Steady-state load torque testing device and method for linear fuel metering device

Abstract

The invention provides a steady-state load capacity testing device and method for a linear fuel metering device. The device comprises an upper computer module, an operation control unit, a servo control algorithm module, a vector control module, a power inversion unit, a permanent magnet servo motor, a ball screw, a coupler, a linear metering valve, an LVDT, a rotary transformer, a coding and decoding module, a rotor position signal conditioning module, a motor phase current monitoring module and a valve stroke signal conditioning module. The system comprises a valve driving system steady-state torque identification module, a metering device steady-state load torque online identification module and a metering valve steady-state force calculation module.

Description

Technical Field

[0001] This invention belongs to the field of aero-engine control, specifically relating to a steady-state load torque testing device and method for a linear fuel metering device. Background Technology

[0002] Fuel metering devices are used to accurately measure fuel flow. As a key feedback component in aero-engine control, they are crucial to engine control performance and reliability. Linear fuel metering valves, as the core component of the metering device, directly affect fuel flow measurement and control through their opening, closing, and adjustment accuracy. With the increasing complexity of equipment operating conditions (such as high pressure, high viscosity media, or high-frequency operation requirements), wear and jamming of valve transmission components occur frequently. Accurate measurement of load torque, a key parameter reflecting the valve's mechanical characteristics and operating status, is crucial for solving these problems.

[0003] In existing technologies, testing is only conducted using a force gauge under conditions such as valve offline, absence of hydraulic power, and contaminant jamming. This method suffers from a lack of real-time torque data, which can lead to problems such as mismatched power of the drive unit or overload damage to the transmission mechanism, resulting in significant errors in fuel metering. Summary of the Invention

[0004] This invention proposes a steady-state load torque testing device and method for a linear fuel metering device, which can solve the problem of large errors in fuel metering caused by issues such as power mismatch of the drive device or overload damage of the transmission mechanism.

[0005] Technical Solution: In a first aspect, this application provides a steady-state load torque testing device for a linear fuel metering device, comprising: a host computer module, a computation control unit, a servo control algorithm module, a vector control module, a power inverter unit, a permanent magnet servo motor, a ball screw, a coupling, a linear metering valve, an LVDT, a rotary transformer and encoding / decoding module, a rotor position signal conditioning module, a motor phase current monitoring module, a valve stroke signal conditioning module, a valve drive system steady-state torque identification module, a metering device steady-state load torque online identification module, and a metering valve steady-state force calculation module, wherein: The host computer module is connected to the computing and control unit; the computing and control unit is connected to the host computer, the rotary transformer encoding and decoding module, the power inverter unit, the motor phase current monitoring module, the valve travel signal conditioning module, and the valve drive system steady-state torque identification module; the power inverter unit is connected to the computing and control unit and the permanent magnet servo motor; the permanent magnet servo motor is connected to the power inverter unit, the rotor position signal conditioning module, the motor phase current monitoring module, and the ball screw; the ball screw is connected to the permanent magnet servo motor and the coupling; the coupling is connected to the ball screw and the linear metering valve; the linear metering valve is connected to the coupling and the LVDT; the LVDT is connected to the valve travel signal conditioning module and the linear metering valve. The rotary transformer encoding / decoding module is connected to the rotor position signal conditioning module and the arithmetic control unit, respectively; the rotor position signal conditioning module is connected to the permanent magnet servo motor and the rotary transformer encoding / decoding module, respectively; the motor phase current monitoring module is connected to the permanent magnet servo motor and the arithmetic control unit, respectively; the valve travel signal conditioning module is connected to the LVDT and the arithmetic control unit, respectively; the valve drive system steady-state torque identification module is connected to the arithmetic control unit and the metering device steady-state load torque online identification module, respectively; the metering device steady-state load torque online identification module is connected to the valve drive system steady-state torque identification module and the metering valve steady-state force calculation module, respectively; the metering valve steady-state force calculation module is connected to the valve drive system steady-state torque identification module.

[0006] Specifically, the host computer module is used to interact with the computing and control unit, send motion commands to the device, and visualize the measurement results of the measuring device; The computation and control unit serves two purposes: firstly, it acts as a carrier for implementing vector control and servo control algorithms, and outputs PWM signals, which are then converted into power signals by the power inverter unit and output to the motor windings; secondly, it reads AD acquisition information and calculates the motor speed and valve travel using rotor position information. The servo control algorithm module is used to complete the closed-loop control of the motor rotor position, speed, and current. The vector control module is used to output a PWM signal based on the motor rotor position and motor phase current, combined with the servo control algorithm module.

[0007] Specifically, the power inverter unit is used to convert the control PWM signal output by the computing and control unit into a power PWM signal, thereby driving the permanent magnet servo motor to move; The permanent magnet servo motor is used to drive the linear metering valve to move through the coupling under control to achieve fuel flow regulation. At the same time, it feeds back the motor phase current to the current sensor and the motor rotor position to the signal conditioning module. The ball screw is used to convert the linear motion of the permanent magnet servo motor into linear motion. The coupling is used to connect the lead screw and the metering valve shaft so that the two are synchronous and linear; The linear metering valve is optional and can be installed under motor drive to realize fuel flow metering and control. The LVDT is used to measure the valve travel. It outputs a voltage signal through electromagnetic induction. The voltage amplitude is proportional to the displacement, and the phase reflects the direction of motion.

