CN104730935A - Oneway-friction loading type electro-hydraulic load simulator without surplus torque - Google Patents
Oneway-friction loading type electro-hydraulic load simulator without surplus torque Download PDFInfo
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Abstract
The invention relates to a oneway-friction loading type electro-hydraulic load simulator without surplus torque, and belongs to the field of electro-hydraulic servo control and automatic control. The oneway-friction loading type electro-hydraulic load simulator without surplus torque is used for solving the problem that surplus torque existing in an existing electro-hydraulic load simulator in the loading process seriously influences the loading performance. In a loading system of the oneway-friction loading type electro-hydraulic load simulator without surplus torque, given force is exerted to a friction pair composed of a pair of friction disks keeping in relative rotations in the constant direction through a hydraulic cylinder driven by an electro-hydraulic flow servo valve, the exerted force is converted into corresponding torque through relative rotation between the friction disks, the torque is loaded to an object to be loaded through a transmission device, meanwhile, the torque is collected by a torque sensor and is fed back to an industrial personal computer conducting real-time control of the system, and therefore closed-loop control over the system is achieved accurately. The electro-hydraulic load simulator has the advantages that no surplus torque exists, the loading accuracy is high, the system frequency band is wide, and a control algorithm is simple and reliable.
Description
Technical field
The present invention relates to a kind of semi-physical simulation model, belong to electro-hydraulic servo control and automation field.
Background technology
In the civilian industries such as the industry of the national defense and military such as Aero-Space, navigation naval vessel, weaponry and construction work, earthquake engineering, automobile engineering, bioengineering, agricultural machinery engineering are produced, usually need the performance testing to ensure designed product to dynamic loading performance suffered by product.Most line load is any power (moment) with room and time change on the one hand, has strong non-control, as air hinge motive torque, seawater fluctuation power etc.; On the other hand, carry out detecting the human and material resources needing at substantial in true environment, what have even may not realize, as seismic wave load.These reasons cause and facilitate the emergence and development of ground semi-true object emulation technology.Ground semi-true object emulation technology reappears various factors in the measurand course of work and parameter in laboratory conditions, the experiment of the self destruction of classics is converted into the forecasting research under laboratory condition.Ground semi-true object emulation technology has good controllability, without the advantage such as destructive, round-the-clock and simple to operation, and this experiment has repeatability, its economy be classical self destruction test incomparable.Load simulator is exactly a kind of device being used for power (moment) load of half simulation in kind carrying required by object in laboratory conditions, mainly in order to simulated flight device in flight course, the aerodynamics moment loading spectrum suffered by its rudder face.
There is a lot of technical barrier always and do not solve in tradition electrohydraulic load simulator: the control performance having a strong impact on loading system of (1) Surplus Moment in development.The steering gear system of electrohydraulic load simulator and loading system are similar to and are rigidly connected.When steering wheel active movement, must produce strong disturbance, cause Surplus Moment to loading system, its numerical value is relevant with the motion state of steering wheel, even more serious when starting and commutate.(2) accuracy realizing dynamic load is difficult to.Electrohydraulic load simulator requires loading system simulated flight device suffered aerodynamics moment in flight course, and generally, this torque signals is arbitrary function.Want accurately to reappear this function, then require that loading system is high order zero static error system.But the existence of Surplus Moment, particularly its derivative characteristic but make loading system high-order floating be difficult to realize, especially when steering gear system motion frequency is higher.(3) system performance when little moment loads is difficult to ensure.Electrohydraulic load simulator, owing to there is the impact of the factors such as servo-valve dead band, pressure surge, when it carries out the loading of little moment, is difficult to ensure system performance.In addition, when little moment loads, Surplus Moment can become relatively remarkable to the impact of loading system, and it can make the precision of loading system reduce, and loads sensitivity and is difficult to ensure, even flood load signal, make system realize normal load.(4) loading system controls complicated.The actual steering wheel be loaded liking various aircraft of electrohydraulic load simulator, the structural parameters of steering wheel are relevant with the performance of loading system.The steering wheel of different model may cause the change of system control performance, especially causes the change of Surplus Moment compensatory control link parameter, therefore requires that control system has certain robustness.This becomes more complicated and difficult with regard to making the control of loading system.
