CN112793765A - Steering engine torque compensation mechanism and control surface operating system - Google Patents
Steering engine torque compensation mechanism and control surface operating system Download PDFInfo
- Publication number
- CN112793765A CN112793765A CN202011583585.6A CN202011583585A CN112793765A CN 112793765 A CN112793765 A CN 112793765A CN 202011583585 A CN202011583585 A CN 202011583585A CN 112793765 A CN112793765 A CN 112793765A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- steering engine
- curved surface
- control surface
- rocker arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/50—Transmitting means with power amplification using electrical energy
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/40—Transmitting means with power amplification using fluid pressure
Abstract
A steering engine torque compensation mechanism and a control surface operating system are used for being hinged with a steering engine rocker arm and hinged with the control surface rocker arm through a control surface connecting rod, and the steering engine torque compensation mechanism comprises a curved surface connecting rod, a connecting rod shell and a roller; the curved surface connecting rod is provided with a force reducing curved surface, a connecting rod hole is arranged in the connecting rod shell, the curved surface connecting rod is slidably arranged in the connecting rod hole in a penetrating way, and the roller is telescopically arranged on the hole wall of the connecting rod hole along the direction vertical to the curved surface connecting rod and can slide on the force reducing curved surface; the curved surface connecting rod can slide in the connecting rod hole under the drive of the steering engine rocker arm or the control surface rocker arm, and the roller wheel slides along the force reducing curved surface and provides reverse acting force for the force reducing curved surface. The steering engine torque compensation mechanism reduces the steering engine torque output requirement and enlarges the steering engine selection range, thereby improving the reliability of the steering engine and reducing the weight of the steering engine; the elastic element and the force reducing curved surface are adopted to form the negative stiffness mechanism, relative moving parts are few, and the reliability of the mechanism is high.
Description
Technical Field
The invention belongs to the field of structural design of aerospace aircrafts, and particularly relates to a steering engine torque compensation mechanism and a control surface operating system.
Background
The control surface of the prior aircraft is generally operated by an oil pressure or electric steering engine, and the attitude change of the whole aircraft depends on the change of aerodynamic force on the control surface, so that the aerodynamic force on the control surface is generally relatively large, and the control surface can be operated by the steering engine with large power and moment. For hydraulic steering engines, higher pressures are required; for an electric steering engine, higher voltage and current are needed, the steering engine is easy to break down due to high hydraulic pressure, high current and voltage, the reliability of a steering system is reduced, the weight of the steering engine is very large, and the performance of an airplane is undoubtedly reduced due to overlarge weight for an airplane extremely sensitive to weight. For example, for a solar airplane, a conventional steering engine is not only too heavy, but also mechanical properties represented by the magnitude of moment are often difficult to meet the requirement. Therefore, a steering engine torque compensation mechanism is needed, which can reduce the torque output requirement of the steering engine and enlarge the selection range of the steering engine.
Disclosure of Invention
The invention aims to provide a steering engine torque compensation mechanism and a control surface operating system, which can reduce the steering engine torque output requirement and enlarge the steering engine selection range.
In order to achieve the purpose, the invention provides a steering engine torque compensation mechanism which is hinged with a steering engine rocker arm and a control surface rocker arm through a control surface connecting rod, wherein the steering engine torque compensation mechanism comprises a curved surface connecting rod, a connecting rod shell and a roller;
the curved surface connecting rod is provided with a force reducing curved surface, a connecting rod hole is formed in the connecting rod shell, the curved surface connecting rod is slidably arranged in the connecting rod hole in a penetrating mode, and the roller is telescopically arranged on the hole wall of the connecting rod hole along the direction perpendicular to the curved surface connecting rod and can slide on the force reducing curved surface;
the curved surface connecting rod can be driven by the steering engine rocker arm or the control surface rocker arm to slide in the connecting rod hole, and the roller slides along the force reducing curved surface and provides reverse acting force for the force reducing curved surface.
Preferably, the steering engine torque compensation mechanism further comprises a slide rail, the slide rail is arranged on the hole wall of the connecting rod hole along the axial direction of the connecting rod hole and is arranged in the same direction as the curved surface connecting rod, and the curved surface connecting rod can slide along the slide rail.
Preferably, the slide rail includes a plurality of slide bars, a plurality of the slide bars along the axial equipartition of connecting rod hole, and articulate in the pore wall of connecting rod hole.
Preferably, the curved surface connecting rod is plate-shaped, and a sliding groove is formed in the end of the curved surface connecting rod and used for being hinged with the steering engine rocker arm and the control surface connecting rod.
Preferably, the spout is the bar, curved surface connecting rod with steering wheel rocking arm with the control plane connecting rod is through passing the connecting piece of spout is articulated.
