Digital in-loop simulation verification system and method for more-electric aircraft power fly-by-wire actuation system

Abstract

The invention belongs to the technical field of digital simulation, and particularly discloses a digital in-loop simulation verification system and method of a more-electric aircraft power fly-by-wire actuation system. Aiming at the problems of long time consumption and high cost of an existing verification method, the invention provides an integrated simulation platform, and rapid and accurate performance verification is realized by optimizing a test process. The system comprises a power fly-by-wire actuator simulation platform, a power fly-by-wire controller simulation platform and a development upper computer, and can efficiently simulate the response of the actuator and the controller, significantly shorten the development period and reduce the test cost. The method is especially suitable for simulating extreme working conditions, improving the coverage degree of test working conditions, realizing comprehensive acquisition and analysis of key parameters through digital design, facilitating optimization of system performance and behaviors, and enhancing the market competitiveness of aviation products.

Description

Technical Field

[0001] The present invention relates to the field of power fly-by-wire actuation systems for more electric aircraft, and in particular to a digital in-the-loop simulation verification system and method for power fly-by-wire actuation systems for more electric aircraft. Background Art

[0002] In modern aviation, the More Electric Aircraft (MEA) represents a new design concept. By converting multiple traditional secondary energy sources onboard an aircraft into a unified electrical energy source, it significantly improves aircraft system reliability, maintainability, and energy efficiency. The core advantage of MEA lies in its ability to reduce reliance on traditional hydraulic, pneumatic, and mechanical systems, thereby reducing maintenance costs and improving flight safety. Compared to traditional aircraft, MEA demonstrates significant advantages in multiple key performance indicators, including but not limited to higher system redundancy, lower operating noise, and improved fuel efficiency. Therefore, it has become a key development direction in the aviation industry.

[0003] As one of the key technologies in MEA, the Power-by-Wire Actuation System (PBAS) transmits electrical energy via electrical conductors, enabling efficient power transfer from the energy system to the actuators. This system not only reduces hydraulic and mechanical piping on the aircraft but also improves the response speed and accuracy of the actuation system, representing a key milestone in MEA's unified electrical energy management.

[0004] However, to meet the aviation industry's stringent requirements for product reliability and safety, the performance verification process for power-by-wire actuation systems typically requires lengthy testing cycles and complex test scenarios. Traditional verification methods for developing critical control algorithms typically include design based on simulation models, basic testing and verification in a simulated environment, deployment on a live aircraft, and adjustments based on actual response results. This process not only takes months or even years but also requires extensive experience from test developers to navigate the differences between simulation and real-world environments.

[0005] With the growing market demand for rapid iteration of aviation products, the long timelines and high costs of traditional verification methods and algorithms have become increasingly prominent. These challenges not only limit the speed at which new products can be brought to market, but also increase R&D costs, thereby impacting the competitiveness of aviation manufacturers. Summary of the Invention

[0006] Purpose of the Invention: This invention addresses the shortcomings of existing technologies by providing a digital-in-the-loop simulation verification system and method for a power fly-by-wire actuation system for a more electric aircraft. This system addresses the long verification time and high costs associated with existing technologies. Through a highly integrated simulation platform and optimized testing processes, this invention enables rapid and accurate performance verification, accelerating product development cycles, reducing R&D costs, and improving the safety and reliability of the verification process.

[0007] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0008] On the one hand, the present invention proposes a digital in-the-loop simulation and verification system for a power fly-by-wire actuation system of a multi-electric aircraft, comprising a power fly-by-wire actuator simulation platform, a power fly-by-wire controller simulation platform, and a development host computer;

[0009] The power-by-wire actuator simulation platform includes an actuator simulation computer, a load simulation unit, and a signal conditioning module. The actuator simulation computer is a PXI simulator running a real-time operating system, used to run the actuator digital model in real time. The load simulation unit is composed of customized impedance devices, used to simulate the impedance characteristics of the actuator and carry electrical power during the system's in-the-loop verification process. The signal conditioning module is used to communicate between the actuator simulation computer and external signals, converting digital signals into analog signals.

