CN106014691A - Vacuum-thrust-vector measurement system capable of adjusting rocket-motor swinging direction in real time - Google Patents
Vacuum-thrust-vector measurement system capable of adjusting rocket-motor swinging direction in real time Download PDFInfo
- Publication number
- CN106014691A CN106014691A CN201610607947.8A CN201610607947A CN106014691A CN 106014691 A CN106014691 A CN 106014691A CN 201610607947 A CN201610607947 A CN 201610607947A CN 106014691 A CN106014691 A CN 106014691A
- Authority
- CN
- China
- Prior art keywords
- control component
- motion control
- force
- servomotor
- unidirectional force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02K—JET-PROPULSION PLANTS
- F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
- F02K9/96—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by specially adapted arrangements for testing or measuring
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M15/00—Testing of engines
- G01M15/02—Details or accessories of testing apparatus
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M15/00—Testing of engines
- G01M15/14—Testing gas-turbine engines or jet-propulsion engines
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Processing And Handling Of Plastics And Other Materials For Molding In General (AREA)
Abstract
The invention discloses a vacuum-thrust-vector measurement system capable of adjusting the rocket-motor swinging direction in real time. The vacuum-thrust-vector measurement system comprises a rocket-motor installing platform, six one-direction force measurement and movement control assemblies, a base, a measurement and control cable and a computer measurement and control system. The one-direction force measurement and movement control assemblies are composed of lower hinging boxes, lower spherical hinges, servo motors, cylinders, lead-screw ejector rod mechanisms, force measurement sensors, upper spherical hinges and upper hinging boxes. The lead-screw ejector rod mechanisms are composed of lead screws and ejector rods. The servo motors are controlled by the computer measurement and control system to rotate, and rotating movement of the servo motors is converted into linear movement of the ejector rods through the lead screws to further drive the rocket-motor installing platform to move. One-direction force measured by the six force measurement sensors is synthesized through the computer measurement and control system to obtain the thrust vector of a rocket motor. The servo motors are vacuum motors, the force measurement sensors are of open structures, and swinging control and thrust-vector measurement can be carried out in a vacuum.
Description
Technical field
The present invention relates to a kind of rocket engine thrust vectoring and measure system；Particularly relate to one can adjust rocket in real time and send out
Motivation waves the vacuum thrust vector measurement system in direction, belongs to thrust measurement technical field.
Background technology
Ideally, rocket engine thrust line and engine center dead in line, but actually due to processing
The restriction of precision, causes the geometric asymmetry of electromotor, or high-temperature high-pressure fuel gas passes through non-uniform flow and the spray of jet pipe
The deformation that the ablation of pipe throat produces, causes motor power position to deviate engine center axis, thus produces thrust eccentric.
Rocket, is also affected by atmospheric drag and ambient wind velocity when flight in addition to by rocket engine thrust, and these are all
The attitude that can cause rocket changes, and makes its flight curve stray.Typically require and awing use thrust
Vector engine carries out gesture stability to rocket, thus carries out orbital exponent.And in other situation, need to utilize thrust inclined
The heart carries out thruster vector control, and then the flight attitude of adjustment aircraft, carries out maneuvering flight.Gimbaled rocket engine is permissible
It is effectively realized thruster vector control, the most significant for rocket trajectory correction and maneuvering flight.Accurately measure it to shake
Thrust vectoring during pendulum is most important.
Engine plume test requires that ambient pressure is 10-3Below Pa, ambient temperature can reach liquid hydrogen warm area sometimes
(20K), vacuum, the low-temperature characteristics of equipment is required the highest.
Summary of the invention
The invention discloses a kind of rocket engine that can adjust in real time and wave the thrust vectoring measurement system in direction, including:
Rocket engine mounting platform (1), unidirectional force measure and motion control component A (2A), unidirectional force measurement and motion control component B
(2B), unidirectional force measure and motion control component C (2C), unidirectional force measure and motion control component D (2D), unidirectional force measure and
Motion control component E (2E), unidirectional force measure and motion control component F (2F), base (3), measure and control cable (4), meter
Calculation machine TT&C system (5).Unidirectional force measure and motion control component A (2A), unidirectional force measure and motion control component B (2B),
Unidirectional force measures and motion control component C (2C), unidirectional force measurement and motion control component D (2D), unidirectional force measurement and motion
Control assembly E (2E) and unidirectional force is measured and motion control component F (2F) structure composition is consistent, measure with unidirectional force and motion control
It is introduced as a example by assembly A (2A) processed.Unidirectional force is measured and motion control component A (2A) is by lower hinge box A (21A), lower ball pivot A
(22A), servomotor A (23A), cylinder body A (24A), leading screw post rod mechanism A (25A), force cell A (26A), upper ball pivot A
(27A) form with upper hinge box A (28A).Leading screw post rod mechanism A (25A) is made up of leading screw A (251A) and push rod A (252A).Unidirectional
Power measures and motion control component B, unidirectional force measurement and motion control component C, unidirectional force measurement and motion control component D, list
Composition in power measurement and motion control component E, unidirectional force measurement and motion control component F measures with unidirectional force and motion is controlled
Assembly A processed is consistent, and in the title of its composition parts and figure, sequence number is distinguished with A, B, C, D, E, F respectively, as above hinge box B
(28B) upper hinge box B (28B) in unidirectional force measurement and motion control component B (2B) is referred to.
