Active and passive full-state steering engine torque loading equipment

Abstract

The invention relates to active and passive full-state steering engine torque loading equipment, belongs to a steering engine servo system, and solves the problems that a steering engine loading device in the prior art is single in function and cannot realize high-precision full-state loading. The variable-structure permanent magnet motor module comprises a permanent magnet motor and a double-pole-double-throw switch, and is used for realizing switching of the permanent magnet motor to a steering engine torque loading mode based on the double-pole-double-throw switch; the loading mode comprises a passive loading mode based on short-circuit connection of the permanent magnet motor winding and an external power resistor or an active loading mode based on normal connection of the permanent magnet motor winding; the control module responds to an input passive loading mode and controls the double-pole-double-throw switch to be switched to the passive loading mode, and the control module adjusts the resistance value of the external power resistor based on a set target torque so as to output a load torque; and in response to an input active loading mode, controlling the double-pole-double-throw switch to be switched to the active loading mode, calculating a target voltage based on the target torque function, and outputting a load torque based on the target voltage by the permanent magnet motor. Flexible control over the loading mode of the steering engine torque loading equipment is achieved, and the complex loading requirement is met through the full-state loading mode.

Description

Technical Field

[0001] The present invention relates to the technical field of steering gear servo systems, and in particular to an active and passive full-state steering gear torque loading device. Background Art

[0002] The steering gear servo system (hereinafter referred to as the steering gear) is a high-precision position servo system used in aircraft, ships, submarines, robots and other fields. Its function is to overcome the load torque and accurately control the deflection of the rudder surface, nozzle and other mechanisms to make the controlled object reach the expected posture or position. The load capacity of the steering gear is the core indicator to characterize the performance of the steering gear product. In order to debug and test the load performance of the steering gear product, a steering gear loading device is required to apply the required load force or load torque to the steering gear.

[0003] According to the changing characteristics of the applied load torque, the servo loading is divided into static loading and dynamic loading. Among them, static loading refers to the servo being in a stationary or slow motion state; dynamic loading refers to the servo being in a fast motion state. The common form of static loading is that the servo performs a fixed position closed loop or slow ramp command motion, which is generally used to test the static stiffness and maximum output force index of the servo; the common forms of dynamic loading are: servo follow-up motion under constant load torque, such as step, sweep frequency motion, etc., servo follow-up motion under linear gradient load torque, and servo follow-up motion under combined torque or nonlinear function load torque, etc. The realization of all the above loading forms is called full-state loading. According to the form of load force generation, it is divided into active loading and passive loading. Among them, passive loading is that the servo movement pushes the loading device to generate load force, mainly including gradient loading devices such as leaf springs and springs, and non-gradient loading devices such as friction pairs and dampers that are opposite to the direction of movement. Active loading is that the loading device actively applies load force to push the servo movement, mainly reverse thrust loading devices. Devices that simultaneously realize active loading and passive loading are called active and passive loading devices.

[0004] The existing servo loading devices include spring / leaf spring-based loading devices, pulley weight-based loading devices, and hydraulic friction system-based loading devices. Among them, the spring / leaf spring-based loading device can only realize gradient passive loading, and cannot perform active loading and non-gradient loading; the pulley weight-based loading device can only perform static loading with constant torque, and cannot perform dynamic loading; the loading device based on the hydraulic friction system is limited by the dynamic adjustment performance of the oil pressure, and can only perform passive loading with constant torque or active loading with slow changes, and cannot perform full-state loading. In addition, the entire loading system is complex to maintain, has a large volume and weight, and has serious noise pollution. Summary of the invention

[0005] In view of the above analysis, an embodiment of the present invention aims to provide an active and passive full-state servo torque loading device to solve the problem that the existing servo loading device has a single function and cannot achieve high-precision full-state loading.

[0006] An embodiment of the present invention provides an active and passive full-state servo torque loading device, comprising: a variable structure permanent magnet motor module, comprising a permanent magnet motor and a double-pole double-throw switch, for realizing switching of the permanent magnet motor to the servo torque loading mode based on the double-pole double-throw switch, wherein the loading mode comprises a passive loading mode based on a short-circuit connection between a permanent magnet motor winding and an external power resistor or an active loading mode in which the permanent magnet motor winding is normally connected; a control module, in response to an input passive loading mode, controlling the double-pole double-throw switch to switch to a passive loading mode, wherein the control module adjusts the resistance value of the external power resistor based on a set target torque to output a load torque; in response to an input active loading mode, controlling the double-pole double-throw switch to switch to an active loading mode, and calculating a target voltage based on a target torque function, wherein the permanent magnet motor outputs a load torque based on the target voltage.