Preferably, a protrusion is arranged in the middle of one side face of the curved-surface connecting rod, the protrusion faces towards one side of the roller and is arc-shaped so as to form the force-reducing curved surface, two ends of the protrusion are rectangular, and one side of the protrusion opposite to the roller is flush with the side face of the curved-surface connecting rod.
Preferably, steering wheel moment compensation mechanism still includes telescopic shaft and elastic element, the pore wall middle part in connecting rod hole is equipped with the accommodation hole, the gyro wheel is located the top of telescopic shaft, be equipped with the sleeve in the accommodation hole, the bottom of telescopic shaft pass through elastic element elastic connection in the sleeve.
Preferably, the telescopic shaft comprises a fixed rod and a movable rod, the fixed rod is fixedly arranged in the sleeve, the movable rod and the elastic element are arranged in the accommodating hole, and a connecting column inserted in the roller is arranged on the movable rod.
Preferably, the connecting rod shell is provided with a mounting hole for being fixedly connected with the machine body.
The invention also provides a control surface operating system which comprises the steering engine torque compensation mechanism, a control surface rocker arm, a steering engine rocker arm and a control surface connecting rod;
the steering engine rocker arm is hinged to the steering engine, the control surface rocker arm is hinged to the control surface, two ends of the control surface connecting rod are respectively hinged to the steering engine rocker arm and the control surface rocker arm, and the steering engine torque compensation mechanism is hinged to the joint of the steering engine rocker arm and the control surface connecting rod.
The invention relates to a torque compensation mechanism of a steering engine, which has the beneficial effects that: the acting force generated by pressing the roller wheel tightly on the curved surface connecting rod by using the elastic element compensates the torque of the control surface, reduces the torque output requirement of the steering engine, and enlarges the selection range of the steering engine, thereby improving the reliability of the steering engine and reducing the weight of the steering engine; the elastic element and the force reducing curved surface are adopted to form the negative stiffness mechanism, relative moving parts are few, and the reliability of the mechanism is high.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
FIG. 1 is a schematic diagram showing the installation position of a steering engine torque compensation mechanism according to an exemplary embodiment of the present invention;
FIG. 2 shows a schematic structural diagram of a steering engine torque compensation mechanism according to an exemplary embodiment of the present invention;
FIG. 3a is a schematic structural diagram of a curved connecting rod in a steering engine torque compensation mechanism according to an exemplary embodiment of the present invention, and FIG. 3b is a side view of the curved connecting rod;
FIG. 4a is a schematic cross-sectional view of a link housing in a steering engine torque compensation mechanism according to an exemplary embodiment of the present invention, and FIG. 4b is a side view of the link housing;
FIG. 5a is a schematic structural diagram of a telescopic shaft in a steering engine torque compensation mechanism according to an exemplary embodiment of the invention, and FIG. 5b is a side view of the connection between the telescopic shaft and a roller;
FIG. 6 is a schematic diagram showing the static force at the force-reducing curved surface x in the steering engine torque compensation mechanism according to an exemplary embodiment of the invention;
description of reference numerals:
the device comprises a steering engine torque compensation mechanism 1, a curved surface connecting rod 11, a force reducing curved surface 111, a sliding chute 112, a connecting rod shell 12, a connecting rod hole 121, a roller 13, a sliding rail 14, a telescopic shaft 15, an elastic element 16, a steering engine 2, a steering engine rocker 21, a control surface connecting rod 22, a connecting piece 23, a control surface 3 and a control surface rocker 31.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In order to solve the problems in the prior art, the invention provides a steering engine torque compensation mechanism which is hinged with a steering engine rocker and is hinged with a control surface rocker through a control surface connecting rod, wherein the steering engine torque compensation mechanism comprises a curved surface connecting rod, a connecting rod shell and a roller;
the curved surface connecting rod is provided with a force reducing curved surface, a connecting rod hole is arranged in the connecting rod shell, the curved surface connecting rod is slidably arranged in the connecting rod hole in a penetrating way, and the roller is telescopically arranged on the hole wall of the connecting rod hole along the direction vertical to the curved surface connecting rod and can slide on the force reducing curved surface;
the curved surface connecting rod can slide in the connecting rod hole under the drive of the steering engine rocker arm or the control surface rocker arm, and the roller wheel slides along the force reducing curved surface and provides reverse acting force for the force reducing curved surface.
According to the steering engine torque compensation mechanism, the acting force generated by pressing the idler wheel tightly on the curved surface connecting rod by the elastic element is used for compensating the torque of the control surface, so that the torque output requirement of the steering engine is reduced, and the selection range of the steering engine is expanded, so that the reliability of the steering engine is improved, and the weight of the steering engine is reduced; the elastic element and the force reducing curved surface are adopted to form the negative stiffness mechanism, relative moving parts are few, and the reliability of the mechanism is high.
