CN112611565A - Load simulation device - Google Patents
Load simulation device Download PDFInfo
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- CN112611565A CN112611565A CN202011637007.6A CN202011637007A CN112611565A CN 112611565 A CN112611565 A CN 112611565A CN 202011637007 A CN202011637007 A CN 202011637007A CN 112611565 A CN112611565 A CN 112611565A
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- 238000004088 simulation Methods 0.000 title claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims abstract description 56
- 239000007921 spray Substances 0.000 claims abstract description 20
- 238000005259 measurement Methods 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 14
- 238000012360 testing method Methods 0.000 claims description 14
- 230000001133 acceleration Effects 0.000 claims description 3
- 239000006249 magnetic particle Substances 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 4
- 238000011084 recovery Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 235000015842 Hesperis Nutrition 0.000 description 1
- 235000012633 Iberis amara Nutrition 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000009530 blood pressure measurement Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
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- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
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- 239000010959 steel Substances 0.000 description 1
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- 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
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- 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 application discloses a load simulation device, which comprises an inertia disc, a tested servo mechanism, a friction brake, an elastic torsion plate, an angle measurement encoder and a transmission shaft; the tested servo mechanism is connected with the transmission shaft and used for simulating a real servo mechanism, receiving an instruction to swing and driving the transmission shaft to rotate at the same time, wherein the rotating angle of the transmission shaft represents the swinging angle of the swinging spray pipe; the inertia disc is connected with the transmission shaft and used for simulating the swinging inertia of the spray pipe and obtaining the inertia moment MJ(ii) a The angle measuring encoder is respectively connected with the transmission shaft and the friction brake and is used for measuring the angle of the transmission shaft; the friction brake is connected with the transmission shaft and used for providing friction torque MC(ii) a The elastic torsion plate is connected with the transmission shaft and used for simulating the moment M related to the swing angleδ. The load moment that need overcome when this application can real equivalent simulation servomechanism rotates, in the load analogue means, this application has still simplified system design, reduces system scheme cost.
Description
Technical Field
The application relates to the field of rockets, in particular to a load simulation device.
Background
At present, the ground load simulation of a carrier rocket engine swing servo system mainly depends on two types of load simulation platforms. One is to adopt a real engine swing spray pipe assembly, a solid engine is matched with a pressurizing device to simulate the pressure of a flexible joint part of a spray pipe, a liquid engine is matched with a tension pre-tightening device to simulate the working thrust of the engine at a gimbal position to be compressed, and a simulation load platform can simulate the thrust characteristic of the working state of the engine through the combination of the real spray pipe and the pressure pre-tightening device, so as to provide real servo for a servo mechanism to perform test examination. The other method is to simulate a moment curve of a real flight process, adopt electric servo or electro-hydraulic pressure to provide active loading force/moment, simulate environmental load and apply load to a servo system to be examined, and the method does not depend on a real engine structure form, but needs a loading system to perform real-time measurement feedback and calculate output power, and has higher requirements on a control system of a test loading system.
However, the first approach has the disadvantages of 1) being expensive, often in the order of millions or even tens of millions of individual nozzles; 2) the universality is poor, a load simulation platform constructed aiming at a certain type of engine can only be used for the engine and a matched servo thereof, and the universality and the interoperability for tests of other models are not achieved due to the difference of load characteristics. The second method has the disadvantages that 1) the test system is complex, the test system needs to have the links of swing angle, angular velocity measurement, electric servo control, hydraulic control, pressure measurement and the like, the real-time requirement is high, the requirements on servo power and position precision are high, and the corresponding manufacturing cost is high. 2) The maintainability is poor. The system has more electric, hydraulic, electromagnetic and other components, and compared with a pure mechanical device, the system is more prone to faults when each component is prone to faults, and replacement, debugging and calibration work after the faults occur also needs to be carried out again.
Therefore, how to provide a load simulation apparatus to solve the problem that the test loading system in the prior art cannot perform effective load simulation in terms of cost guaranteeing technology is a problem that needs to be solved urgently by those in the art.