[0008] Specifically, the rotary transformer encoding and decoding module is used to generate a rotary transformer excitation signal, output it to the rotor position signal conditioning module, receive the feedback signal output by the rotor position signal conditioning module, and calculate the motor rotor position based on the phase relationship between the excitation signal and the feedback signal. The rotor position signal conditioning module is used to receive the excitation signal from the rotary transformer encoding and decoding module, condition the signal and output it to the rotary transformer, and receive the feedback signal from the rotary transformer, condition it and output it to the rotary transformer encoding and decoding module. The motor phase current monitoring module is used to monitor the phase current of the three-phase windings of the motor and convert the current signal into a voltage signal suitable for sampling by the microprocessor.

[0009] Specifically, the valve travel signal conditioning module converts the signal acquired by the LVDT into a voltage signal suitable for microprocessor sampling; The steady-state torque identification module of the valve drive system is used to identify the steady-state torque when the motor and the coupling move together; The valve steady-state torque identification module is used to identify the steady-state torque of the metering valve, including the load torque of the valve caused by the combined force of factors such as friction between the valve and the bushing, hydraulic force, and fuel cleanliness. The metering valve steady-state force calculation module is used to calculate the steady-state linear force of the valve based on the valve's steady-state torque and valve radius.

[0010] Specifically, the arithmetic control unit includes a high-speed AD converter, an arithmetic control unit, a logic unit, a data storage unit, and a program storage unit. The arithmetic control unit monitors the LVDT position in real time and receives LVDT position commands from the host computer. It transmits the LVDT position commands and the real-time monitored LVDT position to the servo control algorithm module. The servo algorithm module and the vector control module cooperate to realize LVDT position servoing. The vector control module outputs the PWM duty cycle command to the arithmetic control unit, which controls the six-channel complementary duty cycle output.

[0011] Specifically, the servo control algorithm module includes: position control algorithm, speed control algorithm, direct-axis current (id) control algorithm, and quadrature-axis current (iq) control algorithm, among which: The position control algorithm receives the LVDT position command sent by the host computer, calculates the deviation with the actual LVDT position, and implements closed-loop control. The controller is a P controller, and the position control algorithm outputs the speed command to the speed control algorithm. The speed control algorithm receives the speed command output by the position loop and calculates the deviation between the actual speed calculated after the motor rotor position is differentiated. The speed controller implements closed-loop speed control, and the speed controller is a PI controller. The speed loop outputs the quadrature-axis current command iq. The quadrature axis current iq control algorithm receives the quadrature axis current command output by the speed loop, and calculates the deviation with the iq current feedback output by the vector control module. The iq current controller performs closed-loop control and outputs voltage uq to the vector control module. The iq current controller is a PI controller. The direct-axis current id control algorithm, where the id current command is 0, is fed back to the iq current output by the vector control module to calculate the deviation. The iq current controller performs closed-loop control and outputs voltage uq to the vector control module. The iq current controller is a PI controller.

[0012] Specifically, the steady-state torque identification module of the valve drive system includes: control plan generation, control plan execution, motor constant speed state identification, and steady-state torque identification, wherein: The control plan generation method is used to plan the initial position, ending position, acceleration segment, constant speed segment, deceleration segment, acceleration time, constant speed time, and deceleration time of the LVDT. The control plan execution method is as follows: The arithmetic control unit receives the parameters issued by the control plan and first controls the LVDT to run to the initial position; after the LVDT reaches the initial position, it calculates the acceleration based on the acceleration segment and acceleration time, generates a series of speed commands based on the acceleration, and sends the speed commands to the motor speed control loop; when the LVDT reaches the speed at the end of the acceleration segment, it issues a constant speed command and monitors the motor speed in real time; after the constant speed segment ends, it generates a series of speed commands for the deceleration segment based on the acceleration and deceleration time, and sends the commands to the speed loop; during the constant speed segment of the motor, it monitors the quadrature-axis current iq in real time. The method for identifying the uniform speed state of the motor is as follows: After the acceleration segment is received, the uniform speed segment speed command is executed. The calculation and control unit monitors the motor speed in real time, and records the current motor speed as n(k), the next motor speed as n(k+1), and the next-next motor speed as n(k+2). The acceleration a(k) is defined as (n(k+1) - n(k)) / ΔT, a(k+1) = (n(k+2) - n(k+1)) / ΔT. If |a(k+1) - a(k)| < ε, then the motor is considered to be in a uniform speed state, and the cross-axis current iq1 corresponding to this state is recorded. Otherwise, the motor is in a non-uniform speed state, and ΔT is the speed sampling period. The steady-state torque identification method is as follows: T1 = 1.5 * KT * iq1, where T1 is the current electromagnetic torque and KT is the motor torque coefficient.

[0013] Specifically, the online steady-state load torque identification module for metering devices includes: online operation testing of metering devices, system steady-state torque testing, and calculation of steady-state load torque of metering devices, wherein: The online operation test of the metering device is as follows: the motor drives the lead screw to move linearly, and the coupling connects the lead screw and the metering valve, so that the metering valve moves linearly. The metering device works in the actual operating state. When the motor rotates forward and backward by different numbers of revolutions, the fuel flow rate changes with the valve stroke. Then the online operation test of the metering device is completed. The system steady-state torque test method is as follows: repeat the contents of the steady-state torque identification module of the valve drive system, but after the motor is connected to the metering valve, the steady-state torque changes, and the calculated steady-state torque is recorded as T2; The method for calculating the steady-state load torque of the metering device is as follows: the steady-state load torque of the metering device in a single test is denoted as T = T2 - T1. The test is repeated ten times, and the average of the results of the ten tests is taken. This average value is the steady-state load torque of the metering device. The method for calculating the steady-state force of the metering valve is as follows: based on the mathematical equation T=F*r between linear force and rotational torque, F=T / r is derived; where T is the steady-state load torque of the metering device and r is the radius of the metering valve.

