CN110553579B - Electric steering engine based on four spatial connecting rods and method for measuring angle of rudder output shaft - Google Patents
Electric steering engine based on four spatial connecting rods and method for measuring angle of rudder output shaft Download PDFInfo
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- CN110553579B CN110553579B CN201910959273.1A CN201910959273A CN110553579B CN 110553579 B CN110553579 B CN 110553579B CN 201910959273 A CN201910959273 A CN 201910959273A CN 110553579 B CN110553579 B CN 110553579B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention relates to an electric steering engine based on a space four-bar linkage mechanism and an angle measuring method of a steering engine output shaft, belongs to the technical field of electric steering engines, and solves the problem that an existing transmission mechanism is not suitable for transmission of an elastic electric steering engine due to high machining precision requirement and large occupied space. The electric steering engine comprises a motor, a gear reducer, a spatial four-connecting-rod transmission mechanism, a steering engine mounting frame and an angle measuring device; the spatial four-connecting-rod transmission mechanism comprises a reducer output shaft, a first connecting rod, a second connecting rod, a third connecting rod and a rudder output shaft, wherein the reducer output shaft is fixedly connected with the first connecting rod through a connecting rod mounting hole; the motor is connected with a gear reducer, and the gear reducer is fixedly connected with the steering engine mounting frame through a frame mounting hole. The invention realizes that the output shaft of the motor-driven rudder rotates within the range of +/-15 degrees.
Description
Technical Field
The invention relates to the technical field of electric steering engines, in particular to an electric steering engine based on a spatial four-bar linkage mechanism and an angle measuring method of a steering engine output shaft.
Background
The steering engine is used as an execution component of the servo control system, and the control target of the servo control system is completed by driving the output shaft to deflect. The electric steering engine has the characteristics of light weight, stable performance, convenience in maintenance and the like, and gradually becomes a new direction for the development of the steering engine.
The actuator of an electric steering engine usually comprises a motor, a transmission mechanism and a rudder output shaft. The transmission mechanism is used as a core part of an actuating mechanism, and is usually in a speed reducing structure to obtain larger torque output. For the missile-borne steering engine, the available space is small, the weight is light, the spatial layout of the transmission mechanism is greatly limited, and all levels of rotating shafts of the transmission mechanism are not intersected usually. Common transmission modes between two non-intersecting shafts include a ball screw, a shifting fork, a worm gear, a cylindrical gear, a bevel gear and the like, the transmission modes have high machining precision requirement, occupy large space and are not suitable for transmission of small electric steering engines.
Disclosure of Invention
In view of the foregoing analysis, the embodiment of the present invention aims to provide an electric steering engine based on a spatial four-bar linkage mechanism and an angle measurement method for a rudder output shaft, so as to solve the technical problem that the existing transmission mechanism is not suitable for transmission of a small-sized sprung electric steering engine due to high requirement on processing precision and large occupied space.
The purpose of the invention is mainly realized by the following technical scheme:
on one hand, the invention provides an electric steering engine based on a spatial four-bar linkage mechanism, which comprises a motor, a gear reducer, a spatial four-bar linkage transmission mechanism, a steering engine mounting frame and an angle measuring device, wherein the motor is connected with the gear reducer; the motor is connected with a gear reducer, and the gear reducer is fixedly connected with the steering engine mounting frame through a frame mounting hole; the gear reducer drives the rudder output shaft to rotate through a spatial four-bar transmission mechanism; the angle measuring device is connected with the spatial four-bar transmission mechanism and used for measuring the rotation angle of the output shaft of the speed reducer.
In one possible design, the spatial four-bar transmission mechanism comprises a reducer output shaft, a first connecting bar, a second connecting bar, a third connecting bar and a rudder output shaft, wherein the reducer output shaft is arranged at a central shaft of the gear reducer, the reducer output shaft is fixedly connected with the first connecting bar through a connecting bar mounting hole, the first connecting bar is connected with the third connecting bar through a hook hinge mechanism, the third connecting bar is connected with the second connecting bar through a spherical hinge mechanism, and the second connecting bar is fixedly connected with the rudder output shaft; the angle measuring device is connected with the first connecting rod.
In one possible design, the third link comprises a connected ball bar and a U-shaped bar; one end of the spherical rod is spherical, and the other end of the spherical rod is provided with a thread; one end of the U-shaped rod is U-shaped, and the other end of the U-shaped rod is a screw rod; the spherical rod is connected with the U-shaped rod through threads.
