Aircraft equipment dynamic simulation and control system and method based on EHSV signals

Abstract

The present application relates to the technical field of dynamic simulation, in particular to an aviation equipment dynamic simulation and control system and method based on EHSV signals, which comprises a current signal driving module, a main control angle generating module, a transmission link mapping module, a synchronous calibration module and a voltage feedback output module. The present application realizes full digitalization of high-lift system from signal driving to simulation feedback by using current signals throughout the whole process of equipment simulation, eliminates a large number of hardware dependencies, reduces test risks and development costs, relies on main control angle parameters in series with multiple levels of links, flexibly adjusts transmission ratio and phase parameters, ensures that different structures and sensor types can complete dynamic response in the synchronous link, improves state synchronization accuracy through trend calibration processing in the cycle, realizes parallel feedback of multiple types of signals through multi-channel output, improves development efficiency through data mapping and feedback process, and enhances simulation working condition adaptability and historical data tracing ability.

Description

Technical Field

[0001] This invention relates to the field of dynamic simulation technology, and in particular to a dynamic simulation and control system and method for aviation equipment based on EHSV signals. Background Technology

[0002] Dynamic simulation is a method for mathematically modeling and predicting the behavior of physical or control systems over time. It is widely used in various technical fields such as aerospace, automotive, robotics, and industrial automation. In the context of traditional aerospace equipment dynamic simulation and control systems, this involves modeling and testing the dynamic behavior of aerospace equipment. Typically, linear or nonlinear dynamic equations are constructed, combined with manually set simulated control signals and changes in physical parameters, to predict the equipment's response under different flight conditions.

[0003] Existing systems rely on mathematical models and preset parameters, resulting in discrepancies between the simulation process and actual equipment operation. Changes in the transmission link structure and phase relationship cannot be flexibly adjusted. The testing process is heavily dependent on hardware, leading to high development costs and risks. There is limited support for sensor types, inconvenience in switching between different working conditions and transmission ratio parameters, poor synchronization of sensor signals, and difficulty in ensuring simulation efficiency and response consistency in complex environments. Furthermore, the ability to track state and restore dynamic data during the implementation phase is limited, affecting the simulation accuracy and development efficiency of high-lift systems. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and propose a dynamic simulation and control system and method for aviation equipment based on EHSV signals.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a dynamic simulation and control system for aviation equipment based on EHSV signals, the system comprising: The current signal drive module analyzes the current response at the EHSV input terminal based on the input current signal, judges the periodic current change collected by the analog input board, and converts it into the rotation state of the PDU actuator according to the transmission relationship, thereby obtaining the PDU rotation speed characterization quantity. The master control angle generation module calculates the rotation of the PDU output shaft based on the PDU rotation speed characterization quantity, analyzes the state of each transmission link, judges the angle change and historical continuity in each cycle, optimizes the data accumulation process, and obtains the PDU master control angle state quantity. The transmission link mapping module compares the flow direction of the master control angle in the left and right transmission links based on the PDU master control angle state quantity, determines the influence of the transmission ratio, adjusts the right angle direction to be consistent with the high lift system structure, and obtains sensor angle mapping information. Based on the sensor angle mapping information, the synchronization calibration module compares the changes of each angle between the current cycle and the previous cycle, determines the difference between the sensor output and the main control angle synchronization, adjusts the offset angle on one side, and obtains the left and right angle synchronization results. Based on the left and right angle synchronization results, the voltage feedback output module calculates the response change of the data in the RVDT board feedback, analyzes the amplitude of the angle data after sine and cosine processing, judges the synchronization with the simulation cycle, and obtains the sensor voltage feedback state.

[0006] The present invention improves upon this invention by including the following: the PDU rotation speed characterization quantities include rotation trend indicators, instantaneous speed distribution, and rotation cycle identifiers; the PDU master control angle state quantities include cumulative angle elements, historical angle trajectories, and angle continuity attributes; the sensor angle mapping information includes left angle mapping units, right angle mapping units, and angle mapping association attributes; the left and right angle synchronization results include angle synchronization parameters, offset correction identifiers, and synchronization constraint information; and the sensor voltage feedback state includes sine feedback information, cosine feedback information, and feedback phase parameters.

[0007] The present invention is improved in that the current signal driving module includes: The current sequence acquisition submodule analyzes the current channel at the EHSV signal input terminal of the high-lift system based on the input current signal, determines the current change trend between sampling points of the analog input board within the simulation cycle, compares the amplitude changes at consecutive moments, identifies key waveform features in the current trajectory, calculates the duration of increase and decrease in each time period, and obtains the current time sequence vector. The channel response analysis submodule analyzes the fluctuation characteristics of continuous segments based on the current time series vector, calculates the change gradient within each sampling segment, compares the change direction of each segment, determines the switching mode between data segments, identifies the response pattern, and obtains the channel response trend classification quantity. The execution state mapping submodule calculates the mapping structure between the corresponding category and the transmission relationship parameters based on the channel response trend classification quantity, optimizes the rotation direction and angular velocity evolution logic, determines the state switching of the channel signal within the period, summarizes the mapping data, and obtains the PDU rotation speed characterization quantity.

[0008] The present invention is improved in that the master control angle generation module includes: The rotation change calculation submodule calculates the rotation change amplitude of the PDU output shaft within the simulation cycle based on the PDU rotation speed characterization quantity, determines the rotation direction and change segment of each channel within the cycle, compares the advancement trend of each channel, identifies rotation changes with temporal correlation characteristics, and obtains the output shaft rotation increment sequence. The angle continuity judgment submodule compares the time interval sequence based on the output shaft rotation increment sequence, analyzes the axial change trend within the continuous period, judges the angle switching and reversal phenomena in each time interval, identifies the periodic segments that maintain a consistent change trend, and obtains the angle trajectory continuity identifier group. The angle accumulation structure construction submodule adjusts the corresponding periodic segments based on the angle trajectory continuity identifier group, sorts and reorganizes the angle data in the same direction according to the timestamp, determines the reversal point in the accumulation process, corrects the accumulation path, and obtains the PDU master control angle state quantity.

[0009] The present invention is improved in that the transmission link mapping module includes: The angle flow direction determination submodule detects the main control angle parameters of the left and right transmission links based on the PDU main control angle state quantity, extracts the order of each node according to the link topology number, compares the order of nodes before and after according to the direction of change of angle parameters of each link, identifies the propagation direction of angle parameters, and obtains the angle flow direction distribution structure. The direction mapping adjustment submodule, based on the angle flow distribution structure, determines the direction status of the right-side transmission link nodes, compares each node on the right with the set structural symmetry benchmark, analyzes the direction reversal between the left and right links, identifies the nodes that need to adjust their direction, adjusts the positive and negative expressions of the associated angle parameters, updates the sign bit of the node direction identifier, and obtains the angle direction adjustment index. The sensor angle construction submodule, based on the angle direction adjustment index, calculates the angle change rate, transmission ratio, and direction state of each node in the left and right transmission links, analyzes the angle contribution relationship of the transmission levels, and uses the following formula: ; By integrating the parameters of each node and optimizing the angle output allocation, sensor angle mapping information is obtained. ,in, This represents the number of levels in the transmission link. Representing the The rate of angle change of the stage transmission structure. Representing the The transmission ratio of the multi-stage transmission structure Representing the Directional consistency modulation amount of the stage transmission structure. Representing the The directional deviation amplitude of the transmission structure. The length of the time integration window during the angle construction process.

[0010] The present invention is improved in that the synchronous calibration module includes: The angle change extraction submodule analyzes the angle data of the left and right sensors in the current and previous simulation cycles based on the sensor angle mapping information, compares the changes of corresponding positions in the angle sequence of each cycle, judges the continuity and trend of the angle data, calculates the angle change of each side between two cycles, and obtains the angle change trend sequence. The angle difference judgment submodule compares the changes in the angles of the left and right sensors with the changes in the main control angle based on the angle change trend sequence, judges the difference between each side and the main control angle, identifies the sensor side with offset, calculates the current offset, and obtains the angle offset difference parameter. The offset expression correction submodule compares the changes in the master control angle and the offset side sensor angle with the master control angle based on the angle offset difference parameter, calculates the angle difference in each simulation cycle, obtains the calibration mean, and compensates and corrects the original angle on the offset side to obtain the left and right angle synchronization result.

