CN204705887U - A kind of pneumatic servo weighted platform structure - Google Patents
A kind of pneumatic servo weighted platform structure Download PDFInfo
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- CN204705887U CN204705887U CN201520348335.2U CN201520348335U CN204705887U CN 204705887 U CN204705887 U CN 204705887U CN 201520348335 U CN201520348335 U CN 201520348335U CN 204705887 U CN204705887 U CN 204705887U
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Abstract
The utility model relates to a kind of pneumatic servo weighted platform structure, is made up of air supply system, steering gear system, loading component, control system, is connected between each system by pipeline or wire; The loading stage body radius of steering gear system is adjustable; Load stage body and have four passages connecing loading component, the loading component of each passage realizes the loading to a rudder face.The feedback of upper and lower computer controlled loading torque command and moment, angle signal worked in coordination with by loading control, controller calculates controlled quentity controlled variable by control algolithm, by D/A module, controlled quentity controlled variable is sent to pneumatic servovalve, the closed-loop control that the moment reaching controlled loading parts by the valve core opening amount controlling pneumatic servovalve exports, different loads spectrum can be obtained in real time and be applied in real time on steering wheel, completing the Hardware-in-loop Simulation Experimentation of control loop aerodynamic force.The utility model can realize different range, multi-form loading test, and can repeat and on-line debugging; Volume is little, weight is little, and system power dissipation is little.
Description
Technical field
The utility model relates to a kind of pneumatic servo weighted platform structure.
Background technology
Steering wheel is a kind of important topworks in Mechatronic control system, is widely used in the system such as Aero-Space, boats and ships.In aerospace applications field, steering wheel is for adjusting the attitude such as pitching, driftage, rolling of aircraft.Before steering wheel is successfully applied to aircraft, band to be carried out to steering wheel and carry test (being also hardware-in-the-loop simulation).Generally, the method that test adopts electro-hydraulic loading test is carried to the band of steering wheel.But there is a kind of special steering wheel short for its working time, travelling speed is high, if the loading test for this steering wheel adopts the mode of electro-hydraulic loading, because fluid elastic modulus is very large, during steering wheel instant movement, the passive flux loading motor is very large, cannot discharge in time, and fluid compression will cause huge redundant force.Its numerical value, by much larger than given loading force, even may destroy whole loading system and steering gear system; If adopt electrical servo load mode, because the moment of inertia of torque motor rotor is usually larger, in steering wheel high speed motions, motor cannot drive its rotor to reach the speed identical with high-speed motion steering wheel and acceleration, rotor will be dragged by steering wheel, the damping force sum that rotor inertial forces and back electromotive force cause is exactly redundant force, exceeds loading force.By above analysis, be not difficult to show that electric liquid and Electric Loading System are all not suitable for the conclusion of high-speed motion Loading for actuator.
Because high-speed motion steering wheel utilizes drive of high-pressure gas, load has considerable influence to its driving force, therefore must carry out strict test to its load function, and especially it is being with the functional reliability under year operating mode.Generally realize by adding the destructive tests such as constant pressure load or target practice in the test of high-speed motion steering wheel in early days.Add constant pressure and cannot reappear the authenticity of steering wheel in actual condition, and its cost of Targeting is higher.If can have a kind of alternative destructive test in kind, and the analogue means possessing degree of precision and repeatability can simulate the various load that high-speed motion steering wheel is subject in real work, will have very strong use value.
Summary of the invention
The purpose of this utility model is for above-mentioned present situation, and aim to provide a kind of can test for high-speed motion steering wheel carry out loading, and can realize different range, multi-form loading test, also can repeat and on-line debugging; Volume is little, weight is little, the pneumatic servo weighted platform structure that system power dissipation is little.
