CN105929711B - A kind of construction method of electromechanical actuator reference model database - Google Patents

Abstract

The invention relates to a method for constructing a reference model database of an electromechanical actuator. By analyzing the working principle of the electromechanical actuator, a mathematical model of the electromechanical actuator is established, and a simulation model is established and simulated accordingly to construct an electromechanical actuator. The reference model database of the normal working state of the actuator; then determine and number the common faults and disturbances of the electromechanical actuator, establish the simulation model of the fault and disturbance, simulate all the models, save the data, and construct the reference of the fault and disturbance of the electromechanical actuator model database. The method of the invention solves the problem of insufficient fault data of the electromechanical actuator, and provides data basis for fault diagnosis of the electromechanical actuator. Beneficial effects: record the data of state variable changes of electromechanical actuators under various common faults or disturbances, and provide a data basis for fault diagnosis; explore reference model databases and abnormalities by exploring deviations in normal states, fault states, or disturbance states The relationship between states lays the foundation for the fault diagnosis of electromechanical actuators.

Description

A Construction Method of Reference Model Database of Electromechanical Actuator

technical field

The invention belongs to the technical field of electromechanical actuator modeling and fault detection, and relates to a construction method of an electromechanical actuator reference model database.

Background technique

In order to cooperate with the development of all-electric aircraft, the actuation system of the aircraft has been developed from power fluid transmission to power transmission. The electromechanical actuator is one of the typical actuators in the power-by-wire actuation system, which has the advantages of light weight, easy maintenance, and strong adaptability. The actuator is a key component of the actuation system. Since the electromechanical actuator is a new type of actuator in the aviation field, it is mostly used to drive the auxiliary rudder surface, and there are few data about it in normal state and fault state. Therefore, it is of great significance to study the modeling method of electromechanical actuators, explore the influence of faults and disturbances, and build a complete reference model database of electromechanical actuators for its wide application in the field of flight control.

Contents of the invention

technical problem to be solved

In order to avoid the deficiencies of the prior art, the present invention proposes a method for constructing a reference model database of electromechanical actuators, which establishes simulation models for common faults and disturbances of electromechanical actuators, gives step and sinusoidal responses, and records electromechanical actuators. The model parameters of the actuator, the data of the state variable change are saved, and the reference model database of the electromechanical actuator is constructed to solve the problem of lack of fault data in the fault diagnosis algorithm of the electromechanical actuator and lay a foundation for the fault diagnosis of the electromechanical actuator.

Technical solutions

A method for constructing an electromechanical actuator reference model database, characterized in that the steps are as follows:

Step 1: Build the simulation model of the electromechanical actuator according to the working principle of the electromechanical actuator, and establish the reference model of the normal state of the electromechanical actuator:

Step 1a: According to the working principle of the electromechanical actuator, the mathematical models of the brushless DC motor body, the electronic control unit and the mechanical reduction device in the electromechanical actuator are respectively established, and then the three-part model is used as the mathematical model of the electromechanical actuator ;

Step 1b: using the module library in the Simulink toolbox in Matlab, according to the mathematical model of the electromechanical actuator, build a three-phase simulation model of the electromechanical actuator;

Step 1c: Set the simulation time, give the sine and step response, and test the tracking of the speed loop and position loop with the load changing from 0N·m to 2.4N·m at an interval of 0.3N·m when the electromechanical actuator is in normal working condition Effect, save the data of simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder angle, and electromagnetic torque, and constitute the reference model database of the normal state of the electromechanical actuator. The model for testing the performance of the speed loop with a step response is named "step_fault0_speedx.mdl", the model for testing the performance of the position loop with a given step response is named "step_fault0_positionx.mdl", and the model for testing the performance of the speed loop with a given sinusoidal response is named For "sin_fault0_speedx.mdl", the model for testing the performance of the position loop when the sinusoidal response is given is named "sin_fault0_positionx.mdl", for the convenience of recording, "x" means one-tenth of the given load;

Step 2: Establish a reference model database of corresponding faults and disturbances according to common faults and disturbance types:

Step 2a: Motor single-phase winding open circuit: The motor single-phase winding is open circuit, that is, one of the three-phase windings of the motor is disconnected. In the three-phase simulation model, a switch S is placed in the circuit where the fault occurs to simulate the open circuit fault; the switch S is controlled by the control signal Control, when the control signal is 0, the switch is closed, which is the normal state; when the control signal is 1, the switch is open, which is the open circuit state; the fault setting of the winding open circuit is realized by controlling the switch; the simulation time is set, and the A phase winding open circuit fault is set The control signal changes from 0 to 1 in 0.1 seconds, and the sine and step responses are given to test the tracking of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at intervals of 0.3N·m Effect, save the data of simulation time, load, bus current, three-phase current, three-phase electromotive force, rotational speed, rudder deflection angle, electromagnetic torque and various state quantities, and constitute a reference model database for electromechanical actuators that have motor single-phase winding open-circuit faults , where the model for testing the performance of the speed loop with a given step response is named "step_fault1_speedx.mdl", the model for testing the performance of the position loop with a given step response is named "step_fault1_positionx.mdl", and the model for testing the performance of the speed loop with a given sine response is named "step_fault1_speedx.mdl". The performance model is named "sin_fault1_speedx.mdl", and the model for testing the performance of the position loop is named "sin_fault1_positionx.mdl" when the sinusoidal response is given. For the convenience of recording, "x" means one-tenth of the given load;

Step 2b: Turn-to-turn short circuit of the motor winding: When a turn-to-turn short circuit occurs in a certain phase winding, the resistance value, self-inductance, mutual inductance with other phases, and back electromotive force of the phase winding will decrease accordingly; the resistance value of the winding , mutual inductance and back electromotive force are proportional to the normal number of turns, self-inductance is proportional to the square of the normal number of turns; set the short circuit degree as n percentage, multiply the resistance value of the fault phase, the mutual inductance with other phases and the back electromotive force by the coefficient 1-n, the self-inductance is multiplied by the coefficient (1-n) ² ; set the simulation time, set the short-circuit degree n of the inter-turn short-circuit fault of the A-phase winding, and give the sine and step responses, respectively test the electromechanical actuator under the load from 0N·m to 2.4N·m The tracking effect of the speed loop and position loop at intervals of 0.3N·m, save the simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder deflection angle, electromagnetic torque The data of each state quantity constitutes the reference model database for the motor winding turn-to-turn short-circuit fault of the electromechanical actuator. The model for testing the performance of the speed loop when the step response is given is named "step_fault2pn_speedx.mdl", and when the step response is given The model for testing the performance of the position loop is named "step_fault2pn_positionx.mdl", the model for testing the performance of the speed loop with a given sinusoidal response is named "sin_fault2pn_speedx.mdl", and the model for testing the performance of the position loop with a given sinusoidal response is named "sin_fault2pn_positionx.mdl"", for the convenience of recording, "x" represents one-tenth of a given load, and "n" represents the corresponding percentage of turn-to-turn short circuit degree;

Step 2c: One-phase power tube of the inverter is open circuit: set the one-phase power tube of the upper bridge arm to be open circuit, and simulate the open circuit fault by placing a switch S in the fault circuit; the switch S is controlled by the control signal, and when the control signal is 0, the switch S Closed, it is normal state; when the control signal is 1, the switch is disconnected, it is open circuit state; realize the fault setting of inverter one-phase power tube open circuit by controlling the switch; set the simulation time, and set the power tube open circuit fault control of phase A circuit The signal changes from 0 to 1 in 0.1 seconds, and the sine and step responses are given to test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at intervals of 0.3N·m , save the data of simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder deflection angle, and electromagnetic torque, and constitute a reference for the open-circuit fault of the inverter one-phase power tube of the electromechanical actuator In the model database, the model for testing the performance of the speed loop when the step response is given is named "step_fault3_speedx.mdl", the model for testing the performance of the position loop when the step response is given is named "step_fault3_positionx.mdl", and the model for testing the performance of the position loop is named "step_fault3_positionx.mdl" when the sine response is given The model of the speed loop performance is named "sin_fault3_speedx.mdl", and the model of the test position loop performance is named "sin_fault3_positionx.mdl" when the sinusoidal response is given. For the convenience of recording, "x" means one-tenth of the given load;

