A method for detecting the operating state of an actuator in a power system

Abstract

This application discloses a method for detecting the operating state of a power system actuator, comprising: establishing the motion equation of the power system actuator under high temperature and high speed fluid environment; establishing a reflected echo model by combining the established free space and high frequency signal propagation loss estimation model in metal pipes; transmitting a high frequency signal and receiving multiple actual reflected echo signals; determining the center frequency of each actual reflected echo signal by using the frequency determination function of the established joint precision ranging algorithm; calculating the theoretical reflected echo signal based on the center frequency by using the reflected echo model; determining the true reflected echo signal by using the established true and false echo detection and separation algorithm; determining the distance between the detection system and the actuator by using the ranging function of the joint precision ranging algorithm based on the true reflected echo signal; determining the dynamic characteristics of the actuator by using the motion equation; and determining the operating state of the actuator based on the distance and dynamic characteristics.

Description

Technical Field

[0001] This application relates to the field of power system testing technology, and relates to, but is not limited to, a method for detecting the operating state of a power system actuator. Background Technology

[0002] Actuators are core components for achieving precise control of power systems. The accuracy of their operational status detection directly affects the system's stability, efficiency, and safety. To adapt to the operating performance of equipment, extremely high requirements are placed on the detection accuracy of power system actuators in certain working scenarios, such as servo valve core position monitoring in gas turbines, compressor inlet guide vane monitoring, and tailpipe diameter adjustment mechanism displacement monitoring. These actuators typically operate in high-temperature, high-pressure, and high-speed fluid environments. Traditional detection methods usually rely on mechanical or optical sensors, which are susceptible to interference from dust, oil, vibration, and temperature changes due to complex environments, resulting in a significant decrease in detection accuracy and stability, making it difficult to accurately obtain relevant information about the actuators. Although existing non-contact detection technologies have been widely used in various modern communication systems such as the Internet of Things, smart devices, and non-contact sensor networks, enabling precise communication and positioning between devices over short distances in everyday environments, many problems still exist when performing close-range detection in complex operating conditions, such as high-temperature and high-speed fluid environments.

[0003] In high-temperature environments, the physical environment for non-contact signal propagation changes, affecting signal transmission and reception performance. For example, electronic components become unstable at high temperatures, potentially leading to changes in signal transmission characteristics, such as signal strength attenuation and phase drift. High-speed fluid media can induce strong electromagnetic interference and signal reflection, causing severe distortion of the detected signal. Furthermore, the dynamic characteristics of high-speed flowing fluid media can sometimes disturb the signal propagation path, increasing the probability of multipath effects, causing signal attenuation and interference, reducing the signal-to-noise ratio, affecting reception quality, and ultimately increasing measurement errors and reducing accuracy.

[0004] Therefore, in the working environment of high temperature and high speed fluid media, the existing detection technology is difficult to achieve high-precision and high-stability close-range detection, and cannot meet the strict requirements for detection accuracy under complex working conditions. Summary of the Invention

[0005] In view of this, embodiments of this application provide a method for detecting the operating state of a power system actuator, which at least solves the problem of low detection accuracy.

[0006] The technical solution of this application embodiment is implemented as follows:

[0007] In a first aspect, embodiments of this application provide a method for detecting the actuation state of a power system actuator, the method comprising:

[0008] The motion equations of the actuator of the power system are established under the working environment of high temperature and high speed fluid medium. The motion equations include the relationship between the displacement, velocity and time of the actuator and the influence of fluid load on the motion parameters.

[0009] A free space propagation loss estimation model is established for a high-frequency signal propagating in free space and reflected by the actuator; a metal pipe propagation loss estimation model is established for a high-frequency signal propagating in a metal pipe and reflected by the actuator; based on the free space propagation loss estimation model and the metal pipe propagation loss estimation model, a reflection echo model of the actuator is established, and the reflection echo model is used to output the characteristics of the theoretical reflection echo.

[0010] Transmit a high-frequency signal and receive multiple actual reflected echo signals after being reflected by the actuator; based on the multiple actual reflected echo signals, determine the center frequency of each actual reflected echo signal in the multiple actual reflected echo signals through the frequency determination function of the established joint precision ranging algorithm;

[0011] Based on the center frequencies of the multiple actual reflected echo signals, the theoretical reflected echo signal is calculated using the reflected echo model; based on the multiple actual reflected echo signals and the theoretical reflected echo signal associated with the center frequencies, the true reflected echo signal is determined using the established true and false echo detection and separation algorithm.

[0012] Based on the real reflected echo signal, the distance between the detection system and the actuator is determined by the ranging function of the joint precision ranging algorithm; the dynamic characteristics of the actuator are determined by the motion equation; and the operating state of the actuator is determined based on the distance and the dynamic characteristics.

[0013] The beneficial effects of the technical solutions provided in this application include at least the following:

[0014] By establishing motion equations that incorporate the relationships between displacement, velocity, and time, as well as the influence of fluid loads, the motion characteristics of the actuator in high-temperature, high-speed fluid media can be accurately described. By establishing propagation loss estimation models and reflection echo models in free space and metal pipes, the reflection characteristics of high-frequency signals can be precisely simulated. By transmitting and receiving high-frequency signals, the center frequency of the actual reflected echo signal is determined, and then the theoretical reflected echo signal is calculated, effectively distinguishing between true and false echoes, ultimately determining the actuator's operating state. This method comprehensively considers multiple factors, improving the accuracy and reliability of operating state detection. Attached Figure Description

[0015] 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, wherein:

[0016] Figure 1 A flowchart illustrating a method for detecting the actuation state of a power system actuator provided in an embodiment of this application;

[0017] Figure 2 A schematic diagram of a non-contact detection reflected echo model structure provided in this application embodiment;

[0018] Figure 3 This application provides a schematic diagram of a near-range, high-precision detection process for the operating state of an actuator.

