Hardware-in-the-loop simulation method and system for hydraulic system of water jet propulsion device

Abstract

The invention belongs to the technical field of water jet propulsion device hardware-in-loop simulation, and particularly discloses a water jet propulsion device hydraulic system hardware-in-loop simulation method and system, and the method comprises the steps: building a model through AMEsim software, packaging the model into an FMU file, and reserving an FMI port; the FMU file is called by the Labview software; a flow signal is collected at a hydraulic oil outlet of the pump station and sent to the PXI controller through a bus; the fault injection instruction is sent through the upper computer; the system comprises a fault injection real-time simulation model module, a physical equipment data acquisition module, a real-time simulation module and a data monitoring and control module. When the fault injection simulation test is carried out, only the fault simulation parameters set by the program panel need to be adjusted, the test process is simplified, and the simulation period is shortened. Compared with a physical test bed, the system structure parameters are more convenient to modify, and the efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of hardware-in-the-loop simulation of a water jet propulsion device, and in particular to a hardware-in-the-loop simulation method and system for a hydraulic system of a water jet propulsion device. Background Art

[0002] When conducting fault injection analysis on the hydraulic system of a water jet propulsion device, if the actual system is used directly for fault injection testing, the hydraulic components will be irreversibly damaged to varying degrees, resulting in a huge waste of resources and accompanied by extremely high risks. Therefore, it is of great significance to conduct research on fault injection simulation methods for the hydraulic system of a water jet propulsion device.

[0003] By building a test bench for the hydraulic system of a water jet propulsion device through physical simulation to simulate fault injection, the state of the real system under fault conditions can be more accurately simulated. When the test bench is built, a fault injection port is reserved, and destructive tests are not required. However, the cost of building a test bench is high, the development cycle is long, and it is difficult to improve its structure and function after the construction is completed. Computer simulation, as an important means of simulation research, has the advantages of high efficiency, shortened development cycle, and rapid modification and adjustment of simulation models. However, when modeling the hydraulic system of a water jet propulsion device, since the hydraulic system of a water jet propulsion device contains a variety of valves, cylinders and other components, and has multiple actuators, the structure is complex and cannot fully and accurately reflect all the characteristics of the actual system; the parameters required for simulation are generally obtained based on measurement, experiment or estimation, and there are errors with the actual system; and under actual working conditions, the operation of the system may be affected by environmental factors such as temperature and humidity, and pure computer simulation cannot accurately simulate the working state of the hydraulic system.

[0004] The existing physical bench test method has high cost, slow development cycle, and it is difficult to change the system structure after the bench is built; although pure computer simulation has fast development speed and high flexibility, it cannot fully and accurately characterize the dynamics of the hydraulic system. The existing simulation method of the hydraulic system of the water jet propulsion device cannot take into account the problems of cost, development speed and simulation accuracy.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0006] The purpose of the present invention is to solve the technical problems existing in the background technology. To this end, a hardware-in-the-loop simulation method and system for a hydraulic system of a water jet propulsion device are provided.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0008] A hardware-in-the-loop simulation method for a hydraulic system of a water jet propulsion device, comprising:

[0009] Use AMEsim software to build the model, encapsulate it into an FMU file, and reserve an FMI port for joint simulation with Labview software;

[0010] Transfer the FMU file to the PXI controller for the real-time simulation module to be written in Labview software;

[0011] A flow sensor is set at the hydraulic oil outlet of the pump station to collect the flow signal and send it to the PXI controller through the bus;

[0012] The fault injection command is sent through the host computer, and the pump station flow signal and fault injection parameters are used as the input of the PXI controller for simulation, and then the simulation results are output. The host PC monitors the simulation data and adjusts the fault injection parameters.

[0013] The following is a technical solution further defined by the method of the present invention. The real-time simulation model of the hydraulic system of the water jet propulsion device is built using AMEsim software. The fault injection parameters are set according to the actual test bench. According to the actual test bench, the hydraulic system of the water jet propulsion device is divided into two branches, namely the steering mechanism and the reverse navigation mechanism;

[0014] The hydraulic oil flowing out of the oil source passes through the main oil circuit and, through the control of the steering valve and the reverse navigation valve, flows into the steering and reverse navigation branches.