Summary of the invention
The present invention seeks to, in order to solve the Surplus Moment problem having a strong impact on loading performance existed in existing electrohydraulic load simulator loading procedure, to provide a kind of unidirectional friction-loaded formula without Surplus Moment electrohydraulic load simulator.
In order to thoroughly eliminate the Surplus Moment of load simulator, improve dynamic load precision, realize accurately little moment loading and obtain simple structure, lower cost and simple control strategy simultaneously, propose a kind of friction-loaded method, there is not the Surplus Moment of the severe jamming loading performance produced by tested steering wheel main motion in the method, thus can improve loading performance comprehensively, realizes accurately dynamic load, ensure little moment loading performance, simplify complicacy of control strategy etc.This kind of friction-loaded formula has complied with without the proposition of Surplus Moment electrohydraulic load simulator the trend that the mobility of aircraft, guided missile etc. and the raising of control accuracy require load simulator loading performance to improve, and has promoted Defence business and has advanced and can bring good economy.
Unidirectional friction-loaded formula of the present invention is without Surplus Moment electrohydraulic load simulator, and it comprises industrial computer, A/D data collecting card, servoamplifier, DSP motion control card, torque motor, code-disc, large servo-valve, torque sensor, D/A change-over circuit and load simulation unit;
Code-disc and large servo-valve are arranged on tested steering wheel; The signal output part of code-disc is connected with the first input end of A/D data collecting card, and the signal output part of torque sensor is connected with the second input end of A/D data collecting card, and the output terminal of A/D data collecting card is connected with the signal feedback end of industrial computer; Instruction output end and the D/A change-over circuit of industrial computer) input end be connected, the output terminal of D/A change-over circuit is connected with the input end of servoamplifier, and the given angular displacement instruction output end of servoamplifier is connected with large servo-valve command input; The given moment signal output part of servoamplifier is connected with the command input of servo-valve;
Load simulation unit comprises B frictional disk, A frictional disk, pedestal, gear wheel, transmission shaft, pinion wheel, slider disc, thrust bearing, feather key, transition disc, force snesor, three groups of springs, three hydraulic cylinder cover plates, three hydraulic cylinders, servo-valve, displacement transducer, valve block, main shaft and the second pedestals;
Industrial computer is by DSP motion control card control moment electric machine rotation, torque motor is rotated by constant direction by transmission shaft driving pinion, pinion wheel drives gear wheel with constant rotating speed by mesh form and relative with pinion wheel turns to rotation, tested steering wheel is rigidly connected by torque sensor and main shaft, and gear wheel gives tested Loading for actuator moment by main shaft;
A frictional disk is fixed on a side of gear wheel, and B frictional disk is arranged on the side that A frictional disk deviates from gear wheel, and B frictional disk is fixed in slider disc, and slider disc is connected by feather key with main shaft;
Servo-valve is arranged on valve block, and valve block is arranged on the second pedestal, and the outer round surface of main shaft is provided with the second pedestal, and the second pedestal is disc, uniform three rectangular recess of the excircle along the second pedestal, and the opening surface of rectangular recess is to gear wheel and cylindrical; Each rectangular recess arranges a hydraulic cylinder cover plate towards cylindrical opening, and the second seat surface is provided with transition disc to gear wheel side, and transition disc covers the axially open of each rectangular recess, transition disc vertically with hydraulic cylinder cover plate frictional connection; In each rectangular recess, arrange a hydraulic cylinder, a displacement transducer and a spring, displacement transducer, hydraulic cylinder are axially connected successively with spring, and top is pressed on transition disc, and the piston top of hydraulic cylinder is on spring; Axial space between transition disc and slider disc is provided with thrust bearing, and transition disc is embedded with force snesor, and force snesor is clipped between thrust bearing and transition disc; The piston displacement signal of the hydraulic cylinder of displacement transducer collection feeds back to industrial computer, and the force signal that the hydraulic cylinder of force snesor collection produces feeds back to industrial computer.
