CN114572430A - Multi-degree-of-freedom test system - Google Patents
Multi-degree-of-freedom test system Download PDFInfo
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- CN114572430A CN114572430A CN202210459001.7A CN202210459001A CN114572430A CN 114572430 A CN114572430 A CN 114572430A CN 202210459001 A CN202210459001 A CN 202210459001A CN 114572430 A CN114572430 A CN 114572430A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
Abstract
The embodiment of the invention discloses a multi-degree-of-freedom test system, and relates to the technical field of tests. The first air floatation mechanism in the multi-degree-of-freedom test system can generate air, so that the air floatation device and the power device arranged on the air floatation device can be floated on the base station together. At the moment, the air floatation piece can be locked through the locking assembly so as to prevent the power device from rotating, and the power device can generate thrust through releasing high-pressure gas so as to drive the air floatation device and the power device to rotate and horizontally move together relative to the base platform. Meanwhile, the motion parameters are obtained and compared with preset motion parameters for analysis, so that the reliability and stability of a control program acting on the power device are tested. The first air floating mechanism can fall on the base station to be fixed when gas is not generated, at the moment, if the air floating piece floats on the fixing piece, the high-pressure gas can be released by the power device to generate thrust to drive the air floating piece to rotate relative to the fixing piece, and the thrust of the power device is calculated through the attitude angular velocity so as to test the accuracy of the thrust parameters in the control model.
Description
Technical Field
The invention relates to the technical field of testing, in particular to a multi-degree-of-freedom testing system.
Background
The spacecraft needs to run in a relatively stable attitude on a pre-designed orbit in the working process, but in the actual working process, the spacecraft needs to continuously adjust the orbit and attitude parameters, firstly, the spacecraft generates disturbance on the motion state parameters of the spacecraft due to factors such as external environment and the like, and the spacecraft needs to correct the motion parameters to eliminate the influence caused by the disturbance; secondly, according to different task requirements, the pre-designed orbit and attitude parameters of the spacecraft can also change, so that the spacecraft needs to actively change the orbit and adjust the attitude, thereby achieving the pre-designed motion state.
In the process of adjusting the orbit and attitude parameters of the spacecraft, the carried motion parameter measuring device feeds data back to the orbit and attitude control computer, and the power device of the spacecraft is controlled by the computer to generate corresponding thrust, so that the adjustment and correction of the orbit and attitude parameters of the spacecraft are finally realized.
In the manufacturing process, a control program acting on a spacecraft power device needs to be designed through ground computer simulation, so that the reliability and stability of the control program in the actual working process are tested. However, due to the limitation of computer simulation, the actual working environment of the spacecraft cannot be well simulated, so that a test system needs to be built for more accurately testing the control program of the power device of the spacecraft, and the reliability and stability of the control program are tested on the basis of simulating the space motion state of the spacecraft. However, the existing test system can only simulate one motion mode, and cannot realize the simulation of the multi-degree-of-freedom space motion state of the spacecraft.
Disclosure of Invention
Therefore, a multi-degree-of-freedom test system is needed, and the technical problem that the existing test system cannot realize multi-degree-of-freedom space motion simulation is solved.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the multi freedom test system includes:
a base station;
the air floating device comprises a first air floating mechanism, a second air floating mechanism and a locking assembly, wherein the first air floating mechanism can generate gas so that the air floating device can float on the base station, the second air floating mechanism comprises a fixing piece and an air floating piece, the locking assembly is arranged on the fixing piece and can lock the air floating piece on the fixing piece, and the fixing piece is arranged on the first air floating mechanism and can generate gas so that the air floating piece is separated from the locking assembly and floats on the fixing piece; and the power device is arranged on the air floating piece and can generate thrust by releasing high-pressure gas so as to drive the air floating device to move relative to the base platform and/or drive the air floating piece to rotate relative to the fixing piece.
In some embodiments of the multi-degree-of-freedom test system, the locking assembly includes a locking member, an adjusting member and a connecting member, the locking member is used for being connected with the air floating member and is provided with a first thread, the connecting member is arranged on the fixing member and is provided with a second thread, the thread directions of the first thread and the second thread are opposite, and the adjusting member is arranged between the locking member and the connecting member and is respectively in threaded connection with the first thread and the second thread.
In some embodiments of the multi-degree-of-freedom test system, the multi-degree-of-freedom test system further comprises an adapter, the adapter is fixedly arranged on the air floating piece, a clamping groove is formed in the adapter, and at least part of the locking piece is contained in the clamping groove so as to be clamped along the radial direction of the adapter.
In some embodiments of the multi-degree-of-freedom testing system, the air floating device further includes a first balancing mechanism disposed on the adaptor and used for adjusting the center of gravity of the adaptor.
In some embodiments of the multi-degree-of-freedom testing system, the air floating device further includes a first air source mechanism, and the first air source mechanism is disposed in the first air floating mechanism and supplies air to the first air floating mechanism and the second air floating mechanism, respectively.