Step 2d: short-circuit of one-phase power tube of the inverter: a short-circuit fault is simulated by placing a switch S between the upper and lower bridge arms. The switch S is controlled by the control signal. When the control signal is 0, the switch is closed, which is a short-circuit state; when the control signal is 1, the switch is open, which is a normal state; the fault setting of the inverter one-phase power tube short circuit is realized by controlling the switch; Set the simulation time, set the power tube short-circuit fault control signal to change from 0 to 1 in 0.1 seconds, give the sine and step responses, and test the electromechanical actuators at intervals of 0.3N m when the load is from 0N m to 2.4N m The tracking effect of the changing speed loop and position loop saves the data of the simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder deflection angle, and electromagnetic torque to form an electromechanical actuator. The reference model database for the short-circuit fault of one-phase power tube of the inverter, the model for testing the performance of the speed loop when the step response is given is named "step_fault4_speedx.mdl", and the model for testing the performance of the position loop when the step response is given is named "step_fault4_positionx .mdl", the model for testing the performance of the speed loop when the sinusoidal response is given is named "sin_fault4_speedx.mdl", the model for testing the performance of the position loop when the sinusoidal response is given is named "sin_fault4_positionx.mdl", for the convenience of recording "x" means given to One-tenth of rated load;

Step 2e: Angle sensor output drift: superimpose a sinusoidal disturbance signal with an amplitude of 10% and a frequency of 5 Hz on the output of the angle sensor of the rudder surface to simulate the output drift fault of the angle sensor; set the simulation time, and give the sine and order Jump response, test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at an interval of 0.3N·m, save the simulation time, load, bus current, three-phase current, three-phase current On the contrary, the data of electromotive force, speed, rudder deflection angle, and electromagnetic torque constitute the reference model database for the output drift fault of the angle sensor of the electromechanical actuator. The model for testing the performance of the speed loop when the step response is given is named " step_fault5_speedx.mdl", the model for testing the performance of the position loop when the step response is given is named "step_fault5_positionx.mdl", the model for testing the performance of the speed loop when the sinusoidal response is given is named "sin_fault5_speedx.mdl", the test is given for the sinusoidal response The model of the position loop performance is named "sin_fault5_positionx.mdl", for the convenience of recording "x" means one-tenth of the given load;

Step 2f: The angle sensor outputs a constant value: place a switch selector switch S at the feedback point of the angle sensor of the rudder surface to control the occurrence of a fault; when a fault occurs, S switches to a constant value feedback; when in a normal state, S switches to normal feedback. The switch S is controlled by the control signal. When the control signal is 0, the switch is closed; when the control signal is 1, the switch is open; set the simulation time, set the angle feedback fault control signal to change from 0 to 1 in 0.1 seconds, and the given sine and order Jump response, test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at an interval of 0.3N·m, save the simulation time, load, bus current, three-phase current, three-phase current On the contrary, the data of electromotive force, rotational speed, rudder deflection angle, and electromagnetic torque constitute the reference model database for electromechanical actuators with angle sensor output constant value faults. The model for testing the performance of the rotational speed loop when the step response is given is named "step_fault6_speedx.mdl", the model that tests the performance of the position loop when the step response is given is named "step_fault6_positionx.mdl", the model that tests the performance of the speed loop when the sinusoidal response is given is named "sin_fault6_speedx.mdl", when the sinusoidal response is given The model for testing the performance of the position loop is named "sin_fault6_positionx.mdl", for the convenience of recording "x" means one-tenth of the given load;

Step 2g: Hall sensor all the way high level: the simulation model of the Hall sensor is written with S function, so make changes on the basis of the S function in the normal state, directly assign "1" to the output of the Hall sensor; set the selection switch S , when a fault occurs, S switches to the faulted S function; when it is in a normal state, S switches to the normal S function; set the simulation time, set the C-phase Hall sensor fault control signal to change from 0 to 1 in 0.1 seconds, given Sine and step response, respectively test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at an interval of 0.3N·m, save the simulation time, load, bus current, three-phase The data of current, three-phase electromotive force, rotational speed, rudder deflection angle, and electromagnetic torque constitute a reference model database for a high-level fault of a Hall sensor in an electromechanical actuator. The performance of the rotational speed loop is tested when a step response is given The model named "step_fault7_speedx.mdl", the model that tests the performance of the position loop when the step response is given is named "step_fault7_positionx.mdl", the model that tests the performance of the speed loop when the sinusoidal response is given is named "sin_fault7_speedx.mdl", give The model for testing the performance of the position loop when the sine response is determined is named "sin_fault7_positionx.mdl". For the convenience of recording, "x" means one-tenth of the given load;

Step 2h: Hall sensor all the way low level: the simulation model of the Hall sensor is written with S function, so make changes on the basis of the S function in the normal state, directly assign "0" to one output of the Hall sensor; set the selection switch S , when a fault occurs, S switches to the fault S function; when it is in a normal state, S switches to the normal S function; set the simulation time, set the phase A Hall sensor fault control signal from 0 to 1 in 0.1 seconds, given Sine and step response, respectively test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at an interval of 0.3N·m, save the simulation time, load, bus current, three-phase The data of current, three-phase electromotive force, rotational speed, rudder deflection angle, and electromagnetic torque constitute a reference model database for electromechanical actuators with a low-level fault in the Hall sensor. The performance of the rotational speed loop is tested when the step response is given The model named "step_fault8_speedx.mdl", the model that tests the performance of the position loop when the step response is given is named "step_fault8_positionx.mdl", the model that tests the performance of the speed loop when the sinusoidal response is given is named "sin_fault8_speedx.mdl", give The model for testing the performance of the position loop when the sine response is determined is named "sin_fault8_positionx.mdl", for the convenience of recording "x" means one-tenth of the given load;

Step 2i: Ball screw wear: The wear of the ball screw is a random state, which is simplified as a periodic wear depression on the ball screw, and the wear of the ball screw is realized by superimposing a negative half-sine wave on the output of the ball screw Simulation; set the simulation time, set the amplitude of the superimposed fault sinusoidal signal to 0.0002, and the period to 1/30s, given the sinusoidal and step responses, respectively test the electromechanical actuator under the load from 0N·m to 2.4N·m at an interval of 0.3 The tracking effect of the speed loop and position loop with N m changes, save the data of the simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder deflection angle, and electromagnetic torque to form electromechanical actuation The reference model database of the ball screw wear fault of the controller, in which the model for testing the performance of the speed loop when the step response is given is named "step_fault9_speedx.mdl", and the model for testing the performance of the position loop when the step response is given is named "step_fault9_positionx. mdl", the model for testing the performance of the speed loop when the sinusoidal response is given is named "sin_fault9_speedx.mdl", the model for testing the performance of the position loop when the sinusoidal response is given is named "sin_fault9_positionx.mdl", for the convenience of recording "x" means given one-tenth of the load;

