the working port of the servo valve to generate the expected flow.

[0010] In one possible implementation, the first port or the second port is equipped with a flow meter, and the servo valve drive board is electrically connected to the flow meter.

[0011] The servo valve drive board generates a drive signal with a predetermined waveform, evaluates the characteristics of the servo valve based on the flow signal returned by the flow meter, and performs a test for a predetermined duration when the characteristics of the servo valve meet predetermined conditions. The predetermined waveform includes at least one of the following: sine wave, triangle wave, and square wave.

[0012] Secondly, embodiments of the present invention provide a servo valve evaluation method, including:

[0013] Acquire the waveforms of the drive signal and the flow signal;

[0014] The waveform of the flow signal is segmented according to a predetermined duration to obtain a waveform set;

[0015] The waveform set is transformed to obtain multiple waveform feature vectors, wherein the waveform feature vectors characterize the amplitude of multiple frequency harmonics in the waveform segment;

[0016] Based on the multiple waveform feature vectors and the waveform of the driving signal, the response characteristics, vibration characteristics, and time delay variation characteristics of the servo valve are evaluated respectively.

[0017] In one possible implementation, the waveform transformation of the second waveform set to obtain multiple waveform feature vectors includes:

[0018] For each waveform segment in the second waveform set, perform the following steps:

[0019] The waveform segments are discretized to obtain multiple discrete data.

[0020] Extract the waveform frequency of the driving signal;

[0021] Based on the waveform frequency and the waveform of the driving signal, the waveform amplitude is extracted from the multiple discrete data to obtain multiple waveform amplitudes;

[0022] Based on the multiple waveform amplitudes, a waveform feature vector is constructed.

[0023] In one possible implementation, the step of extracting waveform amplitudes from the plurality of discrete data based on the waveform frequency and the waveform phase of the driving signal to obtain a plurality of waveform amplitudes includes:

[0024] Based on the first formula, the waveform frequency, and the waveform of the driving signal, the waveform amplitudes of the multiple discrete data are extracted to obtain multiple waveform amplitudes. The first formula is:

[0025]

[0026] In the formula, WFA(2k+1) is the amplitude of the 2k+1th waveform, Wn_max is the total number of discrete data, WD(Wn) is the Wnth data of the discrete data, sin() is the sine function, ω0 is the waveform frequency of the driving signal, TN is the number of discrete data corresponding to the period of the driving signal, π is pi, and α is the phase of the driving signal waveform.

[0027] In one possible implementation, evaluating the time delay variation characteristics of the servo valve based on the plurality of waveform feature vectors and the waveform of the drive signal includes:

[0028] Extract the element value of the first element and the element value of the second element sequentially from the plurality of waveform feature vectors, and construct a waveform amplitude pair by combining the element value of the first element and the element value of the second element.

[0029] Calculate the ratio of the element value of the second element to the element value of the first element in each waveform amplitude pair, and construct the time delay characteristic queue based on the ratio.

[0030] The parameters of the time delay variation characteristic description model are solved based on the time delay characteristic queue.

[0031] The time delay characteristics of the servo valve are evaluated based on the parameters of the time delay variation characteristic description model. In one possible implementation, the time delay variation characteristic description model is:

[0032] WFT(n) = α·e -β·n

[0033] In the formula, WFR(n) is the nth data in the delay characteristic queue, α is the pre-parameter, e is the natural constant, and β is the post-parameter.

[0034] In one possible implementation, solving for the parameters of the time delay variation characteristic description model based on the time delay characteristic queue includes:

[0035] Initialize the parameters of the time delay variation characteristic description model;

[0036] A first time delay characteristic description queue is generated based on the time delay change characteristic description model;

[0037] Calculate the Euclidean distance between the delay characteristic queue and the first delay characteristic description queue, and use it as the first deviation;

[0038] The parameters of the time delay variation characteristic description model are adjusted according to the preset parameter perturbation amount to obtain the scrambling parameters;

[0039] The scrambling parameters are substituted into the time delay variation characteristic description model, and a second time delay characteristic description queue is generated based on the time delay variation characteristic description model.

[0040] Calculate the Euclidean distance between the delay characteristic queue and the second delay characteristic description queue, as the second deviation;

[0041] If the ratio of the difference between the second deviation and the first deviation to the first deviation is greater than the change rate threshold, then the preset parameter perturbation amount is adjusted, the second deviation is taken as the first deviation, and the process jumps to the step of substituting the scrambling parameter into the time delay change characteristic description model and generating a second time delay characteristic description queue according to the time delay change characteristic description model.