In some embodiments of the multi-degree-of-freedom test system, the air floating device further includes a second balancing mechanism, and the second balancing mechanism and the first air source mechanism are arranged on two sides of the first air floating mechanism in a substantially symmetrical manner.
In some embodiments of the multiple degree of freedom test system, the multiple degree of freedom test system further comprises a mapping device disposed on the first aerostatic mechanism for mapping a motion trajectory of the first aerostatic mechanism; and/or the multi-degree-of-freedom test system further comprises a gyroscope, and the gyroscope is used for detecting the attitude angle and the attitude angular velocity of the air floatation device and/or the air floatation piece.
In some embodiments of the multi-degree-of-freedom testing system, the power device includes a second air source mechanism and a nozzle, the second air source mechanism is disposed on the air floating member, the second air source mechanism is capable of supplying air to the nozzle, and high-pressure air is released through the nozzle to generate thrust.
In some embodiments of the multi-degree-of-freedom testing system, the nozzle includes a housing, a nozzle, a ball valve, and a motor, the second air supply mechanism is capable of supplying air to the housing, the nozzle is disposed on the housing, the ball valve is accommodated in the housing, and the motor is disposed on the housing and is capable of driving the ball valve to rotate, so that the nozzle is communicated with the housing.
In some embodiments of the multi-degree-of-freedom testing system, the nozzle tube further includes a shaft sleeve, the shaft sleeve is disposed on the nozzle and communicated with the nozzle, and the shaft sleeve is provided with an arc surface capable of being attached to an outer wall of the ball valve.
The embodiment of the invention has the following beneficial effects:
the multi-degree-of-freedom test system can simulate the motion of a spacecraft, accurately measure motion parameters, realize switching and combination of multiple spatial motions, realize multi-degree-of-freedom spatial motion simulation, and compare and analyze the measured motion parameters with preset motion parameters, wherein the preset motion parameters are obtained by resolving a control model established based on a power device, and finally test the reliability and stability of a control program acting on the power device. Specifically, the first air floatation mechanism in the multi-degree-of-freedom test system can generate air, so that the air floatation device and the power device arranged on the air floatation device can be floated on the base station together. At the moment, the air floatation piece can be locked through the locking assembly so as to prevent the power device from rotating, and the power device can release high-pressure gas to generate thrust so as to drive the air floatation device and the power device to rotate and horizontally move together relative to the base station. Meanwhile, the motion parameters are obtained, wherein the motion parameters comprise a motion track, an attitude angle and an attitude angular velocity, and are compared and analyzed with the preset motion parameters, so that the reliability and the stability of a control program acting on the power device are tested. In addition, the first air floating mechanism can fall on the base station to be fixed when no gas is generated, at the moment, if the air floating piece floats on the fixing piece, the high-pressure gas can be released by the power device to generate thrust to drive the air floating piece to rotate relative to the fixing piece, the thrust of the power device is calculated through the determined attitude angular speed of the air floating piece, and the accuracy of thrust parameters in the test control model is further improved. In addition, the multi-degree-of-freedom test system can enable the air floating piece to float on the fixing piece while the air floating device and the power device float on the base station together, so that more space movement modes can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Wherein:
FIG. 1 is an axial view of a multiple degree of freedom testing system in one embodiment;
FIG. 2 is a schematic view of the assembly of the air floatation device and the power device in the multiple degree of freedom testing system shown in FIG. 1;
FIG. 3 is an axial view of an air bearing assembly of the multiple degree of freedom testing system of FIG. 1;
FIG. 4 is a top view of an air bearing assembly of the multiple degree of freedom testing system of FIG. 1;
FIG. 5 is an axial view of a transfer member of the multiple degree of freedom testing system of FIG. 1;
FIG. 6 is a bottom view of a transfer piece of the multiple degree of freedom testing system of FIG. 1;
FIG. 7 is an axial view of a locking assembly of the multiple degree of freedom testing system of FIG. 1;
FIG. 8 is an axial view of the multi-degree of freedom test system of FIG. 1 with the control mechanism removed from the power plant;
FIG. 9 is a bottom view of the multi-degree of freedom testing system of FIG. 1 with the control mechanism removed from the power unit;
FIG. 10 is a front view of a nozzle of the multiple degree of freedom testing system of FIG. 1;
FIG. 11 is a sectional view taken along line A-A of FIG. 10;
FIG. 12 is an axial view of the ball valve in the spout of FIG. 10;
FIG. 13 is an axial view of the boss of the nozzle of FIG. 10.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
In the actual working process of the spacecraft, a control instruction needs to be transmitted to a power system of the spacecraft through a control computer carried by the spacecraft, so that the motion parameters of the orbit and the attitude of the spacecraft are adjusted and corrected. The control program acting on the spacecraft power device needs to be designed through ground computer simulation so as to test the reliability and stability of the control program in the actual working process. However, due to the limitation of computer simulation, the actual working environment of the spacecraft cannot be well simulated, so that a test system needs to be set up to more accurately test the control program of the spacecraft power device, and the reliability and stability of the control program are tested on the basis of simulating the space motion state of the spacecraft. However, the existing test system can only simulate one motion mode, and cannot realize the simulation of the multi-degree-of-freedom space motion state of the spacecraft.