[0019] Figure 4 An example of close-range detection provided in this application;

[0020] Figure 5 This is a schematic diagram of the probability density distribution of a fixed-distance test result provided in an embodiment of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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 some embodiments of this application, not all embodiments. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0023] It should be noted that the terms "first, second, and third" used in the embodiments of this application are merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, and third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0024] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiments of this application pertain. It should also be understood that terms such as those defined in general dictionaries should be understood to have a meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0025] This application provides a method for detecting the actuation state of a power system actuator, applied to an electronic device. The electronic device includes, but is not limited to, mobile phones, laptops, tablets, handheld internet devices, multimedia devices, streaming media devices, mobile internet devices, wearable devices, or other types of electronic devices. The function implemented by this method can be achieved by a processor in the electronic device calling program code. The program code can be stored in a computer storage medium; therefore, the electronic device includes at least a processor and a storage medium. The processor can be used to process the actuation state detection process of the power system actuator, and the memory can be used to store the data required and generated during the actuation state detection process of the power system actuator.

[0026] Figure 1 A flowchart illustrating a method for detecting the actuation state of a power system actuator provided in an embodiment of this application is shown below. Figure 1 As shown, the method includes at least the following steps:

[0027] Step S110: Establish the motion equation of the power system actuator under high temperature and high speed fluid medium working environment. The motion equation includes the relationship between the displacement, velocity and time of the actuator and the influence of fluid load on the motion parameters.

[0028] Here, the high-temperature, high-speed fluid can be high-temperature steam, high-temperature gas, etc.; the actuating structure can be a valve, piston, connecting rod, etc.

[0029] Step S120: Establish a free space propagation loss estimation model for a high-frequency signal after reflection by the actuator when it propagates in free space; establish a metal pipe propagation loss estimation model for a high-frequency signal after reflection by the actuator when it propagates in a metal pipe; based on the free space propagation loss estimation model and the metal pipe propagation loss estimation model, establish a reflection echo model for the actuator, wherein the reflection echo model is used to output the characteristics of the theoretical reflection echo;

[0030] In free-space non-contact signal propagation, losses arise from multipath effects caused by medium disturbances, metal reflection, refraction, and scattering. The free-space propagation loss estimation model established in this application aims to mitigate the impact of multipath effects. Considering the influence of waveguide effects on high-frequency signals propagating through metal pipes, this application utilizes waveguide theory to construct a propagation loss estimation model within metal pipes.

[0031] Based on the aforementioned free-space propagation loss estimation model and the aforementioned propagation loss estimation model within the metal pipe, a reflected echo model for close-range detection of the power system actuator is established in a simulation environment to obtain the reflected echo characteristics under different operating conditions. Specifically, a high-frequency wave reflected echo basic model is established, which includes basic modules such as signal transmission, signal reception, and signal processing. The basic model considers the free-space propagation loss of the transmission and reception paths under real metal close-range measurement, as well as the propagation loss within the metal pipe for the transmission and reception paths. Considering the presence of various clutter interferences in space, noise is added to the receiver preamplifier position within the model for simulation operation, ensuring that the close-range reflected echo characteristics obtained by the simulation model are closer to real operating conditions.

[0032] Step S130: Transmit a high-frequency signal and receive multiple actual reflected echo signals after being reflected by the actuator; based on the multiple actual reflected echo signals, determine the center frequency of each actual reflected echo signal in the multiple actual reflected echo signals through the frequency determination function of the established joint precision ranging algorithm.

[0033] The joint precision ranging algorithm includes frequency determination and ranging functions. Here, the center frequency of the actual reflected echo signal is determined by the frequency determination function of the joint precision ranging algorithm.

[0034] Step S140: Based on the center frequency of the multiple actual reflected echo signals, the theoretical reflected echo signal is calculated using the reflected echo model; based on the multiple actual reflected echo signals associated with the center frequency and the theoretical reflected echo signal, the true reflected echo signal is determined using the established true and false echo detection and separation algorithm.

[0035] Step S150: Based on the real reflected echo signal, the distance between the detection system and the actuator is determined by the ranging function of the joint precision ranging algorithm; the dynamic characteristics of the actuator are determined by the motion equation; and the operating state of the actuator is determined based on the distance and the dynamic characteristics.

[0036] Specifically, by analyzing or solving the equations of motion, the specific parameters and laws of the dynamic characteristics of the actuator can be derived, and the operating state of the actuator can be determined based on the dynamic characteristics and distance. The operating state can include the motion state that can be described by parameters such as displacement and velocity, the force state that reflects the force situation such as static pressure and dynamic inertial force, the different working mode states such as continuous work, intermittent start and stop, and emergency response, as well as the control state corresponding to manual, automatic and remote control, which comprehensively reflects the core motion characteristics of the actuator when it is working.