When the steering engine and the control surface are both at the 0 position, the torque of the control surface is 0, the roller is at the highest point of the force reducing curved surface, the steering engine torque compensation mechanism does not provide compensation torque, and the control surface is kept at the 0 position state under the steering engine torque, namely the initial state;
when the rudder surface needs to be controlled, the control surface deviates from 0 position, meanwhile, the idler wheel deviates from the highest point of the force reducing curved surface, the deviation direction is consistent with the deviation direction of the control surface, the idler wheel on the inclined surface of the force reducing curved surface gives reverse acting force of the curved surface connecting rod, which is opposite to the moment of the control surface, so that the requirement of the steering engine moment is reduced, the moment of the control surface is increased along with the increase of the deflection angle of the control surface, the larger the inclination angle of the point where the idler wheel of the compensation mechanism is positioned is, the larger the acting force is given to the curved surface connecting rod, so that the moment of the steering engine is basically kept stable and is at a lower level, the requirements of hydraulic.
Preferably, steering wheel moment compensation mechanism still includes the slide rail, and the pore wall in connecting rod hole is located along the axial in connecting rod hole to the slide rail, and sets up with the curved surface connecting rod syntropy, and the curved surface connecting rod can slide along the slide rail.
Preferably, the slide rail comprises a plurality of slide bars, and the plurality of slide bars are evenly distributed along the axial direction of the connecting rod hole and are hinged on the hole wall of the connecting rod hole.
Preferably, the curved surface connecting rod is plate-shaped, and a sliding groove is formed in the end portion of the curved surface connecting rod and used for being hinged with the steering engine rocker arm and/or the control surface connecting rod.
Preferably, the sliding groove is strip-shaped, and the curved surface connecting rod is hinged with the steering engine rocker arm and/or the control surface connecting rod through a connecting piece penetrating through the sliding groove. Optionally, the connecting member is a bolt or a pin, and the connecting member can slide in a strip-shaped sliding groove.
Preferably, a protrusion is arranged in the middle of one side face of the curved connecting rod, one side of the protrusion facing the roller is arc-shaped to form a force reducing curved surface, two ends of the protrusion are rectangular, and one side of the protrusion opposite to the roller is flush with the side face of the curved connecting rod. The highest point of the convex arc-shaped side is the highest point of the force reducing curved surface, namely the vertex of the force reducing curved surface, and when the roller is positioned at the point, the roller is positioned at the initial position.
Optionally, the force-reducing curved surface formed by the raised arc-shaped surface is a parabolic curved surface, the length of the curved surface is determined according to the stroke of the rocker arm of the steering engine, and the shape of the force-reducing curved surface is determined according to the size of the moment load to be compensated. Neglecting the frictional force of steering wheel compensation moment mechanism, the appearance of the power reduction curved surface of curved surface connecting rod can be simplified into a quadratic parabola form, and the expression formula is:
y＝ax2
wherein x represents the transverse distance between the roller and the vertex of the force-reducing curved surface, a is a parabolic coefficient, and y is the position point of the force-reducing curved surface;
the maximum value and the minimum value of x are determined by the stroke of the steering engine, the inclination angle of the curved surface is 2ax at the position x, and if the roller provides the pressure of Fk, the transverse acting force of Fd can be generated on the force-reducing curved surface at the point, so that the Fd is equal to the load corresponding to the torque of the control surface;
the mechanical expression formula is as follows:
Fd＝Fktan(2ax)；
Fk＝Kax2+b；
wherein K is the stiffness of the elastic element and b is the amount of precompression;
then Fd is obtained as K (ax)2+b)tan(2ax)；
And because Fd is a known quantity and x is a known quantity, only K, a and b are unknown quantities, and the K value, the a value and the b value can be determined by taking Fd1, Fd2 and Fd3 corresponding to three different positions x1, x2 and x3, so as to obtain a quadratic curve expression y ═ ax of the force reducing curved surface of the curved surface connecting rod2And processing according to the expression to obtain the force reducing curved surface with a preset shape.
Preferably, steering wheel moment compensation mechanism still includes telescopic shaft and elastic element, and the pore wall middle part in connecting rod hole is equipped with the accommodation hole, and the top of telescopic shaft is located to the gyro wheel, is equipped with the sleeve in the accommodation hole, and elastic element elastic connection is passed through in the sleeve in the bottom of telescopic shaft.
Optionally, the elastic element is a spring, and the spring is sleeved at the bottom end of the telescopic shaft and provides elastic force to the telescopic shaft. The elastic element and the parabolic curved surface are adopted to form the negative stiffness mechanism, so that relative moving parts are few, and the reliability of the mechanism is high; the friction force of the whole mechanism is reduced by using the sliding rails and the rollers with low friction force, and the torque output requirement of the steering engine is further reduced.
Preferably, the telescopic shaft comprises a fixed rod and a movable rod, the fixed rod is fixedly arranged in the sleeve, the movable rod and the elastic element are arranged in the accommodating hole, and the movable rod is provided with a connecting column inserted in the roller.