The present invention provides a test system for solving the above technical problems. In this embodiment, the test system is used for performing semi-physical simulation on the ground, and tests the reliability and stability of a control program acting on the power device by comparing with preset motion parameters on the basis of accurately measuring the motion parameters of the spacecraft by simulating the spatial motion of the spacecraft.
Referring to fig. 1 and fig. 2, a multi-degree-of-freedom test system provided by the present invention will be described. The multi-degree-of-freedom test system comprises a base station 10, an air floatation device 20 and a power device 30. As shown in fig. 3 and 4, the air floating device 20 includes a first air floating mechanism 21, a second air floating mechanism 22, and a locking assembly 23. The first air floating mechanism 21 can generate air to make the air floating device 20 float on the base 10. Specifically, the first air floating mechanism 21 may simulate the state of the spacecraft in the air by blowing air to the base 10 to make the air floating device 20 float on the base 10. Further, as shown in fig. 3, the second air floating mechanism 22 includes a fixing member 221 and an air floating member 222. The locking assembly 23 is disposed on the fixing member 221 and can lock the air-floating member 222 to the fixing member 221. The fixing member 221 is disposed on the first floating mechanism 21 and is capable of generating gas to separate the floating member 222 from the locking assembly 23 for floating on the fixing member 221. Referring to fig. 1 and 2, the power device 30 is disposed on the air floating member 222. The power device 30 can generate thrust by releasing high-pressure gas to drive the air floating device 20 to move relative to the base platform 10 and/or drive the air floating member 222 to rotate relative to the fixing member 221. Specifically, when the air floating device 20 floats on the base platform 10 and the air floating member 222 is locked, the power device 30 can drive the air floating device 20 to move relative to the base platform 10. When the air floating device 20 is located on the base 10 and the air floating member 222 floats on the fixing member 221, the power device 30 can drive the air floating member 222 to rotate relative to the fixing member 221. When the air floating device 20 floats on the base 10 and the air floating member 222 floats on the fixing member 221, the power device 30 can drive the air floating device 20 to move relative to the base 10 and drive the air floating member 222 to rotate relative to the fixing member 221.
In summary, the embodiment of the invention has the following beneficial effects: the multi-degree-of-freedom test system in the scheme can simulate the space motion of a spacecraft, accurately measure motion parameters, realize switching and combination of various space motions to realize multi-degree-of-freedom space motion simulation, and compare and analyze the measured motion parameters with preset motion parameters, wherein the preset motion parameters are obtained by resolving a control model established based on the power device 30, and finally test the reliability and stability of a control program acting on the power device 30. Specifically, the first air floating mechanism 21 in the multi-degree-of-freedom test system can generate gas, so that the air floating device 20 and the power device 30 provided on the air floating device 20 can float on the base 10. At this time, the air floating member 222 can be locked by the locking assembly 23 to prevent the power device 30 from rotating, and the power device 30 can release the high-pressure gas to generate thrust to drive the air floating device 20 and the power device 30 to rotate and move horizontally together relative to the base platform 10. Meanwhile, the motion parameters are obtained, wherein the motion parameters comprise a motion track, an attitude angle and an attitude angular velocity, and are compared and analyzed with preset motion parameters, so that the reliability and the stability of a control program acting on the power device are tested. In addition, the first air floating mechanism 21 falls on the base 10 and is fixed when no gas is generated, at this time, if the air floating member 222 floats on the fixing member 221, the power device 30 can release high-pressure gas to generate thrust to drive the air floating member 222 to rotate relative to the fixing member 221, and the thrust of the power device 30 is calculated through the measured attitude angular speed of the air floating member 222, so as to test the accuracy of the thrust parameters in the control model. In addition, the multi-degree-of-freedom test system can enable the air floating piece 222 to float on the fixing piece 221 when the air floating device 20 and the power device 30 float on the base platform 10 together, so as to realize more space movement modes.
