CN113219858B - Semi-physical simulation verification platform for electric hydrostatic actuator - Google Patents
Semi-physical simulation verification platform for electric hydrostatic actuator Download PDFInfo
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Abstract
The invention discloses a semi-physical simulation verification platform for an electro-hydrostatic actuator, which comprises: the system comprises an upper computer and a real-time target machine; the real-time target machine is used for operating a controller simulating an original electro-hydrostatic actuator; or for running a model simulating the electro-hydrostatic actuator body, the actuator and the load conditions; the upper computer builds a control algorithm for real-time target machine downloading through a modeling interface based on imaging; or the upper computer is used for building a model for simulating the body, the driver and the load condition of the electro-hydrostatic actuator for the real-time target machine to download. The platform can quickly verify a control algorithm under the condition that a controller is not designed, and can also verify the performance of the controller when the electric hydrostatic actuator body is not machined, so that the development process of the electric hydrostatic actuator is shortened, the test verification efficiency is accelerated, and the time and the cost are saved; moreover, the platform has rich interfaces, and can meet the multi-disciplinary energy domain verification requirement of the electro-hydrostatic actuator.
Description
Technical Field
The invention relates to the technical field of servo actuators, in particular to a semi-physical simulation verification platform for an electro-hydrostatic actuator.
Background
An Electro-hydrostatic Actuator (EHA) is used as a leading actuating system of a future aircraft, and the design and optimization of the EHA have very important significance. The electric hydrostatic actuator can improve the survival capability of the airplane, improve the reliability and maintainability of the airplane and reduce the maintenance cost. Therefore, the adoption of the electro-hydrostatic actuator can not only greatly improve the performance of the airplane, but also save the maintenance cost. With the development and maturity of the technology, the electro-hydrostatic actuator has wide application prospect as a driving actuator in industrial and civil fields such as automobiles, engineering machinery, robots and the like.
The electro-hydrostatic actuator is mainly classified into 3 types according to the speed regulation mode, namely a constant pump variable-speed type, a variable pump constant-speed type and a variable pump variable-speed type. The electro-hydrostatic actuating system mainly comprises a controller, a driver, a servo motor, a hydraulic pump, a hydraulic valve, an actuating cylinder, various sensors, an oil tank assembly and the like.
The principle of the electro-hydrostatic actuator is shown in figure 1, and the electro-hydrostatic actuator belongs to a constant displacement pump variable-speed electro-hydrostatic actuator. The electric hydrostatic actuator is a closed hydraulic system with a pump directly driving a hydraulic cylinder, and realizes servo control of the hydraulic cylinder by adjusting the output flow of the pump by adopting a volume control principle. The hydraulic pump is a quantitative plunger pump, and the flow control is realized by adjusting the rotating speed and the steering of the motor pump through servo control. The electric hydrostatic actuator adopts a three-loop control framework of a current loop, a rotating speed loop and a position loop.
The electronic device of the electro-hydrostatic actuator comprises a system controller 1 and a motor power driver 2, wherein the system controller 1 collects feedback signals of all paths and receives a flight control computer instruction, executes a corresponding control algorithm and sends a control instruction of the electro-hydrostatic actuator; the motor power driver 2 amplifies the power of the command from the system controller 1, and drives the motor 3 to operate. The electric hydrostatic actuator adopts a mode of adding a pump to a motor 3 as a power source, and the motor 3 is coaxially connected with a constant displacement plunger pump 4. Still install current sensor 13 between driver 2 and the motor 3, the motor 3 embedding has speed sensor 14 and temperature sensor 16, has still disposed oil filter 5 and check valve 6 on the draining pipeline of pump to guarantee that the fluid of revealing of pump flows out smoothly and the cleanliness of fluid in the whole electronic hydrostatic actuator. The hydraulic cylinder adopts a symmetrical cylinder to ensure that the characteristics of two motion directions of the EHA are the same. The booster oil tank 7 and the two anti-cavitation valves 8 form an oil supplementing loop of the electric hydrostatic actuator, so that the base pressure of the electric hydrostatic actuator can be ensured, cavitation is prevented, and leakage of the electric hydrostatic actuator is compensated. And a liquid level sensor 18 is arranged on the pressurizing oil tank 7 to realize the oil quantity monitoring of the pressurizing oil tank. The two cavities of the actuating cylinder 11 are respectively connected with two oil paths, and each oil path is also provided with a pressure sensor 17; a displacement sensor 15 is arranged on an output rod of the actuating cylinder 11; the output end of the actuating cylinder 11 is connected with an external load 12 of the electro-hydrostatic actuator.