[0014] Secondly, this application provides a method for testing the steady-state load torque of a linear fuel metering device. The method is applied to the aforementioned steady-state load torque testing device for a linear fuel metering device, and includes: Step 1: Control plan generates the parameters of the LVDT planning, including initial position, ending position, acceleration segment, constant speed segment, deceleration segment, acceleration time, constant speed time, and deceleration time; Step 2: The operation and control unit executes the control plan according to the parameters of the planned LVDT; including: first, controlling the LVDT to run to the initial position; after the LVDT reaches the initial position, calculating the acceleration according to the acceleration segment and acceleration time, generating a series of speed commands according to the acceleration, and sending the speed commands to the motor speed control loop; when the LVDT reaches the speed at the end of the acceleration segment, sending the constant speed command, and monitoring the motor speed in real time. Step 3: Determine if the motor is in a uniform speed state, including: Let the current motor speed be n(k), the next motor speed be n(k+1), and the next after that speed be n(k+2); define acceleration a(k) = (n(k+1) - n(k)) / ΔT, a(k+1) = (n(k+2) - n(k+1)) / ΔT; if |a(k+1) - a(k)| < ε, then the motor is considered to be in a uniform speed state, record the corresponding quadrature-axis current iq1, and proceed to step 4; otherwise, the motor is in a non-uniform speed state. ΔT is the speed sampling period.

[0015] Step 4: Calculate the no-load torque T1 of the motor according to the algorithm T1=1.5*KT* iq1, where KT is the motor torque coefficient; Step 5: Online operation test of the motor-driven metering valve, including: the motor drives the lead screw to move linearly, the coupling connects the lead screw and the metering valve, so that the metering valve moves linearly, and the metering device works in the actual operating state; when the LVDT runs to different positions, the fuel flow rate changes with the valve stroke, proceed to step 6; Step 6: Steady-state torque test of motor and metering valve, including: repeating steps 1 to 4, measuring the motor cross-axis current iq2 when the motor and metering valve move at a constant speed; calculating the current steady-state electromagnetic torque T2 according to the algorithm T2=1.5*KT* iq2, where KT is the motor torque coefficient; Step 7: Calculate the steady-state load torque of the metering device, including: record the steady-state load torque of the metering device for a single test as T = T2 - T1; repeat steps 1 to 6 ten times, record the test result T for each test, and take the average of the ten test results. This average value is the steady-state load torque of the metering device.

[0016] Step 8: Calculate the steady-state load force of the metering device, including: deriving F=T / r based on the mathematical equation T=F*r between linear force and rotational torque; where T is the steady-state load torque of the metering device and r is the radius of the metering valve.

[0017] In summary, this application proposes a test device and method for steady-state load torque of a linear fuel metering device; it clarifies the steady-state torque of the fuel metering device, provides feedback basis for the power output of the drive device and the design and theoretical analysis of the metering device; it provides a basis for fault diagnosis and health management of the metering device; and it lays the foundation for the safe and reliable control of aero-engine operation. Attached Figure Description

[0018] Figure 1 A schematic diagram of the steady-state load torque testing device for a linear fuel metering device provided in this application; Figure 2 A schematic diagram of a rotary transformer excitation signal conditioner provided in this application; Figure 3 A schematic diagram of a rotary transformer output signal conditioner provided in this application; Figure 4 This application provides a schematic diagram of the structure of a power inverter unit; Figure 5 A schematic diagram of the structure of a vector control module provided in this application; Figure 6 This is a schematic diagram of the structure of a servo control algorithm module provided in this application. Detailed Implementation

[0019] This invention is primarily used in aero-engine control systems. Its main function is to solve the problem of accurately measuring the load torque of a linear fuel metering device during actual operation by designing an online load torque testing device. This provides data reference for the theoretical design and analysis of fuel metering devices, facilitating device design optimization; it also serves as a basis for fault diagnosis and health management of the metering device; and it lays the foundation for improving the control performance and operational safety of aero-engines.

[0020] Example 1 The main function of the linear fuel metering device is to convert the linear motion of the motor into linear motion using a permanent magnet servo motor and a ball screw, drive the linear valve to produce displacement, change the valve and bushing window area, and thus realize fuel flow metering. The valve stroke is monitored through LVDT.

[0021] A steady-state load torque testing device and method for a linear fuel metering device, the main function of which is to deduce and calculate the load torque of the metering device using the electromagnetic torque mathematical model of a permanent magnet servo motor.

[0022] like Figure 1 As shown, this application provides a steady-state load torque testing device for a linear fuel metering device, comprising: a host computer module, a calculation and control unit, a servo control algorithm module, a vector control module, a power inverter unit, a permanent magnet servo motor, a ball screw, a coupling, a linear metering valve, an LVDT, a rotary transformer and encoding / decoding module, a rotor position signal conditioning module, a motor phase current monitoring module, a valve stroke signal conditioning module, a valve drive system steady-state torque identification module, a metering device steady-state load torque online identification module, and a metering valve steady-state force calculation module, wherein: The host computer module is connected to the computing and control unit; the computing and control unit is connected to the host computer, the rotary transformer encoding and decoding module, the power inverter unit, the motor phase current monitoring module, the valve travel signal conditioning module, and the valve drive system steady-state torque identification module; the power inverter unit is connected to the computing and control unit and the permanent magnet servo motor; the permanent magnet servo motor is connected to the power inverter unit, the rotor position signal conditioning module, the motor phase current monitoring module, and the ball screw; the ball screw is connected to the permanent magnet servo motor and the coupling; the coupling is connected to the ball screw and the linear metering valve; the linear metering valve is connected to the coupling and the LVDT; the LVDT is connected to the valve travel signal conditioning module and the linear metering valve. The rotary transformer encoding / decoding module is connected to the rotor position signal conditioning module and the arithmetic control unit, respectively; the rotor position signal conditioning module is connected to the permanent magnet servo motor and the rotary transformer encoding / decoding module, respectively; the motor phase current monitoring module is connected to the permanent magnet servo motor and the arithmetic control unit, respectively; the valve travel signal conditioning module is connected to the LVDT and the arithmetic control unit, respectively; the valve drive system steady-state torque identification module is connected to the arithmetic control unit and the metering device steady-state load torque online identification module, respectively; the metering device steady-state load torque online identification module is connected to the valve drive system steady-state torque identification module and the metering valve steady-state force calculation module, respectively; the metering valve steady-state force calculation module is connected to the valve drive system steady-state torque identification module.