Step 2j: Gear failure: After the gear fails, the thickness of the tooth becomes thinner, the tooth profile deforms, and the backlash becomes larger. The simulation of the gear failure is realized by adding a hysteresis link; set the simulation time, and give the sine and step responses. Test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at an interval of 0.3N·m, save the simulation time, load, bus current, three-phase current, three-phase electromotive force, The data of each state quantity of speed, rudder deflection, and electromagnetic torque constitute a reference model database for gear faults of electromechanical actuators. The model for testing the performance of the speed loop when a step response is given is named "step_fault10_speedx.mdl", given The model for testing the performance of the position loop when the step response is given is named "step_fault10_positionx.mdl", the model for testing the performance of the speed loop when the sinusoidal response is given is named "sin_fault10_speedx.mdl", and the model for testing the performance of the position loop is named when the sinusoidal response is given For "sin_fault10_positionx.mdl", for the convenience of recording "x" means one-tenth of the given load;

Step 2k: Load change disturbance: The change of load directly affects the change of load torque, and the load change disturbance is simulated by superimposing a sinusoidal disturbance with an amplitude of 50% of the given load torque and a frequency of 5 Hz on the load torque; set Simulation time, given sine and step responses, respectively test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at an interval of 0.3N·m, save the simulation time, load, The data of bus current, three-phase current, three-phase electromotive force, rotational speed, rudder deflection angle, and electromagnetic torque constitute a reference model database for load disturbance of electromechanical actuators. The performance of the rotational speed loop is tested when the step response is given The model named "step_fault11_speedx.mdl", the model that tests the performance of the position loop when the step response is given is named "step_fault11_positionx.mdl", the model that tests the performance of the speed loop when the sinusoidal response is given is named "sin_fault11_speedx.mdl", given The model for testing the performance of the position loop when the sinusoidal response is determined is named "sin_fault11_positionx.mdl". For the convenience of recording, "x" represents one-tenth of the given load.

Beneficial effect

The method for constructing a reference model database of an electromechanical actuator proposed by the present invention establishes a mathematical model of the electromechanical actuator by analyzing the working principle of the electromechanical actuator, and establishes its simulation model based on this and performs simulation to construct an electromechanical actuator. The reference model database of the normal working state of the actuator; then determine and number the common faults and disturbances of the electromechanical actuator, establish the simulation model of the fault and disturbance, simulate all the models, save the data, and construct the fault and disturbance of the electromechanical actuator Reference model database. The method of the invention solves the problem of insufficient fault data of the electromechanical actuator, and provides data basis for fault diagnosis of the electromechanical actuator.

The beneficial effects of the present invention are: recording the data of state variable changes of electromechanical actuators under various common faults or disturbances, providing a data basis for fault diagnosis; exploring and referencing deviations in normal states, fault states or disturbance states The link between the model database and the abnormal state lays the foundation for the fault diagnosis of electromechanical actuators.

Description of drawings

Fig. 1 is the analysis flowchart of the present invention;

Fig. 2 is a structural block diagram of the electromechanical actuator of the present invention;

Fig. 3 is the electromechanical actuator two-phase conduction star drive circuit of the present invention;

Fig. 4 is the transmission schematic diagram of mechanical reduction device of electromechanical actuator of the present invention;

Fig. 5 is a structural diagram of the electromechanical actuator model of the present invention.

Detailed ways

Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

The present invention is a construction method of an electromechanical actuator reference model database, and its analysis flow is shown in Figure 1, including the establishment of an electromechanical actuator mathematical model, the establishment of an electromechanical actuator simulation model, the determination of common faults and disturbances, Fault and disturbance model establishment, simulation and data saving, etc.

Referring to Figure 2, the electromechanical actuator consists of a bidirectional speed-adjustable servo motor, a control unit and a mechanical deceleration device. The adjustable-speed bidirectional brushless motor with high conversion efficiency and good heat dissipation is adopted. The external motor control unit controls the speed of the motor through the phase-current relationship, and then the high-speed and low-torque motor output is converted into low-speed and high-torque rotation by the mechanical deceleration device. Output to the rudder surface.

The construction method of the electromechanical actuator reference model database of the present invention is implemented according to the following steps:

Step 1: Build the simulation model of the electromechanical actuator according to the working principle of the electromechanical actuator, and establish the reference model of the normal state of the electromechanical actuator:

1. According to the working principle of the electromechanical actuator, the mathematical models of the three main parts of the brushless DC motor body, the electronic control unit and the mechanical deceleration device in the electromechanical actuator are respectively established, and then the three-part models are integrated to obtain the electromechanical actuator. The mathematical model of the device;

As shown in Figure 2, the method of the present invention divides the electromechanical actuator into three modules: a servo-controllable bidirectional speed-regulating motor, a high-speed gear reduction device, and a rolling screw mechanism or a gear rotary actuator for reciprocating motion.

(1) Brushless DC motor body model

The motor adopts a high-power brushless direct motor, and the mathematical model of the brushless DC motor body is divided into four parts: voltage balance module, back EMF calculation module, torque calculation module and motion equation module.

Since the motor windings are connected in star form, the voltage equation is

In the formula: U _aN , U _bN , U _cN are three-phase stator voltages (V); _ia , i _b , _ic are three-phase stator currents (A); e _a , e _b , e _c are three-phase stator back electromotive force (V); p is the differential operator, p=d/dt; L is the three-phase stator self-inductance (H); M is the mutual inductance between the three-phase stator windings (H); R is the three-phase stator winding phase resistance (Ω).

The counter electromotive forces e _a , e _b , and e _c are trapezoidal waves with a mutual difference of 120° electrical angle. The present invention adopts the piecewise linear method to establish the trapezoidal counter electromotive force waveform, and divides the operation cycle into six stages according to the rotor position: 0 to 60 °, 60°～120°, 120°～180°, 180°～240°, 240°～300°, 300°～360°, according to the rotor position and speed signal, the straight line of each opposite electromotive force change trajectory can be obtained Equation, as shown in Table 1.

Table 1 Linear relationship table between rotor position and back electromotive force

In the table: k is the counter electromotive force coefficient (V/(r/min)); Pos is the electrical angle signal (rad); ω is the speed signal (rad/s).

According to the principle of energy conservation, the motor obtains electric power from the power supply, most of the energy is transferred to the rotor through the torque of the air-gap magnetic field, and a small part of the electromagnetic power becomes copper loss and iron loss. Assuming that all the electromagnetic power is converted into the kinetic energy of the rotor and ignoring other losses, the torque equation is obtained as

Where: T _e is the electromagnetic torque (N·m); P _e is the electromagnetic power (W).

Considering the motor as a rotary motion system, according to Newton's second law, the mechanical motion equation of the motor is

In the formula: B is the damping coefficient (N·m·s/rad); J is the moment of inertia of the motor (kg·m ² ); T _L is the load torque (N·m).

(2) ECU model

The electronic control unit logically synthesizes the detected three-phase rotor position sensor signals and PWM pulse width modulation signals according to the brushless DC motor control law to generate six pulse modulation signals, which are amplified by the drive circuit and sent to the three-phase bridge inverter Six-way power switch tubes, and then control the phase windings of the motor to be energized in a predetermined order, and generate a jumping rotating magnetic field in the air gap of the motor. The rotating magnetic field drives the magnetic field of the motor rotor, thereby causing the motor rotor to rotate. According to the order of arrangement of the switching tubes in the drive circuit of Figure 3, the logic of switching on the switching tubes is obtained, as follows:

Forward:

reverse:

In the formula, H _A , H _B , H _C are the three signals of the Hall position sensor.

(3) Mechanical reduction device model

As shown in Figure 4, when the mechanical reduction device is working, the screw moves one lead along the screw every time the screw rotates, and the rudder shaft drives the rudder surface to rotate an angle. Then the relationship between the rotation angle of the motor and the rotation angle of the rudder surface is

In the formula: δ is the rotation angle of the rudder surface; L _s is the lead of the ball screw; r _s is the effective rotation radius of the shift fork; i _g is the reduction ratio of the reduction gear.

