System and device for detecting vibration noise transmission path of electro-hydrostatic actuator

Abstract

The invention discloses an electro-hydrostatic actuator vibration noise transmission path detection system and device, and relates to the field of electro-hydrostatic actuators. The system comprises a signal acquisition unit, a signal processing unit and a signal analysis unit, wherein the signal acquisition unit acquires multi-source vibration noise signals of different working units in the electro-hydrostatic actuator; the signal processing unit performs preprocessing and time-frequency feature extraction on the multi-source vibration noise signals, and identifies main vibration frequency components from the extracted time-frequency features; the signal analysis unit determines a plurality of transmission paths of vibration noise, and adopts a multi-source decoupling algorithm to separate the vibration noise component of each excitation source and the contribution of each excitation source according to the identified main vibration frequency component; identifying a main vibration noise source and a position according to the contribution amount; and calculating the contribution weight of each transmission path by adopting a transmission path analysis method, and determining the main transmission path of the vibration noise. According to the invention, accurate traceability and quantitative evaluation of the transmission path can be realized.

Description

Technical Field

[0001] The present application relates to the field of electro-hydrostatic actuators, and particularly to a detection system and device for the vibration and noise transmission path of an electro-hydrostatic actuator. Background Art

[0002] As a highly integrated electro-mechanical-hydraulic drive device, the electro-hydrostatic actuator (EHA) is widely used in the fields of aerospace, robotics, high-end equipment manufacturing, etc. due to its high power density, fast response, and energy-saving characteristics. However, during the operation of the EHA, the multi-source vibration and noise problems of its core components such as internal motors, hydraulic pumps, and actuating cylinders are becoming increasingly prominent. These vibrations and noises not only reduce the system control accuracy and reliability, but may also form complex transmission paths through mechanical structures, hydraulic pipelines, and peripheral connection components, causing resonance or fatigue damage, severely restricting the application performance and service life of the EHA in high-precision scenarios.

[0003] Currently, the detection methods for EHA vibration and noise mainly rely on traditional vibration analysis techniques, such as single-point spectrum analysis based on acceleration sensors. However, this method does not consider the coupling effects in the electro-mechanical-hydraulic system. The vibration sources of the EHA cover multi-physical field coupling effects such as electromagnetic excitation, hydraulic pulsation, and mechanical friction. It is difficult for traditional methods to effectively distinguish the contribution amounts of each excitation source and the transmission path. In addition, existing technologies mostly adopt step-by-step detection, which requires partial disassembly or static testing of the system, destroying the integrity of the actual working conditions of the EHA, resulting in a large deviation between the simulation and measured results of the transmission path.

[0004] At the system level, existing vibration and noise analysis tools mostly rely on offline data processing, lacking the ability to dynamically monitor the real-time operating state of the EHA, and it is difficult to meet the online diagnosis requirements in industrial scenarios. At the same time, traditional transmission path analysis methods need to pre-construct complex multi-degree-of-freedom models, which have low computational efficiency and rely on a large number of empirical parameters, and are less applicable in strongly nonlinear systems such as the EHA.

[0005] Therefore, how to efficiently fuse multi-source sensing data (such as vibration acceleration, sound pressure level, etc.) and accurately trace and quantitatively evaluate the transmission path through intelligent algorithms has become a key technical bottleneck for improving the reliability and noise suppression ability of the EHA. Summary of the Invention

[0006] The purpose of the present application is to provide a detection system and device for the vibration and noise transmission path of an electro-hydrostatic actuator, which can achieve accurate tracing and quantitative evaluation of the transmission path.

[0007] To achieve the above purpose, the present application provides the following solutions:

[0008] In a first aspect, the present application provides a system for detecting the vibration and noise transmission path of an electro-hydrostatic actuator, comprising: a signal acquisition unit, a signal processing unit, and a signal analysis unit.

[0009] The signal acquisition unit is configured to acquire multi-source vibration and noise signals of different working units in the electro-hydrostatic actuator; the signal processing unit is configured to perform preprocessing and time-frequency feature extraction on the multi-source vibration and noise signals, and identify the main vibration frequency components from the extracted time-frequency features; the frequency of the main vibration frequency components is greater than a preset frequency threshold.

