RU2249173C1 - Method to test a developed torque of an electro-pneumatic steering gear of guided missiles and projectiles - Google Patents

Abstract

FIELD: defense engineering; production of guided missiles and projectiles.

SUBSTANCE: the invention is pertinent to the field of defense engineering, in particular, to production of guided missiles and projectiles. The technical result of the invention is simplification of testing, increased accuracy, decreased labor input and cost of the testing. The method of testing of a developed torque of an electro-pneumatic steering gear of guided missiles and projectiles is based on a torque measurement of the steering gear with the help of a reference load and an easily removable balance lever put on a rudder. Then the steering gear with a detector of the rudders motion are installed on a customizing table. The detector of the rudders motion is made in the form of a separate contact or non-contact sensor or for the purpose they use an available in the steering gear as a feedback gauge - the gauge of a piston linear motion or a gauge of angular motion of rudders. The rudders turning at a maximum angle in one side is made using application of a torque of the corresponding sign by a reference load with the weight on a definite length of an arm of a placement of the load on the lever in respect to the axis of rotation of the rudders equal to a developed torque of the steering gear at the given pressure of the feeding. Switch on the power of the gauge, measure the voltage on the gauge output by a voltmeter, remove a torque by removal of the reference load, turn the rudders at a maximum angle in other side using application of a torque of an opposite sign equal to a maximum torque of a hinged load on the rudders in respect to the rudders turning angle and an angle of attack of a missile or a projectile. Switch on power supply of the booster of the steering gear and feed onto an input of the steering gear compressed air under pressure of P = 1.5P_gvn., feed onto the input of the steering gear a maximum control signal of management corresponding to the motion of the rudders at a maximum angle, measure the voltage on the output of the gauge, which should meet the first given ratio. By a smooth reduction of pressure of the feeding in the pneumo-circuit) of the steering gear and according to reduction of voltage on the output of the gauge determine pressure P $\genfrac{}{}{0ex}{}{\text{+}}{\text{1}}$ at which the voltage will meet the second given ratio. At that the pressure P $\genfrac{}{}{0ex}{}{\text{+}}{\text{1}}$ should be no more than P_gvn , remove a pneumatic feeding and the power supply of the booster of the steering gear and switch off the control signal and the power of the gauge. After that using an analogous method they measure voltages and determine the pressure at application of the corresponding torques and a control signal of an opposite sign and determine a developed torque of the steering gear according to the mathematical formula.

EFFECT: the invention ensures simplification of testing, increased accuracy, decreased labor input and cost of the testing.

5 cl, 1 dwg

Description

The present invention relates to tests of power control systems for aircraft and it can be most expediently used to check (control) the quality of functioning of the electro-pneumatic steering drive of guided missiles and shells.

Steering drives [1-4] guided missiles and shells are related to objects with variable parameters. Over a wide range of missile and projectile flight times, the articulated load on the rudders changes (from spring to overcompensation) due to changes in the missile and projectile flight speed, the maximum developed moment and drive speed in guided missiles and shells using, for example, compressed air energy for account of the head pressure of the rocket and the projectile that is incident during the flight, and the control signal parameters.

One of the main parameters of the drive, determining the quality of the drive’s functioning, namely its speed and accuracy, is the maximum developed moment, the value of which is determined and laid down during the design of the drive and is provided during the production and testing, which is inevitably associated with the control of this important parameter.

The development of simple, reliable and informative methods and means of controlling the quality of the operation of steering drives and their main parameters at various stages of development, production and testing of drives has been and remains an urgent technical task.

It is known [5, p.5, 2nd paragraph from the bottom] that the most technically difficult when testing machines (various types of engines and power tools) is to measure the power characteristics of power tools. The source of information [5] discusses the application of various methods and apparatus for measuring torque.

According to the principle of operation (conversion method), all instruments and devices for measuring torque can be divided into the following four main groups: mechanical, hydraulic, optical, electrical. Figure 1 of the source [5] gives a detailed classification of devices for measuring torque (PCM).

Known [5, p. 8, 5th paragraph from the bottom] the most simple and reliable method of recording torque, adopted as an analogue, based on the direct measurement of deformation on the surface of the shaft under investigation using strain gauges. Such PCMs are called ohmic.