Combining (1)(2)(3), the model of the electromechanical actuator is obtained, and the structure diagram is shown in Figure 5.

2. Using the module library in the Simulink toolbox in Matlab, according to the mathematical model of the electromechanical actuator, build a three-phase simulation model of the electromechanical actuator;

(1) Simulation model of motor body

According to formula (1), use the simulation module in SimPowerSystems to obtain the simulation model of the voltage balance module; write the S function according to Table 1 to obtain the simulation model of the back electromotive force module; according to formula (2) and formula (3), use the commonly used modules in Simulink to build Simulation models for the Electromagnetic Torque and Mechanical Equations of Motion modules.

(2) Simulation model of electronic control unit

According to equations (4) and (5), logic gates are used to build a six-way commutation logic model, which is ANDed with the pulse repetition sequence generated by the PWM module. After passing through the six-way power switch tube module of the three-phase bridge inverter, the windings of each phase of the motor are controlled to press Power on sequentially.

(3) Mechanical reduction device model

According to the formula (6), the simulation model of the mechanical deceleration device is built.

After setting up the simulation model of the motor body, the electronic control unit and the mechanical deceleration device according to the instructions in (1)(2)(3), a three-loop three-loop model of the position, speed and current of the electromechanical actuator is established in Matlab/Simulink. similar to the simulation model.

3. Set the simulation time for simulation, and build a reference model database of the normal state of the electromechanical actuator;

Set the simulation time, give the sine and step response, test the tracking effect of the speed loop and position loop with the load changing from 0N·m to 2.4N·m at an interval of 0.3N·m when the electromechanical actuator is in normal working condition, save The data of various state variables such as simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder deflection angle, electromagnetic torque, etc. constitute the reference model database of the normal state of the electromechanical actuator, in which the given step The model for testing the performance of the speed loop when responding is named "step_fault0_speedx.mdl", the model for testing the performance of the position loop when a step response is given is named "step_fault0_positionx.mdl", and the model for testing the performance of the speed loop when a sinusoidal response is given is named "sin_fault0_speedx.mdl", the model to test the performance of the position loop when a sinusoidal response is given is named "sin_fault0_positionx.mdl", for the convenience of recording "x" means one-tenth of the given load. The specific model and data storage location are shown in Table 2 and Table 3. Among them, "\simdata\" indicates the storage of simulation data, the subfolder "fault0\" indicates the data of the normal model in the folder, and the "speed\" folder under the normal model indicates that the data corresponding to the test speed ring is stored in it. The subfolder "step\" stores the simulation data of a given step response, and "tlx\" indicates the simulation data of x _N m with a load of 0.1 times.

Table 2 Normal model and data storage location under step response

Table 3 Normal model and data storage location under sinusoidal response

Step 2: Establish a reference model database of corresponding faults and disturbances according to common faults and disturbance types:

Identify common faults and disturbances of electromechanical actuators, including motor single-phase winding open circuit, motor winding turn-to-turn short circuit, inverter one-phase power tube open circuit, inverter one-phase power tube short circuit, angle sensor output drift, angle sensor Output constant value, one high level of Hall sensor, one low level of Hall sensor, ball screw wear, gear failure and load change disturbance, etc. List the common faults and disturbances of electromechanical actuators, and number them for the convenience of searching, as shown in Table 4.

Table 4 Fault and Interference List

(1) Motor single-phase winding open circuit: the motor single-phase winding open circuit means that one of the three-phase windings of the motor is disconnected. In the three-phase simulation model, a switch S is placed in the circuit where the fault occurs to simulate the open circuit fault; the switch S is controlled by the control signal Control, when the control signal is 0, the switch is closed, which is the normal state; when the control signal is 1, the switch is disconnected, which is the open circuit state; the fault setting of the winding open circuit can be realized by controlling the switch.

Set the simulation time, set the A-phase winding open-circuit fault control signal to change from 0 to 1 in 0.1 seconds, given the sinusoidal and step responses, respectively test the electromechanical actuator under the load from 0N·m to 2.4N·m at an interval of 0.3N· The tracking effect of the speed loop and position loop with m changes, save the data of various state variables such as simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder deflection angle, electromagnetic torque, etc., to form an electromechanical actuator Reference model database for motor single-phase winding open-circuit faults. The model for testing the performance of the speed loop when the step response is given is named "step_fault1_speedx.mdl", and the model for testing the performance of the position loop when the step response is given is named "step_fault1_positionx. mdl", the model for testing the performance of the speed loop when the sinusoidal response is given is named "sin_fault1_speedx.mdl", the model for testing the performance of the position loop when the sinusoidal response is given is named "sin_fault1_positionx.mdl", for the convenience of recording "x" means given one-tenth of the load. The specific model and data storage location are shown in Table 5 and Table 6. Among them, "\simdata\" indicates the storage of simulation data, the subfolder "fault1\" indicates the data of the open circuit fault of the single-phase winding of the electromechanical actuator in the folder, and the folder "speed\" indicates that the test speed is stored in it For the data corresponding to the ring, the subfolder "step\" stores the simulation data of a given step response, and "tlx\" indicates the simulation data of x _N m with a load of 0.1 times.

Table 5 Simulation model and data storage location of motor single-phase winding open circuit fault under step response

Table 6 Simulation model and data storage location of motor single-phase winding open circuit fault under sinusoidal response

(2) Turn-to-turn short circuit of the motor winding: When a turn-to-turn short circuit occurs in a certain phase winding, the resistance, self-inductance, mutual inductance with other phases, and back electromotive force of the phase winding will decrease accordingly. Among them, the resistance value, mutual inductance and back EMF of the winding are proportional to the normal number of turns, and the self-inductance is proportional to the square of the normal number of turns. Assuming that the short circuit degree is n (percentage), multiply the resistance value of the fault phase, the mutual inductance with other phases and the counter electromotive force by the coefficient 1-n, and multiply the self-inductance by the coefficient (1-n) ² .

Set the simulation time, set the short-circuit degree n of the turn-to-turn short-circuit fault of the A-phase winding, and give the sine and step responses to test the rotational speed of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at intervals of 0.3N·m The tracking effect of the loop and the position loop, save the data of various state quantities such as simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder deflection angle, electromagnetic torque, etc., and constitute the motor winding turns of the electromechanical actuator The reference model database of inter-short-circuit faults, in which the model for testing the performance of the speed loop when the step response is given is named "step_fault2pn_speedx.mdl", and the model for testing the performance of the position loop when the step response is given is named "step_fault2pn_positionx.mdl". The model for testing the performance of the speed loop when the sinusoidal response is given is named "sin_fault2pn_speedx.mdl", and the model for testing the performance of the position loop when the sinusoidal response is given is named "sin_fault2pn_positionx.mdl". One of them, "n" represents the corresponding turn-to-turn short circuit percentage. The specific model and data storage location are shown in Table 7 and Table 8. Among them, "\simdata\" indicates the storage of simulation data, the subfolder "fault2\" indicates the data of the motor winding inter-turn short circuit fault in the electromechanical actuator in the folder, and the "speed\" folder indicates that the test speed is stored in it For the data corresponding to the ring, the subfolder "step\" stores the simulation data of a given step response, and "tlx\" indicates the simulation data of x _N m with a load of 0.1 times.

