CN102963544A - Gravity direction mass characteristic simulation device of aircraft ground-simulation system - Google Patents

Abstract

A gravity direction mass characteristic simulation device of an aircraft ground-simulation system comprises a vertical beam, a crossbeam, a proportional lever wheel unit, a counterweight body, an air floatation sliding rail and a gravity direction test unit, wherein the vertical beam is installed on the horizontal ground, the vertical beam is provided with the crossbeam, the proportional lever wheel unit comprises a large wheel and a small wheel, the crossbeam penetrates centers of the large wheel and the small wheel to relatively fix the large wheel and the small wheel, the small wheel is connected with the gravity direction test unit, the large wheel is connected with the counterweight body, the gravity of the test unit is counteracted by the counterweight body, and the weightless state in the gravity direction is simulated; and the gravity direction of the gravity direction test unit and the counterweight body is guided by the air floatation sliding rail, and the friction-free characteristics in the gravity direction can be simulated. The gravity direction mass characteristic simulation device is simple in principle, convenient, practical and convenient for implementing the project; and moreover the total mass characteristic simulation of the gravity direction can be realized.

Description

Ground simulation system gravity direction mass property analog machine

Technical field

The present invention relates to simulation technology, be specifically related to a kind of ground simulation system gravity direction mass property analog machine.

Background technology

The design of aircraft, advanced development need to be carried out a large amount of various tests, and to check the reasonableness of each mechanism scheme and integral layout, check complete machine and the performance perameter of main element, the functional reliability of mechanism etc. obtain optimal case thereby carry out the scheme comparison.The vehicle dynamics simulation requirements guarantees inertia and mass property, environmental factor will be taken into account in the test, so, will inevitably produce some conflicting requirements when controlling the test of emulation and the dynamics of machine set.The motion process of aircraft under the virtual space weightlessness on the ground, maximum influence factor is terrestrial gravitation, the analog simulation of weight direction is the difficult point of this field emulation.By literature search, Wang Shuting (sees the master of Harbin Institute of Technology thesis at paper " the on-line identification algorithm research of satellite and air floating table mass property ", 2006) in studied the mass property of air floating table, but do not provide the implementation method of gravity direction mass property simulation.Liao He, Zhao Yanbin, Sun Kexin, Wang Benli paper " application of mass property adjusting mechanism in spacecraft " (see " Spacecraft Environment Engineering ", 2009, the 26th volume, the 2nd phase, the page number: provided a kind of mass property adjusting mechanism of spacecraft 168-172), but this mechanism is not suitable for the application of spacecraft ground artificial system, can not finishes the simulation of gravity direction mass property.

Summary of the invention

The object of the present invention is to provide that a kind of principle is simple, cost is low, easy to operate, the ground simulation system gravity direction mass property analog machine of being convenient to engineering construction.

The object of the present invention is achieved like this:

A kind of ground simulation system gravity direction mass property analog machine, comprise vertical beam, crossbeam, ratio lever wheel unit, balance weight body, air supporting slide rail and gravity direction test unit, vertical beam is installed on the level ground, crossbeam is installed on the vertical beam, ratio lever wheel unit comprises bull wheel and steamboat, crossbeam passes behind the center of circle of bull wheel and steamboat bull wheel is relative with steamboat fixing, steamboat connects the gravity direction test unit, bull wheel connects balance weight body, with the gravity of balance weight body counteracting test unit, the state of weightlessness of simulated gravity direction; The gravity direction of gravity direction test unit and balance weight body all adopts air supporting slide rail guiding, the simulated gravity direction without frictional behavior.

Ground simulation of the present invention system gravity direction mass property analog machine, principle is simple, convenient and practical, be convenient to engineering construction, and can realize the total quality simulated behavior of weight direction.

Description of drawings

Fig. 1 is that the leverage motion characteristics is calculated scheme drawing;

Fig. 2 is ground simulation system gravity direction mass property analog machine scheme drawing;

Wherein 1, vertical beam, 2, balance weight body, 3, crossbeam, 4, bull wheel, 5, steamboat, 6, the air supporting slide rail, 7, the gravity direction test unit.

The specific embodiment

The invention will be further described for example below in conjunction with accompanying drawing.

Embodiment 1:

In conjunction with Fig. 1, ground simulation system's gravity direction mass property analog machine of the present invention and method, matching principle is as follows fully:

Shown in Fig. 1 (a), establish the generalized coordinate that rotational angle theta is system, then row are write two lift heavy kinetic energy and are:

${\mathrm{<figure-callout\; id="1"\; label="T"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">T</figure-callout>}}_1=0.5m_1{\left(R\stackrel{\&CenterDot;}{\mathrm{\&theta;}}\right)}^2$

${\mathrm{<figure-callout\; id="2"\; label="T"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">T</figure-callout>}}_2=0.5m_2{\left(r\stackrel{\&CenterDot;}{\mathrm{\&theta;}}\right)}^2$

Potential energy of system is:

V＝m ₁gRθ-m ₂grθ

The Lagrangian of system is:

$\mathrm{\&Gamma;}={\mathrm{<figure-callout\; id="1"\; label="T"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">T</figure-callout>}}_1+T_2-V=0.5m_1{\left(R\stackrel{\&CenterDot;}{\mathrm{\&theta;}}\right)}^2+0.5m_2{\left(r\stackrel{\&CenterDot;}{\mathrm{\&theta;}}\right)}^2-{\mathrm{<figure-callout\; id="1"\; label="m"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">m</figure-callout>}}_1\mathrm{gR\&theta;}+{\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">m</figure-callout>}}_2\mathrm{gr\&theta;}$

Getting Lagrange's equation is:

$\frac{d}{\mathrm{dt}}\frac{\&PartialD;\mathrm{\&Gamma;}}{\&PartialD;\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}-\frac{\&PartialD;\mathrm{\&Gamma;}}{\&PartialD;\mathrm{\&theta;}}=Q$

Wherein, Q=Fr is generalized force.