In one possible design, the spherical hinge mechanism comprises a spherical hinge cover, a ball socket is arranged on the inner side of the spherical hinge cover, the spherical hinge cover is in threaded connection with the second connecting rod, and the spherical rod, the second connecting rod and the ball socket form a spherical hinge; the rotary spherical hinge cover can eliminate the transmission clearance of the spherical hinge mechanism and adjust the transmission tightness.
In one possible design, the hooke joint mechanism includes a hooke shaft, a first pin, a second pin, a third pin, and a fourth pin; an output shaft of the speed reducer is fixedly connected with a first connecting rod through a first pin, the first connecting rod is rotationally connected with a Hooke shaft through a third pin shaft, the third pin shaft is fixedly connected with the Hooke shaft through a fourth pin, and the first pin shaft and the second pin shaft are fixedly connected with the Hooke shaft through a second pin and a third pin respectively; the Hooke shaft is rotationally connected with the spherical rod through a first pin shaft and a second pin shaft.
In a possible design, the angle measuring device comprises an electric brush, a resistor body and a resistor base, the electric brush is fixed on the first connecting rod through a first fixing piece, the resistor base is fixed on the steering engine mounting frame through a second fixing piece, and the resistor body is fixed on the resistor base.
In one possible design, the first connecting rod has a length l1The length of the second connecting rod is l2The length of the third connecting rod is l3The rotation angle of the output shaft of the speed reducer is theta1The angle of rotation of the rudder output shaft being θ2According to the transmission ratios i and l of the reducer output shaft and the rudder output shaft1、l2、l3、θ1Calculating the rotation angle theta of the output shaft of the rudder2The numerical value of (c).
In one possible design, the lengths l of the first, second and third connecting rods1、l2、l3And the rotation angle theta of the output shaft of the speed reducer1Angle of rotation theta with rudder output shaft2The relationship between them is:
because the length l of the first connecting rod, the second connecting rod and the third connecting rod1、l2、l3It is known from design that the angle θ is measured by an angle measuring device1In addition, in the rotation process of the electric steering engine, the length l of the third connecting rod3Since the rudder is not changed, the rudder can be obtained by solving the above equationRotation angle theta of output shaft2。
In one possible design, the combined sequence of the first link, the second link, the third link, the hooke joint mechanism and the ball joint mechanism can be used to adjust the spatial configuration of the spatial four-bar linkage depending on the actual available space.
On the other hand, the invention also provides an angle measuring method of the rudder output shaft, and according to the electric steering engine based on the space four-bar linkage, the angle measuring method of the rudder output shaft comprises the following steps:
In the step 2, the rotation angle of the output shaft of the speed reducer is measured by applying voltage to two ends of the resistor body, and comparing the voltage of the electric brush and one end of the resistor body with the voltage of the two ends of the resistor body.
Compared with the prior art, the invention can realize at least one of the following beneficial effects:
(1) the electric steering engine provided by the invention realizes that the motor drives the rudder output shaft to rotate within a range of +/-15 degrees through the gear reducer and the spatial four-link transmission mechanism, and the spatial four-link mechanism has low requirement on the installation accuracy of the reducer output shaft and the rudder output shaft because the requirement on the spatial included angle between the reducer output shaft and the rudder output shaft is not limited to 90 degrees. In addition, the transmission structure provided by the application occupies a small space, is light in weight, and can completely meet the requirements of the electric steering engine used for bouncing.
(2) According to the invention, the sensor and the electric brush are arranged on the rudder output shaft, the angle measuring device not only occupies small space and has low cost, but also can accurately measure the rotation angle of the rudder output shaft.