[0010] The power-by-wire controller simulation platform includes a control unit simulation computer, a power drive unit, and a signal conditioning module; the control unit simulation computer is a PXI simulator running a real-time operating system, which is used to run the control system control algorithm in real time; the power drive unit uses a power output circuit (generally a 270V / 50A power output circuit) to drive a real actuator unit or the power-by-wire actuator simulation platform described above; the signal conditioning module is used to communicate between the control unit simulation machine and external signals, converting analog signals into digital signals, ensuring that the control unit simulation machine obtains real-time closed-loop feedback information to support the operation of the control algorithm;

[0011] The development host computer is a general-purpose computer used to deploy digital models on the simulation computer and monitor real-time operation data during simulation verification. The development host computer is connected to the network port on the simulation computer via an Ethernet cable to achieve data interaction.

[0012] On the other hand, the present invention also proposes a digital-in-the-loop simulation verification method for a power fly-by-wire actuation system of a more electric aircraft, comprising the following steps:

[0013] Step 1: Before testing begins, construct a digital model of the actuator and a control system algorithm on the development host computer platform and deploy them to the actuator unit simulation computer and the control unit simulation computer, respectively. The actuator digital model includes a response model of the actuator under given excitation and control signal conditions, as well as a sensor model used to reflect actuator status information. The control system algorithm includes a closed-loop control algorithm for the actuator control system and a demodulation algorithm for sensor feedback signals.

[0014] Step 2: Check the electrical interfaces of the power-by-wire actuator simulation platform and the power-by-wire controller simulation platform in sequence. After ensuring that there are no abnormalities, use dedicated cables to connect the relevant electrical interfaces. The electrical interfaces include a low-voltage signal interface for exchanging control signals and sensor signals, and a high-voltage power interface for inputting or outputting 270V / 50A electrical power. Each channel of the dedicated cable can carry the maximum power of the corresponding circuit, and each channel has good signal shielding capabilities.

[0015] Step 3: Run the power-by-wire actuator simulation platform. After the system stabilizes, run the power-by-wire controller simulation platform, followed by system testing. The operator can perform related operations on the host computer platform, including but not limited to setting the desired actuator displacement, observing and recording key operating data, etc. The power-by-wire controller simulation platform is used to calculate the required control signal based on the desired actuation output and feedback signal; the power-by-wire actuator simulation platform is used to output the actuation system response based on the input control signal.

[0016] Step 4: Adjust the expected output of the power fly-by-wire controller simulation platform to zero. After the system stabilizes, shut down the power fly-by-wire controller simulation platform and the power fly-by-wire actuator simulation platform in sequence.

[0017] Beneficial effects:

[0018] The present invention relates to a digital-in-the-loop simulation and verification system and method for a power fly-by-wire actuation system of a multi-electric aircraft. By developing a power fly-by-wire actuator simulation platform and a power fly-by-wire controller simulation platform, the responses of the actuators and controllers can be rapidly simulated, significantly reducing the time required for traditional development methods and improving the efficiency of system testing and verification. Compared with traditional physical prototype testing, the digital-in-the-loop simulation and verification system reduces the need for expensive hardware and reduces testing costs. In addition, all aspects of testing and verification are carried out in a controllable environment, reducing additional costs caused by test failures. The present invention allows testers to simulate a variety of extreme operating conditions of the actuation system, which may be difficult to achieve or too dangerous in actual testing. Therefore, the present invention has a high test condition coverage.

[0019] Traditional electromechanical products generate a wealth of important operational data during operation, crucial for analyzing system performance. However, due to inadequate system architecture design, effective analysis and utilization are often difficult. This invention digitally designs key components, particularly actuators and controller units, enabling the acquisition, analysis, and storage of all key parameters during operation. This not only helps testers better understand system performance and behavior, but also serves as a scalable verification device, providing a platform for deploying and verifying more advanced control theories and algorithms. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more apparent.

[0021] Figure 1 This is an overall architecture diagram of a digital-in-the-loop simulation verification system for a power fly-by-wire actuation system of a multi-electric aircraft according to the present invention. DETAILED DESCRIPTION

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings or specific implementation cases. It should be noted that some (but not all) of the disclosed examples are shown in the accompanying drawings. In fact, many different examples can be described and these examples should not be understood as being limited to the examples set forth herein. On the contrary, these examples are described so that the positive effects of the present invention are more reflected, and any parts not detailed herein are considered to be well-known techniques or conventional technical means in the art.

