CN106014691B - A kind of vacuum thrust vector measurement system that can be adjusted rocket engine in real time and wave direction - Google Patents
A kind of vacuum thrust vector measurement system that can be adjusted rocket engine in real time and wave direction Download PDFInfo
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- CN106014691B CN106014691B CN201610607947.8A CN201610607947A CN106014691B CN 106014691 B CN106014691 B CN 106014691B CN 201610607947 A CN201610607947 A CN 201610607947A CN 106014691 B CN106014691 B CN 106014691B
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- control component
- unidirectional force
- motion control
- servo motor
- measure
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Classifications
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- 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
Abstract
The invention discloses a kind of vacuum thrust vector measurement systems that can be adjusted rocket engine in real time and wave direction, including：Rocket engine mounting platform, unidirectional force measures and motion control component (totally six sets), pedestal, measurement and control cable, computer measurement and control system.Unidirectional force measures and motion control component is made of lower hinge box, lower flexural pivot, servo motor, cylinder body, leading screw post rod mechanism, load cell, upper flexural pivot and upper hinge box.Leading screw post rod mechanism is made of leading screw and mandril.It is rotated by computer measurement and control system control servomotor, the linear motion that the convert rotational motion of servo motor is mandril is driven the movement of rocket engine mounting platform by leading screw.Computer measurement and control system synthesizes the unidirectional force that six load cells measure to obtain the thrust vectoring of rocket engine.Servo motor is vacuum motor, and load cell is Open architecture, can carry out waving control in a vacuum and thrust vectoring measures.
Description
Technical field
The present invention relates to a kind of rocket engine thrust vectoring measuring systems；More particularly to one kind can adjust rocket hair in real time
Motivation waves the vacuum thrust vector measurement system in direction, belongs to thrust measurement technical field.
Background technology
Ideally, rocket engine thrust line is overlapped with engine center axis, but actually due to processing
The limitation of precision causes the non-uniform flow and spray of the geometric asymmetry or high-temperature high-pressure fuel gas of engine by jet pipe
The deformation that the ablation of pipe throat generates causes motor power position to deviate engine center axis, to generate thrust eccentric.
Rocket other than by rocket engine thrust, is also influenced by atmospheric drag and ambient wind velocity in flight, these are all
The posture of rocket can be caused to change, and make its flight curve stray.It usually requires awing to use thrust
Vector engine carries out gesture stability to rocket, to carry out orbital exponent.And in other situation, it needs inclined using thrust
The heart carries out thruster vector control, and then adjusts the flight attitude of aircraft, carries out maneuvering flight.Gimbaled rocket engine can be with
Thruster vector control is effectively realized, it is all significant for rocket trajectory amendment and maneuvering flight.It is accurately measured to shake
Thrust vectoring during pendulum is most important.
Engine plume test requires environmental pressure 10- 3Pa is hereinafter, environment temperature can reach liquid hydrogen warm area sometimes
(20K) requires vacuum, the low-temperature characteristics of equipment also very high.
Invention content
The invention discloses a kind of thrust vectoring measuring systems that can be adjusted rocket engine in real time and wave direction, including：
Rocket engine mounting platform 1, unidirectional force measurement and motion control component A2A, unidirectional force measurement and motion control component B2B,
Unidirectional force measures and motion control component C2C, unidirectional force measurement and motion control component D2D, unidirectional force measurement and motion control
Component E2E, unidirectional force measures and motion control component F2F, pedestal 3, measurement and control cable 4, computer measurement and control system 5.It is single
To power measurement and motion control component A2A, unidirectional force measures and motion control component B2B, unidirectional force measurement and motion control group
Part C2C, unidirectional force measurement and motion control component D2D, unidirectional force measurement and motion control component E2E and unidirectional force are measured and are transported
Dynamic control assembly F2F structure compositions are consistent, are introduced by taking unidirectional force measurement and motion control component A 2A as an example.Unidirectional force is surveyed
Amount and motion control component A 2A are by lower hinge box A21A, lower flexural pivot A22A, servo motor A23A, cylinder body A24A, leading screw mandril machine
Structure A25A, load cell A26A, upper flexural pivot A27A and upper hinge box A28A compositions.Leading screw post rod mechanism A25A is by leading screw A251A
It is formed with mandril A252A.Unidirectional force measures and motion control component B, unidirectional force measurement and motion control component C, unidirectional force are surveyed
Composition in amount and motion control component D, unidirectional force measurement and motion control component E, unidirectional force measurement and motion control component F
It is measured with unidirectional force and motion control component A is consistent, serial number uses A, B, C, D, E, F respectively in the title and figure of composition parts
Distinguish, as above cut with scissors box B28B refer to unidirectional force measure and motion control component B2B in upper hinge box B28B.