[0011] The present invention is improved in that the voltage feedback output module includes: Based on the left and right angle synchronization results, the response channel calculation submodule calculates the flow order of the signal in each response stage inside the RVDT board, determines the input flow corresponding to the sine and cosine transformation nodes, compares the sequential changes of each stage between channels in the response process, identifies the characteristic performance of the board excitation signal path, and obtains the board response characteristic parameter group. The amplitude signal processing submodule analyzes the sine and cosine transformation nodes based on the board response characteristic parameter group, calculates the amplitude data change corresponding to each node, compares the amplitude performance after the conversion of the left and right sensor angle data, judges the fluctuation characteristics between the difference nodes, identifies the disturbance parameters in the amplitude conversion process, and obtains amplitude stability expression data. The synchronization relationship discrimination submodule determines the output order of sine and cosine signals within the simulation period based on the amplitude stability expression data, compares the synchronization relationship between the periodic structure of the excitation signal and the simulation time slice, identifies the existence of delay or fluctuation segments, and obtains the sensor voltage feedback status.

[0012] The present invention is improved in that the PDU output shaft refers to the output part of the PDU drive mechanism, which is the actuator that transmits power to the transmission link; the state of each transmission link refers to the operating state of the PDU and the subsequent mechanism under the simulation cycle; and the data accumulation process refers to how the PDU output shaft angle collected in each cycle is accumulated and stored.

[0013] The method for dynamic simulation and control of aircraft equipment based on EHSV signals, which is executed based on the aforementioned dynamic simulation and control system for aircraft equipment based on EHSV signals, includes the following steps: S1: Based on the input current signal, analyze the current response at the EHSV input terminal, determine the periodic current change collected by the analog input board, and convert it into the rotation state of the PDU actuator according to the transmission relationship to obtain the PDU rotation speed characterization quantity. S2: Based on the PDU rotation speed characterization quantity, calculate the PDU output shaft rotation, analyze the state of each transmission link, determine the angle change and historical continuity in each cycle, optimize the data accumulation process, and obtain the PDU master control angle state quantity; S3: Based on the PDU master control angle state quantity, compare the flow direction of the master control angle in the left and right transmission links, determine the influence of the transmission ratio, adjust the right angle direction to be consistent with the high lift system structure, and obtain sensor angle mapping information; S4: Based on the sensor angle mapping information, compare the changes of each angle between the current cycle and the previous cycle, determine the difference between the sensor output and the main control angle synchronization, adjust the offset angle on one side, and obtain the left and right angle synchronization result; S5: Based on the left and right angle synchronization results, calculate the response change of the data in the RVDT board feedback, analyze the amplitude of the angle data after sine and cosine processing, determine the synchronization with the simulation cycle, and obtain the sensor voltage feedback state.

[0014] Compared with the prior art, the advantages and positive effects of the present invention are as follows: In this invention, by using current signals throughout the entire equipment simulation process, the high-lift system achieves full digitization from signal driving to simulation feedback, eliminating a large amount of hardware dependence, reducing testing risks and development costs. Relying on the master control angle parameters to connect multiple levels of links, the transmission ratio and phase parameters can be flexibly adjusted to ensure that different structures and sensor types can complete dynamic responses within the synchronous link. In-cycle trend calibration processing improves the state synchronization accuracy, multi-channel output enables parallel feedback of multiple types of signals, and the data mapping and feedback process improves development efficiency and enhances the adaptability of simulation conditions and the ability to trace historical data. Attached Figure Description

[0015] Figure 1 This is a system flowchart of the present invention; Figure 2 This is a flowchart of the current signal driving module in this invention; Figure 3 This is a flowchart of the master angle generation module in this invention; Figure 4 This is a flowchart of the transmission link mapping module in this invention; Figure 5 This is a flowchart of the synchronous calibration module in this invention; Figure 6 This is a flowchart of the voltage feedback output module in this invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0017] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, in the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0018] All user-related information involved in this invention (including but not limited to biometric information, identity verification information, behavioral data, device information, and other data that can be used for identity verification and personalized services) is collected and processed with the user's full knowledge and voluntary consent. The collection, storage, and use of all information strictly comply with applicable national and regional laws and regulations, and meet relevant data protection standards and policy requirements. The use of data is limited to purposes necessary for providing the technical services of this invention, and reasonable technical and management measures will be taken to ensure the security and confidentiality of users' personal information in terms of information protection and privacy.

[0019] Example Please see Figure 1 This invention provides a technical solution for a dynamic simulation and control system for aviation equipment based on EHSV signals, comprising: The current signal drive module analyzes the current channel response at the EHSV signal input terminal of the high lift system based on the input current signal, judges the changing trend of the current sequence collected by the analog input board during the simulation cycle, and gradually converts the continuously collected current change trajectory into the rotation state of the PDU actuator according to the transmission relationship, and adjusts the mapping between the channel and the rotation relationship to obtain the PDU rotation speed characterization quantity. The master control angle generation module calculates the rotational change of the PDU output shaft within the simulation cycle based on the PDU rotational speed characterization quantity, analyzes the state of each transmission link of the PDU mechanism under simulation control conditions, judges the continuity of the output shaft angle change in each cycle with the previous data, optimizes the data accumulation method of each cycle, maintains the stability of the angle derivation sequence, and obtains the PDU master control angle state quantity. The transmission link mapping module compares the flow direction of the master control angle parameters in the left and right transmission links based on the PDU master control angle state quantity, determines the influence of the transmission ratio parameters on the angle change in the left and right transmission links, adjusts the right angle direction to correspond with the high lift system structure, establishes the sensor angle expression on the left and right sides based on the transmission relationship parameter distribution results, and obtains sensor angle mapping information. The synchronization calibration module compares the changing trends of each angle in the current simulation cycle with those in the previous cycle based on sensor angle mapping information, determines the difference between the output of the left and right position sensors and the main control angle in the synchronization state, adjusts the angle expression of the offset side, and gradually corrects the output of each side according to the dynamic trend of the main control link to obtain the synchronization result of the left and right angles. Based on the synchronization results of the left and right angles, the voltage feedback output module calculates the response changes of the data in each stage of the voltage feedback process of the RVDT board, analyzes the amplitude expression of the left and right sensor angle data after sine and cosine processing, optimizes the excitation signal output strategy, and judges the synchronization of the output signal with the simulation cycle to obtain the sensor voltage feedback state.

[0020] The PDU rotation speed characterization parameters include rotation trend indicators, instantaneous speed distribution, and rotation cycle identifier. The PDU master control angle state parameters include cumulative angle elements, historical angle trajectory, and angle continuity attributes. The sensor angle mapping information includes left angle mapping unit, right angle mapping unit, and angle mapping association attributes. The left and right angle synchronization results include angle synchronization parameters, offset correction identifier, and synchronization constraint information. The sensor voltage feedback status includes sine feedback information, cosine feedback information, and feedback phase parameters.

[0021] This also includes: The velocity is calculated as vFPduIn=(F_EHSV_In) 432.11 / 60) fpdu_Ratio(converts current to rotational speed in rps); The angle is calculated as sFPduIn=F_EHSV_In 432.11 6 (0.009 current converted to angle change); The calculations related to the slats are the same as above; the calculations for the left and right position sensors of the flaps are as follows: The Python code is as follows: sFPduOut=sFPduIn fpdu_Ratio / PDU_RATIO; sFpsuOut_L=sFPduOut / FLAP_PSU_RATIO l_Ratio; sFpsuOut_R=-sFPduOut / FLAP_PSU_RATIO r_Ratio; Slat left and right position sensor calculations: sSPduOut=sSPduIn spdu_Ratio / PDU_RATIO; sSpsuOut_L=sSPduOut / SLAT_PSU_RATIO slat_l_Ratio; sSpsuOut_R=-sSPduOut / SLAT_PSU_RATIO slat_r_Ratio; The execution process is as follows: The system is activated when |EHSV current|>0.4mA, and the changes in PDU motor speed and angle are calculated. The flap slat position sensor angle is calculated using the transmission ratio (PDU_RATIO, FLAP_PSU_RATIO, SLAT_PSU_RATIO, etc.). Feed back the sin and cos voltage values ​​corresponding to the flap and slat position sensor signals to the target aircraft; Adjust the output of each channel by considering the phase slope ratio parameter.