[0010] The signal analysis unit is configured to perform a working condition transmission path analysis based on the preprocessed multi-source vibration and noise signals to determine multiple transmission paths of the vibration and noise; and according to the identified main vibration frequency components, use a multi-source decoupling algorithm to separate the vibration and noise components of each excitation source, and simultaneously obtain the contribution of each excitation source to the overall vibration and noise; according to the contribution of each excitation source to the overall vibration and noise, identify the main vibration and noise sources, and locate the positions of the main vibration and noise sources; according to the multiple transmission paths of the vibration and noise and the contribution of each excitation source to the overall vibration and noise, use a transmission path analysis method to calculate the contribution weight of each transmission path, and then determine the main transmission path of the vibration and noise according to the contribution weight of each transmission path; the contribution of the main vibration and noise source is greater than a preset contribution threshold; the contribution weight of the main transmission path is greater than a preset contribution weight threshold.

[0011] In a second aspect, the present application provides a device for detecting the vibration and noise transmission path of an electro-hydrostatic actuator, comprising: a sensing device and the above-mentioned system for detecting the vibration and noise transmission path of an electro-hydrostatic actuator. The sensing device is configured to measure multi-source vibration and noise signals of different working units in the electro-hydrostatic actuator; the system for detecting the vibration and noise transmission path of an electro-hydrostatic actuator is configured to identify the main vibration and noise sources, locate the positions of the main vibration and noise sources, and determine the main transmission path of the vibration and noise according to the multi-source vibration and noise signals of different working units measured by the sensing device.

[0012] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0013] The present application provides a detection system and device for the vibration and noise transmission path of an electro-hydrostatic actuator. Considering the coupling effects of multiple physical fields such as electromagnetic excitation, hydraulic pulsation, and mechanical friction in the electro-hydrostatic actuator, a signal acquisition unit is used to collect multi-source vibration and noise signals of different working units in the electro-hydrostatic actuator. Then, a signal analysis unit performs a working condition transmission path analysis based on the multi-source vibration and noise signals of the coupled multi-physical fields to achieve accurate detection and traceability of the vibration and noise transmission path. The signal analysis unit also uses a multi-source decoupling algorithm to separate the vibration and noise components of each excitation source, and simultaneously obtains the contribution of each excitation source to the overall vibration and noise, realizing accurate decoupling of multiple excitation sources and separation of contribution amounts. The contribution amount weight of each transmission path is calculated by using a transmission path analysis method, realizing a quantitative evaluation of the vibration and noise transmission path. Brief Description of the Drawings

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0015] Figure 1 Schematic diagram of the structural composition of a detection system for the vibration and noise transmission path of an electro-hydrostatic actuator provided in an embodiment of the present application;

[0016] Figure 2 Schematic diagram of the measuring point layout of an electro-hydrostatic actuator provided in an embodiment of the present application;

[0017] Figure 3 Schematic diagram of the interface of a data visualization unit provided in an embodiment of the present application;

[0018] Figure 4 Schematic diagram of the working process of a detection device for the vibration and noise transmission path of an electro-hydrostatic actuator provided in an embodiment of the present application. Detailed Description of the Embodiments

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0020] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0021] In an exemplary embodiment, asFigure 1 As shown, a detection system for the vibration and noise transmission path of an electro-hydrostatic actuator is provided, including: a signal acquisition unit, a signal processing unit, and a signal analysis unit. The signal acquisition unit is used to acquire multi-source vibration and noise signals of different working units in the electro-hydrostatic actuator. The signal processing unit is used to preprocess the multi-source vibration and noise signals and extract time-frequency features, and identify the main vibration frequency components from the extracted time-frequency features; the frequency of the main vibration frequency components is greater than a preset frequency threshold.