Rocket engine mounting platform (1) uses ring-type steel plate structure, is used for installing rocket engine, and it is surveyed with unidirectional force
The upper hinge box in upper hinge box A (28A), unidirectional force measurement and motion control component B (2B) in amount and motion control component A (2A)
Upper hinge box C (28C), unidirectional force in the measurement of B (28B), unidirectional force and motion control component C (2C) are measured and motion control component
Upper hinge box E (28E) in upper hinge box D (28D), unidirectional force measurement and motion control component E (2E) in D (2D) and unidirectional force
Upper hinge box F (28F) in measurement and motion control component F (2F) is fastenedly connected respectively.
Unidirectional force is measured and in motion control component A (2A), upper ball pivot A (27A) one end is screw thread, and one end is bulb, upper ball
It is inner that the bulb of hinge A (27A) is partially installed on hinge box A (28A), and upper ball pivot A (27A) can rotate in upper hinge box A (28A),
The end of thread of upper ball pivot A (27A) is fastenedly connected with force cell A (26A)；The two ends of force cell A (26A) are respectively with upper
Push rod A (252A) in ball pivot A (27A) and leading screw post rod mechanism A (25A) is fastenedly connected；In leading screw post rod mechanism A (25A)
Leading screw A (251A) and servomotor A (23A) is fastenedly connected, and the leading screw A (251A) in leading screw post rod mechanism A (25A) can be at push rod
Being rotated in A (252A), the push rod A (252A) in leading screw post rod mechanism A (25A) can stretch in cylinder body A (24A)
Contracting motion；Cylinder body (24A) lower end is fastenedly connected with servomotor A (23A)；Lower ball pivot A (22A) one end is screw thread, and one end is ball
Head, its end of thread is fastenedly connected with servomotor A (23A), and it is inner that bulb is arranged on lower ball case A (21A), and lower ball pivot A (22A) is permissible
In the inner rotation of lower ball case A (21A).Unidirectional force measures and motion control component B, unidirectional force are measured and motion control component C, unidirectional
Power measure and motion control component D, unidirectional force measure and motion control component E, unidirectional force measure and motion control component F in
Parts annexation measures with unidirectional force and motion control component A is consistent.
Lower ball case A (21A) in unidirectional force measurement and motion control component A, unidirectional force are measured and in motion control component B
Lower ball case B (21B), unidirectional force measure and motion control component C in lower ball case C (21C), unidirectional force measure and motor control
Lower ball case D (21D) in assembly D, unidirectional force are measured and lower ball case E (21E) in motion control component E, unidirectional force are measured and
Lower ball case F (21F) in motion control component F is separately fixed on base (3).Base (3) is to be welded by channel-section steel, is used for
Fix with ground.Measure and control cable (4) one end respectively with unidirectional force measure and motion control component A in servomotor A
(23A) servo motor B (23B) and in force cell A (26A), unidirectional force measurement and motion control component B and force-measuring sensing
Servomotor C (23C) in the measurement of device B (26B), unidirectional force and motion control component C and force cell C (26C), unidirectional force
Servomotor D (23D) and force cell D (26D), unidirectional force in measurement and motion control component D are measured and motor control
Servomotor E (23E) in assembly E and the servo electricity in force cell E (26E), unidirectional force measurement and motion control component F
Machine F (23F) and force cell F (26F) is connected, and measures and controls cable (4) other end and computer measurement and control system (5) phase
Even, for transmitting servomotor A (23A), servo motor B (23B), servomotor C (23C) to computer measurement and control system (5), watch
Take the displacement signal in motor D (23D), servomotor E (23E), servomotor F (23F) and force cell A (26A), dynamometry
Sensor B (26B), force cell C (26C), force cell D (26D), force cell E (26E), force cell F
(26F) force signal in, is simultaneously used for servomotor A (23A), servo motor B (23B), servomotor C (23C), servo electricity
The control signal of machine D (23D), servomotor E (23E), servomotor F (23F) transmission computer measurement and control system (5).
Servomotor A (23A), servo motor B (23B), servomotor C is controlled by computer measurement and control system (5)
(23C), servomotor D (23D), servomotor E (23E), servomotor F (23F) rotate.Leading screw A (251A) is by servomotor A
(23A) convert rotational motion is the linear motion of push rod A (252A), and leading screw B (251B) is by the rotation of servo motor B (23B)
Conversion of motion is the linear motion of push rod B (252B), and the convert rotational motion of servomotor C (23C) is top by leading screw C (25C)
The linear motion of bar C (252C), the convert rotational motion of servomotor D (23D) is push rod D (252D) by leading screw D (251D)
Linear motion, leading screw E (251E) is by the linear motion that convert rotational motion is push rod E (252E) of servomotor E (23E), silk
Thick stick F (251F) is by the linear motion that convert rotational motion is push rod F (252F) of servomotor F (23F), and then drives rocket to send out
The motion of motivation mounting platform (1).During motion, force cell A (26A) can record unidirectional force measurement and motion
Controlling the unidirectional force in assembly A (2A), force cell B (26B) can record unidirectional force and measure and motion control component B (2B)
In unidirectional force, force cell C (26C) can record unidirectional force measure and motion control component C (2C) in unidirectional force, survey
Force transducer D (26D) can record the unidirectional force in unidirectional force measurement and motion control component D (2D), force cell E
(26E) can record the unidirectional force in unidirectional force measurement and motion control component E (2E), force cell F (26F) can record
These six unidirectional forces synthesis are obtained pushing away of rocket engine by the unidirectional force in unidirectional force measurement and motion control component F (2F)
Force vector.