[0023] The present invention proposes a digital-in-the-loop simulation verification system and method for a power fly-by-wire actuation system of a more electric aircraft, which is further described below through specific implementation methods:

[0024] Example:

[0025] The embodiment is basically as shown in the attached Figure 1 Shown: A digital in-the-loop simulation and verification system for a power fly-by-wire actuation system, including a power fly-by-wire actuator simulation platform, a power fly-by-wire controller simulation platform, and a development host computer;

[0026] The power transmission actuator simulation platform includes an actuator unit simulation computer, a load simulation unit and a signal conditioning module; the actuator unit simulation computer is a PXI simulation machine running a real-time operating system, which is used to run the actuator digital model in real time; the PXI simulation machine includes three main hardware components: a chassis, a controller and a module; the chassis is a chassis that supports the PXI protocol and provides system power supply, cooling function and communication bus for other components; the controller is a remote PXI controller that runs a real-time operating system developed based on the Linux system and supports remote development through a host computer; the modules include multi-function I / O modules, multi-function reconfigurable I / O modules, resistance simulation modules, etc.; the controller and the modules communicate through the PXI bus architecture in the chassis;

[0027] The actuator digital models include digital models of two typical power-by-wire actuators: electro-hydrostatic actuators (EHAs) and electro-mechanical actuators (EMAs). The actuator digital models include a mathematical expression model for characterizing the output state response of the actuator structure under given excitation and control signals, and a mathematical expression model of a sensor for detecting actuator structure state information and converting it into analog output. The actuator digital models are constructed using common model development software and converted into a specific file format based on the operating requirements of a real-time operating system.

[0028] The load simulation unit is composed of impedance devices, and specific load simulation types include motor simulation, solenoid valve / clutch simulation, etc.; the impedance devices include classic devices such as resistors, inductors, and capacitors; the motor simulation uses high-quality inductors to simulate permanent magnet synchronous motors, adopts a Y-type connection, with an inductance value of 0.5mH per phase, a resistance value of 0.1-0.3ohm per phase, an inductance frequency ≥10kHz, and an Ipk ≥200A; the solenoid valve / clutch simulation uses inductors and resistors to simulate its inherent impedance characteristics under on-off conditions. The inductors and resistors are connected in series, with a resistance value of 80-100ohm, an inductance value of 50-100mH, an inductance frequency ≥1kHz, and an Ipk ≥1A;

[0029] The signal conditioning module includes a hardware-level analog signal conversion circuit and a software-level signal phase compensation algorithm; the hardware-level analog signal conversion circuit supports converting various types of analog signals into voltage signals within the range of 0 to 10V, or converting voltage signals within the range of 0 to 10V into various types of analog signals; the various types of analog signals include voltage signals, current signals, and resistance value signals; the software-level signal compensation algorithm refers to an algorithm that compensates and corrects the signal at the software level to ensure that it is consistent with the actual signal characteristics when the signal phase and amplitude are offset to a certain extent due to the operation of the device during the operation of the hardware-level signal conversion circuit;

[0030] The power electric controller simulation platform includes a control unit simulation computer, a power drive unit and a signal conditioning module; the control unit simulation computer structure is consistent with the actuator unit simulation computer structure of the power electric actuator simulation platform, and is used to run the control system control algorithm in real time; the control system control algorithm includes a three-closed-loop control algorithm based on a PID regulator and a sensor signal demodulation algorithm; the three-closed-loop control algorithm based on a PID regulator includes three main control links: current loop, speed loop and position loop; the current loop is the innermost control loop, which is responsible for controlling the current of the motor winding; the speed loop is responsible for controlling the speed of the motor, and its control effect is directly related to the dynamic response performance of the system; the position loop is the outermost control loop, which is responsible for ensuring that the motor runs according to the predetermined position or path; the PID regulator achieves fast and accurate adjustment effect by adjusting the proportional gain, integral time constant and differential time constant, and the specific parameters need to be adjusted according to the actual working conditions;

[0031] The sensor signal demodulation algorithm includes common sensor output demodulation algorithms such as linear variable differential transformer (LVDT) and rotary transformer; the linear variable differential transformer is used to detect the position change of the object under test; the linear variable differential transformer output demodulation algorithm includes an excitation signal generation part and an input signal resolution part; the excitation signal generation part needs to generate a sinusoidal excitation signal with adjustable amplitude and frequency according to the test requirements, and is connected to the two input ports of the LVDT primary coil; the input signal resolution part receives the three output port signals of the LVDT secondary coil, namely, the high output end, the output center end, and the output low end of the LVDT, and this part will be connected according to the received The received signal is compared with the excitation signal to calculate the displacement currently detected by the LVDT; the rotary transformer is used to detect the angular change of the object under test; the rotary transformer output demodulation algorithm is basically the same as the LVDT output demodulation algorithm, except that the input signal calculation part receives the four output port signals of the rotary transformer, namely the sine and cosine ports corresponding to the differential, and this part will compare the received signal with the excitation signal to calculate the angle value currently detected by the rotary transformer; further, the angular velocity of the current object under test can be calculated based on the change of the current angle; further, the angular acceleration of the current object under test can be calculated based on the current angular velocity;