Rocket engine mounting platform 1 is using cyclic annular steel plate structure, for installing rocket engine, is measured with unidirectional force
And upper hinge box A28A in motion control component A2A, unidirectional force measure and the upper hinge box B28B in motion control component B2B, list
The upper hinge box in upper hinge box C28C, unidirectional force measurement and motion control component D2D into power measurement and motion control component C2C
D28D, unidirectional force measurement and the upper hinge box E28E in motion control component E2E and unidirectional force measurement and motion control component
Upper hinge box F28F in F2F is fastenedly connected respectively.
The one end flexural pivot A27A is gone up as screw thread in unidirectional force measurement and motion control component A2A, and one end is bulb, upper flexural pivot
The bulb of A27A is partially installed in hinge box A28A, and upper flexural pivot A27A can be rotated in upper hinge box A28A, upper flexural pivot A27A
The end of thread be fastenedly connected with load cell A26A；The both ends of load cell A26A respectively with upper flexural pivot A27 A and leading screw
Mandril A252A in post rod mechanism A25A is fastenedly connected；Leading screw A251A in leading screw post rod mechanism A25A and servo motor
A23A is fastenedly connected, and the leading screw A251A in leading screw post rod mechanism A25A can be rotated in mandril A252A, leading screw top
Mandril A252A in linkage A25A can carry out stretching motion in cylinder body A24A；The lower ends cylinder body 24A and servo motor A23A
It is fastenedly connected；Lower one end flexural pivot A22A is screw thread, and one end is bulb, and the end of thread is fastenedly connected with servo motor A23A, bulb
In lower hinge box A21A, lower flexural pivot A22A can be rotated in lower hinge box A21A.Unidirectional force measures and motion control component
B, unidirectional force measurement and motion control component C, unidirectional force measurement and motion control component D, unidirectional force measurement and motion control group
Part E, unidirectional force measurement and the parts connection relation in motion control component F and unidirectional force measurement and motion control component A mono-
It causes.
During unidirectional force measures and the lower hinge box A21A in motion control component A, unidirectional force measure and motion control component B
Lower hinge box B21B, unidirectional force measures and the lower hinge box C21C in motion control component C, unidirectional force measurement and motion control component D
In lower hinge box D21D, unidirectional force measure and the lower hinge box E21E in motion control component E, unidirectional force measure and motion control group
Lower hinge box F21F in part F is separately fixed on pedestal 3.Pedestal 3 is welded by channel steel, for being fixed with ground.It measures
And control cable 4 one end measured respectively with unidirectional force and motion control component A in servo motor A23A and load cell
A26A, unidirectional force measures and the servo motor B 23B in motion control component B and load cell B26B, unidirectional force measure and fortune
Watching in the servo motor C23C and load cell C26C, unidirectional force measurement and motion control component D in dynamic control assembly C
It takes motor D23D and load cell D26D, unidirectional force measurement and the servo motor E23E in motion control component E and dynamometry passes
Servo motor F23F in sensor E26E, unidirectional force measurement and motion control component F is connected with load cell F26F, surveys
Amount and control 4 other end of cable are connected with computer measurement and control system 5, for transmitting servo motor to computer measurement and control system 5
Displacement in A23A, servo motor B 23B, servo motor C23C, servo motor D23D, servo motor E23E, servo motor F23F
Signal and load cell A26A, load cell B26B, load cell C26C, load cell D26D, load cell
Force signal in E26E, load cell F26F, while being used for servo motor A23A, servo motor B 23B, servo motor
The control signal of C23C, servo motor D23D, servo motor E23E, servo motor F23F transmission computer measurement and control systems 5.
