Analog device of aero-engine electro-hydraulic servo actuating system

Abstract

The application provides an analog device of an aero-engine electro-hydraulic servo actuating system, in which an electro-hydraulic servo valve converts driving current generated by a controller into servo fuel flow to control an actuating device, and the actuating device feeds back to the controller through a displacement sensor to form a closed loop, the analog device comprises: a real-time simulation calculation unit for running simulation mathematical models of the electro-hydraulic servo valve, the actuating device and the displacement sensor to output a displacement signal of the displacement sensor after receiving a driving signal of the electro-hydraulic servo valve; and a signal conditioning unit for conditioning the displacement signal through an excitation signal to make the displacement signal match a product to be tested, and outputting to the product to be tested through an interface adapter.

Description

Technical Field

[0001] This invention relates to the field of aero-engines, and more particularly to a simulation device for an electro-hydraulic servo actuation system of an aero-engine. Background Technology

[0002] Currently, aero engines commonly use variable geometry control systems to regulate high and low pressure airflow to ensure safe, reliable, and stable operation. Hydraulic-based variable geometry control systems are a common approach, typically consisting of an electro-hydraulic servo valve (EHSV), an adjustable bleed valve (VBV), a displacement sensor (LVDT), and adjustable stator blades. Based on the position opening command, the engine electronic controller (EEC) generates a drive current for the electro-hydraulic servo valve. The servo valve converts this drive signal into a servo fuel flow rate that acts on the actuator, thereby controlling the opening of the adjustable bleed valve. This flow is then fed back to the electronic controller via the displacement sensor, forming a closed-loop control system.

[0003] Verification of the engine servo loop control function and performance requirements is typically conducted on a semi-physical test bench for the engine fuel control system. The components involved in variable geometry control are generally real physical products. Because this verification work falls under the system integration verification phase, it is relatively time-consuming and detrimental to the design of servo control algorithms and the development of accessory products.

[0004] In order to overcome the above-mentioned defects in the existing technology, there is an urgent need in this field for a simulation device for the electro-hydraulic servo actuation system of aero-engines. By using computer simulation calculations, the actuation and signal output of the variable geometry control system with configurable parameters can be simulated, and control algorithms for servo actuation systems with various configurations can be developed and verified, thereby significantly improving test efficiency and saving test costs. Summary of the Invention

[0005] The following provides a brief overview of one or more aspects to offer a basic understanding of them. This overview is not an exhaustive summary of all conceived aspects, nor is it intended to identify key or decisive elements of all aspects, nor to define the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form to prepare for the more detailed descriptions that follow.

[0006] To overcome the aforementioned deficiencies in the prior art, this invention provides a simulation device for an aero-engine electro-hydraulic servo actuation system. In this system, the electro-hydraulic servo valve receives the drive current generated by the controller and converts it into servo fuel flow to control the actuation device. The actuation device then feeds back to the controller via a displacement sensor to form a closed-loop circuit. The simulation device may include: a real-time simulation calculation unit for running a simulation mathematical model of the electro-hydraulic servo valve, the actuation device, and the displacement sensor, so as to output the displacement signal of the displacement sensor after receiving the drive signal from the electro-hydraulic servo valve; and a signal conditioning unit for conditioning the displacement signal with an excitation signal to match the displacement signal with the product under test, and then outputting it to the product under test via an interface adapter.

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

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

[0009]

[0010] Va+Vb=kUexc

[0011] Where α is the difference and ratio, Va and Vb are the sensor output values, Uexc is the excitation signal, and k is the proportional adjustment coefficient of the excitation signal. Furthermore,

[0012]

[0013]

[0014] In one embodiment, preferably, the simulation device for the electro-hydraulic servo actuation system of an aero-engine provided by the present invention achieves proportional adjustment through a resistor voltage divider, which is controlled by software or manually adjusted by hardware.

[0015] In one embodiment, preferably, the simulation device for the electro-hydraulic servo actuation system of an aero-engine provided by the present invention 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.

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

[0017] In one embodiment, preferably, the simulation device for the electro-hydraulic servo actuation system of the aero-engine provided by the present invention may further include: a host computer for controlling the resistance values ​​of the resistance matrix.

[0018] In one embodiment, preferably, the simulation device for the electro-hydraulic servo actuation system of an aero-engine provided by the present invention, wherein the host computer is further used to assist the simulation calculation unit in running the simulation mathematical model, 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 electrical signals of the system; loading the simulation mathematical model; and monitoring the variables and inputs and outputs of the simulation mathematical model.