[0032] The power drive unit includes a power tube, a driver board, a power supply, and a power monitoring part. The power tube is used to drive the permanent magnet synchronous motor, receives a 270V voltage input from the DC bus, and outputs a three-phase AC voltage. The driver board uses TTLPWM to drive the power tube and supports software protection using TTL levels. The power supply includes 28V DC and 270V DC power input interfaces. The power monitoring includes monitoring the input voltage and current of the 28V DC and 270V DC power supplies.

[0033] The structure of the signal conditioning module is consistent with that of the power transmission actuator simulation platform, and will not be described in detail.

[0034] The development host computer is a general-purpose computer that supports Windows 10 and above operating systems, has a processor performance not inferior to that of an Intel 12thI3 processor, has a running memory of not less than 8GB, and a storage space of not less than 512GB; the development host computer needs to be installed with common modeling software and industrial control software for building digital models and deploying them on the simulation computer, and supports monitoring of real-time operation data during digital-in-the-loop simulation verification; the development host computer is connected to the simulation computer via an Ethernet cable and supports the TCP / IP protocol for data exchange;

[0035] This embodiment also provides a digital-in-the-loop simulation verification method for a power fly-by-wire actuation system of a more electric aircraft, comprising the following steps:

[0036] The method in this embodiment may be operated using a digital-in-the-loop simulation verification system for a power-by-wire actuation system of a multi-electric aircraft as described above.

[0037] Step 1: Before the test begins, build the actuator digital model and control system algorithm on the development host computer platform and deploy them to the actuator unit simulation computer and control unit simulation computer respectively;

[0038] The actuator digital model includes a mathematical expression model for characterizing the output state response of the actuator structure under given excitation and control signals, and a mathematical expression model of the sensor for detecting the actuator structure state information and converting it into analog output; the control algorithm of the control system includes a three-closed-loop control algorithm based on a PID regulator and a sensor signal demodulation algorithm;

[0039] The deployment process not only includes converting the above-mentioned models and algorithms into a format that supports the real-time operating system through a C compiler, but also includes the process of associating the model and algorithm output with the hardware driver of the internal board card of the simulation computer; the C compiler is used to convert the model and algorithm programs built on different modeling platforms into the form of C language code; the association process refers to outputting the data results through the I / O interface of the internal board card of the simulation computer;

[0040] Step 2: After completing model construction and deployment, check the electrical interfaces of the power-by-wire actuator simulation platform and the power-by-wire controller simulation platform in turn. After ensuring that there are no abnormalities, use dedicated cables to connect the relevant electrical interfaces.

[0041] The electrical interface includes a weak current signal interface for interacting with control signals and sensor signals, and a strong current power interface for inputting or outputting 270V / 50A electric power; the weak current signal interface includes a signal interface on the actuating unit simulation computer and the control unit simulation computer; the weak current signal interface includes a signal interface on the load simulation unit and the power drive unit; each channel of the dedicated cable can carry the maximum power of the corresponding circuit, and each channel has good signal shielding function;

[0042] Furthermore, the dedicated cables include signal-level and power-level multi-shielded twisted-pair cables, which are respectively connected to the actuation unit simulation computer and the control unit simulation computer, as well as the load simulation unit and the power drive unit;

[0043] Step 3: Start the digital-in-the-loop test. During the test, the power-by-wire actuator simulation platform must be run first. Once this part remains stable and the output is normal, the power-by-wire controller simulation platform is run. After that, the system function verification test can be carried out. The test operator can perform related operations on the host computer platform, including but not limited to setting the desired actuator displacement and observing and recording key operating data.

[0044] The step 3 further comprises the following sub-steps:

[0045] Sub-step 1: The power-by-wire actuator simulation platform runs the actuator digital model in real time, outputting the actuator system response based on the input control signal. This real-time performance is reflected in the fact that the power-by-wire actuator simulation platform uses a real-time operating system developed based on Linux, and the model execution rate is strictly maintained at 40 kHz. The actuator digital model operation data is transmitted to the development host computer via the TCP / IP protocol, where the test operator can monitor the actuator operating status information during the current test process.