Pass through 5 control servomotor A23A of computer measurement and control system, servo motor B 23B, servo motor C23C, servo electricity
Machine D23D, servo motor E23E, servo motor F23F rotations.The convert rotational motion of servo motor A23A is by leading screw A251A
The convert rotational motion of servo motor B 23B is the straight line of mandril B252B by the linear motion of mandril A252A, leading screw B251B
Movement, leading screw C25C will watch the linear motion that the convert rotational motion of servo motor C23C is mandril C252C, leading screw D251D
The convert rotational motion for taking motor D23D is the linear motion of mandril D252D, and leading screw E251E transports the rotation of servo motor E23E
Turn turns to the linear motion of mandril E252E, and the convert rotational motion of servo motor F23F is mandril F252F by leading screw F251F
Linear motion, and then drive the movement of rocket engine mounting platform 1.Load cell A26A can be with during movement
Measure unidirectional force measure and motion control component A2A in unidirectional force, load cell B26B can measure unidirectional force measure and
Unidirectional force in motion control component B2B, load cell C26C can be measured in unidirectional force measurement and motion control component C2C
Unidirectional force, load cell D26D can measure unidirectional force measure and motion control component D2D in unidirectional force, dynamometry pass
Sensor E26E can measure the unidirectional force in unidirectional force measurement and motion control component E2E, and load cell F26F can be measured
Unidirectional force measure and motion control component F2F in unidirectional force, this six unidirectional forces are synthesized to obtain the thrust of rocket engine
Vector.
Servo motor A23A, servo motor B 23B, servo motor C23C, servo motor D23D, servo motor E23E, servo
Motor F23F is vacuum motor.Load cell A26A, load cell B26B, load cell C26C, load cell
D26D, load cell E26E, load cell F26F are Open architecture, can be used in a vacuum.
Between lower hinge box A21A and lower flexural pivot A22A, between upper flexural pivot A27A and upper hinge box A 28A, lower hinge box B21B under
Between flexural pivot B22B, between upper flexural pivot B27B and upper hinge box B28B, between lower hinge box C21C and lower flexural pivot C22C, upper flexural pivot C27
Between C and upper hinge box C28C, between lower hinge box D21D and lower flexural pivot D22D, between upper flexural pivot D27D and upper hinge box D28D, lower hinge
Between box E21E and lower flexural pivot E22E, between upper flexural pivot E27E and upper hinge box E28E, between lower hinge box F21F and lower flexural pivot F22F,
Between upper flexural pivot F27F and upper hinge box F28F, between leading screw A251A and mandril A252 A, leading screw B251B and mandril B252B it
Between, between leading screw C251C and mandril C252 C, between leading screw D251D and mandril D252D, leading screw E251E and mandril E252 E it
Between, lubricated using molybdenum disulfide between leading screw F251F and mandril F252F, prevent vacuum cold welding.
It is wound on servo motor A23A on heating ribbon A29A, servo motor A23A and is wound with heating ribbon A29A, watched
It takes to be wound on motor B23B on heating ribbon B29B, servo motor C23C and is wound with heating ribbon C29C, servo motor D23D
On be wound on heating ribbon D29D, servo motor E23E be wound on heating ribbon E29E, servo motor F23F be wound with plus
Heated filament band F29F, can use in liquid hydrogen warm area 20K low temperature environments.
Lower hinge box A21A, lower flexural pivot A22A, cylinder body A24A, leading screw post rod mechanism A25A, load cell A26A, upper flexural pivot
A27A, upper hinge box A28A, lower hinge box B21B, lower flexural pivot B22B, cylinder body B24B, leading screw post rod mechanism B25B, load cell
B26B, it upper flexural pivot B27B, upper hinge box B28B, lower hinge box C21C, lower flexural pivot C22C, cylinder C 24C, leading screw post rod mechanism C25C, surveys
Force snesor C26C, upper flexural pivot C27C, upper hinge box C28C, lower hinge box D21D, lower flexural pivot D22D, cylinder body D24D, leading screw mandril machine
Structure D25D, load cell D26D, upper flexural pivot D27D, upper hinge box D28D, lower hinge box E21E, lower flexural pivot E22E, cylinder body E24E, silk
Thick stick post rod mechanism E25E, load cell E26E, upper flexural pivot E27E, upper hinge box E28E, lower hinge box F21F, lower flexural pivot F22F, cylinder
Body F24F, leading screw post rod mechanism F25F, load cell F26F, upper flexural pivot F27F, upper hinge box F28F materials are 304 stainless steels,
It can be used in liquid hydrogen warm area.