[0022] Hardware connection related information: The dynamic simulation system test bench and the target machine are connected by cables; The potentiometer board provides two potentiometer signals to the target device through PotiSIM: ch1 and ch2 channels (handle position simulation). The analog input board acquires the EHSV current signals of the target aircraft's flaps and slats through Vin_01: ch1 and ch2 channels; The VDT board simulates flap and slat position sensors, PDU speed simulation, etc. through the rvdt_0200x:ch1 and ch2 channels. Combined with excitation voltage, transformer ratio, and current position value, it provides sin and cos voltage value feedback to the target machine. Parameter configuration: PDU_RATIO=9.537 2-------------#PDU transmission ratio; FLAP_PSU_RATIO=144 0.92-------------#FlapPSU gear ratio; SLAT_PSU_RATIO=84 5 / 3-------------#SlatPSU gear ratio; Initialization phase: The simulation output of the flap and slat surface is zero, and the flap and slat position sensor is 15° to the left and 345° to the right; Operation phase: The simulation model is run every cycle to calculate and update the PDU speed and position sensor angle; Output limiting: All resolver simulation sensor angle outputs are sampled in 360°.

[0023] In the current signal drive module, the high-lift system refers to key systems on the aircraft wing, such as flaps and slats, used to change lift, specifically for adjusting aerodynamic performance during takeoff and landing; the current channel response refers to the current change characteristics at the EHSV (electro-hydraulic servo valve) signal input terminal, i.e., the dynamic response process of the input current to the system; the analog input board is a hardware board (signal acquisition device) used to acquire EHSV current signals, realizing the digital acquisition of EHSV current; the change trend in the current sequence refers to the trajectory of the EHSV input current signal over time within the simulation period, including the rate of change, amplitude, waveform, etc.; the transmission relationship refers to the mechanical or dynamic transmission relationship (such as speed, transmission ratio) between the PDU (power drive unit) and the actuator; the rotational state of the PDU actuator refers to the rotational motion of the PDU (power drive unit) at the current moment (such as speed, angular velocity, rotation direction); the channel and rotation relationship mapping refers to the dynamic correspondence between the EHSV current channel signal and the PDU rotational state (such as the current-speed, rotation direction correspondence).

[0024] In the master control angle generation module, the PDU output shaft refers to the output part (shaft) of the PDU drive mechanism, which is the direct actuator for transmitting power to the transmission link; simulation control conditions refer to various input boundary conditions and control parameters (such as cycle timing, boundary constraints, etc.) set in the software simulation; the state of each transmission link refers to the actual operating state of the PDU and subsequent mechanisms (gears, connecting rods, etc.) under the simulation cycle, including kinematics, position, velocity, etc.; the output shaft angle refers to the angle formed by the rotation of the PDU output shaft over time, which is the master control variable for the subsequent derivation of the entire link; the data accumulation method refers to how the PDU output shaft angle collected in each cycle is accumulated and stored (such as integration, superposition).

[0025] In the transmission link mapping module, the master control angle parameter refers to the angle of the PDU master control output shaft, which is the basis for the derivation of the left and right transmission links; the left and right transmission links refer to the transmission paths connected to the left and right sides of the high-lift system (such as the left flap and the right flap), respectively, and are split by the PDU output; the influence on angle changes refers to the differences in the sensor angle derivation caused by parameters such as the transmission ratio and reversibility of different links; the right-side angle direction refers to the directional attribute (such as positive and negative, direction reversal) of the output angle of the right transmission link compared with the left side; structural correspondence means that the output of the right link must be strictly consistent with the physical structure of the high-lift system (such as mirror image, symmetry); the transmission relationship parameters refer to the parameters describing the mechanical power transmission efficiency, ratio, etc. (such as gear ratio, linkage relationship, etc.); the left and right side sensors are angle sensors installed at the ends of the left and right transmission links respectively to detect angle changes in real time.

[0026] In the synchronous calibration module, the current simulation cycle is the time slice of the current simulation process, which is the basic unit of simulation discretization; the change trend of each angle refers to the rate and direction of change of each sensor angle within the current cycle, and the dynamic trajectory compared with the previous cycle; the difference in the synchronous state refers to the angle values ​​of the left and right position sensors that should be synchronized, the offset and asynchronous phenomenon compared with the master control angle; the angle expression of the offset side refers to the sensor angle value that needs to be compensated and adjusted on the side where the angle deviation (error) is detected; the dynamic trend of the master control link refers to the time evolution trajectory of the entire transmission link driven by the master control angle of the PDU, which serves as a correction reference standard; the output of each side refers to the angle data results output by the left and right position sensors within the cycle.

[0027] In the voltage feedback output module, the voltage feedback process refers to the entire process of inputting the angle signal into the RVDT (rotary transformer) board, processing it with sine and cosine to generate an analog voltage output; response change refers to the changes in the feedback characteristics of each processing stage (input, transformation, output) of the RVDT board in response to the input angle signal; amplitude expression refers to the amplitude value and amplitude change when the angle data is converted into a voltage signal after sine and cosine conversion; excitation signal output strategy refers to the output method and timing arrangement of the RVDT excitation signal (excitation waveform, beat, amplitude, etc.) designed for simulation matching; synchronization refers to whether the output signal (voltage feedback) is consistent with the simulation cycle timing and whether it can continuously reflect the process of angle change.

[0028] Please see Figure 2 The current signal drive module includes: The current sequence acquisition submodule analyzes the current channel at the EHSV signal input terminal of the high-lift system based on the input current signal, determines the current change trend between sampling points of the analog input board within the simulation cycle, compares the amplitude changes at consecutive moments, identifies key waveform features in the current trajectory, calculates the duration of increase and decrease in each time period, and obtains the current time sequence vector. Upon receiving the current signal from the EHSV input, the signal is sent to the analog input board for periodic sampling. The simulation period is set to a fixed time step. The current amplitude at each time point is extracted sequentially throughout the period. The current trend is calculated based on the difference in current amplitude between adjacent sampling points. A trend array is formed by calculating the difference between all sampling points, recording the increase or decrease of current in each time segment. Segments with continuous positive changes are marked as increasing segments, and segments with continuous negative changes are marked as decreasing segments. The start and end points of each segment are extracted, and the cumulative change value and duration within the segment are calculated. Furthermore, the total duration and corresponding total change amplitude experienced during continuous increasing or decreasing changes are statistically analyzed to identify whether the segment belongs to a slow rise or a rapid change type. The average change rate of every two adjacent sampling points within a segment is calculated. If the rate exceeds a set slope threshold, it is... The current waveform is identified as either a fast-response segment or a stable segment. The slope threshold is set with reference to the average rate of change of historical simulation data, and a fixed percentage is added to the average value as the threshold. Key inflection point positions are further extracted from the entire trend array. These points usually correspond to the peak or valley values ​​in the current trajectory. The current waveform is judged to have a continuous rise or fall pattern by identifying the change state between inflection points. During the identification process, the change amplitude between the segments needs to be compared. If the current change amplitude between two consecutive segments exceeds a certain value, it is marked as a sudden response. This value is calculated by averaging the segments with the largest changes in the last few hundred simulation data. This method can identify trajectories such as those that rise rapidly after an initial stable segment or waveforms that suddenly turn from falling to rising. After all segment data is marked, each segment is composed of a structural vector according to its time sequence, change trend, change amplitude, and duration, forming a current time series vector. This vector serves as the basis for subsequent response analysis and processing.

