Jet-driven slide rail equipment acceleration control method, system and test device

Abstract

The invention discloses a jet-driven slide rail equipment acceleration control method and system and a test device, and belongs to the technical field of slide rail test platforms. The method comprises the following steps: acquiring input parameters and initial conditions; performing simulation operation on the input parameters and the initial conditions in a virtual prototype to generate a control strategy; controlling the opening degree of each nozzle in the nozzle module according to the control strategy to realize jet driving of the slide rail equipment so as to preliminarily control the acceleration process of the slide rail equipment; motion data of the sliding rail equipment are obtained in real time; and adjusting the opening degree of each nozzle in the nozzle module according to the control strategy and the motion data so as to realize acceleration control of the slide rail equipment. The control strategy is generated through simulation operation, the control scheme of the pressure and the liquid amount of the liquid storage tank and the nozzle module can be determined without multiple times of real machine debugging, the control strategy can accurately control the acceleration in the whole acceleration time history, and therefore the effects of the acceleration process of any specification and the like can be accurately achieved.

Description

Technical Field

[0001] This application relates to the field of slide rail test platform technology, and in particular to a jet-driven slide rail equipment acceleration control method, system and test device. Background Technology

[0002] High-speed, heavy-duty sliding rail equipment is a type of specialized operational equipment that runs along a fixed track and simultaneously meets the dual core requirements of high operating speed and large load capacity. It is widely used in fields such as high-speed trains and high-speed aircraft take-off and landing test benches. In scenarios where it is not necessary to continuously maintain high vehicle speed, jet-driven methods based on high-pressure jet impact are widely used to reduce costs.

[0003] Since jet drive systems typically use high-pressure compressed gas to drive a large amount of liquid to form a high-pressure jet in a single operation, this process usually requires a long preparation time. If the acceleration effect cannot be precisely controlled, it may lead to a reduction in the effectiveness of subsequent slide rail equipment operations, or even require rework and restart, thereby significantly increasing operating costs and delaying and disrupting subsequent operation plans.

[0004] In related technologies, when jet drive systems accelerate high-speed heavy-duty slide rail equipment, they generally rely on simple open-loop control of the jet based on experience. This makes it difficult to adapt to complex and changing working conditions, such as changes in the weight of the slide rail equipment or sudden headwinds in the environment. As a result, there are problems with insufficient adaptability and accuracy of the control strategy. Summary of the Invention

[0005] A method, system, and testing device for accelerating a jet-driven slide rail device are provided to solve the aforementioned technical problems.

[0006] Firstly, a method for accelerating a jet-driven slide rail device is provided, the method comprising: Obtain the input parameters and initial conditions; The input parameters and initial conditions are simulated in a virtual prototype to generate a control strategy. The control strategy controls the opening of each nozzle in the nozzle module to achieve jet drive of the slide rail equipment and to initially control the acceleration process of the slide rail equipment. Real-time acquisition of motion data of the slide rail equipment; The opening of each nozzle is adjusted based on the control strategy and motion data to achieve acceleration control of the slide rail equipment.

[0007] Optionally, the input parameters may include at least one of the following: target characteristics of the slide rail equipment, weight, desired acceleration pattern, and environmental information.

[0008] Optionally, the initial conditions may include at least one of the following: parameter safety range, initial iteration value, boundary conditions, and precision threshold.

[0009] Optionally, the steps of simulating the input parameters and initial conditions in a virtual prototype to generate the control strategy include: The input parameters and initial conditions are simulated in a virtual prototype, and the expected characteristics are output. Calculate the first deviation between the expected characteristics and the target characteristics to be achieved; The first deviation value is judged. If the first deviation value is outside the range of the accuracy threshold, the model parameters of the virtual prototype are modified and the iterative simulation is run again. If the first deviation value is within the range of the accuracy threshold, a control strategy is generated based on the current model parameters of the virtual prototype.

[0010] Optionally, the control strategy includes a measurement and control-nozzle module control strategy and a liquid tank pressure-liquid volume control strategy.

[0011] Optionally, the step of controlling the opening of each nozzle in the nozzle module according to the control strategy to achieve jet drive of the slide rail equipment and to initially control the acceleration process of the slide rail equipment includes: The liquid tank is initialized by sending liquid filling and pressurization commands to the liquid tank according to the liquid tank pressure-liquid volume control strategy. The opening of each nozzle in the nozzle module is controlled according to the measurement and control-nozzle module control strategy to adjust the size of the jet, and the jet of the nozzle module drives the slide rail equipment to move.

[0012] Optionally, the measurement and control-nozzle module control strategy generates a preset control curve, and controls the opening of each nozzle in the nozzle module according to the preset control curve. If the nozzle in the nozzle module that is performing jetting fails, the backup nozzle is activated and the opening of each nozzle in the nozzle module is calculated in real time according to the measurement and control-nozzle module control strategy to control the jetting to be the same.

[0013] Optionally, the step of adjusting the opening of each nozzle in the nozzle module according to the control strategy and motion data to achieve acceleration control of the slide rail equipment includes: Calculate the second deviation value between the motion data and the data of the preset control curve in the measurement and control-nozzle module control strategy. A nozzle opening correction signal is generated based on the second deviation value using a PID algorithm; The nozzle opening correction signal and the preset control curve are superimposed to form the actual control signal; The opening degree of each nozzle in the nozzle module is controlled by actual control signals.

[0014] Optionally, the step of controlling the opening degree of each nozzle in the nozzle module through actual control signals includes: The opening degree of each nozzle in the nozzle module is controlled by adjusting the actuation coil current of the solenoid valve by adjusting the valve stop position of the solenoid valve through the actual control signal.

[0015] Optionally, the motion data of the slide rail equipment includes at least one of displacement, velocity, and acceleration.

[0016] Optionally, after adjusting the opening of each nozzle in the nozzle module according to the control strategy and motion data to achieve acceleration control of the slide rail equipment, the method further includes: The operational data of the acceleration control process of the slide rail equipment is stored.

[0017] Optionally, after adjusting the opening of each nozzle in the nozzle module according to the control strategy and motion data to achieve acceleration control of the slide rail equipment, the method further includes: The status data of the acceleration control process of the slide rail equipment is stored and analyzed.

[0018] Secondly, this application embodiment also provides a jet-driven slide rail equipment acceleration control system, including: a control strategy offline generation module, used to acquire input parameters and initial conditions, and to simulate the input parameters and initial conditions in a virtual prototype to generate a control strategy; The jet drive system execution module is used to control the opening of each nozzle in the nozzle module according to the control strategy to realize the jet drive of the slide rail equipment and to perform preliminary control of the acceleration process of the slide rail equipment. The thrust online real-time control module is used to acquire motion data of the slide rail equipment in real time and adjust the opening of each nozzle in the nozzle module according to the control strategy and motion data to achieve acceleration control of the slide rail equipment.