Servomotor A (23A), servo motor B (23B), servomotor C (23C), servomotor D (23D), servomotor E
(23E), servomotor F (23F) is vacuum motor.Force cell A (26A), force cell B (26B), force cell C
(26C), force cell D (26D), force cell E (26E), force cell F (26F) be Open architecture, can be in vacuum
Middle use.
Between lower hinge box A (21A) and lower ball pivot A (22A), between upper ball pivot A (27A) and upper hinge box A (28A), lower hinge box B
(21B) and between lower ball pivot B (22B), between upper ball pivot B (27B) and upper hinge box B (28B), lower hinge box C (21C) and lower ball pivot C
(22C) between, between upper ball pivot C (27C) and upper hinge box C (28C), between lower hinge box D (21D) and lower ball pivot D (22D), upper ball
Between hinge D (27D) and upper hinge box D (28D), between lower hinge box E (21E) and lower ball pivot E (22E), upper ball pivot E (27E) and upper hinge
Between box E (28E), between lower hinge box F (21F) and lower ball pivot F (22F), between upper ball pivot F (27F) and upper hinge box F (28F), silk
Between thick stick A (251A) and push rod A (252A), between leading screw B (251B) and push rod B (252B), leading screw C (251C) and push rod C
(252C) between, between leading screw D (251D) and push rod D (252D), between leading screw E (251E) and push rod E (252E), leading screw F
(251F) and use molybdenum bisuphide to lubricate between push rod F (252F), prevent vacuum cold welding.
It is wound with on servomotor A (23A) on heating ribbon heating ribbon A (29A), servomotor A (23A) to be wound with and adds
It is wound with heating ribbon heating ribbon B (29B), servomotor C in heated filament band heating ribbon A (29A), servo motor B (23B)
(23C) be wound with on heating ribbon heating ribbon C (29C),
It is wound with on servomotor D (23D) on heating ribbon heating ribbon D (29D), servomotor E (23E) to be wound with and adds
It is wound with heating ribbon heating ribbon F (29F), it is possible at liquid hydrogen on heated filament band heating ribbon E (29E), servomotor F (23F)
Warm area (20K) low temperature environment uses.
Lower hinge box A (21A), lower ball pivot A (22A), cylinder body A (24A), leading screw post rod mechanism A (25A), force cell A
(26A), upper ball pivot A (27A), upper hinge box A (28A), lower hinge box B (21B), lower ball pivot B (22B), cylinder body B (24B), leading screw push rod
Mechanism B (25B), force cell B (26B), upper ball pivot B (27B), upper hinge box B (28B), lower hinge box C (21C), lower ball pivot C
(22C), cylinder C (24C), leading screw post rod mechanism C (25C), force cell C (26C), upper ball pivot C (27C), upper hinge box C
(28C), lower hinge box D (21D), lower ball pivot D (22D), cylinder body D (24D), leading screw post rod mechanism D (25D), force cell D
(26D), upper ball pivot D (27D), upper hinge box D (28D), lower hinge box E (21E), lower ball pivot E (22E), cylinder body E (24E), leading screw push rod
Mechanism E (25E), force cell E (26E), upper ball pivot E (27E), upper hinge box E (28E), lower hinge box F (21F), lower ball pivot F
(22F), cylinder body F (24F), leading screw post rod mechanism F (25F), force cell F (26F), upper ball pivot F (27F), upper hinge box F
(28F) material is 304 rustless steels, can use at liquid hydrogen warm area.
Present invention advantage compared with prior art is:
(1) there is the function waving direction of adjustment rocket engine, the attitude control of rocket engine can be carried out simultaneously
System and thrust vectoring are measured,
(2) its thrust vectoring in rocking process can be measured；
(3) use ball pivot to connect, effectively eliminate frictional resistance, reduce cross interferance；
(4) each sensor is only by unidirectional force, it is simple to solve even.
(5) can carry out waving control in a vacuum and thrust vectoring is measured.
(6) can use in liquid hydrogen warm area (20K) low temperature environment.
Accompanying drawing explanation
Fig. 1 is that a kind of rocket engine that can adjust in real time waves the vacuum thrust vector measurement system figure in direction；
Fig. 2 is that unidirectional force is measured and motion control component A composition diagram
Fig. 3 is leading screw post rod mechanism A schematic diagram
Fig. 4 is that unidirectional force is measured and motion control component B composition diagram
Fig. 5 is leading screw post rod mechanism B schematic diagram
Fig. 6 is that unidirectional force is measured and motion control component C composition diagram
Fig. 7 is leading screw post rod mechanism C schematic diagram
Fig. 8 is that unidirectional force is measured and motion control component D composition diagram
Fig. 9 is leading screw post rod mechanism D schematic diagram
Figure 10 is that unidirectional force is measured and motion control component E composition diagram
Figure 11 is leading screw post rod mechanism E schematic diagram
Figure 12 is that unidirectional force is measured and motion control component F composition diagram
Figure 13 is leading screw post rod mechanism F schematic diagram
Figure 14 servomotor and heating ribbon graph of a relation
In figure
1. rocket engine mounting platform 2A. unidirectional force is measured and motion control component A
2B. unidirectional force is measured and motion control component B 2C. unidirectional force is measured and motion control component C
2D. unidirectional force is measured and motion control component D 2E. unidirectional force is measured and motion control component E
2F. unidirectional force is measured and motion control component F
3. base 4. is measured and controls cable 5. computer measurement and control system
Ball pivot A 23A. servomotor A 24A. cylinder body A under box A 22A. is cut with scissors under 21A.