The advantages of the present invention over the prior art are that：
(1) have the function of adjustment rocket engine waves direction, can be carried out at the same time the posture control of rocket engine
System and thrust vectoring measure,
(2) its thrust vectoring in rocking process can be measured；
(3) it is connected using flexural pivot, effectively eliminates frictional resistance, reduce cross interferance；
(4) each sensor is even convenient for solution only by unidirectional force.
(5) it can carry out waving control in a vacuum and thrust vectoring measures.
(6) it can be used in liquid hydrogen warm area (20K) low temperature environment.
Description of the drawings
Fig. 1 is a kind of vacuum thrust vector measurement system figure that can be adjusted rocket engine in real time and wave direction；
Fig. 2 is that unidirectional force measures and motion control component A compositions are schemed
Fig. 3 is leading screw post rod mechanism A schematic diagrames
Fig. 4 is that unidirectional force measures and motion control component B compositions are schemed
Fig. 5 is leading screw post rod mechanism B schematic diagrames
Fig. 6 is that unidirectional force measures and motion control component C compositions are schemed
Fig. 7 is leading screw post rod mechanism C schematic diagrames
Fig. 8 is that unidirectional force measures and motion control component D compositions are schemed
Fig. 9 is leading screw post rod mechanism D schematic diagrames
Figure 10 is that unidirectional force measures and motion control component E compositions are schemed
Figure 11 is leading screw post rod mechanism E schematic diagrames
Figure 12 is that unidirectional force measures and motion control component F compositions are schemed
Figure 13 is leading screw post rod mechanism F schematic diagrames
Figure 14 servo motors and heating ribbon relational graph
In figure
1. rocket engine mounting platform 2A. unidirectional forces measure and motion control component A
2B. unidirectional forces measure and motion control component B 2C. unidirectional forces measure and motion control component C
2D. unidirectional forces measure and motion control component D 2E. unidirectional forces measure and motion control component E
2F. unidirectional forces measure and motion control component F
3. pedestal 4. measures and control 5. computer measurement and control system of cable
Flexural pivot A 23A. servo motor A 24A. cylinder bodies A under box A 22A. is cut with scissors under 21A.
Box A is cut with scissors on 25A. post rod mechanism A 26A. load cell A 27A. on flexural pivot A 28A.
251A. leading screw A 252A. mandrils A
Flexural pivot B 23B. servo motor B 24B. cylinder bodies B under box B 22B. is cut with scissors under 21B.
Box B is cut with scissors on 25B. post rod mechanism B 26B. load cell B 27B. on flexural pivot B 28B.
251B. leading screw B 252B. mandrils B
Flexural pivot C 23C. servo motor C 24C. cylinder Cs under box C 22C. are cut with scissors under 21C.
Box C is cut with scissors on 25C. post rod mechanism C 26C. load cell C 27C. on flexural pivot C 28C.
251C. leading screw C 252C. mandrils C
Flexural pivot D 23D. servo motor D 24D. cylinder bodies D under box D 22D. is cut with scissors under 21D.
Box D is cut with scissors on 25D. post rod mechanism D 26D. load cell D 27D. on flexural pivot D 28D.
251D. leading screw D 252D. mandrils D
21E. flexural pivot E 23E. servo motor E 24E. cylinder bodies E under lower hinge box E 22E.
Box E is cut with scissors on 25E. post rod mechanism E 26E. load cell E 27E. on flexural pivot E 28E.
251E. leading screw E 252E. mandrils E
Flexural pivot F 23F. servo motor F 24F. cylinder bodies F under box F 22F. is cut with scissors under 21F.
Box F is cut with scissors on 25F. post rod mechanism F 26F. load cell F 27F. on flexural pivot F 28F.
251F. leading screw F 252F. mandrils F
29A. heating ribbon A 29B. heating ribbon B 29C. heating ribbons C
29D. heating ribbon D 29E. heating ribbon E 29F. heating ribbons F
Specific implementation mode
Below in conjunction with attached drawing, the present invention is described in further detail.