Disclosure of Invention
The application aims to provide a load simulation device which comprises an inertia disc, a tested servo mechanism, a friction brake, an elastic torsion plate, an angle measurement encoder and a transmission shaft; the tested servo mechanism is connected with the transmission shaft and used for simulating a real servo mechanism, receiving an instruction to swing and driving the transmission shaft to rotate at the same time, wherein the rotating angle of the transmission shaft represents the swinging angle of the swinging spray pipe; the inertia disc is connected with the transmission shaft and used for simulating the swinging inertia of the spray pipe and obtaining the inertia moment MJ(ii) a The angle measuring encoder is respectively connected with the transmission shaft and the friction brake and is used for measuring the angle of the transmission shaft; the friction brake is connected with the transmission shaft and used for providing friction torque MC(ii) a The elastic torsion plate is connected with the transmission shaft and used for simulating the moment M related to the swing angleδ。
The inertia disc is connected with the transmission shaft by adopting a universal mechanical mounting interface, and the inertia moment generated by the inertia disc is
JRIs the moment of inertia of the nozzle around the pivot,
the test result is a test value of the swing acceleration of the spray pipe.
As above, one end of the servo actuator to be tested is fixedly connected with the ground, and the other end of the servo actuator to be tested is connected with the transmission shaft through the hinge.
As above, wherein, the angle measuring encoder 5 is provided with a through hole, the transmission shaft passes through the through hole, and the angle measuring encoder is fixedly connected with the transmission shaft.
The friction brake and the elastic torsion plate are respectively connected with the table body.
As above, wherein the friction brake uses magnetic particle braking, the loaded constant friction torque M is adjusted by adjusting the applied current or other control quantityC。
As above, one end of the elastic torsion plate is fixedly connected with the transmission shaft, and the other end is fixed on the table body by adopting the clamp.
As above, the swing angle-related moment generated by the elastic torsion plate is specifically expressed as: mδK · δ, where K denotes the torsional coefficient of restitution and δ is the angle of rotation of the propeller shaft.
As above, among others, the adjustment of the magnitude of the torsional recovery coefficient K is performed by adjusting the axial position of the jig in the elastic torsion plate.
A load simulation method for performing load simulation by using the load simulation apparatus described above, the load simulation method specifically includes: the servo mechanism to be tested receives the instruction to swing; the tested servo mechanism rotates to drive the transmission shaft to rotate, and the friction moment, the inertia moment and the moment related to the swing angle generated in the rotating process of the transmission shaft are determined.
The beneficial effect of this application is:
(1) the inertia of the real nozzle swing part is simulated by the inertia disc, and the universal interface is adopted, so that the inertia disc has universality and interchangeability for different nozzles. The performance verification of the spray pipe swing servo mechanism can be realized without a real spray pipe, and the price of the load simulation device is greatly reduced.
(2) This application adopts friction brake to simulate the constant friction torque when the spray tube swings, and can adjust friction torque amplitude through the electric current, and the precision is higher, strong adaptability. And the torque plate form is adopted, equivalent simulation is carried out on the angle-related torque, the recovery torque directly related to the corner can be provided, links such as electrical control measurement and the like do not need to be introduced, and the reliability is high. The device is simple and practical, high in reliability, strong in maintainability, strong in interchangeability and strong in universality, and reduces electric components and measurement links.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a schematic diagram of a load simulator provided in accordance with an embodiment of the present application;
FIG. 2 is an axial schematic view of an A-A mounting in-plane servo actuator in a load simulator provided in accordance with an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The application provides a load simulation device, load moment that need overcome when the simulation servomechanism that can be true equivalent rotates, in load simulation device, this application has still simplified system design, reduces system scheme cost. The servo mechanism needs to overcome a large number of moments in the flight process of the carrier rocket, and the moments needing to be overcome comprise friction force MCMoment M related to swing angleδInertia moment MJAnd the like. The sum of the load moments can be expressed as M ═ Mδ+MJ+MC。
As shown in fig. 1, the load simulator provided by the present application specifically includes an inertia disc 1, a measured servo mechanism 2, a friction brake 3, an elastic torsion plate 4, an angle measuring encoder 5, and a transmission shaft 6.
Wherein the inertia disc 1 is connected with the transmission shaft 6 by adopting a universal mechanical mounting interface and is used for simulating the rotational inertia of the swinging spray pipe,the moment of inertia M is finally obtainedJ。
Wherein the inertia disk rotational inertia is expressed as
R represents the radius of the inertia disc, and m represents the mass of the inertia disc.
The inertia moment generated by the inertia disc is
JRIs the moment of inertia of the nozzle around the pivot,
the test result is a test value of the swing acceleration of the spray pipe.
Preferably, the inertia discs are designed equivalently according to the real inertia, so that different inertia discs can be increased and decreased randomly, and different rotational inertia is provided.