Box A is cut with scissors on ball pivot A 28A. on 25A. post rod mechanism A 26A. force cell A 27A.
251A. leading screw A 252A. push rod A
Ball pivot B 23B. servo motor B 24B. cylinder body B under box B 22B. is cut with scissors under 21B.
Box B is cut with scissors on ball pivot B 28B. on 25B. post rod mechanism B 26B. force cell B 27B.
251B. leading screw B 252B. push rod B
Ball pivot C 23C. servomotor C 24C. cylinder C under box C 22C. is cut with scissors under 21C.
Box C is cut with scissors on ball pivot C 28C. on 25C. post rod mechanism C 26C. force cell C 27C.
251C. leading screw C 252C. push rod C
Ball pivot D 23D. servomotor D 24D. cylinder body D under box D 22D. is cut with scissors under 21D.
25D. cut with scissors box D on post rod mechanism D 26D. force cell D 27D. on ball pivot D 28D.
251D. leading screw D 252D. push rod D
Ball pivot E 23E. servomotor E 24E. cylinder body E under box E 22E. is cut with scissors under 21E.
Box E is cut with scissors on ball pivot E 28E. on 25E. post rod mechanism E 26E. force cell E 27E.
251E. leading screw E 252E. push rod E
Ball pivot F 23F. servomotor F 24F. cylinder body F under box F 22F. is cut with scissors under 21F.
Box F is cut with scissors on ball pivot F 28F. on 25F. post rod mechanism F 26F. force cell F 27F.
251F. leading screw F 252F. push rod F
29A. heating ribbon A 29B. heating ribbon B 29C. heating ribbon C
29D. heating ribbon D 29E. heating ribbon E 29F. heating ribbon F
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Leading screw A (251A), by the linear motion that convert rotational motion is push rod A (252A) of servomotor A (23A), causes
Unidirectional force is measured and the length change of motion control component A；Leading screw B (251B) is by the convert rotational motion of servo motor B (23B)
For the linear motion of push rod B (252B), unidirectional force is caused to be measured and the length change of motion control component B；Leading screw C (251C) will
The linear motion that convert rotational motion is push rod C (252C) of servomotor C (23C), causes unidirectional force to be measured and motor control
The length change of assembly C；Leading screw D (251D) is by the straight line that convert rotational motion is push rod D (252D) of servomotor D (23D)
Motion, causes unidirectional force to be measured and the length change of motion control component D；Leading screw E (251E) is by the rotation of servomotor E (23E)
The dynamic linear motion being converted into push rod E (252E) of transhipment, causes unidirectional force to be measured and the length change of motion control component E；Silk
Thick stick F (251F), by the linear motion that convert rotational motion is push rod F (252F) of servomotor F (23F), causes unidirectional force to be measured
And the length change of motion control component F；And then drive the motion of rocket engine mounting platform (1).According to rocket engine
Wave the requirement in direction, by computer measurement and control system (5) calculate corresponding unidirectional force measure and motion control component A (2A),
Unidirectional force measures and motion control component B (2B), unidirectional force measurement and motion control component C (2C), unidirectional force measurement and motion
Control assembly D (2D), unidirectional force measures and motion control component E (2E), unidirectional force measurement and the length of motion control component F (2F)
Degree pace of change, and then calculate servomotor A (23A), servo motor B (23B), servomotor C (23C), servomotor D
(23D), the rotary speed that rotates of servomotor E (23E), servomotor F (23F), by servomotor A (23A), servo electricity
Machine B (23B), servomotor C (23C), servomotor D (23D), servomotor E (23E), the motion control of servomotor F (23F)
System controls the motion of rocket engine mounting platform (1).Servomotor A (23A), servo motor B (23B), servomotor C
(23C), the angle that servomotor D (23D), servomotor E (23E), servomotor F (23F) can be rotated when rotated is led to
Crossing measurement and control cable (4) is transferred to computer measurement and control system (5), computer measurement and control system (5) can calculate unidirectional force
Measure and motion control component A (2A), unidirectional force measurement and motion control component B (2B), unidirectional force measurement and motor control group
Part C (2C), unidirectional force measure and motion control component D (2D), unidirectional force measurement and motion control component E (2E), unidirectional force survey
Amount and the length of motion control component F (2F), and then calculate locus and the unidirectional force of rocket engine mounting platform (1)
Measure and motion control component A (2A), unidirectional force measurement and motion control component B (2B), unidirectional force measurement and motor control group
Part C (2C), unidirectional force measure and motion control component D (2D), unidirectional force measurement and motion control component E (2E), unidirectional force survey
Amount and the space bit angle setting of motion control component F (2F).
During during motion, force cell A (26A) can record unidirectional force measurement and motion control component A (2A)
Unidirectional force, force cell B (26B) can record unidirectional force measure and motion control component B (2B) in unidirectional force, dynamometry
Sensor C (26C) can record the unidirectional force in unidirectional force measurement and motion control component C (2C), force cell D (26D)
Can record the unidirectional force in unidirectional force measurement and motion control component D (2D), force cell E (26E) can record unidirectional
Unidirectional force in power measurement and motion control component E (2E), force cell F (26F) can record unidirectional force and measure and motion
Control the unidirectional force in assembly F (2F).Measure in conjunction with unidirectional force and motion control component A (2A), unidirectional force measurement and motion control
Assembly B (2B) processed, unidirectional force measures and motion control component C (2C), unidirectional force are measured and motion control component D (2D), unidirectional
Power measures and motion control component E (2E), unidirectional force measurement and the space bit angle setting of motion control component F (2F), by calculating
These six unidirectional force synthesis are obtained the thrust vectoring of rocket engine by machine TT&C system (5).