[0015] The following is a technical solution further defined by the method in the present invention: the steering mechanism includes a steering valve, a two-way balancing valve and two steering hydraulic cylinders, and the two steering hydraulic cylinders are coupled and connected by a mechanical structure; the reverse navigation mechanism includes a reverse navigation valve, a two-way balancing valve and a reverse navigation hydraulic cylinder.

[0016] The following is a technical solution further limited by the method in the present invention. In the real-time simulation model of the hydraulic system of the water jet propulsion device, the fault injection parameters include: internal leakage of the reverse navigation cylinder, external leakage of the reverse navigation cylinder, internal leakage of the steering cylinder, external leakage of the steering cylinder, internal leakage of the reverse navigation valve, external leakage of the steering valve, stuck reverse navigation valve, and stuck steering valve.

[0017] The following is a technical solution further defined by the method in the present invention. According to the pressure and flow measurement points arranged on the actual test bench, corresponding measurement points are arranged in the established simulation model to monitor the operating status of the system, namely, the pressure and flow measurement points arranged in the main oil circuit, the pressure and flow measurement points of the rod chamber and rodless chamber of the three hydraulic cylinders, and the return oil circuit flow measurement points.

[0018] The following is a technical solution further limited by the method in the present invention, in which the pump station flow signal, the steering cylinder leakage signal, the reverse navigation cylinder leakage signal, the steering valve leakage signal, the steering valve opening signal, the reverse navigation valve leakage signal, and the reverse navigation valve opening signal are used as inputs of the AMEsim simulation model.

[0019] The following is a technical solution further defined by the method of the present invention, in which a hardware-in-the-loop simulation program of a hydraulic system of a water jet propulsion device is written by Labview software, including a main program and a subroutine called by the main program, the main program including a timing loop and a data saving loop, and the timing loop is the main loop for hardware-in-the-loop simulation;

[0020] Outside the timing loop, the acquisition channel and sensor parameters are defined. After entering the timing loop, the flow sensor signal is first sampled at a single point. After the electrical signal output by the flow sensor is collected, the flow value output by the pump group is obtained after processing. Subsequently, the FMU file of the real-time simulation model of the hydraulic system of the water jet propulsion device established by the Amesim software is called.

[0021] The FMU file calls use Load Model to load the model, use Get Model Period to get the model period, and use Get path to get the model input and output parameter names so that they correspond to the data input by Labview;

[0022] Use Take Model Time Step to simulate the model in single step, and it also serves as a module for simulation data input and simulation result output.

[0023] The following is a technical solution further defined by the method in the present invention. Each time the FMU file is called, the collected pump station flow value and fault injection signal are first input into the called real-time simulation model of the hydraulic system of the water jet propulsion device. The real-time simulation model calculates according to the input data and outputs the simulation result, which is displayed in real time on the front panel of the program.

[0024] The following is a technical solution further limited by the method in the present invention. Data enters the data saving loop by entering the element queue. After entering the loop, the element is taken out of the queue and written into a text file by exiting the element queue. If the simulation data is saved, first set the file storage path and select the save file. When the saving conditions are met, the data is saved as a text document to the specified location.

[0025] A water jet propulsion device hydraulic system hardware-in-the-loop simulation system, used to implement the above-mentioned water jet propulsion device hydraulic system hardware-in-the-loop simulation method, including a fault injection real-time simulation model module, a physical device data acquisition module, a real-time simulation module and a data monitoring and control module;

[0026] Real-time simulation model module: Use AMEsim software to build a water jet propulsion device simulation model, set the FMI port, and encapsulate it into an FMU file;

[0027] Physical equipment data acquisition module: The acquisition card collects the voltage signal of the flow sensor and transmits it to the PXI controller through the PXI internal bus;

[0028] Real-time simulation module: takes the pump station flow signal and fault injection signal as input, and calls the FMU file for simulation;

[0029] Data monitoring and control module: used to set fault injection parameters and simulation data monitoring.