With reference to fig. 2, the servo mechanism 2 to be tested includes a servo actuator 201 to be tested, a mechanical link 202 and a hinge 203, one end of the servo actuator 201 to be tested is fixedly connected to the ground, the other end of the servo actuator is connected to the transmission shaft 6 through the hinge 203 and the mechanical link 202, the servo mechanism 2 to be tested can simulate a servo mechanism in a real swing nozzle, when the servo actuator 2 to be tested extends and shortens, the rotation of the transmission shaft 6 can be driven, the rotation angle of the transmission shaft 6 is consistent with the real angle of the nozzle swing, and the rotation angle of the transmission shaft represents the swing angle of the swing nozzle.
Further, the measured servo actuator, the mechanical connecting rod, the geometric dimension and the like in the swing nozzle are projected and arranged in the vertical plane of the transmission shaft 6. The projection installation is specifically to determine the connection point of the tested servo mechanism and the transmission shaft according to the requirements of the swinging center of the spray pipe and the servo installation point in the real rocket, and meanwhile, the geometric dimension of the tested servo mechanism also takes the geometric dimension of the real servo actuator as the reference, so that the authenticity in the simulation process is ensured.
Preferably, the rigidity of the transmission shaft 6 needs to be large enough to reduce the angle loss generated when the transmission shaft 6 is twisted under a large load. Where stiffness typically needs to be greater than 10e5 Nm/rad.
Wherein, the angle measuring encoder 5 is an angle measuring encoder with a through hole in the prior art. The transmission shaft 6 penetrates through the through hole, the angle measurement encoder 5 is fixedly connected with the transmission shaft 6, the angle measurement encoder 5 is fixedly connected with the friction brake 3, and the angle measurement encoder 5 is used for measuring the relative rotating angle of the transmission shaft 6.
Wherein, the load simulator also comprises a table body 7, the friction brake 3 is respectively connected with the transmission shaft 6 and the table body, and constant friction torque M is exerted on the transmission shaft 6 through the friction brake 3C。
Specifically, the friction brake 3 can adjust the loaded constant friction torque by adjusting a control amount such as an applied current, using a magnetic particle brake.
Preferably, a friction brake such as a pad friction brake or an oil pressure damper may be used.
The elastic torsion plate 4 is made of steel material that is elastic and can be twisted in the prior art, and the thickness, width and arrangement thereof are not limited herein. Specifically, one end of the elastic torsion plate 4 is fixedly connected with the transmission shaft 6, and generates a relative rotation angle with a zero position. The other end of the elastic torsion plate 4 is fixed on the table body by a clamp and does not rotate. After the transmission shaft 6 drives the elastic torsion plate to generate an angle, the elastic torsion plate 4 generates corresponding swing angle-related torque.
Specifically, the yaw-angle-dependent moment generated by the elastic torsion plate 4 is specifically expressed as:
Mδ＝K·δ
k denotes a torsional restitution coefficient, and δ is a rotation angle of the propeller shaft. The torsion recovery coefficient K is the target design value of the torsion plate. The elastic torsion plate realizes a fixed torsion recovery coefficient K through the selection of materials and the design of thickness and width.
Specifically, the axial position of the clamp in the elastic torsion plate is adjusted during use so as to adjust the length of the twisted part of the elastic torsion plate 4, and the continuous adjustment of the specific value of the torsion recovery coefficient K is realized. The closer the jig is to the trailing end of the elastic torsion plate 4, the smaller the K value is, indicating that the longer the length of the portion of the elastic torsion plate 4 that can be twisted is, and the shorter the jig is to the leading end of the elastic torsion plate 4, the larger the K value is.
In summary, the load simulator can simulate the main moment including the friction moment M under the real conditionCMoment M related to swing angleδInertia moment MJAnd the like. The sum of the load moments can be expressed as M ═ Mδ+MJ+MC。
Preferably, the simulation value of each moment is usually simulated by using the original mechanism proportion, and if the load simulation device needs to be equivalently scaled or amplified due to size limitation, the equivalent simulation of each moment is performed according to the principle of force × moment arm.
According to the load simulation device, the present application also provides a load simulation method, which specifically includes:
step S1: the tested servo mechanism receives the instruction to swing.
Step S2: the tested servo mechanism rotates to drive the transmission shaft to rotate, and the friction moment, the inertia moment and the moment related to the swing angle generated in the rotating process of the transmission shaft are determined.