A mode selection valve 9 is arranged between the two cavities of the actuating cylinder 11; the mode selection valve, the damping valve and the corresponding one-way valve can realize the switching between the normal working mode and the damping mode of the electro-hydrostatic actuator. The safety valve 10 is used to ensure that the working pressure of the electro-hydrostatic actuator does not exceed a safety limit. The temperature and pressure sensor 19 is arranged near the pressurizing oil tank 7 and used for monitoring the pressure and the temperature of the oil; the oil charging and discharging port 20 is arranged near the pressurizing oil tank 7 and is used for supplying oil to the system or discharging oil.
Because the electro-hydrostatic actuator is a complex system and is a non-standard product, the design period is long, the modeling simulation accuracy is limited, and the development and test process is complicated and difficult. Therefore, how to accelerate the development of the electro-hydrostatic actuator and save the cost becomes a problem which needs to be solved by the same staff. In addition, the main interfaces of the existing semi-physical simulation platform are limited, and the multidisciplinary energy domain-crossing verification requirement of the electro-hydrostatic actuator cannot be met.
Disclosure of Invention
The invention aims to provide a semi-physical simulation verification platform for an electric hydrostatic actuator, which is used for the development of the electric hydrostatic actuator and the establishment of a hardware environment for test verification and can solve the problems of long design period, low modeling simulation accuracy and complex development and test process of the electric hydrostatic actuator.
The embodiment of the invention provides a semi-physical simulation verification platform for an electric hydrostatic actuator, which comprises: the system comprises an upper computer and a real-time target machine;
the upper computer is in communication connection with the real-time target machine;
the real-time target machine is used for operating a controller simulating an original electro-hydrostatic actuator to realize monitoring of the operation condition of the electro-hydrostatic actuator body; or for running a model simulating the electro-hydrostatic actuator body, the actuator and the load conditions;
the upper computer builds a control algorithm through a modeling interface based on imaging, and the control algorithm is downloaded by the real-time target machine; or the upper computer is used for building a model for simulating the electric hydrostatic actuator body, the driver and the load condition for downloading by the real-time target machine.
Further, when the real-time target machine is used for operating a controller simulating an original electro-hydrostatic actuator, the platform further comprises: the device comprises a driver and an electro-hydrostatic actuator body;
the real-time target machine is respectively in control connection with the driver and the electric hydrostatic actuator body to realize real-time interaction; the driver is in driving connection with the electric hydrostatic actuator body;
the real-time target machine sends a control instruction to the driver and collects relevant information of the driver from the driver; the real-time target machine sends a command for controlling the mode selection valve to the electric hydrostatic actuator body and collects relevant data of the electric hydrostatic actuator body; the running condition of the electric hydrostatic actuator body is monitored;
the electro-hydrostatic actuator body is used for being mechanically connected with the loading device, and the loading device is used for providing a load condition required by the electro-hydrostatic actuator body test.
Further, the information related to the driver includes: the temperature of the driver and the current and rotating speed information of the servo motor in the electric hydrostatic actuator body collected by the driver.
Further, the relevant data of the electro-hydrostatic actuator body comprises: the output displacement information of the electric hydrostatic actuator, the liquid level, the pressure and the oil temperature information of the pressurizing oil tank, the pressure of two cavities of the hydraulic cylinder of the actuating cylinder and the temperature of the servo motor.