[0030] Compared with the prior art, the present invention has the following technical effects:

[0031] When conducting a fault injection simulation test, the present invention only needs to adjust the fault simulation parameters set on the program panel, thereby simplifying the test process and shortening the simulation cycle. Compared with a physical test bench, it is more convenient to modify the system structure parameters, thereby improving efficiency. The real-time simulation model of the hydraulic system of the water jet propulsion device is established using AMESim software, which avoids complex mathematical modeling and improves the modeling rate. For complex components, computer simulation cannot accurately characterize their characteristics, such as the flow pulsation of a pump station. The present invention uses the pump station as an actual physical device, which has a higher confidence level than pure computer simulation.

[0032] The present invention is further described below in conjunction with the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 It is a system principle block diagram of the present invention;

[0035] Figure 2 It is a flow chart of the present invention using AMEsim to build a model;

[0036] Figure 3 is a schematic diagram of a fault injection model of the present invention;

[0037] Figure 4 It is a real-time simulation model diagram of the hydraulic system of the water jet propulsion device of the present invention;

[0038] Figure 5It is a measurement point arrangement diagram of the hydraulic system of the water jet propulsion device of the present invention;

[0039] Figure 6 It is the FMU file calling flow chart of the present invention;

[0040] Figure 7 It is a timing loop program flowchart of the present invention;

[0041] Figure 8 is a data preservation cycle block diagram of the present invention;

[0042] Fig. 9 It is a flowchart of the hardware-in-the-loop simulation program of the present invention;

[0043] Fig.10 It is a schematic diagram of electrical connections of a hardware-in-the-loop simulation platform for a hydraulic system of a water jet propulsion device of the present invention;

[0044] Fig.11 It is a simulation curve diagram of each measuring point when the opening of the reverse cylinder leakage valve block is 0.1mm, wherein: Fig.11 (a) is the simulation curve diagram of each pressure measuring point, Fig.11 (b) is the simulation curve diagram of each flow measurement point;

[0045] Fig.12 It is a simulation curve diagram of each measuring point when the opening of the steering cylinder leakage valve block is 0.1mm, wherein: Fig.12 (a) is the simulation curve diagram of each pressure measuring point, Fig.12 (b) is the simulation curve diagram of each flow measurement point.

[0046] Figure numerals: 1. hydraulic pump; 2. steering valve; 3. steering cylinder; 4. reverse navigation cylinder; 5. reverse navigation valve; 6. safety valve. DETAILED DESCRIPTION

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0048] The present invention proposes a hardware-in-the-loop simulation method for the hydraulic system of a water jet propulsion device. Components that require fault injection, such as valves, cylinders, and pipelines, are built in the form of a real-time simulation model. A pump group that cannot be accurately expressed by the simulation model is used as the actual operating equipment, and the flow data is input into the simulation system through data acquisition.

[0049] Hardware-in-the-loop simulation requires a test chassis that provides an operating environment, sensors, real-time hardware equipment, and virtual simulation models. According to the requirements, the NI-PXI platform is selected as the test chassis for hardware-in-the-loop simulation, the main program is written in Labview software, and the real-time simulation model of the hydraulic system of the water jet propulsion device is established using AMEsim software. Therefore, a hardware-in-the-loop simulation system for the hydraulic system of a water jet propulsion device is divided into a fault injection real-time simulation model module, a physical equipment data acquisition module, a real-time simulation module, and a data monitoring and control module.

[0050] Its functions are:

[0051] 1. Real-time simulation model module: Use AMEsim software to build a water jet propulsion device simulation model, set the FMI port, and encapsulate it into an FMU file.

[0052] 2. Physical equipment data acquisition module: The acquisition card collects the voltage signal of the flow sensor and transmits it to the PXI controller through the PXI internal bus.

[0053] 3. Real-time simulation module: takes the pump station flow signal and fault injection signal as input, and calls the FMU file for simulation.