Advantage of the present invention: a kind of friction-loaded formula that the present invention proposes, without Surplus Moment electrohydraulic load simulator, does not exist the Surplus Moment of the severe jamming loading performance produced by tested steering wheel main motion, compact conformation.Owing to there is not Surplus Moment, when steering wheel carries out the main motion of arbitrary form, relative to traditional structure electrohydraulic load simulator, this kind of friction-loaded formula electrohydraulic load simulator can both obtain more precisely dynamic load, high-precision small magnitude moment can be realized load, can simplify the complicacy of control strategy, system control strategy is more reliably general, loading system have high precision, high dynamically, the feature such as high frequency sound.This kind of friction-loaded formula can improve moment loading accuracy without the proposition of Surplus Moment electrohydraulic load simulator comprehensively, the active achieving moment loads, a loading system can be used in the loading under different loading condition, and do not need to redesign corresponding controller, this load simulator more easily, is widely applied, without the need to the debugging again of professional and technical personnel.
Accompanying drawing explanation
Fig. 1 is the theory diagram of unidirectional friction-loaded formula of the present invention without Surplus Moment electrohydraulic load simulator;
Fig. 2 is moment closed-loop control block diagram;
Fig. 3 is angular displacement closed-loop control block diagram;
Fig. 4 is the structural representation of load simulation unit;
Fig. 5 is the A-A cut-open view of Fig. 4.
Embodiment
Embodiment one: present embodiment is described below in conjunction with Fig. 1 to Fig. 5, described in present embodiment, unidirectional friction-loaded formula is without Surplus Moment electrohydraulic load simulator, and it comprises industrial computer 101, A/D data collecting card 102, servoamplifier 103, DSP motion control card 104, torque motor 105, code-disc 106, large servo-valve 107, torque sensor 108, D/A change-over circuit 109 and load simulation unit;
Code-disc 106 and large servo-valve 107 are arranged on tested steering wheel; The signal output part of code-disc 106 is connected with the first input end of A/D data collecting card 102, the signal output part of torque sensor 108 is connected with the second input end of A/D data collecting card 102, and the output terminal of A/D data collecting card 102 is connected with the signal feedback end of industrial computer 101; The instruction output end of industrial computer 101 is connected with the input end of D/A change-over circuit 109, the output terminal of D/A change-over circuit 109 is connected with the input end of servoamplifier 103, and the given angular displacement instruction output end of servoamplifier 103 is connected with large servo-valve 107 command input; The given moment signal output part of servoamplifier 103 is connected with the command input of servo-valve 25;
Load simulation unit comprises B frictional disk 1, A frictional disk 2, pedestal 10, gear wheel 11, transmission shaft 12, pinion wheel 16, slider disc 17, thrust bearing 18, feather key 19, transition disc 20, force snesor 21, three groups of springs 22, three hydraulic cylinder cover plates 23, three hydraulic cylinders 24, servo-valve 25, displacement transducer 26, valve block 27, main shaft 28 and the second pedestal 31;
Industrial computer 101 is rotated by DSP motion control card 104 control moment motor 105, torque motor 105 is rotated by constant direction by transmission shaft 12 driving pinion 16, pinion wheel 16 drives gear wheel 11 with constant rotating speed by mesh form and relative with pinion wheel turns to rotation, tested steering wheel is rigidly connected by torque sensor 108 and main shaft 28, and gear wheel 11 gives tested Loading for actuator moment by main shaft 28;
A frictional disk 2 is fixed on a side of gear wheel 11, and B frictional disk 1 is arranged on the side that A frictional disk 2 deviates from gear wheel 11, and B frictional disk 1 is fixed in slider disc 17, and slider disc 17 is connected by feather key 19 with main shaft 28; Such B frictional disk 1 can slide axially based on main shaft 28, simultaneously can to main shaft 28 transmitting torque.Thus ensure the axle pressure that the transmission fluid cylinder pressure 24 that B frictional disk 1 can can't harm applies, ensure that the pressure between A frictional disk 2, B frictional disk 1 is consistent with hydraulic cylinder 24 applied pressure, in addition feather key connects and the moment of friction produced between A frictional disk 2, B frictional disk 1 can be passed to main shaft 28, thus finally acts on tested steering wheel.