Further, when the real-time target machine is used to run a model that simulates the electro-hydrostatic actuator body, drivers and load conditions, the platform further comprises: a controller; the controller is respectively connected with the upper computer and the real-time target machine;
the real-time target machine and the controller realize real-time interaction;
the controller sends a control instruction of the electro-hydrostatic actuator and an instruction of a control mode selection valve to the real-time target machine, and acquires relevant data of the electro-hydrostatic actuator body and temperature information of the driver, which are obtained by simulating the real-time target machine; the monitoring of the running condition of the electric hydrostatic actuator body is realized.
Further, the relevant data of the electro-hydrostatic actuator body comprises: the output displacement information of the electric hydrostatic actuator, the liquid level, the pressure and the oil temperature information of a pressurizing oil tank, the pressure of two cavities of the actuating cylinder and the temperature, the rotating speed and the current of the servo motor. Further, real-time target machine adopts aluminum alloy shell machine case, and inside includes: the system comprises a processor combination, an independent power supply module, a fan and an industrial mainboard;
the processor is used for receiving the instruction sent by the upper computer, feeding back test data to the upper computer and operating the simulation model; the independent power supply module is integrated in the case and supplies power to the real-time target machine; the fan is used for discharging heat inside the case; the industrial main board is provided with a plurality of expansion slots and used for installing different real-time board cards.
Further, the processor combination comprises a multi-core CPU and an FPGA, the CPU is configured to process an instruction issued by the upper computer, feed back test data to the upper computer, and run a simulation model, and the FPGA is configured to run a simulation model with a high requirement on simulation accuracy.
The semi-physical simulation verification platform for the electric hydrostatic actuator provided by the embodiment of the invention can quickly verify a control algorithm under the condition that a controller is not designed, and can also verify the performance of the controller when the body of the electric hydrostatic actuator is not processed, thereby shortening the development process of the electric hydrostatic actuator, accelerating the test verification efficiency and saving time and cost.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of a variable-speed type electro-hydrostatic actuator of a fixed displacement pump.
Fig. 2 is a structural diagram of a semi-physical simulation verification platform of an electro-hydrostatic actuator according to embodiment 1 of the present invention;
fig. 3 is a schematic diagram illustrating RCP verification of an electro-hydrostatic actuator according to embodiment 1 of the present invention;
fig. 4 is a structural diagram of a semi-physical simulation verification platform of an electro-hydrostatic actuator according to embodiment 2 of the present invention;
fig. 5 is a schematic view of HIL verification of an electro-hydrostatic actuator according to embodiment 2 of the present invention;
1-a controller; 2-a driver; 3-an electric motor; 4-a fixed displacement plunger pump; 5-oil filtration; 6-a one-way valve; 7-a pressurized oil tank; 8-anti-cavitation valve; 9-a mode selector valve; 10-safety valve; 11-an actuator cylinder; 12-an external load of the electro-hydrostatic actuator; 13-a current sensor; 14-a rotational speed sensor; 15-a displacement sensor; 16-a temperature sensor; 17-a pressure sensor; 18-a liquid level sensor; 19-a temperature and pressure sensor; 20-oil charging and discharging ports; 100-an upper computer; 200-real-time target machine; 300-electro-hydrostatic actuator body.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In the related art, semi-physical Simulation, including Rapid Control Prototyping (Rapid Control Simulation) and Hardware-in-the-Loop Simulation (Hardware inter Loop Simulation), refers to real-time Simulation of accessing a part of real objects in a Simulation Loop of a Simulation test system. Real-time is a necessary prerequisite for performing semi-physical simulations.
Semi-physical simulation has the potential to economically achieve higher degrees of realism than other types of simulation methods. From the system point of view, the semi-physical simulation allows partial real objects to be accessed in the system, which means that partial real objects can be put in the system for inspection, so that the components can be inspected in the environment meeting the overall performance index of the system, and therefore, the semi-physical simulation is a necessary means for improving the reliability and development quality of the system design.
In order to accelerate the development progress of the electro-hydrostatic actuator and save cost, semi-physical simulation is a feasible way, so the invention provides a highly integrated semi-physical simulation verification platform, which can meet the multi-disciplinary cross-energy-domain verification requirement of the electro-hydrostatic actuator and has various interfaces.