[0037] In the above embodiments, by establishing motion equations that include the correlation between displacement, velocity, and time, as well as the influence of fluid load, the motion characteristics of the actuator in a high-temperature, high-speed fluid medium can be accurately described. By establishing propagation loss estimation models and reflection echo models in free space and metal pipes, the reflection characteristics of high-frequency signals can be accurately simulated. By transmitting and receiving high-frequency signals, the center frequency of the actual reflected echo signal is determined, and then the theoretical reflected echo signal is calculated, effectively distinguishing between true and false echoes, and ultimately determining the operating state of the actuator. This method comprehensively considers multiple factors, improving the accuracy and reliability of operating state detection.

[0038] In some embodiments, step S110, "establishing the motion equations of the power system actuator under high-temperature and high-speed fluid medium working environment," includes the following steps:

[0039] Step S1101: Perform dynamic and kinematic analysis on each component of the power system actuator under high temperature and high speed fluid medium working environment, and obtain the analysis results of the corresponding components;

[0040] Here, dynamic analysis can include force state analysis and motion law analysis, etc.; the force state includes fluid impact force, thermal stress, etc., and the motion law includes displacement, velocity and acceleration, etc.; for each component of the actuator, its kinematic and dynamic equations can be established separately.

[0041] Step S1102: Based on the analysis results of each component, establish the coupling relationship of the joint motion of each component;

[0042] The coupling relationship can be mechanical transmission, force transmission, etc., and the coupling relationship between components can be determined according to the mechanical structure and working principle of the actuator.

[0043] Step S1103: Based on the coupling relationship of the joint motion of each component, establish the motion equation of the actuator.

[0044] Among them, the coupling relationship of the joint motion of each component can be substituted into the individual kinematic and dynamic equations of each component to form the motion equations describing the motion of the entire actuator.

[0045] In the above embodiments, by performing dynamic and kinematic analysis on each component of the actuator, the coupling relationship of the joint motion is established, thereby constructing the equation of motion. This approach can provide a deeper understanding of the interactions between the components within the actuator, making the equation of motion more accurately reflect the actual motion of the actuator and providing a more reliable theoretical basis for subsequent actuation state detection.

[0046] In some embodiments, step S120, "establishing a free space propagation loss estimation model after reflection by the actuator when a high-frequency signal propagates in free space," includes the following steps:

[0047] Step S1201: By analyzing the physical mechanism of high-frequency signal propagation in free space, determine the first key parameter affecting free space propagation loss. The first key parameter includes the first propagation distance, the center frequency of the high-frequency signal, and environmental parameters.

[0048] Step S1202: Establish a first quantitative correlation between the first propagation distance, the center frequency of the high-frequency signal, the environmental parameters, and the free space propagation loss;

[0049] Step S1203 is to establish a free space propagation loss estimation model based on the first quantitative correlation relationship when the high-frequency signal propagates in free space and is reflected by the actuator.

[0050] In the above embodiments, the physical mechanism of high-frequency signal propagation in free space is analyzed, key parameters are determined, and quantitative correlations are established, thereby establishing a free-space propagation loss estimation model. This helps to accurately assess the loss of high-frequency signals after reflection by actuators in free space, providing an important basis for establishing reflection echo models and improving the accuracy of simulation of reflection echo characteristics.

[0051] In some embodiments, the free space propagation loss estimation model is shown in the following formula:

[0052] Formula (1);

[0053] in, For free space propagation loss, For the first propagation distance, The center frequency of the high-frequency signal, The speed of light is measured in meters per second (m / s). For the environmental parameters, Free-space propagation loss along the propagation path, including free-space propagation loss along the launch path. and the free space propagation loss of the receiving path The free-space propagation loss of the transmission path can be calculated based on environmental parameters in the signal transmission path. Similarly, the free-space propagation loss of the receiving path can be calculated based on environmental parameters in the signal receiving path. .

[0054] In the above embodiments, a specific formula for the free space propagation loss estimation model is given, which makes the model have a clear mathematical expression, facilitates calculation and operation in practical applications, and improves the practicality and operability of the model.

[0055] In some embodiments, step S120, "establishing an estimation model for the propagation loss of a high-frequency signal within a metal pipe after reflection by the actuator," includes the following steps:

[0056] Step S1204: By analyzing the physical mechanism of high-frequency signal propagation in the metal pipe, determine the second key parameter affecting the propagation loss in the metal pipe. The second key parameter includes the second propagation distance and the attenuation constant.

[0057] Step S1205: Establish a second quantitative correlation between the second propagation distance and the attenuation constant and the propagation loss in the metal pipe;

[0058] Step S1206: Based on the second quantitative correlation, establish an estimation model for the propagation loss of a high-frequency signal within a metal pipe after reflection by the actuator.

[0059] In the above embodiments, the physical mechanism of high-frequency signal propagation within metal pipes is analyzed, key parameters affecting propagation loss are identified, and quantitative correlations are established, thereby creating a propagation loss estimation model within metal pipes. This is of great significance for accurately assessing the loss of high-frequency signals after reflection by actuators within metal pipes, further improving the reflection echo model, and enhancing the simulation capability for reflection echo characteristics under different environments.

[0060] In some embodiments, the propagation loss estimation model inside the metal pipe is shown in the following formula (2):

[0061] Formula (2);

[0062] Where L2 is the propagation loss inside the metal pipe. This is the second propagation distance. Let be the attenuation constant, and e be the natural constant.