[0029] The channel response analysis submodule analyzes the fluctuation characteristics of continuous segments based on the current time series vector, calculates the change gradient within each sampling segment, compares the change direction of each segment, determines the switching mode between data segments, identifies the response pattern, and obtains the channel response trend classification quantity. First, all segment data are traversed, and the ratio of the change amplitude to the duration of each segment is calculated to obtain the change gradient. This gradient represents the response speed within the segment. Each gradient value is directionally divided according to its sign: positive values ​​correspond to rising segments, negative values ​​to falling segments, and gradients with extremely small absolute values ​​are identified as slow change segments. Simultaneously, the gradient directions of the entire sequence are sequentially arranged, and direction switching points are identified. If the change direction reverses between adjacent segments, it is marked as a switching point, and the specific time and location of this switching are recorded. The jump value is calculated based on the change amplitude before and after the segment. If the jump value exceeds a set amplitude threshold, the switching is considered a sudden change response. The threshold value is set based on the average value and range of common jumps in previous simulation data. After the directional switching information of all segments is identified, the total number of times the direction changes, the frequency of direction reversals, and the peak-valley interval period in each segment are statistically analyzed. These statistical features are used to further analyze the channel response mode. For each segment, information such as its change rate, direction switching frequency, and cumulative change amplitude is combined to classify it and identify it as one of the preset response trend labels. The labels are set according to simulation experience, such as stable rise, sudden drop, and gradual jitter. Each type of label corresponds to a set of feature conditions. During the analysis, each segment is compared to see if it meets the conditions. Once it does, the corresponding label is assigned to the segment. The entire current change trajectory is parsed into several response trend segments, each with a response trend label. This set of response trend classification values ​​serves as the input basis for subsequent transmission structure mapping.

[0030] The execution state mapping submodule calculates the mapping structure between the corresponding category and the transmission relationship parameters based on the channel response trend classification quantity, optimizes the rotation direction and angular velocity evolution logic, determines the state switching of the channel signal within the period, summarizes the mapping data, and obtains the PDU rotation speed characterization quantity. Based on the predefined correspondence rules between classification types and PDU motion states, the corresponding rotation direction and velocity expression are found for each type of response trend. For example, a "stable upward" response corresponds to uniform forward rotation, a "sudden downward" response corresponds to short-term rapid reverse rotation, and a "gradually changing jittering" response corresponds to low-speed reciprocating oscillation. For each type of response trend, an adjustment factor is introduced during the mapping process to fine-tune the velocity amplitude. The average change amplitude is extracted based on the current change characteristics of the current segment and combined with the mapping factor to obtain the magnitude of the simulated rotation velocity corresponding to that segment. Then, the direction of this velocity is determined and combined into a directional velocity output value. A full-cycle analysis is performed on the simulation cycle consisting of multiple segments, generating directional rotation velocity values ​​segment by segment. The sequence is concatenated to form a complete speed change sequence. Segments with abrupt changes in direction are marked and the number of such segments and switching frequency are counted. In segments with dense direction changes, it is evaluated whether they exceed the set direction change limit. If the limit is exceeded, segments with smaller amplitudes are merged. The amplitude difference between adjacent speed segments is used to determine whether they are merged into the same direction output segment. After merging, the adjusted speed sequence is regenerated. In the speed output sequence, the speed amplitude is amplified or reduced by combining the transmission ratio parameter to form a PDU rotation speed sequence that conforms to the mechanical transmission structure. The duration period of each speed value is marked by a timestamp, forming a data structure with multiple components such as time period identifier, rotation direction, and angular velocity value. This structure is the PDU rotation speed characterization quantity.

[0031] Please see Figure 3 The master angle generation module includes: The rotation change calculation submodule calculates the rotation change amplitude of the PDU output shaft within the simulation cycle based on the PDU rotation speed characterization quantity, determines the rotation direction and change segment of each channel within the cycle, compares the advancement trend of each channel, identifies rotation changes with temporal correlation characteristics, and obtains the output shaft rotation increment sequence. The rotational displacement is obtained by multiplying the PDU rotational speed and duration in each time segment within the simulation cycle. The speed data for the entire cycle is traversed, and the rotational amount is divided into segments according to the simulation sampling step size. This allows for the calculation of the rotational change amplitude of the PDU output axis within that cycle. For each channel, the sign change in its speed sequence is recorded, and the rotational direction is marked by combining the time position. By judging the positive and negative change trends of the speed within adjacent sampling segments, it is confirmed whether a rotational direction switch has occurred in the current cycle. If the speed signs are continuously consistent, it is considered a single-direction advancement segment; if the speed changes from positive to negative or vice versa, it is defined as a direction switching segment. A set of change segments is constructed by combining the rotational direction markers of each continuous advancement segment with the cumulative rotation angle. After all channels have undergone the above processing, the advancing direction of each channel within the same period is compared according to the time sequence. If both channels show continuous positive rotation and the difference in angle increment does not exceed 5 degrees, the advancing trend is considered to be consistent. Conversely, if one channel is in the positive direction and the other is in the negative direction and the difference in absolute value of angle increment exceeds 10 degrees, the advancing trend is considered to be deviated. All comparisons are performed segment by segment with the simulation step size as the basic unit. The channel rotation increments are further compared on the time axis to identify the increment segments with synchronous characteristics within the same simulation period. That is, the channel segments with synchronously increasing or decreasing angle changes within the same time period are judged to have correlation characteristics. All increment segments are integrated in time sequence to form the output shaft rotation increment sequence arranged in time order.

[0032] The angle continuity judgment submodule is based on the output shaft rotation increment sequence, compares the time period order, analyzes the axial change trend within the continuous period, judges the angle switching and reversal phenomenon in each time period, identifies the periodic segments that maintain a consistent change trend, and obtains the angle trajectory continuity identifier group. The start and end times of each incremental data segment are sorted to ensure the correct time sequence. The sorted time series are then analyzed sequentially, comparing the signs of the increments between adjacent time segments. If the angle increments of two consecutive time segments are both positive or both negative, the trend is considered consistent; if the signs are opposite, a reversal occurs. An angle reversal detection flag is set, marking a reversal event when the sign of the increment changes, and recording the corresponding time point and the angle difference before and after the reversal. If the difference exceeds 20 degrees, it is marked as a significant reversal; changes less than 5 degrees are ignored. This method is used to analyze the output axis increment sequence throughout the entire cycle. A comprehensive analysis is conducted, comparing the continuity of angle trends across all periodic segments. Segments with three or more consecutive changes in the same direction are grouped into consistent trend segments. If there are three or more consecutive upward segments with an angle increment of no less than 10 degrees for each segment, the segment is defined as a stable upward segment. For discontinuous positions, such as a sudden reversal after an upward trend that lasts for more than two periods, the original trend is interrupted and a new trend segment begins. All continuous segments with the same direction of change that are not interrupted are integrated to form clearly marked angle trajectory continuity identification groups. Each group records the start and end time, direction of change, total angle change, and whether a reversal event exists.

[0033] The angle accumulation structure construction submodule is based on the angle trajectory continuity identifier group, adjusts the corresponding period segments, sorts and reorganizes the angle data in the same direction according to the timestamp, judges the reversal point in the accumulation process, corrects the accumulation path, and obtains the PDU master control angle state quantity. The time period corresponding to each group of continuous identifiers is redivided as a unit. All segments in the same direction are aggregated, and segments with the same direction of change are arranged sequentially to construct an angle accumulation path. For identified reversal points, the ratio of the angle increment before and after the reversal is judged. If the angle increment before the reversal is more than three times that after the reversal, the reversal is determined to be a short-term disturbance and ignored, and the original accumulation direction is retained. If the angle increment after the reversal accounts for more than 50%, the accumulation direction is redefined and the starting value is reset. For each accumulation segment, the angle increment of each period segment is calculated one by one and accumulated in chronological order to form an increasing or decreasing angle accumulation trajectory. If an angle increment occurs during the accumulation process... When the direction is reversed, the accumulation is paused and the current total angle is recorded. At the same time, the subsequent angles are re-accumulated from the new starting point. The entire process requires comparing the reverse angle values ​​of all reversal points to determine whether the conditions for re-accumulation have been met. The condition is based on the ratio of the total angle increment of two adjacent segments being greater than a set threshold. This threshold is set to 2.5 times according to the simulation environment. All judgments are based on the actual angle difference. The continuously accumulated angle values ​​are combined with time information and arranged in sequence to form an accumulation structure composed of multiple segments. Each segment in this structure is accompanied by the accumulation start point, end point, accumulation direction, total accumulated angle, and whether it is reversed. These are integrated into the PDU master control angle status quantity for reference in the master control link angle output.