[0019] Optionally, the offline control strategy generation module includes a main control computer and a real-time simulator. The main control computer is communicatively connected to the real-time simulator. The main control computer is used to acquire input parameters and initial conditions and send them to the real-time simulator. The real-time simulator is equipped with a virtual prototype. The real-time simulator is used to simulate the input parameters and initial conditions in the virtual prototype to generate the control strategy.

[0020] Optionally, the jet drive system execution module includes a jet drive system console, a liquid storage tank, and a nozzle module. The jet drive system console is communicatively connected to the liquid storage tank, and the liquid storage tank is connected to the nozzle module via pipelines. The jet drive system console is used to control the liquid filling and pressurization process of the liquid storage tank according to the control strategy. The liquid storage tank is used to store liquid, and the nozzle module is used to spray the liquid from the liquid storage tank.

[0021] Optionally, the nozzle module includes multiple solenoid valve nozzles, which are arranged in an array.

[0022] Optionally, the solenoid valve nozzle includes: The valve body has a first channel and a second channel inside; A water-blocking component, which is at least partially slidably disposed in a first channel to control the flow rate of fluid in a second channel, includes a magnetic body. The control coil is located on the outer periphery of the water-blocking assembly and close to the magnetic body.

[0023] Optionally, the thrust online real-time control module includes a measurement and control system and sensors. The measurement and control system is communicatively connected to the sensors and to the nozzle module. The sensors are used to acquire motion data of the slide rail equipment in real time and send the motion data to the measurement and control system. The measurement and control system is used to adjust the opening of each nozzle in the nozzle module.

[0024] Optionally, it also includes a jet drive system status monitoring module, which is used to monitor, store and analyze the operating data of the jet drive system execution module.

[0025] Thirdly, embodiments of this application also provide a test apparatus, including a jet-driven slide rail equipment acceleration control system.

[0026] In this application, simulation is performed on a virtual prototype based on input parameters and initial conditions to generate a control strategy. The control scheme for the liquid tank pressure, liquid volume and nozzle module can be determined without multiple real machine debugging, which greatly reduces the consumption of high-pressure liquid, compressed gas and other materials and time costs. At the same time, the control strategy can accurately control the acceleration characteristic curve throughout the entire acceleration time process, thereby accurately achieving any specified acceleration process and other effects. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0029] Figure 1 This is a first flowchart of a jet-driven slide rail equipment acceleration control method provided in an embodiment of this application.

[0030] Figure 2This is a second flowchart of an acceleration control method for a jet-driven slide rail device provided in an embodiment of this application.

[0031] Figure 3 The flowchart shows step S202 of a jet-driven slide rail equipment acceleration control method provided in an embodiment of this application.

[0032] Figure 4 The flowchart is S203 of a jet-driven slide rail equipment acceleration control method provided in an embodiment of this application.

[0033] Figure 5 A flowchart illustrating the fault reconstruction method of a jet-driven slide rail equipment acceleration control method provided in this application embodiment.

[0034] Figure 6 This is a schematic diagram of the nozzle distribution in the working and standby states of a nozzle module for a jet-driven slide rail equipment acceleration control method provided in an embodiment of this application.

[0035] Figure 7 This is a schematic diagram of fault reconstruction of the nozzle module of a jet-driven slide rail equipment acceleration control system provided in an embodiment of this application.

[0036] Figure 8 The flowchart is S205 of a jet-driven slide rail equipment acceleration control method provided in an embodiment of this application.

[0037] Figure 9 This is a schematic diagram of the structure of a jet-driven slide rail equipment acceleration control system provided in an embodiment of this application.

[0038] Figure 10 This is a schematic diagram of the structure of an offline generation module for a jet-driven slide rail equipment acceleration control system provided in an embodiment of this application.

[0039] Figure 11 This is a schematic diagram of the structure of a rectangular array nozzle module of a jet-driven slide rail equipment acceleration control system provided in an embodiment of this application.

[0040] Figure 12 This is a schematic diagram of the nozzle arrangement scheme of a rectangular array nozzle module for a jet-driven slide rail equipment acceleration control system provided in an embodiment of this application.

[0041] Figure 13 This is a schematic diagram of the structure of a nozzle module of a circular array in a jet-driven slide rail equipment acceleration control system provided in an embodiment of this application.

[0042] Figure 14 This is a cross-sectional view of a solenoid valve nozzle of a jet-driven slide rail equipment acceleration control system provided in an embodiment of this application.

[0043] Figure 15 This is a schematic diagram of the thrust online real-time control module of an acceleration control system for a jet-driven slide rail device provided in an embodiment of this application.

[0044] Figure 16 This is a data transmission diagram of a jet-driven slide rail equipment acceleration control system provided in an embodiment of this application.

[0045] Figure 17 This is a schematic diagram of the structure of a test device provided in an embodiment of this application.

[0046] Explanation of reference numerals in the attached figures: 100-Control strategy offline generation module; 101-Main control computer; 102-Real-time simulator; 200-Jet drive system execution module; 201-Jet drive system control console; 202-Reservoir tank; 203-Nozzle module; 2031-Solenoid valve nozzle; 20311-Valve body; 20312-First channel; 20313-Second channel; 20314-Magnetic body; 20315-Control coil; 20316-Water-blocking block; 20317-Fixing block; 20318-Elastic element; 2032-Rectangular array adapter plate; 2033-Secondary adapter; 2034-First-stage adapter; 2035-Circular array adapter plate; 3 00-Thrust online real-time control module; 301-Measurement and control system; 302-Sensor; 3011-Clock circuit; 3012-Control model storage module; 3013-Comparison and analysis unit; 3014-PID control module; 3015-Data cache module; 3016-Nozzle module working control module; 3017-Nozzle status analysis and monitoring module; 400-Jet drive system status monitoring module; 401-Liquid tank safety monitoring system; 402-Operation monitoring system; 500-Slide rail equipment; 501-Traveling mechanism; 502-Rail; 503-Test pavement; 504-Water brake deceleration system; 600-Water spray drive system. Detailed Implementation

[0047] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0048] In the embodiments of this application, "at least one" refers to one or more; "multiple" refers to two or more. In the description of this application, the terms "first," "second," "third," etc., are used only for the purpose of distinguishing descriptions and should not be construed as indicating or implying relative importance, nor should they be construed as indicating or implying order.

[0049] References such as “one embodiment” or “some embodiments” as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the terms “comprising,” “including,” “having,” and variations thereof, as used in this specification, mean “including, but not limited to,” unless otherwise specifically emphasized.

[0050] This application provides an acceleration control method for a jet-driven slide rail device. Please refer to... Figure 1 , Figure 1 This is a first flowchart illustrating an acceleration control method for a jet-driven slide rail device, provided in an embodiment of this application. The method specifically includes: S101. Obtain input parameters and initial conditions.