Servo-valve 25 is arranged on valve block 27, valve block is arranged on the second pedestal 31, and it is disc that the outer round surface of main shaft 28 is provided with the second pedestal 31, second pedestal 31, uniform three rectangular recess of excircle along the second pedestal 31, the opening surface of rectangular recess is to gear wheel 11 and cylindrical; Each rectangular recess arranges a hydraulic cylinder cover plate 23, second pedestal 31 towards cylindrical opening and gear wheel 11 side is provided with transition disc 20, and transition disc 20 covers the axially open of each rectangular recess, transition disc 20 vertically with hydraulic cylinder cover plate 23 frictional connection; In each rectangular recess, arrange a hydraulic cylinder 24, displacement transducer 26 and a spring 22, displacement transducer 26, hydraulic cylinder 24 and spring 22 are axially connected successively, and top is pressed on transition disc 20, and the piston top of hydraulic cylinder 24 on the springs 22; Axial space between transition disc 20 and slider disc 17 is provided with thrust bearing 18, and transition disc 20 is embedded with force snesor 21, and force snesor 21 is clipped between thrust bearing 18 and transition disc 20; The piston displacement signal of the hydraulic cylinder 24 that displacement transducer 26 gathers feeds back to industrial computer 101, and the force signal that the hydraulic cylinder 24 that force snesor 21 gathers produces feeds back to industrial computer 101.
A frictional disk 2 fixes on the side of gear wheel 11 by riveting and being adhesively fixed, thus its rotating speed is consistent with gear wheel 11 with rotation direction.B frictional disk 1 and A frictional disk 2 form friction pair.
Torque motor 105 is connected by shaft coupling with transmission shaft 12.Torque motor 105 is adopted to drive A frictional disk 2 to rotate, thus guarantee the rotating speed of real-time control moment motor 105, make A frictional disk 2, B frictional disk 1 can obtain optimum relative rotation speed under different loading condition, ensure that the heat of friction produced between moment loaded type A frictional disk 2, B frictional disk 1 is minimum, suppress the friction between A frictional disk 2, B frictional disk 1 to be impacted, moment is loaded more steady.
Torque motor 105 drives B frictional disk 1 with the rotational speed higher than tested steering wheel main motion maximum (top) speed, thus realizes when tested steering wheel moves in any form, keeps relatively rotating of constant direction between B frictional disk 1 and A frictional disk 2.
By thrust bearing 18 transition between B frictional disk 1 and the uniform hydraulic cylinder 24 of three circumferences, thus when ensureing together to carry out main motion by the B frictional disk 1 be connected with main shaft 28 feather key with tested steering wheel, the B frictional disk 1 swung and the moment of friction that is fixed between hydraulic cylinder 24 static on pedestal 10 very little negligible, hydraulic cylinder 24 does not disturb by tested steering wheel main motion to when applying axle pressure between A frictional disk 2, B frictional disk 1, and B frictional disk 1 can not produce other disturbance torque with miscellaneous part except producing moment of friction with A frictional disk 2.