And selecting the elastic element according to the obtained K value, and processing the telescopic shaft according to the elastic element so as to enable the telescopic shaft to be in adaptive connection with the elastic element. The roller and the slide rail can be standard parts, and the accommodating hole and the sleeve are processed on the connecting rod shell to be connected with the telescopic shaft and the elastic element in an adaptive mode according to the size of the selected elastic element and the size of the telescopic shaft.
Preferably, the connecting rod shell is provided with a mounting hole for being fixedly connected with the machine body. For example, bolts are adopted to fix the connecting rod shell on the machine body.
According to the invention, different materials are selected according to actual requirements, for example, for an airplane, the weight is a sensitive factor, and metal with light weight and good strength can be selected as a raw material to process each part.
When the steering engine torque compensation mechanism is assembled, the telescopic shaft is connected with the elastic element and penetrates into the accommodating hole and the sleeve of the connecting rod shell, and then the curved surface connecting rod penetrates into the connecting rod shell, so that the telescopic shaft is pressed on the force reducing curved surface of the curved surface connecting rod under the elastic force of the elastic element; secondly, connecting a slide rail with a curved surface connecting rod and a connecting rod shell to form a complete curved surface connecting rod mechanism, connecting the end part of the curved surface connecting rod with a steering engine rocker arm and a control surface rocker arm through the control surface connecting rod, and fixing the connecting rod shell on a machine body; when the steering engine rocker arm or the control surface rocker arm is connected, the steering engine rocker arm or the control surface rocker arm is in a 0 position, namely an initial state, and the roller slides to the highest point of the force reducing curved surface at the moment.
The steering engine torque compensation mechanism has the following working principle:
after a curved surface connecting rod of the steering engine torque compensation mechanism is connected with a steering engine rocker arm or a control surface rocker arm, when the steering engine and the control surface are both at 0 position, the control surface torque is 0, a roller of the steering engine torque compensation mechanism is at the highest point of a force reduction curved surface, the curved surface connecting rod only bears pressure at the moment, the steering engine has no torque output, and the control surface keeps a 0-position state under the steering engine torque;
when the rudder surface needs to be controlled, the rudder surface deviates from 0 position, the rudder surface generates moment, the rocker arm of the steering engine moves along with the rocker arm of the steering engine, meanwhile, the roller deviates from the highest point of the force reducing curved surface, the deviation direction is consistent with the deviation direction of the rudder surface, at the moment, the roller moves along with the rocker arm of the steering engine in the same direction, under the action of the elastic element, the roller is pressed on the inclined plane of the force reducing curved surface, acting force in the moving direction of the curved surface connecting rod is generated on the curved surface connecting rod, the acting force is transmitted to the connecting piece of the rocker arm of the steering engine in the form of connecting rod thrust through the sliding groove at the end part of the curved surface connecting rod, the moment in the same direction with the steering engine is generated, according to the mechanical balance condition, when the acceleration of the rudder surface and the conducting component is not considered, the thrust of the curved, the load output requirement of the steering engine is greatly reduced, and the selection range of the steering engine can be enlarged.
The invention also provides a control surface operating system which comprises the steering engine torque compensation mechanism, a control surface rocker arm, a steering engine rocker arm and a control surface connecting rod;
the steering engine rocker arm is hinged to the steering engine, the control surface rocker arm is hinged to the control surface, two ends of the control surface connecting rod are respectively hinged to the steering engine rocker arm and the control surface rocker arm, and the steering engine torque compensation mechanism is hinged to the joint of the steering engine rocker arm and the control surface connecting rod through a connecting piece.
Example 1
As shown in fig. 1 to 6, the invention provides a steering engine torque compensation mechanism, which is hinged to a steering engine rocker arm 21 and hinged to a control surface rocker arm 31 through a control surface connecting rod 22, and comprises a curved connecting rod 11, a connecting rod shell 12 and a roller 13;
the curved surface connecting rod 11 is provided with a force reducing curved surface 111, the connecting rod shell 12 is internally provided with a connecting rod hole 121, the curved surface connecting rod 11 is slidably arranged in the connecting rod hole 121 in a penetrating way, and the roller 13 is telescopically arranged on the hole wall of the connecting rod hole 121 along the direction vertical to the curved surface connecting rod 11 and can slide on the force reducing curved surface 111;
the curved surface connecting rod 11 can slide in the connecting rod hole 121 under the driving of the steering engine rocker arm 21 or the control surface rocker arm 31, and the roller 13 slides along the force reducing curved surface 111 and provides reverse acting force for the force reducing curved surface 111.