[0051] The input parameters are those required before the slide rail equipment is driven. In some implementations, the input parameters include at least one of the following: the target characteristics of the slide rail equipment, its weight, the desired acceleration law, and environmental information. The target characteristics of the slide rail equipment are the acceleration targets it needs to achieve after acceleration, such as target speed, target acceleration, and target displacement. The weight includes the weight of the slide rail equipment itself and the load it bears. The desired acceleration law is the expected change in the slide rail equipment's acceleration over time. The environmental information refers to external factors affecting the movement of the slide rail equipment in the current experimental environment, such as temperature, wind speed, and wind direction.

[0052] Initial conditions are boundary information determined before simulation. In some implementations, initial conditions include at least one of the following: parameter safety range, initial iteration values, boundary conditions, and accuracy threshold. The parameter safety range is the range of parameter values ​​obtained during simulation that ensures facility safety. For example, the safety range of the pressurization pressure parameter for a liquid storage tank ensures safety during pressurization, preventing leakage due to excessive pressure. The initial iteration values ​​are the initial values ​​before simulation iteration. Boundary conditions are the boundary ranges set for the parameters based on the parameter safety range. The accuracy threshold is the accuracy range of the parameters output after simulation.

[0053] This application embodiment obtains input parameters and initial conditions to provide basic data support for subsequent simulation operation in a virtual prototype.

[0054] S102. Simulate the input parameters and initial conditions in the virtual prototype to generate a control strategy.

[0055] The virtual prototype is a virtual computational model that simulates the entire physical process in a virtual environment, including changes in liquid tank pressure, nozzle module opening adjustment, and accelerated movement of the sliding rail equipment. During the simulation, iterative calculations are performed based on input parameters and initial conditions. If the output parameters are outside the accuracy threshold range, the model parameters are modified and iterative calculations are repeated until the output parameters are within the accuracy threshold range. A control strategy is then generated based on the current combination of model parameters.

[0056] The control strategy includes a measurement and control-nozzle module control strategy and a reservoir pressure-volume control strategy. The measurement and control-nozzle module control strategy is used to control the opening degree of each nozzle in the nozzle module, and the reservoir pressure-volume control strategy is used to control the pressure and volume of the reservoir.

[0057] This application embodiment utilizes offline simulation via a virtual prototype. On one hand, it eliminates the need for high-pressure liquids and physical equipment, significantly reducing trial-and-error costs and avoiding the substantial material and time losses resulting from a single failed physical test. On the other hand, the control strategy obtained through simulation can precisely control the acceleration characteristic curve throughout the entire acceleration time history, thereby accurately achieving any specified acceleration process. Furthermore, multiple rounds of iterative calculations ensure that the control strategy meets accuracy thresholds, guaranteeing the accuracy of subsequent physical driving.

[0058] S103. According to the control strategy, control the opening of each nozzle in the nozzle module to realize the jet drive of the slide rail equipment and perform preliminary control of the acceleration process of the slide rail equipment.

[0059] The nozzle module is used to spray liquid from the storage tank to form a high-pressure jet. The recoil of the jet propels the slide rail equipment along the track, thus achieving jet-driven operation. The nozzle module contains multiple nozzles, each with independently controllable opening. The acceleration process includes the movement speed and the time history of acceleration changes to reach that speed. The opening of each nozzle in the nozzle module controls the flow rate or volume of the jet, thereby regulating the acceleration process of the slide rail equipment. When the opening is 0, the nozzle is closed; when the opening is greater than 0, the nozzle ejects a high-pressure jet. The appropriate number and opening of nozzles are selected according to the control strategy to provide initial acceleration for the slide rail equipment. Simultaneously, through simulation, the control strategy ensures that the accelerated movement of the slide rail equipment initially conforms to the target, providing a foundation for subsequent real-time dynamic fine-tuning.

[0060] By using multiple nozzles in the nozzle module to generate jets, the jet thrust and its spatial distribution can be arbitrarily adjusted. On the other hand, system redundancy is increased, system reliability is improved, and the failure of a single nozzle can prevent the entire system from becoming inoperable.

[0061] S104. Real-time acquisition of motion data of the slide rail equipment.

[0062] Motion data refers to the real-time dynamic parameters of the slide rail equipment during operation. In some publicly available embodiments, motion data includes displacement, velocity, and acceleration. Optionally, motion data is collected by sensors installed on the slide rail equipment to capture the equipment's motion status in real time. Obtaining the actual operating status of the slide rail equipment in real time through motion data provides a basis for subsequent real-time dynamic fine-tuning.

[0063] S105. Adjust the opening of each nozzle in the nozzle module according to the control strategy and motion data to achieve acceleration control of the slide rail equipment.

[0064] The actual motion of the slide rail equipment is corrected based on the control strategy and motion data, and the speed deviation of the slide rail equipment is controlled within the accuracy threshold to ensure the speed control accuracy of the slide rail equipment during acceleration and eliminate interference from external environmental factors such as wind, temperature, and humidity.

[0065] Because the jet driving force is very large, under the action of the jet driving force, the center of action of the jet deviates from the center of mass of the slide rail equipment in the lateral or vertical direction, which will generate a huge deflection torque on the slide rail equipment. The deflection torque needs to be offset by the sliding mechanism of the slide rail equipment through the force of the interaction with the track, thus significantly increasing the workload of the sliding mechanism. By simulating in a virtual prototype, a control strategy is generated, and a nozzle opening strategy that balances the total thrust requirement and the deflection torque is iteratively generated. According to the control strategy, the appropriate number of nozzles and the nozzle opening are selected to provide initial acceleration for the slide rail equipment. Then, combined with real-time attitude data, the opening of each nozzle is dynamically adjusted to accurately compensate for the torque deviation, and finally, arbitrary and precise control of the thrust load distribution is achieved, keeping the deflection torque within a safe range to reduce the burden on the sliding mechanism.

[0066] This application provides another implementation of the acceleration control method for a jet-driven slide rail device. Please refer to [link to relevant documentation]. Figure 2 , Figure 2 This is a second flowchart illustrating an acceleration control method for a jet-driven slide rail device, provided in an embodiment of this application. The jet-driven slide rail device acceleration control method may further include: S201. Obtain input parameters and initial conditions.

[0067] Input parameters include the target characteristics, weight, desired acceleration law, and environmental information of the sliding rail equipment. Initial conditions include the parameter safety range, initial iteration values, boundary conditions, and accuracy thresholds.

[0068] S202. Simulate the input parameters and initial conditions in the virtual prototype to generate a control strategy.

[0069] like Figure 3 As shown, step S202 includes: S2021. Simulate the input parameters and initial conditions in the virtual prototype and output the expected characteristics.

