CN203858778U - Steering engine load simulation device based on electric loading - Google Patents

Steering engine load simulation device based on electric loading Download PDF

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Publication number
CN203858778U
CN203858778U CN201420211892.5U CN201420211892U CN203858778U CN 203858778 U CN203858778 U CN 203858778U CN 201420211892 U CN201420211892 U CN 201420211892U CN 203858778 U CN203858778 U CN 203858778U
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CN
China
Prior art keywords
loading
steering wheel
motor
steering engine
torque
Prior art date
Application number
CN201420211892.5U
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Chinese (zh)
Inventor
王跃轩
黄玉平
陈俊杰
张中哲
赵国平
潘静
Original Assignee
北京精密机电控制设备研究所
中国运载火箭技术研究院
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Priority to CN201420211892.5U priority Critical patent/CN203858778U/en
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Publication of CN203858778U publication Critical patent/CN203858778U/en

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Abstract

The utility model belongs to the field of machinery, in particular relates to a steering engine load simulation device based on electric loading. The steering engine load simulation device comprises four-station torque loading channels, the overall layout of the four channels is distributed in a cruciform symmetry, the torque loading channels are independent from each other, and each channel provides load for a tested steering engine; each channel comprises a low-inertia torque motor, a torque sensor and an output shaft flange which are connected in sequence; and each output shaft flange is connected with a simulated rudder room, and the simulated rudder room is connected with the tested steering engine. The steering engine load simulation device significantly reduces the impact of redundant force on the control system, improves the dynamic characteristics of the loading system, has the advantages of high dynamic performance and significantly reduced redundant force, and satisfies the actual usage requirements on steering engine dynamic characteristic tests in ground semi-physical experiments.