When the steering engine 2 and the control surface 3 are both at the 0 position, the moment of the control surface 3 is 0, the roller 13 is at the highest point of the force reduction curved surface 111, the steering engine moment compensation mechanism does not provide compensation moment, and the control surface 3 keeps the 0 position state, namely the initial state, under the moment of the steering engine 2;
when the control surface 3 needs to be operated, the control surface 3 deviates from 0 position, meanwhile, the roller 13 deviates from the highest point of the force reducing curved surface 111, the deviation direction is consistent with the deviation direction of the control surface 3, the roller 13 on the inclined surface of the force reducing curved surface 111 provides reverse acting force with opposite moment of the curved surface connecting rod 11 and the control surface 3, so that the moment requirement of the steering engine 2 is reduced, the moment of the control surface 3 is increased along with the increase of the deflection angle of the control surface 3, the larger the inclination angle of the point where the roller 13 of the compensation mechanism is located is, the larger the acting force is provided for the curved surface connecting rod 11, the moment of the steering engine 2 is basically kept stable and is at a lower level, the requirements on hydraulic pressure, current and voltage are reduced, and the reliability.
In this embodiment, the steering engine torque compensation mechanism further includes a slide rail 14, the slide rail 14 is disposed on the hole wall of the connecting rod hole 121 along the axial direction of the connecting rod hole 121, and is disposed in the same direction as the curved connecting rod 11, and the curved connecting rod 11 can slide along the slide rail 14. The slide rail 14 includes a plurality of slide bars, which are uniformly distributed along the axial direction of the connecting rod hole 121 and are hinged to the hole wall of the connecting rod hole 121.
The curved surface connecting rod 11 is in a plate shape, and a sliding groove 112 is arranged at the end part of the curved surface connecting rod 11 and is used for being hinged with the steering engine rocker arm 21 and the control surface connecting rod 22. The sliding groove 112 is strip-shaped, and the curved surface connecting rod 11 is hinged with the steering engine rocker arm 21 and the control surface connecting rod 22 through a connecting piece 23 penetrating through the sliding groove 112. Alternatively, the connecting member 23 is a bolt or a pin, and the connecting member 23 can slide in the strip-shaped sliding groove 112.
The middle of one side of the curved connecting rod 11 is provided with a bulge, one side of the bulge facing the roller 13 is arc-shaped to form a force reducing curved surface 111, two ends of the bulge are rectangular, and one side of the bulge opposite to the roller 13 is flush with the side of the curved connecting rod 11. The highest point of the convex arc-shaped side is the highest point of the force reducing curved surface 111, namely the vertex of the force reducing curved surface 111, and when the roller 13 is positioned at the point, namely the roller 13 is positioned at the initial position.
The force reducing curved surface 111 formed by the convex arc-shaped surface is a parabolic curved surface, the length of the curved surface is determined according to the stroke of the steering engine rocker arm 21, and the shape of the force reducing curved surface 111 is determined according to the torque load to be compensated. Neglecting the friction force of the steering engine compensation torque mechanism, the appearance of the force reducing curved surface 111 of the curved surface connecting rod 11 can be simplified into a quadratic parabola shape, and the expression formula is as follows:
y＝ax2；
wherein, x represents the transverse distance between the roller 13 and the vertex of the force-reducing curved surface 111, a is a parabolic coefficient, and y is the position point of the force-reducing curved surface 111;
the maximum value and the minimum value of x are determined by the stroke of the steering engine 2, the inclination angle of the curved surface is 2ax at the position x, and if the roller 13 provides the pressure of Fk, the transverse acting force of Fd can be generated on the force reducing curved surface 111 at the point, so that the Fd is equal to the load corresponding to the moment of the control surface 3;
the mechanical expression formula is as follows:
Fd＝Fktan(2ax)；
Fk＝Kax2+b；
where K is the stiffness of the resilient element 16 and b is the amount of precompression;
then Fd is obtained as K (ax)2+b)tan(2ax)；
Since Fd is a known quantity and x is a known quantity, only K, a and b are unknown quantities, and K, a and b values can be determined by taking Fd1, Fd2 and Fd3 corresponding to three different positions x1, x2 and x3, so as to obtain a quadratic curve expression y of the force-reducing curved surface 111 of the curved surface connecting rod 11 as ax2And a force-reducing curved surface 111 with a preset shape is obtained by processing according to the expression.
The steering engine torque compensation mechanism 1 further comprises a telescopic shaft 15 and an elastic element 16, a containing hole is formed in the middle of the hole wall of the connecting rod hole 121, the roller 13 is arranged at the top end of the telescopic shaft 15, a sleeve is arranged in the containing hole, and the bottom end of the telescopic shaft 15 is elastically connected into the sleeve through the elastic element 16.
The elastic element 16 is a spring, which is sleeved on the bottom end of the telescopic shaft 15 and provides elastic force to the telescopic shaft 15. The telescopic shaft 15 comprises a fixed rod and a movable rod, the fixed rod is fixedly arranged in the sleeve, the movable rod and the elastic element 16 are arranged in the accommodating hole, and the movable rod is provided with a connecting column inserted in the roller 13.