[0070] The expected characteristics are data obtained through simulation of the acceleration process of the slide rail equipment, such as expected speed, expected acceleration, and expected displacement, which are represented in numerical or curve form.

[0071] The impact of liquid tank pressure on jet thrust and the correlation between jet thrust and the acceleration of the slide rail equipment are calculated by virtual prototype simulation. The expected characteristics of the acceleration effect of the slide rail equipment are output, providing data support for subsequent deviation calculation and avoiding blindly proceeding to the physical operation stage.

[0072] S2022. Calculate the first deviation between the expected characteristics and the target characteristics to be achieved.

[0073] The target characteristics are the acceleration targets that the sliding rail equipment needs to achieve, such as target speed, target acceleration, and target displacement.

[0074] Calculate the first deviation value between the expected and target characteristics. For example, the velocity deviation is the difference between the target velocity and the expected velocity, the acceleration deviation is the difference between the target acceleration and the expected acceleration, and the displacement deviation is the difference between the target displacement and the expected displacement. The first deviation value intuitively reflects the gap between the simulation results and the target, providing a basis and optimization direction for iterative correction.

[0075] S2023. Determine the first deviation value. If the first deviation value is outside the accuracy threshold range, modify the model parameters of the virtual prototype and re-run the iterative simulation. If the first deviation value is within the accuracy threshold range, generate a control strategy based on the current model parameters of the virtual prototype.

[0076] The first deviation value is compared with the accuracy threshold to determine whether it meets the accuracy requirements. If the first deviation value is outside the accuracy threshold, it means that the model parameters of the current virtual prototype cannot meet the control requirements. In this case, the model parameters of the virtual prototype need to be modified, and the simulation is returned to S2021 until the first deviation value is within the accuracy threshold range. This means that the model parameters of the current virtual prototype can meet the control requirements. The model parameters in the virtual prototype are then extracted to form the measurement and control-nozzle module control strategy and the liquid tank pressure-liquid volume control strategy.

[0077] The following example illustrates the pressure determination method in the liquid tank pressure-liquid volume control strategy within this embodiment: First, the target speed, accuracy threshold, initial iteration value, and boundary conditions are obtained through the main control computer. For example, the target speed that the sliding rail equipment needs to achieve is... The accuracy threshold of the expected speed obtained through virtual prototype simulation is: The initial value of the pressure in the storage tank during iteration is... The boundary condition for the pressure in the storage tank is: Based on the above data, simulation calculations were performed to obtain the expected speed. .

[0078] Expected speed relative to target speed By comparison, the first deviation value is obtained. .For example Under the conditions, the calculation is obtained ,but .

[0079] Compare the first deviation value With precision threshold ,at this time If the accuracy requirement is not met, then modify the initial value of the iteration. The iterative calculation was performed again to obtain... , If the accuracy requirements are still not met, the initial values ​​for the iteration will be modified again for simulation calculation.

[0080] When the initial value of the iteration is hour, ,but ,at this time This meets the accuracy threshold requirement, therefore... Output is used as a pressure control strategy.

[0081] S203. According to the control strategy, control the opening of each nozzle in the nozzle module to realize the jet drive of the slide rail equipment and perform preliminary control of the acceleration process of the slide rail equipment.

[0082] like Figure 4 As shown, step S203 includes: S2031. Send liquid filling and pressurization commands to the liquid storage tank according to the liquid storage tank pressure-liquid volume control strategy to initialize the liquid storage tank.

[0083] The liquid tank pressure-volume control strategy is used to control the liquid tank to reach the set initial pressure and volume values. Based on the strategy, a liquid filling command is sent to the high-pressure liquid tank, and liquid medium is added to the tank through the matching liquid supply device until the volume reaches the target value, preventing insufficient volume from causing jet thrust attenuation or drive interruption. After filling, a pressurization command is sent to the high-pressure liquid tank according to the target pressure value in the strategy. High-pressure gas is injected into the tank through the compressed gas system, gradually increasing the pressure to the target value. The pressurization process strictly adheres to the parameter safety range to avoid overpressure damage to the liquid tank. The liquid volume and pressure sensors of the liquid tank provide real-time feedback. When both reach the values ​​specified by the strategy, the initialization is considered complete.

[0084] The liquid filling and pressurization parameters of the liquid storage tank strictly follow the liquid storage tank pressure-liquid volume control strategy to avoid the risk of tank leakage due to liquid overload and explosion due to pressure exceeding the limit, thus protecting the high-pressure liquid storage tank hardware from the source. After initialization, the liquid volume and pressure of the liquid storage tank reach the optimal values, which can provide continuous and stable power for subsequent jet drive, and avoid the jet thrust instability caused by insufficient liquid volume and pressure fluctuation, which would affect the initial speed control effect of the slide rail equipment.

[0085] S2032. The opening of each nozzle in the nozzle module is controlled according to the measurement and control-nozzle module control strategy to adjust the size of the jet, and the jet of the nozzle module drives the slide rail equipment to move.

[0086] The telemetry and control (TT&C) nozzle module control strategy generates a preset control curve, which is used to control the opening of each nozzle in the nozzle module. The preset control curve generated by the TT&C nozzle module control strategy is a curve with time and opening as the coordinate axes, reflecting the change in the target opening of the nozzle module over time, ensuring that the jet thrust changes at the expected pace. The target velocity, target acceleration, and target displacement of the track equipment are calculated through the target opening.

[0087] If a nozzle in the nozzle module that is responsible for jetting malfunctions, a backup nozzle is activated, and the opening degree of each nozzle in the nozzle module is calculated in real time according to the measurement and control-nozzle module control strategy to ensure that the jetting is consistent.

[0088] Conventional nozzles are typically controlled by a single valve. If a malfunction occurs, the entire system must be shut down for maintenance, thus limiting system reliability due to insufficient redundancy. To prevent a single nozzle failure from affecting the entire jet process and improve system reliability, a nozzle module consisting of multiple nozzles is used to achieve fault reconfiguration, such as... Figure 5 As shown, it includes the following steps: The system monitors the status of each nozzle in the nozzle module in real time, including nozzles currently performing jetting and unused backup nozzles, determining whether the nozzle opening signal changes systematically. When a nozzle malfunctions, such as the opening signal getting stuck at a certain value, unexpectedly closing, or unexpectedly opening to its maximum, the system first activates the same number of backup nozzles as the malfunctioning nozzle, which are the closest to the malfunctioning nozzle. Then, based on the original measurement and control-nozzle module control strategy and the opening status of the malfunctioning nozzle, the system recalculates the opening of each nozzle in the nozzle module, updating it in real time as the jetting process progresses until the jet acceleration process ends.