[0023] Specifically, the host computer module is used to interact with the computing and control unit, send motion commands to the device, and visualize the measurement results of the measuring device; The computation and control unit is the core of the device's computation and control. On the one hand, it serves as the carrier for implementing vector control and servo control algorithms, and simultaneously outputs PWM signals, which are converted into power signals by the power inverter unit and output to the motor windings. On the other hand, it reads AD acquisition information and calculates the motor speed and valve travel through rotor position information. The servo control algorithm module is used to complete the closed-loop control of the motor rotor position, speed, and current. The vector control module is used to output a PWM signal based on the motor rotor position and motor phase current, combined with the servo control algorithm module. The power inverter unit is used to convert the control PWM signal output by the computing and control unit into a power PWM signal, thereby driving the permanent magnet servo motor to move. The permanent magnet servo motor is used to drive the linear metering valve to move through the coupling under control to achieve fuel flow regulation. At the same time, it feeds back the motor phase current to the current sensor and the motor rotor position to the signal conditioning module. The ball screw is used to convert the linear motion of the permanent magnet servo motor into linear motion. The coupling is used to connect the lead screw and the metering valve shaft so that the two are synchronous and linear; The linear metering valve is optional and can be installed under motor drive to realize fuel flow metering and control. The LVDT is used to measure the valve travel. It outputs a voltage signal through electromagnetic induction. The voltage amplitude is proportional to the displacement, and the phase reflects the direction of motion. The rotary transformer encoding and decoding module is used to generate a rotary transformer excitation signal, output it to the rotor position signal conditioning module, receive the feedback signal output by the rotor position signal conditioning module, and calculate the motor rotor position based on the phase relationship between the excitation signal and the feedback signal. The rotor position signal conditioning module is used to receive the excitation signal from the rotary transformer encoding and decoding module, condition the signal and output it to the rotary transformer, and receive the feedback signal from the rotary transformer, condition it and output it to the rotary transformer encoding and decoding module. The motor phase current monitoring module is used to monitor the phase current of the three-phase windings of the motor and convert the current signal into a voltage signal suitable for microprocessor sampling. The valve travel signal conditioning module converts the signal acquired by the LVDT into a voltage signal suitable for microprocessor sampling; The steady-state torque identification module of the valve drive system is used to identify the steady-state torque when the motor and the coupling move together; The valve steady-state torque identification module is used to identify the steady-state torque of the metering valve, including the load torque of the valve caused by the combined force of factors such as friction between the valve and the bushing, hydraulic force, and fuel cleanliness. The metering valve steady-state force calculation module is used to calculate the steady-state linear force of the valve based on the valve's steady-state torque and valve radius.

[0024] Specifically, when the test device is in operation, it is deployed on a ground platform, and the system is pressurized by a fuel pump to provide the fuel pressure and hydraulic force required for the operation of the linear fuel metering device.

[0025] Specifically, the permanent magnet servo motor is installed with fixed fixtures to ensure reliable motor support. After the ball screw and the metering valve are connected by a coupling, the motor is almost unaffected by radial force during movement.

[0026] The permanent magnet servo motor includes three-phase windings A, B, and C, and integrates a rotary transformer for rotor position measurement. The rotor of the rotary transformer is coaxial with the motor rotor, and the zero point of the rotary transformer is aligned with the zero-crossing point of the opposite potential of motor A. Specifically, the arithmetic control unit is the core of the arithmetic control of the measuring device. It contains a high-speed AD converter, arithmetic control unit, logic unit, data storage unit, program storage unit, etc. The computation control unit monitors the LVDT position in real time and receives LVDT position commands from the host computer. It then transmits the LVDT position commands and the real-time monitored LVDT position to the servo control algorithm module. The servo algorithm module and the vector control module work together to achieve LVDT position servoing. The vector control module outputs the PWM duty cycle command to the computation control unit, which then controls the six-channel complementary duty cycle output.

[0027] Specifically, the rotary transformer encoding / decoding module generates a sinusoidal excitation signal; receives sinusoidal differential and cosine differential signals output by the rotor position signal conditioning module; calculates the rotor position using its internal position calculation algorithm; and outputs the calculation result to the arithmetic control unit via a parallel bus.

[0028] The rotary transformer encoding / decoding module generates a sinusoidal excitation signal with an output frequency of 10kHz, an amplitude of 2V, and a DC bias of 2.5V; the rotor position signal conditioning module outputs sinusoidal differential and cosine differential signals with a DC bias of 2.5V and a peak value of 3.2V.

[0029] Specifically, the rotor position signal conditioning module includes: a rotary transformer excitation signal conditioner and a rotary transformer output signal conditioner; like Figure 2 As shown, the sinusoidal signal output from the resolver encoder / decoder module is amplified with high bandwidth power, increasing the peak-to-peak value to 12V. The resolver excitation signal conditioner consists of an active filter bias circuit and a voltage amplifier circuit connected in series. The active filter bias circuit superimposes the 2V sinusoidal signal output from the resolver excitation signal generator with a 2.5V DC bias signal, and then performs a second-order active Chebyshev filter on the signal. The filter parameters are adjusted by resistors and capacitors.