[0034] Please see Figure 4 The transmission link mapping module includes: The angle flow direction determination submodule detects the main control angle parameters of the left and right transmission links based on the PDU master control angle state quantity, extracts the order of each node according to the link topology number, and identifies the propagation direction of the angle parameters by comparing the order of the nodes before and after the change direction of the angle parameters of each link, thus obtaining the angle flow direction distribution structure. The angle data of the nodes connected to the PDU output in the transmission links on both the left and right sides are extracted respectively. Each segment of angle data in the main control angle state quantity is classified by period number, and a unique topological sequence number is assigned to each node in the corresponding link structure for each number. For example, let the node numbers on the left be L1, L2, L3, and on the right be R1, R2, R3. The connection relationship between each number is recorded. Then, in each cycle, the angle value of the current node is read and compared with the angle value of the previous cycle. The difference between the two is calculated and it is determined whether the change is positive or negative. If the current cycle angle value of a node is 82° and the previous cycle angle is 79°, then the direction of the node is determined to be positive, and the direction state is recorded. Then, the difference in number between two nodes on the same link is judged. For example, in the L1→L2 direction, the number is from small to large. If the angle change direction is also positive, then the direction sequence of the link is consistent. Conversely, if the number is from small to large but the angle is negative, it is considered that there is reverse transmission. For the direction, the above judgment is performed on all nodes of the left and right links to form a direction comparison sequence of consecutive nodes in each link. The corresponding node pairs of the left and right links are then compared synchronously. If the angle of the left node L1 changes by +3° while the angle of the corresponding right node R1 changes by -3°, it is determined that the two nodes have a directional opposition relationship, and their angle change direction is marked as "mirror transmission". All node pairs with consistent or opposing directions are assigned to different sets, and the number of nodes corresponding to each relationship is counted. If there are three consecutive nodes in the right link that are completely opposite to the left direction, it is determined to be an overall direction reversal link. After the judgment is completed, the directional relationship of all nodes is recorded and stored in the distribution structure data table according to the link topology order. This structure table records the number, direction symbol, angle difference with adjacent nodes, and corresponding flow direction identifier of each node, which is used for subsequent direction mapping correction to obtain the angle flow direction distribution structure.

[0035] The direction mapping adjustment submodule is based on the angle flow distribution structure. It determines the direction status of the right-side transmission link nodes, compares each node on the right with the set structural symmetry benchmark, analyzes the direction reversal between the left and right links, identifies the nodes that need to be adjusted, adjusts the positive and negative expressions of the associated angle parameters, updates the sign bit of the node direction identifier, and obtains the angle direction adjustment index. The orientation status identifiers of each node in the right-hand link are extracted sequentially and compared one by one with the ideal orientation status in the structural symmetry reference. This reference is a mirror mapping of the orientation status of the left-hand nodes; that is, if the orientation of node L1 is +1, then the R1 reference should be -1. The orientation is determined by comparing the current state of the right-hand node with the reference value. If they are equal, the current orientation is retained; otherwise, the node is marked as needing orientation adjustment. For all nodes needing adjustment, their numbers are extracted and recorded in the orientation adjustment index. Then, the sign of the angle data corresponding to this type of node is switched; that is, if the original angle change is -2.5°, it is changed to +2.5°, and the value is rewritten to the current period's angle cache table of that node. To avoid misjudgment, a permissible threshold for direction error must be set before direction determination. The default value is ±1°. That is, if the angle difference between two nodes is 2.5° but their direction signs are the same, they are still considered to be the same direction. If the difference exceeds 1° and the direction signs are opposite, it is considered that adjustment is required. After all direction adjustment actions are completed, the adjusted node direction mark is updated and written to the corresponding node structure identifier table. At the same time, all adjusted nodes are cumulatively numbered to generate the final direction adjustment index structure. The index content includes: node number, original direction, adjusted direction, adjustment cycle number, and whether the adjustment is passed by error determination. This index serves as the input basis for the next stage of angle synchronization correction, resulting in the angle and direction adjustment index.

[0036] The sensor angle construction submodule, based on the angle direction adjustment index, calculates the angle change rate, transmission ratio, and direction state of each node in the left and right transmission links, analyzes the angle contribution relationship of the transmission levels, and uses the following formula: ; By integrating the parameters of each node and optimizing the angle output allocation, sensor angle mapping information is obtained. ,in, This represents the number of levels in the transmission link. Representing the The rate of angle change of the stage transmission structure. Representing the The transmission ratio of the multi-stage transmission structure Representing the Directional consistency modulation amount of the stage transmission structure. Representing the The directional deviation amplitude of the transmission structure. The time integration window length during the angle construction process is used to convert the angle change rate into the corresponding angle change amount; The sensor angle mapping information is the sum of the actual angle contribution of each node in the dynamic link to the sensor end. It represents the angle quantity that the left and right sensors collect in real time, reflecting the actual mechanical motion state. It includes both physical angle changes and the real simulation results after technical details are corrected due to structural symmetry, direction adjustment, and the influence of multi-level link structure. When performing sensor angle construction operations based on the angle direction index adjustment, it is necessary to monitor the angle change rate of each node in the left and right transmission links. Structural transmission ratio , Directional consistency modulation amount and direction deviation amplitude state quantity Normalization was performed, where, The rate of angle change within the simulation period, expressed in ° / s, is calculated by the simulation unit by dividing the angle change amplitude within the period by the period length. In the current sample, the node angular velocities are recorded sequentially as follows: , , The process is processed using the min-max normalization method, and the normalized result is: , , ; Structural transmission ratio Read directly from the design parameters, namely: , , ; Directional consistency modulation amount The direction adjustment index is assigned a value, where the value is 1 if it is consistent with the main control direction, and -1 if it is opposite to the main control direction. Here, it is... , , ; Directional deviation amplitude state quantity Characterizing node directional stability, the original data is obtained by calculating the multi-cycle directional switching frequency: , , After Z-score standardization, the normalized result is: , , ; Then, all parameters are substituted into the formula, where the summation symbol represents the summation of angle contributions across all transmission level nodes, and the multiplication term... This represents the equivalent angular change within a unified time window, resulting from the combined effects of the rate of angular change, the structural transmission ratio, and directional consistency. The denominator is... This represents the amplitude control factor modulated to suppress directional instability. The first-level node operation is as follows: ; The second-level node operation is as follows: ; The third-level node operation is: ; The sum of the three terms is: ; Performing the absolute value operation on this value yields: ; The following judgment intervals are preset: like This is then divided into a weak transmission section, representing output signal attenuation caused by insufficient angle drive or link direction mismatch; Defined as a stable transmission section, it is used to indicate that the angle transmission state of the transmission link in the current simulation cycle is in a state of moderate speed, strong directional consistency, and low disturbance impact. like Defined as an enhanced transmission section, it reflects a link response that is too high but does not exceed the structural safety margin; like If the result falls into the abnormal transmission section, it indicates a potential risk of excessive speed or direction modulation failure. If the result falls into the stable transmission section, it serves as the constructed sensor angle mapping information. It not only has the numerical representation function of the current cycle angle output intensity, but also determines the initial input of the signal amplitude modulation in the subsequent voltage feedback stage, thus completing the continuous mapping closed loop from angle construction to voltage feedback in the signal link of the simulation system.