The disadvantages of the known method of measuring torque using a strain gauge transducer (resistance tensometer) are the complexity and complexity. This is because for measuring the torque it is necessary to use a bridge circuit [5, p. 75] with four load cells, which are glued to the drive shaft at an angle of 45 ° to the axis. A complex amplification (strain gauge amplifiers) and recording equipment for measuring torque is needed [5, p.127-154], since a strain gauge with a low output signal level is used as a primary converter. For the transmission and removal of information in the form of electrical signals between the rotating shaft of the drive and the fixed base, it is also necessary to have the corresponding collector devices.

All of the above is a limiting factor for the application of this method of measuring the developed moment in known steering gears [1-4] and in an electro-pneumatic steering gear [3, p. 116, Fig. 3.4], for example, in particular. The drive consists of a power pneumatic actuator (jet tube, pneumatic cylinder), an electromechanical transducer, the anchor of which is rigidly connected to the jet tube, a potentiometric feedback sensor, an electronic power amplifier, in which, along with the amplification of the signal by power, the control signal and feedback are also summed. The pneumatic cylinder is a power engine, the rod of which is connected to the steering wheel by means of a kinematic connection. The energy supply system for compressed air includes a cylinder with compressed gas, a pyro pneumatic seal and a pressure reducer.

Of course, the given scheme does not exhaust the whole variety of pneumatic steering drives in which it is necessary to measure the developed moment. This can be a closed relay self-oscillating air-dynamic steering gear [4] or an open relay air-dynamic steering gear [6].

To the noted drawbacks of the known method of measuring the torque (developed) moment of the drives using a strain gauge transducer, the basis of which is a strain gauge, it should be added with respect to pneumatic steering drives of small-sized guided missiles and shells the difficulty, and sometimes the impossibility of placing measuring strain gauges due to the constructive limited space on axes of rotation of the rudders for the installation of rather large-sized (by area) strain gages.

As the closest analogue (prototype) adopted a method [6] for controlling the dynamics of an open pneumatic actuator control system of a rotating rocket. The control is carried out at the maximum and minimum supply pressure and the information on the angular position of the rudders is removed from the output of the rudder angle sensor when the drive develops a two-position relay control signal. The disadvantage of this method of controlling the dynamics of a pneumatic actuator is low information content, since it is not clear how, how, with what technical means, one of the main and important parameters of the drive should be checked, that is, the developed moment that determines the dynamics and accuracy of the drive.

At first glance, it seems obvious in this case that checking the developed moment of the electro-pneumatic steering drive of guided missiles and shells by directly measuring the rudder axis with the well-known lever and reference load of the moment when the rudders are removed from the stop after working out the drive control signal has the following disadvantages:

1. The presence of a significant (compared with the developed) moment of resistance to the rotation of the rudders due to friction in the drive elements (piston-cylinder, piston rod-rod support, bearings of the axles of the rudders, etc.), the neglect of which when measuring the developed moment of the drive leads to significant errors in metering.

2. The complexity of the measurement and low accuracy of measuring the moment of resistance.

3. The complexity of accounting for the error in measuring the moment from the angle of rotation of the lever with the load, since the torque from the load is determined by the component of the weight of the cargo, proportional to the cosine of the angle of rotation of the lever, at large angles of rotation, the error can be significant.

The objective of the invention is to increase the information content, simplify verification (control), increase accuracy, reduce the complexity and cost of checking the developed moment of the electro-pneumatic steering drive of guided missiles and shells.

This is achieved through the application of the proposed method for checking the developed moment of the electro-pneumatic steering drive of guided missiles and shells, including supplying compressed air to the drive input and measuring the steering angle.

противоположного знака, равного максимальному моменту

шарнирной нагрузки на рулях от угла поворота рулей и угла атаки ракеты, снаряда, включают электропитание усилителя рулевого привода и подают на вход привода сжатый воздух давлением Р=1,5Р_зад, подают на вход привода максимальный сигнал управления

$\genfrac{}{}{0ex}{}{\text{+}}{\text{у}}$ , соответствующий перемещению рулей на максимальный угол +δ _max измеряют напряжение U₂ на выходе датчика, которое должно удовлетворять соотношениюNew compared with the prior art is that set on the installation table steering drive with displacement sensor rudders, put on the steering wheel easily removable balanced lever pivoted wheels at the maximum angle + δ _max in one direction by applying a torque corresponding to the mark M _Bp = Ql ₁ cosδ _max load weight reference Q in a certain length l ₁ placing cargo on the lever arm axis of rotation control surfaces equal to the developed torque actuator at a predetermined supply pressure P _ass include transmitter power, measured in tmetrom voltage U ₁ of the sensor output, relieve torque removal reference load wheels rotated at the maximum angle -δ _max in the opposite direction by applying a torque

opposite sign equal to the maximum moment

the articulated load on the rudders from the angle of rotation of the rudders and the angle of attack of the rocket, projectile, turn on the power supply of the power steering amplifier and apply compressed air to the drive input with a pressure of P = 1.5P _back , apply the maximum control signal to the drive input