[0019] In one embodiment, preferably, the simulation device for the electro-hydraulic servo actuation system of an aero-engine provided by the present invention has the following simulation mathematical model formula for the electro-hydraulic servo valve:

[0020]

[0021] The actuating device includes an adjustable vent valve, and the formula for its simulation mathematical model is as follows:

[0022]

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

[0024]

[0025] Where Q(s) is the output flow rate 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, and ω n Let ξ be the natural frequency of the electro-hydraulic servo valve, ξ be the damping ratio, and K be the resistance. q K represents the flow gain of the electro-hydraulic servo valve. A T represents the gain of the actuating cylinder area of ​​the adjustable vent valve. f is the time constant, and s is the complex variable of the Laplace transform; after the host computer performs bilinear transform discretization on the multiple simulation mathematical models, it loads them into the real-time simulation calculation unit for execution.

[0026] In one embodiment, preferably, the simulation device for the electro-hydraulic servo actuation system of an aero-engine provided by the present invention further includes an AD sampling and DA output subunit in the real-time simulation calculation unit, which is used to collect the input signal transmitted to the electro-hydraulic servo valve and the displacement signal output by the displacement sensor in the simulated real system and send them to the signal conditioning unit. Attached Figure Description

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

[0028] Figure 1 This is a schematic diagram illustrating the working principle of a common electro-hydraulic servo actuation system in existing technology;

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

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

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

[0032] Figure 5 This is a schematic diagram illustrating the proportional adjustment implementation device in the working principle of a signal conditioning unit according to an embodiment of the present invention; and

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

[0034] For clarity, a brief explanation of the reference numerals in the accompanying drawings is provided below:

[0035] 101 Electro-hydraulic servo valve

[0036] 102 Adjustable vent valve

[0037] 103 Displacement Sensor

[0038] 104 Electronic Controller

[0039] 201 Real-time Simulation Calculation 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 Implementation

[0047] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention is presented in conjunction with preferred embodiments, this does not mean that the features of the invention are limited to these embodiments. On the contrary, the purpose of describing the invention in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of the present invention. To provide a thorough understanding of the invention, many specific details will be included in the following description. The invention may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of the invention, some specific details will be omitted in the description.

[0048] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0049] Furthermore, the terms "upper," "lower," "left," "right," "top," "bottom," "horizontal," and "vertical" used in the following description should be understood as the orientations shown in the relevant paragraphs and accompanying drawings. These relative terms are for illustrative purposes only and do not imply that the described apparatus must be manufactured or operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0050] It is understood that although terms such as "first," "second," and "third" 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 components, regions, layers, and / or parts discussed below may be referred to as second components, regions, layers, and / or parts without departing from some embodiments of the present invention.

[0051] To overcome the aforementioned deficiencies in the existing technology, this invention provides a simulation device for an electro-hydraulic servo actuation system of an aero-engine. By utilizing computer simulation calculations, it simulates the actuation and signal output of a variable geometry control system with configurable parameters, and develops and verifies control algorithms for servo actuation systems with various configurations, thereby significantly improving test efficiency and saving test costs.

[0052] Figure 1 This is a schematic diagram illustrating the working principle of a common electro-hydraulic servo actuation system in existing technology.

[0053] like Figure 1 As shown, a 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 adjustable stator blades. Based on the position opening command, the engine electronic controller 104 (EEC) generates a drive current for the electro-hydraulic servo valve 101. The electro-hydraulic servo valve 101 converts this drive signal into a servo fuel flow rate that acts on the actuator of the adjustable bleed valve 102, thereby controlling the opening size of the adjustable bleed valve. This flow then passes through the displacement sensor 103 and is fed back to the electronic controller 104, thus forming a closed-loop control system.

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

[0055] Please refer to Figure 2 The simulation device for the electro-hydraulic servo actuation system of an aircraft engine provided by the present invention is used to simulate... Figure 1 The electro-hydraulic servo actuation system shown can be simulated by 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 actuation device 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 actuation device, and the displacement sensor can be represented by the following formulas:

[0058] Electro-hydraulic servo valve:

[0059]

[0060] The actuating device includes an adjustable vent valve, the formula of which is:

[0061]

[0062] This displacement sensor may include a linear displacement sensor, whose formula can be:

[0063]

[0064] Where Q(s) is the output flow rate 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, and ω n Let ξ be the natural frequency of the electro-hydraulic servo valve, ξ be the damping ratio, and K be the resistance. q K represents the flow gain of the electro-hydraulic servo valve. A T represents the area gain of the actuator of the adjustable vent valve. f Let be the time constant, and s be the Laplace transform complex variable. After discretizing the multiple simulation mathematical models using a bilinear transform, they are then loaded into the real-time simulation computing unit for execution.