The implementation of the utility model object is, a kind of pneumatic servo weighted platform structure, is made up of air supply system, steering gear system, loading component, control system, is connected between each system by pipeline or wire; The loading stage body radius of steering gear system is adjustable; Load stage body and have four passages connecing loading component, the loading component of each passage realizes the loading to a rudder face;
The adjustable inertia disc of described loading component is connected with position transducer, torque sensor, air motor successively by connector, and air motor is equipped with proportional servo valve;
The steering wheel of described steering gear system, the position transducer of air motor connect proportional servo valve respectively; The proportional servo valve of steering wheel, air motor connects gas tank by reduction valve, filtrator, dryer; The torque sensor of steering wheel, air motor is connected;
Loading control is worked in coordination with upper and lower computer and is controlled air supply system, control system; Control system has host computer, slave computer and flight control computer, and host computer is connected with source of the gas controller by serial ports; Slave computer has network interface card, parallel communication module, 96 road I/O modules, 4+4 road D/A module, 12 road D/A modules, there is the general output interface connecing frequency spectrograph, servo driving connects slave computer by servo drive circuit, and the input of frequency spectrograph, torque sensor, position transducer connects slave computer by Conditioning Circuits of Sensor.
The utility model, compared with the steel spring plate load mode of transmission, can realize different range, multi-form loading test, and can repeat and on-line debugging; Compared with destructive test in kind, cost-saving, steering wheel is reusable; Compared with electro-hydraulic loading mode, be conducive to forming flexible drive mechanism and realizing high-speed motion, larger compressibility can sponge to a great extent because of steering wheel high speed and the high redundant force accelerating to cause, and has the effect of overload protection.And relative to electric loading system scheme, the power density of pneumatically loading is relatively large, rotor inertia is relatively little, can not produce very large inertia redundant force.Pneumatically loading can adopt high pressure tank to coordinate the version of small displacement, low power air compressor machine in addition, has the advantages such as volume is little, weight is little, and system power dissipation is little, is applicable to load test.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation,
Fig. 2 is loading component structural representation,
Fig. 3 is that pneumatic servo loads test control system structural drawing,
Fig. 4 is pneumatic servo charger schematic diagram.
Embodiment
The utility model is made up of air supply system, steering gear system, loading component, control system, is connected between each system by pipeline or wire.
With reference to the accompanying drawings in detail the utility model is described in detail.
With reference to Fig. 1, the utility model is made up of air supply system 1, steering gear system 2, loading component 3, control system 4, is connected between each system by pipeline or wire.The loading stage body radius of steering gear system 2 is adjustable, can be adapted to the steering wheel of different radii.Load stage body and have four passages connecing loading component 3, the loading component of each passage realizes the loading to a rudder face.
With reference to Fig. 2, the adjustable inertia disc 5 of described loading component is connected with position transducer 6, torque sensor 7, air motor 10 successively by connector 8, air motor 10 is equipped with proportional servo valve 9.
The steering wheel 28 of described steering gear system 2 is connected by axle with the position transducer 29 of air motor 10, torque sensor 36; The proportional servo valve 31 of steering wheel and air motor connects reduction valve 32, filtrator 31, dryer 30, gas tank 29 successively.
With reference to Fig. 3, control system 4 has host computer 12, slave computer 18 and flight control computer 16.Host computer 12 is connected with source of the gas controller 27 by serial ports 13, slave computer 18 has network interface card 14, parallel communication module 17,96 road I/O module 19,4+4 road D/A module 20,12 road D/A module 15, there is the general output interface 23 connecing frequency spectrograph 25, servo driving 21 connects slave computer by servo drive circuit 20, frequency spectrograph 25, torque sensor 24, connects slave computer 18 by Conditioning Circuits of Sensor 26.
With reference to Fig. 4, the position transducer 6 of steering wheel 28, air motor 10 connects proportional servo valve 9 respectively.The proportional servo valve of steering wheel, air motor connects gas tank 29 by reduction valve 32, filtrator 31, dryer 30.The torque sensor 7 of steering wheel, air motor is connected.
Fig. 4 is the loading principle schematic diagram of loading system, and wherein left side is loading system, and right side is steering gear system, and left side sends torque command, and right side sends angle command.The output shaft of steering wheel 28 and air motor 10 is directly coaxially connected by positive coupling.In the hardware-in-the-loop simulation process of whole flight control system, loading component and steering gear component carry out torque servo control and position servo control respectively under the control of simulation computer and flight control computer.Flight control computer is according to requirements such as the attitudes of aircraft, calculate the expectation deflection angle of steering wheel, steering wheel moves under the control action of flight control computer according to this corner instruction, and the angular transducer simultaneously on steering wheel feeds back to flight control computer exporting angle.Simulation computer is according to aircraft six degrees of freedom model, in conjunction with related physical quantities such as flying height, flying speed, flight attitude, control surface deflection angle and atmospheric parameters, calculate the aerodynamic moment load that now steering wheel should bear, this is sent to loading control as torque command.Loading control carries out torque servo control according to torque command to loading component, and simultaneously loading component output shaft is followed steering wheel and moved together.