$\genfrac{}{}{0ex}{}{\text{+}}{\text{at}}$ corresponding to the movement of the rudders to the maximum angle + δ _max measure the voltage U ₂ at the output of the sensor, which must satisfy the ratio

U ₂ ≥ U ₁ .

, при котором напряжение будет удовлетворять соотношениюBy smoothly reducing the supply pressure in the actuator pneumatic network to reduce the voltage at the output of the sensor determine the pressure

at which the voltage will satisfy the relation

U ₃ = (0.98 _-0.05 ) U ₁ ,

должно быть не более Р_зад, снимают пневмопитание и электропитание усилителя привода и выключают сигнал управления

и питание датчика, после чего аналогичным способом измеряют напряжения U₁, U₂, U₃ и определяют давление

при приложении соответствующих моментов и сигнала управления U $\genfrac{}{}{0ex}{}{\text{-}}{\text{у}}$ противоположного знака и определяют развиваемый момент М_разв привода по формулеwhile pressure

should be no more than P _ass , remove the pneumatic and power supply of the drive amplifier and turn off the control signal

and the sensor power, after which the voltage U ₁ , U ₂ , U ₃ are measured in a similar manner and the pressure is determined

when applying the corresponding moments and control signal U $\genfrac{}{}{0ex}{}{\text{-}}{\text{at}}$ of the opposite sign and determine the developed moment M _{ra of the} drive according to the formula

S_пRcosδ _max,M _U = K

S _p Rcosδ _max ,

where S _p - the effective area of the piston of the power pneumatic cylinder drive;

R is a design parameter for converting the translational motion of the piston into a rotary rudder;

- измеренная величина давления при отклонении рулей привода на упор в одну и другую стороны;

- the measured pressure value when the rudders of the drive are deflected in one direction or the other;

K is the pressure ratio of the drive, determined by the type of switchgear and pressure losses in the drive to the switchgear.

The rudder displacement sensor is implemented as a separate contact or non-contact sensor or the linear piston displacement or rudder angular displacement sensor available in the drive is used.

The method is implemented by the device, the circuit diagram of which is shown in the drawing. The device contains a verifiable electro-pneumatic steering gear 1 with rudders 2 mounted on the installation table 3, a potentiometric gauge 4 of the angle of rotation of the rudders, an easily removable balanced lever 5, a reference load 6, a power supply 7 of the sensor 4, a voltmeter 8, a source 9 of pneumatic power supply with high-pressure compressed air, a pressure reducer 10 with a control valve 11, a receiver 12 with a pressure gauge 13 and a safety relief valve 14, a driver 15, a power supply 16 of an electric air-power steering amplifier 1, an angle meter in de scale 17 installed and fixed on the steering gear housing 1, and an arrow 18, is rigidly connected with the lever 5, the engine 19 is kinematically linked to the rotation axis 20 of the steering wheels 2, the transmitter 4.

Checked steering gear 1 is installed and mounted on the installation table 3 (fasteners due to their lack of principle are not shown in the drawing). From a compressed air source 9, for example, a high-pressure network, through a pneumatic supply system containing a pressure regulator 10 of compressed air flow parameters, a receiver 12 with a pressure gauge 13 and a relief valve 14, compressed air is supplied to the input of the steering gear 1. The working pressure is set and controlled by the pressure gauge 13. U _у - drive control signal; U _p - supply voltage of the electronic power steering; U _zap - voltage supply sensor; δ is the angle of rotation of the rudders; P _p , T _p , G _p - parameters (pressure, temperature, flow rate of the working fluid (compressed air).

Electrical switching of the outputs of devices 7, 15, 16 (the power source of the sensor, the driver, the power source of the drive amplifier and the input of the device 8 (voltmeter), as a rule, is carried out in the control and monitoring panel, the output of which is connected to the corresponding connector through an electric cable with a connector of the checked steering drive 1. If the amplifier is not structurally included in the drive, it is also located in the control and monitoring panel.In order not to obscure the circuit diagram of the test, this remote control does not shown.