[0007] Based on the further improvement of the above method, the servo torque loading device also includes: a front-end torque sensor module and a rear-end torque sensor module, which are respectively used to detect the first output torque of the variable structure permanent magnet motor module and the second output torque of the servo torque loading device; the control module includes a torque feedforward controller, a torque feedback controller and a current loop controller; the control module calculates the target voltage based on the target torque function, including: the torque feedforward controller obtains the first current based on the first output torque, the second output torque and the target torque function value; the target voltage is obtained based on the first current, the working current of the permanent magnet motor, the transfer function of the torque feedback controller and the transfer function of the current loop controller.

[0008] Based on the further improvement of the above method, the target torque function is a constant function, and the corresponding target torque function value is a set target torque constant; or, the target torque function is a non-constant function, and the corresponding target torque function value is obtained based on the set loading force function, the rotor position signal and the zero position signal of the permanent magnet motor.

[0009] Based on the further improvement of the above method, the torque feedforward controller obtains the first current based on the first output torque, the second output torque and the target torque function value, including: when λT1>T2, I*=T N / (ληK T ), when λT1<T2, I*=(ηT N ) / (λK T ), where T1 is the first output torque, T2 is the second output torque, T Nis the target torque function value, λ and η are the system transmission ratio and efficiency of the steering gear torque loading device respectively, KT is the torque coefficient of the permanent magnet motor, and I* is the first current.

[0010] Based on the further improvement of the above method, the target voltage is obtained based on the first current, the working current of the permanent magnet motor, the transfer function of the torque feedback controller and the transfer function of the current loop controller, including: the torque feedback controller is a PID controller, the transfer function is G c1 The current loop controller is a PI controller, and the transfer function is G c2 ; The target voltage U is Gc2*(I*+Gc1*(T N -T2)-I), where I is the operating current of the permanent magnet motor.

[0011] Based on the further improvement of the above method, the steering gear torque loading device also includes a rotor position detection module for detecting the rotor position signal of the permanent magnet motor; when the target torque function is a non-constant function, the corresponding target torque function value is obtained based on the set loading force function, the rotor position signal and the zero position signal of the permanent magnet motor, including: s1 (S m -S0) as the target torque function value T N , where G s1 is the set loading force function, S m is the rotor position signal, S0 is the zero position signal, wherein the zero position signal is obtained by zero position calibration.

[0012] Based on the further improvement of the above method, the loading force function G s1 Kg(S m -S m0 ) / λ, Kg means loading with linear moment gradient, or G s1 K w (S m -S m0 ) 2 / λ 2 , K w It indicates loading with quadratic moment gradient, and λ is the system transmission ratio.

[0013] Based on the further improvement of the above method, the resistance value calculation formula of the external power resistor is:

[0014]

[0015] Among them, R′ is the resistance value of the external power resistor, R is the resistance value of the permanent magnet motor coil, M is the permanent magnet motor load torque, λ is the transmission ratio, ki is the permanent magnet motor torque coefficient, kv is the permanent magnet motor potential coefficient, ω is the servo speed to be measured, and η is the permanent magnet motor efficiency; the resistance of the permanent magnet motor coil can be calculated by taking the target torque as the permanent magnet motor load torque.

[0016] Based on the further improvement of the above method, the permanent magnet motor is selected from one of a brushless DC motor, a permanent magnet synchronous motor or a permanent magnet brushed motor, and the winding is the stator winding of the brushless DC motor, the stator winding of the permanent magnet synchronous motor or the rotor winding of the permanent magnet brushed motor;

[0017] The permanent magnet motor outputting a load torque based on the target voltage includes: inputting the target voltage into a motor drive circuit to convert it into a control voltage, and generating the load torque based on the control voltage.

[0018] Based on the further improvement of the above method, the control module also includes a transmission efficiency loss compensation module, which is applicable to the parameters affected by temperature in the active loading mode, and the torque coefficient K of the variable structure permanent magnet motor module T , the transmission efficiency loss compensation calculation formula is:

[0019] K T =[1-(Tenperature / 273.15) 3 ]*K0],

[0020] Where K0 is the torque coefficient at 0 degrees Celsius.

[0021] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0022] 1. The present invention provides an active and passive full-state servo torque loading device, which realizes the switching of active loading mode and passive loading mode by setting a double-pole double-throw switch to control the winding of the permanent magnet motor, and realizes a loading device with multiple loading modes at the same time. The technicians can flexibly control the loading mode according to business needs.