In one embodiment, referring to fig. 3, 4 and 7 together, locking assembly 23 includes a locking member 231, an adjustment member 232 and a connecting member 233. The locking member 231 is used for connecting with the air floating member 222 and is provided with a first thread. The connecting member 233 is disposed on the fixing member 221 and has a second thread. The first and second threads have opposite thread directions. Adjusting member 232 is disposed between retaining member 231 and connecting member 233, and is threadedly coupled to the first and second threads, respectively. Because the thread directions of the first thread and the second thread are opposite, when the height of the locking assembly 23 is adjusted, the adjustment of the positions of the locking member 231 and the connecting member 233 can be realized only by adjusting the rotation of the adjusting member 232 through the threads with opposite directions, and meanwhile, in the height adjusting process, the adjusting member 232 only rotates relative to the locking member 231 and the connecting member 233, and the rotation between the locking member 231 and the air floating member 222 and between the connecting member 233 and the fixing member 221 is not generated, so that the abrasion of the air floating member 222 and the fixing member 221 in the height adjusting process can be avoided, and the service lives of the two are prolonged. The connecting member 233 may be detachably coupled to the fixing member 221 to facilitate adjustment of the position of the locking assembly 23 while the connecting member 233 is replaced when the wear of the connecting member 233 is severe. Specifically, as shown in fig. 7, in the present embodiment, the adjusting member 232 is a rod structure, and two ends of the rod structure are respectively provided with a stud matched with the first thread and the second thread, and the thread directions of the two studs are opposite. For the convenience of adjustment, the adjusting piece 232 is also provided with an anti-slip edge. It is understood that in other embodiments, the adjustment member 232 may also be a pneumatic structure, such as a cylinder structure, to adjust the height of the locking assembly 23.
In one embodiment, referring to fig. 1, 2 and 5 together, the multiple degree of freedom test system further includes an adaptor 40. The adaptor 40 is fixedly arranged on the air floating member 222. The adapter 40 can extend the air floating member 222 to increase the area of the air floating member 222, and facilitate the layout and installation of other structures. Further, referring to fig. 6 and fig. 7, a clamping groove 100 is formed on the adaptor 40, and the locking member 231 is at least partially received in the clamping groove 100 to clamp the adaptor 40 along a radial direction thereof. So through the joint groove 100 set up can increase retaining member 231 and adapter 40 between the connection area, promote locking stability. It is understood that in the embodiment of the multi-degree-of-freedom testing system without the adaptor 40, the clamping groove 100 can be directly formed on the air-floating member 222 to facilitate the cooperation of the air-floating member 222 and the locking member 231.
In this embodiment, as shown in fig. 3, 4, 6 and 7, the number of the locking assemblies 23 may be multiple and the locking assemblies 23 may be disposed on the fixing member 221 around the air-floating member 222, and the connecting member 233 may be detachably connected to the fixing member 221 to facilitate the arrangement of the locking assemblies 23. Similarly, the adaptor 40 is provided with a plurality of clamping grooves 100, and each clamping groove 100 corresponds to each locking assembly 23 one by one. This enables each locking assembly 23 to lock the air-bearing member 222 in the radial direction, thereby further improving the locking stability.
As shown in fig. 7, the locking member 231 includes a platform 2311 and a protrusion 2312, the protrusion 2312 is protruded from the platform 2311, and can extend into the clamping groove 100 when being locked, so as to be attached to the groove wall of at least one side of the clamping groove 100. And because the joint groove 100 dodges the effect to bellying 2312 for platform 2311 can laminate with adaptor 40, makes locking Assembly 23 still play the supporting role in the output locking function, avoids air supporting piece 222 and the structure that is located on air supporting piece 222 directly to pass through air supporting piece 222 and act on mounting 221, causes wearing and tearing to collide with, influences its function and precision. In addition, in the embodiment, the protrusion 2312 is a strip structure, and the position of the protrusion 2312 relative to the platform 2311 can be located on one side of the platform 2311, so that the locking member 231 forms an L-shaped structure. In some embodiments, the protrusion 2312 may be disposed at the middle of the platform 2311, and the locking member 231 may have a T-shaped structure. In other embodiments, however, protrusion 2312 may have other shapes, such as a cylindrical, C-shaped, or annular configuration, to increase the multi-directional constraint of retaining member 231 on coupler 40. Further, a buffer structure may be disposed between the locking member 231 and the adaptor 40 to further avoid the abrasion of the locking member 231 to the adaptor 40. The buffering structure can be disposed on the locking member 231 and/or received in the clip groove 100.
In one embodiment, as shown in FIG. 6, the air floating device 20 further includes a first trim mechanism 24, and the first trim mechanism 24 is disposed on the adapter 40 and is used to adjust the center of gravity of the adapter 40. Therefore, the gravity center of the adaptor 40 can be adjusted through the first balancing mechanism 24 before testing, the level of the adaptor 40 is guaranteed, and the adaptor 40 and structures connected to the adaptor are kept horizontal, so that variables in the testing process are reduced, and the testing process is guaranteed to be completed in a horizontal plane. In this embodiment, the adaptor 40 is a disc-shaped structure, so as to further increase the area of the air floating member 222 and facilitate the layout of other structures, and the air floating member 222 and the adaptor 40 can be fixed by bolts or welded or integrally formed.
