A hardware-in-the-loop simulation method and system for the hydraulic system of a water jet propulsion device

Abstract

The present invention belongs to the technical field of hardware-in-the-loop simulation of water jet propulsion devices, and specifically discloses a method and system for hardware-in-the-loop simulation of a hydraulic system of a water jet propulsion device. The method includes: using AMEsim software to build a model and encapsulate it into an FMU file and reserve an FMI port; the FMU file is called by Labview software; the flow signal is collected at the hydraulic oil outlet of the pump station and sent to the PXI controller via the bus; the fault injection instruction is sent via the host computer; the system includes 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. When performing a fault injection simulation test, the present invention only needs to adjust the fault simulation parameters set by 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.

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 directly used 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 carry out research on fault injection simulation methods for the hydraulic system of a water jet propulsion device.

[0003] Using physical simulation methods to construct a test bench for the hydraulic system of a waterjet propulsion system to simulate fault injection can accurately simulate the state of a real system under fault conditions. By pre-setting fault injection ports during test bench construction, destructive testing is eliminated. However, building a test bench is costly and time-consuming, and it is difficult to improve its structure and functionality after completion. Computer simulation, as an important tool in simulation research, offers advantages such as high efficiency, shortened development cycles, and the ability to quickly modify and adjust simulation models. However, modeling a waterjet hydraulic system is complex, as it includes multiple components such as valves and cylinders, and has multiple actuators. This structure cannot fully and accurately reflect the full characteristics of the actual system. The parameters required for simulation are generally obtained through measurement, experimentation, or estimation, and may differ from the actual system. Furthermore, under actual operating conditions, system operation may be affected by environmental factors such as temperature and humidity, making pure computer simulation inaccurate.

[0004] Existing physical bench testing methods are costly, slow, and difficult to modify once the bench is built. While pure computer simulation offers rapid development and flexibility, it cannot fully and accurately characterize the dynamics of the hydraulic system. Existing simulation methods for waterjet hydraulic systems struggle to balance cost, development speed, and 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 prior art known to ordinary technicians in this 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 the 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 co-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 installed 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. The pump station flow signal and fault injection parameters are used as inputs 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. A real-time simulation model of the hydraulic system of a 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 is controlled by the steering valve and reverse navigation valve and flows into the steering and reverse navigation branches.

[0015] The following is a technical solution further defined by the method of 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 of 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 astern cylinder, external leakage of the astern cylinder, internal leakage of the steering cylinder, external leakage of the steering cylinder, internal leakage of the astern valve, external leakage of the steering valve, stuck astern valve, and stuck steering valve.

[0017] The following is a technical solution further defined by the method of the present invention. Based on 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 in the rod chamber and rodless chamber of the three hydraulic cylinders, and the return oil circuit flow measurement point.

[0018] The following is a technical solution further limited by the method in the present invention, in which 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 inputs of the AMEsim simulation model.

[0019] The following is a technical solution further defined by the method of the present invention: a hardware-in-the-loop simulation program for a hydraulic system of a water jet propulsion device is written using Labview software, comprising a main program and a subroutine called by the main program. The main program comprises 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 water jet propulsion device hydraulic system established by Amesim software is called.

[0021] The FMU file calls the Load Model function to load the model, the Get Model Period function to obtain the model period, and the Get path function to obtain 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 of 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 based on the input data and outputs the simulation results, which are 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 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 saved, the file storage path is first set and the file is saved. 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, which improves 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 treats the pump station as an actual physical device, which has a higher confidence level than pure computer simulation.

[0032] The present invention will be further described below with reference to 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 following briefly introduces the drawings required for use in the embodiments or the prior art. 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 any creative work.

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

[0035] Figure 2 This 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 This is a real-time simulation model diagram of the hydraulic system of the water jet propulsion device of the present invention;

[0038] Figure 5This is a diagram showing the arrangement of measuring points for 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 It is a data preservation cycle block diagram of the present invention;

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

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

[0044] Figure 11 This is a simulation curve diagram of each measuring point when the opening of the reverse cylinder valve block is 0.1mm, where: Figure 11 (a) is the simulation curve of each pressure measuring point, Figure 11 (b) is the simulation curve diagram of each flow measurement point;

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

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

[0047] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to 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. For components that require fault injection, such as valves, cylinders, and pipelines, real-time simulation models are built; the 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 (HIL) simulation requires a test chassis that provides an operating environment, sensors, real-time hardware devices, and a virtual simulation model. Based on the requirements, the NI-PXI platform was selected as the HIL test chassis. The main program was written in LabVIEW software, and the real-time simulation model of the waterjet hydraulic system was built using AMEsim software. Therefore, a HIL simulation system for the waterjet hydraulic system consists of 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.