[0030] The filter stopband attenuation is configured to -20dB, and the cutoff frequency is configured to 18KHz.

[0031] like Figure 3 As shown, the output signal conditioner of the rotary transformer consists of an electrostatic discharge (ESD) protector, an active filter, and a signal amplifier connected in series. The ESD protector is used to prevent damage to the subsequent circuitry caused by static electricity from the human body during the insertion and removal of the rotary transformer's electrical connector. The active filter is a second-order active Chebyshev filter with DC bias function, and its parameter configuration is consistent with that of the excitation signal conditioner. The signal amplifier is used to condition the 2.6V peak value signal output by the rotary transformer into a 3.2V peak value sine differential and cosine differential signal.

[0032] Specifically, such as Figure 4 As shown, the power inverter unit includes a gate driver and a power inverter unit connected in sequence; The gate driver receives the TTL signal output by the operational control unit and converts it into a signal with a strong drive current of 15V required for each MOS transistor of the power inverter unit to operate. The power inverter unit receives the control signal from the gate driver and, under the control of the gate driver, realizes the switching of the MOS transistor; the gate driver and the power inverter unit work together to realize the conversion of TTL signal to power signal.

[0033] Specifically, the motor phase current monitoring module includes: a Hall current sensor, a signal conditioner, and a current measuring device connected in sequence.

[0034] The primary terminal of the Hall current sensor is connected in series in each phase line of the motor. When the motor phase current flows through the Hall sensor, the secondary terminal of the sensor will sense the corresponding voltage, realizing the I / V conversion from current to voltage. The signal conditioner is a voltage follower connected in series with an RC low-pass filter. The voltage signal output by the current sensor is connected to the non-inverting input of the follower, the inverting input of the follower is connected to the output, and the output of the follower is connected to the RC filter with a bandwidth of 40KHz. The current measuring device samples the RC-filtered voltage value at a frequency of 10KHz, and combines the correspondence between the Hall current sensor current and the output voltage to calculate the motor phase current in reverse from the voltage value.

[0035] Specifically, such as Figure 5 As shown, the vector control module includes a Clark transform module, a Park transform module, an inverse Park transform module, and an SVPWM vector calculation module; The Clark transformation module, based on the principle of amplitude equivalence, transforms the three-phase AC current into two-phase currents iα and iβ in a stationary coordinate system. The Park transformation integrates iα, iβ, and the motor rotor position θ to calculate the direct-axis current id and quadrature-axis current iq in the linear coordinate system. The inverse Park transformation receives the direct-axis voltage Ud, quadrature-axis voltage Uq, and motor rotor position θ output by the servo control algorithm module, and converts the voltages in the two-phase linear coordinate system into voltages Uα and Uβ in the two-phase stationary coordinate system. The SVPWM vector calculation module performs sector analysis, vector calculation, and correction based on Uα and Uβ, and outputs 6-channel PWM.

[0036] Specifically, such as Figure 6 As shown, the servo control algorithm module includes: position control algorithm, speed control algorithm, direct axis current id control algorithm, and quadrature axis current iq control algorithm; The position control algorithm receives the LVDT position command sent by the host computer, calculates the deviation with the actual LVDT position, and implements closed-loop control. The controller is a P controller, and the position control algorithm outputs the speed command to the speed control algorithm. The speed control algorithm receives the speed command output by the position loop and calculates the deviation between the actual speed calculated after the motor rotor position is differentiated. The speed controller implements closed-loop speed control, and the speed controller is a PI controller. The speed loop outputs the quadrature-axis current command iq. The quadrature axis current iq control algorithm receives the quadrature axis current command output by the speed loop, and calculates the deviation with the iq current feedback output by the vector control module. The iq current controller performs closed-loop control and outputs voltage uq to the vector control module. The iq current controller is a PI controller. The direct-axis current id control algorithm, where the id current command is 0, is fed back to the iq current output by the vector control module to calculate the deviation. The iq current controller performs closed-loop control and outputs voltage uq to the vector control module. The iq current controller is a PI controller. Specifically, the steady-state torque identification module of the valve drive system includes: control plan generation, control plan execution, motor constant speed state identification, and steady-state torque identification.

[0037] The control plan generation method is used to plan the initial position, ending position, acceleration segment, constant speed segment, deceleration segment, acceleration time, constant speed time, and deceleration time of the LVDT. The control plan execution method is as follows: The arithmetic control unit receives the parameters issued by the control plan and first controls the LVDT to run to the initial position; after the LVDT reaches the initial position, it calculates the acceleration based on the acceleration segment and acceleration time, generates a series of speed commands based on the acceleration, and sends the speed commands to the motor speed control loop; when the LVDT reaches the speed at the end of the acceleration segment, it issues a constant speed command and monitors the motor speed in real time; after the constant speed segment ends, it generates a series of speed commands for the deceleration segment based on the acceleration and deceleration time, and sends the commands to the speed loop; during the constant speed segment of the motor, it monitors the quadrature-axis current iq in real time. The method for identifying the uniform speed state of the motor is as follows: After the acceleration segment is received, the uniform speed segment speed command is executed. The calculation and control unit monitors the motor speed in real time, recording the current motor speed as n(k), the next motor speed as n(k+1), and the next-next motor speed as n(k+2). The acceleration a(k) is defined as (n(k+1) - n(k)) / ΔT, and a(k+1) = (n(k+2) - n(k+1)) / ΔT. If |a(k+1) - a(k)| < ε, the motor is considered to be in a uniform speed state, and the corresponding quadrature-axis current iq1 is recorded; otherwise, the motor is in a non-uniform speed state. ΔT is the speed sampling period.