[0054] 4. Data monitoring and control module: used to set fault injection parameters and simulation data monitoring.

[0055] The hardware-in-the-loop simulation process is as follows: The real-time simulation model of the hydraulic system of the water jet propulsion device is built using AMEsim software and packaged as an FMU file, and a port for joint simulation with Labview software is reserved. The file is transferred to the PXI controller for Labview software to write the real-time simulation module to call. A flow sensor is set at the hydraulic oil outlet of the pump station. The acquisition card collects the flow signal and sends it to the PXI controller through the bus. The fault injection instruction is sent through the host computer. The flow signal and fault injection parameters are used as input for simulation. The host PC monitors the simulation data and adjusts the fault injection parameters. The schematic diagram of the hardware-in-the-loop simulation system of the hydraulic system of the water jet propulsion device is shown in the figure. Figure 1 shown.

[0056] The real-time simulation model of the hydraulic system of the water jet propulsion device is established using AMEsim software, and the parameters are set according to the actual test bench. According to the actual test bench, the hydraulic system of the water jet propulsion device is divided into two branches, namely the steering mechanism and the reverse navigation mechanism. The hydraulic oil flowing out of the oil source flows into the steering and reverse navigation branches through the main oil circuit, through the control of the steering valve 2 and the reverse navigation valve 5. The steering mechanism mainly includes the steering valve 2, the two-way balancing valve and two steering hydraulic cylinders, and the two steering hydraulic cylinders are coupled and connected by a mechanical structure. The reverse navigation mechanism mainly includes the reverse navigation valve 5, the two-way balancing valve and a reverse navigation hydraulic cylinder.

[0057] Using AMEsim to build a hydraulic system model of a water jet propulsion device is divided into four steps: Sketch mode, Submodel mode, Parameter mode, and Simulation mode. Figure 2 shown.

[0058] In the simulation model, eight typical faults are set: internal leakage of reverse navigation cylinder 4, external leakage of reverse navigation cylinder 4, internal leakage of steering cylinder 3, external leakage of steering cylinder 3, internal leakage of reverse navigation valve 5, external leakage of steering valve 2, stuck reverse navigation valve 5, and stuck steering valve 2. The fault injection model is as follows Figure 3 shown.

[0059] According to the pressure and flow measurement points arranged on the actual test bench, the corresponding measurement points are arranged in the established simulation model to monitor the operating status of the system, including the pressure and flow measurement points arranged in the main oil circuit, the pressure and flow measurement points of the rod chamber and rodless chamber of the three hydraulic cylinders, and the return oil circuit flow measurement points, a total of 15. The hydraulic system components are divided into two parts: virtual equipment and actual operating equipment. During simulation, ports need to be set to realize data interaction between virtual and actual physical components. This simulation method is based on the FMI (Functional Mock-up Interface) standard to realize Labview's call and data interaction of the AMEsim simulation model of the hydraulic system of the water jet propulsion device. The AMEsim simulation model and solver are encapsulated as FMU files, which can be called by Labview software. In the AMEsim software, select Functional Mock-up Interface (FMI) from the Create Interface Icon menu, and set the number of model input and output parameters respectively. The number of input and output parameters should be consistent with the number of measurement point layout and fault injection ports. After completing the model building, switch to simulation mode, select Co-simulation 2.0 from the FMU exportassistant menu, check FMU for Real-Time, set the output path, select NI Linux Real-time x64 (binary) in the Real-Time target selection menu, and click Generate to complete the generation of the FMU file.

[0060] The pump station flow signal, steering cylinder 3 leakage signal, reverse navigation cylinder 4 leakage signal, steering valve 2 leakage, opening signal, reverse navigation valve 5 leakage, opening signal are used as the input of the AMEsim simulation model. The above 15 measuring point data are used as output in the Labview program for monitoring and storage. The AMEsim simulation model of the hydraulic system of the water jet propulsion device is as follows: Figure 4The measuring points are arranged as shown in Figure 5 shown.