[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 encapsulated 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 a real-time simulation module to call. A flow sensor is set at the hydraulic oil outlet of the pump station, and 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, and 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 as follows: Figure 1 shown.

[0056] A real-time simulation model of the waterjet hydraulic system was built using AMEsim software, with parameters set based on the actual test bench. Based on the actual test bench, the waterjet hydraulic system is divided into two branches: the steering mechanism and the reverse navigation mechanism. Hydraulic oil flowing from the oil source flows through the main oil circuit and, controlled by steering valve 2 and reverse navigation valve 5, flows into the steering and reverse navigation branches. The steering mechanism primarily consists of steering valve 2, a two-way balancing valve, and two steering hydraulic cylinders, which are coupled via a mechanical structure. The reverse navigation mechanism primarily consists of reverse navigation valve 5, a 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, including internal leakage of reverse cylinder 4, external leakage of reverse cylinder 4, internal leakage of steering cylinder 3, external leakage of steering cylinder 3, internal leakage of reverse valve 5, external leakage of steering valve 2, stuck reverse valve 5, and stuck steering valve 2. Figure 3 shown.

[0059] Based on the actual pressure and flow measurement points on the test bench, corresponding measurement points were placed in the established simulation model to monitor the system's operating status. These included pressure and flow measurement points in the main oil circuit, pressure and flow measurement points in the rod and rodless chambers of the three hydraulic cylinders, and flow measurement points in the return oil circuit, totaling 15 points. Hydraulic system components are divided into virtual devices and actual operating devices. During simulation, ports must be set to enable data exchange between virtual and physical components. This simulation method, based on the FMI (Functional Mock-up Interface) standard, enables LabVIEW to access and exchange data with the AMEsim simulation model of the waterjet propulsion system. The AMEsim simulation model and solver are packaged as FMU files, which can be accessed by LabVIEW. In AMEsim, select Functional Mock-up Interface (FMI) from the Create Interface Icon menu and set the number of model input and output parameters. The number of input and output parameters must be consistent with the number of measurement points and fault injection ports. After building the model, switch to simulation mode. Select Co-simulation 2.0 from the FMU export assistant menu, check FMU for Real-Time, set the output path, select NI Linux Real-time x64 (binary) from the Real-Time target selection menu, and click Generate to generate 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 inputs to the AMEsim simulation model. The above 15 measurement point data are used as outputs to monitor and store in the Labview program. The AMEsim simulation model of the water jet propulsion device hydraulic system is as follows: Figure 4The measurement 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 that they 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. It also serves 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 pump station flow rate value and fault injection signal are first input into the called water jet propulsion device hydraulic system simulation model. 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 timing loop program flowchart is as follows: Figure 7 shown.

[0063] The main program also includes a data saving loop. Data enters the data saving loop by enqueuing elements. After entering the loop, the elements are taken out of the queue and written to a text file by dequeuing elements. If you need to save the simulation data, you first need to set the file storage path and select the save file. When the save conditions are met, the data is saved as a text document to the specified location. The data saving loop block diagram is shown below. Figure 8 The complete hardware-in-the-loop simulation program flow chart is as follows: Figure 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 module 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 Figure 10 shown.

[0065] During simulation, after confirming that the waterjet propulsion system hardware-in-the-loop simulation platform is operating normally, first configure the sensor parameters, physical channels, FMU model path, and storage file path in the System Parameters tab of the program panel. Also, configure the fault parameters in the Fault Parameters tab. Click the Start Simulation button to begin the simulation. The simulation process is consistent with that described in the technical proposal.

[0066] Example 1

[0067] Embodiment 1 of the present invention provides a simulation method for injecting a leakage fault into a reverse cylinder of a hydraulic system of a water jet propulsion device. 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] A real-time fault injection simulation model is created in AMEsim software and packaged as an FMU file. The fault simulation module simulates typical faults in the hydraulic system of a waterjet propulsion system based on the AMEsim simulation model and the AMEsim fault injection model. This allows for rapid modeling and adjustment of the simulation model. Once packaged as an FMU file, it can be co-simulated with LabVIEW software. Acquired data and fault parameters can be easily input into the simulation model, resulting in real-time calculation of simulation results.

[0069] 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 input data for the simulation model.

[0070] The real-time simulation module is based on NI-PXI devices. 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 contains 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 for the leakage fault injection into the reverse cylinder of the water jet propulsion system is as follows:

[0073] (1) The AMEsim model of the hydraulic system of the water jet propulsion device is established. According to the principle 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 defines the channel, sampling rate, and sampling mode through the DAQ-max module. The FMU file calls the model using Load Model, gets the model period using Get ModelPeriod, gets the model input and output parameter names using Get path so that they correspond to the data input by Labview, and simulates the model in a single step using Take Model Time Step. It also serves as a module for simulation data input and simulation result output.

[0076] (4) The flow sensor adopts 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 the 24V DC power supply.

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

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

[0079] like Figure 11 As shown in the figure, 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 a leakage fault into a steering cylinder of a hydraulic system of a water jet propulsion device. 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.

[0082] A real-time fault injection simulation model is created in AMEsim software and packaged as an FMU file. The fault simulation module simulates typical faults in the hydraulic system of a waterjet propulsion system based on the AMEsim simulation model and the AMEsim fault injection model. This allows for rapid modeling and adjustment of the simulation model. Once packaged as an FMU file, it can be co-simulated with LabVIEW software. Acquired data and fault parameters can be easily input into the simulation model, resulting in real-time calculation of simulation results.

[0083] 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 input data for the simulation model.

[0084] The real-time simulation module is based on NI-PXI devices. 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 contains 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 for the leakage fault injection into the reverse cylinder of the water jet propulsion system is as follows:

[0087] (1) The AMEsim model of the hydraulic system of the water jet propulsion device is established. According to the principle 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 defines the channel, sampling rate, and sampling mode through the DAQ-max module. The FMU file calls the model using Load Model, gets the model period using Get ModelPeriod, gets the model input and output parameter names using Get path so that they correspond to the data input by Labview, and simulates the model in a single step using Take Model Time Step. It also serves as a module for simulation data input and simulation result output.

[0090] (4) The flow sensor adopts 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 the 24V DC power supply.

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

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

[0093] like Figure 12 As shown in Figure 1, the simulation curves of each measuring point are shown when the opening of the steering cylinder leakage valve block is 0.1 mm.

[0094] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Any person skilled in the art can utilize the methods and technical contents disclosed above to make many possible variations and modifications to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, or modify them into equivalent embodiments with equivalent variations. Therefore, any equivalent variations made in accordance with the shape, structure, and principles of the present invention without departing from the content of the technical solutions of the present invention should be included in the scope of protection 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 co-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 installed 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. The pump station flow signal and fault injection parameters are used as inputs 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. The hardware-in-the-loop simulation method for the hydraulic system of a water jet propulsion device according to claim 1, characterized in that: A real-time simulation model of the waterjet propulsion system was built using AMEsim software. The fault injection parameters were set based on the actual test bench. According to the actual test bench, the waterjet propulsion system was 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 is controlled by the steering valve and reverse navigation valve and flows into the steering and reverse navigation branches.

3. The hardware-in-the-loop simulation method for the hydraulic system of a water jet propulsion device according to 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 hardware-in-the-loop simulation method for a hydraulic system of a water jet propulsion device according to 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 astern cylinder, external leakage of the astern cylinder, internal leakage of the steering cylinder, external leakage of the steering cylinder, internal leakage of the astern valve, external leakage of the steering valve, astern valve stuck, and steering valve stuck.

5. The hardware-in-the-loop simulation method for the hydraulic system of a water jet propulsion device according to 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 return oil circuit flow measurement point.

6. The hardware-in-the-loop simulation method for the hydraulic system of a water jet propulsion device according to 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 inputs of the AMEsim simulation model.

7. The hardware-in-the-loop simulation method for the hydraulic system of a water jet propulsion device according to claim 1, characterized in that: The hardware-in-the-loop simulation program for the hydraulic system of the water jet propulsion device is written using LabVIEW software. It includes a main program and subroutines called by the main program. The main program includes a timing loop and a data saving loop. The timing loop is the main loop 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 water jet propulsion device hydraulic system established by Amesim software is called. The FMU file calls the Load Model function to load the model, the Get Model Period function to obtain the model period, and the Get path function to obtain 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. The hardware-in-the-loop simulation method for the hydraulic system of a water jet propulsion device according to 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 water jet propulsion device hydraulic system. The real-time simulation model calculates based on the input data and outputs the simulation results, which are displayed in real time on the front panel of the program.

9. The hardware-in-the-loop simulation method for the hydraulic system of a water jet propulsion device according to 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, the file storage path is first set and the file to be saved is selected. 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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