[0042] Otherwise, the parameters of the current time delay variation characteristic description model are used as the parameter solution of the time delay variation characteristic description model.

[0043] Thirdly, embodiments of the present invention provide an electronic device, including a memory and a processor, wherein the memory stores a computer program executable on the processor, and the processor executes the computer program to implement the steps of the method as described in the second aspect above or any possible implementation of the second aspect.

[0044] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method as described in the first aspect or any possible implementation thereof.

[0045] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows:

[0046] The present invention discloses a servo valve break-in device, which is equipped with multiple installation modules, and can install multiple aviation servo valves at one time and break in multiple aviation servo valves simultaneously, with high break-in efficiency. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of the servo valve break-in device provided in an embodiment of the present invention;

[0049] Figure 2 This is a flowchart of the servo valve evaluation method provided in the embodiments of the present invention;

[0050] Figure 3 This is a functional block diagram of the servo valve evaluation device provided in the embodiments of the present invention;

[0051] Figure 4 This is a functional block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0052] In the following description, specific details such as particular system structures and techniques are set forth for illustrative purposes and not for limitation, so as to provide a thorough understanding of embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0053] To make the objectives, technical solutions, and advantages of the present invention clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

[0054] The embodiments of the present invention will be described in detail below. This example is implemented based on the technical solution of the present invention, and provides detailed implementation methods and specific operation processes. However, the protection scope of the present invention is not limited to the following embodiments.

[0055] In a first aspect, embodiments of the present invention provide a servo valve break-in device, comprising: a pressure reducing valve 101, an overflow valve 102, a servo valve drive board, and multiple mounting modules;

[0056] The oil outlet of the pressure reducing valve 101 is connected to the oil inlet of the mounting module, and the oil inlet of the overflow valve 102 is connected to the oil outlet of the mounting module.

[0057] The mounting module has a first port connected to the oil inlet of the mounting module and a second port connected to the oil outlet of the mounting module.

[0058] When the pressure port and return port of the servo valve are connected to the first port and the second port respectively, and the coil of the servo valve is electrically connected to the servo valve drive board, the servo valve drive board generates a drive signal to drive the working port of the servo valve to generate the expected flow.

[0059] In one possible implementation, the first port or the second port is equipped with a flow meter, and the servo valve drive board is electrically connected to the flow meter.

[0060] The servo valve drive board generates a drive signal with a predetermined waveform, evaluates the characteristics of the servo valve based on the flow signal returned by the flow meter, and performs a test for a predetermined duration when the characteristics of the servo valve meet predetermined conditions. The predetermined waveform includes at least one of the following: sine wave, triangle wave, and square wave.

[0061] For example, such as Figure 1As shown, a first aspect of the present invention provides a servo valve break-in device, which includes a pressure reducing valve 101, an overflow valve 102, a servo valve drive plate, and multiple mounting modules. The mounting modules provide a mounting platform for the aviation servo valve 105. The mounting modules have two ports communicating with the aviation servo valve 105, connecting its pressure port and return port. These two ports are also connected to the mounting module's inlet and return ports, respectively. The mounting module's inlet is connected to the pressure reducing valve 101, and its outlet is connected to the overflow valve 102. Therefore, by adjusting the pressure of the pressure reducing valve 101 and the overflow valve 102, the valve mounted on the mounting module can operate at a predetermined pressure, ensuring the stability of the testing and break-in conditions. Furthermore, in some applications, pressure gauges 103 are also provided at the mounting module's inlet and outlet ports to indicate the pressure at the inlet and outlet ports. Since the aviation servo valve 105 is a solenoid valve, this embodiment of the invention includes a servo valve drive board. The servo valve drive board is connected to the coil of the servo valve and controls the servo valve to generate the expected opening degree and the expected flow rate by outputting a signal with a predetermined waveform. In addition, in some application scenarios, test ports 104 are provided at the oil inlet and outlet of the mounting module, which can be connected to a calibration pressure gauge to calibrate the pressure gauge 103.