Description

A kind of steering wheel load simulating device based on electronic loading
Technical field
The utility model belongs to mechanical field, is specifically related to a kind of steering wheel load simulating device based on electronic loading.
Background technology
Load simulating device is in aircraft R&D process, to carry out the requisite important tests system of ground large hardware-in-the-loop simulation, also be the special-purpose moment loading equipemtn of research and test steering wheel characteristic, for simulated missile, at flight course, act on the aerodynamic force on rudder face, and the load such as suffered inertial force and friction force in rudder face swing process, thereby realize under testing laboratory's environment the dynamic property of examination steering wheel under approximate actual load.
Existing load simulating device is mainly divided into two kinds of hydraulic load simulation system and electronic load simulation systems according to the difference of driving element, hydraulic load simulation system selects valve control start cylinder (or oil motor) as the core parts of loading equipemtn, electronic load simulation system selects motor as the core parts of loading equipemtn, and the two has the following disadvantages:
1) when hydraulic load simulation system is used, need be equipped with energy resource system, have leakage of oil, be not easy to the deficiencies such as maintenance, and because start cylinder inner fluid fluctuations in discharge produces redundant force, redundant force is wayward.
2), although electronic load simulation system has overcome the inherent defects such as hydraulic load simulation system leakage of oil, easy maintenance, operating noise are little, pollution-free, are adapted at using under testing laboratory's environment.But existing electronic load simulation system is used for little load to be loaded, conventionally adopt the scheme of direct current generator and reducing gear, because higher moment of inertia brings larger redundant force, this redundant force is wayward and eliminate, and redundant force is remarkable under high-frequency signal, moment loads can not Complete Synchronization with measurand movement position.
Summary of the invention
The purpose of this utility model is to provide a kind of steering wheel load simulating device based on electronic loading, for providing a kind of, research in aircraft development process and test steering wheel characteristic can in flight course, act on the aerodynamic force on rudder face by simulated flight device, and the moment loading equipemtn of the load such as suffered inertial force and friction force in rudder face swing process, thereby realize under testing laboratory's environment the dynamic property of examination steering wheel under approximate actual load.
The technical scheme that the utility model adopts is:
A steering wheel load simulating device based on electronic loading, comprises that four station moments load passages, and total arrangement is symmetrical according to four-way cross, and it is separate that four moment loads passages, and each passage provides loading for a tested steering wheel; Every passage comprises low inertia torque motor, torque sensor, the output shaft flange being connected successively; Output shaft flange is connected with simulation rudder stock, and simulation rudder stock is connected with tested steering wheel.
A kind of steering wheel load simulating device based on electronic loading as above, wherein: described low inertia torque motor is positioned on motor cabinet, and adopts monoblock type bearing with output shaft flange, guarantees right alignment; Torque sensor is connected with output shaft flange with low inertia torque motor respectively by expansion coupler.
A kind of steering wheel load simulating device based on electronic loading as above, wherein: described simulation rudder stock is positioned on steering engine seat, steering engine seat and motor cabinet are installed on test table top, can move with guide rail.
A kind of steering wheel load simulating device based on electronic loading as above, wherein: described low inertia torque motor is controlled by motor driver, the motor that motor driver receives the output of moment loading control drives instruction, and motor driver output angle of rudder reflection is to moment loading control; Tested steering wheel is controlled by steering engine controller, and steering engine controller receives the steering wheel position command that simulation computer provides; Simulation computer also sends to moment loading control by torque command and position command, and torque sensor is sent to moment loading control by torque-feedback.
The beneficial effects of the utility model are:
1. this steering wheel load simulating device has adopted the electronic loading structure of low inertia high pulling torque motor and position prediction, significantly reduced the impact of redundant force on control system, and improved the dynamic perfromance of loading system, there is dynamic property height and the significantly reduced feature of redundant force, meet the actual operation requirements to steering wheel dynamic characteristic test in half actual loading test of ground.
2. this device selects straight drive torque motor as the core parts of loading equipemtn, at aspects such as control, maintenance and costs, than hydraulic load simulation system, compares, and has that little load-tracking ability is strong, to load resolution high; System performance is stable, is subject to such environmental effects little; Loading structure, for rotatablely moving, is suitable for moment and loads; Volume is little, easy maintenance; Operating noise is little, pollution-free, is adapted at using under testing laboratory's environment.
3. the moment of this device output can self-defined loading spectrum, accurately simulated flight device acts on the aerodynamic force on rudder face in flight course, and the load such as suffered inertial force and friction force in rudder face swing process, thereby realize under testing laboratory's environment the dynamic property of examination steering wheel under approximate actual load.
4. this device adopts the electronic loading technique based on low inertia high pulling torque direct driving motor and position prediction control algolithm, comprise that four stations load passage, 4 moment loading passages are separate, every passage adopts torque command Real-time Collection, loading control to carry out the Loading Control overall plan of moment real-time loading, angle of rudder reflection continuous acquisition, AC permanent magnet synchronous motor driving, loading motor output shaft and steering wheel output shaft mechanical connection, has overcome the leakage of oil that hydraulic load analogue means exists, has been not easy to the deficiencies such as maintenance.
5. the utility model total arrangement is symmetrical according to four-way cross, loads output shaft and adopts High precise ball bear supporting, reduces moment of friction; Motor and output shaft adopt monoblock type bearing, and one time Precision Machining forms, and accurately guarantees the right alignment of motor shaft and output shaft, avoids torque sensor to produce extra moment; Torque sensor is realized seamless connectivity with motor and output shaft respectively by expansion coupler, avoids the impact of gap on dynamic performance; All parts are installed on motor cabinet, can be convenient mobile with guide rail; Between output shaft flange and tested steering wheel, adopt the elasticity shaft joint of high torsional rigidity to be connected, can compensate the alignment error between output shaft and steering wheel axle.
Accompanying drawing explanation
The general structure vertical view of a kind of steering wheel load simulating device based on electronic loading that Fig. 1 provides for the utility model;
Fig. 2 is single channel loading structure figure of the present utility model;
Fig. 3 is Loading Control structural representation;
In figure, 1. tested steering wheel, 2. simulates rudder stock, 3. output shaft flange, 4. torque sensor, 5. low inertia torque motor, 6. motor cabinet, 7. steering engine seat, 8. test table top.
Embodiment
A kind of steering wheel load simulating device based on electronic loading the utility model being provided below in conjunction with drawings and Examples is introduced:
As shown in Fig. 1~2, a steering wheel load simulating device based on electronic loading, comprises that four station moments load passage, and total arrangement is symmetrical according to four-way cross, it is separate that four moment loads passages, and each passage provides loading for a tested steering wheel 1; Every passage comprises low inertia torque motor 5, torque sensor 4, the output shaft flange 3 being connected successively; Output shaft flange 3 is connected with simulation rudder stock 2, and simulation rudder stock 2 is connected with tested steering wheel 1; Low inertia torque motor 5 is positioned on motor cabinet 6, and adopts monoblock type bearing with output shaft flange 3, and one time Precision Machining forms, and accurately guarantees right alignment, avoids torque sensor to produce extra moment; Torque sensor 4 is realized seamless connectivity with low inertia torque motor 5 and output shaft flange 3 respectively by expansion coupler, avoids the impact of gap on dynamic performance; Simulation rudder stock 2 is positioned on steering engine seat 7, and steering engine seat 7 and motor cabinet 6 are installed on test table top 8, can be convenient mobile with guide rail; Between output shaft flange 3 and tested steering wheel 1, adopt the elasticity shaft joint of high torsional rigidity to be connected.Simulation rudder stock 2 is installed on steering engine seat 7, can compensate the alignment error between output shaft and steering wheel axle.
As shown in Figure 3, four-way Loading Control is all identical, every passage all comprises a moment loading control, can receive the digital or analog torque command from simulation computer, and synchronously receiving the position command that simulation computer is issued steering wheel, this position command is carried out position prediction processing in moment loading control inside; Meanwhile, moment loading control Real-time Collection torque sensor signal, carries out moment closed-loop control after forming negative feedback with torque command; And, moment loading control gathers by motor driver the angle of rudder reflection that low inertia moment electric motor location scrambler feeds back, and by moment loading control according to user at the predefined loading spectrum of host computer, send the torque motor of steering wheel under current angle of rudder reflection and drive instruction, and finally by the directly coaxial application of force of the low inertia torque motor that is operated in inner moment control model to steering wheel output shaft.
Principle of work of the present utility model is: electronic load and execution element is low inertia high pulling torque torque motor, and loading object is Rudder Servo System, and the two connects by torque sensor and stiff shafting.In dynamic load, steering wheel is according to the position command action of simulation computer, and loading system is followed its motion, and applies loading moment simultaneously.Charger must guarantee to apply moment according to the loading spectrum instruction of simulation computer definition, charger need to obtain steering wheel reality accurately swash angle position as the foundation of imposed load.If the torque command loading moment corresponding with steering wheel position command that charger sends according to simulation computer, because existing amplitude attenuation and phase place when carrying out position closed loop, steering wheel lags behind, if therefore directly use steering wheel position command to load, moment error is very large.If detect by being installed on the rotary angle transmitter of axle system, produce hysteresis because coupling stiffness reason can make measurement of angle, thereby can affect the dynamic property of loading system.The principle that produces redundant force due to the redundant force source of electronic load simulation system with hydraulic load simulation system because fluid flow changes is different, and its redundant force is mainly the viscous moment that produced by steering wheel angular velocity and by the moment of inertia that loads the generation of object angular acceleration.The utility model, aspect structural design, adopts the mode of motor direct-drive load, has reduced intermediate transmission link, and viscous moment can be ignored; Aspect inhibition redundant force, select low inertia high pulling torque torque motor and kinematic train, and utilize steering wheel position prediction to carry out pre-service to the steering wheel position command receiving, make loading system can accurately predict the physical location of steering wheel, thereby realize, according to loading spectrum, steering wheel is applied the object of accurate moment in each swash angle position.The feature such as there is stable performance, good reliability, cost is little, design debug is flexible.

