CN101614623A - A kind of positive and negative drawing type electro-hydraulic proportional loading device of testing steering wheel - Google Patents

Abstract

The present invention relates to a kind of positive and negative drawing type hydraulic proportional charger of testing steering wheel, belong to steering wheel Loading Control technical field.Pumping plant of the present invention is the hydraulic cylinder fuel feeding through proportional pressure control valve and solenoid directional control valve; Hydraulic cylinder rodless cavity one end is connected with base by oscillating bearing, and its piston rod is connected with swing arm by the gudgeon mode; The other end of swing arm, torque sensor, rudderpost web member link together by shaft coupling successively; Swing arm and torque sensor are fixed by swing arm support and sensor stand and base respectively, the startup of observing and controlling case control pumping plant and stop, the spillway discharge of proportional pressure control valve 4, solenoid directional control valve fuel feeding direction, and gather the signal of pressure transducer and torque sensor.The present invention has realized forward and reverse linear rule loading moment in ± 60 ° of scopes, loading method reliability height, and dynamic perfromance is good, has good application and promotion prospect.

Description

A kind of positive and negative drawing type electro-hydraulic proportional loading device of testing steering wheel

Technical field

The present invention relates to a kind of positive and negative drawing type electro-hydraulic proportional loading device of testing steering wheel, belong to steering wheel Loading Control technical field.

Background technology

Steering wheel is also referred to as servo brakes, and it is the important topworks of heading control loop, is applied in widely in the control system of boats and ships, aircraft and guided missile etc.The steering wheel performance test need be carried out moment usually and be loaded in the certain angle scope, the loading moment that requires charger to apply along with the anglec of rotation change linear rule takes place to be changed.Load mode can be divided into the forward loading and oppositely load two kinds: forward loading moment direction consistent with steering wheel direction of motion (being also referred to as load), and oppositely the loading moment direction is opposite with steering wheel direction of motion.

Above-mentioned load test adopts motor or electro-hydraulic servo loading and elasticity torsion spring to load usually and realizes that all there is weak point in they: servo loading cost is higher, system architecture and control procedure more complicated, and redundant force is difficult to fine elimination; Cost is low though torsion spring loads, and loading accuracy is poor, and loading gradient is adjusted difficulty.

Summary of the invention

The objective of the invention is in order to solve the deficiency of existing loading method, and a kind of positive and negative drawing type electro-hydraulic proportional loading device of testing steering wheel is provided.Forward and reverse linear rule loading moment in ± 60 ° of scopes have been realized.

A kind of positive and negative drawing type electro-hydraulic proportional loading device of testing steering wheel of the present invention comprises hydraulic cylinder 2, pressure transducer 7, swing arm 1, swing arm support 10, torque sensor 8, sensor stand 11, rudderpost web member 12, base 9 and the test box 13 of pumping plant 5, proportional pressure control valve 4, solenoid directional control valve 3, band piston rod.

The high-pressure oil pipe of pumping plant 5 is connected with oil return opening with the oil-in of proportional pressure control valve 4 respectively with scavenge pipe, and pumping plant 5 provides the hydraulic oil with certain pressure and flow for the valve-controlled cylinder system; The pressure transducer 7 parallel oil-ins that are installed in proportional pressure control valve 4, pressure transducer 7 is used to test the charge oil pressure size; The oil-feed port of solenoid directional control valve 3 one ends and oil return opening are connected the scavenge pipe of proportional pressure control valve 4 oil-ins and pumping plant 5 respectively, and rod chamber and rodless cavity that two control hydraulic fluid ports of the other end are respectively the hydraulic cylinder 2 of band piston rod provide hydraulic oil; Rodless cavity one end of the hydraulic cylinder 2 of band piston rod is connected with base 9 by oscillating bearing, its piston rod is connected with an end of swing arm 1 by the gudgeon mode, the other end of swing arm 1, torque sensor 8, rudderpost web member 12 link together by shaft coupling successively, three's axis of rotation overlaps and is parallel with base 9, the vertical and base 9 of vertical line of the turning axle that three's axis of rotation links to each other with base 9 to the hydraulic cylinder 2 of band piston rod; Swing arm 1 and torque sensor 8 are fixing with base 9 by swing arm support 10 and sensor stand 11 respectively, thereby thereby startup and the spillway discharge that stop, regulating proportional pressure control valve 4 of observing and controlling case 13 by program design may command pumping plant 5 regulated on-load pressure, control solenoid directional control valve 3 changes pressure and torque signal to rod chamber or rodless cavity fuel feeding control loaded direction, collection pressure transducer 7 and torque sensor 8.