The selection of the elastic element 16 is selected according to the K value obtained above, and the telescopic shaft 15 is processed according to the elastic element 16 so that the telescopic shaft 15 is connected with the elastic element 16 in a matching way. The roller 13 and the slide rail 14 may be made of standard parts, and the link housing 12 is machined to fit the receiving hole and the sleeve with the telescopic shaft 15 and the elastic member 16 according to the size of the elastic member 16 and the size of the telescopic shaft 15 selected as above.
The connecting rod shell 12 is provided with a mounting hole for fixedly connecting with the machine body. The connecting rod housing 12 is fixed to the body with bolts.
According to the invention, titanium alloy with light weight and good strength is selected as a raw material to process each part.
When the steering engine torque compensation mechanism is assembled, firstly, the telescopic shaft 15 is connected with the elastic element 16 and penetrates into the accommodating hole and the sleeve of the connecting rod shell 12, then the curved surface connecting rod 11 penetrates into the connecting rod shell 12, and the telescopic shaft 15 enables the roller 13 to be pressed on the force reducing curved surface 111 of the curved surface connecting rod 11 under the elastic force of the elastic element 16; secondly, connecting the slide rail 14 with the curved surface connecting rod 11 and the connecting rod shell 12 to form a complete curved surface connecting rod 11 mechanism, connecting the end part of the curved surface connecting rod 11 with the steering engine rocker arm 21 and the control surface rocker arm 31 through the control surface connecting rod 22, and fixing the connecting rod shell 12 on the machine body; when the steering engine rocker arm 21 or the control surface rocker arm 31 is connected, the steering engine rocker arm 21 or the control surface rocker arm 31 is in a 0 position, namely an initial state, and the roller 13 slides to the highest point of the force reducing curved surface 111 at the moment.
The operating principle of the steering engine 2 moment compensation mechanism related by the invention is as follows:
after the curved surface connecting rod 11 of the steering engine torque compensation mechanism 1 is connected with the steering engine rocker arm 21 or the control surface rocker arm 31, when the steering engine 2 and the control surface 3 are both at 0 position, the torque of the control surface 3 is 0, the roller 13 of the steering engine 2 torque compensation mechanism is at the highest point of the force reduction curved surface 111, at the moment, the curved surface connecting rod 11 only bears the pressure, the steering engine 2 has no torque output, and the control surface 3 keeps a 0 position state under the torque of the steering engine 2;
when the control surface 3 needs to be operated, the control surface 3 deviates from 0 position, the control surface 3 generates moment, the steering engine rocker arm 21 moves along with the control surface, meanwhile, the roller 13 deviates from the highest point of the force reduction curved surface 111, the deviation direction is consistent with the deviation direction of the control surface 3, at the moment, the roller 13 moves along with the steering engine rocker arm 21 in the same direction, under the action of the elastic element 16, the roller 13 is pressed on the inclined surface of the force reduction curved surface 111, acting force in the movement direction of the curved surface connecting rod 11 is generated on the curved surface connecting rod 11, the acting force is transmitted to the connecting piece 23 of the steering engine rocker arm 21 in the form of connecting rod thrust through the sliding groove 112 at the end part of the curved surface connecting rod 11, moment in the same direction with the steering engine 2 is generated, according to the mechanical balance condition, when the acceleration of the control surface 3 and a transmission part is not considered, the thrust of the curved surface connecting rod 11 and the moment of, and the steering engine 2 only needs to maintain the position.
Example 2
The invention provides a control surface operating system which comprises a steering engine torque compensation mechanism 1, a control surface 3, a control surface rocker 31, a steering engine 2, a steering engine rocker 21 and a control surface connecting rod 22, wherein the steering engine torque compensation mechanism 1 is used for compensating the torque of a steering engine;
the steering engine rocker arm 21 is hinged to the steering engine 2, the control surface rocker arm 31 is hinged to the control surface 3, two ends of the control surface connecting rod 22 are respectively hinged to the steering engine rocker arm 21 and the control surface rocker arm 31, and the steering engine torque compensation mechanism 1 is hinged to the connecting position of the steering engine rocker arm 21 and the control surface connecting rod 22 through a connecting piece 23.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (10)
1. A steering engine torque compensation mechanism is used for being hinged with a steering engine rocker arm (21) and hinged with a control surface rocker arm (31) through a control surface connecting rod (22), and is characterized by comprising a curved surface connecting rod (11), a connecting rod shell (12) and a roller (13);
a force reducing curved surface (111) is arranged on the curved surface connecting rod (11), a connecting rod hole (121) is formed in the connecting rod shell (12), the curved surface connecting rod (11) can be slidably arranged in the connecting rod hole (121) in a penetrating mode, and the roller (13) is telescopically arranged on the hole wall of the connecting rod hole (121) along the direction perpendicular to the curved surface connecting rod (11) and can slide on the force reducing curved surface (111);
the curved surface connecting rod (11) can slide in the connecting rod hole (121) under the driving of the steering engine rocker arm (21) or the control surface rocker arm (31), and the roller (23) slides along the force reducing curved surface (111) and provides a reverse acting force for the force reducing curved surface (111).