Three equally distributed hydraulic cylinders of circumference 24 apply axle pressure under the driving of electric flow quantity servo-valve 25 B frictional disk 1 simultaneously, thus ensure that institute's applied pressure can be evenly distributed on A frictional disk 2 with on the surface of contact of B frictional disk 1, make moment load more steadily, easier servocontrol, in addition can obtain less volume under the condition obtaining identical power output when three hydraulic cylinders 24 load simultaneously, thus not only guarantee system can obtain maximum load moment of torsion but also can ensure that system has enough large frequency range.
A set of real-time control software is also furnished with in industrial computer 101.Industrial computer 101 is rotated by constant direction by transmission shaft 12 driving pinion 16 with the speed of optimum by DSP motion control card 104 control moment motor 105; Gear wheel 11 is driven by mesh form by pinion wheel 16, on main shaft 28 with this rotating speed of constant rotating speed all the time higher than tested steering wheel maximum speed and turn to rotation by relative with pinion wheel 16.
Industrial computer 101 sends instruction to servo-valve 25, servo-valve 25 drives three hydraulic cylinders 24 to work, make it evenly afterburning to B frictional disk 1 by given control signal, wherein applied force acts on B frictional disk 1 by spring 22, rebound 20, force snesor 21, thrust bearing 18, slider disc 17; Hydraulic cylinder 24 piston displacement is measured by displacement transducer 26 and is fed back to industrial computer 101; The power that hydraulic cylinder 24 produces is measured by force snesor 21 and feeds back to industrial computer 101.Suppose that friction factor between A frictional disk 2, B frictional disk 1 is certain, according to the generation principle of friction force namely:
f＝F·μ
In formula: f---friction force (N);
Hydraulic cylinder 24 applied pressure (N) suffered between F---A frictional disk 2, B frictional disk 1;
Friction factor between μ---A frictional disk 2, B frictional disk 1.
Contact area between A frictional disk 2, B frictional disk 1 is annular, can think during loading that the corresponding friction force f that hydraulic cylinder 24 is applied to power F between A frictional disk 2, B frictional disk 1 and generation is distributed on annular area, then easily show that the torque T acted on main shaft 28 that friction force f transforms through frictional disk is by infinitesimal analysis knowledge:
In formula: f---friction force (N);
B---A frictional disk 2, B frictional disk 1 Contact ring external diameter (m);
A---A frictional disk 2, B frictional disk 1 Contact ring internal diameter (m).
As from the foregoing, rub owing to existing between B frictional disk 1 and A frictional disk 2, and A frictional disk 2 rotating speed is all the time higher than tested steering wheel main motion rotating speed, so B frictional disk 1 pair of A frictional disk 2 applies the pressure F that provides by control signal by the friction between A frictional disk 2, B frictional disk 1 and relatively rotate, be converted into corresponding torque T.Because B frictional disk 1 is connected by feather key 19 with main shaft 28 by slider disc 17, by thrust bearing 18 transition and the rotating speed of A frictional disk 2 will remain the relative rotation of constant direction higher than between maximum (top) speed such A frictional disk 2 of steering wheel, B frictional disk 1 between B frictional disk 1 with hydraulic cylinder 24, the main motion of tested like this steering wheel can not disturb hydraulic cylinder 24 pairs of B frictional disks 1 to apply pressure, steering wheel main motion also can not produce interference to the moment T produced, and namely this load simulator does not exist the Surplus Moment produced by tested steering wheel main motion.The moment T produced between A frictional disk 2, B frictional disk 1 will be connected by foregoing feather key 19 and pass to tested steering wheel by main shaft 28, thus realize loading the one-way moment of steering wheel.The torque T produced is measured by torque sensor and feeds back to industrial computer 101 by A/D data collecting card 102.Real-time control software calculates control signal by utilizing the torque signals etc. of given expectation torque signal feedback according to designed controller, and by D/A change-over circuit 109, servoamplifier 103, the control signal calculated is passed to servo-valve 25 and apply pressure to drive hydraulic cylinder 24 between A frictional disk 2 and B frictional disk 1.And then torque T is produced under the relative rotation of A frictional disk 2 and B frictional disk 1, material is thus formed moment of torsion and load closed-loop system, its control block diagram is as shown in Figure 2.Tested steering gear system is also generally Close loop servo control.As shown in Figure 1, the angular displacement of simulation steering gear system is here measured by code-disc and feeds back to industrial computer 101 by A/D data collecting card 102, real-time control software rotates utilizing the angular displacement signal of given expectation angular displacement signal and feedback to calculate control signal according to designed industrial computer 101 and pass to large servo-valve 107 by D/A change-over circuit 109, servoamplifier 103 to drive rotary actuator steering wheel, material is thus formed the angular displacement closed-loop control of simulation steering gear system, its control block diagram as shown in Figure 3.