[0062] In some application scenarios, the servo valve drive board can generate sine waves, triangular waves, and rectangular waves. Simultaneously, a flow meter is installed at the port connected to the aviation servo valve 105. The servo valve drive board is electrically connected to the flow meter, reads the flow meter's signal, and generates a drive signal of a predetermined waveform. The characteristics of the servo valve are evaluated based on the flow signal returned by the flow meter and the predetermined drive waveform. If the evaluation is successful, a test of a predetermined duration begins. The characteristics of the servo valve include various features, such as response characteristics, vibration characteristics, and time delay variation characteristics. The second aspect of this invention describes the evaluation method in detail.

[0063] Figure 2 A flowchart of a servo valve evaluation method provided for an embodiment of the present invention.

[0064] like Figure 2 As shown, a flowchart illustrating the implementation of the servo valve evaluation method provided by an embodiment of the present invention is presented, and is described in detail below:

[0065] In step 201, the waveforms of the drive signal and the flow signal are acquired.

[0066] In step 202, the waveform of the flow signal is segmented according to a predetermined duration to obtain a waveform set.

[0067] For example, in this embodiment of the invention, the waveform of the flow signal obtained by the flow meter is segmented, and a waveform set is constructed based on the segmentation results. Generally speaking, the length of the segment is several times the period length of the drive signal waveform.

[0068] In step 203, the waveform set is subjected to waveform transformation to obtain multiple waveform feature vectors, wherein the waveform feature vectors characterize the amplitude of multiple frequency harmonics in the waveform segment.

[0069] In some embodiments, step 203 includes:

[0070] For each waveform segment in the second waveform set, perform the following steps:

[0071] The waveform segments are discretized to obtain multiple discrete data.

[0072] Extract the waveform frequency of the driving signal;

[0073] Based on the waveform frequency and the waveform of the driving signal, the waveform amplitude is extracted from the multiple discrete data to obtain multiple waveform amplitudes;

[0074] Based on the multiple waveform amplitudes, a waveform feature vector is constructed.

[0075] In some implementations, the step of extracting waveform amplitudes from the plurality of discrete data based on the waveform frequency and the waveform phase of the driving signal to obtain a plurality of waveform amplitudes includes:

[0076] Based on the first formula, the waveform frequency, and the waveform of the driving signal, the waveform amplitudes of the multiple discrete data are extracted to obtain multiple waveform amplitudes. The first formula is:

[0077]

[0078] In the formula, WFA(2k+1) is the amplitude of the 2k+1th waveform, Wn_max is the total number of discrete data, WD(Wn) is the Wnth data of the discrete data, sin() is the sine function, ω0 is the waveform frequency of the driving signal, TN is the number of discrete data corresponding to the period of the driving signal, π is pi, and α is the phase of the driving signal waveform.

[0079] For example, after obtaining the waveform, the present invention discretizes the flow signal waveform to obtain multiple discrete data, and then extracts the amplitude of multiple frequency signals contained in the flow signal according to the frequency of the driving signal, and constructs a waveform feature vector based on these amplitudes.

[0080] Specifically, in this embodiment of the invention, the amplitude of the flow signal is extracted using a first formula, the frequency of the driving signal waveform, and the phase of the driving signal. The first formula is:

[0081]

[0082] In the formula, WFA(2k+1) is the amplitude of the 2k+1th waveform, Wn_max is the total number of discrete data, WD(Wn) is the Wnth data of the discrete data, sin() is the sine function, ω0 is the waveform frequency of the driving signal, TN is the number of discrete data corresponding to the period of the driving signal, π is pi, and α is the phase of the driving signal waveform.

[0083] In step 204, the response characteristics, vibration characteristics, and time delay variation characteristics of the servo valve are evaluated based on the plurality of waveform feature vectors and the waveform of the drive signal.

[0084] In some embodiments, evaluating the time delay variation characteristics of the servo valve based on the plurality of waveform feature vectors and the waveform of the drive signal includes:

[0085] Extract the element value of the first element and the element value of the second element sequentially from the plurality of waveform feature vectors, and construct a waveform amplitude pair by combining the element value of the first element and the element value of the second element.

[0086] Calculate the ratio of the element value of the second element to the element value of the first element in each waveform amplitude pair, and construct the time delay characteristic queue based on the ratio.

[0087] The parameters of the time delay variation characteristic description model are solved based on the time delay characteristic queue.

[0088] The time delay characteristics of the servo valve are evaluated based on the parameters of the time delay variation characteristic description model. In some embodiments, the time delay variation characteristic description model is:

[0089] WFR(n)=α·e -β·n

[0090] In the formula, WFR(n) is the nth data in the delay characteristic queue, α is the pre-parameter, e is the natural constant, and β is the post-parameter.