[0023] 2. The present invention provides an active and passive full-state servo torque loading device. For the passive loading mode, when the speed of the servo to be measured is determined, the target torque output by the permanent magnet motor is set to be only related to the coil resistance; for the active loading mode, the target torque output by the permanent magnet electromagnetic is set to be only related to the target torque function, and thus for the servo in any motion state, the load torque calculation can be realized based on the control module. Therefore, a full-state calculation torque calculation device is realized to meet the complex loading requirements of the servo.

[0024] 3. The present invention provides an active and passive full-state servo torque loading device. By setting a transmission efficiency loss compensation module in the control module, loss compensation is performed on parameters affected by temperature in the active loading mode, thereby improving the accuracy of the output load torque of the servo torque loading device.

[0025] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. In the entire drawings, the same reference symbols represent the same components;

[0027] Figure 1 It is a schematic diagram of an active and passive full-state servo torque loading device in an embodiment;

[0028] Figure 2 A schematic diagram of another active and passive full-state servo torque loading device in an embodiment;

[0029] Figure 3 A schematic diagram of the double-pole double-throw switch control logic in the embodiment;

[0030] Figure 4 A schematic diagram of calculating a target moment function value by a non-constant function in an embodiment;

[0031] Figure 5 Schematic diagram of a method for calculating a target voltage of a permanent magnet motor in an embodiment;

[0032] Among them, a1, a2, a3, and a4 represent the connection terminals of the double-pole double-throw switch, b1 and b2 represent the two ends of the external power resistor, and b3 and b4 represent the output ends of the control module. DETAILED DESCRIPTION

[0033] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0034] A specific embodiment of the present invention discloses an active and passive full-state steering gear torque loading device, such as Figure 1As shown, it includes: a variable structure permanent magnet motor module, including a permanent magnet motor and a double-pole double-throw switch, which is used to realize the switching of the permanent magnet motor to the steering gear torque loading mode based on the double-pole double-throw switch, and the loading mode includes a passive loading mode based on the short-circuit connection between the permanent magnet motor winding and the external power resistor or an active loading mode in which the permanent magnet motor winding is normally connected; a control module, in response to the input passive loading mode, controls the double-pole double-throw switch to switch to the passive loading mode, and the control module adjusts the resistance value of the external power resistor based on the set target torque to output the load torque; in response to the input active loading mode, controls the double-pole double-throw switch to switch to the active loading mode, and calculates the target voltage based on the target torque function, and the permanent magnet motor outputs the load torque based on the target voltage.

[0035] Among them, the permanent magnet motor is selected from one of a brushless DC motor, a permanent magnet synchronous motor or a permanent magnet brushed motor, and the winding is the stator winding of the brushless DC motor, the stator winding of the permanent magnet synchronous motor or the rotor winding of the permanent magnet brushed motor; the motor torque coefficient of the permanent magnet motor module is constant below the rated power, and the relationship between the motor torque coefficient and the temperature rise is constant. It can be understood that, while ensuring that the permanent magnet motor is not damaged, the maximum load torque that the permanent magnet motor can output is related to the rated power. The permanent magnet motor outputs a load torque based on the target voltage, including: inputting the target voltage into the motor drive circuit and converting it into a control voltage, and generating the load torque based on the control voltage.

[0036] Among them, the target torque function is a constant function, and the corresponding target torque function value is a set target torque constant; or, the target torque function is a non-constant function, and the corresponding target torque function value is obtained based on the set loading force function, the rotor position signal and the zero position signal of the permanent magnet motor. A constant function means that the set target torque remains constant, that is, the load torque output by the permanent magnet motor is a fixed value. A non-constant function means that the target torque changes with the function form. The non-constant function may include position gradient, position, damping coefficient, motion speed, bias force coefficient, time function, etc. For example, a non-constant function may be

[0037] F(t)=k1*s+k2*v+k3*sign(v)+k4(t),

[0038] Where k1 is the position gradient, s is the position, k2 is the damping coefficient, v is the motion velocity, k3 is the bias force coefficient, sign is the sign function, and k4 is the time function of the active loading force.

[0039] Among them, the control module is used to perform closed-loop control on the load torque output by the permanent magnet motor, and provides a human-computer interaction interface. The input parameters include external command signals, target torque functions, system temperature and motor bus voltage. The external command signal refers to the loading mode specified by the user.