(3) The combination sequence of the first connecting rod, the second connecting rod, the third connecting rod, the Hooke hinge mechanism and the spherical hinge mechanism is not unique, and the spatial configuration of the four connecting rods can be adjusted according to the actual available space so as to improve the applicability and the practicability of the spatial four-connecting-rod transmission structure.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Fig. 1 is a schematic structural diagram of an electric steering engine based on a spatial four-bar linkage structure provided in embodiment 1;
fig. 2 is a schematic structural diagram of an electric steering engine based on a spatial four-bar linkage structure provided in embodiment 1 along direction a (bottom view of the electric steering engine);
FIG. 3 is a schematic view of a gear reducer mounting interface based on a spatial four-bar linkage structure provided in embodiment 1;
FIG. 4 is a schematic view of a spatial four-bar linkage transmission mechanism provided in embodiment 1;
fig. 5 is a schematic view of a hooke joint mechanism based on a spatial four-link transmission mechanism provided in embodiment 1;
FIG. 6 is a schematic view of a spherical hinge mechanism based on a spatial four-link transmission mechanism provided in embodiment 1;
FIG. 7 is a schematic transmission diagram of a space-based four-link transmission mechanism provided by embodiment 1;
FIG. 8 is a second spatial configuration of the spatial four-bar linkage transmission provided in example 1;
fig. 9 shows a third spatial configuration of the spatial four-bar linkage transmission mechanism provided in embodiment 1.
Reference numerals:
1-a motor; 2-a gear reducer; 3-gear reducer output shaft; 4-a spatial four-bar linkage structure; 5-a steering engine mounting frame; 6-rudder output shaft; 7-an electric brush; 8-a resistor base; 9-a resistor body; 10-frame mounting holes; 11-connecting rod mounting holes; 12-hook hinge mechanism; 13-a spherical hinge mechanism; 14-a first link; 15-a second link; 16-a third link; 17-a first pin; 18-a second pin; 19-a third pin; 20-a fourth pin; 21-Hooke's axis; 22-a first pin; 23-a second pin; 24-a third pin; 25-a ball-shaped rod; 26-U-shaped rods; 27-spherical hinge cover.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Example 1
The embodiment provides an electric steering engine based on a spatial four-link transmission mechanism 4, as shown in fig. 1 to 7, the electric steering engine comprises a motor 1, a gear reducer 2, a spatial four-link transmission mechanism, a steering engine mounting frame 5, an angle measuring device and the like; the spatial four-connecting-rod transmission mechanism comprises a reducer output shaft 3, a first connecting rod 14, a second connecting rod 15, a third connecting rod 16 and a rudder output shaft 6, the reducer output shaft 3 is fixedly connected with the first connecting rod 14 through a connecting rod mounting hole 11, the first connecting rod 14 is connected with the third connecting rod 16 through a hook hinge mechanism 12, the third connecting rod 16 is connected with the second connecting rod 15 through a spherical hinge mechanism 13, and the second connecting rod 15 is fixedly connected with the rudder output shaft 6; the angle measuring device is connected with the first connecting rod 14; the motor 1 is connected with the gear reducer 2, and the gear reducer 2 is fixedly connected with the steering engine mounting frame 5 through a frame mounting hole 10; the reducer output shaft 3 is arranged at the central shaft of the gear reducer 2; the angle measuring device is used for measuring the rotation angle theta of the output shaft 3 of the speed reducer1。
Specifically, the electric steering engine comprises four motors 1, wherein gears are connected to the bottoms of the motors 1The gear reducer 2 is fixedly connected with the steering engine mounting frame 5 through a frame mounting hole 10 in the steering engine mounting frame 5; the central axis of the gear reducer 2 is provided with a reducer output shaft 3, and the motor 1 drives the gear reducer 2 to rotate and drives the reducer output shaft 3 to rotate after speed reduction. It should be noted that the reducer output shaft 3, the first link 14, the second link 15, the third link 16 and the rudder output shaft 6 together form a spatial four-link transmission mechanism; the output shaft 3 of the speed reducer is fixedly connected with a first connecting rod 14 through a connecting rod mounting hole 11 at the end part of the output shaft, the first connecting rod 14 is connected with a third connecting rod 16 through a hook hinge mechanism 12, the third connecting rod 16 is connected with a second connecting rod 15 through a spherical hinge mechanism 13, the second connecting rod 15 is fixedly connected with the rudder output shaft 6, and finally the output shaft 3 of the speed reducer is in transmission connection with the rudder output shaft 6 through a spatial four-connecting-rod transmission mechanism; in addition, the angle measuring device is connected with the first connecting rod 14; the angle measuring device is used for measuring the rotation angle theta of the output shaft 3 of the speed reducer1。
Compared with the prior art, the electric steering engine provided by the invention realizes that the motor 1 drives the rudder output shaft 6 to rotate within a range of +/-15 degrees through the gear reducer 2 and the spatial four-link transmission mechanism, and the spatial four-link transmission mechanism 4 has no limitation on 90 degrees on the spatial included angle between the reducer output shaft 3 and the rudder output shaft 6, so that the requirement on the installation accuracy of the reducer output shaft 3 and the rudder output shaft 6 is not high. In addition, the transmission structure provided by the application occupies a small space, is light in weight, and can completely meet the requirements of the electric steering engine used for bouncing.