[0022] The signal analysis unit is used to perform a working condition transmission path analysis based on the preprocessed multi-source vibration and noise signals to determine multiple transmission paths of the vibration and noise; and according to the identified main vibration frequency components, use a multi-source decoupling algorithm to separate the vibration and noise components of each excitation source, and at the same time obtain the contribution of each excitation source to the overall vibration and noise; according to the contribution of each excitation source to the overall vibration and noise, identify the main vibration and noise sources and locate the positions of the main vibration and noise sources; according to the multiple transmission paths of the vibration and noise and the contribution of each excitation source to the overall vibration and noise, use the transmission path analysis method to calculate the contribution weight of each transmission path, and then determine the main transmission path of the vibration and noise according to the contribution weight of each transmission path; the contribution of the main vibration and noise source is greater than a preset contribution threshold; the contribution weight of the main transmission path is greater than a preset contribution weight threshold.

[0023] The detection system for the vibration and noise transmission path of the electro-hydrostatic actuator of the present application is mainly used to solve the problem of analyzing the vibration and noise transmission path of a specific EHA system. Through multi-source signal acquisition, intelligent analysis, and dynamic modeling, accurate detection and quantitative evaluation of the vibration and noise transmission path are realized.

[0024] A comprehensive analysis of the electro-hydrostatic actuator is carried out to clarify the complex situation of multi-physical field coupling such as sound field, flow field, and displacement field in the system, and clarify that the data to be collected are signals such as sound pressure level, fluid pressure pulsation, and vibration acceleration. Considering that the electro-hydrostatic actuator contains multiple working units such as mechanical, hydraulic, and electrical control, a simplified physical model of the EHA is established, including key components such as motors, hydraulic pumps, actuating cylinders, pipelines, and support structures, and clarify potential vibration sources and transmission paths. According to the model, determine the measuring point layout plan, and select key measuring points (such as the motor housing, the inlet and outlet of the hydraulic pump, the feet of the actuating cylinder, the inside of the pipeline, etc.) for testing.

[0025] As Figure 2The schematic diagram of the measuring point layout of the electro-hydrostatic actuator shown. As an alternative implementation, the electro-hydrostatic actuator includes: a motor, a hydraulic pump, an oil inlet pipeline, an oil outlet pipeline, and an actuator. The number of motors and hydraulic pumps is two each, and the motor and the hydraulic pump form a power assembly. The electronic control system drives the motor to rotate. The motor is connected to the gear pump through a coupling, and the driving pump pushes the hydraulic oil to drive the actuator to move through the oil inlet pipeline. The signal acquisition unit is used to acquire the vibration acceleration of the motor body, the vibration acceleration of the hydraulic pump body, the vibration acceleration of the oil inlet pipeline, the vibration acceleration of the oil outlet pipeline, the vertical vibration acceleration at the feet of the actuator, the sound pressure signal of the electro-hydrostatic actuator, the pressure pulsation signal of the oil inlet pipeline, the pressure pulsation signal of the oil outlet pipeline, and the current signal of the motor.

[0026] Figure 2 In addition, the electro-hydrostatic actuator further includes: a control valve block and a noise elimination component.

[0027] Referring to Figure 1 , in order to ensure the consistency of the acquired multi-source vibration and noise signals in time and space, and provide a reliable data basis for subsequent vibration and noise source identification and transmission path analysis, the signal acquisition unit further includes: a data acquisition system. The data acquisition system is used to synchronously acquire vibration acceleration, sound pressure signal, pressure pulsation signal, and current signal. The data acquisition system uses a multi-channel synchronous acquisition card to achieve strict synchronous sampling of vibration, sound pressure, pressure, and current signals (sampling rate ≥ 200 kHz) through hardware triggering.

[0028] The data acquisition system is configured with an anti-aliasing filtering and signal conditioning module, which is used to eliminate the interference signals in the vibration acceleration, sound pressure signal, pressure pulsation signal, and current signal.

[0029] The acquired multi-source vibration and noise signals are transmitted to the signal processing unit for preprocessing, including algorithms such as denoising (e.g., wavelet threshold denoising), filtering (e.g., band-pass filtering 10 Hz - 10 kHz), normalization, etc. The synchronously acquired multi-source vibration and noise signals are stored in a unified format (such as HDF5 or MAT file), and the working condition metadata is integrated to provide a high-consistency multi-physical field data basis for subsequent transmission path modeling and intelligent analysis, facilitating subsequent analysis.