[0038] The steady-state torque identification method is as follows: T1 = 1.5 * KT * iq1, where T1 is the current electromagnetic torque and KT is the motor torque coefficient; Specifically, the online identification module for steady-state load torque of metering devices includes: online operation testing of metering devices, steady-state torque testing of the system, and calculation of steady-state load torque of metering devices.

[0039] The online operation test of the metering device is as follows: the motor drives the lead screw to move linearly, and the coupling connects the lead screw and the metering valve, so that the metering valve moves linearly. The metering device works in the actual operating state. When the motor rotates forward and backward by different numbers of revolutions, the fuel flow rate changes with the valve stroke. Then the online operation test of the metering device is completed. The system steady-state torque test method is as follows: repeat the contents of the steady-state torque identification module of the valve drive system, but after the motor is connected to the metering valve, the steady-state torque changes, and the calculated steady-state torque is recorded as T2; The method for calculating the steady-state load torque of a metering device is as follows: Let the steady-state load torque of the metering device in a single test be T = T 2- T 1, Repeat the test ten times, and take the average of the ten test results. This average value is the steady-state load torque of the measuring device.

[0040] The method for calculating the steady-state force of the metering valve is as follows: based on the mathematical equation T=F*r between linear force and rotational torque, F=T / r is derived; where T is the steady-state load torque of the metering device and r is the radius of the metering valve.

[0041] Example 2 This application provides a method for testing the steady-state load torque of a linear fuel metering device. The method is applied to a linear fuel metering device steady-state load torque testing device and includes: Step 1: Control Plan Generation Specifically, step 1 includes: Step 11: Plan the initial position, final position, acceleration segment, constant speed segment, deceleration segment, acceleration time, constant speed time, and deceleration time of the LVDT; Step 2: Control the execution of the plan Specifically, step 2 includes: Step 21: The arithmetic control unit receives the parameters issued by the control plan and first controls the LVDT to run to the initial position; Step 22: After the LVDT reaches the initial position, it calculates the acceleration based on the acceleration segment and acceleration time, generates a series of speed commands based on the acceleration, and sends the speed commands to the motor speed control loop; Step 23: When the LVDT reaches the final acceleration speed, issue a constant speed command and monitor the motor speed in real time; Step 3: Identification of Uniform Motion State Specifically, step 3 includes: Step 31: Let the current motor speed be n(k), the next motor speed be n(k+1), and the next-next motor speed be n(k+2); Step 32: Define acceleration a(k) = (n(k+1) - n(k)) / ΔT, a(k+1) = (n(k+2) - n(k+1)) / ΔT; if |a(k+1) - a(k)| < ε, then the motor is considered to be in a uniform speed state, record the quadrature-axis current iq1 corresponding to this state, and proceed to step 4; otherwise, the motor is in a non-uniform speed state. ΔT is the speed sampling period.

[0042] Step 4: Calculate the motor's no-load torque Specifically, step 4 includes: Step 41: Calculate the no-load torque of the motor according to the algorithm T1=1.5*KT* iq1, where T1 is the current electromagnetic torque and KT is the motor torque coefficient; Step 5: Online operation test of motor-driven metering valve Specifically, step 5 includes: Step 51: The motor drives the lead screw to move linearly, and the coupling connects the lead screw and the metering valve, thereby causing the metering valve to move linearly and the metering device to work in the actual operating state; Step 52: When the LVDT operates to different positions, the fuel flow rate changes with the valve stroke, proceed to step 6; Step 6: Steady-state torque test of motor and metering valve Specifically, step 6 includes: Step 61: Repeat steps 1 to 4 to measure the cross-axis current iq2 of the motor when the motor and the metering valve move at a constant speed; Step 62: Calculate the no-load torque of the motor according to the algorithm T2=1.5*KT* iq2, where T2 is the current electromagnetic torque and KT is the motor torque coefficient; Step 7: Calculation of steady-state load torque of the metering device Specifically, step 7 includes: Step 71: Record the steady-state load torque of the metering device in a single test as T = T2 - T1; Step 72: Repeat steps 1 to 6 ten times, record the test result T for each test, and take the average of the ten test results. This average value is the steady-state load torque of the measuring device.

[0043] Step 8: Calculation of steady-state load force of metering device Specifically, step 8 includes: Step 81: Based on the mathematical equation T=F*r between linear force and rotational torque, derive F=T / r; where T is the steady-state load torque of the metering device and r is the radius of the metering valve.

[0044] In summary, this invention proposes a steady-state load torque testing device and method for linear fuel metering devices. It measures the comprehensive load torque of the valve in real-time online, considering factors such as valve friction, hydraulic forces, and fuel contamination. This provides data reference for linear valve design, clarifies the matching relationship between the linear valve and the drive device, and serves as an important basis for valve dynamic response, fault diagnosis, and health management, laying the foundation for improving the control performance and operational safety of aero-engines.