[0061] The hardware-in-the-loop simulation program of the hydraulic system of the water jet propulsion device is written using Labview software, which includes a main program and related subroutines called by the main program. The main program contains two loops, one of which is the main loop for hardware-in-the-loop simulation, which is a timing loop. Outside the timing loop, the acquisition channel and sensor parameters are defined. After entering the timing loop, the flow sensor signal is first sampled at a single point. After the electrical signal output by the flow sensor is collected, the flow value output by the pump group is obtained after processing. Subsequently, the real-time simulation model FMU file of the water jet propulsion device established by the Amesim software is called. The FMU file call uses Load Model to load the model, Get Model Period to obtain the model period, and Getpath to obtain the model input and output parameter names so as to correspond to the data input by Labview. At this point, the loading of the FMU model is completed, and Take Model Time Step is used to simulate the model in a single step, and it is also used as a module for simulation data input and simulation result output. Use Get Simulation Time to obtain the current model simulation time. The flow chart is as follows Figure 6 shown.

[0062] Each time the program is called, the collected flow rate value of the pump station and the fault injection signal are first input into the hydraulic system simulation model of the water jet propulsion device. The real-time simulation model calculates the input data and outputs the simulation results, which are displayed in real time on the front panel of the program. The flowchart of the timing loop program is shown in the figure below: Figure 7 shown.

[0063] The main program also includes a data saving loop. Data enters the data saving loop by entering the element queue. After entering the loop, the element is taken out of the queue and written into a text file by exiting the element queue. If you need to save the simulation data, you first need to set the file storage path and select the save file. When the saving conditions are met, the data is saved as a text document to the specified location. The data saving loop diagram is as follows: Figure 8 The complete hardware-in-the-loop simulation program flow chart is as follows: Fig. 9 shown.

[0064] The hardware equipment of the hardware-in-the-loop simulation platform for the hydraulic system of the water jet propulsion device includes a host PC, a pump station, a flow sensor, a NI PXIe-1092 chassis, a PXIe-8840 controller, a PXIe-6361 multi-function I / O module, and an SCB-68A junction box. The PXIe-8840 controller is located in the first card slot in the PXIe-1092 chassis, and the PXIe-6361 multi-function I / O module is located in the fourth card slot. The controller and I / O modules are powered by the chassis, and the chassis is connected to a 220V power supply using a power cord. The PC and PXIe-8840 are connected via Ethernet, and the SCB-68A junction box is connected to the acquisition card in the NI-PXI chassis via a dedicated shielded cable. The junction box maps the I / O channels of the acquisition card. The sensor is connected using a three-wire external power supply wiring method. The signal line and the negative pole are connected to the junction box according to the mapping channel to complete the hardware device connection. The wiring diagram is as follows Fig.10 shown.

[0065] During the simulation, after confirming that the water jet propulsion device hardware-in-the-loop simulation platform is working normally, first set the sensor parameters, physical channels, FMU model path and storage file path in the system parameter setting tab of the program panel; set the fault parameters in the fault parameter setting tab. Click the Start Simulation button to start the simulation. The simulation process is consistent with the process described in the technical solution.

[0066] Example 1

[0067] Embodiment 1 of the present invention provides a simulation method for injecting leakage fault in a hydraulic system of a water jet propulsion device into a reverse cylinder. The simulation method includes a real-time simulation model for fault injection, physical device data acquisition, a real-time simulation module, data monitoring, and fault injection parameter control.

[0068] The fault injection real-time simulation model is established in the AMEsim software and encapsulated as an FMU file. The fault simulation module is used to simulate typical faults of the hydraulic system of the water jet propulsion device based on the AMEsim simulation model and the AMEsim fault injection model. The simulation model can be quickly modeled and adjusted, and after being encapsulated as an FMU file, it can be jointly simulated with the Labview software. The collected data and fault parameters can be easily input into the simulation model, and the simulation results can be calculated in real time.

[0069] The physical device data acquisition is based on NI-PXI devices. The sensor output voltage signal is collected through the PXIe-6361 multi-function I / O acquisition card and transmitted to the PXIe-8840 controller through the internal bus as the data for input simulation model.