Two application problems are often encountered during the development of electro-hydrostatic actuators: first, in the initial stage of development, the controller is not designed and manufactured, so as to eliminate errors and inappropriate points in the initial stage of design, minimize the cost of design modification and improve the development efficiency. Multiple, off-line and on-line tests can be performed on the entire control system before the hardware of the final product is put into production to verify the feasibility of the control system scheme and carefully study the problems such as the influence of discretization and sampling frequency, the performance of the algorithm and the like, and the process is called Rapid Control Prototype (RCP).
The second problem is that after the designed controller is put into production, it must be tested in detail before practical use. If the test is carried out by using a real object or environment according to the traditional test method, large personnel, equipment and capital are required to be invested, the period is long, the test under the limit condition cannot be carried out, the repeatability of the test is poor, and the recordability and the analyzability of the obtained test result are poor. The method can be used for simulating the whole system by using a real controller and a part or all of the controlled object or the system operation environment by using a real-time digital model before the actual application of the product, and the process is called hardware-in-loop simulation (HIL).
The two problems associated with the development of an electro-hydrostatic actuator are described in detail below with reference to two embodiments.
Example 1:
the semi-physical simulation verification platform for the electro-hydrostatic actuator provided by the embodiment of the invention is used for RCP verification of the electro-hydrostatic actuator, and as shown in fig. 2, the platform comprises: the device comprises an upper computer 100, a real-time target machine 200, a driver 2 and an electric hydrostatic actuator body 300;
the upper computer 100 is in communication connection with the real-time target machine 200; the real-time target machine 200 is respectively in control connection with the driver 2 and the electric hydrostatic actuator body 300; the driver 2 is in driving connection with the electro-hydrostatic actuator body 300; the electro-hydrostatic actuator body 300 includes a servo motor, a hydraulic pump, a hydraulic valve, an actuator cylinder, a sensor, an oil tank, and other components.
Referring to fig. 3, the upper computer 100 builds a control algorithm through a modeling interface based on graphics, and downloads the control algorithm to the real-time target 200;
the upper computer 100 is in communication connection with the real-time target machine 200, the upper computer 100 is used for simulating a flight control computer, sending a required instruction to the electric hydrostatic actuator body 300, running a display interface required by a test, and building an algorithm of the real-time target machine 200 for controlling the electric hydrostatic actuator body 300.
The real-time target machine 200 plays a role of a controller of an original electric hydrostatic actuator in the RCP verification technology of the electric hydrostatic actuator, a control algorithm in the real-time target machine 200 is built through a modeling interface based on imaging by the upper computer 100, downloading can be performed by one key, and the method is convenient and fast, so that the control algorithm of the electric hydrostatic actuator can be rapidly verified and iteratively optimized.
The real-time target machine 200 is connected with the driver 2, the real-time target machine 200 sends a control instruction to the driver 2, and besides, the real-time target machine 200 also acquires feedback information such as the temperature of the driver 2, the current and the rotating speed of the servo motor and the like from the driver 2.
The real-time target machine 200 is also connected to the electro-hydrostatic actuator body 300, and the real-time target machine 200 sends a command for controlling the mode selection valve to the electro-hydrostatic actuator body 300. Meanwhile, the real-time target machine 200 collects the output displacement information of the electro-hydrostatic actuator from the electro-hydrostatic actuator body 300 and is used for closed-loop control of the position ring of the electro-hydrostatic actuator. The real-time target machine 200 also collects the liquid level, the pressure and the oil temperature of the pressurizing oil tank, the pressure of the two cavities of the actuating cylinder, the temperature of the servo motor and other feedback information from the electric hydrostatic actuator body 300, and is used for monitoring the running condition of the electric hydrostatic actuator.
The driver 2 is connected with the electric hydrostatic actuator body 300, the driver 2 drives the servo motor to act according to a control instruction given to the driver 2 by the real-time target machine 200, and current and rotating speed information of the servo motor are collected and used for controlling a current closed loop and a rotating speed closed loop. The electro-hydrostatic actuator body 300 is mechanically connected to a loading device, and the loading device is used for providing a load condition required by the electro-hydrostatic actuator test.