The parallel accumulator 6 of installing is used for replenishing instantaneous delivery at the oil-in place of proportional pressure control valve 4, keeps working pressure constant, improves loading dynamic perfromance.

The positive and negative drawing type principle of proportion of utilization surplus valve control hydraulic cylinder of the present invention is carried out loading work: steering wheel is connected with rudderpost web member 12 of the present invention, it drives swing arm 1 and drags hydraulic cylinder 2 stretching motions in rotary movement, it has been subjected to the drawing force forward or backwards that hydraulic cylinder 2 produces, pass through TT﹠C system, control ratio surplus valve 4 is regulated the pressure of pumping plant 5 outputs and is regulated the loading moment gradient magnitude, control solenoid directional control valve 3 changes to rod chamber or rodless cavity fuel feeding and the control loaded direction, thereby has realized forward and reverse loading moment.When solenoid directional control valve 3 was in the work of position, a left side, hydraulic cylinder 2 rodless cavities led to hydraulic oil, and the drawing torque direction is consistent with swing arm 1 sense of rotation, realizes the forward drawing torque; When solenoid directional control valve 3 was in the work of right position, hydraulic cylinder 2 rod chambers led to hydraulic oil, and the drawing torque direction is opposite with swing arm 1 sense of rotation, realizes reverse drawing torque.Drawing force is through the centre of gyration when swing arm 1 is in zero-bit (swing arm 1 is vertical with the base plane of mechanical stand with the test steering wheel), and effectively drawing torque is zero; After swing arm 1 rotated to an angle, the effective torque that vertically acts in the swing arm 1 changed with the anglec of rotation, and it is provable to derive according to how much, and fixedly the time, structure of the present invention has realized the linear loading moment in small angle range at charge oil pressure.

The linear relationship mathematical justification of the drawing torque and the anglec of rotation is as follows in the small angle range that the structure of this device realizes:

If a is a pendulum arm length, b be the centre of gyration to hydraulic cylinder 2 base pivot distances, when swing arm 1 anglec of rotation was θ, according to triangle formula, hydraulic cylinder 2 total lengths (from the base center to the piston rod tie point) X can be expressed as

β is the angle of hydraulic cylinder 2 and swing arm 1, in the triangle that they constitute, has following geometric relationship

If charge oil pressure is P, hydraulic cylinder 2 piston effective active areas are S, and then effective vertical stress component F of acting in the swing arm 1 of hydraulic cylinder 2 power outputs can be expressed as

F＝PSsin(β)(3)

Drawing torque T is the product of effective vertical stress component F and swing arm 1 length, promptly

T＝F×a(4)

Formula (1)～(4) simultaneous is got up, can derive the expression formula of the drawing torque and the anglec of rotation

$T=\mathrm{PSa}\sin \left(\mathrm{\β}\right)=\frac{\mathrm{PSab}}{X}\sin \left(\mathrm{\θ}\right)=\frac{\mathrm{PSab}\sin \left(\mathrm{\θ}\right)}{\sqrt{a^2+b^2+2\mathrm{ab}\cos \left(\mathrm{\θ}\right)}}---\left(5\right)$