[0065] Furthermore, such as Figure 2 As shown, the real-time simulation calculation unit 201 also includes AD sampling and DA output subunits, which can be implemented using corresponding boards. These subunits are used to collect the input signals transmitted to the electro-hydraulic servo valve from the simulated real system and the displacement signals output by the displacement sensor, and then transmit them to the signal conditioning unit 202. For example, the AD sampling subunit can use a mature AI board, and the connected load can be programmable to test valve drives with different load characteristics.

[0066] Please continue to refer to this. Figure 2 The analog device provided by the present invention mainly includes a signal conditioning unit 202, which is used to condition the displacement signal Ua through the excitation signal Uexc so that the displacement signal Ua matches the product under test, and then outputs it to the product under test through the 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 also...) Figure 3 .

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

[0069] The linear displacement sensor in this embodiment can include a five-wire or six-wire system. In the five-wire system, the two output signals Va and Vb share a common ground, while in the six-wire system, they share an independent common ground. For example... Figure 3As shown, the linear displacement sensor mainly consists of a primary coil 301, two secondary coils 302, and an iron core 303. It may also include a coil frame and a housing. When the iron core 303 moves from the center to both sides, the voltage difference between the outputs 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 this invention, the simulation mathematical model of the displacement sensor simulates the motion behavior of the displacement sensor by 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] Where α is the difference ratio, Va and Vb are the sensor output values, Uexc is the excitation signal, and k is the proportional adjustment coefficient of the excitation signal. Furthermore, the two output signals of the displacement sensor can be derived as follows:

[0074]

[0075]

[0076] Understandably, in the simulation device of the electro-hydraulic servo actuation system of the aero-engine 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 electrical signals between the simulation device and the product under test, and avoid damage to the simulation device and the product under test due to compatibility issues.

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

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

[0079] The scaling adjustment here can include signal attenuation or scaling amplification; please refer to [reference needed]. Figure 5 .

[0080] Figure 5 This is a schematic diagram illustrating the proportional adjustment implementation device in the working principle of a signal conditioning unit according to an embodiment of the present invention.

[0081] The proportional adjustment function in the signal conditioning unit can be achieved through resistor voltage division, for example in... Figure 5 In the embodiment shown, the excitation signal Uexc of the displacement sensor is adjusted using a resistor voltage divider method. The adjustable range of the resistor can be up to 1KΩ, and the adjustable range of the excitation signal Uexc can be, for example, 1 / 3 to 1 times its input value.

[0082] Furthermore, this resistor voltage divider can be controlled by software or by manually adjusting the resistor in hardware.

[0083] For example, this hardware approach includes manually adjusting a potentiometer, such as a precision potentiometer, located on the front panel of the signal conditioning unit. The resistance value can be changed by manually rotating the potentiometer knob. During rotation, two modes are available: coarse adjustment and fine adjustment. In coarse adjustment mode, the resistance is adjusted to a high-precision setting, while in fine adjustment mode, the resistance is adjusted to a low-precision setting. This changes the excitation voltage signal of the simulated displacement sensor via the reversible resistor, thereby altering the output displacement voltage signal of the simulated displacement sensor.

[0084] The software implementation of resistor voltage divider can be achieved by using human-computer interaction software to control digital programmable resistors.

[0085] Furthermore, the front panel of the signal conditioning unit can also be equipped with position signal measurement points for the displacement sensor, which facilitates testing the signal's normality and allows for hardware fault injection, supporting system verification. Similarly, the testing and fault injection here can also be implemented through software.

[0086] Please continue to refer to this. Figure 2 In one embodiment, the simulation device for the electro-hydraulic servo actuation system of an aero-engine 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, which is then input to the real-time simulation calculation unit 201. The load simulation unit 204 may use a resistor matrix with a resistance range of [100Ω, 5000Ω], and the specific values ​​can be adjusted by the user according to the test requirements.

[0087] Furthermore, in a preferred embodiment, the simulation device for the electro-hydraulic servo actuation system of the aero-engine provided by the present invention may further include a host computer 205, which can be used to control the resistance values ​​of the resistance matrix.

[0088] In addition, preferably, the host computer 205 can also be used to assist the simulation computing unit in running the simulation mathematical model. For example, it can include configuring the signal interface of the real-time simulation computing unit, calibrating the numerical relationship between the variables of the simulation mathematical model and the system electrical signals, loading the simulation mathematical model, and monitoring the variables and inputs and outputs 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 querying, and interface matching.