Claims (4)

1. the steering wheel load simulating device based on electronic loading, it is characterized in that: comprise that four station moments load passage, total arrangement is symmetrical according to four-way cross, and four moment loading passages are separate, and each passage is that a tested steering wheel (1) provides loading; Every passage comprises low inertia torque motor (5), torque sensor (4), the output shaft flange (3) being connected successively; Output shaft flange (3) is connected with simulation rudder stock (2), and simulation rudder stock (2) is connected with tested steering wheel (1).
2. a kind of steering wheel load simulating device based on electronic loading according to claim 1, it is characterized in that: described low inertia torque motor (5) is positioned on motor cabinet (6), and adopt monoblock type bearing with output shaft flange (3), guarantee right alignment; Torque sensor (4) is connected with output shaft flange (3) with low inertia torque motor (5) respectively by expansion coupler.
3. a kind of steering wheel load simulating device based on electronic loading according to claim 2, it is characterized in that: described simulation rudder stock (2) is positioned on steering engine seat (7), it is upper that steering engine seat (7) and motor cabinet (6) are installed in test table top (8), can move with guide rail.
4. according to arbitrary described a kind of steering wheel load simulating device based on electronic loading in claim 1-3, it is characterized in that: described low inertia torque motor (5) is controlled by motor driver, the motor that motor driver receives the output of moment loading control drives instruction, and motor driver output angle of rudder reflection is to moment loading control; Tested steering wheel (1) is controlled by steering engine controller, and steering engine controller receives the steering wheel position command that simulation computer provides; Simulation computer also sends to moment loading control by torque command and position command, and torque sensor (4) is sent to moment loading control by torque-feedback.
CN201420211892.5U 2014-04-28 2014-04-28 Steering engine load simulation device based on electric loading CN203858778U (en)