The thrust that the displacement of hydraulic cylinder 24 piston and hydraulic cylinder 24 produce can be measured by displacement transducer 26 and force snesor 21 respectively in real time, hydraulic cylinder 24 displacement, hydraulic stem thrust and moment of torsion feed back to industrial computer 101 by A/D data collecting card 102 together, piston displacement can be utilized like this, thrust, the A frictional disk 2 of the testing and analysis unlike material different disposal techniques such as moment, frictional behaviour between B frictional disk 1 is A frictional disk 2 mainly, friction factor between B frictional disk 1 and friction stationarity etc., this friction-loaded formula electrohydraulic load simulator can be utilized like this becomes a kind of friction material Dynamic performance examination machine.
Friction-loaded formula electrohydraulic load simulator described in present embodiment is used to the system of the actual moment loading spectrum of half ground in kind accurate analog carrying suffered by object in laboratory conditions, this system is completely eliminated when traditional electrohydraulic load simulator loads by the severe jamming being loaded the Surplus Moment that object main motion produces by the structural design of innovation, achieve and be loaded arbitrarily under object main motion the high precision being loaded object, high frequency sound, high dynamic force moment loads, reduce the complexity of load simulator Loading Control algorithm, thoroughly solve the impact of Surplus Moment on a series of destruction loading performance of load simulator.In loading system of the present invention, the hydraulic cylinder driven by electric flow quantity servo-valve applies given power to by a pair maintenance perseverance to the friction pair that frictional disk forms in relative rotation, by relatively rotating between frictional disk, the power applied is converted into corresponding moment, this moment is loaded into by gearing and is loaded on object, this moment is gathered by torque sensor and feeds back to the real-time controller of system simultaneously, thus realizes system accurately closed-loop control.This electrohydraulic load simulator has without Surplus Moment, loading accuracy is high, band system band is high, control algolithm is simple and reliable, the advantages such as small magnitude loading performance is excellent, by the simulation of the steering gear system Moment loading spectrum to guided missile, aircraft etc., economy, high precision, highly reliable equipment support can be provided for the raising of the performance being loaded steering gear system.
Embodiment two: present embodiment is described further embodiment one, gear wheel 11 is connected by the first angular contact ball bearing 3 and the second angular contact ball bearing 4 with main shaft 28, and is axially fixed on main shaft 28 by gear wheel 11 by stop washer 7 and round nut 9.
Embodiment three: present embodiment is described further embodiment one, main shaft 28 and transmission shaft 12 adopt the first pedestal 10 to be fixed together, first pedestal 10 and the second pedestal 31 lay respectively at the both sides of gear wheel 11, and transmission shaft 12 excircle between the first pedestal 10 and pinion wheel 16 is provided with sleeve 15; First pedestal 10 is fixed together with main shaft 28 by the first end cap 6, some bolts 5 and the 3rd contact ball bearing 8; First pedestal 10 is fixed together with pinion wheel 16 by the second end cap 13, some bolts 5 and the 4th contact ball bearing 14.
Embodiment four: present embodiment is described further embodiment one, with the main shaft 28 of the first pedestal 10 homonymy on be also provided with the end that the 3rd pedestal the 32, three pedestal 32 is positioned at main shaft 28.
The setting of present embodiment is for being connected with the parts in the external world, meeting rigid demand.
Embodiment five: present embodiment is described further embodiment one, valve block 27 realizes servo-valve 25 and is connected with oil-out 30 with oil-in 29, servo-valve 25 is also provided with A mouth and B mouth, and described A mouth is connected with the oil-in of three hydraulic cylinders 24 respectively; Described B mouth is connected with the oil-out of three hydraulic cylinders 24 respectively.
The A mouth of servo-valve 25 is connected with B mouth with the A mouth of hydraulic cylinder 24 by being arranged on the pipeline in the second pedestal 31 respectively with B mouth (two hydraulic fluid ports that A mouth and B mouth represent other 2 mouths of servo-valve 25 or hydraulic cylinder 24 respectively).
Realize being connected with outside oil circuit with an oil-out 30 by an oil-in 29 by the pipeline in valve block 27 and the second pedestal 31 in present embodiment, and simultaneously to three hydraulic cylinder 24 fuel feeding and oil extraction.
Claims (5)
1. unidirectional friction-loaded formula is without Surplus Moment electrohydraulic load simulator, it is characterized in that, it comprises industrial computer (101), A/D data collecting card (102), servoamplifier (103), DSP motion control card (104), torque motor (105), code-disc (106), large servo-valve (107), torque sensor (108), D/A change-over circuit (109) and load simulation unit;
Code-disc (106) and large servo-valve (107) are arranged on tested steering wheel; The signal output part of code-disc (106) is connected with the first input end of A/D data collecting card (102), the signal output part of torque sensor (108) is connected with the second input end of A/D data collecting card (102), and the output terminal of A/D data collecting card (102) is connected with the signal feedback end of industrial computer (101); The instruction output end of industrial computer (101) is connected with the input end of D/A change-over circuit (109), the output terminal of D/A change-over circuit (109) is connected with the input end of servoamplifier (103), and the given angular displacement instruction output end of servoamplifier (103) is connected with large servo-valve (107) command input; The given moment signal output part of servoamplifier (103) is connected with the command input of servo-valve (25);
Load simulation unit comprises B frictional disk (1), A frictional disk (2), pedestal (10), gear wheel (11), transmission shaft (12), pinion wheel (16), slider disc (17), thrust bearing (18), feather key (19), transition disc (20), force snesor (21), three groups of springs (22), three hydraulic cylinder cover plates (23), three hydraulic cylinders (24), servo-valve (25), displacement transducer (26), valve block (27), main shaft (28) and the second pedestal (31),
Industrial computer (101) is rotated by DSP motion control card (104) control moment motor (105), torque motor (105) is rotated by constant direction by transmission shaft (12) driving pinion (16), pinion wheel (16) drives gear wheel (11) with constant rotating speed by mesh form and relative with pinion wheel turns to rotation, tested steering wheel is rigidly connected by torque sensor (108) and main shaft (28), gear wheel (11) by main shaft (28) to tested Loading for actuator moment;
A frictional disk (2) is fixed on a side of gear wheel (11), B frictional disk (1) is arranged on the side that A frictional disk (2) deviates from gear wheel (11), and B frictional disk (1) is fixed in slider disc (17), slider disc (17) is connected by feather key (19) with main shaft (28);
Servo-valve (25) is arranged on valve block (27), valve block (27) is arranged on the second pedestal (31), the outer round surface of main shaft (28) is provided with the second pedestal (31), second pedestal (31) is disc, uniform three rectangular recess of excircle along the second pedestal (31), the opening surface of rectangular recess is to gear wheel (11) and cylindrical; Each rectangular recess arranges a hydraulic cylinder cover plate (23) towards cylindrical opening, second pedestal (31) is provided with transition disc (20) towards gear wheel (11) side, transition disc (20) covers the axially open of each rectangular recess, transition disc (20) vertically with hydraulic cylinder cover plate (23) frictional connection; A hydraulic cylinder (24), a displacement transducer (26) and a spring (22) are set in each rectangular recess, displacement transducer (26), hydraulic cylinder (24) and spring (22) are axially connected successively, and top is pressed on transition disc (20), the piston top of hydraulic cylinder (24) is on spring (22); Axial space between transition disc (20) and slider disc (17) is provided with thrust bearing (18), transition disc (20) is embedded with force snesor (21), and force snesor (21) is clipped between thrust bearing (18) and transition disc (20); The piston displacement signal of the hydraulic cylinder (24) that displacement transducer (26) gathers feeds back to industrial computer (101), and the force signal that the hydraulic cylinder (24) that force snesor (21) gathers produces feeds back to industrial computer (101).