[0063] Specifically, to calculate the cutoff frequency for propagation within the metal tube of a circular waveguide, for transverse magnetic modes, the corresponding zero-point coefficient can be changed. After determining the waveguide surface resistance Rs, the attenuation constant in the waveguide propagation model can be calculated. L2 represents the propagation loss through the metal conduit along the propagation path, including the propagation loss through the metal conduit along the transmission path. and the propagation loss of the metal pipe in the receiving path The propagation loss of the metal pipe in the signal transmission path can be calculated based on the environmental parameters of the metal pipe. Similarly, the propagation loss through the metal pipe in the receiving path can be calculated. .

[0064] In the above embodiments, a specific formula for the propagation loss estimation model inside metal pipes is given, so that the model has a clear mathematical expression, which is convenient for calculation and application in actual detection and helps to improve detection efficiency and accuracy.

[0065] In some embodiments, step S130, "based on the multiple actual reflected echo signals, determining the center frequency of each actual reflected echo signal in the multiple actual reflected echo signals using the frequency determination function of the established joint precision ranging algorithm," includes the following steps:

[0066] Step S1301: Use the spectrum subdivision method to subdivide the spectrum of each selected interval in the actual reflected echo signal to obtain the subdivided spectrum;

[0067] Step S1302: Perform spectral correction on the subdivided spectral lines, and determine the center frequency of the corresponding actual reflected echo signal based on the corrected spectral lines.

[0068] Among these methods, the spectrum subdivision method can be used to subdivide the spectrum of a specified segment to improve the spectral resolution; to address the impact of the picket fence effect that still exists after spectrum subdivision, spectral line correction can be performed on the refined spectrum to further improve the accuracy of spectrum estimation.

[0069] In the above embodiments, a spectral subdivision method is used to subdivide the spectrum of the actual reflected echo signal, and the subdivided spectral lines are corrected to determine the center frequency. This method can more accurately obtain the center frequency of the actual reflected echo signal, providing more accurate data support for subsequent calculations of theoretical reflected echo signals and differentiation between true and false echoes, thus improving detection accuracy.

[0070] In some embodiments, step S1301 includes the following steps:

[0071] Step S13011: Perform frequency modulation transformation on a selected interval in the discrete spectrum obtained by sampling and frequency domain analysis of each actual reflected echo signal, and further subdivide the discrete spectrum after frequency modulation transformation to obtain the subdivided spectrum and the subdivided spectral lines;

[0072] The subdivided spectrum is the discrete spectrum after subdivision. The frequency determination function of the combined precision ranging algorithm can adjust the parameters of the received actual reflected signal to obtain the intermediate frequency signal. The intermediate frequency signal is then sampled and analyzed in the frequency domain to obtain the discrete spectrum. The discrete spectrum is then subdivided to obtain the subdivided spectrum and the subdivided spectral lines.

[0073] Correspondingly, step S1302 includes the following steps:

[0074] Step S13021: Perform peak search on the subdivided spectral lines to obtain discrete peak points;

[0075] Step S13022: Based on the discrete peak points and adjacent spectral lines, the bias value is calculated to obtain the center spectral line index bias value;

[0076] Step S13023: Correct the discrete peak points based on the center spectral line index bias to obtain the center frequency of the corresponding actual reflected echo signal.

[0077] Among them, peak search can be performed on the subdivided discrete spectrum, and the center spectral line index bias value can be obtained by taking the discrete peak points of the subdivided spectrum and the adjacent spectral lines and calculating the bias value. The center frequency can then be obtained by spectral line correction.

[0078] The above embodiments detail the specific operational steps of spectrum subdivision and spectral line correction, including frequency modulation transformation of discrete spectrum, peak search, and bias calculation, which makes the method more operable and repeatable, and helps to ensure the consistency and accuracy of detection results.

[0079] In some embodiments, the theoretical reflected echo signal includes a theoretical energy spectral density and a theoretical signal-to-noise ratio range; step S140, "based on the multi-beam actual reflected echo signal associated with the center frequency and the theoretical reflected echo signal, determines the true reflected echo signal through the established true and false echo detection and separation algorithm," includes the following steps:

[0080] Step S1401: Based on the theoretical energy spectral density and the theoretical signal-to-noise ratio range, determine the initial signal-to-noise ratio threshold and the initial energy spectral density threshold;

[0081] Step S1402: For any actual reflected echo signal, perform statistical analysis on the current environmental noise characteristics using a constant false alarm rate algorithm, and dynamically adjust the initial signal-to-noise ratio threshold and the initial energy spectral density threshold based on the statistical results.

[0082] Step S1403: If the actual signal-to-noise ratio and actual energy spectral density of the actual reflected echo signal satisfy the adjusted signal-to-noise ratio threshold and the adjusted energy spectral density threshold, respectively, and its propagation loss characteristics are consistent with the calculation law of propagation loss in the transmitted echo model, then the actual reflected echo signal is determined as the real echo signal.

[0083] Among them, the free-space propagation loss of electromagnetic waves in the transmission path and the return path can be reduced. (i.e., free-space propagation loss along the launch path) and (i.e., free space propagation loss of the receiving path), propagation loss through the metal pipe (i.e., propagation loss through the metal conduit of the launch path) and (i.e., propagation loss through the metal pipe in the receiving path) are incorporated into the reflected echo model, and combined with constant false alarm rate (CFAR) technology, true and false echoes are separated by setting and dynamically adjusting the signal-to-noise ratio (SNR) and energy spectral density (EPD) thresholds, thereby obtaining the ranging output result under ideal working conditions. This application proposes a method combining true and false echo detection and separation techniques, which is implemented through CFAR technology. CFAR technology is used to maintain a constant false alarm probability under different environments.