[0070] The real-time simulation module is based on NI-PXI equipment. The program is built using Labview and deployed in the PXIe-8840 embedded controller. As the core part of the hardware-in-the-loop simulation software system, it is used for data acquisition and processing. The AMEsim simulation model interacts with the Labview program to realize the output and storage of fault simulation data.

[0071] Data monitoring and fault injection parameter control are controlled by the host computer monitoring panel. After the Labview program is deployed to PXI through the host computer, the host computer will display the program front panel, which includes acquisition channel settings and fault parameter settings tabs, as well as display controls for real-time display of simulation data.

[0072] The simulation configuration process of the leakage fault injection in the reverse cylinder of the hydraulic system of the water jet propulsion device is as follows:

[0073] (1) Establishment of the AMEsim model of the hydraulic system of the water jet propulsion device. According to the schematic diagram of the hydraulic system of the water jet propulsion device, the AMEsim software is used to build a real-time simulation model of the hydraulic system of the water jet propulsion device, and a fault injection port is reserved.

[0074] (2) Add the Functional Mock-up Interface (FMI) interface, set the number and name of inputs and outputs to correspond to the parameters in the Labview software, use the FMU export assistant to encapsulate the model into an FMU file, and transfer the file to the PXIe-8840.

[0075] (3) The Labview program consists of two parts: acquisition and simulation calling. The acquisition uses the DAQ-max module to define the channel, sampling rate, and sampling mode. The FMU file calls the model using Load Model, Get ModelPeriod to obtain the model period, Get path to obtain the model input and output parameter names so that they correspond to the data input by Labview, and Take Model Time Step to simulate the model in a single step. It also serves as a module for simulation data input and simulation result output.

[0076] (4) The flow sensor uses a three-wire external power supply sensor. The signal line and the negative pole are connected to the SCB-68A junction box, and the positive and negative poles are connected to a 24V DC power supply.

[0077] (5) The SCB-68A junction box is connected to the PXIe-6361 multi-function I / O module through a dedicated shielded cable. The PXIe-8840 controller is connected to the host computer through Ethernet for data exchange.

[0078] (6) After the equipment is connected, deploy the Labview program and set the sensor acquisition channel in the front panel. The ai0 channel is used in this embodiment. The opening of the leakage valve block in the reverse navigation cylinder is 0.1 mm. At 0s, the reverse navigation valve opening is set to the maximum value and maintained unchanged. The simulation time is set to 10s.

[0079] like Fig.11 As shown, it is the simulation curve of each measuring point when the opening of the reverse navigation cylinder leakage valve block is 0.1mm.

[0080] Example 2

[0081] Embodiment 2 of the present invention provides a simulation method for injecting leakage faults in a steering cylinder of a hydraulic system of a water jet propulsion device. The simulation method includes a real-time simulation model for injecting faults, data acquisition of physical equipment, a real-time simulation module and data monitoring and control of fault injection parameters.

[0082] The fault injection real-time simulation model is established in the AMEsim software and encapsulated as an FMU file. The fault simulation module is used to simulate typical faults of the hydraulic system of the water jet propulsion device based on the AMEsim simulation model and the AMEsim fault injection model. The simulation model can be quickly modeled and adjusted, and after being encapsulated as an FMU file, it can be jointly simulated with the Labview software. The collected data and fault parameters can be easily input into the simulation model, and the simulation results can be calculated in real time.

[0083] The physical device data acquisition is based on NI-PXI devices. The sensor output voltage signal is collected through the PXIe-6361 multi-function I / O acquisition card and transmitted to the PXIe-8840 controller through the internal bus as the data for input simulation model.

[0084] The real-time simulation module is based on NI-PXI equipment. The program is built using Labview and deployed in the PXIe-8840 embedded controller. As the core part of the hardware-in-the-loop simulation software system, it is used for data acquisition and processing. The AMEsim simulation model interacts with the Labview program to realize the output and storage of fault simulation data.