The power source 16 of the electronic power steering amplifier (not shown in the diagram) and a driver 15 for supplying a control signal U _at the input of the power amplifier are connected to the tested steering drive 1. The inputs (conclusions 1, 2) of the potentiometric rudder angle sensor 4 are connected to the source 7 output with a supply voltage ± U _app (the kinematic connection of the sensor 4 engine 19 with the axis of rotation 20 of the rudders 2 is not shown in the diagram so as not to obscure the drawing). The voltage from the output of the sensor 4 is supplied to the input of the voltmeter 8, for example, a universal voltmeter type B7-16 with a digital readout. An easily removable balanced lever 5 with a reference load 6 is put on the steering wheel 2 to create torque. For additional visual indication of the angle of rotation of the rudders (if necessary), a protractor is used in the form of an arrow 18, rigidly connected to the lever 5, and a scale 17 fixed with a clamp on the steering gear housing 1 (the clamp and fastening elements are not shown on the diagram due to lack of principle) . As a goniometer, you can use any other, for example, an optical goniometer with higher accuracy of measuring the angle of rotation of the rudders than a mechanical goniometer - arrow-scale. As a rudder displacement sensor, a separate contact or non-contact rudder angle sensor in the case of an open steering drive is used or the steering wheel piston linear displacement sensor or an angular displacement (rudder angle) in the case of a closed steering drive is available as a feedback sensor where the sensor is a necessary element of the steering control system, whereas in the first case, that is, in an open drive, the sensor is an indication element relocation, according to which information is judged on the speed and accuracy of the drive.

противоположного знака, равный максимальному моменту

шарнирной нагрузки на рулях от угла поворота рулей и угла атаки снаряда, ракеты. Включается электропитание усилителя рулевого привода и подается на вход привода сжатый воздух давлением в 1,5 раза выше P_зад. Подается на вход привода с выхода задающего устройства максимальный сигнал управления

, соответствующий перемещению рулей на максимальный угол +δ _max The device operates as follows. On the lever arm 5 with the weight of the reference load torque Q is created, M _rot = Ql ₁ cosδ _max, where l ₁ - distance from the axis of rotation of the steering wheels prior to installation of the cargo space, δ _max - the maximum angle of rotation of the rudders. The magnitude of the moment M _{BP is} set equal to the developed moment of the steering drive at a given P _{ass set} supply pressure, for example, at the selected design verification mode, corresponding to the case of the maximum or minimum flight speed of a rocket, projectile in the case of an air-dynamic steering drive. In this case, the rudders rotate at the maximum angle + δ _max in one direction clockwise, as determined by the position of the load on the diagram. The power of the sensor 4 is turned on. The voltage U ₁ at the output of the sensor 4 is measured with a voltmeter 8. Using this load 6, mounted on the other arm of the lever 5, a torque is created

opposite sign equal to the maximum moment

articulated load on the rudders from the angle of rotation of the rudders and the angle of attack of the projectile, rocket. The power supply to the power steering is turned on and compressed air is supplied to the drive input with a pressure 1.5 times higher than P _ass . The maximum control signal is supplied to the input of the drive from the output of the master.

corresponding to the movement of the rudders at the maximum angle + δ _max

за счет эталонного груза весом Q на плече l ₂) и момент сопротивления M_сопр, определяемый моментами от сил трения в паре поршень-силовой цилиндр, шток поршня-опора штока, в датчике перемещения рулей, в подшипниках осей рулей. Поворот рулей на упор гарантируется превышением развиваемого момента M_разв по сравнению с суммарным моментом от

и M_сопр, то естьThus under the action develops handlebars M _isolator drive torque to rotate stop at an angle + δ _max, overcoming the load moment (torque

due to the reference load weighing Q on the shoulder l ₂ ) and the moment of resistance M _sop , determined by the moments of friction in a pair of piston-power cylinder, piston rod-rod support, in the rudder displacement sensor, in the rudder axis bearings. Turning the rudders to the stop is guaranteed by exceeding the developed moment M _uncompared with the total moment from

and M _sop , i.e.

+М_сопр,M _development >

+ M _sopr ,

this is ensured by supplying high pressure compressed air to the inlet of the drive (P = 1.5 P _ass ). Measured by a voltmeter voltage U ₂ at the output of the sensor, which must satisfy the ratio

U ₂ ≥ U ₁ .

By gradually reducing the supply pressure in the pneumatic network due to the smooth turn of the valve 11 of the pressure reducer 10 by the hand in the right direction (towards decreasing the pressure), a reduction in the voltage at the output of the sensor 4 is achieved, which must satisfy the ratio

U ₃ = (0.98 _-0.05 ) U ₁

, которое должно получаться не более Р_зад. После этого снимается пневмопитание и электропитание усилителя привода и выключается сигнал управления

и питание датчика.When this ratio is fulfilled, the pressure is visually recorded according to the pressure gauge 13.

, which should be obtained no more than P _ass . After that, the pneumatic and power supply of the drive amplifier are removed and the control signal is turned off

and sensor power.

и M_сопр, то естьReducing the voltage at the sensor output while reducing the drive power caused by the pressure decrease during this developing drive torque M _isolator. There is a limit moment when the developed moment of the drive will be balanced by the moments

and M _sop , i.e.

+М_сопр,M _development >

+ M _sopr ,

, которое легко определяется изложенным способом, развиваемый момент M_разв определяется по формулеIt can be seen that for a known value of M _{sr, the} moment M _dec is determined by this dependence. On the other hand, at a known pressure

, which is easily determined by the above method, the developed moment M _ra is determined by the formula

M _un = KP $\genfrac{}{}{0ex}{}{\text{+}}{\text{one}}$ S _p Rcosδ _max ,

where S _p - the effective area of the piston of the power pneumatic cylinder drive;

R is a design parameter for converting the translational motion of the piston into a rotary rudder;

K is the pressure ratio of the drive, determined by the type of switchgear and pressure losses in the drive to the switchgear.

=M_разв+M_сопр, начнется движение с упора +δ _max под действием момента

, то есть в этом случае будет соблюдаться неравенствоWith a decrease in M _develop below the limit value determined by the equality

= M _un + M _sop , the movement starts from the stop + δ _max under the action of the moment

, i.e., in this case, the inequality

≥ M_разв+M_сопр,

≥ M _un + M _res

from which

-M_сопр.M _dev ≤

-M _Fr.

, зависящая от угла поворота рулей δ , да и M_сопр при движении величина также нестабильная. Хотя принципиально при строгом учете влияния этих факторов на величину M_разв в принципе можно определить развиваемый момент привода и в этом варианте, хотя это сопряжено с немалыми трудностями и более низкой точностью замера.Of course, the pressure of the compressed air in this case will be P ₂ different from P ₁ , namely less than it. But this option for evaluating M _{ra is} not considered, since the expression for M _ra includes the quantity

, depending on the angle of rotation of the rudders δ, and M _sop during movement, the value is also unstable. Although fundamentally, with strict consideration of the influence of these factors on the value of M _rav, in principle it is possible to determine the developed moment of the drive in this variant, although this is fraught with considerable difficulties and lower accuracy of measurement.

при приложении соответствующих моментов и сигнала управления

противоположного знака и определяется M_разв привода с подстановкой в формулу для M_разв значения давления

.In a similar way, the voltages U ₁ , U ₂ , U _{3 are} measured and the pressure is determined

when applying the appropriate moments and control signal

of opposite sign and is determined by M _{ra of the} actuator with substitution in the formula for M _{ra of} pressure

.

The proposed method for checking the developed moment of the electro-pneumatic steering drive of guided missiles and shells using a simple, reliable and affordable technical means for its implementation has simplified testing, improving accuracy, reducing the complexity and cost of testing, provides effective and efficient control with high accuracy of the technical condition of the steering drive at all stages of manufacture and testing of the drive. The effectiveness of the method and the technical means for its implementation is confirmed by the practice of monitoring electro-pneumatic steering drives of guided missiles and shells of various classes and purposes.

Simplicity, low laboriousness, high reliability and information content of the proposed method for checking the developed moment of the electro-pneumatic steering drive is especially important and attractive, for example, at the stage of mass production.

Thus, the proposed method of checking one of the important output parameters (the developed torque of the drive) that determines the quality of functioning of the electro-pneumatic steering drives, namely their speed and accuracy, guided missiles and shells with a sufficient degree of accuracy, information, reliability and time-consuming with practice simple and reliable technical means allows to assess the quality of products at various stages of manufacturing and testing of electro-pneumatic steering gears odes and autopilots of guided missiles and shells, and especially, which is very important, at the stage of mass production.

Sources of information

1. Kostin S.V., Petrov B.I., Gamynin I.O. Steering gears. M .: Engineering, 1973

2. Pneumatic drive control systems for aircraft. Edited by V.A. Chashchina. M .: Engineering, 1987.

3. Krymov B.G., Rabinovich L.V., Stebletsov V.G. Actuators of aircraft control systems. M .: Engineering, 1987.

4. Self-oscillating steering gear of a guided projectile 9M117. A ZUBK10 shot with a 9M117 guided projectile. Technical description and operating instructions ZUBK10.00.00.000 TO. M .: Military publishing house, 1987.

5. Odinets SS, Topilin G.E. Torque measuring tools. M .: Mechanical Engineering, 1977 (Analog).

6. Patent RU 2184340 C2, 06/27/2002, IPC 7 F 42 B 10/60, 15/01, B 64 C 13/36 (prototype).

Claims (5)

1. A method of checking the developed moment of the electro-pneumatic steering drive of guided missiles and shells, comprising supplying compressed air to the drive input and measuring the angle of rotation of the rudders, characterized in that the drive with the rudder motion sensor is mounted on the mounting table, an easily removable balanced lever is put on the steering wheel, the steering wheels are turned the maximum angle + δ _max in one direction by applying a torque corresponding to the mark M _Bp = Ql ₁ reference cosδ _max load weight Q over a certain length l ₁ accomodation shoulder ruza on the lever about the axis of rotation of the rudders equal to the developed torque actuator at a predetermined supply pressure P _ass include power sensor, voltmeter measured voltage U ₁ of the sensor output, relieve torque removal reference load wheels rotated at the maximum angle _max -δ to the other side by applying a torque M $\genfrac{}{}{0ex}{}{\text{n}}{\text{VR}}$ opposite sign equal to the maximum moment M $\genfrac{}{}{0ex}{}{\text{max}}{\text{w}}$ the articulated load on the rudders from the angle of rotation of the rudders and the angle of attack of the rocket, projectile, turn on the power supply to the power steering amplifier and supply compressed air to the drive input with pressure p = 1.5 r _back , feed the maximum control signal U to the drive input $\genfrac{}{}{0ex}{}{\text{+}}{\text{y}}$ corresponding to the movement of the rudders to the maximum angle + δ _max , measure the voltage U ₂ at the output of the sensor, which must satisfy the ratio U ₂ ≥ U ₁ by smoothly reducing the supply pressure in the actuator pneumatic network, the pressure P is determined by reducing the voltage at the output of the sensor $\genfrac{}{}{0ex}{}{\text{+}}{\text{one}}$ at which the voltage will satisfy the relation U ₃ = (0.98 _-0.05 ) U ₁ , pressure P $\genfrac{}{}{0ex}{}{\text{+}}{\text{one}}$ should be no more than P _ass , remove the pneumatic and power supply of the drive amplifier and turn off the control signal U $\genfrac{}{}{0ex}{}{\text{+}}{\text{y}}$ and the sensor power, after which the voltage U ₁ , U ₂ , U ₃ are measured in a similar way and the pressure P is determined $\genfrac{}{}{0ex}{}{\text{-}}{\text{one}}$ when applying the corresponding moments and control signal U $\genfrac{}{}{0ex}{}{\text{-}}{\text{y}}$ of the opposite sign and determine the developed moment M _{ra of the} drive according to the formula M _Raz = KP $\genfrac{}{}{0ex}{}{\text{+ (-)}}{\text{one}}$ S _n Rcosδ _max , where S _n is the effective area of the piston of the power pneumatic cylinder of the drive; R is a design parameter for converting the translational motion of the piston into a rotary rudder; P $\genfrac{}{}{0ex}{}{\text{+ (-)}}{\text{one}}$ - the measured pressure value when the rudders are deflected by the drive against the stop in one or the other direction; K is the pressure utilization of the actuator, determined by the type of switchgear and pressure losses in the actuator to the switchgear. 2. The method according to claim 1, characterized in that the rudder displacement sensor is made contact. 3. The method according to claim 1, characterized in that the rudder displacement sensor is non-contact. 4. The method according to claim 1, characterized in that as the rudder displacement sensor, a linear piston displacement sensor used in the drive as a feedback sensor is used. 5. The method according to claim 1, characterized in that the rudder angular displacement sensor used in the drive as a feedback sensor is used as a rudder displacement sensor.