[0046] Sub-step 2: The power-by-wire controller simulation platform runs the control system algorithm in real time, calculating the required control signals based on the desired actuation effect and feedback signals. This real-time performance is reflected in the fact that the power-by-wire controller simulation platform uses a real-time operating system developed based on Linux. The control system algorithm iteration cycle is consistent with that of the real controller, that is, the control algorithm strictly maintains an iteration rate of 5kHz. The control system algorithm is connected to the development host computer via the TCP / IP protocol. The test operator can set the desired actuation displacement command of the actuator and adjust the internal PID parameters of the control system on the development host computer.

[0047] Sub-step 3: The power-by-wire actuator simulation platform feeds back real-time operating data to the power-by-wire controller simulation platform. The power-by-wire controller simulation platform calculates the next-moment control command signal based on the feedback information and the desired actuation displacement command. The real-time operating data of the power-by-wire actuator simulation platform includes actuator displacement output, motor rotation angle output, motor winding current, and solenoid valve / clutch on / off current. The feedback process involves transmitting the analog signal output by the power-by-wire actuator simulation platform to the corresponding interface of the power-by-wire controller simulation platform via a signal-level and power-level multi-shielded twisted-pair cable.

[0048] Step 4: After completing the target test scenario verification, save the test data; set the actuator's expected actuation displacement command to zero on the development host computer. After the system stabilizes, shut down the power-by-wire controller simulation platform and the power-by-wire actuator simulation platform in sequence, disconnect the connecting cables, and turn off the power of the simulation platform.

[0049] This embodiment provides a digital-in-the-loop simulation and verification system and method for a power fly-by-wire actuation system of a multi-electric aircraft. By developing a power fly-by-wire actuator simulation platform and a power fly-by-wire controller simulation platform, the responses of the actuators and controllers can be quickly simulated, significantly reducing the time required for traditional development methods and improving the efficiency of system testing and verification. Compared with traditional physical prototype testing, the digital-in-the-loop simulation and verification system reduces the need for expensive hardware and reduces testing costs, and all aspects of testing and verification are carried out in a controllable environment, reducing additional costs caused by test failures. The present invention allows testers to simulate a variety of extreme operating conditions of the actuation system, which may be difficult to achieve or too dangerous in actual testing. Therefore, the present invention has a high test condition coverage.

[0050] Traditional electromechanical products generate a wealth of important operational data during operation, crucial for analyzing system performance. However, due to inadequate system architecture design, effective analysis and utilization are often difficult. This invention digitally designs key components, particularly actuators and controller units, enabling the acquisition, analysis, and storage of all key parameters during operation. This not only helps testers better understand system performance and behavior, but also serves as a scalable verification device, providing a platform for deploying and verifying more advanced control theories and algorithms.

[0051] Furthermore, the power-by-wire actuator simulation platform and power-by-wire controller simulation platform proposed in this embodiment are not interdependent. Because they retain the simulation of the power unit, they can be used to replace actual products. For example, the power-by-wire actuator simulation platform can be used in place of actual actuator products for hardware-in-the-loop testing, product performance evaluation, and design process optimization. Alternatively, the power-by-wire controller simulation platform can be used in place of actual controller products for rapid prototyping and accelerated control algorithm development.

[0052] The present invention provides a digital-in-the-loop simulation and verification system and method for a power-by-wire actuation system of a more electric aircraft. While there are numerous methods and approaches for implementing this technical solution, the foregoing description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art may make various improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are also within the scope of protection of the present invention. Any components not specified in this embodiment may be implemented using existing technologies.

Claims

1. A digital in-the-loop simulation verification system for a power fly-by-wire actuation system of a more electric aircraft, characterized by: include: Power fly-by-wire actuator simulation platform, power fly-by-wire controller simulation platform, and development host computer; The power electric actuator simulation platform includes: The actuator unit simulation computer is a PXI simulator running a real-time operating system, used to run the actuator digital model in real time; The load simulation unit, consisting of a customized impedance device, is used to simulate the impedance characteristics of the actuator and carry the electrical power during the system's in-the-loop verification process; Signal conditioning module, used to communicate between the actuator simulator and external signals, converting digital signals into analog signals; The power telex controller simulation platform includes: The control unit simulation computer is a PXI simulator running a real-time operating system, used to run the control system control algorithm in real time; A power drive unit, using a power output circuit, for driving a real actuator unit or the power-by-wire actuator simulation platform; The signal conditioning module is used to communicate between the control unit simulator and external signals, converting analog signals into digital signals to ensure that the control unit simulator obtains real-time closed-loop feedback information to support the operation of the control algorithm; The development host computer is a general-purpose computer used to deploy the digital model to the simulation computer and monitor real-time operation data during simulation verification. The development host computer is connected to the network port on the simulation computer via an Ethernet cable to achieve data interaction.