The RCP verification technology of the electric hydrostatic actuator in the embodiment of the invention can eliminate the design defect of the controller, optimize the control algorithm and verify the design defect of the electric hydrostatic actuator body.
The real-time target machine 200 is the core of the semi-physical simulation system; the real-time target machine can realize the real-time performance of semi-physical simulation, and the core part of the real-time system mainly comprises a real-time processor and a peripheral real-time simulation interface.
The real-time target machine is in communication connection with the upper computer; the real-time target machine has a high-performance processor combination. The system comprises a plurality of expansion slots for installing different real-time board cards. The real-time target machine adopts an aluminum alloy shell case, an independent power supply, a low-noise fan and an industrial mainboard.
The high-performance processor combination is used for receiving an instruction sent by the upper computer, feeding back test data to the upper computer and operating the simulation model; the independent power supply module is integrated in the case and supplies power to the real-time target machine; the fan is used for discharging heat inside the case; the industrial main board is provided with a plurality of expansion slots for installing different real-time board cards.
The computing power of the real-time target machine is completely enough to process possible models of the controller, and the processor combination of the real-time target machine comprises a multi-core CPU and an FPGA, so that sufficient computing power is reserved for future possible model expansion.
The operation process comprises the following steps:
the RCP verification technology of the electro-hydrostatic actuator provided by the embodiment of the invention,
1. and carrying out hardware connection among the upper computer, the real-time target machine, the driver and the electric hydrostatic actuator body.
2. And (5) communication debugging, namely establishing communication connection between the upper computer and the real-time target machine.
3. And (4) establishing a control algorithm of the electro-hydrostatic actuator based on the graphical modeling interface, and downloading the control algorithm to the real-time target machine.
4. And testing and storing the test data.
Example 2:
the semi-physical simulation verification platform for the electro-hydrostatic actuator provided by the embodiment of the invention is used for an HIL verification test, and as shown in FIG. 4, the platform comprises: the system comprises an upper computer 100, a real-time target computer 200 and a controller 1 which are connected with each other;
referring to fig. 5, the upper computer 100 is in communication connection with the real-time target machine 200, and here, the upper computer 100 is used for building a model simulating the body, the driver and the load condition of the electro-hydrostatic actuator. The real-time target machine 200 is used for running a model simulating an electro-hydrostatic actuator body, a driver and a load condition, and realizes real-time interaction with the controller 1. Wherein, the electro-hydrostatic actuator body of simulation also includes: the hydraulic control system comprises a servo motor, a hydraulic pump, a hydraulic valve, an actuating cylinder, a sensor, an oil tank and the like.
The real-time target machine 200 is in information connection with the controller 1, the controller 1 sends a control instruction of the electro-hydrostatic actuator and an instruction of a control mode selection valve to the real-time target machine 200, and the controller 1 collects output displacement information of the electro-hydrostatic actuator obtained by simulation of the real-time target machine 200 and is used for position loop closed-loop control of the electro-hydrostatic actuator.
The controller 1 collects feedback information such as the liquid level, the pressure and the oil temperature of a pressurizing oil tank of the electro-hydrostatic actuator, the pressure of two cavities of the actuating cylinder, the temperature, the rotating speed and the current of the servo motor, the temperature of the driver and the like which are obtained by the simulation of the real-time target machine 200, and is used for monitoring the running condition of the electro-hydrostatic actuator.
The controller 1 is in communication connection with an upper computer 100, and here, the upper computer 100 is used for simulating a flight control computer, sending a required instruction to the electric hydrostatic actuator body and running a display interface required by a test.
The HIL verification technology of the electro-hydrostatic actuator in the embodiment of the invention can also perform response tests of the controller of the electro-hydrostatic actuator under various fault and destruction conditions so as to verify the fault-tolerant function of the controller. This is costly and difficult to achieve in practical trials.