If a=b, then formula (5) can further be simplified, and obtains

$T=\frac{\mathrm{PSa}\sin \left(\mathrm{\θ}\right)}{\sqrt{2}\×\sqrt{1+\cos \left(\mathrm{\θ}\right)}}---\left(6\right)$

There is following trigonometric function transformation relation:

$\cos \left(\mathrm{\θ}\right)=2{\cos }^2\left(\frac{\mathrm{\θ}}{2}\right)-1---\left(7\right)$

$\sin \left(\mathrm{\θ}\right)=2\sin \left(\frac{\mathrm{\θ}}{2}\right)\cos \left(\frac{\mathrm{\θ}}{2}\right)---\left(8\right)$

Formula (6)～(8) simultaneous is got up, can get

$T=\mathrm{PSa}\sin \left(\frac{\mathrm{\θ}}{2}\right)---\left(9\right)$

When anglec of rotation θ hour, have following relation,

$\sin \left(\frac{\mathrm{\θ}}{2}\right)\≈\frac{\mathrm{\θ}}{2}---\left(10\right)$

Then formula (9) can be reduced to following relational expression

$T\≈\mathrm{PSa}\frac{\mathrm{\θ}}{2}---\left(11\right)$

By formula (11) as can be known, fixedly the time, when the anglec of rotation was in small angle range, the drawing torque and the anglec of rotation were linear relationship at charge oil pressure.The computing formula of loading error E is as follows:

$E=(2\sin (\mathrm{\θ}/2)/\mathrm{\θ}-1)\×100\%---\left(12\right)$

In ± 30 ° of angle ranges, loading error is less than 1.1%, and in ± 60 ° of angle ranges, loading error is less than 4.3%.

Beneficial effect: the present invention adopts proportional pressure control valve control cylinder as load maintainer, its principle and control mode are all very simple, forward and reverse linear rule loading moment in ± 60 ° of scopes, have been realized, can adjust the loading gradient size very easily on a large scale, this loading method reliability height of while, dynamic perfromance is good.The invention solves the problem that traditional steering wheel loading method exists, have good application and promotion prospect.

Description of drawings

Fig. 1 electric-hydraulic proportion loading principle synoptic diagram;

The stressed geometric relationship figure of Fig. 2 swing arm;

Fig. 3 charger machinery sketch;

Fig. 4 charger photo in kind;

The forward and reverse load test curve map of Fig. 5;

Among the figure: hydraulic cylinder, 3-solenoid directional control valve, 4-proportional pressure control valve, 5-pumping plant, 6-accumulator, 7-pressure transducer, 8-torque sensor, 9-base, 10-swing arm support, 11-sensor stand, 12-rudderpost web member, the reverse loading curve of A-, the B-forward loading curve of 1-swing arm, 2-band piston rod.

Embodiment

Embodiment 1

A kind of positive and negative drawing type electro-hydraulic proportional loading device of testing steering wheel of the present invention comprises hydraulic cylinder 2, pressure transducer 7, swing arm 1, swing arm support 10, torque sensor 8, sensor stand 11, rudderpost web member 12, base 9 and the test box 13 of pumping plant 5, proportional pressure control valve 4, solenoid directional control valve 3, band piston rod.