[0030] Among them, the time-frequency characteristics can be extracted by the Short-Time Fourier Transform (STFT) or the Continuous Wavelet Transform (CWT). The signal processing unit further uses the timestamp alignment and phase correction technology to solve the spatio-temporal differences of multi-source signals.

[0031] The main identified vibration frequency components are such as the motor cogging frequency, the hydraulic pump pulsation frequency, and the mechanical resonance frequency.

[0032] As an alternative implementation, the signal analysis unit combines the coherence analysis of different signals such as vibration acceleration, pressure pulsation, and noise sound pressure level to identify the main transmission paths. The multi-source decoupling algorithm (such as principal component analysis, independent component analysis, or blind source separation) is used to separate the independent components of electromagnetic, mechanical, hydraulic and other excitation sources from the mixed signals, and the cross-correlation analysis of the current signal and the vibration spectrum is combined to quantify the contribution of electromagnetic excitation (such as motor cogging torque pulsation) to the vibration. Through transfer function analysis or coherence calculation, the transmission relationship between each excitation source and the vibration noise is clarified to identify the main vibration noise sources.

[0033] As an alternative implementation, the process for the signal analysis unit to locate the position of the main vibration noise source can be as follows: form a sound pressure distribution cloud map based on the preprocessed sound pressure signal; locate the position of the main noise source according to the identified main vibration noise source and the sound pressure distribution cloud map; form a vibration energy distribution based on the time-frequency features extracted from the vibration acceleration; locate the position of the main vibration source according to the identified main vibration noise source and the vibration energy distribution.

[0034] After the data transmission process, data integration of sensor signal data from different sources is performed based on LABVIEW; a data model is established, data relationships are defined, and the associations and association queries between data are processed. The data integration unit allows users to access and query multi-source data from a unified interface, providing a more comprehensive and integrated data view. Therefore, still referring to Figure 1 , as an alternative implementation, the electro-hydrostatic actuator vibration noise transmission path detection system further includes: a data integration unit. The data integration unit is used to define the association relationships and association queries of multi-source vibration noise signals, and allows users to access and query multi-source vibration noise signals from a unified interface.

[0035] The electro-hydrostatic actuator vibration noise transmission path detection system further includes: a data prediction unit. The data prediction unit is used to extract time-frequency features from historical multi-source vibration noise signals under different working conditions, train a deep learning model according to the extracted historical time-frequency features to obtain a trained deep learning model; and use the trained deep learning model to predict the time-frequency features of multi-source vibration noise signals.

[0036] The more detailed prediction process of the data prediction unit is as follows: The time-frequency characteristics (such as STFT spectrum, wavelet coefficients, etc.) of multi-source signals are modeled through deep learning models (such as convolutional neural networks or long short-term memory networks). The vibration and noise data under different working conditions are input to train the network parameters, and the weights of the transfer path contributions are updated in real time. At the same time, an adaptive filtering algorithm (LMS / RLS) is used to dynamically adjust the transfer function coefficients based on the error signal feedback. In the data acquisition stage, vibration, noise, pressure, and current signals are synchronously acquired by multiple sensors, and after being preprocessed by wavelet denoising and band-pass filtering, they are input to the algorithm. During model training, historical data is combined to optimize the network structure and hyperparameters, and the dependence on offline data is gradually reduced through online learning technology. Finally, the prediction of vibration signals, pressure pulsation signals, and acoustic signals can be realized.

[0037] As an alternative implementation, since the calculation of the transfer function and the identification of the vibration source have a large amount of calculation and require high computing power. Therefore, a data-driven algorithm can be combined to dynamically correct the transfer path model parameters used in the working condition transfer path analysis, so as to improve the vibration and noise detection accuracy and adaptability of the EHA.

[0038] Figure 3 The interface of the data visualization unit is shown. The data visualization unit is used to display the vibration and noise transfer paths of the electro-hydrostatic actuator in the form of a 3D model or a topological map, and mark the contribution weights of each transfer path.