The non-detailed description of the present invention is known to the skilled person technology.
Claims (6)
1. one kind can adjust rocket engine in real time and waves the vacuum thrust vector measurement system in direction, it is characterised in that including:
Rocket engine mounting platform (1), unidirectional force measure and motion control component A (2A), unidirectional force measurement and motion control component B
(2B), unidirectional force measure and motion control component C (2C), unidirectional force measure and motion control component D (2D), unidirectional force measure and
Motion control component E (2E), unidirectional force measure and motion control component F (2F), base (3), measure and control cable (4), meter
Calculation machine TT&C system (5)；Unidirectional force measure and motion control component A (2A), unidirectional force measure and motion control component B (2B),
Unidirectional force measures and motion control component C (2C), unidirectional force measurement and motion control component D (2D), unidirectional force measurement and motion
Control assembly E (2E) and unidirectional force is measured and motion control component F (2F) structure composition is consistent, measure with unidirectional force and motion control
It is introduced as a example by assembly A (2A) processed；Unidirectional force is measured and motion control component A (2A) is by lower hinge box A (21A), lower ball pivot A
(22A), servomotor A (23A), cylinder body A (24A), leading screw post rod mechanism A (25A), force cell A (26A), upper ball pivot A
(27A) form with upper hinge box A (28A)；Leading screw post rod mechanism A (25A) is made up of leading screw A (251A) and push rod A (252A)；Unidirectional
Power measures and motion control component B, unidirectional force measurement and motion control component C, unidirectional force measurement and motion control component D, list
Composition in power measurement and motion control component E, unidirectional force measurement and motion control component F measures with unidirectional force and motion is controlled
Assembly A processed is consistent, and in the title of its composition parts and figure, sequence number is distinguished with A, B, C, D, E, F respectively, as above hinge box B
(28B) upper hinge box B (28B) in unidirectional force measurement and motion control component B (2B) is referred to；
Rocket engine mounting platform (1) uses ring-type steel plate structure, is used for installing rocket engine, its measure with unidirectional force and
The upper hinge box B in upper hinge box A (28A), unidirectional force measurement and motion control component B (2B) in motion control component A (2A)
(28B), unidirectional force measure and motion control component C (2C) in upper hinge box C (28C), unidirectional force measure and motion control component D
(2D) upper hinge box E (28E) in upper hinge box D (28D), unidirectional force measurement and motion control component E (2E) in and unidirectional force
Upper hinge box F (28F) in measurement and motion control component F (2F) is fastenedly connected respectively；
Unidirectional force is measured and in motion control component A (2A), upper ball pivot A (27A) one end is screw thread, and one end is bulb, upper ball pivot A
(27A) it is inner that bulb is partially installed on hinge box A (28A), and upper ball pivot A (27A) can rotate in upper hinge box A (28A), upper ball
The end of thread of hinge A (27A) is fastenedly connected with force cell A (26A)；The two ends of force cell A (26A) respectively with upper ball pivot
Push rod A (252A) in A (27A) and leading screw post rod mechanism A (25A) is fastenedly connected；Leading screw A in leading screw post rod mechanism A (25A)
(251A) being fastenedly connected with servomotor A (23A), the leading screw A (251A) in leading screw post rod mechanism A (25A) can be at push rod A
(252A) being rotated in, the push rod A (252A) in leading screw post rod mechanism A (25A) can stretch in cylinder body A (24A)
Contracting motion；Cylinder body (24A) lower end is fastenedly connected with servomotor A (23A)；Lower ball pivot A (22A) one end is screw thread, and one end is ball
Head, its end of thread is fastenedly connected with servomotor A (23A), and it is inner that bulb is arranged on lower ball case A (21A), and lower ball pivot A (22A) is permissible
In the inner rotation of lower ball case A (21A)；Unidirectional force measures and motion control component B, unidirectional force are measured and motion control component C, unidirectional
Power measure and motion control component D, unidirectional force measure and motion control component E, unidirectional force measure and motion control component F in
Parts annexation measures with unidirectional force and motion control component A is consistent；
Under in lower ball case A (21A), unidirectional force measurement and motion control component B in unidirectional force measurement and motion control component A
Lower ball case C (21C), unidirectional force in the measurement of ball case B (21B), unidirectional force and motion control component C are measured and motion control component
The lower ball case E (21E) in lower ball case D (21D), unidirectional force measurement and motion control component E in D, unidirectional force are measured and motion
The lower ball case F (21F) controlled in assembly F is separately fixed on base (3)；Base (3) is to be welded by channel-section steel, is used for and ground
Base is fixed；Measure and control cable (4) one end respectively with unidirectional force measure and motion control component A in servomotor A (23A)
With the servo motor B (23B) in force cell A (26A), unidirectional force measurement and motion control component B and force cell B
(26B), unidirectional force measure and motion control component C in servomotor C (23C) and force cell C (26C), unidirectional force survey
Servomotor D (23D) and force cell D (26D), unidirectional force in amount and motion control component D are measured and motor control group
Servomotor E (23E) in part E and the servomotor in force cell E (26E), unidirectional force measurement and motion control component F
F (23F) and force cell F (26F) is connected, and measures and controls cable (4) other end and computer measurement and control system (5) phase
Even, for computer measurement and control system (5) transmission servomotor A (23A), servo motor B (23B), servomotor C (23C),
Displacement signal in servomotor D (23D), servomotor E (23E), servomotor F (23F) and force cell A (26A), survey
Force transducer B (26B), force cell C (26C), force cell D (26D), force cell E (26E), force cell F
(26F) force signal in, is simultaneously used for servomotor A (23A), servo motor B (23B), servomotor C (23C), servo electricity
The control signal of machine D (23D), servomotor E (23E), servomotor F (23F) transmission computer measurement and control system (5)；