[0037] Please see Figure 5 The synchronous calibration module includes: The angle change extraction submodule analyzes the angle data of the left and right sensors in the current and previous simulation cycles based on the sensor angle mapping information, compares the changes of corresponding positions in the angle sequence of each cycle, judges the continuity and trend of the angle data, calculates the angle change of each side between two cycles, and obtains the angle change trend sequence. Based on sensor angle mapping information, the angle data sequences of the left and right sensors in the current simulation cycle and the previous simulation cycle are read respectively. Each sampling point of each sensor in the two cycles is compared one-to-one, and the difference is calculated and recorded as the angle change value of the current sampling point. For each set of angle values, the sensor number and timestamp are used as key values ​​for pairing and calculation. For example, if the angle sequence of the left sensor in the current cycle is [16.0, 18.2, 20.5], and the previous cycle was [14.5, 16.3, 18.9], then the change is [+1.5, +1.9, +1.6]. This process is repeated to obtain the angle change sequence for the entire cycle. Then, the sign of adjacent data points in the angle change sequence is determined. If two consecutive points have the same positive or negative change, they are considered consecutive. If the sign is reversed, it is judged as a trend interruption point. The period position of the interruption point is marked separately. Then, the total value of the angle increment in the current period is calculated and its trend direction is recorded according to the left and right channels. The trend of angle change is judged by the set continuity judgment standard. The standard is set as follows: if the angle change sign of three consecutive sampling points is consistent and each change is greater than 0.8 degrees, the change trend of the period is considered to be a stable growth trend. If there is alternation of signs or a certain change is less than 0.2 degrees, it is marked as an unclear trend segment. All trend states are arranged in time axis order to form the left and right angle change trend sequences. The change direction, change amplitude and change continuity mark in each sampling period are organized into structured data to obtain the angle change trend sequence.

[0038] The angle difference judgment submodule compares the changes in the angles of the left and right sensors with the changes in the main control angle based on the angle change trend sequence, judges the difference between each side and the main control angle, identifies the sensor side with offset, calculates the actual offset, and obtains the angle offset difference parameter. Based on the angle change trend sequence, the angle changes of the left and right sensors are compared with the main control angle change in each cycle. The difference between the angle changes of the left sensor and the main control angle, and the difference between the right sensor and the main control angle, are calculated separately. The angle changes of the three sensors within each simulation cycle are normalized, and the absolute value of the difference is taken. For example, if the left sensor changes by +1.7 degrees and the main control angle changes by +2.1 degrees in a certain cycle, the difference is 0.4 degrees; if the right sensor changes by +1.0 degrees in the same cycle, the difference is 1.1 degrees. By comparing the magnitude of the left and right differences, it is determined which side of the sensor has a greater difference in angle with the main control in the current cycle. A difference judgment threshold is introduced during the comparison process. This threshold is determined based on the... The setting is 0.8 degrees. When the angle difference between one side and the main control exceeds this threshold and the difference on the other side is lower than this threshold, it is determined that there is an offset on that side. If the difference is greater than this threshold for three consecutive cycles, it is marked as a stable offset state. All data on the offset side are marked as offset sensor side, and the offset direction (positive offset or negative offset), offset amplitude and offset occurrence cycle number are recorded. At the same time, the difference between the offset sides in each cycle is accumulated and the average offset is calculated. This average offset is the current offset difference parameter. After all parameters are sorted, a structured data table is generated. The table contains fields such as cycle number, left difference, right difference, offset side number, offset direction, offset amplitude, and cumulative offset cycle number, to obtain the angle offset difference parameter.

[0039] The offset expression correction submodule, based on the angle offset difference parameter, compares the changes in the master control angle with the offset-side sensor angle and the master control angle, calculates the angle difference for each simulation cycle, and uses the following formula: ; Obtain calibration mean The original angle on the offset side is compensated and corrected to obtain a synchronized left and right angle result. Indicates the number of simulation cycles. Indicates the first The values ​​of the master control parameters for each simulation cycle. Indicates the first The values ​​of the offset side parameters for each simulation cycle. Indicates the first With the The changes in the main control parameters between simulation cycles; The calibration mean refers to the arithmetic mean obtained by taking the absolute value of the results obtained in each simulation cycle and taking the difference between the master control parameter and the offset parameter in each cycle, and taking into account the periodic changes of the master control parameter. This is a comprehensive correction value used to calibrate the offset parameter. The calibration mean reflects the overall deviation between the offset parameter and the master control parameter over a period of time, and incorporates the changing trend of the master control parameter to achieve quantitative correction of the offset parameter.

[0040] It is the difference between the master control angle and the offset side angle, representing the instantaneous offset error of the current cycle. If the offset angle is lower than the master control angle, it is a positive value, and otherwise it is a negative value. In essence, it is a static error or offset. This is the change in the master control angle within the current period, representing the intensity of the trend change in the master control angle. If the master control angle changes rapidly (such as a large increase or decrease), and the offset side fails to synchronize in time, it will cause a more serious relative error. This item is to enhance the influence of the trend in error analysis. The sum of the three items and the absolute value is a composite error measure that integrates "current static offset + master control dynamic trend response", emphasizing the intensity of the total offset. The overall measure is the "periodic synchronization error of the offset side angle relative to the master control angle", where the synchronization error includes not only the static angle difference, but also the dynamic response lag effect caused by the changing trend of the master control angle. The difference between the master control angle and the offset sensor angle is corrected, and the angle value sequence of the master control angle over five consecutive simulation cycles is obtained. The values ​​are 32, 36, 40, 42, and 45, respectively, and the offset angle value is obtained. The values ​​are 30, 32, 34, 35, and 37 respectively. Then, the change in the master control angle is calculated. The values ​​are 4, 4, 2, and 3 respectively. The original data are standardized using linear normalization. The minimum value of the master control angle is 32°, and the maximum value is 45°. The minimum value of the offset angle is 30°, and the maximum value is 37°. The minimum value of the master control change is 2°, and the maximum value is 4°. After normalizing the master control angle, the resulting sequence is: 0, 0.308, 0.615, 0.769, 1; After normalizing the offset angle, the resulting sequence is as follows: 0, 0.286, 0.571, 0.714, 1; After normalizing the master change, the resulting sequence is: 1, 1, 0, 0.5; The normalization process is based on After execution, the normalized values ​​replace the original angle data, and the corresponding... , , Substitute into the formula to calculate: The results of the expression for each cycle are calculated as follows: ; ; ; ; The sum of the four terms yields a total value of 1.621. Given that the simulation cycle count is 4, the calibration mean is: ; The intervals are divided as follows: when This indicates a small deviation, which can be considered a minor error and does not require significant correction. when This indicates a slight systematic shift, suitable for low-amplitude corrections; when This indicates a significant deviation within a continuous period, requiring a medium-amplitude synchronous calibration. when This indicates a strong offset or the presence of periodic cumulative errors, and a high-amplitude correction strategy should be adopted. The current results fall into the medium correction range, indicating that the continuous deviation of the offset angle relative to the master control angle cannot be ignored and needs to be addressed. Periodic correction operations are performed based on the baseline. By weighting and superimposing this value onto the offset side angle expression, alignment adjustment under the normalization level is completed, thereby further organizing the correction angle sequence with consistent input, direction, and timing.

[0041] Please see Figure 6 The voltage feedback output module includes: The response channel calculation submodule calculates the flow order of the signal in each response stage within the RVDT board based on the left and right angle synchronization results, determines the input flow corresponding to the sine and cosine transformation nodes, compares the sequential changes of each stage between channels during the response process, identifies the characteristic performance of the board's excitation signal path, and obtains the board's response characteristic parameter set. The synchronization angle data output from the left and right sensors is read from the current simulation cycle and input into the RVDT board's signal simulation process. Following the board's internal signal processing structure, the signal passes through response stages such as excitation input, angle modulation, sine and cosine function conversion, voltage encoding, and output buffering. Each response node is numbered, and the flow order of the angle signal between nodes is recorded. For each signal's process from input to output, the node numbers are sequentially marked according to time slices, and a complete signal flow path table is established. At the sine and cosine transformation node, it is determined whether the input process meets the angle synchronization condition, i.e., whether the phases of the left and right input angles arrive within a limited time window. If the left sine input node receives data in the 3rd time slice while the corresponding right node is delayed until the 5th time slice, this is recorded as an input delay event. Then, the order of signal transmission at each stage of the response process is compared between the left and right channels. The system pays particular attention to discrepancies in the processing order of conversion nodes, modulation nodes, and buffer nodes. If a channel immediately enters the output stage after a sine wave conversion while another channel remains in the encoding stage, it is considered a process misalignment. Simultaneously, the processing delay at each node for each channel is measured. If the node delay exceeds a set baseline value of 5ms, it is marked as a process anomaly. Further feature extraction is performed on the excitation signal path to determine whether the excitation signal and angle signal on each path maintain a one-to-one correspondence and whether there is cross-interference. By comparing the number of conversions and delays on each excitation path, a feature vector for each response path is constructed. This vector records the number of nodes, the excitation signal dwell time, whether cross-cycle conversion occurs, and the duration of the output voltage stabilization phase. The feature vectors of all response paths are summarized and stored by channel to generate a set of board response feature parameters.

[0042] The amplitude signal processing submodule analyzes the sine and cosine transformation nodes involved based on the board response characteristic parameter group, calculates the amplitude data change corresponding to each node, compares the amplitude performance after the conversion of the left and right sensor angle data, judges the fluctuation characteristics between the difference nodes, identifies the disturbance parameters in the amplitude conversion process, and obtains amplitude stability expression data. The channel sequence involving sine and cosine function conversion nodes is selected from the feature parameters. The mapping relationship between the input angle value and the output amplitude value at each conversion node is extracted. The angle input value corresponding to each node in each cycle and the amplitude output value obtained after conversion are recorded. For example, for a node with an input angle of 30°, its sine output should be 0.5. If the actual output is 0.52, the amplitude deviation is calculated to be +0.02. This deviation is recorded in the amplitude variation dataset of that node. This operation is repeated for the sine and cosine nodes corresponding to the left and right sensors respectively. The amplitude values ​​obtained by the same node in different channels are compared side by side. The comparison method is the absolute value of the difference between the output amplitudes of the left and right channels under the same angle input. If this value exceeds the set tolerance of 0.03, it is recorded as amplitude difference. The nodes with amplitude differences are sorted according to their numbers in the board structure. The number of consecutive occurrences of the differences is extracted, and the set of nodes that recur in different periods is counted. The amplitude fluctuation range of the nodes in multiple periods is further analyzed. If the amplitude change range of the same node exceeds 0.05 in five consecutive periods, it is marked as a disturbance node. The maximum amplitude change of the upper and lower boundaries of the disturbance node during the amplitude change process is extracted. If the change is greater than 0.5V within the maximum output voltage range (±5V) of the simulation system, the node is defined as a node with low amplitude stability. All disturbance nodes and nodes with large amplitude changes are classified and their corresponding channels, node numbers, amplitude change ranges, and fluctuation period numbers are marked in the data structure to obtain amplitude stability expression data.

[0043] The synchronization relationship discrimination submodule determines the output order of sine and cosine signals within the simulation period based on amplitude stability expression data, compares the synchronization relationship between the periodic structure of the excitation signal and the simulation time slice, identifies the existence of delay or fluctuation segments, and obtains the sensor voltage feedback status. The sine and cosine signal outputs recorded in each simulation cycle are sorted by time. Their occurrence times in the output signal queue are extracted and paired with the time slice numbers in the simulation system. The comparison method is whether the generation time of each output voltage signal falls within the simulation time slice window corresponding to that cycle. If the output signal time exceeds the upper limit of the current cycle's time slice, it is recorded as an output delay event. Further statistical analysis is performed on the distribution differences of delay events between sine and cosine signals. If the number of delays for either the sine or cosine signal in the same simulation cycle is significantly higher than the normal jitter range, or if the cumulative delay between the two exceeds 10% of the excitation signal cycle (e.g., 4ms), it is recorded as a synchronization anomaly event. If the cumulative delay exceeds one cycle of the excitation signal (e.g., 20ms), it should be directly determined as a signal output link anomaly or system failure, rather than simply treated as an asymmetric output trend. This should be addressed before triggering a system failure. Under the premise of judgment, the synchronization relationship between the excitation signal periodic structure and the simulation time slice structure is compared to analyze whether there is a single excitation period corresponding to multiple simulation time slices, or multiple excitation periods overlapping output in the same simulation time slice. If the above-mentioned period misalignment, overlap or omission phenomenon is detected, the corresponding time slice is marked as a synchronization interruption state. At the same time, the voltage stability duration of all signal output segments is checked. If the voltage signal amplitude fluctuates more than three times in a simulation cycle or the maximum fluctuation amplitude exceeds 0.4V, it is considered that there is an amplitude stability problem. For all time slices marked as delayed output, overlapping output or fluctuating output, the corresponding channel and signal type are recorded and registered as abnormal segments in the feedback structure. The synchronization consistency status of each channel in all simulation cycles, the length of the existing delay time, whether period misalignment and fluctuation abnormality occur, etc., are sorted out to obtain the sensor voltage feedback status.

[0044] A dynamic simulation and control method for aviation equipment based on EHSV signals includes the following steps: S1: Based on the input current signal, analyze the current response at the EHSV input terminal, determine the periodic current change collected by the analog input board, and convert it into the rotation state of the PDU actuator according to the transmission relationship to obtain the PDU rotation speed characterization quantity. S2: Based on the PDU rotation speed characterization quantity, calculate the PDU output shaft rotation, analyze the state of each transmission link, determine the angle change and historical continuity in each cycle, optimize the data accumulation process, and obtain the PDU master control angle state quantity; S3: Based on the PDU master control angle state quantity, compare the flow direction of the master control angle in the left and right transmission links, determine the influence of the transmission ratio, adjust the right angle direction to be consistent with the high lift system structure, and obtain sensor angle mapping information; S4: Based on the sensor angle mapping information, compare the changes of each angle between the current cycle and the previous cycle, determine the difference between the sensor output and the main control angle synchronization, adjust the offset angle on one side, and obtain the left and right angle synchronization results; S5: Based on the synchronization results of the left and right angles, calculate the response change of the data in the feedback of the RVDT board, analyze the amplitude of the angle data after sine and cosine processing, determine the synchronization with the simulation cycle, and obtain the sensor voltage feedback state.

[0045] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments that can be applied to other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A dynamic simulation and control system for aviation equipment based on EHSV signals, characterized in that, The system includes: The current signal drive module analyzes the current response at the EHSV input terminal based on the input current signal, judges the periodic current change collected by the analog input board, and converts it into the rotation state of the PDU actuator according to the transmission relationship, thereby obtaining the PDU rotation speed characterization quantity. The master control angle generation module calculates the rotation of the PDU output shaft based on the PDU rotation speed characterization quantity, analyzes the state of each transmission link, judges the angle change and historical continuity in each cycle, optimizes the data accumulation process, and obtains the PDU master control angle state quantity. The transmission link mapping module compares the flow direction of the master control angle in the left and right transmission links based on the PDU master control angle state quantity, determines the influence of the transmission ratio, adjusts the right angle direction to be consistent with the high lift system structure, and obtains sensor angle mapping information. Based on the sensor angle mapping information, the synchronization calibration module compares the changes of each angle between the current cycle and the previous cycle, determines the difference between the sensor output and the main control angle synchronization, adjusts the offset angle on one side, and obtains the left and right angle synchronization results. Based on the left and right angle synchronization results, the voltage feedback output module calculates the response change of the data in the RVDT board feedback, analyzes the amplitude of the angle data after sine and cosine processing, judges the synchronization with the simulation cycle, and obtains the sensor voltage feedback state.