Further, with reference to fig. 6, the first balancing mechanism 24 includes a main body 241 and a plurality of first balancing members 242, the main body 241 surrounds the air floating member 222 and is disposed on the adaptor 40, each first balancing member 242 can move relative to the main body 241, and the level of the adaptor 40 can be adjusted by adjusting the distribution of each first balancing member 242 on the main body 241. In this embodiment, a threaded structure is disposed on the body 241, and the first balancing piece 242 is in threaded connection with the body 241, so that the first balancing piece 242 can move relative to the body 241, and can keep a stable position after stopping moving. Further, in the present embodiment, the body 241 includes four first screws 2411. Each first screw 2411 is distributed in a rectangular shape and is arranged at an interval with the adaptor 40 to form an avoiding space of the first balancing part 242, and the adjacent first screws 2411 are connected through an L-shaped part 2412 and are arranged on the adaptor 40. The first trim 242 may be a weighted structure such as a weight. At least one first balancing member 242 is disposed on each first screw 2411, and the distribution and mass of each first balancing member 242 may be different to adapt to the distribution of the overall center of gravity of the adaptor 40 and the structure thereon. To further maintain the positional stability of the first trim 242, a threaded member such as a nut may be disposed on the first screw 2411 to lock the position of the first trim 242.
In one embodiment, referring to fig. 1 to 4 together, the air floating device 20 further includes a first air source mechanism 25. The first air source mechanism 25 is provided in the first air floating mechanism 21 and supplies air to the first air floating mechanism 21 and the second air floating mechanism 22, respectively. Specifically, the first air supply mechanism 25 includes an air cylinder 251, a mounting hoop 252, an air delivery assembly 253, a mounting plate 254, and an air tube 255. In this embodiment, the gas cylinder 251 is horizontally fixed on the first air floating mechanism 21 by the mounting hoop 252. The gas cylinder 251 can be a high-pressure gas cylinder, so that the bearing capacity of the first air floating mechanism 21 and the second air floating mechanism 22 is improved, and more air can be stored. The gas delivery assembly 253 is fixed to the first air floating mechanism 21 by a mounting plate 254. The gas delivery assembly 253 includes a pressure regulating valve 2531, a multi-channel gas tube connector, and a switching valve 2532. The pressure regulating valve 2531 is used for regulating the output air pressure of the air storage cylinder 251, so as to control the bearing capacity of the air supply of the first air floating mechanism 21 and the second air floating mechanism 22. One of the joints of the multi-channel air pipe joint is connected with a pressure regulating valve 2531 through an air pipe; the number of the switching valves 2532 is two, and the two switching valves are respectively arranged on two connectors of the multi-channel gas pipe connector. One switch valve 2532 is used for controlling the on-off of the air source of the first air floating mechanism 21, and the other switch valve controls the on-off of the air source of the second air floating mechanism 22.
In one embodiment, referring to fig. 2-3, the air floating device 20 further includes a second trim mechanism 26. The second balancing mechanism 26 and the first air source mechanism 25 are provided substantially symmetrically on both sides of the first air bearing mechanism 21. In order to increase the testing time and complete the testing of various motion parameters as much as possible in one testing process, the storage space of the gas cylinder 251 needs to be correspondingly large to ensure the endurance of the multi-degree-of-freedom testing system, so that the first gas source mechanism 25 has a large mass. In some embodiments, the first air supply mechanism 25 is disposed along the axis of the first air floating mechanism 21 to ensure that the overall center of gravity is located on the axis of the first air floating mechanism 21, which results in the need to adjust the structural layout of the first air floating mechanism 21 to facilitate the installation of the first air supply mechanism 25, and meanwhile, the position of the first air supply mechanism 25 on the axis of the first air floating mechanism 21 also facilitates the replacement of the air cylinder 251. In this embodiment, the first air supply mechanism 25 is disposed offset from the axis of the first air floating mechanism 21 and outside the first air floating mechanism 21, so as to facilitate replacement or filling of the gas cylinder 251. At this time, the second trim mechanism 26 is provided to help adjust the center of the first air bearing mechanism 21 to be horizontal.
Specifically, referring to fig. 3 and 4 together, second trim mechanism 26 includes a first trim assembly 261 and a second trim assembly 262. The first trim assembly 261 is capable of adjusting the center of gravity of the first air bearing mechanism 21 in a direction perpendicular to the first air source mechanism 25. The second trim assembly 262 is capable of adjusting the center of gravity of the first air bearing mechanism 21 in a direction parallel to the first air supply mechanism 25. The center of gravity of the first air bearing mechanism 21 is thus adjusted in both directions parallel to the first air source mechanism 25 and perpendicular to the first air source mechanism 25. Further, the second balancing mechanism 26 further includes a bracket 263 disposed on the first floating mechanism 21, and the first balancing assembly 261 and the second balancing assembly 262 are disposed on the bracket 263. Brackets 263 are provided to enable the height of first trim assembly 261 and second trim assembly 262 to be adjusted to approximate the level of the center of gravity of first air supply mechanism 25.
Further, with continued reference to fig. 3 and 4, the first trim assembly 261 includes a first U-shaped plate 2611, a second screw 2612, and a second trim member 2613. The second screw 2612 is installed on the first U-shaped plate 2611 and forms an escape space of the second trim 2613. The second trim member 2613 is threadedly coupled to the second screw 2612 such that the second trim member 2613 can move relative to the second screw 2612 in a direction perpendicular to the first air source mechanism 25 while also being able to maintain positional stability after stopping movement. Second trim assembly 262 includes a second U-shaped plate 2621, a third screw 2622, and a third trim 2623. The third screw 2622 is installed on the second U-shaped plate 2621 and forms an escape space for the second trim part 2613. The third trim 2623 is screw-coupled to the third screw 2622 so that the third trim 2623 can move relative to the third screw 2622 in a direction parallel to the first air source mechanism 25 while maintaining a stable position after stopping the movement. The first U-shaped plate 2611 and the second U-shaped plate 2621 are distributed on the support 263 in a T shape. Likewise, the second trim piece 2613 and the third trim piece 2623 can be weighted structures such as weights. At least one second balancing member 2613 is disposed on the second screw 2612, and the distribution and mass of each second balancing member 2613 can be different so as to adapt to the distribution of the overall center of gravity of the first air floating mechanism 21 and the structure thereon. At least one third balancing member 2623 is disposed on the third screw 2622 and the distribution and mass of each third balancing member 2623 can be different to adapt to the distribution of the overall center of gravity of the first floating mechanism 21 and the structure thereon. In order to further maintain the positional stability of the second and third trim members 2613 and 2623, threaded members such as nuts may be further disposed on the second and third screws 2612 and 2622 to lock the positions of the second and third trim members 2613 and 2623. Furthermore, a plurality of fourth trim pieces 27 are provided between the second trim mechanism 26 and the first air supply mechanism 25, and the fourth trim pieces 27 are detachably connectable to the first air bearing mechanism 21 to adjust the center of gravity of the first air bearing mechanism 21.
As shown in fig. 5, the adaptor 40 is further provided with a plurality of levels 41, and when the center of gravity of the adaptor 40 and the first air-bearing mechanism 21 is adjusted, whether leveling is performed or not can be determined by observing the levels 41.
In an embodiment, please refer to fig. 2 to 3 together, the multi-degree-of-freedom testing system further includes a mapping device 50, wherein the mapping device 50 is disposed on the first air-bearing mechanism 21 and is used for mapping the motion track of the first air-bearing mechanism 21. Specifically, mapping device 50 includes a range finder and a signal transmitter. The quantity of distancers is two and is 90 and installs on first air supporting mechanism 21, and two distancers are being connected to the signal transmission box to the measurement parameter that obtains the distancer is sent out. The motion trail of the first air floating mechanism 21 can be obtained according to the measured parameters. In addition, when the multi-degree-of-freedom test system does not have the mapping device 50, the movement locus of the first aerostatic mechanism 21 can also be measured by an external mapping mechanism. Further, the multiple degree of freedom test system further includes a gyroscope for detecting the attitude angle and the attitude angular velocity of the air floating device 20 and/or the air floating member 222. The motion trajectory, the attitude angle, and the attitude angular velocity of the air floating device 20 are used as motion parameters to compare with the preset motion parameters for analysis, so as to determine the reliability and stability of the control program applied to the power device 30. In addition, the thrust of the power device 30 is calculated through the measured attitude angular velocity of the air floatation member 222, so as to test the accuracy of the thrust parameter in the control model.
In one embodiment, referring to fig. 1, fig. 2, fig. 8 and fig. 9 together, the power device 30 includes a second gas supply mechanism 31 and a nozzle 32, the second gas supply mechanism 31 is disposed on the air floating member 222, and the second gas supply mechanism 31 is capable of supplying gas to the nozzle 32 to generate fluid. Specifically, the second air supply mechanism 31 includes an air storage unit 311, a primary pressure regulating valve 312, a secondary pressure regulating valve 313, a solenoid valve 314, a pressure sensor 315, and an arched mounting plate 316. The gas storage unit 311 is installed above the arched mounting plate 316. The primary pressure regulating valve 312, the secondary pressure regulating valve 313, the solenoid valve 314, the pressure sensor 315 and the nozzle 32 are mounted below the arched mounting plate 316. The gas storage unit 311 is communicated with the solenoid valve 314. The solenoid valve 314 communicates with the primary pressure regulating valve 312. The primary pressure regulating valve 312 communicates with the secondary pressure regulating valve 313. The secondary pressure regulating valve 313 is in communication with a pressure sensor 315. The pressure sensor 315 is in communication with the nozzle 32. The number of the nozzles 32 is one or more to discharge high pressure gas to the outside to generate thrust. In this embodiment, the number of nozzles 32 is two and is symmetrically disposed below the arcuate mounting plate 316.