[0089] In one embodiment, such as Figure 6 As shown, this is the matrix nozzle module used in this embodiment. In the YOZ plane, the center of gravity of the slide rail assembly is located at the center of nozzle B3. Solid circles represent active nozzles, while dashed circles represent inactive nozzles used as backups.

[0090] Let the opening of each nozzle be S, the maximum opening be 100, and the minimum opening be 0 (i.e., closed). Assume that the thrust provided by each nozzle is linearly related to its opening, i.e., F=KS, K>0, and the maximum value is 100K=FMAX.

[0091] The maximum thrust of the nine nozzles is 9FMAX, which is sufficient to meet the test requirements.

[0092] A drive system employing nine nozzles is used. At a given moment, the thrust requirement is 6FMAX. To ensure the center of thrust coincides with the center of gravity of the slide rail equipment, a typical approach is to maintain the same nozzle opening. Therefore, the opening of each nozzle is: 6FMAX ÷ 9 ÷ K = 66.7; If nozzle B4 malfunctions, it will manifest as an unexpected shutdown, i.e., S=0.

[0093] To maintain thrust, the backup nozzle B5 is first selected for use, and then the opening of nozzle B5 is calculated: Under normal circumstances, the deflection torque generated by the three nozzles A4, B4, and C4 on the slide rail equipment in the lateral direction is: 3 × 66.7 K × a, total opening is 3 × 66.7 = 200. Even after activating the standby sprinkler head, these two conditions must still be met. Therefore, the system of equations is: SA4 + SB5 + SC4 = 200; SA4 = SC4; K×SA4×a + K×SB5×2a + K×SC4×a = 3×66.7K×a; Solving for SA4, we get SA4 = 100, SB5 = 0, and SC4 = 100. Therefore, under this fault condition, the openings of A4 and C4 should be increased.

[0094] like Figure 7 As shown, since the opening of A4 and C4 has reached its maximum, in order to ensure that the thrust center remains unchanged, when the thrust demand continues to increase, B1 can be activated again, prioritizing the increase of the opening of B1 and B5, while the remaining nozzles remain unchanged for the time being.

[0095] Based on the preset control curve, the opening control can achieve continuous and smooth adjustment of the jet thrust, avoid sudden increases and decreases in thrust that cause equipment speed fluctuations, and ensure the stability of the initial speed control.

[0096] In one embodiment, the measurement and control-nozzle module control strategy also adjusts the pitch angle of each nozzle in the nozzle module, finely adjusting the angle according to the real-time position of the trolley to ensure that the jet hits the same position.

[0097] The measurement and control-nozzle module control strategy also calibrates the left and right angles of each nozzle in the nozzle module to center the nozzles. Since long-term use of the facility may cause accuracy drift, centering correction can ensure that the position of the nozzles in the nozzle module remains in the center, thereby improving the accuracy of the jet.

[0098] S204. Real-time acquisition of motion data of the slide rail equipment.

[0099] The motion data of the slide rail equipment includes displacement, velocity, and acceleration. This motion data is collected by sensors installed on the slide rail equipment to capture its motion status in real time. By obtaining this motion data, the actual operating status of the slide rail equipment can be obtained in real time, providing a basis for subsequent real-time dynamic fine-tuning.

[0100] S205. Adjust the opening of each nozzle in the nozzle module according to the control strategy and motion data to achieve acceleration control of the slide rail equipment.

[0101] like Figure 8 As shown, step S205 includes: S2051. Calculate the second deviation value between the motion data and the data of the preset control curve in the measurement and control-nozzle module control strategy.

[0102] The target velocity, target acceleration, and target displacement calculated based on the target opening in the preset control curve are compared with the actual measured velocity, acceleration, and displacement in the motion data of the slide rail equipment to obtain the second deviation value.

[0103] S2052. A nozzle opening correction signal is generated based on the second deviation value using a PID algorithm.

[0104] The PID algorithm, or Proportional-Integral-Derivative (PI) control algorithm, achieves dynamic correction of deviations through the coordinated calculation of the proportional (P), integral (I), and derivative (D) terms. The nozzle opening correction signal is a set of electrical signals used to adjust the nozzle module opening; the signal strength corresponds to the required increase or decrease in opening value, controlling the opening of each nozzle in the nozzle module. The PID algorithm can respond in real-time to the magnitude, cumulative amount, and rate of change of the deviation, ensuring stable correction even under complex operating conditions and guaranteeing acceleration accuracy.

[0105] S2053. The nozzle opening correction signal and the preset control curve are superimposed to form the actual control signal.

[0106] The actual control signal is the execution command used to drive the nozzle module. It integrates the basic opening degree of the preset control curve and the compensation opening degree of the correction signal to make real-time corrections to the acceleration control.

[0107] S2054. The opening degree of each nozzle in the nozzle module is controlled by the actual control signal.

[0108] The opening degree of each nozzle in the nozzle module is controlled by adjusting the actuation coil current of the solenoid valve by adjusting the valve stop position of the solenoid valve through the actual control signal.

[0109] S206. Store the operational data of the acceleration control process of the slide rail equipment.

[0110] After the slide rail equipment completes its acceleration, the complete operational data of the acceleration control process of the slide rail equipment is stored for later retrieval.

[0111] S207. Store and analyze the status data of the acceleration control process of the slide rail equipment.

[0112] After the slide rail equipment completes acceleration, the complete status data of the acceleration control process of the slide rail equipment is stored and analyzed to generate a new parameter safety range for use in the next test.

[0113] The above mainly describes the solutions provided in the embodiments of this application from a methodological perspective. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of the technical solutions in the embodiments of this application.

[0114] Secondly, embodiments of this application provide a jet-driven slide rail equipment acceleration control system, exemplarily, Figure 9 This application provides a schematic diagram of the structure of a jet-driven slide rail equipment acceleration control system, which includes: The control strategy offline generation module 100 is used to acquire input parameters and initial conditions, and to simulate and run the input parameters and initial conditions in a virtual prototype to generate a control strategy.

[0115] The jet drive system execution module 200 is used to control the opening of the nozzle module 203 according to the control strategy to realize the jet drive of the slide rail equipment and to perform preliminary control of the acceleration process of the slide rail equipment.

[0116] The thrust online real-time control module 300 is used to acquire the motion data of the slide rail equipment in real time and adjust the opening of each nozzle in the nozzle module 203 according to the control strategy and motion data to achieve acceleration control of the slide rail equipment.

[0117] The jet drive system status monitoring module 400 is used to monitor, store, and analyze the operating data of the jet drive system execution module 200.

[0118] like Figure 10 As shown, the offline control strategy generation module 100 includes a main control computer 101 and a real-time simulator 102. The main control computer 101 is communicatively connected to the real-time simulator 102. The main control computer 101 is used to acquire input parameters and initial conditions and send the input parameters and initial conditions to the real-time simulator 102. The real-time simulator 102 is equipped with a virtual prototype. The real-time simulator 102 is used to simulate the input parameters and initial conditions in the virtual prototype to generate a control strategy.