[0040] The steering gear torque loading device also includes: Figure 2 As shown, the front-end torque sensor module and the rear-end torque sensor module are respectively used to detect the first output torque of the variable structure permanent magnet motor module and the second output torque of the steering gear torque loading device, the first output torque is the load torque output by the permanent magnet motor, and the second output torque is the actual torque output by the steering gear torque loading device; the rotor position detection module is used to detect the rotor position signal of the permanent magnet motor; the base module is used to install other modules and the steering gear; the torque amplification mechanical structure module is used to balance the load force and the movement speed; the output module is located at the end of the steering gear torque loading device and is used to connect the steering gear to be tested. The control module, the variable structure permanent magnet motor module, the front-end torque sensor module, the torque amplification mechanical structure module, the rear-end torque sensor module, and the output module are connected in sequence. Exemplarily, the rotor shaft of the permanent magnet motor is connected to the front-end torque sensor module. The front-end torque sensor module and the rear-end torque sensor module adopt piezoresistive torque sensors, which can perform both static and dynamic measurements; the torque amplification mechanical structure module is implemented in a basic series form of gears, ball screw pairs, connecting rods, and output sleeves, and is precisely assembled to eliminate gaps to achieve linear amplification of the load torque output by the permanent magnet motor; the output module includes a loading output end, and the distance between the servo under test and the loading output end is adjusted based on the guide rail.

[0041] Among them, see Figure 3, the double-pole double-throw switch includes four terminals a1, a2, a3, and a4 and two control terminals, both of which are connected to the control module; the two terminals a1 and a2 on one side are respectively connected to the two ends of the winding of the permanent magnet motor, and the two terminals a3 and a4 on the other side can be respectively connected to the two ends b1 and b2 of the external power resistor, and a passive loading mode is formed after closing, or they are respectively connected to the output ends b3 and b4 of the control module, and an active loading mode is formed after closing. For the passive loading mode, the permanent magnet motor winding is short-circuited and connected to the external power resistor, and the steering gear to be tested drives the steering gear torque loading device to generate a load torque. Specifically, the permanent magnet motor winding cuts the magnetic field to generate an induced electromotive force, and the induced current formed in the winding coil loop generates a load torque to resist the movement of the steering gear to be tested. This mode has a short dynamic response time and a high bandwidth. For the active loading mode, the permanent magnet motor winding is normally connected, and the voltage of the permanent magnet motor winding is controlled by the control system to generate a load torque. This mode has flexible load torque control and can generate load force according to demand. It can be understood that when a3 and a4 of the double-pole double-throw switch are not connected to b1 and b2 or b3 and b4, the servo torque loading device is in a free-moving non-loading mode.

[0042] It can be understood that the passive loading mode and the active loading mode are determined by the external command signal input by the human-machine interaction interface of the control module. The control module determines whether the double-pole double-throw switch is connected to the two ends b1 and b2 of the external power resistor or to the output ends b3 and b4 of the control module based on the external command signal. For the passive loading mode, the load torque output by the permanent magnet motor is related to the resistance of the external power resistor, the coil resistance, and the speed of the servo to be measured. The relationship is as follows. The resistance value calculation formula of the external power resistor is:

[0043]

[0044] Wherein, R' is the resistance value of the external power resistor, R is the resistance value of the permanent magnet motor coil, M is the permanent magnet motor load torque, λ is the transmission ratio, ki is the permanent magnet motor torque coefficient, kv is the permanent magnet motor potential coefficient, ω is the speed of the servo to be measured, and η is the efficiency of the permanent magnet motor. Wherein, the coil resistance of the permanent magnet motor is fixed and cannot be adjusted. The control module can adjust the resistance of the external power resistor to make the permanent magnet motor output the target torque. Exemplarily, when the speed of the servo to be measured is known, the resistance value of the external power resistor can be calculated by taking the target torque function value as the load torque of the permanent magnet motor. For the active loading mode, according to the different target torque functions, it can be divided into a direct torque control mode and a follower torque control mode. The direct torque mode corresponds to the target torque function being a constant function, and the follower torque control mode corresponds to the target torque function being a non-constant function.

[0045] Wherein, the control module also includes a torque feedforward controller, a torque feedback controller and a current loop controller.

[0046] The control module calculates the target voltage based on the target torque function, including: the torque feedforward controller obtains the first current based on the first output torque, the second output torque and the target torque function value; and obtains the target voltage based on the first current, the working current of the permanent magnet motor, the transfer function of the torque feedback controller and the transfer function of the current loop controller.

[0047] For the direct torque control mode, the target torque function value TN can be determined by a constant function input by the human-machine interface of the control module; for the follower torque control mode, the target torque function value TN can be calculated by a non-constant function input by the human-machine interface of the control module. Specifically, the target torque function value is obtained based on the set loading force function, the rotor position signal and the zero position signal of the permanent magnet motor, including: s1 (S m -S0) as the target torque function value T N , where G s1 is the set loading force function, S m is the rotor position signal, S0 is the zero position signal, wherein the zero position signal is obtained by zero position calibration. Preferably, the loading force function G s1 Kg(S m -S m0 ) / λ, Kg means loading with linear moment gradient, or G s1 K w (S m -S m0 ) 2 / λ 2 , K w It means loading with quadratic moment gradient, λ is the system transmission ratio, such as Figure 4 Preferably, the loading force function is stored using a follower torque controller.

[0048] The torque feedforward controller obtains the first current based on the first output torque, the second output torque and the target torque function value, including: when λT1>T2, I*=T N / (ληK T ), when λT1<T2, I*=(ηT N ) / (λK T ), where T1 is the first output torque, T2 is the second output torque, T N is the target torque function value, λ and η are the system transmission ratio and efficiency of the servo torque loading device, respectively, K T is the torque coefficient of the permanent magnet motor, and I* is the first current.

[0049] Obtaining the target voltage based on the first current, the working current of the permanent magnet motor, the transfer function of the torque feedback controller and the transfer function of the current loop controller includes: the torque feedback controller is a PID controller, the transfer function is G c1 , G c1 =k p +k i / s+k d s, the current loop controller is a PI controller, and the transfer function is G c2 , G c2 =k pw +k iw / s, where k p , k i , k d , k pw , k iw is the operator, s is the differential parameter; the target voltage U is Gc2*(I*+Gc1*(T N -T2)-I), where I is the operating current of the permanent magnet motor, such as Figure 5 shown.

[0050] Exemplarily, the control module further includes a transmission efficiency loss compensation module, which realizes compensation based on the difference between the first output torque and the second output torque, and is applicable to parameters affected by temperature in the active loading mode, and for the torque coefficient K of the variable structure permanent magnet motor module T , the transmission efficiency loss compensation calculation formula is:

[0051] K T =[1-(Temperature / 273.15) 3 ]*K0],

[0052] Wherein, K0 is the torque coefficient at 0 degrees Celsius; the efficiency η of the torque amplification mechanical structure module is:

[0053] η=[1+k*(Temperature / 273.15)]*η0,

[0054] Where K0 is the torque coefficient at 0 degrees Celsius, k is the calibration coefficient, and η0 is the efficiency at 0 degrees Celsius.

[0055] Preferably, for the control module, its current detection accuracy is not less than one thousandth of the rated current of the permanent magnet motor; it has the ability to read torque sensor information; it has the temperature collection function of the permanent magnet motor body and the torque amplification mechanical structure; and it adopts a composite control strategy of torque feedforward and feedback.

[0056] Compared with the prior art, the present embodiment provides an active and passive full-state servo torque loading device, which realizes switching between active loading mode and passive loading mode by setting a double-pole double-throw switch to control the winding of the permanent magnet motor, thereby realizing a loading device with multiple loading forms at the same time, and technical personnel can flexibly control the loading mode according to business needs; for any motion state of the servo, load torque calculation can be realized based on the control module, realizing a full-state calculation torque calculation device to meet the complex loading requirements of the servo; by setting a transmission efficiency loss compensation module in the control module, the loss of parameters affected by temperature in the active loading mode is compensated, thereby improving the accuracy of the output load torque of the servo torque loading device.

[0057] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0058] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. An active and passive full-state servo torque loading device, characterized in that: include: A variable structure permanent magnet motor module, comprising a permanent magnet motor and a double-pole double-throw switch, for realizing switching of the permanent magnet motor to a steering gear torque loading mode based on the double-pole double-throw switch, wherein the loading mode comprises a passive loading mode based on a short-circuit connection between a permanent magnet motor winding and an external power resistor or an active loading mode based on a normal connection of a permanent magnet motor winding; A control module, in response to an input passive loading mode, controls the double-pole double-throw switch to switch to a passive loading mode, wherein the control module adjusts the resistance value of the external power resistor based on a set target torque to output a load torque; In response to the input active loading mode, the double-pole double-throw switch is controlled to switch to the active loading mode, and a target voltage is calculated based on a target torque function, and the permanent magnet motor outputs a load torque based on the target voltage.

2. The active and passive full-state servo torque loading device according to claim 1, characterized in that: The steering gear torque loading device further comprises: a front-end torque sensor module and a rear-end torque sensor module, which are respectively used to detect the first output torque of the variable structure permanent magnet motor module and the second output torque of the steering gear torque loading device; the control module comprises a torque feedforward controller, a torque feedback controller and a current loop controller; The control module calculates the target voltage based on the target torque function, including: the torque feedforward controller obtains the first current based on the first output torque, the second output torque and the target torque function value; and obtains the target voltage based on the first current, the working current of the permanent magnet motor, the transfer function of the torque feedback controller and the transfer function of the current loop controller.

3. The active and passive full-state steering engine torque loading device according to claim 2, characterized in that: The target torque function is a constant function, and the corresponding target torque function value is a set target torque constant; Alternatively, the target torque function is a non-constant function, and the corresponding target torque function value is obtained based on a set loading force function, a rotor position signal and a zero position signal of the permanent magnet motor.

4. The active and passive full-state steering engine torque loading device according to claim 3 is characterized in that: The torque feedforward controller obtains the first current based on the first output torque, the second output torque and the target torque function value, including: when λT1>T2, I*=T N / (ληK T ), when λT1<T2, I*=(ηT N ) / (λK T ), where T1 is the first output torque, T2 is the second output torque, T N is the target torque function value, λ and η are the system transmission ratio and efficiency of the servo torque loading device, respectively, K T is the torque coefficient of the permanent magnet motor, and I* is the first current.

5. The active and passive full-state steering engine torque loading device according to claim 4, characterized in that: Obtaining the target voltage based on the first current, the working current of the permanent magnet motor, the transfer function of the torque feedback controller and the transfer function of the current loop controller includes: the torque feedback controller is a PID controller, the transfer function is G c1 The current loop controller is a PI controller, and the transfer function is G c2 ; The target voltage U is Gc2*(I*+Gc1*(T N -T2)-I), where I is the operating current of the permanent magnet motor.

6. The active and passive full-state steering engine torque loading device according to claim 5, characterized in that: The steering gear torque loading device further comprises a rotor position detection module, which is used to detect a rotor position signal of the permanent magnet motor; When the target torque function is a non-constant function, the corresponding target torque function value is obtained based on the set loading force function, the rotor position signal and the zero position signal of the permanent magnet motor, including: s1 (S m -S0) as the target torque function value T N , where G s1 is the set loading force function, S m is the rotor position signal, S0 is the zero position signal, wherein the zero position signal is obtained by zero position calibration.

7. The active and passive full-state steering engine torque loading device according to claim 6, characterized in that: The load force function G s1 Kg(S m -S m0 ) / λ, Kg means loading with linear moment gradient, or G s1 K w (S m -S m0 ) 2 / λ 2 , K w It indicates loading with quadratic moment gradient, and λ is the system transmission ratio.

8. The active and passive full-state steering engine torque loading device according to claim 7, characterized in that: The resistance value of the external power resistor is calculated as: Among them, R′ is the resistance value of the external power resistor, R is the resistance value of the permanent magnet motor coil, M is the permanent magnet motor load torque, λ is the transmission ratio, ki is the permanent magnet motor torque coefficient, kv is the permanent magnet motor potential coefficient, ω is the servo speed to be measured, and η is the permanent magnet motor efficiency; the resistance of the permanent magnet motor coil can be calculated by taking the target torque as the permanent magnet motor load torque.

9. The active and passive full-state steering gear torque loading device according to claim 8, characterized in that: The permanent magnet motor is selected from one of a brushless DC motor, a permanent magnet synchronous motor or a permanent magnet brushed motor, and the winding is a stator winding of the brushless DC motor, a stator winding of the permanent magnet synchronous motor or a rotor winding of the permanent magnet brushed motor; The permanent magnet motor outputting a load torque based on the target voltage includes: inputting the target voltage into a motor drive circuit to convert it into a control voltage, and generating the load torque based on the control voltage.

10. The active and passive full-state steering engine torque loading device according to claim 9, characterized in that: include: The control module also includes a transmission efficiency loss compensation module, which is applicable to the parameters affected by temperature in the active loading mode, and the torque coefficient K of the variable structure permanent magnet motor module T , the transmission efficiency loss compensation calculation formula is: K T =[1-(Temperature / 273.15) 3 ]*K0], Where K0 is the torque coefficient at 0 degrees Celsius.

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