[0091] In some implementations, solving for the parameters of the delay variation characteristic description model based on the delay characteristic queue includes:

[0092] Initialize the parameters of the time delay variation characteristic description model;

[0093] A first time delay characteristic description queue is generated based on the time delay change characteristic description model;

[0094] Calculate the Euclidean distance between the delay characteristic queue and the first delay characteristic description queue, and use it as the first deviation;

[0095] The parameters of the time delay variation characteristic description model are adjusted according to the preset parameter perturbation amount to obtain the scrambling parameters;

[0096] The scrambling parameters are substituted into the time delay variation characteristic description model, and a second time delay characteristic description queue is generated based on the time delay variation characteristic description model.

[0097] Calculate the Euclidean distance between the delay characteristic queue and the second delay characteristic description queue, as the second deviation;

[0098] If the ratio of the difference between the second deviation and the first deviation to the first deviation is greater than the change rate threshold, then the preset parameter perturbation amount is adjusted, the second deviation is taken as the first deviation, and the process jumps to the step of substituting the scrambling parameter into the time delay change characteristic description model and generating a second time delay characteristic description queue according to the time delay change characteristic description model.

[0099] Otherwise, the parameters of the current time delay variation characteristic description model are used as the parameter solution of the time delay variation characteristic description model.

[0100] For example, multiple waveform feature vectors obtained from the above steps can extract various characteristics of the aviation servo valve. For instance, by analyzing the first and second elements of the waveform feature vector of the last time segment, the waveform's response characteristics can be determined. In other words, the L2 norm of the first and second elements of the waveform feature vector represents the flow amplitude of the aviation servo valve. When this amplitude is small, there may be a problem with the servo valve's spool opening. Analyzing the ratios of other elements in the waveform feature vector to the first element allows analysis of the servo valve's vibration characteristics. A larger ratio indicates stronger servo valve vibration characteristics and a higher probability of abnormality.

[0101] Furthermore, this invention also provides a method for evaluating time delay variation characteristics. Time delay variation characteristics refer to the changes in the response speed of a servo valve over time, and are an important indicator after maintenance. Generally, after maintenance, the response signal speed of the servo valve flow gradually increases as the break-in process unfolds. These variation characteristics indicate that the servo valve is in a healthy state. This invention constructs a model describing the gradual change in the response characteristics of an aviation servo valve; the parameters of the model indicate the health status of the servo valve.

[0102] To achieve the above objective, specifically, the embodiments of the present invention calculate the ratio of the second element to the first element in each waveform feature vector, and arrange these ratios in the order of the waveform segments to form a queue. Based on this queue, the parameters in the time delay variation characteristic description model are determined.

[0103] In one application scenario, the latency variation characteristic is described by the following model:

[0104] WFR(n)=α·e -β·n

[0105] In the formula, WFR(n) is the nth data in the delay characteristic queue, α is the pre-parameter, e is the natural constant, and β is the post-parameter.

[0106] As we can see, this model has only two parameters: the pre-parameter and the post-parameter. If this model is used to fit the time delay characteristic queue, there will be some deviation. In order to minimize the deviation, this invention adopts a scrambling iteration method to determine a pre-parameter and a post-parameter that minimize the deviation between the output of the time delay variation characteristic description model and the time delay characteristic queue.

[0107] Specifically, firstly, a pre-parameter and a post-parameter are randomly set. Based on the model constrained by the pre-parameter and post-parameter, a first time delay characteristic description queue is output. The Euclidean distance between the first time delay characteristic description queue and the time delay characteristic queue is calculated and denoted as the first deviation. Next, the pre-parameter and post-parameter are scrambled, and under the scrambled parameter elm model, a second time delay characteristic description queue is output. The Euclidean distance between the second time delay characteristic description queue and the time delay characteristic queue is calculated and denoted as the second deviation. Then, the difference between the second deviation and the first deviation is calculated. Based on the ratio of the difference between the two deviations to the first deviation, the scrambling amount of the pre-parameter and post-parameter is adjusted, and the scrambling process is repeated until the ratio of the difference between the two deviations to the first deviation is less than a threshold.

[0108] The servo valve break-in device of this invention is equipped with multiple installation modules, which can install multiple aviation servo valves at one time and break them in simultaneously, resulting in high break-in efficiency.