[0090] The signal calibration function of the host computer 205 can realize the numerical conversion of model variables into system electrical signals, and can also compensate for hardware channel output errors. Furthermore, it can establish the relationship between the digital quantities of the real-time system computer and the electrical signal values ​​within the signal input and output range. For example, it can collect input signals for AD conversion and model outputs for DA conversion, and use 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 status of the model. The model needs to be converted into an executable file with the .dll extension.

[0092] The host computer 205 can monitor model variables and hardware input / output variables. Furthermore, the host computer 205 can be configured with network communication capabilities to control the resistance matrix of the load simulation unit via network communication.

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

[0094] In summary, the simulation device for the electro-hydraulic servo actuation system of aero-engines provided by this invention is simple in composition and easy to operate. It can quickly modify software parameters and load different models, adjust the load through programmable control, adjust the excitation voltage through a resolver, and simulate fuel servo actuation components relatively realistically by changing and adjusting the hardware and software configuration. This allows for the simulation of servo systems with different characteristics, and it has advantages such as variable signal input load, large output voltage range, and flexible configuration.

[0095] Furthermore, by simulating the drive and position feedback of the servo actuation system, combined with fault injection functionality, a more comprehensive and complete design and verification of the servo loop control algorithm can be carried out in advance, exposing design deficiencies and defects early, significantly improving test efficiency and saving test costs. Simultaneously, this simulation device can be extended to all variable geometry control devices of aero-engines, connecting to the electronic control unit (EEC) to support related tests on aero-engine servo loop hardware, demonstrating broad applicability.

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

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

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

[0099] The prior description of this disclosure is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to this 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 this disclosure. Therefore, this disclosure is not intended to be limited to the examples and designs described herein, but should be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A simulation device for an electro-hydraulic servo actuation system of an aero-engine, wherein in the electro-hydraulic servo actuation system, the electro-hydraulic servo valve receives a drive current generated by a controller and converts it into servo fuel flow to control the actuation device, and the actuation device then feeds back to the controller via a displacement sensor to form a closed loop, the simulation device comprising: The real-time simulation calculation unit is used to run the simulation mathematical model of the electro-hydraulic servo valve, the actuation device and the displacement sensor, so as to output the displacement signal of the displacement sensor after receiving the drive signal of the electro-hydraulic servo valve. The signal conditioning unit is used to condition the displacement signal with an excitation signal so that the displacement signal matches the product under test, and then outputs it to the product under test through an interface adapter; The displacement sensor includes a linear displacement sensor, and its simulation mathematical model simulates the motion behavior of the displacement sensor by the difference and ratio of the sensor output values. The simulation mathematical model formula for the electro-hydraulic servo valve is as follows: The actuating device includes an adjustable vent valve, and the formula of its simulation mathematical model is: The displacement sensor includes a linear displacement sensor, and its simulation mathematical model formula is as follows: ,in, The output flow rate of the electro-hydraulic servo valve is... The input current of the electro-hydraulic servo valve is... The output displacement of the linear displacement sensor. The natural frequency of the electro-hydraulic servo valve. For the damping ratio, The flow gain of the electro-hydraulic servo valve, The gain of the actuating cylinder area of ​​the adjustable vent valve. It is a time constant. Let be a complex variable under the Laplace transform.

2. The simulation device as described in claim 1, characterized in that, The signal conditioning unit processes the displacement signal and the excitation signal through proportional adjustment, multiplication transformation and transformer coupling to output the sensor output value.

3. The simulation device as described in claim 2, characterized in that, The motion behavior of the displacement sensor is characterized by the following formula: , ,in, For the difference and ratio, The sensor output value, The excitation signal is given, and k is the proportional adjustment coefficient of the excitation signal. Further, , .

4. The simulation device as described in claim 2, characterized in that, The proportional adjustment is achieved through resistor voltage division, which can be controlled by software or manually adjusted by hardware.

5. The simulation device as described in claim 4, characterized in that, The hardware method includes manually adjusting a potentiometer located 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 as described in 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 to the real-time simulation calculation unit. The load simulation unit uses a resistor matrix with a resistance range of [100Ω, 5000Ω].

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

8. The simulation device as described in claim 7, characterized in that, The host computer is also used to assist the simulation calculation unit in running the simulation mathematical model, including: Configure the signal interface of the real-time simulation computing unit; The numerical relationship between the variables of the simulation mathematical model and the system electrical signals is calibrated. Load the simulation mathematical model; and Monitor the variables and inputs / outputs of the simulation mathematical model.

9. The simulation device as described in claim 8, characterized in that, The host computer performs bilinear transformation discretization on the multiple simulation mathematical models and then loads them into the real-time simulation computing unit for execution.

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

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