In order to accurately measure the rotation angle of the rudder output shaft 6, the angle measuring device comprises an electric brush 7, a resistor 9, a resistor base 8, a sensor outgoing line and the like, wherein the electric brush 7 is fixed on a first connecting rod through a first fixing piece, the resistor base 8 is fixed on the rudder mounting frame 5 through a second fixing piece, and the resistor 9 is fixed on the resistor base 8.
Specifically, the brush 7 is fixed on the first connecting rod 14 through a first fixing member (for example, a pin), the resistor base 8 is fixed on the steering engine mounting bracket through a second fixing member (for example, a screw), and the electric measurement principle is as follows: the rotation angle of the reducer output shaft 3 is measured by applying a voltage across the resistor 9 and comparing the voltage across the resistor 9 with the voltage across the resistor 9 through the collection brush 7. Compared with the prior art, the rudder output shaft angle measuring device has the advantages that the sensor and the electric brush 7 are arranged on the rudder output shaft 6, the angle measuring device is small in occupied space and low in cost, and the rotating angle of the rudder output shaft 6 can be accurately measured.
For ease of installation and space saving, the third link 16 comprises a spherical rod 25 and a U-shaped rod 25 connected; the first end of the spherical rod 25 is spherical, and the second end is provided with threads; the first end of the U-shaped rod 25 is U-shaped, and the second end is in a screw shape; the ball bar 25 and the U-shaped bar 25 are connected by screw threads.
Specifically, the third connecting rod comprises a spherical rod 25 and a U-shaped rod 25, wherein the first end of the spherical rod 25 is spherical, and the second end of the spherical rod 25 is a threaded hole; the first end of the U-shaped rod 25 is U-shaped, the second end is screw-shaped, and the second end of the spherical rod 25 is connected with the second end of the U-shaped rod 25 through threads. Compared with the prior art, design into U type pole 25 and ball-shaped pole 25 with third connecting rod 16 and can fully realize quick installation on the one hand, on the other hand can the structure reduce its occupation space greatly, satisfy the whole design requirement that electric steering engine is used for on the bullet.
In order to connect the spatial four-link transmission mechanism with the rudder output shaft 6, the spherical hinge mechanism 13 comprises a spherical hinge cover 27, a ball socket is arranged on the inner side of the spherical hinge cover 27, the spherical hinge cover 27 is in threaded connection with the second connecting rod 15, and the spherical rod 25, the second connecting rod 15 and the ball socket form a spherical hinge; the rotary spherical hinge cover 27 can eliminate the transmission clearance of the spherical hinge mechanism 13 and adjust the transmission tightness.
Specifically, the rudder output shaft 6 is connected with the upper end of a second connecting rod, the lower end of the second connecting rod is connected with the top of a spherical hinge cover 27, a spherical hinge socket is arranged on the inner side of the spherical hinge cover 27, a spherical rod 25 of a third connecting rod is embedded into the spherical hinge socket, and the spherical rod 25, the ball socket of the spherical hinge cover 27 and the second connecting rod together form the spherical hinge mechanism 13.
In order to form a spatial four-bar linkage transmission structure, the Hooke's hinge mechanism 12 comprises a Hooke's shaft 21, a first pin 22, a second pin 23, a third pin 24, a first pin 17, a second pin 18, a third pin 19 and a fourth pin 20; the output shaft 3 of the speed reducer is fixedly connected with a first connecting rod 14 through a first pin 17, the first connecting rod 14 is rotatably connected with a Hooke shaft 21 through a third pin 19, the third pin 19 is fixedly connected with the Hooke shaft 21 through a fourth pin 20, and a first pin shaft 23 and a second pin shaft 18 are respectively fixedly connected with the Hooke shaft 21 through a second pin 18 and a third pin 19; the Hooke's shaft 21 is rotatably connected with the spherical rod 25 through a first pin 22 and a second pin 23.