The linear motion that the convert rotational motion of servo motor A23A is mandril A252A is led to unidirectional force by leading screw A251A
It measures and the length of motion control component A changes；The convert rotational motion of servo motor B 23B is mandril by leading screw B251B
The linear motion of B252B leads to unidirectional force measurement and the length variation of motion control component B；Leading screw C251C is by servo motor
The convert rotational motion of C23C is the linear motion of mandril C252C, and the length of unidirectional force measurement and motion control component C is caused to become
Change；The linear motion that the convert rotational motion of servo motor D23D is mandril D252D is caused unidirectional force to measure by leading screw D251D
And the length variation of motion control component D；The convert rotational motion of servo motor E23E is mandril E252E's by leading screw E251E
Linear motion leads to unidirectional force measurement and the length variation of motion control component E；Leading screw F251F is by the rotation of servo motor F23F
Transhipment turn turns to the linear motion of mandril F252F, leads to unidirectional force measurement and the length variation of motion control component F；In turn
Drive the movement of rocket engine mounting platform 1.The requirement that direction is waved according to rocket engine, passes through computer measurement and control system
5 calculate corresponding unidirectional force measurement and motion control component A2A, unidirectional force measurement and motion control component B2B, unidirectional force are surveyed
Amount and motion control component C2C, unidirectional force measures and motion control component D2D, unidirectional force measurement and motion control component
E2E, unidirectional force measure and the length pace of change of motion control component F2F, and then calculates servo motor A23A, servo motor
The rotary speed that B23B, servo motor C23C, servo motor D23D, servo motor E23E, servo motor F23F rotate, by right
Servo motor A23A, servo motor B 23B, servo motor C23C, servo motor D23D, servo motor E23E, servo motor
The motion control of F23F controls the movement of rocket engine mounting platform 1.Servo motor A23A, servo motor B 23B, servo
The angle that motor C23C, servo motor D23D, servo motor E23E, servo motor F23F can be rotated when rotated passes through survey
Amount and control cable 4 are transferred to computer measurement and control system 5, and computer measurement and control system 5 can calculate unidirectional force and measure and move
Control assembly A2A, unidirectional force measures and motion control component B2B, unidirectional force measurement and motion control component C2C, unidirectional force are surveyed
Amount and motion control component D2D, unidirectional force measures and motion control component E2E, unidirectional force measures and motion control component F2F
Length, so calculate rocket engine mounting platform 1 spatial position and unidirectional force measure and motion control component A2A, list
To power measurement and motion control component B2B, unidirectional force measures and motion control component C2C, unidirectional force measurement and motion control group
Part D2D, unidirectional force measures and motion control component E2E, unidirectional force measure and the space bit angle setting of motion control component F2F.
Load cell A26A can measure the list in unidirectional force measurement and motion control component A2A during movement
Xiang Li, load cell B26B can measure the unidirectional force in unidirectional force measurement and motion control component B2B, load cell
C26C can measure the unidirectional force in unidirectional force measurement and motion control component C2C, and load cell D26D can be measured unidirectionally
Power measure and motion control component D2D in unidirectional force, load cell E26E can measure unidirectional force measure and motion control
Unidirectional force in component E2E, load cell F26F can measure unidirectional force measure and motion control component F2F in it is unidirectional
Power.It is measured in conjunction with unidirectional force and motion control component A2A, unidirectional force measurement and motion control component B2B, unidirectional force is measured and transported
Dynamic control assembly C2C, unidirectional force measures and motion control component D2D, unidirectional force measurement and motion control component E2E, unidirectional force
The space bit angle setting of measurement and motion control component F2F, this six unidirectional forces by computer measurement and control system 5 synthesized to obtain
The thrust vectoring of rocket engine.
The non-detailed description of the present invention is known to the skilled person technology.