Specifically, referring to fig. 8 to 11 together, the nozzle 32 includes a housing 321, a nozzle, a ball valve 322 and a motor 323, and the second gas supply mechanism 31 can supply gas to the housing 321. The nozzle is provided in the housing 321, the ball valve 322 is housed in the housing 321, and the motor 323 is provided in the housing 321 and can drive the ball valve 322 to rotate so as to communicate the nozzle with the housing 321. Also, the number of nozzles may be one or more to generate different directional driving forces.
In this embodiment, the number of nozzles is two, and the nozzles are a first nozzle 324 and a second nozzle 325. The first nozzle 324 and the second nozzle 325 are provided in the housing 321, the ball valve 322 is accommodated in the housing 321, the motor 323 is provided in the housing 321 and can rotate the ball valve 322, and a rotation path of the ball valve 322 includes at least a first position, a second position, and a third position, the first nozzle 324 communicates with the housing 321 in the first position, the second nozzle 325 communicates with the housing 321 in the second position, and the first nozzle 324 and the second nozzle 325 communicate with the housing 321 in the third position. Such that rotation of the ball valve 322 switches the direction in which the spout 32 provides drive. In this embodiment, the driving force directions of the first nozzle 324 and the second nozzle 325 are at an angle of 145 °, and it is understood that in other embodiments, the angle may be other values according to the number of nozzles and the design of the motion track.
As shown in fig. 12, the ball valve 322 is provided with a through hole 200, when the through hole 200 communicates the housing 321 with the first nozzle 324 by rotating the ball valve 322, the second nozzle 325 is sealed by the solid portion of the ball valve 322, and then the housing 321 communicates with the second nozzle 325 by rotating the ball valve 322, and the first nozzle 324 is sealed. In order to improve the control sensitivity, the ball valve 322 may be provided with a plurality of through holes 200. In this embodiment, two through holes 200 are formed in the ball valve 322, an included angle between axes of the two through holes 200 is smaller than an included angle between driving force directions of the first nozzle 324 and the second nozzle 325, when one through hole 200 communicates the housing 321 with the first nozzle 324 through rotation of the ball valve 322, the other through hole does not communicate with the second nozzle 325, the second nozzle 325 is sealed by a solid portion of the ball valve 322, and when the ball valve 322 is continuously rotated, communication between the second nozzle 325 and the housing 321 and sealing between the first nozzle 324 can be more rapidly achieved. In addition, the ball valve 322 is provided with two missing parts 300, and the ball valve 322 rotates, so that the missing parts 300 can correspond to the first nozzle 324 and the second nozzle 325 one by one, and the first nozzle 324 and the second nozzle group are simultaneously communicated with the shell 321.
Specifically, as shown in fig. 11, the motor 323 is mounted on the housing 321, and is connected to a transmission shaft 327 inside the housing 321 through a shaft coupling 326, and a sealing ring 328 is further disposed between the transmission shaft 327 and the housing 321 to ensure sealing inside the housing 321. The transmission shaft 327 is installed in the housing 321 by bearings 329, and the number of the bearings 329 is two and is located at both ends of the transmission shaft 327. Ball valve 322 is mounted on drive shaft 327.
In one embodiment, as shown in fig. 11 and 13, the nozzle 32 further includes a bushing 3210, the bushing 3210 is disposed on the nozzle and is in communication with the nozzle, and the nozzle is in communication with the through hole 200 through the bushing 3210, so as to ensure the sealing between the nozzle and the ball valve 322. In this embodiment, the shaft sleeve 3210 is made of plastic, so that abrasion to the outer wall of the ball valve 322 is reduced. Further, the shaft sleeve 3210 is provided with an arc surface 3211 capable of being attached to the outer wall of the ball valve 322, so that the sealing performance between the nozzle and the ball valve 322 is further ensured. Similarly, a sealing ring 328 may be disposed between the sleeve 3210 and the nozzle to improve sealing.
In one embodiment, as shown in fig. 1, the base platform 10 includes leveling feet 11, a frame 12, and a plate 13. The leveling foot pad 11 is located below the frame body 12. The plate 13 is mounted above the frame body 12. The flat plate 13 is adjusted through the leveling foot pad 11, so that all positions of the flat plate 13 are ensured to be on the same horizontal plane. The number of the leveling foot pads 11 is three or more. Further, the flat plate 13 is a marble flat plate, and the surface precision of the flat plate 13 is ensured. The first air floating mechanism 21 can make the air floating device 20 float on the base station 10 by blowing air to the flat plate 13, so as to simulate the state of a missile, a rocket and an aerospace vehicle in the air. The base station 10 also includes a flexible barrier 14 to prevent the air flotation device 20 from moving out of the confines of the plate 13 while protecting the air flotation system from impact. As shown in fig. 3, in order to avoid the first air source mechanism 25, the first air floating mechanism 21 further includes a supporting column 211, and the fixing member 221 is provided on the supporting column 211.