[0039] The data visualization unit displays and presents the collected data through a visualization interface and a reporting tool. Users can intuitively see the data collected by the acquisition system and the vibration and noise transfer paths of the electro-hydrostatic actuator on the visualization interface.

[0040] As an alternative implementation, the electro-hydrostatic actuator vibration and noise transfer path detection system further includes: a data storage unit, a database management system, and a power supply unit. The database management system and the data storage unit record metadata such as test working conditions, sensor arrangements, and acquisition parameters.

[0041] The electro-hydrostatic actuator vibration and noise transfer path detection system proposed in this application can realize the rapid positioning and characteristic analysis of the transfer path under complex working conditions, and has important engineering value and theoretical significance.

[0042] Compared with the prior art, this application has the following advantages:

[0043] 1. The coupling of multiple physical fields is realized. According to the characteristics of the electro-hydrostatic actuator, multiple acquisition systems are provided to realize the coupling of multiple physical fields and the in-situ acquisition of signals.

[0044] 2. The decoupling of multi-physical field information is achieved. By synchronously collecting multi-physical field signals such as vibration, noise, hydraulic pulsation, and current, the precise decoupling of multi-source excitations including electromagnetic, mechanical, and hydraulic excitations and the separation of contribution amounts are realized.

[0045] 3. Combining algorithms of machine learning and deep learning, the intelligent modeling and dynamic update of complex transfer paths are achieved to adapt to the vibration and noise characteristics of EHA under different working conditions.

[0046] Based on the same inventive concept, the embodiment of the present application further provides a device for detecting the vibration and noise transfer path of an electro-hydrostatic actuator, including: a sensing device and the above-mentioned detection system for the vibration and noise transfer path of the electro-hydrostatic actuator.

[0047] The sensing device is used to measure multi-source vibration and noise signals of different working units in the electro-hydrostatic actuator. The detection system for the vibration and noise transfer path of the electro-hydrostatic actuator is used to identify the main vibration and noise sources, locate the positions of the main vibration and noise sources, and determine the main transfer paths of the vibration and noise according to the multi-source vibration and noise signals of different working units in the electro-hydrostatic actuator measured by the sensing device.

[0048] As an optional implementation manner, the sensing device includes: a Hall current sensor, multiple acceleration vibration sensors, multiple acoustic sensors, and multiple pressure pulsation sensors. Acceleration vibration sensors are respectively arranged on the surface of the motor, the surface of the hydraulic pump, the outer wall of the inlet pipeline, the outer wall of the outlet pipeline, and the four feet of the actuator; the multiple acceleration vibration sensors are used to measure the vibration acceleration of the motor body, the vibration acceleration of the hydraulic pump body, the vibration acceleration of the inlet pipeline, the vibration acceleration of the outlet pipeline, and the vertical vibration acceleration at the feet of the actuator. The acoustic sensors are spaced from the actuator by a preset distance, and acoustic sensors are respectively arranged at the central positions of multiple surfaces of the acoustic sensors; the multiple acoustic sensors are used to measure the sound pressure signals of the electro-hydrostatic actuator. Pressure pulsation sensors are respectively installed at one end of the inlet pipeline and one end of the outlet pipeline; the multiple pressure pulsation sensors are used to measure the pressure pulsation signals of the inlet pipeline and the pressure pulsation signals of the outlet pipeline. The Hall current sensor is used to measure the current signal of the motor.

[0049] Specifically, high-precision sensors are selected according to the characteristics of vibration, noise, hydraulic pulsation and current signals, and it is ensured that all potential vibration sources and transmission paths are covered. Four triaxial acceleration sensors are arranged on the surface of the power assembly to measure the vibration magnitude of the motor body and the pump body, and to judge the transmission direction of vibration; one triaxial acceleration sensor is arranged on the oil inlet pipe and the oil outlet pipe respectively to measure the impact generated by the liquid flow in the oil pipe and the vibration caused by the power assembly and the main steering gear; high-sensitivity unidirectional acceleration sensors are arranged at the four foot positions of the actuator respectively to measure the vertical vibration at the feet. For the noise signal, five acoustic sensors (for example: digital microphones) are arranged. The digital microphones are 1 m away from the actuator, and the digital microphones are placed at the center positions of the front, back, left, right and upper five surfaces respectively. For the pressure pulsation signals at the pump outlet and inlet, pressure pulsation sensors are installed at one end of the oil inlet pipe and the oil outlet pipe respectively to measure the pressure pulsation of the inlet and outlet pipes. The acceleration vibration sensor can be a piezoelectric accelerometer (frequency response 0.1 Hz–20 kHz), and the pressure pulsation sensor can be a high-frequency dynamic pressure sensor (range 0–40 MPa).