Claims (6)
1. a kind of vacuum thrust vector measurement system that can be adjusted rocket engine in real time and wave direction, it is characterised in that including：
Rocket engine mounting platform（1）, unidirectional force measure and motion control component A（2A）, unidirectional force measure 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）, pedestal（3）, measure and control cable（4）, meter
Calculation machine TT＆C system（5）；Unidirectional force measures 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 measure and motion control component D（2D）, unidirectional force measure and movement
Control assembly E（2E）And unidirectional force measures and motion control component F（2F）Structure composition is consistent；Unidirectional force measures and motion control
Component A（2A）By lower hinge box A（21A）, lower flexural pivot A（22A）, servo motor A（23A）, cylinder body A（24A）, leading screw post rod mechanism A
（25A）, load cell A（26A）, upper flexural pivot A（27A）With upper hinge box A（28A）Composition；Leading screw post rod mechanism A（25A）By silk
Thick stick A（251A）With mandril A（252A）Composition；
Rocket engine mounting platform（1）Using cyclic annular steel plate structure, for installing rocket engine, with unidirectional force measure and
Motion control component A（2A）In upper hinge box A（28A）, unidirectional force measure and motion control component B（2B）In upper hinge box B
（28B）, unidirectional force measure and motion control component C（2C）In upper hinge box C（28C）, unidirectional force measure and motion control group
Part D（2D）In upper hinge box D（28D）, unidirectional force measure and motion control component E（2E）In upper hinge box E（28E）And
Unidirectional force measures and motion control component F（2F）In upper hinge box F（28F）It is fastenedly connected respectively；
Unidirectional force measures and motion control component A（2A）In upper flexural pivot A（27A）One end is screw thread, and one end is bulb, upper flexural pivot
A（27A）Bulb be partially installed on hinge box A（28A）In, upper flexural pivot A（27A）It can be in upper hinge box A（28A）Interior turn
It is dynamic, upper flexural pivot A（27A）The end of thread and load cell A（26A）It is fastenedly connected；Load cell A（26A）Both ends
Respectively with upper flexural pivot A（27A）With leading screw post rod mechanism A（25A）In mandril A（252A）It is fastenedly connected；Leading screw mandril
Mechanism A（25A）In leading screw A（251A）With servo motor A（23A）It is fastenedly connected, leading screw post rod mechanism A（25A）In
Leading screw A（251A）It can be in mandril A（252A）In be rotated, leading screw post rod mechanism A（25A）In mandril A
（252A）It can be in cylinder body A（24A）Interior carry out stretching motion；Cylinder body（24A）Lower end and servo motor A（23A）It is fastenedly connected；Lower ball
Cut with scissors A（22A）One end is screw thread, and one end is bulb, the end of thread and servo motor A（23A）It is fastenedly connected, bulb is mounted on lower hinge
Box A（21A）In, lower flexural pivot A（22A）It can be in lower hinge box A（21A）In rotate；
Unidirectional force measure and motion control component A in lower hinge box A（21A）, unidirectional force measure and motion control component B under
Cut with scissors box B（21B）, unidirectional force measure and motion control component C in lower hinge box C（21C）, unidirectional force measure and motion control component
Lower hinge box D in D（21D）, unidirectional force measure and motion control component E in lower hinge box E（21E）, unidirectional force measure and movement
Lower hinge box F in control assembly F（21F）It is separately fixed at pedestal（3）On；Pedestal（3）It is to be welded by channel 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 servo motor A（23A）
With load cell A（26A）, unidirectional force measure and motion control component B in servo motor B（23B）With load cell B
（26B）, unidirectional force measure and motion control component C in servo motor C（23C）With load cell C（26C）, unidirectional force survey
Amount and motion control component D in servo motor D（23D）With load cell D（26D）, unidirectional force measure and motion control group
Servo motor E in part E（23E）With load cell E（26E）, unidirectional force measure and motion control component F in servo electricity
Machine F（23F ）With load cell F（26F）It is connected, measures and control cable（4）The other end and computer measurement and control system（5）
It is connected, is used for computer measurement and control system（5）Transmit servo motor A（23A）, servo motor B（23B）, servo motor C（23C）、
Servo motor D（23D）, servo motor E（23E）, servo motor F（23F）In displacement signal and load cell A（26A）, survey
Force snesor B（26B）, load cell C（26C）, load cell D（26D）, load cell E（26E）, load cell F
（26F）In force signal, while for servo motor A（23A）, servo motor B（23B）, servo motor C（23C）, servo electricity
Machine D（23D）, servo motor E（23E）, servo motor F（23F）Transmit computer measurement and control system（5）Control signal；
Pass through computer measurement and control system（5）Control servomotor A（23A）, servo motor B（23B）, servo motor C（23C）, watch
Take motor D（23D）, servo motor E（23E）, servo motor F（23F）Rotation；Leading screw A（251A）By servo motor A（23A）'s
Convert rotational motion is the linear motion of mandril A (252A), leading screw B（251B）By servo motor B（23B）Convert rotational motion
For the linear motion of mandril B (252B), leading screw C（25C）By servo motor C（23C）Convert rotational motion be mandril C (252C)
Linear motion, leading screw D（251D）By servo motor D（23D）Convert rotational motion be mandril D (252D) linear motion,
Leading screw E（251E）By servo motor E（23E）Convert rotational motion be mandril E (252E) linear motion, leading screw F（251F）
By servo motor F（23F）Convert rotational motion be mandril F (252F) linear motion, and then drive rocket engine installation
Platform（1）Movement；Load cell A (26A) can measure unidirectional force measurement and motion control component A during movement
（2A）In unidirectional force, load cell B (26B) can measure unidirectional force measure and motion control component B（2B）In it is unidirectional
Power, load cell C (26C) can measure unidirectional force measurement and motion control component C（2C）In unidirectional force, load cell
D (26D) can measure unidirectional force measurement and motion control component D（2D）In unidirectional force, load cell E (26E) can survey
Obtain unidirectional force measurement and motion control component E（2E）In unidirectional force, load cell F (26F) can measure unidirectional force measurement
And motion control component F（2F）In unidirectional force, this six unidirectional forces are synthesized to obtain the thrust vectoring of rocket engine.