Further, the power unit 30 further includes a control mechanism 33. The control mechanism 33 is arranged on the adaptor 40 and can control the directions of the air supply of the first air supply mechanism 25 and the second air supply mechanism 31 and the driving force generated by the spray pipe 32. Specifically, the control mechanism 33 can control when two switch valves 2532 are opened to control the first air supply mechanism 25 to supply air to the first air floating mechanism 21 and the second air floating mechanism 22. Further, the control mechanism 33 can also control the solenoid valve 314 to open or close to control the second air supply mechanism 31 to supply air to the nozzle 32. Meanwhile, the control mechanism 33 can also control the rotation angle of the motor 323 to control the driving force direction. Further, the control mechanism 33 can also receive pressure detection information from the pressure sensor 315 to monitor the pressure parameter. Further, after the preset motion parameters are given based on the control model established by the power device 30, the preset motion parameters are input to the control mechanism 33, the control mechanism 33 controls the motion of the whole air floating device 20 and the power device 30, and the measured motion parameters can be sent to the control mechanism 33 to be compared and analyzed with the preset motion parameters, so as to test the reliability and stability of the control program.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (10)
1. The multi freedom test system, its characterized in that includes:
a base station;
the air floating device comprises a first air floating mechanism, a second air floating mechanism and a locking assembly, wherein the first air floating mechanism can generate gas so that the air floating device can float on the base station, the second air floating mechanism comprises a fixing piece and an air floating piece, the locking assembly is arranged on the fixing piece and can lock the air floating piece on the fixing piece, and the fixing piece is arranged on the first air floating mechanism and can generate gas so that the air floating piece is separated from the locking assembly and floats on the fixing piece; and
the power device is arranged on the air floating piece and can generate thrust by releasing high-pressure gas so as to drive the air floating device to move relative to the base platform and/or drive the air floating piece to rotate relative to the fixing piece.
2. The multi-degree-of-freedom test system according to claim 1, wherein the locking assembly comprises a locking member, an adjusting member and a connecting member, the locking member is used for being connected with the air floating member and provided with a first thread, the connecting member is arranged on the fixing member and provided with a second thread, the thread directions of the first thread and the second thread are opposite, and the adjusting member is arranged between the locking member and the connecting member and respectively in threaded connection with the first thread and the second thread.
3. The multi-degree-of-freedom test system as claimed in claim 2, further comprising an adapter piece, wherein the adapter piece is fixedly arranged on the air floating piece, a clamping groove is formed in the adapter piece, and at least part of the locking piece is accommodated in the clamping groove so as to be clamped along the radial direction of the adapter piece.
4. The multiple degree of freedom test system of claim 3, wherein the air floatation assembly further comprises a first trim mechanism disposed on the adapter and configured to adjust a center of gravity of the adapter.
5. The multiple degree of freedom test system of claim 1, wherein the air floatation device further comprises a first air source mechanism, and the first air source mechanism is arranged on the first air floatation mechanism and supplies air to the first air floatation mechanism and the second air floatation mechanism respectively.
6. The multiple degree of freedom test system of claim 5, wherein the air floatation device further comprises a second balancing mechanism, and the second balancing mechanism and the first air source mechanism are arranged on two sides of the first air floatation mechanism in a substantially symmetrical manner.
7. The multiple degree of freedom test system of claim 1, further comprising a mapping device disposed on the first aerostatic mechanism for mapping a motion trajectory of the first aerostatic mechanism; and/or
The multi-degree-of-freedom test system further comprises a gyroscope, and the gyroscope is used for detecting the attitude angle and the attitude angular velocity of the air floatation device and/or the air floatation piece.
8. The multi-degree-of-freedom test system according to claim 1, wherein the power device comprises a second air source mechanism and a jet pipe, the second air source mechanism is arranged on the air floating piece and can supply air to the jet pipe, and high-pressure air is released through the jet pipe to generate thrust.
9. The multiple degree of freedom test system of claim 8, wherein the nozzle includes a housing, a nozzle, a ball valve, and a motor, the second air supply mechanism is capable of supplying air to the housing, the nozzle is disposed in the housing, the ball valve is received in the housing, and the motor is disposed in the housing and is capable of driving the ball valve to rotate, such that the nozzle is in communication with the housing.
10. The multiple degree of freedom test system of claim 9, wherein the nozzle further comprises a bushing, the bushing is disposed on the nozzle and is in communication with the nozzle, and the bushing is provided with an arc surface capable of fitting the outer wall of the ball valve.
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