The high-pressure oil pipe of pumping plant 5 is connected with oil return opening with the oil-in of proportional pressure control valve 4 respectively with scavenge pipe, and pumping plant 5 provides the hydraulic oil with certain pressure and flow for the valve-controlled cylinder system; Pressure transducer 7, the accumulator 6 parallel oil-ins that are installed in proportional pressure control valve 4, pressure transducer 7 is used to test the charge oil pressure size, and accumulator 6 is used for replenishing instantaneous delivery; The oil-feed port of solenoid directional control valve 3 one ends and oil return opening are connected the scavenge pipe of proportional pressure control valve 4 oil-ins and pumping plant 5 respectively, and rod chamber and rodless cavity that two control hydraulic fluid ports of the other end are respectively the hydraulic cylinder 2 of band piston rod provide hydraulic oil; Rodless cavity one end of the hydraulic cylinder 2 of band piston rod is connected with base 9 by oscillating bearing, its piston rod is connected with an end of swing arm 1 by the gudgeon mode, the other end of swing arm 1, torque sensor 8, rudderpost web member 12 link together by shaft coupling successively, three's axis of rotation overlaps and is parallel with base 9, the vertical and base 9 of vertical line of the turning axle that three's axis of rotation links to each other with base 9 to the hydraulic cylinder 2 of band piston rod; Swing arm 1 and torque sensor 8 are fixing with base 9 by swing arm support 10 and sensor stand 11 respectively, thereby thereby startup and the spillway discharge that stop, regulating proportional pressure control valve 4 of observing and controlling case 13 by program design may command pumping plant 5 regulated on-load pressure, control solenoid directional control valve 3 changes pressure and torque signal to rod chamber or rodless cavity fuel feeding control loaded direction, collection pressure transducer 7 and torque sensor 8.

Steering wheel is connected with rudderpost web member 12 of the present invention, it drives swing arm 1 and drags hydraulic cylinder 2 stretching motions in rotary movement, it has been subjected to the drawing force forward or backwards that hydraulic cylinder 2 produces, pass through TT﹠C system, control ratio surplus valve 4 is regulated the pressure of pumping plant 5 outputs and is regulated the loading moment gradient magnitude, control solenoid directional control valve 3 changes to rod chamber or rodless cavity fuel feeding and the control loaded direction, thereby has realized forward and reverse loading moment.When solenoid directional control valve 3 was in the work of position, a left side, hydraulic cylinder 2 rodless cavities led to hydraulic oil, and the drawing torque direction is consistent with swing arm 1 sense of rotation, realizes the forward drawing torque; When solenoid directional control valve 3 was in the work of right position, hydraulic cylinder 2 rod chambers led to hydraulic oil, and the drawing torque direction is opposite with swing arm 1 sense of rotation, realizes reverse drawing torque.Drawing force is through the centre of gyration when swing arm 1 is in zero-bit (swing arm 1 is vertical with the base plane of mechanical stand with the test steering wheel), and effectively drawing torque is zero; After swing arm 1 rotated to an angle, the effective torque that vertically acts in the swing arm 1 changed with the anglec of rotation, and it is provable to derive according to how much, and fixedly the time, structure of the present invention has realized the linear loading moment in small angle range at charge oil pressure.

The linear relationship mathematical justification of the drawing torque and the anglec of rotation is as follows in the small angle range that the structure of this device realizes:

If a is a pendulum arm length, b be the centre of gyration to hydraulic cylinder 2 base pivot distances, when swing arm 1 anglec of rotation was θ, according to triangle formula, hydraulic cylinder 2 total lengths (from the base center to the piston rod tie point) X can be expressed as

β is the angle of hydraulic cylinder 2 and swing arm 1, in the triangle that they constitute, has following geometric relationship

If charge oil pressure is P, hydraulic cylinder 2 piston effective active areas are S, and then effective vertical stress component F of acting in the swing arm 1 of hydraulic cylinder 2 power outputs can be expressed as

F＝PSsin(β)(3)

Drawing torque T is the product of effective vertical stress component F and swing arm 1 length, promptly

T＝F×a(4)

Formula (1)～(4) simultaneous is got up, can derive the expression formula of the drawing torque and the anglec of rotation

$T=\mathrm{PSa}\sin \left(\mathrm{\β}\right)=\frac{\mathrm{PSab}}{X}\sin \left(\mathrm{\θ}\right)=\frac{\mathrm{PSab}\sin \left(\mathrm{\θ}\right)}{\sqrt{a^2+b^2+2\mathrm{ab}\cos \left(\mathrm{\θ}\right)}}---\left(5\right)$

If a=b, then formula (5) can further be simplified, and obtains

$T=\frac{\mathrm{PSa}\sin \left(\mathrm{\θ}\right)}{\sqrt{2}\×\sqrt{1+\cos \left(\mathrm{\θ}\right)}}---\left(6\right)$