Table 7 Simulation model and data storage location of motor winding turn-to-turn short circuit fault under step response

Table 8 Simulation model and data storage location of motor winding turn-to-turn short circuit fault under sinusoidal response

(3) Open circuit of one-phase power tube of the inverter: In the present invention, one-phase power tube of the upper bridge arm is set to be open circuit, and the open circuit fault is simulated by placing a switch S in the fault circuit. The switch S is controlled by the control signal. When the control signal is 0, the switch is closed, which is a normal state; when the control signal is 1, the switch is turned off, which is an open circuit state. The open-circuit fault setting of one-phase power tube of the inverter can be realized by controlling the switch.

Set the simulation time, set the power tube open-circuit fault control signal of the A-phase circuit to change from 0 to 1 in 0.1 seconds, give the sine and step responses, and test the electromechanical actuators at intervals from 0N·m to 2.4N·m respectively The tracking effect of the speed loop and position loop with a change of 0.3N·m, save the data of various state quantities such as simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder deflection angle, electromagnetic torque, etc. The reference model database of the open-circuit fault of the inverter one-phase power tube in the actuator, the model for testing the performance of the speed loop when the step response is given is named "step_fault3_speedx.mdl", and the model for testing the performance of the position loop when the step response is given The model is named "step_fault3_positionx.mdl", the model that tests the performance of the speed loop when the sinusoidal response is given is named "sin_fault3_speedx.mdl", the model that tests the performance of the position loop when the sinusoidal response is given is named "sin_fault3_positionx.mdl", for the convenience of recording "x" means one-tenth of a given load. The specific model and data storage location are shown in Table 9 and Table 10. Among them, "\simdata\" means to store the simulation data, the subfolder "fault3\" means the open circuit fault data of the inverter one-phase power tube of the electromechanical actuator in the folder, and the "speed\" folder means the data stored in it. It is the data corresponding to the test speed ring. The subfolder "step\" stores the simulation data of a given step response, and "tlx\" indicates the simulation data of x _N m with a load of 0.1 times.

Table 9 Simulation model and data storage location of inverter one-phase power tube open circuit fault under step response

Table 10 The simulation model and data storage location of inverter one-phase power tube open circuit fault under sinusoidal response

(4) Short-circuit of one-phase power tube of the inverter: A short-circuit fault is simulated by placing a switch S between the upper and lower bridge arms. The switch S is controlled by the control signal. When the control signal is 0, the switch is closed, which is a short-circuit state; when the control signal is 1, the switch is open, which is a normal state. The short-circuit fault setting of one-phase power tube of the inverter can be realized by controlling the switch.

Set the simulation time, set the power tube short-circuit fault control signal to change from 0 to 1 in 0.1 seconds, give the sine and step responses, and test the electromechanical actuators at intervals of 0.3N m when the load is from 0N m to 2.4N m The tracking effect of the changing speed loop and position loop, save the data of various state quantities such as simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder deflection, electromagnetic torque, etc., to form an electromechanical actuator. The reference model database of inverter one-phase power tube short-circuit fault, in which the model for testing the performance of the speed loop when the step response is given is named "step_fault4_speedx.mdl", and the model for testing the performance of the position loop when the step response is given is named "step_fault4_positionx.mdl", the model for testing the performance of the speed loop when the sinusoidal response is given is named "sin_fault4_speedx.mdl", the model for testing the performance of the position loop when the sinusoidal response is given is named "sin_fault4_positionx.mdl", for the convenience of recording "x" means One-tenth of the given load. The specific model and data storage location are shown in Table 11 and Table 12. Among them, "\simdata\" means to store the simulation data, the subfolder "fault4\" means the open circuit fault data of the inverter one-phase power tube of the electromechanical actuator in the folder, and the "speed\" folder means the data stored in it. It is the data corresponding to the test speed ring. The subfolder "step\" stores the simulation data of a given step response, and "tlx\" indicates the simulation data of x _N m with a load of 0.1 times.

Table 11 Simulation model and data storage location of inverter one-phase power tube open circuit fault under step response

Table 12 Simulation model and data storage location of inverter one-phase power tube open circuit fault under sinusoidal response

(5) Angle sensor output drift: A sinusoidal disturbance signal with an amplitude of 10% and a frequency of 5 Hz is superimposed on the output of the angle sensor of the rudder surface to simulate the output drift fault of the angle sensor.

Set the simulation time, give the sine and step response, respectively test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at an interval of 0.3N·m, save the simulation time and load , bus current, three-phase current, three-phase electromotive force, rotational speed, rudder deflection angle, electromagnetic torque and other state quantities data constitute the reference model database for the angle sensor output drift fault of the electromechanical actuator, in which the step response is given The model for testing the performance of the speed loop is named "step_fault5_speedx.mdl", the model for testing the performance of the position loop with a given step response is named "step_fault5_positionx.mdl", and the model for testing the performance of the speed loop with a given sinusoidal response is named "sin_fault5_speedx .mdl", the model to test the performance of the position loop when given a sinusoidal response is named "sin_fault5_positionx.mdl", for the convenience of recording "x" means one-tenth of the given load. The specific model and data storage location are shown in Table 13 and Table 14. Among them, "\simdata\" means to store the simulation data, the subfolder "fault5\" means the open circuit fault data of the inverter one-phase power tube of the electromechanical actuator in the folder, and the "speed\" folder means the data stored in it. It is the data corresponding to the test speed ring. The subfolder "step\" stores the simulation data of a given step response, and "tlx\" indicates the simulation data of x _N m with a load of 0.1 times.

Table 13 Simulation model and data storage location of inverter one-phase power tube open circuit fault under step response

Table 14 Simulation model and data storage location of inverter one-phase power tube open circuit fault under sinusoidal response

(6) Angle sensor output a constant value: place a switch selection switch S at the feedback point of the angle sensor of the rudder surface to control the occurrence of faults. When a fault occurs, S switches to a constant value feedback; when in a normal state, S switches to a normal feedback. The switch S is controlled by the control signal. When the control signal is 0, the switch is closed; when the control signal is 1, the switch is open.

Set the simulation time, set the angle feedback fault control signal to change from 0 to 1 in 0.1 seconds, given the sinusoidal and step responses, respectively test the change of the electromechanical actuator in the load from 0N·m to 2.4N·m at an interval of 0.3N·m The tracking effect of the speed loop and position loop, save the data of various state variables such as simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder deflection angle, electromagnetic torque, etc., to form the angle of occurrence of the electromechanical actuator Reference model database for sensor output constant value faults, where the model for testing the performance of the speed loop when the step response is given is named "step_fault6_speedx.mdl", and the model for testing the performance of the position loop when the step response is given is named "step_fault6_positionx.mdl" The model for testing the performance of the speed loop when the sinusoidal response is given is named "sin_fault6_speedx.mdl", and the model for testing the performance of the position loop when the sinusoidal response is given is named "sin_fault6_positionx.mdl". one tenth. The specific model and data storage location are shown in Table 15 and Table 16. Among them, "\simdata\" indicates the storage of simulation data, the subfolder "fault6\" indicates the open circuit fault data of the inverter one-phase power tube of the electromechanical actuator in the folder, and the "speed\" folder indicates the data stored in it. It is the data corresponding to the test speed ring. The subfolder "step\" stores the simulation data of a given step response, and "tlx\" indicates the simulation data of x _N m with a load of 0.1 times.

Table 15 Simulation model and data storage location of inverter one-phase power tube open circuit fault under step response

Table 16 Simulation model and data storage location of inverter one-phase power tube open circuit fault under sinusoidal response

(7) One high level of Hall sensor: The simulation model of Hall sensor is written by S function, so make changes on the basis of S function in normal state, and directly assign "1" to one output of Hall sensor. Set the selection switch S, when a fault occurs, S switches to the faulty S function; when it is in a normal state, S switches to the normal S function.