Control servomotor A (23A), servo motor B (23B), servomotor C (23C) by computer measurement and control system (5), watch
Take motor D (23D), servomotor E (23E), servomotor F (23F) rotate；Leading screw A (251A) is by servomotor A's (23A)
Convert rotational motion is the linear motion of push rod A (252A), and leading screw B (251B) is by the convert rotational motion of servo motor B (23B)
For the linear motion of push rod B (252B), the convert rotational motion of servomotor C (23C) is push rod C (252C) by leading screw C (25C)
Linear motion, leading screw D (251D) by the linear motion that convert rotational motion is push rod D (252D) of servomotor D (23D),
Leading screw E (251E) is by the linear motion that convert rotational motion is push rod E (252E) of servomotor E (23E), leading screw F (251F)
By the linear motion that convert rotational motion is push rod F (252F) of servomotor F (23F), and then rocket engine is driven to install
The motion of platform (1)；During motion, force cell A (26A) can record unidirectional force measurement and motion control component A
(2A) unidirectional force in, force cell B (26B) can record unidirectional force measure and motion control component B (2B) in unidirectional
Power, force cell C (26C) can record the unidirectional force in unidirectional force measurement and motion control component C (2C), force cell
D (26D) can record the unidirectional force in unidirectional force measurement and motion control component D (2D), and force cell E (26E) can survey
Obtaining the unidirectional force in unidirectional force measurement and motion control component E (2E), force cell F (26F) can record unidirectional force and measure
And the unidirectional force in motion control component F (2F), these six unidirectional force synthesis are obtained the thrust vectoring of rocket engine.
2. waving the vacuum thrust vector measurement system in direction according to the rocket engine that can adjust in real time described in right 1, it is special
Levy and be: leading screw A (251A), by the linear motion that convert rotational motion is push rod A (252A) of servomotor A (23A), causes
Unidirectional force is measured and the length change of motion control component A；Leading screw B (251B) is by the convert rotational motion of servo motor B (23B)
For the linear motion of push rod B (252B), unidirectional force is caused to be measured and the length change of motion control component B；Leading screw C (251C) will
The linear motion that convert rotational motion is push rod C (252C) of servomotor C (23C), causes unidirectional force to be measured and motor control
The length change of assembly C；Leading screw D (251D) is by the straight line that convert rotational motion is push rod D (252D) of servomotor D (23D)
Motion, causes unidirectional force to be measured and the length change of motion control component D；Leading screw E (251E) is by the rotation of servomotor E (23E)
The dynamic linear motion being converted into push rod E (252E) of transhipment, causes unidirectional force to be measured and the length change of motion control component E；Silk
Thick stick F (251F), by the linear motion that convert rotational motion is push rod F (252F) of servomotor F (23F), causes unidirectional force to be measured
And the length change of motion control component F；And then drive the motion of rocket engine mounting platform (1)；According to rocket engine
Wave the requirement in direction, by computer measurement and control system (5) calculate corresponding unidirectional force measure and motion control component A (2A),
Unidirectional force measures and motion control component B (2B), unidirectional force measurement and motion control component C (2C), unidirectional force measurement and motion
Control assembly D (2D), unidirectional force measures and motion control component E (2E), unidirectional force measurement and the length of motion control component F (2F)
Degree pace of change, and then calculate servomotor A (23A), servo motor B (23B), servomotor C (23C), servomotor D
(23D), the rotary speed that rotates of servomotor E (23E), servomotor F (23F), by servomotor A (23A), servo electricity
Machine B (23B), servomotor C (23C), servomotor D (23D), servomotor E (23E), the motion control of servomotor F (23F)
System controls the motion of rocket engine mounting platform (1)；Servomotor A (23A), servo motor B (23B), servomotor C
(23C), the angle that servomotor D (23D), servomotor E (23E), servomotor F (23F) can be rotated when rotated is led to
Crossing measurement and control cable (4) is transferred to computer measurement and control system (5), computer measurement and control system (5) can calculate unidirectional force
Measure and motion control component A (2A), unidirectional force measurement and motion control component B (2B), unidirectional force measurement and motor control group
Part C (2C), unidirectional force measure and motion control component D (2D), unidirectional force measurement and motion control component E (2E), unidirectional force survey
Amount and the length of motion control component F (2F), and then calculate locus and the unidirectional force of rocket engine mounting platform (1)
Measure and motion control component A (2A), unidirectional force measurement and motion control component B (2B), unidirectional force measurement and motor control group
Part C (2C), unidirectional force measure and motion control component D (2D), unidirectional force measurement and motion control component E (2E), unidirectional force survey
Amount and the space bit angle setting of motion control component F (2F)；
List during force cell A (26A) can record unidirectional force measurement and motion control component A (2A) during motion
Xiang Li, force cell B (26B) can record the unidirectional force in unidirectional force measurement and motion control component B (2B), and dynamometry passes
Sensor C (26C) can record the unidirectional force in unidirectional force measurement and motion control component C (2C), and force cell D (26D) can
To record the unidirectional force in unidirectional force measurement and motion control component D (2D), force cell E (26E) can record unidirectional force
Unidirectional force in measurement and motion control component E (2E), force cell F (26F) can record unidirectional force and measure and motion control
Unidirectional force in assembly F (2F) processed；Measure in conjunction with unidirectional force and motion control component A (2A), unidirectional force measurement and motor control
Assembly B (2B), unidirectional force measure and motion control component C (2C), unidirectional force measurement and motion control component D (2D), unidirectional force
Measure and motion control component E (2E), unidirectional force measurement and the space bit angle setting of motion control component F (2F), pass through computer
These six unidirectional force synthesis are obtained the thrust vectoring of rocket engine by TT&C system (5).