There is following trigonometric function transformation relation:

$\cos \left(\mathrm{\θ}\right)=2{\cos }^2\left(\frac{\mathrm{\θ}}{2}\right)-1---\left(7\right)$

$\sin \left(\mathrm{\θ}\right)=2\sin \left(\frac{\mathrm{\θ}}{2}\right)\cos \left(\frac{\mathrm{\θ}}{2}\right)---\left(8\right)$

Formula (6)～(8) simultaneous is got up, can get

$T=\mathrm{PSa}\sin \left(\frac{\mathrm{\θ}}{2}\right)---\left(9\right)$

When anglec of rotation θ hour, have following relation,

$\sin \left(\frac{\mathrm{\θ}}{2}\right)\≈\frac{\mathrm{\θ}}{2}---\left(10\right)$

Then formula (9) can be reduced to following relational expression

$T\≈\mathrm{PSa}\frac{\mathrm{\θ}}{2}---\left(11\right)$

By formula (11) as can be known, fixedly the time, when the anglec of rotation was in small angle range, the drawing torque and the anglec of rotation were linear relationship at charge oil pressure.The computing formula of loading error E is as follows:

$E=(2\sin (\mathrm{\θ}/2)/\mathrm{\θ}-1)\×100\%---\left(12\right)$

In ± 30 ° of angle ranges, loading error is less than 1.1%, and in ± 60 ° of angle ranges, loading error is less than 4.3%.

Claims (2)

1, a kind of positive and negative drawing type electro-hydraulic proportional loading device of testing steering wheel is characterized in that comprising: hydraulic cylinder (2), pressure transducer (7), swing arm (1), swing arm support (10), torque sensor (8), sensor stand (11), rudderpost web member (12), base (9) and the test box (13) of pumping plant (5), proportional pressure control valve (4), solenoid directional control valve (3), band piston rod;

The high-pressure oil pipe of pumping plant (5) is connected with oil return opening with the oil-in of proportional pressure control valve (4) respectively with scavenge pipe, and pumping plant (5) provides the hydraulic oil with certain pressure and flow for the valve-controlled cylinder system; The parallel oil-in that is installed in proportional pressure control valve (4) of pressure transducer (7), pressure transducer (7) is used to test the charge oil pressure size; The oil-feed port of solenoid directional control valve (3) one ends and oil return opening are connected the scavenge pipe of proportional pressure control valve (4) oil-in and pumping plant (5) respectively, and rod chamber and rodless cavity that two control hydraulic fluid ports of the other end are respectively the hydraulic cylinder (2) of band piston rod provide hydraulic oil; Rodless cavity one end of the hydraulic cylinder (2) of band piston rod is connected with base (9) by oscillating bearing, its piston rod is connected with an end of swing arm (1) by the gudgeon mode, the other end of swing arm (1), torque sensor (8), rudderpost web member (12) link together by shaft coupling successively, three's axis of rotation overlaps and is parallel with base (9), the vertical and base (9) of vertical line of the turning axle that three's axis of rotation links to each other with base (9) to the hydraulic cylinder (2) of band piston rod; Swing arm (1) and torque sensor (8) are fixing by swing arm support (10) and sensor stand (11) and base (9) respectively, observing and controlling case (13) by program design may command pumping plant (5) startup and stop, regulating proportional pressure control valve (4) thus spillway discharge regulate on-load pressure, control solenoid directional control valve (3) thus change to the pressure and the torque signal of rod chamber or rodless cavity fuel feeding control loaded direction, collection pressure transducer (7) and torque sensor (8).

2, a kind of positive and negative drawing type electro-hydraulic proportional loading device of testing steering wheel as claimed in claim 1 is characterized in that: the parallel accumulator (6) of installing at the oil-in place of proportional pressure control valve (4) is used for replenishing instantaneous delivery.

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