[0084] Specifically, this method first sets and dynamically adjusts the signal-to-noise ratio (SNR) and energy spectral density (ESD) thresholds to adapt to detection requirements in complex environments. In this way, the system can effectively distinguish between true and false echoes, maintaining high detection accuracy even in the presence of interference and noise. The system first preprocesses the reflected echo signal, then dynamically adjusts the detection threshold using a constant false alarm rate (CFAR) algorithm to differentiate between target echoes and noise. This method can adapt to different environmental conditions, automatically adjusting parameters to improve detection accuracy and reliability. By optimizing the SNR and ESD thresholds, it can increase the probability of target detection while maintaining a low false alarm rate, thus achieving effective separation of true and false echoes in complex environments.

[0085] In the above embodiments, an initial threshold is determined based on the theoretical energy spectral density and theoretical signal-to-noise ratio range of the theoretical reflected echo signal, and the threshold is dynamically adjusted using a constant false alarm rate (CFAR) algorithm to accurately determine the true reflected echo signal. This approach can adapt to different environmental noise conditions, improve the accuracy and reliability of true and false echo detection, and reduce the possibility of misjudgment.

[0086] In some embodiments, the actuation state includes target location information, and step S150, "determining the actuation state of the actuator based on the distance and the dynamic characteristics," includes the following steps:

[0087] Step S1501: Determine the initial position information of the actuator based on the distance;

[0088] Step S1502: Based on the dynamic characteristics, determine the first theoretical position information of the actuator;

[0089] Step S1503: If the distance between the initial position information and the first theoretical position information is greater than a preset distance threshold, the parameters of the motion equation are corrected, and the second theoretical position information is calculated based on the corrected motion process.

[0090] Step S1504: Based on the second theoretical position information, the initial position information is corrected to obtain the target position information of the actuator.

[0091] Among these measures, a high-frequency detection feedback process can be established. Based on the joint precision detection module and true / false wave detection technology established in the above steps, the detection accuracy and model accuracy can be improved. A parameter adjustment module can be established to judge the signals from the true / false wave detection separation unit and the signal interval judgment module, and adjust the parameters. Based on the established dynamic characteristics of the object under test, the joint precision detection module can be adjusted to improve detection accuracy.

[0092] Specifically, the signal receiver receives high-frequency signals, performs signal interval judgment and parameter adjustment based on the characteristics of the reflected echo, the parameter adjustment module extracts the overlapping part of the signal interval from the judgment module and the true and false echo detection and separation unit, and processes the signal based on the joint precision ranging algorithm. The true and false echo detection and separation unit combines constant false alarm rate technology, separates true and false echoes by setting and dynamically adjusting the signal-to-noise ratio and energy spectral density thresholds, outputs the frequency, and obtains the position information of the actuator.

[0093] In the above embodiments, the initial position information of the actuator is determined by distance, and the theoretical position information is determined by combining dynamic characteristics. When the difference between the two is large, the motion equation parameters are corrected to finally obtain accurate target position information. This method can continuously optimize the judgment of the actuator's operating state, improve the accuracy and reliability of operating state detection, and provide a strong guarantee for the stable operation of the power system.

[0094] This application provides a method for close-range, high-precision detection of the operating state of a power system actuator in a high-temperature, high-speed fluid environment. The detection method includes the following steps:

[0095] Step S1: Analyze the measurement object, perform dynamic and kinematic analysis on the actuator of the power system, and establish an online simulation analysis model of its motion characteristics.

[0096] Step S2: For close-range detection in high-temperature and high-speed fluid media working environments, considering the loss caused by multipath effects such as metal reflection, refraction and scattering during propagation, a free space propagation loss estimation model is established.

[0097] Step S3: Considering the influence of waveguide effects on signal propagation in a metal pipe in a high-temperature, high-speed fluid medium working environment, establish a propagation loss estimation model for the metal pipe.

[0098] Step S4: Based on the free space propagation loss estimation model and the propagation loss estimation model inside the metal pipe, and considering clutter interference, establish a non-contact detection reflection echo model for the actuator of the power system under near-range detection.

[0099] Step S5: Establish a joint precision ranging algorithm, use the spectrum subdivision method to subdivide the spectrum of the specified segment to improve the spectrum resolution, and then perform spectral line correction on the refined spectrum.

[0100] Step S6: Establish a true and false echo detection and separation technology, and combine it with constant false alarm rate technology. By setting and dynamically adjusting the signal-to-noise ratio and energy spectral density thresholds, true and false echoes can be identified in complex environments.

[0101] Step S7: Establish a non-contact detection feedback process. Combining the joint precision detection module and true / false wave detection technology established in Steps S6 and S5, a parameter adjustment module is established to improve detection accuracy and model accuracy. The module judges and adjusts the signals from the true / false wave detection separation unit and the signal interval judgment module. Based on the dynamic characteristics of the object under test established in Step S1, the joint precision detection module is adjusted to improve the accuracy of the model.