Control system of the present utility model is made up of source of the gas controller, loading control and sensor conditioning module, communication module and upper and lower computer, can with simulation computer communication, to obtain relevant loading spectrum in real time, and this loading spectrum is applied on tested steering wheel in real time.With reference to Fig. 3, control principle is as follows; The window application that employing VC writes, by network and slave computer communication, can carry out the hardware-in-the-loop simulation of system very easily, to complete the loading to steering wheel Arbitrary Loads spectrum; Self-checking function, completes motion, debugs top and static loading; State modulator, to regulate observing and controlling parameter; Data readback and analysis, error analysis etc.; Data are changed, analyzing test data etc.; Carrying out network communication between mode and simulation computer additionally by real-time network interface, parallel port, simulation mouth etc. makes load simulator be incorporated in large analogue system; Be connected with source of the gas controller by serial ports, achieve (see Fig. 3) such as computer virtual source of the gas controllers.
Proportional servo valve 9 of the present utility model is produced by Festo, flow 350L/min, frequency range 100Hz, input signal ± 10V.Air motor 10 is produced by Festo, operating pressure 0.3-1.2MPa, discharge capacity 3.2 × 10
-4m
3/ rad volume 1.5L, inertia 0.00084kg.m
2.Torque sensor provided by space flight 701, range 82Nm, precision 0.001.Displacement transducer provided by space flight 701, range 270 °, precision 0.01 °.Upper and lower machine controls (grinding magnificent industrial computer).Air compressor is provided by Italian WERTHER company.
During utility model works, the feedback of upper and lower computer controlled loading torque command and moment, angle signal worked in coordination with by loading control, controller calculates controlled quentity controlled variable by control algolithm, by D/A module, controlled quentity controlled variable is sent to pneumatic servovalve, thus reached the closed-loop control of the moment output of controlled loading parts by the valve core opening amount controlling pneumatic servovalve.The different loads spectrum that pneumatic servo weighted platform can obtain in real time is also applied on steering wheel in real time, thus completes the Hardware-in-loop Simulation Experimentation of control loop aerodynamic force.
Claims (2)
1. a pneumatic servo weighted platform structure, is characterized in that being made up of air supply system, steering gear system, loading component, control system, is connected between each system by pipeline or wire; The loading stage body radius of steering gear system is adjustable; Load stage body and have four passages connecing loading component, the loading component of each passage realizes the loading to a rudder face;
The adjustable inertia disc of described loading component is connected with position transducer, torque sensor, air motor successively by connector, and air motor is equipped with proportional servo valve;
The steering wheel of described steering gear system, the position transducer of air motor connect proportional servo valve respectively; The proportional servo valve of steering wheel, air motor connects gas tank by reduction valve, filtrator, dryer; The torque sensor of steering wheel, air motor is connected;
Loading control is worked in coordination with upper and lower computer and is controlled air supply system, control system; Control system has host computer, slave computer and flight control computer, and host computer is connected with source of the gas controller by serial ports; Slave computer has network interface card, parallel communication module, 96 road I/O modules, 4+4 road D/A module, 12 road D/A modules, there is the general output interface connecing frequency spectrograph, servo driving connects slave computer by servo drive circuit, and the input of frequency spectrograph, torque sensor, position transducer connects slave computer by Conditioning Circuits of Sensor.