[0050] The working process of the vibration and noise transmission path detection device of the electro-hydrostatic actuator of the present application is as Figure 4 shown, including: collecting physical signals during the operation of the EHA system by using a variety of sensors, processing the collected signals such as clipping, filtering, feature recognition, etc., analyzing the transfer function and transmission path of the system and separating the independent components of electromagnetic, mechanical, hydraulic and other excitation sources from the mixed signal, calculating the contribution weight of each path, the noise radiation characteristics and the mechanical vibration distribution, dynamically correcting and real-time updating the transmission path model based on the deep learning algorithm, establishing a visualization platform, and placing the collected data and the transmission path distribution on the system interface.

[0051] The present application uses advanced sensing technologies and algorithms to achieve precise decoupling of multi-source vibration and noise and non-invasive dynamic condition detection, and realizes real-time measurement of vibration and noise.

[0052] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0053] Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A detection system for the vibration and noise transmission path of an electro-hydrostatic actuator, characterized in that The detection system for the vibration and noise transmission path of the electro-hydrostatic actuator includes: a signal acquisition unit, a signal processing unit, and a signal analysis unit; The signal acquisition unit is used to acquire multi-source vibration and noise signals of different working units in the electro-hydrostatic actuator; The signal processing unit is used to preprocess the multi-source vibration and noise signals and extract time-frequency features, and identify the main vibration frequency components from the extracted time-frequency features; the frequency of the main vibration frequency components is greater than a preset frequency threshold; The signal analysis unit is used to perform a working condition transmission path analysis based on the preprocessed multi-source vibration and noise signals to determine multiple transmission paths of the vibration and noise; and according to the identified main vibration frequency components, use a multi-source decoupling algorithm to separate the vibration and noise components of each excitation source, and at the same time obtain the contribution of each excitation source to the overall vibration and noise; according to the contribution of each excitation source to the overall vibration and noise, identify the main vibration and noise sources and locate the positions of the main vibration and noise sources; according to the multiple transmission paths of the vibration and noise and the contribution of each excitation source to the overall vibration and noise, use the transmission path analysis method to calculate the contribution weight of each transmission path, and then determine the main transmission path of the vibration and noise according to the contribution weight of each transmission path; the contribution of the main vibration and noise source is greater than a preset contribution threshold; the contribution weight of the main transmission path is greater than a preset contribution weight threshold.

2. The vibration and noise transmission path detection system for an electro-hydrostatic actuator according to claim 1, characterized in that The electro-hydrostatic actuator includes: a motor, a hydraulic pump, an oil inlet pipeline, an oil outlet pipeline, and an actuator; The signal acquisition unit is used to acquire the vibration acceleration of the motor body, the vibration acceleration of the hydraulic pump body, the vibration acceleration of the oil inlet pipeline, the vibration acceleration of the oil outlet pipeline, the vertical vibration acceleration at the feet of the actuator, the sound pressure signal of the electro-hydrostatic actuator, the pressure pulsation signal of the oil inlet pipeline, the pressure pulsation signal of the oil outlet pipeline, and the current signal of the motor.

3. The system for detecting the vibration and noise transmission path of the electro-hydrostatic actuator according to claim 2, wherein The signal acquisition unit further includes: a data acquisition system; The data acquisition system is used to synchronously acquire vibration acceleration, sound pressure signal, pressure pulsation signal, and current signal; The data acquisition system is configured with an anti-aliasing filtering and signal conditioning module, and the anti-aliasing filtering and signal conditioning module is used to eliminate the interference signals in the vibration acceleration, sound pressure signal, pressure pulsation signal, and current signal.