[0085] Data monitoring and fault injection parameter control are controlled by the host computer monitoring panel. After the Labview program is deployed to PXI through the host computer, the host computer will display the program front panel, which includes acquisition channel settings and fault parameter settings tabs, as well as display controls for real-time display of simulation data.

[0086] The simulation configuration process of the leakage fault injection in the reverse cylinder of the hydraulic system of the water jet propulsion device is as follows:

[0087] (1) Establishment of the AMEsim model of the hydraulic system of the water jet propulsion device. According to the schematic diagram of the hydraulic system of the water jet propulsion device, the AMEsim software is used to build a real-time simulation model of the hydraulic system of the water jet propulsion device, and a fault injection port is reserved.

[0088] (2) Add the Functional Mock-up Interface (FMI) interface, set the number and name of inputs and outputs to correspond to the parameters in the Labview software, use the FMU export assistant to encapsulate the model into an FMU file, and transfer the file to the PXIe-8840.

[0089] (3) The Labview program consists of two parts: acquisition and simulation calling. The acquisition uses the DAQ-max module to define the channel, sampling rate, and sampling mode. The FMU file calls the model using Load Model, Get ModelPeriod to obtain the model period, Get path to obtain the model input and output parameter names so that they correspond to the data input by Labview, and Take Model Time Step to simulate the model in a single step. It also serves as a module for simulation data input and simulation result output.

[0090] (4) The flow sensor uses a three-wire external power supply sensor. The signal line and the negative pole are connected to the SCB-68A junction box, and the positive and negative poles are connected to a 24V DC power supply.

[0091] (5) The SCB-68A junction box is connected to the PXIe-6361 multi-function I / O module through a dedicated shielded cable. The PXIe-8840 controller is connected to the host computer through Ethernet for data exchange.

[0092] (6) After the equipment is connected, deploy the Labview program and set the sensor acquisition channel in the front panel. This embodiment uses the ai0 channel. The leakage opening of the leakage valve block in the steering cylinder is 0.1 mm. At 0s, the steering valve opening is set to the maximum value and maintained unchanged. The simulation time is set to 10s.

[0093] like Fig.12 As shown, it is the simulation curve of each measuring point when the opening of the leakage valve block in the steering cylinder is 0.1mm.

[0094] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the above disclosed methods and technical contents without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, all equivalent changes made according to the shape, structure and principle of the present invention without departing from the content of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A hardware-in-the-loop simulation method for a hydraulic system of a water jet propulsion device, characterized in that: include: Use AMEsim software to build the model, encapsulate it into an FMU file, and reserve an FMI port for joint simulation with Labview software; Transfer the FMU file to the PXI controller for the real-time simulation module to be written in Labview software; A flow sensor is set at the hydraulic oil outlet of the pump station to collect the flow signal and send it to the PXI controller through the bus; The fault injection command is sent through the host computer, and the pump station flow signal and fault injection parameters are used as the input of the PXI controller for simulation, and then the simulation results are output. The host PC monitors the simulation data and adjusts the fault injection parameters.

2. A method for hardware-in-the-loop simulation of a hydraulic system of a water jet propulsion device as claimed in claim 1, characterized in that: The real-time simulation model of the hydraulic system of the water jet propulsion device is built using AMEsim software. The fault injection parameters are set according to the actual test bench. According to the actual test bench, the hydraulic system of the water jet propulsion device is divided into two branches, namely the steering mechanism and the reverse navigation mechanism. The hydraulic oil flowing out of the oil source passes through the main oil circuit and, through the control of the steering valve and the reverse navigation valve, flows into the steering and reverse navigation branches.

3. A method for hardware-in-the-loop simulation of a hydraulic system of a water jet propulsion device as claimed in claim 2, characterized in that: The steering mechanism includes a steering valve, a two-way balancing valve and two steering hydraulic cylinders, and the two steering hydraulic cylinders are coupled and connected through a mechanical structure; the reverse navigation mechanism includes a reverse navigation valve, a two-way balancing valve and a reverse navigation hydraulic cylinder.

4. A method for hardware-in-the-loop simulation of a hydraulic system of a water jet propulsion device as claimed in claim 3, characterized in that: In the real-time simulation model of the hydraulic system of the waterjet propulsion device, the fault injection parameters include: internal leakage of the reverse navigation cylinder, external leakage of the reverse navigation cylinder, internal leakage of the steering cylinder, external leakage of the steering cylinder, internal leakage of the reverse navigation valve, external leakage of the steering valve, stuck reverse navigation valve, and stuck steering valve.

5. A method for hardware-in-the-loop simulation of a hydraulic system of a water jet propulsion device as claimed in claim 3, characterized in that: According to the pressure and flow measurement points arranged on the actual test bench, corresponding measurement points are arranged in the established simulation model to monitor the operating status of the system, including the pressure and flow measurement points arranged in the main oil circuit, the pressure and flow measurement points in the rod chamber and rodless chamber of the three hydraulic cylinders, and the flow measurement points in the return oil circuit.

6. A method for hardware-in-the-loop simulation of a hydraulic system of a water jet propulsion device as claimed in claim 3, characterized in that: The pump station flow signal, steering cylinder leakage signal, reverse navigation cylinder leakage signal, steering valve leakage signal, steering valve opening signal, reverse navigation valve leakage signal and reverse navigation valve opening signal are used as the input of the AMEsim simulation model.

7. A method for hardware-in-the-loop simulation of a hydraulic system of a water jet propulsion device as claimed in claim 1, characterized in that: The hardware-in-the-loop simulation program of the hydraulic system of the water jet propulsion device is written by Labview software, which includes a main program and a subroutine called by the main program. The main program includes a timing loop and a data saving loop. The timing loop is the main loop used for hardware-in-the-loop simulation. Outside the timing loop, the acquisition channel and sensor parameters are defined. After entering the timing loop, the flow sensor signal is first sampled at a single point. After the electrical signal output by the flow sensor is collected, the flow value output by the pump group is obtained after processing. Subsequently, the FMU file of the real-time simulation model of the hydraulic system of the water jet propulsion device established by the Amesim software is called. The FMU file calls use Load Model to load the model, use Get Model Period to get the model period, and use Get path to get the model input and output parameter names so that they correspond to the data input by Labview; Use Take Model Time Step to simulate the model in single step, and it also serves as a module for simulation data input and simulation result output.

8. A method for hardware-in-the-loop simulation of a hydraulic system of a water jet propulsion device as claimed in claim 7, characterized in that: Each time the FMU file is called, the collected pump station flow value and fault injection signal are first input into the called real-time simulation model of the hydraulic system of the water jet propulsion device. The real-time simulation model calculates according to the input data and outputs the simulation results, which are displayed in real time on the front panel of the program.

9. A method for hardware-in-the-loop simulation of a hydraulic system of a water jet propulsion device as claimed in claim 7, characterized in that: Data enters the data saving loop by enqueuing elements. After entering the loop, the elements are taken out of the queue and written into a text file by dequeuing elements. If the simulation data is to be saved, first set the file storage path and select the save file. When the saving conditions are met, the data is saved as a text document to the specified location.

10. A hardware-in-the-loop simulation system for a hydraulic system of a water jet propulsion device, used to implement a hardware-in-the-loop simulation method for a hydraulic system of a water jet propulsion device according to any one of claims 1 to 9, characterized in that: It includes a fault injection real-time simulation model module, a physical equipment data acquisition module, a real-time simulation module and a data monitoring and control module; Real-time simulation model module: Use AMEsim software to build a water jet propulsion device simulation model, set the FMI port, and encapsulate it into an FMU file; Physical equipment data acquisition module: The acquisition card collects the voltage signal of the flow sensor and transmits it to the PXI controller through the PXI internal bus; Real-time simulation module: takes the pump station flow signal and fault injection signal as input, and calls the FMU file for simulation; Data monitoring and control module: used to set fault injection parameters and simulation data monitoring.

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