[0102] like Figure 2As shown, the complete process of high-frequency signal transmission and processing in the detection of the actuator's operating status in a power system is presented. Frequency-modulated (FM) waves are the foundation of high-frequency detection signals (such as high-frequency modulation signals used for ranging). The transmitter is responsible for converting the FM waves into transmittable high-frequency signals, triggering the detection process. The free-space propagation loss model simulates the energy attenuation of high-frequency signals propagating in an unobstructed, ideal space, such as an open area far from metal pipes. The metal pipe propagation loss model targets the metal pipe environment in the power system (such as the hydraulic pipe where the valve core is located), calculating the energy attenuation caused by signal reflection from the metal pipe wall and fluid absorption. The arithmetic unit integrates the two propagation loss models to calculate the total propagation loss of the signal from transmission to the actuator and back to the receiver, providing a basis for subsequent echo signal quality assessment. The propagation path describes the physical path of the signal from the transmitter to the actuator and back to the receiver (including free space and propagation within metal pipes). Noise interference simulates electromagnetic interference and fluid disturbance noise in a high-temperature, high-speed fluid environment, reflecting the complex working conditions of actual detection. The receiver preamplifier amplifies the weak reflected echo signal, suppresses noise interference, and improves signal quality (preparing for subsequent signal processing algorithms). The signal processing algorithm combines the broadcast loss calculation results with the amplified echo signal to perform operations such as true / false echo separation, center frequency extraction, and precise ranging. The output device ultimately outputs the actuator's operating status parameters (such as distance and dynamic characteristics), completing the detection closed loop.

[0103] The testing and feedback process is as follows: Figure 3 As shown, the actuator (such as an RDDV (Rotate Direct Drive Valve)) is the object of detection. The high-frequency wave detector is responsible for transmitting / receiving detection signals and triggering the detection process. The signal receiver receives the reflected echo signal of the high-frequency detection signal (i.e., the high-frequency signal), which is the data entry point for the entire process. The reflected echo characteristic model is used to perform preliminary feature extraction (such as waveform, frequency, energy, etc.) on the reflected echo signal, providing a basis for subsequent judgment. The signal interval judgment module is used to determine whether the reflected echo signal belongs to the valid detection interval (e.g., whether it is the reflected wave of the target valve core, rather than noise) based on the echo characteristics. The parameter adjustment module is used to receive the output of the signal interval judgment module and the true and false wave detection and separation unit, extract the overlapping part of the signal interval (filter invalid signals), and adjust the detection parameters (such as sampling rate, filtering threshold, etc.), combined with the precision detection module and the dynamic characteristics of the actuator. The signal is subdivided (intermediate frequency signal → discrete spectrum → peak search (discrete peak points) → spectrum interval to be subdivided → subdivided spectrum → subdivided spectrum discrete peak points → center spectral line index bias → center frequency), and a high-precision detection result is output. m It can represent the mass of each component in the actuator. It can represent the length of each component, the distance between components, etc.k It can represent the stiffness coefficient, elasticity coefficient, etc. J It can represent the moment of inertia of a rotating component. b It can represent the damping coefficient of the actuator. The overall dynamic characteristic function of the actuator can be represented by these parameters to describe the motion law of the actuator (such as the changes of displacement, velocity, and acceleration over time) and the force balance relationship. The true and false wave detection and separation unit, combined with constant false alarm rate technology, separates the true echo signal and false echo (clutter, interference) by dynamically adjusting the signal-to-noise ratio and energy spectral density threshold. After verifying that the signal is a true echo, it outputs the position information of the actuator (frequency corresponding to position) to complete one detection loop.

[0104] In one embodiment, the close-range distance measurement of the RDDV rotary direct drive valve spool is performed through the following steps:

[0105] First, analyze the object being detected and construct coupled motion equations based on its motion and dynamic characteristics.

[0106] Specifically, the motion characteristics of the RDDV rotary direct drive valve are analyzed, the motion equations of the rotating rod and the direct-acting valve core are established, and the combined motion of the two is analyzed to establish the coupled motion equation.

[0107] Establishment of the motion equations for the rotating rod: The motion is analyzed using the basic principles of rigid body rotational dynamics. The rotating rod is subjected to torque and damping force during rotation. Establishment of the motion equations for the direct-acting valve core: The direct-acting valve core is subjected to spring force, damping force, and external force. Establishment of the coupled motion equations: Based on the relationship between the rotation angle of the rotating rod and the linear displacement of the valve core, coupled motion equations are established.

[0108] Secondly, an estimation model for free-space propagation loss of RDDV rotary direct drive valve under high-temperature and high-speed fluid medium environment is established. The loss in free-space non-contact signal propagation comes from the multipath effect caused by medium disturbance, metal reflection, refraction and scattering. The propagation medium is air. Referring to the Fries transmission formula, the specific loss calculation formula is as follows (3):

[0109] Formula (3);

[0110] in, It is free space propagation loss. It is the propagation distance, measured in meters (m). It is the center frequency of the signal, measured in Hz; It refers to the speed of light, and the unit is m / s.

[0111] Next, an estimation model for the propagation loss of the RDDV rotary direct-drive valve within a metal pipe under high-temperature, high-speed fluid medium conditions was established. Specifically, the cutoff frequency of propagation within the circular waveguide in the metal pipe was calculated. For the transverse magnetic mode, the corresponding zero-point coefficient could be changed, and after determining the waveguide surface resistance Rs, the attenuation constant in the waveguide propagation model was calculated. The formula for calculating path loss (in dB) is shown in formula (4) below:

[0112] Formula (4);

[0113] in, This refers to the propagation loss within the metal pipe. It is a natural constant. For the distance of propagation.

[0114] The effects of free space propagation loss and metal pipe propagation loss are added to address the variable operating conditions.