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105628349A (en) * 2014-10-31 2016-06-01 北京精密机电控制设备研究所 Adjustable-rigidity double-air-rudder equivalent load simulation device
CN106564617A (en) * 2016-10-27 2017-04-19 北京实验工厂 FLAP control plane loading device and function testing method
CN107179682A (en) * 2017-06-20 2017-09-19 南京理工大学 A kind of passive type load simulator and Surplus Moment suppressing method
CN107884216A (en) * 2017-10-17 2018-04-06 兰州飞行控制有限责任公司 A kind of bullet steering wheel simulation test equipment
CN107976915A (en) * 2017-11-24 2018-05-01 长光卫星技术有限公司 A kind of small-sized unmanned plane semi-physical system and emulation mode
CN108459214A (en) * 2017-12-12 2018-08-28 贵州航天控制技术有限公司 Torque loading device for steering engine
CN108613819A (en) * 2018-05-02 2018-10-02 北京尖翼科技有限公司 a kind of test system
CN109211467A (en) * 2018-09-14 2019-01-15 北京遥感设备研究所 A kind of load of rudder face load torque measures torque calibration device with angle of rudder reflection
CN109264024A (en) * 2018-10-24 2019-01-25 杨晓伟 Aircraft steering engine dynamic performance integrated test platform
CN109307610A (en) * 2018-09-25 2019-02-05 四川航天烽火伺服控制技术有限公司 Rudder system load simulation test device
CN109969427A (en) * 2019-04-11 2019-07-05 北京工业大学 A kind of load simulation platform with denaturation compensation function
CN110127080A (en) * 2019-04-22 2019-08-16 北京零壹空间技术研究院有限公司 Steering engine load simulator
CN110261152A (en) * 2019-06-18 2019-09-20 长春理工大学 A kind of superposition adjustment type multichannel Rudder Loading System
CN110926774A (en) * 2019-11-27 2020-03-27 北京交通大学 Flange connection supporting device of steering engine connecting shaft
CN109969427B (en) * 2019-04-11 2021-04-30 北京工业大学 Load simulation platform with deformation compensation function

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105628349A (en) * 2014-10-31 2016-06-01 北京精密机电控制设备研究所 Adjustable-rigidity double-air-rudder equivalent load simulation device
CN105628349B (en) * 2014-10-31 2018-05-18 北京精密机电控制设备研究所 A kind of rigidity adjustable double airvane equivalent load simulator
CN106564617A (en) * 2016-10-27 2017-04-19 北京实验工厂 FLAP control plane loading device and function testing method
CN107179682B (en) * 2017-06-20 2020-06-02 南京理工大学 Passive load simulator and redundant moment restraining method
CN107179682A (en) * 2017-06-20 2017-09-19 南京理工大学 A kind of passive type load simulator and Surplus Moment suppressing method
CN107884216A (en) * 2017-10-17 2018-04-06 兰州飞行控制有限责任公司 A kind of bullet steering wheel simulation test equipment
CN107976915A (en) * 2017-11-24 2018-05-01 长光卫星技术有限公司 A kind of small-sized unmanned plane semi-physical system and emulation mode
CN107976915B (en) * 2017-11-24 2020-09-01 长光卫星技术有限公司 Semi-physical simulation system and simulation method for light and small unmanned aerial vehicle
CN108459214A (en) * 2017-12-12 2018-08-28 贵州航天控制技术有限公司 Torque loading device for steering engine
CN108613819A (en) * 2018-05-02 2018-10-02 北京尖翼科技有限公司 a kind of test system
CN109211467A (en) * 2018-09-14 2019-01-15 北京遥感设备研究所 A kind of load of rudder face load torque measures torque calibration device with angle of rudder reflection
CN109307610A (en) * 2018-09-25 2019-02-05 四川航天烽火伺服控制技术有限公司 Rudder system load simulation test device
CN109264024A (en) * 2018-10-24 2019-01-25 杨晓伟 Aircraft steering engine dynamic performance integrated test platform
CN109969427A (en) * 2019-04-11 2019-07-05 北京工业大学 A kind of load simulation platform with denaturation compensation function
CN109969427B (en) * 2019-04-11 2021-04-30 北京工业大学 Load simulation platform with deformation compensation function
CN110127080A (en) * 2019-04-22 2019-08-16 北京零壹空间技术研究院有限公司 Steering engine load simulator
CN110261152A (en) * 2019-06-18 2019-09-20 长春理工大学 A kind of superposition adjustment type multichannel Rudder Loading System
CN110926774A (en) * 2019-11-27 2020-03-27 北京交通大学 Flange connection supporting device of steering engine connecting shaft

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