The beneficial effect of this application is:
(1) the inertia of the real nozzle swing part is simulated by the inertia disc, and the universal interface is adopted, so that the inertia disc has universality and interchangeability for different nozzles. The performance verification of the spray pipe swing servo mechanism can be realized without a real spray pipe, and the price of the load simulation device is greatly reduced.
(2) This application adopts friction brake to simulate the constant friction torque when the spray tube swings, and can adjust friction torque amplitude through the electric current, and the precision is higher, strong adaptability. And the torque plate form is adopted, equivalent simulation is carried out on the angle-related torque, the recovery torque directly related to the corner can be provided, links such as electrical control measurement and the like do not need to be introduced, and the reliability is high. The device is simple and practical, high in reliability, strong in maintainability, strong in interchangeability and strong in universality, and reduces electric components and measurement links.
Although the present application has been described with reference to examples, which are intended to be illustrative only and not to be limiting of the application, changes, additions and/or deletions may be made to the embodiments without departing from the scope of the application.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A load simulation device is characterized by comprising an inertia disc, a tested servo mechanism, a friction brake, an elastic torsion plate, an angle measurement encoder and a transmission shaft;
the tested servo mechanism is connected with the transmission shaft and used for simulating a real servo mechanism, receiving an instruction to swing and driving the transmission shaft to rotate at the same time, wherein the rotating angle of the transmission shaft represents the swinging angle of the swinging spray pipe;
the inertia disc is connected with the transmission shaft and used for simulating the swinging inertia of the spray pipe and obtaining the inertia moment MJ；
The angle measuring encoder is respectively connected with the transmission shaft and the friction brake and is used for measuring the angle of the transmission shaft;
the friction brake is connected with the transmission shaft and used for providing friction torque MC；
The elastic torsion plate is connected with the transmission shaft and used for simulating the moment M related to the swing angleδ。
2. The load simulation device of claim 1, wherein the inertia disc is coupled to the drive shaft using a universal mechanical mounting interface, the inertia disc generating an inertia moment of
JRIs the moment of inertia of the nozzle around the pivot,
the test result is a test value of the swing acceleration of the spray pipe.
3. The load simulator of claim 1, wherein one end of the servo actuator under test is fixedly connected to the ground and the other end of the servo actuator under test is connected to the transmission shaft by a hinge.
4. The load simulator of claim 1, wherein the angle encoder 5 has a through hole through which the drive shaft passes, the angle encoder being fixedly connected to the drive shaft.
5. The load simulator of claim 1, further comprising a table body, the friction brake and the elastic torsion plate being respectively coupled to the table body.
6. The load simulator of claim 5, wherein the friction brake is a magnetic particle brake that adjusts the applied constant friction torque M by adjusting a controlled amount such as applied currentC。
7. The load simulator of claim 5, wherein one end of the elastic torsion plate is fixedly coupled to the drive shaft, and the other end is fixed to the table body using a clamp.
8. The load simulator of claim 7, wherein the yaw-related moment generated by the elastic torsion plate is specified by: mδK · δ, where K denotes the torsional coefficient of restitution and δ is the angle of rotation of the propeller shaft.
9. The load simulator of claim 7, wherein the adjustment of the magnitude of the torsional restitution coefficient K is performed by adjusting the axial position of the clamp in the elastic torsion plate.
10. A load simulation method for performing load simulation by the load simulation apparatus according to any one of claims 1 to 9, the load simulation method comprising:
the servo mechanism to be tested receives the instruction to swing;
the tested servo mechanism rotates to drive the transmission shaft to rotate, and the friction moment, the inertia moment and the moment related to the swing angle generated in the rotating process of the transmission shaft are determined.
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| CN202011637007.6A CN112611565A (en) | 2020-12-31 | 2020-12-31 | Load simulation device |
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| CN202011637007.6A CN112611565A (en) | 2020-12-31 | 2020-12-31 | Load simulation device |
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Cited By (3)
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| CN113624504A (en) * | 2021-06-29 | 2021-11-09 | 北京精密机电控制设备研究所 | Swimming engine load simulation device and method |
| CN113865902A (en) * | 2021-09-18 | 2021-12-31 | 北京航空航天大学 | Composite loading load simulation device |
| CN114476087A (en) * | 2021-12-24 | 2022-05-13 | 北京空间机电研究所 | Parafoil operating load simulation device and simulation method |
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Application publication date: 20210406 |