Set the simulation time, set the C-phase Hall sensor fault control signal to change from 0 to 1 in 0.1 seconds, given the sinusoidal and step responses, respectively test the electromechanical actuator under the load from 0N·m to 2.4N·m at an interval of 0.3N· The tracking effect of the speed loop and position loop with m changes, save the data of various state variables such as simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder deflection angle, electromagnetic torque, etc., to form an electromechanical actuator A reference model database for a high-level fault of the Hall sensor. The model for testing the performance of the speed loop when the step response is given is named "step_fault7_speedx.mdl", and the model for testing the performance of the position loop when the step response is given is named "step_fault7_positionx .mdl", the model for testing the performance of the speed loop when the sinusoidal response is given is named "sin_fault7_speedx.mdl", the model for testing the performance of the position loop when the sinusoidal response is given is named "sin_fault7_positionx.mdl", for the convenience of recording "x" is given to One-tenth of the rated load. The specific model and data storage location are shown in Table 17 and Table 18. Among them, "\simdata\" indicates the storage of simulation data, the subfolder "fault7\" indicates the open circuit fault data of the inverter one-phase power tube of the electromechanical actuator in the folder, and the "speed\" folder indicates the data stored in it. It is the data corresponding to the test speed ring. The subfolder "step\" stores the simulation data of a given step response, and "tlx\" indicates the simulation data of x _N m with a load of 0.1 times.

Table 17 Simulation model and data storage location of inverter one-phase power tube open circuit fault under step response

Table 18 Simulation model and data storage location of inverter one-phase power tube open circuit fault under sinusoidal response

(8) One low level of the Hall sensor: The simulation model of the Hall sensor is written by the S function, so the change is made on the basis of the S function in the normal state, and the output of the Hall sensor is directly assigned "0". Set the selection switch S, when a fault occurs, S switches to the faulty S function; when it is in a normal state, S switches to the normal S function.

Set the simulation time, set the phase A Hall sensor fault control signal to change from 0 to 1 in 0.1 seconds, given the sinusoidal and step responses, respectively test the electromechanical actuator under the load from 0N·m to 2.4N·m at an interval of 0.3N· The tracking effect of the speed loop and position loop with m changes, save the data of various state variables such as simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder deflection angle, electromagnetic torque, etc., to form an electromechanical actuator The reference model database of a low-level fault of the Hall sensor, in which the model for testing the performance of the speed loop when the step response is given is named "step_fault8_speedx.mdl", and the model for testing the performance of the position loop when the step response is given is named "step_fault8_positionx .mdl", the model for testing the performance of the speed loop when the sinusoidal response is given is named "sin_fault8_speedx.mdl", the model for testing the performance of the position loop when the sinusoidal response is given is named "sin_fault8_positionx.mdl", for the convenience of recording "x" means given to One-tenth of the rated load. The specific model and data storage location are shown in Table 19 and Table 20. Among them, "\simdata\" indicates the storage of simulation data, the subfolder "fault8\" indicates the open circuit fault data of the inverter one-phase power tube of the electromechanical actuator in the folder, and the "speed\" folder indicates the data stored in it. It is the data corresponding to the test speed ring. The subfolder "step\" stores the simulation data of a given step response, and "tlx\" indicates the simulation data of x _N m with a load of 0.1 times.

Table 19 Simulation model and data storage location of inverter one-phase power tube open circuit fault under step response

Table 20 Simulation model and data storage location of inverter one-phase power tube open circuit fault under sinusoidal response

(9) Ball screw wear: The wear of the ball screw is a random state, and there may be various wear states. The present invention simplifies it into periodic wear depressions on the ball screw. The sine wave is used to realize the wear simulation of the ball screw.

Set the simulation time, set the amplitude of the superimposed fault sinusoidal signal to 0.0002, and the period to 1/30s. Given the sinusoidal and step responses, respectively test the electromechanical actuator under the load from 0N·m to 2.4N·m at an interval of 0.3N· The tracking effect of the speed loop and position loop with m changes, save the data of various state variables such as simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder deflection angle, electromagnetic torque, etc., to form an electromechanical actuator Reference model database for ball screw wear faults, where the model for testing the performance of the speed loop with a given step response is named "step_fault9_speedx.mdl", and the model for testing the performance of the position loop with a given step response is named "step_fault9_positionx.mdl ", the model for testing the performance of the speed loop when the sinusoidal response is given is named "sin_fault9_speedx.mdl", the model for testing the performance of the position loop when the sinusoidal response is given is named "sin_fault9_positionx.mdl", for the convenience of recording "x" indicates a given load one-tenth of The specific models and data storage locations are shown in Table 21 and Table 22. Among them, "\simdata\" means to store the simulation data, the subfolder "fault9\" means the open circuit fault data of the inverter one-phase power tube of the electromechanical actuator in the folder, and the "speed\" folder means the data stored in it. It is the data corresponding to the test speed ring. The subfolder "step\" stores the simulation data of a given step response, and "tlx\" indicates the simulation data of x _N m with a load of 0.1 times.

Table 21 The simulation model and data storage location of inverter one-phase power tube open circuit fault under step response

Table 22 Simulation model and data storage location of inverter one-phase power tube open circuit fault under sinusoidal response

(10) Gear faults: There are many types of gear faults. After a fault occurs, the thickness of the tooth becomes thinner, the tooth profile deforms, and the backlash becomes larger. The present invention realizes the simulation of the gear fault by adding a hysteresis link.

Set the simulation time, give the sine and step response, respectively test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at an interval of 0.3N·m, save the simulation time and load , bus current, three-phase current, three-phase electromotive force, rotational speed, rudder deflection angle, electromagnetic torque and other state variables constitute the reference model database for gear faults of electromechanical actuators, where the test rotational speed is given when the step response The model for the loop performance is named "step_fault10_speedx.mdl", the model for testing the performance of the position loop when a step response is given is named "step_fault10_positionx.mdl", and the model for testing the performance of the speed loop when a sinusoidal response is given is named "sin_fault10_speedx.mdl" , the model to test the performance of the position loop when given a sinusoidal response is named "sin_fault10_positionx.mdl", for the convenience of recording "x" means one-tenth of the given load. The specific model and data storage location are shown in Table 23 and Table 24. Among them, "\simdata\" indicates the storage of simulation data, the subfolder "fault10\" indicates the open circuit fault data of the inverter one-phase power tube of the electromechanical actuator in the folder, and the "speed\" folder indicates the data stored in it. It is the data corresponding to the test speed ring. The subfolder "step\" stores the simulation data of a given step response, and "tlx\" indicates the simulation data of x _N m with a load of 0.1 times.

Table 23 Simulation model and data storage location of inverter one-phase power tube open circuit fault under step response

Table 24 Simulation model and data storage location of inverter one-phase power tube open circuit fault under sinusoidal response

(11) load change disturbance: the change of the load directly affects the change of the load torque, so in the present invention, the sinusoidal disturbance whose magnitude is 50% of the given load torque and frequency is 5Hz is used to simulate the load by superimposing the load torque change disturbance.

Set the simulation time, give the sine and step response, respectively test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at an interval of 0.3N·m, save the simulation time and load , bus current, three-phase current, three-phase electromotive force, rotational speed, rudder deflection angle, electromagnetic torque and other state quantities data constitute a reference model database for electromechanical actuator load disturbance, where the test rotational speed is given when the step response is given The model for loop performance is named "step_fault11_speedx.mdl", the model for testing the performance of the position loop with a given step response is named "step_fault11_positionx.mdl", and the model for testing the performance of the speed loop with a given sinusoidal response is named "sin_fault11_speedx.mdl" , the model to test the performance of the position loop when given a sinusoidal response is named "sin_fault11_positionx.mdl", for the convenience of recording "x" means one-tenth of the given load. The specific model and data storage location are shown in Table 25 and Table 26. Among them, "\simdata\" means to store the simulation data, the subfolder "fault11\" means the open circuit fault data of the inverter one-phase power tube of the electromechanical actuator in the folder, and the "speed\" folder means the data stored in it. It is the data corresponding to the test speed ring. The subfolder "step\" stores the simulation data of a given step response, and "tlx\" indicates the simulation data of xN m with a load of 0.1 times.