[0109] The servo valve break-in device of the present invention is equipped with a pressure reducing valve and an overflow valve, so that multiple aviation servo valves break in under a predetermined pressure difference and under predetermined break-in conditions, resulting in a more reliable break-in effect.

[0110] The servo valve evaluation method of this invention compares the drive signal waveform with the flow waveform, evaluates the characteristics of the servo valve based on the analysis results of the flow waveform, and conducts tests when the servo valve characteristics meet predetermined conditions, so that the break-in and testing can be connected in a timely manner, improving the efficiency of the break-in and testing process.

[0111] The servo valve evaluation method of this invention first acquires the waveforms of the drive signal and the flow signal; then, it segments the flow signal waveform according to a predetermined duration to obtain a waveform set; next, it performs waveform transformation on the waveform set to obtain multiple waveform feature vectors, wherein the waveform feature vectors characterize the amplitudes of various frequency harmonics in the waveform segments; finally, based on the multiple waveform feature vectors and the waveform of the drive signal, it evaluates the response characteristics, vibration characteristics, and time delay variation characteristics of the servo valve. This invention analyzes the flow signal waveform based on the drive signal waveform; due to the existence of a reference waveform, the analysis results are more accurate and reliable.

[0112] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0113] The following are embodiments of the apparatus of the present invention. For details not described in detail, please refer to the corresponding method embodiments described above.

[0114] Figure 3 This is a functional block diagram of the servo valve evaluation device provided in the embodiments of the present invention, with reference to... Figure 3 The servo valve evaluation device includes: a waveform acquisition module 301, a waveform segmentation module 302, a waveform feature extraction module 303, and a characteristic analysis module 304, wherein:

[0115] The waveform acquisition module 301 is used to acquire the waveforms of the drive signal and the flow signal;

[0116] The waveform segmentation module 302 is used to segment the waveform of the flow signal according to a predetermined duration to obtain a waveform set;

[0117] The waveform feature extraction module 303 is used to perform waveform transformation on the waveform set to obtain multiple waveform feature vectors, wherein the waveform feature vectors characterize the amplitude of multiple frequency harmonics in the waveform segment;

[0118] The characteristic analysis module 304 is used to evaluate the response characteristics, vibration characteristics, and time delay variation characteristics of the servo valve based on the multiple waveform feature vectors and the waveform of the drive signal.

[0119] Figure 4 This is a functional block diagram of the electronic device provided in an embodiment of the present invention. For example... Figure 4As shown, the electronic device 4 in this embodiment includes a processor 400 and a memory 401, wherein the memory 401 stores a computer program 402 that can run on the processor 400. When the processor 400 executes the computer program 402, it implements the steps of the various power metering equipment operation and maintenance methods and embodiments described above, for example... Figure 1 Steps 101 to 104 are shown.

[0120] For example, the computer program 402 may be divided into one or more modules / units, which are stored in the memory 401 and executed by the processor 400 to complete the present invention.

[0121] The electronic device 4 can be a desktop computer, laptop, handheld computer, cloud server, or other computing device. The electronic device 4 may include, but is not limited to, a processor 400 and a memory 401. Those skilled in the art will understand that... Figure 4 This is merely an example of electronic device 4 and does not constitute a limitation on electronic device 4. It may include more or fewer components than shown, or combine certain components, or different components. For example, electronic device 4 may also include input / output devices, network access devices, buses, etc.

[0122] The processor 400 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0123] The memory 401 can be an internal storage unit of the electronic device 4, such as a hard disk or memory. The memory 401 can also be an external storage device of the electronic device 4, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 401 can include both internal and external storage units of the electronic device 4. The memory 401 is used to store the computer program 402 and other programs and data required by the electronic device 4. The memory 401 can also be used to temporarily store data that has been output or will be output.

[0124] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the aforementioned method embodiments, and will not be repeated here.

[0125] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0126] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0127] In the embodiments provided by this invention, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0128] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0129] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0130] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above-described embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various methods and apparatus embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0131] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A servo valve evaluation method, characterized in that, include: Acquire the waveforms of the drive signal and the flow signal; The waveform of the flow signal is segmented according to a predetermined duration to obtain a waveform set; The waveform set is transformed to obtain multiple waveform feature vectors, wherein the waveform feature vectors characterize the amplitude of multiple frequency harmonics in the waveform segment; Based on the multiple waveform feature vectors and the waveform of the driving signal, the response characteristics, vibration characteristics, and time delay variation characteristics of the servo valve are evaluated respectively. The step of evaluating the time delay variation characteristics of the servo valve based on the plurality of waveform feature vectors and the waveform of the drive signal includes: Extract the element value of the first element and the element value of the second element sequentially from the plurality of waveform feature vectors, and construct a waveform amplitude pair by combining the element value of the first element and the element value of the second element. Calculate the ratio of the element value of the second element to the element value of the first element in each waveform amplitude pair, and construct the time delay characteristic queue based on the ratio. The parameters of the time delay variation characteristic description model are solved based on the time delay characteristic queue, wherein the time delay variation characteristic description model is: In the formula, For the delay characteristic queue One data point, These are prerequisite parameters. It is a natural constant. For post-parameters; The time delay characteristics of the servo valve are evaluated based on the parameters of the time delay variation characteristic description model.

2. The servo valve evaluation method according to claim 1, characterized in that, The waveform transformation of the waveform set to obtain multiple waveform feature vectors includes: For each waveform segment in the waveform set, perform the following steps: The waveform segments are discretized to obtain multiple discrete data. Extract the waveform frequency of the driving signal; Based on the waveform frequency and the waveform phase of the driving signal, the waveform amplitude is extracted from the multiple discrete data to obtain multiple waveform amplitudes; Based on the multiple waveform amplitudes, a waveform feature vector is constructed.

3. The servo valve evaluation method according to claim 2, characterized in that, The step of extracting waveform amplitudes from the plurality of discrete data based on the waveform frequency and the waveform phase of the driving signal to obtain a plurality of waveform amplitudes includes: Based on the first formula, the waveform frequency, and the waveform phase of the driving signal, the waveform amplitudes of the multiple discrete data are extracted to obtain multiple waveform amplitudes. The first formula is: In the formula, For the first Each waveform amplitude, The total number of discrete data points. For multiple discrete data, the first One data point, It is a sine function. The frequency of the driving signal waveform. The number of discrete data points corresponding to the period duration of the driving signal. Pi The phase of the driving signal waveform.

4. The servo valve evaluation method according to claim 1, characterized in that, The step of solving for the parameters of the time delay variation characteristic description model based on the time delay characteristic queue includes: Initialize the parameters of the time delay variation characteristic description model; A first time delay characteristic description queue is generated based on the time delay change characteristic description model; Calculate the Euclidean distance between the delay characteristic queue and the first delay characteristic description queue, and use it as the first deviation; The parameters of the time delay variation characteristic description model are adjusted according to the preset parameter perturbation amount to obtain the scrambling parameters; The scrambling parameters are substituted into the time delay variation characteristic description model, and a second time delay characteristic description queue is generated based on the time delay variation characteristic description model. Calculate the Euclidean distance between the delay characteristic queue and the second delay characteristic description queue, as the second deviation; If the ratio of the difference between the second deviation and the first deviation to the first deviation is greater than the change rate threshold, then the preset parameter perturbation amount is adjusted, the second deviation is taken as the first deviation, and the process jumps to the step of substituting the scrambling parameter into the time delay change characteristic description model and generating a second time delay characteristic description queue according to the time delay change characteristic description model. Otherwise, the parameters of the current time delay variation characteristic description model are used as the parameter solution of the time delay variation characteristic description model.

5. A servo valve break-in device, characterized in that, include: Pressure reducing valve, relief valve, servo valve drive board and multiple mounting modules; The oil outlet of the pressure reducing valve is connected to the oil inlet of the mounting module, and the oil inlet of the overflow valve is connected to the oil outlet of the mounting module. The mounting module has a first port connected to the oil inlet of the mounting module and a second port connected to the oil outlet of the mounting module. When the pressure port and return port of the servo valve are connected to the first port and the second port respectively, and the coil of the servo valve is electrically connected to the servo valve drive board, the servo valve drive board generates a drive signal to drive the working port of the servo valve to generate the expected flow rate. The first or second port is equipped with a flow meter, and the servo valve drive board is electrically connected to the flow meter; The servo valve drive board generates a drive signal with a predetermined waveform, evaluates the characteristics of the servo valve based on the flow signal returned by the flow meter and the servo valve evaluation method according to any one of claims 1-4, and performs a test for a predetermined duration when the characteristics of the servo valve meet the predetermined conditions, wherein the predetermined waveform includes at least one of the following: sine wave, triangle wave and square wave.

6. An electronic device comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 4 above.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 4 above.

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