2. The steering engine torque compensation mechanism according to claim 1, further comprising a sliding rail (14), wherein the sliding rail (14) is arranged on a hole wall of the connecting rod hole (121) along an axial direction of the connecting rod hole (121), and the curved connecting rod (11) can slide along the sliding rail (14).
3. The steering engine torque compensation mechanism of claim 2, wherein the sliding rail (14) comprises a plurality of sliding rods, and the plurality of sliding rods are uniformly distributed along the axial direction of the connecting rod hole (121) and are hinged to the hole wall of the connecting rod hole (121).
4. The steering engine torque compensation mechanism according to claim 2, wherein the curved surface connecting rod (11) is plate-shaped, and a sliding groove (112) is formed in an end portion of the curved surface connecting rod (11) and used for being hinged to the steering engine rocker arm (21) and the control surface connecting rod (22).
5. The steering engine torque compensation mechanism according to claim 4, wherein the sliding groove (112) is a strip, and the curved connecting rod (11) is hinged to the steering engine rocker arm (21) and the control surface connecting rod (22) through a connecting piece (23) penetrating through the sliding groove (112).
6. The steering engine torque compensation mechanism according to claim 4, wherein a protrusion is arranged in the middle of one side of the curved connecting rod (11), one side of the protrusion facing the roller (13) is arc-shaped to form the force reduction curved surface (111), two ends of the protrusion are rectangular, and one side of the protrusion opposite to the roller (13) is flush with the side of the curved connecting rod (11).
7. The steering engine torque compensation mechanism according to claim 1, further comprising a telescopic shaft (15) and an elastic element (16), wherein an accommodating hole is formed in the middle of the wall of the connecting rod hole (121), the roller (13) is arranged at the top end of the telescopic shaft (15), a sleeve is arranged in the accommodating hole, and the bottom end of the telescopic shaft (15) is elastically connected into the sleeve through the elastic element (16).
8. The steering engine torque compensation mechanism of claim 7, wherein the telescopic shaft (15) comprises a fixed rod and a movable rod, the fixed rod is fixedly arranged in the sleeve, the movable rod and the elastic element (16) are arranged in the accommodating hole, and the movable rod is provided with a connecting column inserted in the roller (13).
9. The steering engine torque compensation mechanism of claim 1, wherein the connecting rod housing (12) is provided with a mounting hole for fixed connection with a body.
10. A control surface operating system, characterized by comprising a steering engine torque compensation mechanism (1) according to any one of claims 1 to 9, a control surface (3), a control surface rocker (31), a steering engine (2), a steering engine rocker (21) and a control surface connecting rod (22);
the steering engine rocker arm (21) is hinged to the steering engine (2), the control surface rocker arm (31) is hinged to the control surface (3), two ends of the control surface connecting rod (22) are hinged to the steering engine rocker arm (21) and the control surface rocker arm (31) respectively, and the steering engine torque compensation mechanism is hinged to the joint of the steering engine rocker arm (21) and the control surface connecting rod (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011583585.6A CN112793765B (en) | 2020-12-28 | 2020-12-28 | Steering engine torque compensation mechanism and control surface operating system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011583585.6A CN112793765B (en) | 2020-12-28 | 2020-12-28 | Steering engine torque compensation mechanism and control surface operating system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112793765A true CN112793765A (en) | 2021-05-14 |
| CN112793765B CN112793765B (en) | 2022-10-28 |
Family
ID=75806066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011583585.6A Active CN112793765B (en) | 2020-12-28 | 2020-12-28 | Steering engine torque compensation mechanism and control surface operating system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112793765B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113739750A (en) * | 2021-08-25 | 2021-12-03 | 成都信息工程大学 | Airplane control surface measuring device and measuring method |
| CN115042961A (en) * | 2022-05-27 | 2022-09-13 | 中国航空工业集团公司沈阳飞机设计研究所 | Lambda-shaped actuating cylinder driving mechanism |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1230317B (en) * | 1963-02-28 | 1966-12-08 | Ver Flugtechnische Werke Ges M | Device for torque compensation in the event of flap deflection |