Similarly, the real-time target machine 200 is the core of the semi-physical simulation system; the real-time target machine can realize the real-time performance of semi-physical simulation, and the core part of the real-time system mainly comprises a real-time processor and a peripheral real-time simulation interface.
The real-time target machine is in communication connection with the upper computer; the real-time target machine has a high-performance processor complex. The system comprises a plurality of expansion slots for installing different real-time board cards. The real-time target machine adopts an aluminum alloy shell case, an independent power supply, a low-noise fan and an industrial mainboard.
The high-performance processor combination is used for receiving an instruction sent by the upper computer, feeding back test data to the upper computer and operating the simulation model; the independent power supply module is integrated in the case and supplies power to the real-time target machine; the fan is used for discharging heat inside the case; the industrial main board is provided with a plurality of expansion slots for installing different real-time board cards.
The computing power of the real-time target machine is completely enough to process the electric hydrostatic actuator body, the driver and the model with possible load conditions, and the processor combination of the real-time target machine comprises a multi-core CPU and an FPGA, so that sufficient computing power is reserved for the possible model expansion in the future.
The operation process comprises the following steps:
the HIL verification technology of the electro-hydrostatic actuator provided by the embodiment of the invention comprises the following steps:
1. and performing hardware connection among the upper computer, the real-time target machine and the controller.
2. And (4) communication debugging, namely establishing communication connection between the upper computer and the real-time target machine and communication connection between the controller and the real-time target machine.
3. And building a model of the electro-hydrostatic actuator body, the driver and the load condition based on the graphical modeling interface, and downloading the model to a real-time target machine.
4. The test was performed and the test data was saved.
The invention discloses a complete technology of semi-physical simulation of the electro-hydrostatic actuator completely through the two embodiments, can realize rapid control prototype verification of the electro-hydrostatic actuator, can also realize hardware-in-loop simulation verification, and completely verifies real objects and models of all parts of the electro-hydrostatic actuator, so that parts can be tested in an environment meeting the overall performance index of a system, and the platform can effectively improve the reliability of system design and the development quality and progress. And the platform has rich interfaces, can meet the multi-disciplinary energy-domain-crossing verification requirements of the electro-hydrostatic actuator, and can also be applied to development and development of other multi-disciplinary energy-domain-crossing electromechanical equipment. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (1)
1. The utility model provides a semi-physical simulation of electronic hydrostatic actuator verifies platform which characterized in that includes: the system comprises an upper computer and a real-time target machine;
the upper computer is in communication connection with the real-time target machine;
the real-time target machine is used for running a model for simulating an electro-hydrostatic actuator body, a driver and a load condition;
the upper computer is used for building a model for simulating the body, the driver and the load condition of the electro-hydrostatic actuator for the real-time target machine to download;
the platform further comprises: a controller; the controller is respectively connected with the upper computer and the real-time target machine;
the real-time target machine and the controller realize real-time interaction;
the controller sends a control instruction of the electro-hydrostatic actuator and an instruction of a control mode selection valve to the real-time target machine, and acquires relevant data of the electro-hydrostatic actuator body and temperature information of the driver, which are obtained by simulating the real-time target machine; the running condition of the electric hydrostatic actuator body is monitored;
the relevant data of the electro-hydrostatic actuator body comprises: the output displacement information of the electric hydrostatic actuator, the liquid level, the pressure and the oil temperature information of a pressurizing oil tank, the pressure of two cavities of the actuating cylinder and the temperature, the rotating speed and the current of the servo motor;
real-time target machine adopts aluminum alloy shell machine case, and inside includes: the system comprises a processor combination, an independent power supply module, a fan and an industrial mainboard;
the processor is used for receiving the instruction sent by the upper computer and feeding back the test data to the upper computer; the independent power supply module is integrated in the case and supplies power to the real-time target machine; the fan is used for discharging heat inside the case; the industrial main board is provided with a plurality of expansion slots for mounting different real-time board cards;
the processor combination comprises a multi-core CPU and an FPGA, the CPU is used for processing instructions issued by the upper computer, feeding back test data to the upper computer and running a simulation model, and the FPGA is used for running the simulation model with high requirement on simulation precision.
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