[0119] The main control computer 101 receives manually input parameters, such as target speed, weight, desired acceleration pattern, or environmental information. Simultaneously, it retrieves initial conditions from the database of the operation monitoring system 402, such as parameter safety ranges or accuracy thresholds. The main control computer 101 organizes the input parameters and initial conditions into a format recognizable by the real-time simulator 102, such as standardized data frames, to avoid simulation errors caused by incompatible data formats. After the real-time simulator 102 completes the simulation, it receives the control strategy returned by the simulator and then distributes the strategy to the jet drive system execution module 200 to execute the movement of the sliding rail equipment.

[0120] The virtual prototype set in the real-time simulator 102 is a virtual computational model. Through simulation, it simulates the entire physical process in a virtual environment, including pressure changes in the liquid storage tank 202, opening adjustment of the nozzle module 203, and acceleration of the sliding rail equipment. The real-time simulator 102 simulates the input parameters and initial conditions in the virtual prototype, outputting the expected characteristics; it calculates the first deviation value between the expected characteristics and the target characteristics to be achieved; it judges the first deviation value. If the first deviation value is outside the accuracy threshold range, the model parameters of the virtual prototype are modified and the iterative simulation is repeated; if the first deviation value is within the accuracy threshold range, a control strategy is generated based on the current model parameters of the virtual prototype. Offline simulation in the virtual prototype using the real-time simulator 102 eliminates the need to start physical equipment such as the liquid storage tank 202 and nozzle module 203, avoiding the waste of high-pressure liquid and hardware wear caused by failed physical tests, and solving the problems of high cost and long preparation time for single physical operations.

[0121] The jet drive system execution module 200 includes a jet drive system control console 201, a liquid storage tank 202, and a nozzle module 203. The jet drive system control console 201 is communicatively connected to the liquid storage tank 202, and the liquid storage tank 202 is connected to the nozzle module 203 via pipelines. The jet drive system control console 201 is used to control the liquid filling and pressurization process of the liquid storage tank 202 according to control measurements. The liquid storage tank 202 is used to store liquid, and the nozzle module 203 is used to spray the liquid from the liquid storage tank 202.

[0122] The jet drive system control console 201 receives the pressure-volume control strategy of the storage tank 202 distributed by the main control computer 101, and parses it into liquid addition and pressurization commands recognizable by the storage tank 202. It then sends these commands to the high-pressure storage tank 202 via a communication link, and receives real-time feedback data from the liquid volume and pressure sensors of the storage tank 202 to ensure that the liquid addition and pressurization processes do not exceed the safe parameter range and avoid hardware overload. Initialization is complete when the liquid volume and pressure of the storage tank 202 reach the set values ​​of the control strategy. As needed, it sends a start command to the measurement and control system to trigger the subsequent jetting action of the nozzle module 203.

[0123] The liquid storage tank 202 is used to store the liquid medium for jet driving and forms a "high-pressure liquid" by pressurization to provide power for the jet. The liquid storage tank 202 is equipped with a liquid volume sensor and a pressure sensor to monitor the internal status in real time, ensuring that the liquid addition and pressurization process does not exceed the safe parameter range, avoiding hardware overload, and providing a basis for stable output of jet thrust.

[0124] The nozzle module 203 converts the high-pressure liquid in the storage tank 202 into a directional high-pressure jet. By adjusting the opening degree, the jet flow rate and thrust are controlled, directly driving the movement of the slide rail equipment. The nozzle module 203 includes multiple solenoid valve nozzles 2031, arranged in an array. The array can be either rectangular or circular. Each solenoid valve nozzle 2031 can be individually controlled to achieve jets of different shapes.

[0125] In some publicly disclosed embodiments, such as Figure 11 As shown, multiple solenoid valve nozzles 2031 are arranged in a rectangular array. The nozzle module 203 includes a primary adapter 2034, a secondary adapter 2033, a rectangular array adapter plate 2032, and multiple solenoid valve nozzles 2031 arranged in a rectangular array. The multiple solenoid valve nozzles 2031 are arranged in an n×m array on the rectangular array adapter plate 2032, that is, n rows of solenoid valve nozzles 2031 are arranged vertically and m columns of solenoid valve nozzles 2031 are arranged horizontally. The rectangular array adapter plate 2032 is fixedly connected to the secondary adapter 2033, the secondary adapter 2033 is fixedly connected to the primary adapter 2034, and the primary adapter 2034 is fixedly connected to the liquid storage tank 202. The liquid in the liquid storage tank 202 is dispersed into the multiple solenoid valve nozzles 2031 arranged in a rectangular array by the rectangular array adapter plate 2032 after passing through the primary adapter 2034 and the secondary adapter 2033, forming a jet that is ejected.

[0126] The principle for setting the number of solenoid valve nozzles 2031 is to ensure that the total outflow cross-sectional area of ​​the nozzle module 203 is not less than the outflow cross-sectional area of ​​the high-pressure liquid storage tank 202.

[0127] For example: If the outlet diameter of liquid storage tank 202 is 0.45m, then the cross-sectional area of ​​the outlet is:

[0128] Assuming the selected solenoid valve has a diameter of 0.1m, the cross-sectional area of ​​the outlet of a single solenoid valve is:

[0129] It can be determined that the minimum number of solenoid valves required is:

[0130] We can conclude that n×m can be a 3×7 or 7×3 rectangular array.

[0131] An example of an arrangement scheme using a rectangular array is as follows: Figure 12As shown, the rectangle represents the effective jet receiving area, and the circle represents the cross-sectional area of ​​the outlet of a single valve. The effective jet receiving area of ​​the slide rail device is width × height = 1.5m × 2.0m, where n × m represents n rows and m columns. The lateral distance between the centers of each valve opening is 0.15m, and the vertical distance is 0.35m. If n = 3 and m = 7, the jet area of ​​the solenoid valve array exceeds the effective jet receiving area, making this arrangement infeasible. If n = 7 and m = 3, the jet area of ​​the solenoid valve array is included within the effective jet receiving area, making this arrangement feasible. Therefore, the arrangement of the rectangular array is n × m = 7 × 3.

[0132] In some embodiments, such as Figure 13 As shown, multiple solenoid valve nozzles 2031 are arranged in a circumferential array. The nozzle module 203 includes a circular array adapter plate 2035 and multiple solenoid valve nozzles 2031 arranged in a ring, with several solenoid valve nozzles 2031 evenly distributed along the circumference of each ring. The circular array adapter plate 2035 is fixedly connected to the liquid storage tank 202. Since the interfaces between the circular array adapter plate 2035 and the liquid storage tank 202 are both circular, no additional adapter is required for connection. The liquid in the liquid storage tank 202 is dispersed into the multiple solenoid valve nozzles 2031 after passing through the circular array adapter plate 2035 to form a jet.