Table 25 Simulation model and data storage location of inverter one-phase power tube open circuit fault under step response

Table 26 Simulation model and data storage location of inverter one-phase power tube open circuit fault under sinusoidal response

Claims (1)

1. A method for building an electromechanical actuator reference model database, characterized in that the steps are as follows: Step 1: Build the simulation model of the electromechanical actuator according to the working principle of the electromechanical actuator, and establish the reference model of the normal state of the electromechanical actuator: Step 1a: According to the working principle of the electromechanical actuator, the mathematical models of the brushless DC motor body, the electronic control unit and the mechanical reduction device in the electromechanical actuator are respectively established, and then the three-part model is used as the mathematical model of the electromechanical actuator ; Step 1b: using the module library in the Simulink toolbox in Matlab, according to the mathematical model of the electromechanical actuator, build a three-phase simulation model of the electromechanical actuator; Step 1c: Set the simulation time, give the sine and step response, and test the tracking of the speed loop and position loop with the load changing from 0N·m to 2.4N·m at an interval of 0.3N·m when the electromechanical actuator is in normal working condition Effect, save the data of simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder angle, and electromagnetic torque, and constitute the reference model database of the normal state of the electromechanical actuator. The model for testing the performance of the speed loop with a step response is named "step_fault0_speedx.mdl", the model for testing the performance of the position loop with a given step response is named "step_fault0_positionx.mdl", and the model for testing the performance of the speed loop with a given sinusoidal response is named For "sin_fault0_speedx.mdl", the model for testing the performance of the position loop when the sinusoidal response is given is named "sin_fault0_positionx.mdl", for the convenience of recording, "x" means one-tenth of the given load; Step 2: Establish a reference model database of corresponding faults and disturbances according to common faults and disturbance types: Step 2a: Motor single-phase winding open circuit: The motor single-phase winding is open circuit, that is, one of the three-phase windings of the motor is disconnected. In the three-phase simulation model, a switch S is placed in the circuit where the fault occurs to simulate the open circuit fault; the switch S is controlled by the control signal Control, when the control signal is 0, the switch is closed, which is the normal state; when the control signal is 1, the switch is open, which is the open circuit state; the fault setting of the winding open circuit is realized by controlling the switch; the simulation time is set, and the A phase winding open circuit fault is set The control signal changes from 0 to 1 in 0.1 seconds, and the sine and step responses are given to test the tracking of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at intervals of 0.3N·m Effect, save the data of simulation time, load, bus current, three-phase current, three-phase electromotive force, rotational speed, rudder deflection angle, electromagnetic torque and various state quantities, and constitute a reference model database for electromechanical actuators that have motor single-phase winding open-circuit faults , where the model for testing the performance of the speed loop with a given step response is named "step_fault1_speedx.mdl", the model for testing the performance of the position loop with a given step response is named "step_fault1_positionx.mdl", and the model for testing the performance of the speed loop with a given sine response is named "step_fault1_speedx.mdl". The performance model is named "sin_fault1_speedx.mdl", and the model for testing the performance of the position loop is named "sin_fault1_positionx.mdl" when the sinusoidal response is given. For the convenience of recording, "x" means one-tenth of the given load; Step 2b: Turn-to-turn short circuit of the motor winding: When a turn-to-turn short circuit occurs in a certain phase winding, the resistance value, self-inductance, mutual inductance with other phases, and back electromotive force of the phase winding will decrease accordingly; the resistance value of the winding , mutual inductance and back electromotive force are proportional to the normal number of turns, self-inductance is proportional to the square of the normal number of turns; set the short circuit degree as n percentage, multiply the resistance value of the fault phase, the mutual inductance with other phases and the back electromotive force by the coefficient 1-n, the self-inductance is multiplied by the coefficient (1-n) ² ; set the simulation time, set the short-circuit degree n of the inter-turn short-circuit fault of the A-phase winding, and give the sine and step responses, respectively test the electromechanical actuator under the load from 0N·m to 2.4N·m The tracking effect of the speed loop and position loop at intervals of 0.3N·m, save the simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder deflection angle, electromagnetic torque The data of each state quantity constitutes the reference model database for the motor winding turn-to-turn short-circuit fault of the electromechanical actuator. The model for testing the performance of the speed loop when the step response is given is named "step_fault2pn_speedx.mdl", and when the step response is given The model for testing the performance of the position loop is named "step_fault2pn_positionx.mdl", the model for testing the performance of the speed loop with a given sinusoidal response is named "sin_fault2pn_speedx.mdl", and the model for testing the performance of the position loop with a given sinusoidal response is named "sin_fault2pn_positionx.mdl"", for the convenience of recording, "x" represents one-tenth of a given load, and "n" represents the corresponding percentage of turn-to-turn short circuit degree; Step 2c: One-phase power tube of the inverter is open circuit: set the one-phase power tube of the upper bridge arm to be open circuit, and simulate the open circuit fault by placing a switch S in the fault circuit; the switch S is controlled by the control signal, and when the control signal is 0, the switch S Closed, it is normal state; when the control signal is 1, the switch is disconnected, it is open circuit state; realize the fault setting of inverter one-phase power tube open circuit by controlling the switch; set the simulation time, and set the power tube open circuit fault control of phase A circuit The signal changes from 0 to 1 in 0.1 seconds, and the sine and step responses are given to test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at intervals of 0.3N·m , save the data of simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder deflection angle, and electromagnetic torque, and constitute a reference for the open-circuit fault of the inverter one-phase power tube of the electromechanical actuator In the model database, the model for testing the performance of the speed loop when the step response is given is named "step_fault3_speedx.mdl", the model for testing the performance of the position loop when the step response is given is named "step_fault3_positionx.mdl", and the model for testing the performance of the position loop is named "step_fault3_positionx.mdl" when the sine response is given The model of the speed loop performance is named "sin_fault3_speedx.mdl", and the model of the test position loop performance is named "sin_fault3_positionx.mdl" when the sinusoidal response is given. For the convenience of recording, "x" means one-tenth of the given load; Step 2d: short-circuit of one-phase power tube of the inverter: a short-circuit fault is simulated by placing a switch S between the upper and lower bridge arms; the switch S is controlled by a control signal, and when the control signal is 0, the switch is closed and is in a short-circuit state; the control signal is 1, the switch is off, and it is in the normal state; the fault setting of the short-circuit of the power tube of one phase of the inverter is realized by controlling the switch; the simulation time is set, and the control signal of the short-circuit fault of the power tube is set to change from 0 to 1 in 0.1 seconds, and the given sine and step response, test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at an interval of 0.3N·m, and save the simulation time, load, bus current, and three-phase current , three-phase electromotive force, rotational speed, rudder deflection angle, and electromagnetic torque state variables constitute a reference model database for the short-circuit fault of the inverter one-phase power tube of the electromechanical actuator. When the step response is given, the speed loop is tested The performance model is named "step_fault4_speedx.mdl", the model for testing the performance of the position loop when the step response is given is named "step_fault4_positionx.mdl", the model for testing the performance of the speed loop when the sinusoidal response is given is named "sin_fault4_speedx.mdl", The model for testing the performance of the position loop when a sinusoidal response is given is named "sin_fault4_positionx.mdl", for the convenience of recording "x" means one-tenth of the given load; Step 2e: Angle sensor output drift: superimpose a sinusoidal disturbance signal with an amplitude