2. the vacuum thrust vector measurement system according to claim 1 that rocket engine can be adjusted in real time and wave direction,
It is characterized in that：Leading screw A（251A）By servo motor A（23A）Convert rotational motion be mandril A（252A）Linear motion,
Lead to unidirectional force measurement and the length variation of motion control component A；Leading screw B（251B）By servo motor B（23B）Rotary motion
It is converted into mandril B（252B）Linear motion, cause unidirectional force measure and motion control component B length variation；Leading screw C
（251C）By servo motor C（23C）Convert rotational motion be mandril C（252C）Linear motion, cause unidirectional force measure and
The length of motion control component C changes；Leading screw D（251D）By servo motor D（23D）Convert rotational motion be mandril D
（252D）Linear motion, cause unidirectional force measure and motion control component D length variation；Leading screw E（251E）By servo electricity
Machine E（23E）Convert rotational motion be mandril E（252E）Linear motion, cause unidirectional force to measure and motion control component E
Length changes；Leading screw F（251F）By servo motor F（23F）Convert rotational motion be mandril F（252F）Linear motion, lead
Cause unidirectional force measurement and the length variation of motion control component F；And then drive rocket engine mounting platform（1）Movement；Root
The requirement that direction is waved according to rocket engine, passes through computer measurement and control system（5）It calculates corresponding unidirectional force and measures and move control
Component A processed（2A）, unidirectional force measure and motion control component B（2B）, unidirectional force measure and motion control component C（2C）, it is unidirectional
Power measures and motion control component D（2D）, unidirectional force measure and motion control component E（2E）, unidirectional force measure and motion control
Component F（2F）Length pace of change, and then calculate servo motor A（23A）, servo motor B（23B）, servo motor C
（23C）, servo motor D（23D）, servo motor E（23E）, servo motor F（23F）The rotary speed of rotation, by servo electricity
Machine A（23A）, servo motor B（23B）, servo motor C（23C）, servo motor D（23D）, servo motor E（23E）, servo motor
F（23F）Motion control control rocket engine mounting platform（1）Movement；Servo motor A（23A）, servo motor B
（23B）, servo motor C（23C）, servo motor D（23D）, servo motor E（23E）, servo motor F（23F）It can incite somebody to action when rotated
The angle that it is rotated is by measuring and controlling cable（4）It is transferred to computer measurement and control system（5）, computer measurement and control system（5）It can
To calculate unidirectional force measurement and motion control component A（2A）, unidirectional force measure and motion control component B（2B）, unidirectional force survey
Amount 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）Length, and then calculate rocket engine mounting platform（1）Sky
Between position and unidirectional force measure and motion control component A（2A）, unidirectional force measure and motion control component B（2B）, unidirectional force survey
Amount 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）Space bit angle setting；
Load cell A (26A) can measure unidirectional force measurement and motion control component A during movement（2A）In list
Xiang Li, load cell B (26B) can measure unidirectional force measurement and motion control component B（2B）In unidirectional force, force-measuring sensing
Device C (26C) can measure unidirectional force measurement and motion control component C（2C）In unidirectional force, load cell D (26D) can be with
Measure unidirectional force measurement and motion control component D（2D）In unidirectional force, load cell E (26E) can measure unidirectional force survey
Amount and motion control component E（2E）In unidirectional force, load cell F (26F) can measure unidirectional force measure and motion control
Component F（2F）In unidirectional force；In conjunction with unidirectional force measurement and motion control component A（2A）, unidirectional force measure and motion control group
Part B（2B）, unidirectional force measure and motion control component C（2C）, unidirectional force measure and motion control component D（2D）, unidirectional force survey
Amount and motion control component E（2E）, unidirectional force measure and motion control component F（2F）Space bit angle setting, surveyed by computer
Control system（5）This six unidirectional forces are synthesized to obtain the thrust vectoring of rocket engine.