4. The electric hydrostatic actuator vibration and noise transmission path detection system according to claim 2, characterized in that Locating the position of the main vibration and noise source specifically includes: Forming a sound pressure distribution cloud map according to the preprocessed sound pressure signal; Locating the position of the main noise source according to the identified main vibration and noise source and the sound pressure distribution cloud map; Forming a vibration energy distribution according to the time-frequency features extracted from the vibration acceleration; Locating the position of the main vibration source according to the identified main vibration and noise source and the vibration energy distribution.

5. The vibration and noise transmission path detection system for an electro-hydrostatic actuator according to claim 1, wherein The preprocessing includes: wavelet threshold denoising and band-pass filtering.

6. The system for detecting the vibration and noise transmission path of the electro-hydrostatic actuator according to claim 1, characterized in that, The detection system for the vibration and noise transmission path of the electro-hydrostatic actuator further includes: a data integration unit; The data integration unit is used to define the association relationship and association query of the multi-source vibration and noise signals, and allow users to access and query the multi-source vibration and noise signals from a unified interface.

7. The system for detecting the vibration and noise transmission path of the electro-hydrostatic actuator according to claim 1, characterized in that The detection system for the vibration and noise transmission path of the electro-hydrostatic actuator further includes: a data prediction unit; The data prediction unit is used to extract time-frequency features from historical multi-source vibration and noise signals under different working conditions, train a deep learning model based on the extracted historical time-frequency features to obtain a trained deep learning model, and use the trained deep learning model to predict the time-frequency features of multi-source vibration and noise signals.

8. The vibration and noise transmission path detection system for an electro-hydrostatic actuator according to claim 1, characterized in that The electro-hydrostatic actuator vibration and noise transmission path detection system further includes: a data visualization unit; The data visualization unit is used to display the vibration and noise transmission path of the electro-hydrostatic actuator in the form of a three-dimensional model or a topological map, and label the contribution weight of each transmission path.

9. A detection device for the vibration and noise transmission path of an electro-hydrostatic actuator, characterized in that, The electro-hydrostatic actuator vibration and noise transmission path detection device includes: a sensing device and the electro-hydrostatic actuator vibration and noise transmission path detection system according to any one of claims 1-8; The sensing device is used to measure multi-source vibration and noise signals of different working units in the electro-hydrostatic actuator; The electro-hydrostatic actuator vibration and noise transmission path detection system is used to identify the main vibration and noise sources, locate the positions of the main vibration and noise sources, and determine the main transmission paths of vibration and noise according to the multi-source vibration and noise signals of different working units in the electro-hydrostatic actuator measured by the sensing device.

10. The device for detecting the vibration and noise transmission path of the electro-hydrostatic actuator according to claim 9, characterized in that, The sensing device includes: a Hall current sensor, a plurality of acceleration vibration sensors, a plurality of acoustic sensors, and a plurality of pressure pulsation sensors; Acceleration vibration sensors are respectively arranged on the surface of the motor, the surface of the hydraulic pump, the outer wall of the oil inlet pipeline, the outer wall of the oil outlet pipeline, and the four feet of the actuator; the plurality of acceleration vibration sensors are used to measure the vibration acceleration of the motor body, the vibration acceleration of the hydraulic pump body, the vibration acceleration of the oil inlet pipeline, the vibration acceleration of the oil outlet pipeline, and the vertical vibration acceleration at the feet of the actuator; The acoustic sensors are spaced from the actuator by a preset distance, and acoustic sensors are respectively arranged at the central positions of multiple surfaces of the acoustic sensors; the plurality of acoustic sensors are used to measure the sound pressure signal of the electro-hydrostatic actuator; Pressure pulsation sensors are respectively installed at one end of the oil inlet pipeline and one end of the oil outlet pipeline; the plurality of pressure pulsation sensors are used to measure the pressure pulsation signal of the oil inlet pipeline and the pressure pulsation signal of the oil outlet pipeline; The Hall current sensor is used to measure the current signal of the motor.

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