$\frac{\&PartialD;\mathrm{\&Gamma;}}{\&PartialD;\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}=m_1{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">R</figure-callout>}}^2\stackrel{\&CenterDot;}{\mathrm{\&theta;}}+m_2{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">r</figure-callout>}}^2\stackrel{\&CenterDot;}{\mathrm{\&theta;}}$

$\frac{d}{\mathrm{dt}}\frac{\&PartialD;\mathrm{\&Gamma;}}{\&PartialD;\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}=m_1{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">R</figure-callout>}}^2\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}+m_2{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">r</figure-callout>}}^2\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}$

$\frac{\&PartialD;\mathrm{\&Gamma;}}{\&PartialD;\mathrm{\&theta;}}=-{\mathrm{<figure-callout\; id="1"\; label="m"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">m</figure-callout>}}_1\mathrm{gR}+{\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">m</figure-callout>}}_2\mathrm{gr}$

Bringing pull-type equation into can get:

$\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}=\frac{\mathrm{Fr}-{\mathrm{<figure-callout\; id="1"\; label="m"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">m</figure-callout>}}_1\mathrm{gR}+{\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">m</figure-callout>}}_2\mathrm{gr}}{m_1{R}^2+m_2{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">r</figure-callout>}}^2}$

Because lever ratio

M then ₂Acceleration/accel be respectively

$a=\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}r=\frac{\mathrm{Fr}-{\mathrm{<figure-callout\; id="1"\; label="m"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">m</figure-callout>}}_1\mathrm{gR}+{\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">m</figure-callout>}}_2\mathrm{gr}}{m_1{R}^2+m_2{r}^2}r=\frac{F-{\mathrm{<figure-callout\; id="1"\; label="m"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">m</figure-callout>}}_1\mathrm{gk}+m_{2}g}{m_1{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">k</figure-callout>}}^2+{\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">m</figure-callout>}}_2}$

Can the derive acceleration/accel of upper Fig. 1 (b) situation of same method is:

$a=\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}r=\frac{\mathrm{Fr}+{\mathrm{<figure-callout\; id="1"\; label="m"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">m</figure-callout>}}_1\mathrm{gR}-{\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">m</figure-callout>}}_2\mathrm{gr}}{m_1{R}^2+m_2{r}^2}r=\frac{F+{\mathrm{<figure-callout\; id="1"\; label="m"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">m</figure-callout>}}_1\mathrm{gk}-m_{2}g}{m_1{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">k</figure-callout>}}^2+{\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">m</figure-callout>}}_2}$

According to top analysis result, it is accurate to need only counterweight, i.e. m ₁Gk=m ₂G, the acceleration/accel of system is exactly so

Simultaneously, the Z of system direction equivalent mass is equivalent to m ₁k ²+ m ₂, accordingly, just can be optimized design to the mass property of system by designing suitable k, realize complete quality simulating.

Embodiment 2:

In conjunction with Fig. 2, ground simulation of the present invention system gravity direction mass property analog machine, described method of designing is as follows: comprise vertical beam, crossbeam, ratio lever wheel unit, balance weight body, air supporting slide rail and gravity direction test unit, vertical beam is installed on the level ground, crossbeam is installed on the vertical beam, ratio lever wheel unit comprises bull wheel and steamboat, crossbeam passes behind the center of circle of bull wheel and steamboat bull wheel is relative with steamboat fixing, steamboat connects the gravity direction test unit, bull wheel connects balance weight body, offset the gravity of test unit with balance weight body, the state of weightlessness of simulated gravity direction, and bull wheel and steamboat all use steel band as connection cord; The gravity direction of gravity direction test unit and balance weight body all adopts air supporting slide rail guiding, the simulated gravity direction without frictional behavior.

(the size lever wheel of establishing this moment is k, the quality of balance weight body and test unit and be designated as M after the preliminary design ₀), then inertia that can the calculated weight direction can satisfy the inertia requirement of quality direction by adjusting the design of optimizing whole system, satisfy at last the quality of balance weight body and test unit in the design result of gravity direction Inertia Characteristics and be adjusted into M ₁, and known whole analogue system gravity direction quality summation is M _a, can determine that by finding the solution following set of equations the size lever wheel is the quality m of k, balance weight body ₁Quality m with test unit ₂:

$\left\{\begin{array}{c}{\mathrm{<figure-callout\; id="1"\; label="m"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">m</figure-callout>}}_1+{\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">m</figure-callout>}}_2=M_1\\ m_1{k}^2+{\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="HSA00000799155100012.png"\; state="\{\{state\}\}">m</figure-callout>}}_2=M_a\end{array}\right.$

Above-mentioned size lever wheel is the quality m of k, balance weight body ₁Quality m with test unit ₂All can revise according to the result, this method of designing can be realized the fully simulation of gravity direction inertia and mass property.

Claims (1)

1. ground simulation system gravity direction mass property analog machine, comprise vertical beam, crossbeam, ratio lever wheel unit, balance weight body, air supporting slide rail and gravity direction test unit, it is characterized in that: vertical beam is installed on the level ground, crossbeam is installed on the vertical beam, ratio lever wheel unit comprises bull wheel and steamboat, crossbeam passes behind the center of circle of bull wheel and steamboat bull wheel is relative with steamboat fixing, steamboat connects the gravity direction test unit, bull wheel connects balance weight body, with the gravity of balance weight body counteracting test unit, the state of weightlessness of simulated gravity direction; The gravity direction of gravity direction test unit and balance weight body all adopts air supporting slide rail guiding, the simulated gravity direction without frictional behavior.

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