of 10% and a frequency of 5 Hz on the output of the angle sensor of the rudder surface to simulate the output drift fault of the angle sensor; set the simulation time, and give the sine and order Jump response, test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at an interval of 0.3N·m, save the simulation time, load, bus current, three-phase current, three-phase current On the contrary, the data of electromotive force, speed, rudder deflection angle, and electromagnetic torque constitute the reference model database for the output drift fault of the angle sensor of the electromechanical actuator. The model for testing the performance of the speed loop when the step response is given is named " step_fault5_speedx.mdl", the model for testing the performance of the position loop when the step response is given is named "step_fault5_positionx.mdl", the model for testing the performance of the speed loop when the sinusoidal response is given is named "sin_fault5_speedx.mdl", the test is given for the sinusoidal response The model of the position loop performance is named "sin_fault5_positionx.mdl", for the convenience of recording "x" means one-tenth of the given load; Step 2f: The angle sensor outputs a constant value: place a switch selector switch S at the feedback point of the angle sensor of the rudder surface to control the occurrence of a fault; when a fault occurs, S switches to a constant value feedback; when in a normal state, S switches to Normal feedback; the switch S is controlled by the control signal. When the control signal is 0, the switch is closed; Sine and step response, respectively test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at an interval of 0.3N·m, save the simulation time, load, bus current, three-phase The data of current, three-phase electromotive force, rotational speed, rudder deflection angle, and electromagnetic torque constitute a reference model database for electromechanical actuators with angle sensor output constant value faults. The performance of the speed loop is tested when the step response is given The model is named "step_fault6_speedx.mdl", the model that tests the performance of the position loop when the step response is given is named "step_fault6_positionx.mdl", the model that tests the performance of the speed loop when the sinusoidal response is given is named "sin_fault6_speedx.mdl", the given The model for testing the performance of the position loop when the response is sinusoidal is named "sin_fault6_positionx.mdl", for the convenience of recording "x" means one-tenth of the given load; Step 2g: Hall sensor all the way high level: the simulation model of the Hall sensor is written with S function, so make changes on the basis of the S function in the normal state, directly assign "1" to the output of the Hall sensor; set the selection switch S , when a fault occurs, S switches to the faulted S function; when it is in a normal state, S switches to the normal S function; set the simulation time, set the C-phase Hall sensor fault control signal to change from 0 to 1 in 0.1 seconds, given Sine and step response, respectively test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at an interval of 0.3N·m, save the simulation time, load, bus current, three-phase The data of current, three-phase electromotive force, rotational speed, rudder deflection angle, and electromagnetic torque constitute a reference model database for a high-level fault of a Hall sensor in an electromechanical actuator. The performance of the rotational speed loop is tested when a step response is given The model named "step_fault7_speedx.mdl", the model that tests the performance of the position loop when the step response is given is named "step_fault7_positionx.mdl", the model that tests the performance of the speed loop when the sinusoidal response is given is named "sin_fault7_speedx.mdl", give The model for testing the performance of the position loop when the sine response is determined is named "sin_fault7_positionx.mdl". For the convenience of recording, "x" means one-tenth of the given load; Step 2h: Hall sensor all the way low level: the simulation model of the Hall sensor is written with S function, so make changes on the basis of the S function in the normal state, directly assign "0" to one output of the Hall sensor; set the selection switch S , when a fault occurs, S switches to the fault S function; when it is in a normal state, S switches to the normal S function; set the simulation time, set the phase A Hall sensor fault control signal from 0 to 1 in 0.1 seconds, given Sine and step response, respectively test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at an interval of 0.3N·m, save the simulation time, load, bus current, three-phase The data of current, three-phase electromotive force, rotational speed, rudder deflection angle, and electromagnetic torque constitute a reference model database for electromechanical actuators with a low-level fault in the Hall sensor. The performance of the rotational speed loop is tested when the step response is given The model named "step_fault8_speedx.mdl", the model that tests the performance of the position loop when the step response is given is named "step_fault8_positionx.mdl", the model that tests the performance of the speed loop when the sinusoidal response is given is named "sin_fault8_speedx.mdl", give The model for testing the performance of the position loop when the sine response is determined is named "sin_fault8_positionx.mdl", for the convenience of recording "x" means one-tenth of the given load; Step 2i: Ball screw wear: The wear of the ball screw is a random state, which is simplified as a periodic wear depression on the ball screw, and the wear of the ball screw is realized by superimposing a negative half-sine wave on the output of the ball screw Simulation; set the simulation time, set the amplitude of the superimposed fault sinusoidal signal to 0.0002, and the period to 1/30s, given the sinusoidal and step responses, respectively test the electromechanical actuator under the load from 0N·m to 2.4N·m at an interval of 0.3 The tracking effect of the speed loop and position loop with N m changes, save the data of the simulation time, load, bus current, three-phase current, three-phase electromotive force, speed, rudder deflection angle, and electromagnetic torque to form electromechanical actuation The reference model database of the ball screw wear fault of the controller, in which the model for testing the performance of the speed loop when the step response is given is named "step_fault9_speedx.mdl", and the model for testing the performance of the position loop when the step response is given is named "step_fault9_positionx. mdl", the model for testing the performance of the speed loop when the sinusoidal response is given is named "sin_fault9_speedx.mdl", the model for testing the performance of the position loop when the sinusoidal response is given is named "sin_fault9_positionx.mdl", for the convenience of recording "x" means given one-tenth of the load; Step 2j: Gear failure: After the gear fails, the thickness of the tooth becomes thinner, the tooth profile deforms, and the backlash becomes larger. The simulation of the gear failure is realized by adding a hysteresis link; set the simulation time, and give the sine and step responses. Test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at an interval of 0.3N·m, save the simulation time, load, bus current, three-phase current, three-phase electromotive force, The data of each state quantity of speed, rudder deflection, and electromagnetic torque constitute a reference model database for gear faults of electromechanical actuators. The model for testing the performance of the speed loop when a step response is given is named "step_fault10_speedx.mdl", given The model for testing the performance of the position loop when the step response is given is named "step_fault10_positionx.mdl", the model for testing the performance of the speed loop when the sinusoidal response is given is named "sin_fault10_speedx.mdl", and the model for testing the performance of the position loop is named when the sinusoidal response is given For "sin_fault10_positionx.mdl", for the convenience of recording "x" means one-tenth of the given load; Step 2k: Load change disturbance: The change of load directly affects the change of load torque, and the load change disturbance is simulated by superimposing a sinusoidal disturbance with an amplitude of 50% of the given load torque and a frequency of 5 Hz on the load torque; set Simulation time, given sine and step responses, respectively test the tracking effect of the speed loop and position loop of the electromechanical actuator when the load changes from 0N·m to 2.4N·m at an interval of 0.3N·m, save the simulation time, load, The data of bus current, three-phase current, three-phase electromotive force, rotational speed, rudder deflection angle, and electromagnetic torque constitute a reference model database for load disturbance of electromechanical actuators. The performance of the rotational speed loop is tested when the step response is given The model named "step_fault11_speedx.mdl", the model that tests the performance of the position loop when the step response is given is named "step_fault11_positionx.mdl", the model that tests the performance of the speed loop when the sinusoidal response is given is named "sin_fault11_speedx.mdl", given The model for testing the performance of the position loop when the sinusoidal response is determined is named "sin_fault11_positionx.mdl". For the convenience of recording, "x" represents one-tenth of the given load.