[0115] Furthermore, a reflection echo model based on the near-field detection of the RDDV rotary direct drive valve is established, and the free space propagation loss of electromagnetic waves in the transmission path and the echo path, as well as the propagation loss of metal pipes, are respectively added to the reflection echo model.

[0116] The coordinates of the high-frequency wave detector are set to 0, and the target coordinates are set to 100mm (unit: millimeters). The simulation output is 100mm. Figure 4 As shown, this is a distance-peak curve. The farther the horizontal axis (the farther the target), the higher the peak value on the vertical axis (the clearer the signal). The isolated narrow peak at a distance of approximately 0 (the red box at 100 mm) is near-range interference (i.e., clutter). The blue undulating curve extending from the near distance (excluding the red box) represents the effective echo signal reflected by the actuator (i.e., the true echo signal). Figure 4 The method presented in this application demonstrates its advantages in close-range detection of RDDV rotary direct drive valves. It can capture the signal characteristics of close-range targets, effectively distinguish clutter from real target signals, and is suitable for harsh environments with high-temperature and high-speed fluids. The simulation accuracy under ideal conditions is high. Although interference distance values ​​appear behind the target setpoint, the energy intensity of the interference values ​​is low and will not interfere with the detection of the real target, indicating that the simulation model meets the design requirements. It can be seen that the method proposed in this application has a significant improvement over traditional close-range detection and is suitable for close-range detection under harsh conditions of high-temperature and high-speed fluid media.

[0117] Based on the distance measurement method proposed in the embodiments of this application, a fixed distance measurement within 185mm is performed on the valve position, and the measured values ​​are statistically analyzed. The statistical analysis results are as follows: Figure 5 As shown, Figure 5The first image in the first row shows the highest peak height and narrowest curve, indicating the most concentrated detection results and the smallest dispersion. This proves that 100mm is the "effective measurement boundary"—the point where the signal is clearest and interference is minimal, representing the "near-range limit" for stable detection by the detector. Comparing the images at greater distances (e.g., 140mm), while the curves remain concentrated, the peak values ​​are slightly lower and the distribution is slightly wider, indirectly demonstrating that the effective measurement boundary of the high-frequency wave detector is 100mm. Simultaneously, due to system hardware limitations, the current high-frequency wave detector has a ranging accuracy error of less than ±0.5mm. This error is within the allowable accuracy range and meets the test conditions. Figure 5 Taking any one of the graphs as an example, the horizontal axis of the probability density curve covers an extremely narrow range (e.g., 99.5 to 100.5), indicating that the fluctuation range of multiple detection results is less than ±0.5 mm. Applying the proposed high-precision high-frequency wave detector ranging algorithm, the valve core position detection distance of the high-frequency wave detector is increased from ≥185 mm to ≥100 mm.

[0118] In this embodiment, the high-frequency wave close-range measurement method does not affect the normal operation of the power system actuator. As a non-contact measurement, it can capture the high-dynamic characteristics of the power system actuator's displacement. Taking the high-frequency wave detection of an RDDV rotary direct-drive valve as an example, without improvement, when using high-frequency waves to perform close-range detection of the valve core position under metallic conditions, there is a detection blind zone of less than 100mm, meaning that effective information about the valve core position cannot be obtained within the range of 0~100mm. Due to the influence of environmental noise, errors will occur when using high-frequency waves to detect the valve core position within the range of 100mm~185mm, making it impossible to accurately read the valve core position information, i.e., the measurement robustness is low. This application applies the proposed high-precision signal processing algorithm to eliminate noise in the original high-frequency wave signal, improving the high-precision detection distance of the high-frequency wave valve core detection method from 185mm to 100mm, achieving a significant improvement in the accuracy and reliability of close-range measurement.

[0119] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0120] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0121] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0122] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected to achieve the purpose of the embodiments of this application according to actual needs. In addition, each functional unit in the embodiments of this application may be fully integrated into one processing unit, or each unit may be a separate unit, or two or more units may be integrated into one unit; the integrated unit may be implemented in hardware or in the form of hardware plus software functional units.

[0123] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause the device automatic test line to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0124] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined to obtain new method embodiments without conflict. The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined to obtain new method embodiments or device embodiments without conflict.

[0125] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for detecting the actuation state of a power system actuator, applied to a detection system, characterized in that, include: The motion equations of the actuator of the power system are established under the working environment of high temperature and high speed fluid medium. The motion equations include the relationship between the displacement, velocity and time of the actuator and the influence of fluid load on the motion parameters. A free space propagation loss estimation model is established for a high-frequency signal propagating in free space and reflected by the actuator; a metal pipe propagation loss estimation model is established for a high-frequency signal propagating in a metal pipe and reflected by the actuator; based on the free space propagation loss estimation model and the metal pipe propagation loss estimation model, a reflection echo model of the actuator is established, and the reflection echo model is used to output the characteristics of the theoretical reflection echo. Transmit a high-frequency signal and receive multiple actual reflected echo signals after being reflected by the actuator; based on the multiple actual reflected echo signals, determine the center frequency of each actual reflected echo signal in the multiple actual reflected echo signals through the frequency determination function of the established joint precision ranging algorithm; Based on the center frequencies of the multiple actual reflected echo signals, the theoretical reflected echo signal is calculated using the reflected echo model; based on the multiple actual reflected echo signals and the theoretical reflected echo signal associated with the center frequencies, the true reflected echo signal is determined using the established true and false echo detection and separation algorithm. Based on the real reflected echo signal, the distance between the detection system and the actuator is determined by the ranging function of the joint precision ranging algorithm; the dynamic characteristics of the actuator are determined by the motion equation; and the operating state of the actuator is determined based on the distance and the dynamic characteristics.