| US20110095136A1 (en) * | 2009-10-27 | 2011-04-28 | Airbus Operations Gmbh | Aircraft with vertical stabilizers arranged on a central fuselage body and method, as well as control unit, for compensating a negative pitching moment |
| CN102935888A (en) * | 2011-08-15 | 2013-02-20 | 中国航空工业集团公司西安飞机设计研究所 | Cross type compensating plate servo mechanism |
| CN108069021A (en) * | 2018-01-04 | 2018-05-25 | 北京中航智科技有限公司 | A kind of steering engine and its control system |
| CN108423155A (en) * | 2018-03-16 | 2018-08-21 | 北京理工大学 | A kind of aerial work robot |
| CN109936317A (en) * | 2019-03-29 | 2019-06-25 | 中船动力研究院有限公司 | A kind of torque compensation device control method and device |
| CN111348183A (en) * | 2018-12-20 | 2020-06-30 | 沃科波特有限公司 | Aircraft with a flight control device |
| CN111572757A (en) * | 2020-05-09 | 2020-08-25 | 陕西飞机工业（集团）有限公司 | Method for designing driving mechanism of follow-up control surface of aircraft rudder |
-
2020
- 2020-12-28 CN CN202011583585.6A patent/CN112793765B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1230317B (en) * | 1963-02-28 | 1966-12-08 | Ver Flugtechnische Werke Ges M | Device for torque compensation in the event of flap deflection |
| US20110095136A1 (en) * | 2009-10-27 | 2011-04-28 | Airbus Operations Gmbh | Aircraft with vertical stabilizers arranged on a central fuselage body and method, as well as control unit, for compensating a negative pitching moment |
| CN102935888A (en) * | 2011-08-15 | 2013-02-20 | 中国航空工业集团公司西安飞机设计研究所 | Cross type compensating plate servo mechanism |
| CN108069021A (en) * | 2018-01-04 | 2018-05-25 | 北京中航智科技有限公司 | A kind of steering engine and its control system |
| CN108423155A (en) * | 2018-03-16 | 2018-08-21 | 北京理工大学 | A kind of aerial work robot |
| CN111348183A (en) * | 2018-12-20 | 2020-06-30 | 沃科波特有限公司 | Aircraft with a flight control device |
| CN109936317A (en) * | 2019-03-29 | 2019-06-25 | 中船动力研究院有限公司 | A kind of torque compensation device control method and device |
| CN111572757A (en) * | 2020-05-09 | 2020-08-25 | 陕西飞机工业（集团）有限公司 | Method for designing driving mechanism of follow-up control surface of aircraft rudder |
Non-Patent Citations (2)
| Title |
|---|
| 牛国臣等: "基于力矩前馈和舵机角度补偿的力矩控制", 《北京航空航天大学学报》 * |
| 陶渝辉等: "舵机负载模拟器惯量失配加载补偿方法", 《现代防御技术》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113739750A (en) * | 2021-08-25 | 2021-12-03 | 成都信息工程大学 | Airplane control surface measuring device and measuring method |
| CN113739750B (en) * | 2021-08-25 | 2023-07-04 | 成都信息工程大学 | Airplane control surface measuring device and measuring method |
| CN115042961A (en) * | 2022-05-27 | 2022-09-13 | 中国航空工业集团公司沈阳飞机设计研究所 | Lambda-shaped actuating cylinder driving mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112793765B (en) | 2022-10-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112793765B (en) | Steering engine torque compensation mechanism and control surface operating system | |
| CN108512457B (en) | Linear inertial piezoelectric actuator and actuation method with displacement perceptional function | |
| US5165297A (en) | Remote controlled micromanipulator | |
| EP1892437A2 (en) | Select return mechanism | |
| KR100423070B1 (en) | Method and apparatus for sensing preload in a tilt rotor downstop | |
| US7528527B2 (en) | Driving device | |
| CN104900573B (en) | A kind of differential lever micro-displacement amplifying device of symmetrical expression | |
| EP1095850A2 (en) | Rotor blade flap driving apparatus | |
| CN215043637U (en) | Steering engine torque compensation mechanism for reducing torque of control surface | |
| US4773620A (en) | Control surface actuator | |
| US5911390A (en) | Bobweight assembly for establishing a force feedback on a manually movable control element | |
| US4385741A (en) | Aircraft steering mechanism | |
| CN112977800A (en) | Folding wing for hypersonic aircraft | |
| US11891187B2 (en) | Aircraft | |
| US11059572B2 (en) | Landing gear | |
| US20030026696A1 (en) | Rotor blade with control flaps | |
| CN114001087A (en) | Universal fixing device | |
| CN112455657A (en) | Steering engine torque compensation mechanism for reducing torque of control surface | |
| CN103277424A (en) | Automobile clutch release system | |
| US5966997A (en) | Device for transmitting a linear motion with force limiter | |
| JP3168198B2 (en) | Flap drive device and rotor blade | |
| CN1062378C (en) | Medium voltage switch or circuit breaker | |
| CN111038613B (en) | Single leg mechanism and leg foot type robot | |
| US4327496A (en) | Adjustable link-type insertion compliance device | |
| US10479515B2 (en) | Dual mode supplemental strut and damper |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |