Simulation device of aero-engine electro-hydraulic servo actuation system

Abstract

According to the simulation device of the aero-engine electro-hydraulic servo actuation system, in the aero-engine electro-hydraulic servo actuation system, after an electro-hydraulic servo valve receives driving current generated by a controller, the driving current is converted into servo fuel oil flow so as to control an actuation device; the actuating device feeds back to the controller through the displacement sensor to form a closed loop, and the simulation device comprises a real-time simulation calculation unit which is used for operating simulation mathematical models of the electro-hydraulic servo valve, the actuating device and the displacement sensor so as to output a displacement signal of the displacement sensor after receiving a driving signal of the electro-hydraulic servo valve; and the signal conditioning unit is used for conditioning the displacement signal through the excitation signal, so that the displacement signal is matched with the to-be-tested product, and then the displacement signal is output to the to-be-tested product through the interface adapter.

Description

Technical Field

[0001] The invention relates to the field of aircraft engines, and in particular to a simulation device for an aircraft engine electro-hydraulic servo actuation system. Background Art

[0002] At present, aircraft engines generally use variable geometry control systems to adjust high and low pressure air flow to ensure safe, reliable and stable operation of the engine. The variable geometry control system based on hydraulic control is currently a more common control method. The system is generally composed of an electro-hydraulic servo valve (EHSV), an adjustable bleed valve (VBV), a displacement sensor (LVDT), and adjustable stator blades. According to the position opening instruction, the engine electronic controller (EEC) generates a driving current for the electro-hydraulic servo valve, and the electro-hydraulic servo valve converts the driving signal into a servo fuel flow to act on the actuator, thereby controlling the opening size of the adjustable bleed valve, and then passing through the displacement sensor, and then feedback to the electronic controller, thereby forming a closed-loop control.

[0003] The verification of the control function and performance requirements of the engine servo loop is usually carried out in a semi-physical test bench for the engine fuel control system, in which the above components involved in variable geometry control are basically real physical products. Since these verification works belong to the system integration verification stage, the time is relatively lagging, which is not conducive to the algorithm design of servo control and the development of accessory products.

[0004] In order to overcome the above-mentioned defects of the prior art, the field is in urgent need of a simulation device for an aircraft engine electro-hydraulic servo actuation system, which utilizes computer simulation calculations to simulate the actuation and signal output of a variable geometry control system with configurable parameters, and is suitable for the development and verification of control algorithms for servo actuation systems of various configurations, thereby significantly improving test efficiency and saving test costs. Summary of the invention

[0005] A brief summary of one or more aspects is given below to provide a basic understanding of these aspects. This summary is not an exhaustive overview of all conceived aspects, and is neither intended to identify the key or critical elements of all aspects nor to define the scope of any or all aspects. Its only purpose is to give some concepts of one or more aspects in a simplified form as a prelude to a more detailed description that will be given later.

[0006] In order to overcome the above-mentioned defects existing in the prior art, the present invention provides a simulation device of an aircraft engine electro-hydraulic servo actuation system. In the aircraft engine electro-hydraulic servo actuation system, after the electro-hydraulic servo valve receives the driving current generated by the controller, it converts it into a servo fuel flow to control the actuating device, and the actuating device then feeds back to the controller through a displacement sensor to form a closed loop. The simulation device may include: a real-time simulation calculation unit, which is used to run the simulation mathematical model of the electro-hydraulic servo valve, the actuating device and the displacement sensor, so as to output the displacement signal of the displacement sensor after receiving the driving signal of the electro-hydraulic servo valve; and a signal conditioning unit, which is used to condition the displacement signal through an excitation signal so that the displacement signal matches the product to be tested, and then output it to the product to be tested through an interface adapter.

[0007] In one embodiment, preferably, the simulation device of the aircraft engine electro-hydraulic servo actuation system provided by the present invention, the displacement sensor includes a linear displacement sensor, and its simulation mathematical model simulates the movement behavior of the displacement sensor through the difference and ratio of the sensor output values, and the signal conditioning unit processes the displacement signal and the excitation signal through proportional adjustment, multiplication transformation and voltage conversion coupling to output the sensor output value.

[0008] In one embodiment, preferably, in the simulation device of the aircraft engine electro-hydraulic servo actuation system provided by the present invention, the motion behavior of the displacement sensor is characterized by the following formula:

[0009]

[0010] Va+Vb=kUexc

[0011] Among them, α is the difference and ratio, Va and Vb are the output values ​​of the sensor, Uexc is the excitation signal, k is the proportional adjustment coefficient of the excitation signal, and further,

[0012]

[0013]

[0014] In one embodiment, preferably, in the simulation device of the aircraft engine electro-hydraulic servo actuation system provided by the present invention, the proportional adjustment is achieved by resistor voltage division, and the resistor voltage division adopts a software control method or a hardware method of manually adjusting the resistor.

[0015] In one embodiment, preferably, the simulation device of the aircraft engine electro-hydraulic servo actuation system provided by the present invention, the hardware method includes manually adjusting the potentiometer set on the front panel of the signal conditioning unit, and the front panel is also provided with a position signal measuring point of the displacement sensor for test signal or fault injection.

[0016] In one embodiment, preferably, the simulation device of the aircraft engine electro-hydraulic servo actuation system provided by the present invention may also include: a load simulation unit, used to convert the driving current into a voltage signal, and then input it into the real-time simulation calculation unit, and the load simulation unit uses a resistance matrix with a resistance range of [100Ω, 5000Ω].

[0017] In one embodiment, preferably, the simulation device of the aircraft engine electro-hydraulic servo actuation system provided by the present invention may further include: a host computer, which is used to control the resistance value of the resistance matrix.

[0018] In one embodiment, preferably, the simulation device of the aircraft engine electro-hydraulic servo actuation system provided by the present invention, the host computer is also used to assist the simulation calculation unit in running the simulation mathematical model, and can include: configuring the signal interface of the real-time simulation calculation unit; calibrating the numerical relationship between the variables of the simulation mathematical model and the system electrical signal; loading the simulation mathematical model; and monitoring the variables and input and output of the simulation mathematical model.

[0019] In one embodiment, preferably, in the simulation device of the aircraft engine electro-hydraulic servo actuation system provided by the present invention, the simulation mathematical model formula of the electro-hydraulic servo valve is:

[0020]

[0021] The actuating device includes an adjustable deflation valve, and the formula of the simulation mathematical model is:

[0022]

[0023] The displacement sensor includes a linear displacement sensor, and the simulation mathematical model formula is:

[0024]

[0025] Wherein, Q(s) is the output flow of the electro-hydraulic servo valve, I(s) is the input current of the electro-hydraulic servo valve, L(s) is the output displacement of the linear displacement sensor, ω n is the natural frequency of the electro-hydraulic servo valve, ξ is the damping ratio, K q is the flow gain of the electro-hydraulic servo valve, K A is the actuator area gain of the adjustable bleed valve, T f is a time constant, and s is a Laplace transform complex variable; after the host computer performs bilinear transformation discretization processing on the multiple simulation mathematical models, the models are loaded into the real-time simulation calculation unit for operation.

[0026] In one embodiment, preferably, the simulation device of the aircraft engine electro-hydraulic servo actuation system provided by the present invention, the real-time simulation calculation unit also includes AD sampling and DA output sub-units, which are respectively used to collect the input signal transmitted to the electro-hydraulic servo valve in the simulated real system and the displacement signal output by the displacement sensor to the signal conditioning unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above features and advantages of the present invention can be better understood after reading the detailed description of the embodiments of the present disclosure in conjunction with the following drawings. In the drawings, the components are not necessarily drawn to scale, and components with similar related properties or features may have the same or similar reference numerals.

[0028] Figure 1 It is a schematic diagram of the working principle of a common electro-hydraulic servo actuation system in the prior art;

[0029] Figure 2 is a schematic diagram of the structure of a simulation device for an aircraft engine electro-hydraulic servo actuation system according to an embodiment of the present invention;

[0030] Figure 3 is a schematic diagram of the basic structure of a displacement sensor according to an embodiment of the present invention;

[0031] Figure 4 is a schematic diagram of the working principle of a signal conditioning unit according to an embodiment of the present invention;

[0032] Figure 5 is a schematic diagram of a device for implementing proportional regulation in the working principle of a signal conditioning unit according to an embodiment of the present invention; and

[0033] Figure 6 The diagram is a basic use flow diagram of a simulation device for an aircraft engine electro-hydraulic servo actuation system according to an embodiment of the present invention.

[0034] For the sake of clarity, a brief description of the reference numerals is given below:

[0035] 101 Electro-hydraulic servo valve

[0036] 102 Adjustable bleed valve

[0037] 103 Displacement Sensor

[0038] 104 Electronic controller

[0039] 201 Real-time simulation computing unit

[0040] 202 Signal Conditioning Unit

[0041] 203 Interface Adapter

[0042] 204 Load simulation unit

[0043] 205 Host computer

[0044] 301 Primary Coil

[0045] 302 Secondary coil

[0046] 303 Iron Core DETAILED DESCRIPTION

[0047] The following specific embodiments illustrate the implementation of the present invention, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this implementation. On the contrary, the purpose of introducing the invention in conjunction with the implementation is to cover other options or modifications that may be extended based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will include many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description.

[0048] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In addition, the terms "upper", "lower", "left", "right", "top", "bottom", "horizontal" and "vertical" used in the following description should be understood as the directions shown in the paragraph and the related drawings. Such relative terms are only used for the convenience of description and do not mean that the device described therein must be manufactured or operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0050] It is understood that although the terms "first", "second", "third", etc. may be used herein to describe various components, regions, layers and / or parts, these components, regions, layers and / or parts should not be limited by these terms, and these terms are only used to distinguish different components, regions, layers and / or parts. Therefore, the first component, region, layer and / or part discussed below may be referred to as a second component, region, layer and / or part without departing from some embodiments of the present invention.

[0051] In order to overcome the above-mentioned defects of the prior art, the present invention provides a simulation device for an aircraft engine electro-hydraulic servo actuation system, which utilizes computer simulation calculations to simulate the actuation and signal output of a variable geometry control system with configurable parameters, and is suitable for the development and verification of control algorithms for servo actuation systems of various configurations, thereby significantly improving test efficiency and saving test costs.

[0052] Figure 1 It is a schematic diagram of the working principle of a common electro-hydraulic servo actuation system in the prior art.

[0053] like Figure 1 As shown, the common electro-hydraulic servo actuation system in the prior art generally consists of an electro-hydraulic servo valve 101 (EHSV), an adjustable bleed valve 102 (VBV), a displacement sensor 103 (LVDT), and an adjustable stator blade. According to the position opening instruction, the engine electronic controller 104 (EEC) generates a driving current for the electro-hydraulic servo valve 101, and the electro-hydraulic servo valve 101 converts the driving signal into a servo fuel flow to act on the actuator of the adjustable bleed valve 102, thereby controlling the opening size of the adjustable bleed valve, and then passing through the displacement sensor 103, and then feedback to the electronic controller 104, thereby forming a closed-loop control.

[0054] Figure 2 The figure is a schematic diagram of the structure of a simulation device for an aircraft engine electro-hydraulic servo actuation system according to an embodiment of the present invention.

[0055] Please refer to Figure 2 The simulation device of the aircraft engine electro-hydraulic servo actuation system provided by the present invention is used to simulate Figure 1 In the electro-hydraulic servo actuation system shown, the simulation device may mainly include a real-time simulation calculation unit 201 and a signal conditioning unit 202 .

[0056] The real-time simulation calculation unit 201 can be used to run the simulation mathematical model of the electro-hydraulic servo valve, the actuator and the displacement sensor, so as to output the displacement signal Ua of the displacement sensor after receiving the drive signal Uvbs input to the electro-hydraulic servo valve.

[0057] In one embodiment, the simulation mathematical models of the electro-hydraulic servo valve, the actuating device and the displacement sensor can be respectively expressed by the following formulas:

[0058] Electro-hydraulic servo valve:

[0059]

[0060] The actuating device includes an adjustable air release valve, and the formula can be:

[0061]

[0062] The displacement sensor may include a linear displacement sensor, and the formula may be:

[0063]

[0064] Wherein, Q(s) is the output flow of the electro-hydraulic servo valve, I(s) is the input current of the electro-hydraulic servo valve, L(s) is the output displacement of the linear displacement sensor, ω n is the natural frequency of the electro-hydraulic servo valve, ξ is the damping ratio, K q is the flow gain of the electro-hydraulic servo valve, K A is the area gain of the actuator of the adjustable bleed valve, T f is a time constant, and s is a Laplace transform complex variable. After the multiple simulation mathematical models are subjected to bilinear transformation discretization processing, they are loaded into the real-time simulation computing unit for operation.

[0065] Furthermore, if Figure 2 As shown, the real-time simulation calculation unit 201 is also provided with AD sampling and DA output subunits, which can be implemented by corresponding boards and used to collect the input signal transmitted to the electro-hydraulic servo valve in the simulated real system and the displacement signal output by the displacement sensor to the signal conditioning unit 202. For example, the AD sampling subunit can adopt a mature AI board, and the load connected to it can be programmable to try valve drives with different load characteristics.

[0066] Please continue to refer to Figure 2 The simulation device provided by the present invention mainly includes a signal conditioning unit 202, which is used to condition the displacement signal Ua through an excitation signal Uexc so that the displacement signal Ua matches the product to be tested, and then outputs it to the product to be tested through an interface adapter 203.

[0067] In one embodiment, in the electro-hydraulic servo actuation system simulated by the simulation device provided by the present invention, the displacement sensor may include a linear displacement sensor, see Figure 3 .

[0068] Figure 3 FIG. 4 is a schematic diagram of the basic structure of a displacement sensor according to an embodiment of the present invention.

[0069] The linear displacement sensor in this embodiment may include a five-wire system or a six-wire system, wherein the two output signals Va and Vb of the five-wire system share a common ground, while the six-wire system has independent common grounds. Figure 3As shown, the interior of the linear displacement sensor is mainly composed of a primary coil 301, two secondary coils 302 and an iron core 303. In addition, a coil frame and a shell may be provided. When the iron core 303 moves from the middle to both sides, the difference in output voltage of the two secondary coils 302 is linearly related to the movement of the iron core 303.

[0070] Based on this principle, in the simulation device provided by the present invention, the simulation mathematical model of the displacement sensor simulates the motion behavior of the displacement sensor through the difference and ratio of the sensor output values. The motion behavior of the displacement sensor can be characterized by the following formula:

[0071]

[0072] Va+Vb=kUexc

[0073] Among them, α is the difference and ratio, Va and Vb are the output values ​​of the sensor, Uexc is the excitation signal, and k is the proportional adjustment coefficient of the excitation signal. Further, it can be deduced that the two output signals of the displacement sensor are:

[0074]

[0075]

[0076] It can be understood that in the simulation device of the aircraft engine electro-hydraulic servo actuation system provided by the present invention, the signal conditioning circuit can be used to match the relationship between digital quantities and electrical signals, realize the mutual configuration of the electrical signals of the simulation device and the product under test, and avoid damage to the simulation device and the product under test due to adaptation problems.

[0077] Figure 4 FIG. 4 is a schematic diagram of the working principle of a signal conditioning unit according to an embodiment of the present invention.

[0078] Please refer to Figure 4 , and can be combined Figure 2 In this embodiment, in the simulation device provided by the present invention, the signal conditioning unit 202 processes the displacement signal Ua and the excitation signal Uexc through proportional adjustment, multiplication transformation and voltage conversion coupling to output the sensor output values ​​Va and Vb.

[0079] The proportional adjustment here can include signal attenuation or proportional amplification. Figure 5 .

[0080] Figure 5 1 is a schematic diagram of a device for implementing proportional regulation in the working principle of a signal conditioning unit according to an embodiment of the present invention.

[0081] The proportional regulation function in the signal conditioning unit can be realized by resistor voltage division, for example Figure 5 In the illustrated embodiment, a resistor voltage division method is used to adjust the excitation signal Uexc of the displacement sensor, wherein the maximum adjustable range of the resistor is 1 KΩ, and the adjustable range of the excitation signal Uexc can be, for example, 1 / 3 to 1 times of its input value.

[0082] Furthermore, the resistor voltage division may be performed in a software control manner or in a hardware manner of manually adjusting the resistor.

[0083] For example, the hardware method includes manually adjusting a potentiometer, such as a precision potentiometer, disposed on the front panel of the signal conditioning unit, and the resistance value can be changed by manually rotating the potentiometer knob. When rotating, two modes, coarse adjustment and fine adjustment, can be included. In the coarse adjustment mode, the resistance is adjusted according to the large precision gear, and in the fine adjustment mode, the resistance is adjusted according to the small precision gear, thereby changing the excitation voltage signal of the simulated displacement sensor through the resolver resistor, and then changing the output displacement voltage signal of the simulated displacement sensor.

[0084] The software implementation of the resistor voltage division can be achieved by, for example, controlling a digital programmable resistor using human-computer interaction software.

[0085] In addition, the position signal measurement point of the displacement sensor can be set on the front panel of the signal conditioning unit, which is convenient for testing whether the signal is normal and can also perform hardware fault injection to support system verification. Similarly, the test and fault injection here can also be implemented by software.

[0086] Please continue to refer to Figure 2 In one embodiment, the simulation device of the aircraft engine electro-hydraulic servo actuation system provided by the present invention may further include a load simulation unit 204 for simulating the load characteristics of the product under test. The load simulation unit 204 converts the drive current Ivbs into a voltage signal Uvbs, and then inputs it into the real-time simulation calculation unit 201. The load simulation unit 204 may use a resistance matrix with a resistance range of [100Ω, 5000Ω], and the specific value may be adjusted by the user according to the test requirements.

[0087] Furthermore, in a preferred embodiment, the simulation device of the aircraft engine electro-hydraulic servo actuation system provided by the present invention may also include a host computer 205, and the host computer 205 may be used to control the resistance value of the resistance matrix.

[0088] In addition, preferably, the host computer 205 can also be used to assist the simulation calculation unit in running the simulation mathematical model, for example, it may include configuring the signal interface of the real-time simulation calculation unit, calibrating the numerical relationship between the variables of the simulation mathematical model and the system electrical signal, loading the simulation mathematical model; and monitoring the variables and input and output of the simulation mathematical model.

[0089] More specifically, the signal configuration function of the host computer 205 can be mainly used to establish a physical mapping between the software interface of the simulation model and the system hardware interface, such as setting board channels, model interface query and interface matching.

[0090] The signal calibration function of the host computer 205 can realize the numerical conversion of model variables to system electrical signals, and can also compensate for hardware channel output errors. Further, within the signal input and output range, the relationship between the digital quantity of the real-time system computer and the numerical value of the electrical signal can be established, such as collecting input signals for AD conversion and model output for DA conversion, etc., and using data fitting to obtain mathematical expressions, which are then written into the signal calibration formula.

[0091] The model loading function of the host computer 205 can import the simulation model into the real-time simulation computer and control the running state of the model. The model needs to be converted into an executable file with a .dll format suffix.

[0092] The data monitoring function of the host computer 205 can monitor the model variables and the hardware input and output variables. In addition, the host computer 205 can also be configured with a network communication function to control the resistance matrix of the load simulation unit through network communication.

[0093] In the simulation device of the aircraft engine electro-hydraulic servo actuation system provided by the present invention, various components and units can be interconnected by cables. Except for the cables, each part is an independent box and is installed in a three-dimensional cabinet. The real-time simulation calculation unit can include hardware and software, and the hardware can be composed of an embedded controller (such as NI's PXIe-8880 controller) and input and output boards. The software is composed of an operating system (such as NI's Pharlap ETS), related board drivers, and application software, wherein the application software includes executable programs of mathematical models such as electro-hydraulic servo valves, adjustable bleed valves, and linear displacement sensors.

[0094] In summary, the simulation device of the aircraft engine electro-hydraulic servo actuation system provided by the present invention has a simple composition and is easy to operate. It can quickly modify and load different models through software parameters, and then adjust the load through program control and the excitation voltage through the resolver resistor. By changing and adjusting the software and hardware configuration, the fuel servo actuation components can be simulated relatively realistically, thereby simulating servo systems with different characteristics. It has the advantages of variable signal input load, large output voltage range, and flexible configuration.

[0095] In addition, by simulating the drive and position feedback of the servo actuator system, combined with the fault injection function, it is possible to carry out a more comprehensive and complete design and verification of the servo loop control algorithm in advance, expose design deficiencies and defects in advance, significantly improve test efficiency, and save test costs. At the same time, the simulation device can be extended to all variable geometry control devices of aircraft engines, connected to the electronic controller (EEC), and support related tests of aircraft engine servo loop hardware, with a wide range of applicability.

[0096] Figure 6 The diagram is a basic use flow diagram of a simulation device for an aircraft engine electro-hydraulic servo actuation system according to an embodiment of the present invention.

[0097] Please refer to Figure 6 When used, the simulation device of the aircraft engine electro-hydraulic servo actuation system provided by the present invention can first execute step 601: execute equipment self-test; then step 602: load the simulation model; step 603: configure model data and electrical signals; step 604: run the simulation model; and finally step 605: implement the simulation calculation model.

[0098] Although the above methods are illustrated and described as a series of actions for simplicity of explanation, it should be understood and appreciated that these methods are not limited by the order of the actions, because according to one or more embodiments, some actions may occur in a different order and / or concurrently with other actions from those illustrated and described herein or not illustrated and described herein but understandable to those skilled in the art.

[0099] The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be apparent to those skilled in the art, and the general principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein, but should be granted the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A simulation device for an aircraft engine electro-hydraulic servo actuation system, in which an electro-hydraulic servo valve receives a driving current generated by a controller and converts it into a servo fuel flow to control an actuation device, and the actuation device then feeds back to the controller through a displacement sensor to form a closed loop. The simulation device comprises: A real-time simulation calculation unit, used to run the simulation mathematical model of the electro-hydraulic servo valve, the actuating device and the displacement sensor, so as to output the displacement signal of the displacement sensor after receiving the driving signal of the electro-hydraulic servo valve; as well as The signal conditioning unit is used to condition the displacement signal through an excitation signal so that the displacement signal matches the product to be tested, and then output it to the product to be tested through an interface adapter.

2. The simulation device according to claim 1, characterized in that The displacement sensor includes a linear displacement sensor, and its simulation mathematical model simulates the movement behavior of the displacement sensor through the difference and ratio of sensor output values. The signal conditioning unit processes the displacement signal and the excitation signal through proportional adjustment, multiplication transformation and voltage conversion coupling to output the sensor output value.

3. The simulation device according to claim 2, characterized in that The motion behavior of the displacement sensor is characterized by the following formula: Va+Vb=kUexc Wherein, α is the difference and ratio, Va and Vb are the sensor output values, Uexc is the excitation signal, k is the proportional adjustment coefficient of the excitation signal, and further, 4. The simulation device according to claim 2, characterized in that The proportional adjustment is achieved through resistor voltage division, and the resistor voltage division is controlled by software or manually adjusted by hardware.

5. The simulation device according to claim 4, characterized in that The hardware method includes manually adjusting a potentiometer disposed on the front panel of the signal conditioning unit. The front panel is also provided with a position signal measuring point of the displacement sensor for testing signals or fault injection.

6. The simulation device according to claim 1, characterized in that The simulation device also includes: The load simulation unit is used to convert the driving current into a voltage signal and then input it into the real-time simulation calculation unit. The load simulation unit adopts a resistance matrix with a resistance range of [100Ω, 5000Ω].

7. The simulation device according to claim 6, characterized in that The simulation device also includes: The host computer is used to control the resistance values ​​of the resistance matrix.

8. The simulation device according to claim 6, characterized in that The host computer is also used to assist the simulation calculation unit in running the simulation mathematical model, including: Configuring a signal interface of the real-time simulation computing unit; Calibrate the numerical relationship between the variables of the simulation mathematical model and the system electrical signal; loading the simulation mathematical model; and Monitor the variables and input and output of the simulation mathematical model.

9. The simulation device according to claim 8, characterized in that The simulation mathematical model formula of the electro-hydraulic servo valve is: The actuating device includes an adjustable deflation valve, and the formula of the simulation mathematical model is: The displacement sensor includes a linear displacement sensor, and the simulation mathematical model formula is: Wherein, Q(s) is the output flow of the electro-hydraulic servo valve, I(s) is the input current of the electro-hydraulic servo valve, L(s) is the output displacement of the linear displacement sensor, ω n is the natural frequency of the electro-hydraulic servo valve, ξ is the damping ratio, K q is the flow gain of the electro-hydraulic servo valve, K A is the actuator area gain of the adjustable bleed valve, T f is the time constant, s is the Laplace transform complex variable; The host computer performs bilinear transformation discretization processing on the multiple simulation mathematical models and then loads them into the real-time simulation calculation unit for execution.

10. The simulation device according to claim 1, characterized in that The real-time simulation calculation unit also includes AD sampling and DA output subunits, which are respectively used to collect the input signal transmitted to the electro-hydraulic servo valve in the simulated real system and the displacement signal output by the displacement sensor to the signal conditioning unit.

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