[0133] like Figure 14 As shown, the solenoid valve nozzle 2031 includes: a valve body 20311, with a first channel 20312 and a second channel 20313 inside the valve body 20311; a water-blocking assembly, which is at least partially slidably disposed in the first channel 20312 to control the flow rate of fluid in the second channel 20313, and the water-blocking assembly includes a magnetic body 20314; and a control coil 20315, which is disposed on the outer periphery of the water-blocking assembly and close to the magnetic body 20314.

[0134] Specifically, the first channel 20312 and the second channel 20313 are in fluid communication, and the extending directions of the first channel 20312 and the second channel 20313 intersect. The water-blocking assembly includes a connected water-blocking block 20316 and a fixing block 20317. The water-blocking block 20316 is slidably disposed within the first channel 20312, and a magnetic body 20314 is provided at one end away from the second channel 20313. The control coil 20315 can be wound around the outer periphery of the fixing block 20317 or disposed at the end of the fixing block 20317. The control coil 20315 and the magnetic body 20314 interact under the action of the magnetic field, so that the water-blocking block 20316 can slide back and forth within the first channel 20312 and the second channel 20313, thereby controlling the flow rate of the fluid in the second channel 20313.

[0135] Furthermore, the water-blocking assembly also includes an elastic element 20318, which is connected between the water-blocking block 20316 and the fixing block 20317. The elastic element 20318 may include, but is not limited to, a spring, a rubber block, etc.

[0136] When the control coil 20315 is not energized, it does not generate magnetism. The elastic force of the elastic element 20318 pushes the water-blocking block 20316 away from the fixed block 20317, thus blocking the second channel 20313 and preventing jet generation. When the control coil 20315 is energized, it generates electromagnetic force, which attracts the magnetic body 20314 in the water-blocking block 20316. The water-blocking block 20316 moves closer to the fixed block 20317, ejecting a jet from the nozzle. By changing the current intensity of the control coil 20315, the magnitude of the electromagnetic force changes, thereby controlling the water-blocking block 20316 and adjusting the jet size.

[0137] Optionally, the thrust online real-time control module 300 includes a measurement and control system 301 and a sensor 302. The measurement and control system 301 is communicatively connected to the sensor 302 and to the nozzle module 203. The sensor 302 is used to acquire motion data of the slide rail equipment in real time and send the motion data to the measurement and control system 301. The measurement and control system 301 is used to adjust the opening of the nozzle module 203.

[0138] like Figure 15 As shown, the measurement and control system 301 is also used to realize the start and stop control of the jet driving process, and to generate control signals for the nozzle module 203 in real time and send them to the nozzle module 203. The measurement and control system 301 includes a clock circuit 3011, a control model storage module 3012, a comparison and analysis unit 3013, a PID control module 3014, a data cache module 3015, a nozzle module operation control module 3016, and a nozzle status analysis and monitoring module 3017. The clock circuit 3011 provides clock information; the control model storage module 3012 receives and stores control strategies and outputs preset control curves; the comparison and analysis unit 3013 analyzes and obtains the second deviation; the PID control module 3014 calculates and generates an opening correction signal using a PID algorithm; the data cache module 3015 temporarily stores the operating data of the slide rail equipment; the nozzle module operation control module 3016 adjusts the thrust of the nozzle module 203 in real time; and the nozzle status analysis and monitoring module 3017 activates a backup nozzle with the same opening to ensure identical jet flow when the nozzle in the nozzle module malfunctions.

[0139] Sensor 302 is installed on the slide rail device to detect the motion data of the slide rail device and send it to the measurement and control system 301.

[0140] The jet drive system status monitoring module 400 includes a reservoir safety monitoring system 401 and an operation monitoring system 402. The reservoir safety monitoring system 401 acquires performance status information of the reservoir 202 after the test, analyzes and generates new parameter safety ranges, and sends them to the operation monitoring system 402 for storage. The operation monitoring system 402 stores, archives, and displays performance status information and historical operation records.

[0141] like Figure 16 As shown, the main control computer 101 obtains input parameters from the outside and obtains the parameter safety range from the operation monitoring system 402 to obtain the initial conditions. It then sends the input parameters and initial conditions to the real-time simulator 102 for simulation, generating a control strategy that is fed back to the main control computer 101. The main control computer 101 sends the control strategy for the measurement and control-nozzle module 203 from the control strategy to the measurement and control system 301, and the pressure-volume control strategy for the storage tank to the jet drive system console 201. The jet drive system console 201 sends pressurization and liquid filling commands to the storage tank 202 according to the pressure-volume control strategy, thus initializing the storage tank 202. After initialization, the jet drive system console 201 sends a start command to the measurement and control system 301. Upon receiving the start command, the measurement and control system 301 sends an opening control signal to the nozzle module 203 to control the opening of each nozzle in the nozzle module 203, starting the jet drive and forming a jet that propels the slide rail equipment to move. Sensor 302 monitors the motion characteristics of the slide rail equipment and feeds the data back to the measurement and control system 301. The measurement and control system 301 adjusts the working opening control signal of the nozzle module 203 in real time to control the acceleration of the slide rail equipment. If a nozzle in the nozzle module 203 that is spraying a jet malfunctions, a backup nozzle is activated, and the opening of each nozzle in the nozzle module 203 is calculated in real time according to the measurement and control-nozzle module control strategy to ensure that the jet is consistent. After the test is completed, the measurement and control system 301 sends the complete operating data to the operation monitoring system 402 for storage. The liquid storage tank 202 sends the performance data to the liquid storage tank safety monitoring system 401 for analysis before storing it in the operation monitoring system 402.

[0142] Thirdly, such as Figure 17 As shown in the figure, this application provides a test device, including a jet-driven slide rail equipment acceleration control system.

[0143] In some disclosed embodiments, the test apparatus includes a slide rail assembly 500 and a water spray drive system 600.

[0144] The slide rail equipment 500 includes a traveling mechanism 501 and a track 502. The traveling mechanism 501 moves on the track 502. A test surface 503 is provided on the track 502. A water brake deceleration system 504 is provided at one end of the track 502.

[0145] The water jet drive system 600 is used to generate a jet to drive the walking mechanism 501 to move on the slide rail. The water jet drive system 600 is equipped with an acceleration control system to control the jet of the water jet drive system 600 to achieve acceleration control of the walking mechanism 501 on the slide rail.

[0146] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0147] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Although this application has disclosed preferred embodiments as above, it is not intended to limit this application. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the technical solution of this application. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A jet-driven slide rail equipment acceleration control method, characterized in that, The method includes: Obtain the input parameters and initial conditions; The input parameters and initial conditions are simulated in a virtual prototype to generate a control strategy. According to the control strategy, the opening degree of each nozzle in the nozzle module is controlled to realize the jet drive of the slide rail equipment and to initially control the acceleration process of the slide rail equipment. Real-time acquisition of motion data of the slide rail equipment; The opening degree of each nozzle in the nozzle module is adjusted according to the control strategy and the motion data to achieve acceleration control of the slide rail equipment.

2. The method according to claim 1, characterized in that, The input parameters include at least one of the following: the target characteristics of the slide rail equipment, its weight, the desired acceleration pattern, and environmental information.

3. The method according to claim 1, characterized in that, The initial conditions include at least one of the following: parameter safety range, initial iteration value, boundary conditions, and precision threshold.

4. The method according to claim 2, characterized in that, The step of simulating the input parameters and initial conditions in a virtual prototype to generate a control strategy includes: The input parameters and initial conditions are simulated in a virtual prototype to output the expected characteristics. Calculate the first deviation value between the expected characteristic and the target characteristic to be achieved; The first deviation value is judged. If the first deviation value is outside the range of the accuracy threshold, the model parameters of the virtual prototype are modified and the iterative simulation is run again. If the first deviation value is within the range of the accuracy threshold, a control strategy is generated based on the current model parameters of the virtual prototype.

5. The method according to claim 1, characterized in that, The control strategy includes a measurement and control-nozzle module control strategy and a liquid tank pressure-liquid volume control strategy.

6. The method according to claim 5, characterized in that, The step of controlling the opening of each nozzle in the nozzle module according to the control strategy to achieve jet drive of the slide rail equipment and to initially control the acceleration process of the slide rail equipment includes: According to the liquid tank pressure-liquid volume control strategy, a liquid filling command and a pressurization command are sent to the liquid tank to initialize the liquid tank; According to the control strategy of the nozzle module, the opening of each nozzle in the nozzle module that performs the jet is controlled to adjust the size of the jet, and the jet of the nozzle module drives the slide rail equipment to move.

7. The method according to claim 6, characterized in that, The measurement and control-nozzle module control strategy generates a preset control curve, and controls the opening degree of each nozzle in the nozzle module according to the preset control curve. If the nozzle in the nozzle module that is performing the jetting malfunctions, a backup nozzle is activated and the opening degree of each nozzle in the nozzle module is calculated in real time according to the measurement and control-nozzle module control strategy to control the jetting to be the same.

8. The method according to claim 7, characterized in that, The step of adjusting the opening of each nozzle in the nozzle module according to the control strategy and the motion data to achieve acceleration control of the slide rail equipment includes: Calculate the second deviation value between the motion data and the data of the preset control curve in the control strategy of the measurement and control-nozzle module. A nozzle opening correction signal is generated based on the second deviation value using a PID algorithm; The nozzle opening correction signal and the preset control curve are superimposed to form the actual control signal; The opening degree of the nozzle module is controlled by the actual control signal.

9. The method according to claim 8, characterized in that, The step of controlling the opening degree of each nozzle in the nozzle module through the actual control signal includes: The actual control signal is used to adjust the actuation coil current of the solenoid valve of the nozzle module to adjust the valve stop position of the solenoid valve, thereby controlling the opening degree of each nozzle in the nozzle module.

10. The method according to claim 1, characterized in that, The motion data of the slide rail equipment includes at least one of displacement, velocity, and acceleration.

11. The method according to claim 1, characterized in that, After adjusting the opening of each nozzle in the nozzle module according to the control strategy and the motion data to achieve acceleration control of the slide rail equipment, the method further includes: The operational data of the acceleration control process of the slide rail equipment is stored.

12. The method according to claim 1, characterized in that, After adjusting the opening of each nozzle in the nozzle module according to the control strategy and the motion data to achieve acceleration control of the slide rail equipment, the method further includes: The state data of the acceleration control process of the slide rail equipment is stored and analyzed.

13. A jet-driven acceleration control system for a slide rail device, characterized in that, include: The control strategy offline generation module is used to acquire input parameters and initial conditions, and to simulate the input parameters and initial conditions in a virtual prototype to generate a control strategy. The jet drive system execution module is used to control the opening of each nozzle in the nozzle module according to the control strategy to realize the jet drive of the slide rail equipment and to perform preliminary control of the acceleration process of the slide rail equipment; wherein, the nozzle module includes multiple independently controlled nozzles. The thrust online real-time control module is used to acquire the motion data of the slide rail equipment in real time and adjust the opening of each nozzle in the nozzle module according to the control strategy and the motion data to achieve acceleration control of the slide rail equipment.

14. The system according to claim 13, characterized in that, The offline control strategy generation module includes a main control computer and a real-time simulator. The main control computer is communicatively connected to the real-time simulator. The main control computer is used to acquire input parameters and initial conditions and send the input parameters and initial conditions to the real-time simulator. The real-time simulator is equipped with a virtual prototype. The real-time simulator is used to simulate the input parameters and initial conditions in the virtual prototype to generate a control strategy.

15. The system according to claim 13, characterized in that, The jet drive system execution module includes a jet drive system console, a liquid storage tank, and a nozzle module. The jet drive system console is communicatively connected to the liquid storage tank, and the liquid storage tank is connected to the nozzle module via a pipeline. The jet drive system console is used to control the liquid filling and pressurization process of the liquid storage tank according to a control strategy. The liquid storage tank is used to store liquid, and the nozzle module is used to spray the liquid from the liquid storage tank.

16. The system according to claim 15, characterized in that, The nozzle module includes multiple solenoid valve nozzles, which are arranged in an array.

17. The system according to claim 16, characterized in that, The solenoid valve nozzle includes: The valve body has a first channel and a second channel inside; A water-blocking component, which is at least partially slidably disposed within the first channel to control the flow rate of fluid within the second channel, the water-blocking component including a magnetic body; A control coil is disposed on the outer periphery of the water-blocking assembly and close to the magnetic body.

18. The system according to claim 13, characterized in that, The thrust online real-time control module includes a measurement and control system and a sensor. The measurement and control system is communicatively connected to the sensor and to the nozzle module. The sensor is used to acquire the motion data of the slide rail equipment in real time and send the motion data to the measurement and control system. The measurement and control system is used to adjust the opening of each nozzle in the nozzle module.

19. The system according to claim 13, characterized in that, It also includes a jet drive system status monitoring module, which is used to monitor, store and analyze the operating data of the jet drive system execution module.

20. A testing apparatus, characterized in that, The test apparatus is used to execute the jet-driven slide rail equipment acceleration control method according to any one of claims 1 to 12, or the test apparatus includes the jet-driven slide rail equipment acceleration control system according to any one of claims 13 to 19.

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