2. The method according to claim 1, characterized in that, The establishment of the motion equations for the actuators of the power system under high-temperature and high-speed fluid medium working environment includes: Dynamic and kinematic analyses were performed on each component of the actuator in the power system operating under high-temperature and high-speed fluid medium conditions, and the analysis results for the corresponding components were obtained. Based on the analysis results of each component, the coupling relationship of the joint motion of each component is established; Based on the coupling relationship of the joint motion of each component, the motion equation of the actuator is established.

3. The method according to claim 1, characterized in that, The established model for estimating the free space propagation loss of a high-frequency signal after reflection by the actuator when it propagates in free space includes: By analyzing the physical mechanism of high-frequency signal propagation in free space, the first key parameter affecting free space propagation loss is determined. The first key parameter includes the first propagation distance, the center frequency of the high-frequency signal, and environmental parameters. Establish a first quantitative correlation between the first propagation distance, the center frequency of the high-frequency signal, the environmental parameters, and free-space propagation loss; Based on the first quantitative correlation, an estimation model for the free space propagation loss of a high-frequency signal after reflection by the actuator is established.

4. The method according to claim 3, characterized in that, The free space propagation loss estimation model is shown in the following formula: ； in, For free space propagation loss, For the first propagation distance, The center frequency of the high-frequency signal, At the speed of light, These are the environmental parameters.

5. The method according to claim 1, characterized in that, The method for establishing a propagation loss estimation model for a high-frequency signal propagating within a metal pipe after reflection by the actuator includes: By analyzing the physical mechanism of high-frequency signal propagation inside metal pipes, a second key parameter affecting propagation loss inside metal pipes is determined. The second key parameter includes the second propagation distance and the attenuation constant. Establish a second quantitative correlation between the second propagation distance and the attenuation constant and the propagation loss inside the metal pipe; Based on the second quantitative correlation, an estimation model for the propagation loss of a high-frequency signal within a metal pipe after reflection by the actuator is established.

6. The method according to claim 5, characterized in that, The propagation loss estimation model inside the metal pipe is shown in the following formula: ； Where L2 is the propagation loss inside the metal pipe. This is the second propagation distance. Let be the attenuation constant, and e be the natural constant.

7. The method according to claim 1, characterized in that, The determination of the center frequency of each actual reflected echo signal in the multi-beam actual reflected echo signal, based on the frequency determination function of the established joint precision ranging algorithm, includes: The spectrum is subdivided in a selected interval of each actual reflected echo signal using a spectrum subdivision method to obtain the subdivided spectrum. The subdivided spectral lines are spectrally corrected, and the center frequency of the corresponding actual reflected echo signal is determined based on the corrected spectral lines.

8. The method according to claim 7, characterized in that, The method of using spectral subdivision to subdivide the spectrum of a selected interval in each of the actual reflected echo signals results in subdivided spectral lines including: For each actual reflected echo signal, a selected interval in the discrete spectrum obtained by sampling and frequency domain analysis is subjected to frequency modulation transformation. The discrete spectrum after frequency modulation transformation is further subdivided to obtain the subdivided spectrum and the subdivided spectral lines. The step of performing spectral line correction on the subdivided spectral lines and determining the center frequency of the corresponding actual reflected echo signal based on the corrected spectral lines includes: Peak search is performed on the subdivided spectral lines to obtain discrete peak points; Based on the discrete peak points and adjacent spectral lines, the bias value of the center spectral line index is obtained by calculating the bias value. The center frequency of the corresponding actual reflected echo signal is obtained by correcting the discrete peak points based on the center spectral line index bias.

9. The method according to claim 1, characterized in that, The theoretical reflected echo signal includes the theoretical energy spectral density and the theoretical signal-to-noise ratio range; the real reflected echo signal is determined by using an established true / false echo detection and separation algorithm based on the multiple actual reflected echo signals correlated with the center frequency and the theoretical reflected echo signal, including: Based on the theoretical energy spectral density and the theoretical signal-to-noise ratio range, determine the initial signal-to-noise ratio threshold and the initial energy spectral density threshold. For any actual reflected echo signal, the current environmental noise characteristics are statistically analyzed using a constant false alarm rate algorithm, and the initial signal-to-noise ratio threshold and the initial energy spectral density threshold are dynamically adjusted based on the statistical results. If the actual signal-to-noise ratio and actual energy spectral density of the actual reflected echo signal meet the adjusted signal-to-noise ratio threshold and the adjusted energy spectral density threshold respectively, and its propagation loss characteristics are consistent with the calculation law of propagation loss in the transmitted echo model, then the actual reflected echo signal is determined as the true echo signal.

10. The method according to claim 1, characterized in that, The actuation state includes target position information, and determining the actuation state of the actuator based on the distance and the dynamic characteristics includes: Based on the distance, the initial position information of the actuator is determined; Based on the aforementioned dynamic characteristics, the first theoretical position information of the actuator is determined; If the distance between the initial position information and the first theoretical position information is greater than a preset distance threshold, the parameters of the motion equation are corrected, and the second theoretical position information is calculated based on the corrected motion process. Based on the second theoretical position information, the initial position information is corrected to obtain the target position information of the actuator.

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