Claims

1. A steady-state load torque testing device for a linear fuel metering device, characterized in that, include: The system includes a host computer module, a computation and control unit, a servo control algorithm module, a vector control module, a power inverter unit, a permanent magnet servo motor, a ball screw, a coupling, a linear metering valve, an LVDT (Low Voltage Detector), a rotary transformer and encoding / decoding module, a rotor position signal conditioning module, a motor phase current monitoring module, a valve travel signal conditioning module, a valve drive system steady-state torque identification module, a metering device steady-state load torque online identification module, and a metering valve steady-state force calculation module. Among these: The host computer module is connected to the computing and control unit; the computing and control unit is connected to the host computer, the rotary transformer encoding and decoding module, the power inverter unit, the motor phase current monitoring module, the valve travel signal conditioning module, and the valve drive system steady-state torque identification module; the power inverter unit is connected to the computing and control unit and the permanent magnet servo motor; the permanent magnet servo motor is connected to the power inverter unit, the rotor position signal conditioning module, the motor phase current monitoring module, and the ball screw; the ball screw is connected to the permanent magnet servo motor and the coupling; the coupling is connected to the ball screw and the linear metering valve; the linear metering valve is... Do not connect to the coupling or LVDT; the LVDT is connected to the valve travel signal conditioning module and the linear metering valve respectively; the rotary transformer encoding / decoding module is connected to the rotor position signal conditioning module and the arithmetic control unit respectively; the rotor position signal conditioning module is connected to the permanent magnet servo motor and the rotary transformer encoding / decoding module respectively; the motor phase current monitoring module is connected to the permanent magnet servo motor and the arithmetic control unit respectively; the valve travel signal conditioning module is connected to the LVDT and the arithmetic control unit respectively; the valve drive system steady-state torque identification module is connected to the arithmetic control unit and the metering device steady-state load torque online identification module respectively. The steady-state load torque online identification module of the metering device is connected to the steady-state torque identification module of the valve drive system and the steady-state force calculation module of the metering valve, respectively. The steady-state force calculation module of the metering valve is connected to the steady-state torque identification module of the valve drive system.

2. The apparatus according to claim 1, characterized in that, The host computer module is used to interact with the computing and control unit, send motion commands to the device, and visualize the measurement results of the measuring device; The computation and control unit serves two purposes: firstly, it acts as a carrier for implementing vector control and servo control algorithms, and outputs PWM signals, which are then converted into power signals by the power inverter unit and output to the motor windings; secondly, it reads AD acquisition information and calculates the motor speed and valve travel using rotor position information. The servo control algorithm module is used to complete the closed-loop control of the motor rotor position, speed, and current. The vector control module is used to output a PWM signal based on the motor rotor position and motor phase current, combined with the servo control algorithm module.

3. The apparatus according to claim 1, characterized in that, The power inverter unit is used to convert the control PWM signal output by the computing and control unit into a power PWM signal, thereby driving the permanent magnet servo motor to move. The permanent magnet servo motor is used to drive the linear metering valve to move through the coupling under control to achieve fuel flow regulation. At the same time, it feeds back the motor phase current to the current sensor and the motor rotor position to the signal conditioning module. The ball screw is used to convert the linear motion of the permanent magnet servo motor into linear motion. The coupling is used to connect the lead screw and the metering valve shaft, so that the two are synchronous and linear; The linear metering valve is optional and can be installed under motor drive to realize fuel flow metering and control. The LVDT is used to measure the valve travel. It outputs a voltage signal through electromagnetic induction. The voltage amplitude is proportional to the displacement, and the phase reflects the direction of motion.

4. The apparatus according to claim 1, characterized in that, The rotary transformer encoding and decoding module is used to generate a rotary transformer excitation signal, output it to the rotor position signal conditioning module, receive the feedback signal output by the rotor position signal conditioning module, and calculate the motor rotor position based on the phase relationship between the excitation signal and the feedback signal. The rotor position signal conditioning module is used to receive the excitation signal from the rotary transformer encoding and decoding module, condition the signal and output it to the rotary transformer, and receive the feedback signal from the rotary transformer, condition it and output it to the rotary transformer encoding and decoding module. The motor phase current monitoring module is used to monitor the phase current of the three-phase windings of the motor and convert the current signal into a voltage signal suitable for sampling by the microprocessor.

5. The apparatus according to claim 1, characterized in that, The valve travel signal conditioning module converts the signal acquired by the LVDT into a voltage signal suitable for microprocessor sampling; The steady-state torque identification module of the valve drive system is used to identify the steady-state torque when the motor and the coupling move together; The valve steady-state torque identification module is used to identify the steady-state torque of the metering valve, including the load torque of the valve caused by the combined force of factors such as friction between the valve and the bushing, hydraulic force, and fuel cleanliness. The metering valve steady-state force calculation module is used to calculate the steady-state linear force of the valve based on the valve's steady-state torque and valve radius.

6. The apparatus according to claim 1, characterized in that, The arithmetic control unit includes a high-speed AD converter, an arithmetic control unit, a logic unit, a data storage unit, and a program storage unit. The arithmetic control unit monitors the LVDT position in real time and receives LVDT position commands from the host computer. It transmits the LVDT position commands and the real-time monitored LVDT position to the servo control algorithm module. The servo algorithm module and the vector control module cooperate to realize LVDT position servoing. The vector control module outputs the PWM duty cycle command to the arithmetic control unit, which controls the six-channel complementary duty cycle output.

7. The apparatus according to claim 1, characterized in that, The servo control algorithm module includes: position control algorithm, speed control algorithm, direct-axis current (id) control algorithm, and quadrature-axis current (iq) control algorithm, among which: The position control algorithm receives the LVDT position command sent by the host computer, calculates the deviation with the actual LVDT position, and implements closed-loop control. The controller is a P controller, and the position control algorithm outputs the speed command to the speed control algorithm. The speed control algorithm receives the speed command output by the position loop and calculates the deviation between the actual speed calculated after the motor rotor position is differentiated. The speed controller implements closed-loop speed control, and the speed controller is a PI controller. The speed loop outputs the quadrature-axis current command iq. The quadrature axis current iq control algorithm receives the quadrature axis current command output by the speed loop, and calculates the deviation with the iq current feedback output by the vector control module. The iq current controller performs closed-loop control and outputs voltage uq to the vector control module. The iq current controller is a PI controller. The direct-axis current id control algorithm, where the id current command is 0, is fed back to the iq current output by the vector control module to calculate the deviation. The iq current controller performs closed-loop control and outputs voltage uq to the vector control module. The iq current controller is a PI controller.