2. according to claim 1 unidirectional friction-loaded formula without Surplus Moment electrohydraulic load simulator, it is characterized in that, gear wheel (11) is connected by the first angular contact ball bearing (3) and the second angular contact ball bearing (4) with main shaft (28), and is axially fixed on main shaft (28) by gear wheel (11) by stop washer (7) and round nut (9).
3. according to claim 1 unidirectional friction-loaded formula without Surplus Moment electrohydraulic load simulator, it is characterized in that, main shaft (28) and transmission shaft (12) adopt the first pedestal (10) to be fixed together, first pedestal (10) and the second pedestal (31) lay respectively at the both sides of gear wheel (11), and transmission shaft (12) excircle between the first pedestal (10) and pinion wheel (16) is provided with sleeve (15); First pedestal (10) is fixed together by the first end cap (6), some bolts (5) and the 3rd contact ball bearing (8) and main shaft (28); First pedestal (10) is fixed together by the second end cap (13), some bolts (5) and the 4th contact ball bearing (14) and pinion wheel (16).
4. according to claim 1 unidirectional friction-loaded formula without Surplus Moment electrohydraulic load simulator, it is characterized in that, with the main shaft (28) of the first pedestal (10) homonymy on be also provided with the 3rd pedestal (32), the 3rd pedestal (32) is positioned at the end of main shaft (28).
5. according to claim 1 unidirectional friction-loaded formula without Surplus Moment electrohydraulic load simulator, it is characterized in that, valve block (27) realizes servo-valve (25) and is connected with oil-out 30 with oil-in 29, servo-valve (25) is also provided with A mouth and B mouth, and described A mouth is connected with the oil-in of three hydraulic cylinders (24) respectively; Described B mouth is connected with the oil-out of three hydraulic cylinders (24) respectively.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105045134A (en) * | 2015-05-25 | 2015-11-11 | 哈尔滨工业大学 | Double-friction-disk loading mechanism and bidirectional friction loading-type no-additional-torque electro-hydraulic load simulator employing same |
| CN105759632A (en) * | 2016-04-26 | 2016-07-13 | 哈尔滨工程大学 | Dynamic simulation system for servo-valve control hydraulic thruster of underwater robot and simulation method thereof |
| CN108709671A (en) * | 2018-08-01 | 2018-10-26 | 广东交通职业技术学院 | A kind of power-measuring system for low-power speed changer |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105045134A (en) * | 2015-05-25 | 2015-11-11 | 哈尔滨工业大学 | Double-friction-disk loading mechanism and bidirectional friction loading-type no-additional-torque electro-hydraulic load simulator employing same |
| CN105045134B (en) * | 2015-05-25 | 2017-08-25 | 哈尔滨工业大学 | The bi-directional friction loaded type of double frictional disk load maintainers and the use mechanism is without Surplus Moment electrohydraulic load simulator |
| CN105759632A (en) * | 2016-04-26 | 2016-07-13 | 哈尔滨工程大学 | Dynamic simulation system for servo-valve control hydraulic thruster of underwater robot and simulation method thereof |
| CN108709671A (en) * | 2018-08-01 | 2018-10-26 | 广东交通职业技术学院 | A kind of power-measuring system for low-power speed changer |
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Application publication date: 20150624 |