2. The dynamic simulation and control system for aviation equipment based on EHSV signals according to claim 1, characterized in that, The PDU rotation speed characterization parameters include rotation trend indicators, instantaneous speed distribution, and rotation cycle identifiers. The PDU master control angle state parameters include cumulative angle elements, historical angle trajectories, and angle continuity attributes. The sensor angle mapping information includes left angle mapping units, right angle mapping units, and angle mapping association attributes. The left and right angle synchronization results include angle synchronization parameters, offset correction identifiers, and synchronization constraint information. The sensor voltage feedback state includes sine feedback information, cosine feedback information, and feedback phase parameters.

3. The dynamic simulation and control system for aviation equipment based on EHSV signals according to claim 1, characterized in that, The current signal driving module includes: The current sequence acquisition submodule analyzes the current channel at the EHSV signal input terminal of the high-lift system based on the input current signal, determines the current change trend between sampling points of the analog input board within the simulation cycle, compares the amplitude changes at consecutive moments, identifies key waveform features in the current trajectory, calculates the duration of increase and decrease in each time period, and obtains the current time sequence vector. The channel response analysis submodule analyzes the fluctuation characteristics of continuous segments based on the current time series vector, calculates the change gradient within each sampling segment, compares the change direction of each segment, determines the switching mode between data segments, identifies the response pattern, and obtains the channel response trend classification quantity. The execution state mapping submodule calculates the mapping structure between the corresponding category and the transmission relationship parameters based on the channel response trend classification quantity, optimizes the rotation direction and angular velocity evolution logic, determines the state switching of the channel signal within the period, summarizes the mapping data, and obtains the PDU rotation speed characterization quantity.

4. The dynamic simulation and control system for aviation equipment based on EHSV signals according to claim 1, characterized in that, The master control angle generation module includes: The rotation change calculation submodule calculates the rotation change amplitude of the PDU output shaft within the simulation cycle based on the PDU rotation speed characterization quantity, determines the rotation direction and change segment of each channel within the cycle, compares the advancement trend of each channel, identifies rotation changes with temporal correlation characteristics, and obtains the output shaft rotation increment sequence. The angle continuity judgment submodule compares the time interval sequence based on the output shaft rotation increment sequence, analyzes the axial change trend within the continuous period, judges the angle switching and reversal phenomena in each time interval, identifies the periodic segments that maintain a consistent change trend, and obtains the angle trajectory continuity identifier group. The angle accumulation structure construction submodule adjusts the corresponding periodic segments based on the angle trajectory continuity identifier group, sorts and reorganizes the angle data in the same direction according to the timestamp, determines the reversal point in the accumulation process, corrects the accumulation path, and obtains the PDU master control angle state quantity.

5. The dynamic simulation and control system for aviation equipment based on EHSV signals according to claim 1, characterized in that, The transmission link mapping module includes: The angle flow direction determination submodule detects the main control angle parameters of the left and right transmission links based on the PDU main control angle state quantity, extracts the order of each node according to the link topology number, compares the order of nodes before and after according to the direction of change of angle parameters of each link, identifies the propagation direction of angle parameters, and obtains the angle flow direction distribution structure. The direction mapping adjustment submodule, based on the angle flow distribution structure, determines the direction status of the right-side transmission link nodes, compares each node on the right with the set structural symmetry benchmark, analyzes the direction reversal between the left and right links, identifies the nodes that need to adjust their direction, adjusts the positive and negative expressions of the associated angle parameters, updates the sign bit of the node direction identifier, and obtains the angle direction adjustment index. The sensor angle construction submodule, based on the angle direction adjustment index, calculates the angle change rate, transmission ratio, and direction state of each node in the left and right transmission links, analyzes the angle contribution relationship of the transmission levels, and uses the following formula: ； By integrating the parameters of each node and optimizing the angle output allocation, sensor angle mapping information is obtained. ,in, This represents the number of levels in the transmission link. Representing the The rate of angle change of the stage transmission structure. Representing the The transmission ratio of the multi-stage transmission structure Representing the Directional consistency modulation amount of the stage transmission structure. Representing the The directional deviation amplitude of the transmission structure. The length of the time integration window during the angle construction process.

6. The dynamic simulation and control system for aviation equipment based on EHSV signals according to claim 1, characterized in that, The synchronous calibration module includes: The angle change extraction submodule analyzes the angle data of the left and right sensors in the current and previous simulation cycles based on the sensor angle mapping information, compares the changes of corresponding positions in the angle sequence of each cycle, judges the continuity and trend of the angle data, calculates the angle change of each side between two cycles, and obtains the angle change trend sequence. The angle difference judgment submodule compares the changes in the angles of the left and right sensors with the changes in the main control angle based on the angle change trend sequence, judges the difference between each side and the main control angle, identifies the sensor side with offset, calculates the current offset, and obtains the angle offset difference parameter. The offset expression correction submodule compares the changes in the offset side sensor angle and the main control angle based on the angle offset difference parameter, calculates the angle difference in each simulation cycle, obtains the calibration mean, and compensates and corrects the original angle on the offset side to obtain the left and right angle synchronization result.

7. The dynamic simulation and control system for aviation equipment based on EHSV signals according to claim 1, characterized in that, The voltage feedback output module includes: Based on the left and right angle synchronization results, the response channel calculation submodule calculates the flow order of the signal in each response stage inside the RVDT board, determines the input flow corresponding to the sine and cosine transformation nodes, compares the sequential changes of each stage between channels in the response process, identifies the characteristic performance of the board excitation signal path, and obtains the board response characteristic parameter group. The amplitude signal processing submodule analyzes the sine and cosine transformation nodes based on the board response characteristic parameter group, calculates the amplitude data change corresponding to each node, compares the amplitude performance after the conversion of the left and right sensor angle data, judges the fluctuation characteristics between the difference nodes, identifies the disturbance parameters in the amplitude conversion process, and obtains amplitude stability expression data. The synchronization relationship discrimination submodule determines the output order of sine and cosine signals within the simulation period based on the amplitude stability expression data, compares the synchronization relationship between the periodic structure of the excitation signal and the simulation time slice, identifies the existence of delay or fluctuation segments, and obtains the sensor voltage feedback status.

8. The dynamic simulation and control system for aviation equipment based on EHSV signals according to claim 1, characterized in that, The PDU output shaft refers to the output part of the PDU drive mechanism, which is the actuator that transmits power to the transmission link. The state of each transmission link refers to the operating state of the PDU and the subsequent mechanism during the simulation cycle. The data accumulation process refers to how the PDU output shaft angle collected in each cycle is accumulated and stored.

9. A method for dynamic simulation and control of aviation equipment based on EHSV signals, characterized in that, The method is used to implement the dynamic simulation and control system for aviation equipment based on EHSV signals as described in any one of claims 1-8, and includes the following steps: S1: Based on the input current signal, analyze the current response at the EHSV input terminal, determine the periodic current change collected by the analog input board, and convert it into the rotation state of the PDU actuator according to the transmission relationship to obtain the PDU rotation speed characterization quantity. S2: Based on the PDU rotation speed characterization quantity, calculate the PDU output shaft rotation, analyze the state of each transmission link, determine the angle change and historical continuity in each cycle, optimize the data accumulation process, and obtain the PDU master control angle state quantity; S3: Based on the PDU master control angle state quantity, compare the flow direction of the master control angle in the left and right transmission links, determine the influence of the transmission ratio, adjust the right angle direction to be consistent with the high lift system structure, and obtain sensor angle mapping information; S4: Based on the sensor angle mapping information, compare the changes of each angle between the current cycle and the previous cycle, determine the difference between the sensor output and the main control angle synchronization, adjust the offset angle on one side, and obtain the left and right angle synchronization result; S5: Based on the left and right angle synchronization results, calculate the response change of the data in the RVDT board feedback, analyze the amplitude of the angle data after sine and cosine processing, determine the synchronization with the simulation cycle, and obtain the sensor voltage feedback state.

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