The present invention can be realized by adjusting the length l of the first, second and third connecting rods 14, 15, 16 according to the actual available space and transmission requirements1、l2And l3The transmission ratio i of the reducer output shaft 3 and the rudder output shaft 6 is adjusted, and the transmission ratio i of the motor 1 to the rudder output shaft 6 is adjusted by combining the transmission ratio i of the gear reducer 2.
Illustratively, the first link 14 has a length l1The second link 15 has a length of l2The third link 16 has a length l3Angle of rotation theta of the output shaft 3 of the reducer1Angle of rotation theta of rudder output shaft 62The transmission ratio i of the reducer output shaft 3 and the rudder output shaft 6 is adjusted by1、l2、l3To adjust the transmission ratio i of the reducer output shaft 3 and the rudder output shaft 6; in addition, in the length l of the first link 141And length l of second link 152And the length l of the third link 163In certain cases, the gear ratios i and l are determined as a function of the reduction gear output shaft 3 and the rudder output shaft 61、l2、l3And theta1And theta2The corresponding relation between them calculates the rotation angle theta of the rudder output shaft 62The measurement of the rudder output shaft 6 angle is realized.
Illustratively, the lengths l of the first, second and third links 14, 15, 16 are in accordance with a kinematic relationship1、l2、l3And the angle of rotation theta of the reducer output shaft 31Angle of rotation theta with the rudder output shaft 62The relationship between them is:
due to the length l of the first, second and third connecting rods 14, 15, 161、l2、l3It is known from design that the angle θ is measured by an angle measuring device1In addition, the length l of the third connecting rod 16 in the rotation process of the electric steering engine3Since the angle of rotation θ of the rudder output shaft 6 is not changed, the above equation is solved to determine the angle of rotation θ2。
Alternatively, the angle θ can be derived by a kinematic simulation software (e.g., Adams)1And theta2The relationship (2) of (c). It should be noted that the two solving methods are essentially the same, and the specific solving by the simulation software is not described again.
Example two
The invention also provides an angle measuring method of the rudder output shaft 6, and according to the electric steering engine based on the spatial four-link transmission mechanism 4, the angle measuring method of the rudder output shaft 6 comprises the following steps:
It should be emphasized that, as shown in fig. 7 to 9, the present invention provides a combination sequence of the first connecting rod 14, the second connecting rod 15, the third connecting rod 16, the hooke joint mechanism 12 and the ball joint mechanism 13, which can adjust the spatial configuration of the four-connecting rod according to the actual available space, thereby improving the applicability and practicability of the spatial four-connecting rod transmission structure.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (8)
1. An electric steering engine based on a spatial four-bar linkage mechanism is characterized by comprising a motor, a gear reducer, a spatial four-bar linkage transmission mechanism, a steering engine mounting frame and an angle measuring device; the motor is connected with a gear reducer, and the gear reducer is fixedly connected with the steering engine mounting frame through a frame mounting hole; the gear reducer drives the rudder output shaft to rotate through a spatial four-bar transmission mechanism; the angle measuring device is connected with the spatial four-bar transmission mechanism and is used for measuring the rotation angle of the output shaft of the speed reducer;
the spatial four-connecting-rod transmission mechanism comprises a reducer output shaft, a first connecting rod, a second connecting rod, a third connecting rod and a rudder output shaft, wherein the reducer output shaft is arranged at a central shaft of the gear reducer, the reducer output shaft is fixedly connected with the first connecting rod through a connecting rod mounting hole, the first connecting rod and the third connecting rod are connected through a hook hinge mechanism, the third connecting rod and the second connecting rod are connected through a spherical hinge mechanism, and the second connecting rod is fixedly connected with the rudder output shaft; the angle measuring device is connected with the first connecting rod.
2. The electric steering engine based on the spatial four-bar linkage mechanism according to claim 1, wherein the third link comprises a spherical rod and a U-shaped rod which are connected; one end of the spherical rod is spherical, and the other end of the spherical rod is provided with a thread; one end of the U-shaped rod is U-shaped, and the other end of the U-shaped rod is a screw rod; the spherical rod is connected with the U-shaped rod through threads.
3. The electric steering engine based on the spatial four-bar linkage mechanism according to claim 2, wherein the spherical hinge mechanism comprises a spherical hinge cover, a ball socket is arranged on the inner side of the spherical hinge cover, the spherical hinge cover is in threaded connection with the second connecting rod, and the spherical rod, the second connecting rod and the ball socket form a spherical hinge; the spherical hinge cover is rotated to eliminate the transmission clearance of the spherical hinge mechanism and adjust the transmission tightness.