2. The simulation verification system according to claim 1, characterized in that: The actuating unit simulation computer comprises three main hardware components: a chassis, a controller and a module.

3. The simulation verification system according to claim 1, characterized in that: The load simulation unit includes motor simulation and solenoid valve / clutch simulation.

4. The simulation verification system according to claim 1, wherein: The signal conditioning module includes a hardware-level analog signal conversion circuit and a software-level signal phase compensation algorithm.

5. The simulation verification system according to claim 1, characterized in that: The control unit simulation computer includes a three-closed-loop control algorithm based on a PID regulator and a sensor signal demodulation algorithm.

6. The simulation verification system according to claim 1, characterized in that: The power drive unit includes a power tube, a drive board, a power supply and a power monitoring part.

7. A digital-in-the-loop simulation verification method for a power fly-by-wire actuation system of a more electric aircraft, using the simulation verification system according to any one of claims 1 to 6, characterized in that: The simulation verification method comprises the following steps: Step S1: Before the test begins, a digital model of the actuator and a control system algorithm are constructed on the development host computer platform, and deployed on the actuator unit simulation computer and the control unit simulation computer respectively; Step S2: Check the electrical interfaces of the power-by-wire actuator simulation platform and the power-by-wire controller simulation platform in sequence, and connect the relevant electrical interfaces using dedicated cables after ensuring that there are no abnormalities. Step S3: Run the power-by-wire actuator simulation platform. After the system remains stable, run the power-by-wire controller simulation platform. Then, perform system testing. The operator can perform relevant operations on the host computer platform, including but not limited to setting the desired actuator displacement and observing and recording key operating data. Step S4: Adjust the expected output of the power fly-by-wire controller simulation platform to zero, and shut down the power fly-by-wire controller simulation platform and the power fly-by-wire actuator simulation platform in sequence after the system stabilizes.

8. The simulation verification method according to claim 7, characterized in that: The actuator digital model includes digital models of two typical power-by-wire actuators: electrostatic hydraulic actuators and electromechanical actuators.

9. The simulation verification method according to claim 7, characterized in that: The control algorithm of the control system includes a three-closed-loop control algorithm based on a PID regulator and a sensor signal demodulation algorithm.

10. The simulation verification method according to claim 7, characterized in that: The step S2 further includes connecting the signal interfaces on the actuating unit simulation computer and the control unit simulation computer using a dedicated cable.

11. The simulation verification method according to claim 7, wherein: The step S3 further includes the following sub-steps: Sub-step S31: The power-by-wire actuator simulation platform runs the actuator digital model in real time and outputs the actuator system response according to the input control signal; Sub-step S32: The power-by-wire controller simulation platform runs the control algorithm of the control system in real time and calculates the required control signal based on the desired actuation effect and the feedback signal; Sub-step S33: The power fly-by-wire actuator simulation platform feeds back the real-time operating data to the power fly-by-wire controller simulation platform, and the power fly-by-wire controller simulation platform calculates the control command signal at the next moment based on the feedback information and the expected actuation displacement command.

12. The simulation verification method according to claim 11, characterized in that: In the sub-step S31, the operating data of the actuator digital model will be transmitted to the development host computer via the TCP / IP protocol, and the test operator can monitor the actuator working status information during the current test process on the development host computer.

13. The simulation verification method according to claim 11, characterized in that: In the sub-step S32, the control system control algorithm maintains a connection with the development host computer via the TCP / IP protocol, and the test operator can set the desired actuation displacement instruction of the actuator and adjust the internal PID parameters of the control system on the development host computer.

14. The simulation verification method according to claim 11, characterized in that: In the sub-step S33, the real-time operating data of the power transmission actuator simulation platform includes the actuator displacement output, the motor rotation angle output, the motor winding current, and the solenoid valve / clutch on-off current.

15. The simulation verification method according to claim 11 or 14, characterized in that: In the sub-step S33, the signal feedback from the power-by-wire actuator simulation platform to the power-by-wire controller simulation platform is performed in the form of an analog signal, and is connected through signal-level and power-level multi-shielded twisted-pair cables.

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