2. a kind of pneumatic servo weighted platform structure according to claim 1, is characterized in that the output shaft of steering wheel (28) and air motor (10) is directly coaxially connected by positive coupling.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520348335.2U CN204705887U (en) | 2015-05-26 | 2015-05-26 | A kind of pneumatic servo weighted platform structure |
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| CN201520348335.2U CN204705887U (en) | 2015-05-26 | 2015-05-26 | A kind of pneumatic servo weighted platform structure |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105206133A (en) * | 2015-09-29 | 2015-12-30 | 北京精密机电控制设备研究所 | Push shot device and method for air floating simulator |
| CN105353646A (en) * | 2015-11-04 | 2016-02-24 | 中国电子科技集团公司第四十一研究所 | Method and device for realizing instrument interface simulation |
| CN106527150A (en) * | 2016-12-30 | 2017-03-22 | 湖北工业大学 | Nonlinear composite control method of pneumatic servo loading system |
| CN106564617A (en) * | 2016-10-27 | 2017-04-19 | 北京实验工厂 | FLAP control plane loading device and function testing method |
| CN107345535A (en) * | 2017-07-04 | 2017-11-14 | 太原理工大学 | A kind of flow pressure divides chamber to coordinate control load simulation method |
| 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 |
| CN109264024A (en) * | 2018-10-24 | 2019-01-25 | 杨晓伟 | Aircraft steering engine dynamic performance integrated test platform |
| CN109856989A (en) * | 2018-11-26 | 2019-06-07 | 广东工业大学 | A kind of pneumatic force servo system emulation modelling method |
| CN111008118A (en) * | 2019-12-03 | 2020-04-14 | 中国运载火箭技术研究院 | Servo system energy consumption evaluation system and evaluation method |
| CN111717414A (en) * | 2020-06-23 | 2020-09-29 | 北京理工伺服科技有限公司 | Pneumatic load simulating device of steering engine |
| CN113888926A (en) * | 2021-08-12 | 2022-01-04 | 北京精密机电控制设备研究所 | Electromechanical force servo load bearing platform |
| CN116280294A (en) * | 2023-03-24 | 2023-06-23 | 北京航辰机载智能系统科技有限公司 | Inertial force simulation method and system in ground test environment |
-
2015
- 2015-05-26 CN CN201520348335.2U patent/CN204705887U/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105206133A (en) * | 2015-09-29 | 2015-12-30 | 北京精密机电控制设备研究所 | Push shot device and method for air floating simulator |
| CN105353646A (en) * | 2015-11-04 | 2016-02-24 | 中国电子科技集团公司第四十一研究所 | Method and device for realizing instrument interface simulation |
| CN106564617A (en) * | 2016-10-27 | 2017-04-19 | 北京实验工厂 | FLAP control plane loading device and function testing method |
| CN106527150A (en) * | 2016-12-30 | 2017-03-22 | 湖北工业大学 | Nonlinear composite control method of pneumatic servo loading system |
| CN107345535A (en) * | 2017-07-04 | 2017-11-14 | 太原理工大学 | A kind of flow pressure divides chamber to coordinate control load simulation method |
| CN107345535B (en) * | 2017-07-04 | 2018-07-20 | 太原理工大学 | A kind of flow pressure divides chamber to coordinate control load simulation method |
| 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 |
| CN109264024A (en) * | 2018-10-24 | 2019-01-25 | 杨晓伟 | Aircraft steering engine dynamic performance integrated test platform |
| CN109856989A (en) * | 2018-11-26 | 2019-06-07 | 广东工业大学 | A kind of pneumatic force servo system emulation modelling method |
| CN111008118A (en) * | 2019-12-03 | 2020-04-14 | 中国运载火箭技术研究院 | Servo system energy consumption evaluation system and evaluation method |
| CN111717414A (en) * | 2020-06-23 | 2020-09-29 | 北京理工伺服科技有限公司 | Pneumatic load simulating device of steering engine |
| CN111717414B (en) * | 2020-06-23 | 2023-12-22 | 北京理工伺服科技有限公司 | Pneumatic simulation load device of steering engine |
| CN113888926A (en) * | 2021-08-12 | 2022-01-04 | 北京精密机电控制设备研究所 | Electromechanical force servo load bearing platform |
| CN113888926B (en) * | 2021-08-12 | 2023-10-31 | 北京精密机电控制设备研究所 | Electromechanical power servo load table |
| CN116280294A (en) * | 2023-03-24 | 2023-06-23 | 北京航辰机载智能系统科技有限公司 | Inertial force simulation method and system in ground test environment |
| CN116280294B (en) * | 2023-03-24 | 2024-03-12 | 北京航辰机载智能系统科技有限公司 | Inertial force simulation method and system in ground test environment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151014 Termination date: 20170526 |