4. The electric steering engine based on the spatial four-bar linkage mechanism according to claim 3, wherein the Hooke's hinge mechanism comprises a Hooke's shaft, a first pin shaft, a second pin shaft, a third pin shaft, a first pin, a second pin, a third pin and a fourth pin;
the output shaft of the speed reducer is fixedly connected with a first connecting rod through a first pin, the first connecting rod is rotatably connected with a hooke shaft through a third pin shaft, the third pin shaft is fixedly connected with the hooke shaft through a fourth pin, and the first pin shaft and the second pin shaft are fixedly connected with the hooke shaft through a second pin and a third pin respectively; the Hooke shaft is rotationally connected with the spherical rod through a first pin shaft and a second pin shaft.
5. The electric steering engine based on the spatial four-bar linkage mechanism according to claim 4, wherein the angle measuring device comprises an electric brush, a resistor body and a resistor base, the electric brush is fixed on the first connecting rod through a first fixing piece, the resistor base is fixed on the steering engine mounting frame through a second fixing piece, and the resistor body is fixed on the resistor base.
6. The electric steering engine based on the spatial four-bar linkage mechanism according to claim 5, wherein the length of the first link is l1The length of the second connecting rod is l2The length of the third connecting rod is l3The rotation angle of the output shaft of the speed reducer is theta1The rotation angle of the output shaft of the rudder is theta2According to the transmission ratios i and l of the reducer output shaft and the rudder output shaft1、l2、l3、θ1Calculating the rotation angle theta of the output shaft of the rudder2The value of (d);
the length l of the first connecting rod, the second connecting rod and the third connecting rod1、l2、l3And the rotation angle theta of the output shaft of the speed reducer1Angle of rotation theta with rudder output shaft2The relation betweenComprises the following steps:
the length l of the first connecting rod, the second connecting rod and the third connecting rod1、l2、l3When the design is known, the rotation angle theta of the output shaft of the speed reducer is measured by the angle measuring device1And in the rotating process of the electric steering engine, the length l of the third connecting rod3The rotation angle theta of the rudder output shaft is obtained by the above equation2。
7. An angle measuring method of a rudder output shaft is characterized in that the rudder output shaft angle measuring method comprises the following steps:
step 1, starting a motor, and driving a rudder output shaft to rotate through a spatial four-bar mechanism after the motor is decelerated through a gear reducer;
step 2, the angle measuring device measures the rotation angle theta of the output shaft of the speed reducer through the electric brush1；
Step 3, according to the transmission ratio i of the output shaft of the speed reducer and the output shaft of the rudder, the length l of the first connecting rod, the second connecting rod and the third connecting rod1、l2、l3And theta1And theta2The corresponding relation between the rudder output shafts calculates the rotation angle theta of the rudder output shaft2The measurement of the rudder output shaft angle is realized.
8. The method for measuring the angle of the rudder output shaft according to claim 7, wherein in the step 2, the rotation angle of the reducer output shaft is measured by applying a voltage to both ends of the resistor body and comparing the voltage at one end of the resistor body with the voltage at both ends of the resistor body through the collection brush.
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| CN113740728B (en) * | 2020-05-28 | 2023-08-01 | 北京机械设备研究所 | Load simulator driven by arc motor |
| CN111707464B (en) * | 2020-06-30 | 2023-04-18 | 中车青岛四方车辆研究所有限公司 | Brake controller test equipment and test method |
| CN112762883B (en) * | 2020-12-29 | 2023-01-13 | 中国航空工业集团公司西安飞机设计研究所 | Device and method for measuring deflection angle of control surface of slat |
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| CN101561264B (en) * | 2008-04-16 | 2012-06-27 | 深圳市凯利博实业有限公司 | Angel measuring instrument and measuring method |
| CN105620708B (en) * | 2014-11-28 | 2018-01-16 | 中国科学院沈阳自动化研究所 | A kind of underwater electric steering wheel and rudder angle detection method |
| DE102015212117B4 (en) * | 2015-06-30 | 2017-04-13 | Volkswagen Aktiengesellschaft | Steering angle sensor and electromotive steering |
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