3. the vacuum thrust vector measurement system according to claim 1 that rocket engine can be adjusted in real time and wave direction,
It is characterized in that：Servo motor A（23A）, servo motor B（23B）, servo motor C（23C）, servo motor D（23D）, servo electricity
Machine E（23E）, servo motor F（23F）For vacuum motor；Load cell A（26A）, load cell B（26B）, force-measuring sensing
Device C（26C）, load cell D（26D）, load cell E（26E）, load cell F（26F）For Open architecture.
4. the vacuum thrust vector measurement system according to claim 1 that rocket engine can be adjusted in real time and wave direction,
It is characterized in that：Servo motor D（23D）On be wound with heating ribbon D（29D）, servo motor E（23E）On be wound with heater strip
Band E（29E）, servo motor F（23F）On be wound with heating ribbon F（29F）.
5. the vacuum thrust vector measurement system according to claim 1 that rocket engine can be adjusted in real time and wave direction,
It is characterized in that：Lower hinge box A（21A）With lower flexural pivot A（22A）Between, upper flexural pivot A（27A）With upper hinge box A（28A）Between,
Lower hinge box B（21B）With lower flexural pivot B（22B）Between, upper flexural pivot B（27B）With upper hinge box B（28B）Between, lower hinge box
C（21C）With lower flexural pivot C（22C）Between, upper flexural pivot C（27C）With upper hinge box C（28C）Between, lower hinge box D（21
D）With lower flexural pivot D（22D）Between, upper flexural pivot D（27D）With upper hinge box D（28D）Between, lower hinge box E（21E）With under
Flexural pivot E（22E）Between, upper flexural pivot E（27E）With upper hinge box E（28E）Between, lower hinge box F（21F）With lower flexural pivot F
（22F）Between, upper flexural pivot F（27F）With upper hinge box F（28F）Between, leading screw A（251A）With mandril A（252A）It
Between, leading screw B（251B）With mandril B（252B）Between, leading screw C（251C）With mandril C（252C）Between, leading screw D
（251D）With mandril D（252D）Between, leading screw E（251E）With mandril E（252E）Between, leading screw F（251F）With top
Bar F（252F）Between lubricated using molybdenum disulfide.
6. the vacuum thrust vector measurement system according to claim 1 that rocket engine can be adjusted in real time and wave direction,
It is characterized in that：Lower hinge box A（21A）, lower flexural pivot A（22A）, cylinder body A（24A）, leading screw post rod mechanism A（25A）, load cell
A（26A）, upper flexural pivot A（27A）, upper hinge box A（28A）, lower hinge box B（21B）, lower flexural pivot B（22B）, cylinder body B（24B）, leading screw top
Linkage B（25B）, load cell B（26B）, upper flexural pivot B（27B）, upper hinge box B（28B）, lower hinge box C（21C）, lower flexural pivot C
（22C）, cylinder C（24C）, leading screw post rod mechanism C（25C）, load cell C（26C）, upper flexural pivot C（27C）, upper hinge box C
（28C）, lower hinge box D（21D）, lower flexural pivot D（22D）, cylinder body D（24D）, leading screw post rod mechanism D（25D）, load cell D
（26D）, upper flexural pivot D（27D）, upper hinge box D（28D）, lower hinge box E（21E）, lower flexural pivot E（22E）, cylinder body E（24E）, leading screw mandril
Mechanism E（25E）, load cell E（26E）, upper flexural pivot E（27E）, upper hinge box E（28E）, lower hinge box F（21F）, lower flexural pivot F
（22F）, cylinder body F（24F）, leading screw post rod mechanism F（25F）, load cell F（26F）, upper flexural pivot F（27F）, upper hinge box F
（28F）Material is 304 stainless steels.
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| CN109807578B (en) * | 2017-11-20 | 2020-10-09 | 中国科学院沈阳自动化研究所 | Automatic positioning mechanism for movable heavy-load tray |
| CN109002578B (en) * | 2018-06-12 | 2020-03-31 | 西安交通大学 | Flexible structure for rocket engine thrust fidelity measurement and design method |
| 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 |
| 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 |
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| 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 |
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| 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 |
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| 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 |
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