8. The apparatus according to claim 1, characterized in that, The steady-state torque identification module for the valve drive system includes: control plan generation, control plan execution, motor constant speed state identification, and steady-state torque identification, among which: The control plan generation method is used to plan the initial position, ending position, acceleration segment, constant speed segment, deceleration segment, acceleration time, constant speed time, and deceleration time of the LVDT. The control plan execution method is as follows: The arithmetic control unit receives the parameters issued by the control plan and first controls the LVDT to run to the initial position; after the LVDT reaches the initial position, it calculates the acceleration based on the acceleration segment and acceleration time, generates a series of speed commands based on the acceleration, and sends the speed commands to the motor speed control loop; when the LVDT reaches the speed at the end of the acceleration segment, it issues a constant speed command and monitors the motor speed in real time; after the constant speed segment ends, it generates a series of speed commands for the deceleration segment based on the acceleration and deceleration time, and sends the commands to the speed loop; during the constant speed segment of the motor, it monitors the quadrature-axis current iq in real time. The method for identifying the uniform speed state of the motor is as follows: After the acceleration segment is received, the uniform speed segment speed command is executed. The calculation and control unit monitors the motor speed in real time, and records the current motor speed as n(k), the next motor speed as n(k+1), and the next-next motor speed as n(k+2). The acceleration a(k) is defined as (n(k+1) - n(k)) / ΔT, a(k+1) = (n(k+2) - n(k+1)) / ΔT. If |a(k+1) - a(k)| < ε, then the motor is considered to be in a uniform speed state, and the cross-axis current iq1 corresponding to this state is recorded. Otherwise, the motor is in a non-uniform speed state, and ΔT is the speed sampling period. The steady-state torque identification method is as follows: T1 = 1.5 * KT * iq1, where T1 is the current electromagnetic torque and KT is the motor torque coefficient.

9. The apparatus according to claim 1, characterized in that, The online steady-state load torque identification module for metering devices includes: online operation testing of the metering device, system steady-state torque testing, and calculation of the steady-state load torque of the metering device, wherein: The online operation test of the metering device is as follows: the motor drives the lead screw to move linearly, and the coupling connects the lead screw and the metering valve, so that the metering valve moves linearly. The metering device works in the actual operating state. When the motor rotates forward and backward by different numbers of revolutions, the fuel flow rate changes with the valve stroke. Then the online operation test of the metering device is completed. The system steady-state torque test method is as follows: repeat the contents of the steady-state torque identification module of the valve drive system, but after the motor is connected to the metering valve, the steady-state torque changes, and the calculated steady-state torque is recorded as T2; The method for calculating the steady-state load torque of the metering device is as follows: the steady-state load torque of the metering device in a single test is denoted as T = T2 - T1. The test is repeated ten times, and the average of the results of the ten tests is taken. This average value is the steady-state load torque of the metering device. The method for calculating the steady-state force of the metering valve is as follows: based on the mathematical equation T=F*r between linear force and rotational torque, F=T / r is derived; where T is the steady-state load torque of the metering device and r is the radius of the metering valve.

10. A method for testing the steady-state load torque of a linear fuel metering device, characterized in that, The method is applied to the steady-state load torque testing device for the linear fuel metering device as described in claims 1-9, and the method includes: Step 1: Control plan generates the parameters of the LVDT planning, including initial position, ending position, acceleration segment, constant speed segment, deceleration segment, acceleration time, constant speed time, and deceleration time; Step 2: The operation and control unit executes the control plan according to the parameters of the planned LVDT; including: first, controlling the LVDT to run to the initial position; after the LVDT reaches the initial position, calculating the acceleration according to the acceleration segment and acceleration time, generating a series of speed commands according to the acceleration, and sending the speed commands to the motor speed control loop; when the LVDT reaches the speed at the end of the acceleration segment, sending the constant speed command, and monitoring the motor speed in real time. Step 3: Determine if the motor is in a uniform speed state, including: Let the current motor speed be n(k), the next motor speed be n(k+1), and the next after that speed be n(k+2); define acceleration a(k) = (n(k+1) - n(k)) / ΔT, a(k+1) = (n(k+2) - n(k+1)) / ΔT; if |a(k+1) - a(k)| < ε, then the motor is considered to be in a uniform speed state, record the corresponding quadrature-axis current iq1, and proceed to step 4; otherwise, the motor is in a non-uniform speed state. ΔT is the speed sampling period. Step 4: Calculate the no-load torque T1 of the motor according to the algorithm T1=1.5*KT* iq1, where KT is the motor torque coefficient; Step 5: Online operation test of the motor-driven metering valve, including: the motor drives the lead screw to move linearly, the coupling connects the lead screw and the metering valve, so that the metering valve moves linearly, and the metering device works in the actual operating state; when the LVDT runs to different positions, the fuel flow rate changes with the valve stroke, proceed to step 6; Step 6: Steady-state torque test of motor and metering valve, including: repeating steps 1 to 4, measuring the motor cross-axis current iq2 when the motor and metering valve move at a constant speed; calculating the current steady-state electromagnetic torque T2 according to the algorithm T2=1.5*KT* iq2, where KT is the motor torque coefficient; Step 7: Calculate the steady-state load torque of the metering device, including: record the steady-state load torque of the metering device for a single test as T = T2 - T1; repeat steps 1 to 6 ten times, record the test result T for each test, and take the average of the ten test results. This average value is the steady-state load torque of the metering device. Step 8: Calculate the steady-state load force of the metering device, including: deriving F=T / r based on the mathematical equation T=F*r between linear force and rotational torque; where T is the steady-state load torque of the metering device and r is the radius of the metering valve.

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