3. waving the vacuum thrust vector measurement system in direction according to the rocket engine that can adjust in real time described in right 1, it is special
Levy and be: servomotor A (23A), servo motor B (23B), servomotor C (23C), servomotor D (23D), servomotor E
(23E), servomotor F (23F) is vacuum motor；Force cell A (26A), force cell B (26B), force cell C
(26C), force cell D (26D), force cell E (26E), force cell F (26F) are Open architecture.
4. waving the vacuum thrust vector measurement system in direction according to the rocket engine that can adjust in real time described in right 1, it is special
Levy and be: be wound with on servomotor D (23D) on heating ribbon heating ribbon D (29D), servomotor E (23E) to be wound with and add
It is wound with heating ribbon heating ribbon F (29F) on heated filament band heating ribbon E (29E), servomotor F (23F).
5. waving the vacuum thrust vector measurement system in direction according to the rocket engine that can adjust in real time described in right 1, it is special
Levy and be: between lower hinge box A (21A) and lower ball pivot A (22A), between upper ball pivot A (27A) and upper hinge box A (28A), lower hinge box B
(21B) and between lower ball pivot B (22B), between upper ball pivot B (27B) and upper hinge box B (28B), lower hinge box C (21C) and lower ball pivot C
(22C) between, between upper ball pivot C (27C) and upper hinge box C (28C), between lower hinge box D (21D) and lower ball pivot D (22D), upper ball
Between hinge D (27D) and upper hinge box D (28D), between lower hinge box E (21E) and lower ball pivot E (22E), upper ball pivot E (27E) and upper hinge
Between box E (28E), between lower hinge box F (21F) and lower ball pivot F (22F), between upper ball pivot F (27F) and upper hinge box F (28F), silk
Between thick stick A (251A) and push rod A (252A), between leading screw B (251B) and push rod B (252B), leading screw C (251C) and push rod C
Between (252 C), between leading screw D (251D) and push rod D (252D), between leading screw E (251E) and push rod E (252E), leading screw F
(251F) molybdenum bisuphide and is used to lubricate between push rod F (252F).
6. waving the vacuum thrust vector measurement system in direction according to the rocket engine that can adjust in real time described in right 1, it is special
Levy and be: lower hinge box A (21A), lower ball pivot A (22A), cylinder body A (24A), leading screw post rod mechanism A (25A), force cell A
(26A), upper ball pivot A (27A), upper hinge box A (28A), lower hinge box B (21B), lower ball pivot B (22B), cylinder body B (24B), leading screw push rod
Mechanism B (25B), force cell B (26B), upper ball pivot B (27B), upper hinge box B (28B), lower hinge box C (21C), lower ball pivot C
(22C), cylinder C (24C), leading screw post rod mechanism C (25C), force cell C (26C), upper ball pivot C (27C), upper hinge box C
(28C), lower hinge box D (21D), lower ball pivot D (22D), cylinder body D (24D), leading screw post rod mechanism D (25D), force cell D
(26D), upper ball pivot D (27D), upper hinge box D (28D), lower hinge box E (21E), lower ball pivot E (22E), cylinder body E (24E), leading screw push rod
Mechanism E (25E), force cell E (26E), upper ball pivot E (27E), upper hinge box E (28E), lower hinge box F (21F), lower ball pivot F
(22F), cylinder body F (24F), leading screw post rod mechanism F (25F), force cell F (26F), upper ball pivot F (27F), upper hinge box F
(28F) material is 304 rustless steels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610607947.8A CN106014691B (en) | 2016-07-29 | 2016-07-29 | A kind of vacuum thrust vector measurement system that can be adjusted rocket engine in real time and wave direction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610607947.8A CN106014691B (en) | 2016-07-29 | 2016-07-29 | A kind of vacuum thrust vector measurement system that can be adjusted rocket engine in real time and wave direction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106014691A true CN106014691A (en) | 2016-10-12 |
| CN106014691B CN106014691B (en) | 2018-08-31 |
Family
ID=57114323
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610607947.8A Active CN106014691B (en) | 2016-07-29 | 2016-07-29 | A kind of vacuum thrust vector measurement system that can be adjusted rocket engine in real time and wave direction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106014691B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109002578A (en) * | 2018-06-12 | 2018-12-14 | 西安交通大学 | A kind of flexible structure and design method for the measurement of rocket engine thrust fidelity |
| CN109807578A (en) * | 2017-11-20 | 2019-05-28 | 中国科学院沈阳自动化研究所 | Automatic positioning mechanism towards removable heavy-duty tray |
| CN111121703A (en) * | 2019-12-11 | 2020-05-08 | 西安航天发动机有限公司 | Swing interference detection system for liquid rocket engine |
| CN113047980A (en) * | 2021-03-05 | 2021-06-29 | 陕西蓝箭航天技术有限公司 | Carrier rocket engine sways servo device |
| CN114215661A (en) * | 2021-11-16 | 2022-03-22 | 北京航天试验技术研究所 | Rocket engine center positioning thrust vector dynamometer |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101464215A (en) * | 2009-01-15 | 2009-06-24 | 大连理工大学 | Propulsion test device of piezo-electricity type rocket motor |
| CN203949788U (en) * | 2014-01-17 | 2014-11-19 | 北京航天试验技术研究所 | The device that a kind of satellite or rocket Upper Stage propulsion subsystem barycenter are measured and weighed |
| CN204924531U (en) * | 2015-04-27 | 2015-12-30 | 济南大学 | Sextuple force transducer of piezoelectric type |
| CN105486451A (en) * | 2015-12-15 | 2016-04-13 | 中国燃气涡轮研究院 | Six-freedom parallel control self-correction return apparatus for space vector force loading |
-
2016
- 2016-07-29 CN CN201610607947.8A patent/CN106014691B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101464215A (en) * | 2009-01-15 | 2009-06-24 | 大连理工大学 | Propulsion test device of piezo-electricity type rocket motor |
| CN203949788U (en) * | 2014-01-17 | 2014-11-19 | 北京航天试验技术研究所 | The device that a kind of satellite or rocket Upper Stage propulsion subsystem barycenter are measured and weighed |
| CN204924531U (en) * | 2015-04-27 | 2015-12-30 | 济南大学 | Sextuple force transducer of piezoelectric type |
| CN105486451A (en) * | 2015-12-15 | 2016-04-13 | 中国燃气涡轮研究院 | Six-freedom parallel control self-correction return apparatus for space vector force loading |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109807578A (en) * | 2017-11-20 | 2019-05-28 | 中国科学院沈阳自动化研究所 | Automatic positioning mechanism towards removable heavy-duty tray |
| CN109002578A (en) * | 2018-06-12 | 2018-12-14 | 西安交通大学 | A kind of flexible structure and design method for the measurement of rocket engine thrust fidelity |
| CN111121703A (en) * | 2019-12-11 | 2020-05-08 | 西安航天发动机有限公司 | Swing interference detection system for liquid rocket engine |
| CN111121703B (en) * | 2019-12-11 | 2021-08-13 | 西安航天发动机有限公司 | Swing interference detection system for liquid rocket engine |
| CN113047980A (en) * | 2021-03-05 | 2021-06-29 | 陕西蓝箭航天技术有限公司 | Carrier rocket engine sways servo device |
| CN113047980B (en) * | 2021-03-05 | 2022-03-04 | 陕西蓝箭航天技术有限公司 | Carrier rocket engine sways servo device |
| CN114215661A (en) * | 2021-11-16 | 2022-03-22 | 北京航天试验技术研究所 | Rocket engine center positioning thrust vector dynamometer |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106014691B (en) | 2018-08-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106014691A (en) | Vacuum-thrust-vector measurement system capable of adjusting rocket-motor swinging direction in real time | |
| CN106368852B (en) | A kind of miniature liquid/solid-rocket vector spray servo-control system and method | |
| CN102998082A (en) | Device for wind tunnel dynamic derivative pitch vibration test | |
| CN106840583A (en) | A kind of big attack angle mechanism of sub- transonic and supersonic wind tunnel with translation functions | |
| CN107462743B (en) | Wind speed calibration device and calibration method suitable for low air pressure | |
| CN110207943A (en) | Hypersonic wind tunnel virtual flight pilot system and test method | |
| CN108964342A (en) | It is a kind of can on-line continuous control the half of used capacity and actively used hold | |
| CN107976315B (en) | A kind of angle of attack yaw angle servo mechanism for Ducted rocket free jet test | |
| CN102360231A (en) | Rate gyroscope-based flexible antenna servo control system | |
| CN105244622A (en) | Large-array-plane radar antenna pitch axis driving apparatus and adaptive control method | |
| CN111350616B (en) | Method for measuring micro-thrust eccentricity of solid engine under unconstrained condition | |
| CN106840584A (en) | A kind of multivariant sub- big attack angle mechanism of transonic and supersonic wind tunnel | |
| CN102901613B (en) | Method for determining pressure center of reentry vehicle | |
| CN101806261B (en) | Method and device for measuring pneumatic thrust indirectly | |
| CN107985596A (en) | A kind of plant protection unmanned plane | |
| CN109238622B (en) | Device for testing free vibration dynamic derivative of short and blunt profile aircraft in pitching direction | |
| CN206450397U (en) | A kind of big attack angle mechanism of sub- transonic and supersonic wind tunnel with translation functions | |
| CN106781830A (en) | A kind of two degrees of freedom simulator of grid rudder aircraft | |
| CN207908405U (en) | The sample holder of neutron scattering cryostat | |
| CN216621681U (en) | Novel dynamic derivative elastic hinge calibration device | |
| CN109000927A (en) | Dynamic loading device for missile propulsive plant wabbler mechanism performance test | |
| RU2482458C1 (en) | Method of testing operating nozzle with elastic support hinge and drive and defining nozzle moving part turn angle | |
| US20220371721A1 (en) | System for controlling the cyclic setting of blades | |
| CN209559459U (en) | A kind of sprue mobile device of simulation support interferences amount variation | |
| CN107150816B (en) | A kind of Moving aircraft simulation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |