Vibration test system and test method for full-missile vibration in rotating state of rotating missile

Abstract

The present invention provides a vibration testing system and method for measuring the vibration of a rotating missile's entire missile during its rotational state, which relates to the technical field of missile mechanical environment testing. The system comprises a vibration device, a fixing device, and a rotating device. The fixing device secures the rotating missile to the vibration device, and the distal end of the rotating missile is connected to the rotating device. The rotating missile is subjected to vibration excitation by the vibration device, its gravity is balanced by the fixing device, and its rotational motion is applied by the rotating device. The present invention can more realistically simulate the vibrational dynamic environment experienced by a rotating missile during flight, fully assessing its reliability and adaptability to vibration environments. A non-contact laser sensor is used to measure and control the vibration of the entire missile during its rotational state, overcoming the difficulty of traditional sensors in measuring vibration during rotational motion.

Description

Technical Field

[0001] The present invention relates to the technical field of missile mechanical environment testing, and in particular to a vibration testing system and a testing method for a rotating missile under full missile vibration. Background Art

[0002] Rotating missiles, suitable for short-range, low-altitude, and rapid-response operations, offer advantages such as simple structure, flexible operation, and low cost, making them commonly used in terminal defense systems. Compared to conventional missiles, their most significant characteristic is the periodic rotational motion of the missile body, typically at a frequency between 10 and 20 Hz. Consequently, the aerodynamic forces generated by the air rudders also undergo periodic motion. Even with a single pair of rudder surfaces, 360° directional control can be generated, enabling single-channel control of a rotating missile using only a pair of rudders. However, the rotating state also introduces inter-control channel coupling factors such as the Magnus effect, gyroscopic effect, and rudder control delay, which reduces the stability range of the autopilot design parameters, degrades the missile's kinematic stability, and increases command response errors. The dynamic response of the structure under rotation is even more complex, exhibiting nonlinear and wide-ranging time-varying characteristics. Therefore, conventional missile vibration environmental testing in the non-rotating state is insufficient for assessing the reliability and environmental adaptability of rotating missiles. Vibration testing conducted in the non-rotating state cannot realistically replicate the mechanical environment experienced by rotating missiles, and comprehensive missile test data during vibration in the non-rotating state cannot accurately reflect the performance of the missile's onboard equipment under rotation.

[0003] Therefore, how to truly simulate the vibration dynamic environment experienced by a rotating missile in a rotating state and obtain the structural dynamic response and operating parameters of the on-board equipment of the rotating missile under vibration excitation has become a difficult problem that needs to be solved urgently in the field of missile mechanical environment engineering technology.

[0004] A search of prior art patent literature revealed a Chinese utility model patent with publication number CN210293596U, which discloses a test system for the rotational superimposed vibration of a missile seeker. This system, belonging to the field of test systems, achieves simultaneous application of seeker rotation and vibration stress, realistically simulating the seeker's actual load environment and reproducing problems encountered by the seeker under complex operating conditions. The laser vibrometer employed is a non-contact laser sensor, enabling precise vibration control during the seeker's rotation, resolving the problem of cable-mounted accelerometers being unable to control vibration of rotating components. The system utilizes an elastic coupling and a telescopic universal joint, effectively reducing the effects of misalignment caused by assembly errors. The telescopic universal joint's scalability compensates for displacement deviations during vibration. The system comprises a support frame, a vibration device, a horizontal slide, a vibration fixture, a control system, a rotary power unit, a rotary ventilation unit, a rotary power supply unit, an elastic coupling, a telescopic universal joint, and a seeker. The present invention, however, provides a vibration test system and method for the vibration of a rotating missile in its entirety while rotating. This addresses the issue that vibration environmental testing of missiles in their non-rotating state is insufficient for assessing the reliability and environmental adaptability of rotating missiles. Therefore, the method described in this document and the present invention represent different inventive concepts. Summary of the Invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a vibration test system and test method for the vibration of the entire rotating missile in a rotating state, so as to achieve a true simulation of the vibration dynamic environment experienced by the rotating missile in a rotating state, and more realistically assess the reliability and environmental adaptability of the rotating missile.

[0006] According to the present invention, a vibration test system for testing the vibration of a rotating missile in its entirety comprises a vibration device, a fixing device, and a rotating device. The fixing device fixes the rotating missile to the vibration device, and the end of the rotating missile is connected to the rotating device. The rotating missile is subjected to vibration excitation by the vibration device, the rotating missile achieves missile gravity balance by the fixing device, and the rotating missile is subjected to rotational motion by the rotating device.

[0007] The vibration device includes a vibration table, a vibration controller, an industrial control computer, a power amplifier, a laser controller, a laser sensor, and a vibration fixture. The rotating missile is connected to the vibration table through the vibration fixture. The vibration fixture is connected to the power amplifier, the power amplifier is connected to the vibration controller, the vibration controller is connected to the industrial control computer and the laser controller respectively, the laser controller is connected to the laser sensor, and the laser sensors are evenly distributed on both sides of the vibration table.

[0008] The laser sensor transmits the obtained vibration signal to the laser controller, and the laser controller transmits the vibration signal to the vibration controller. The vibration controller processes the vibration signal measured by the laser sensor and compares it with the program set by the industrial control computer. The power amplifier responds after receiving the signal output by the vibration controller, adjusts the current input of the vibration table, and realizes the thrust control of the vibration table.

[0009] In some embodiments, the vibration clamp includes a clamp base, a first elastomer protective ring, a first rolling component, a retaining ring, a first bolt and a first nut. The clamp base is connected to the first elastomer protective ring, the first elastomer protective ring is connected to the retaining ring through the first rolling component, the connecting ends of the first elastomer protective ring and the retaining ring are respectively inserted with the first bolt, and the first bolt is fixed by the first nut.

[0010] In some embodiments, the rotating device includes a rotating fixture, a ball cage coupling, a reducer, a drive motor and a support platform. The rotating fixture is connected to the end of the rotating missile, the rotating fixture is connected to the reducer through the ball cage coupling, the reducer is connected to the drive motor, and the reducer and the drive motor are connected to the support platform.

[0011] In some embodiments, the rotating clamp includes a rotating bracket, a rotating retaining ring, a third bolt and a third nut. The two ends of the rotating retaining ring are connected to the rotating bracket. The third bolt is inserted into the rotating retaining ring, and the third bolt is fixed by the third nut. Felt is bonded to the inner wall of the rotating retaining ring.

[0012] In some embodiments, the fixing device includes a missile lifting ring, a rubber rope and a gantry. The missile lifting ring is evenly connected to the rotating missile to drive the rotating missile to maintain gravity balance. The missile lifting ring is connected to the gantry through the rubber rope.

[0013] In some embodiments, the missile lifting ring includes a lifting ring clamp, a second projectile protection ring, a second rolling component, a second bolt and a second nut. The lifting ring clamp is connected to the outer wall of the second projectile protection ring through the second rolling component. The connecting ends of the lifting ring clamp and the second projectile protection ring are respectively inserted with second bolts, and the second bolts are fixed by the second nut.

[0014] In some embodiments, a hollow shaft slip ring is further included, which is connected to a vibration fixture or a missile hanging ring; the inner diameter of the hollow shaft slip ring is millimeters larger than the inner diameter of the rotating missile, and the hollow shaft slip ring does not interfere with the rotating missile. The hollow shaft slip ring is used for signal transmission between the on-board equipment and the off-board test equipment when the rotating missile is in a rotating state.

[0015] In some embodiments, threaded holes are provided on two sides of the clamp base and the clamping ring, and are connected to the hollow shaft slip ring through the threaded holes.

[0016] In some embodiments, threaded holes are provided on both sides of the lifting ring clamp, which is connected to the hollow shaft slip ring through the threaded holes.

[0017] The present invention also provides a test method for a vibration test system for a rotating missile to measure the vibration of the entire missile in a rotating state, which specifically includes the following steps:

[0018] Step 1: Use 3D design software, dynamic analysis software, and system simulation software to establish a mapping of the entire test system in a virtual digital space, and conduct a virtual test in the virtual digital space;

[0019] Step 2: In the virtual digital space, continuously adjust the excitation point position and suspension position. Based on the virtual test results, select the optimal excitation point position, suspension position, vibration control point position, and obtain the missile dynamic transfer characteristic parameters.

[0020] Step 3: Design the vibration fixture, missile lifting ring, and rotation fixture based on the selected optimal excitation point position, suspension position, vibration control point position, missile dynamic transfer characteristic parameters, and test conditions. The designed vibration fixture, missile lifting ring, and rotation fixture should meet the requirements of no resonance peak within the vibration test frequency range.

[0021] Step 4: Build a gantry at a height of 1 meter above the vibration table. According to the selected excitation point and suspension position, connect the rotating missile to the vibration table and gantry respectively through the designed vibration fixture, missile lifting ring and rubber rope;

[0022] Step 5: Adjust the height and position of the support frame so that the output shaft axis of the reducer coincides with the axis of the rotating missile, and use the rotating fixture and ball cage coupling to connect the rotating missile to the reducer;

[0023] Step 6: Arrange the laser sensor at a distance m from the axis of the rotating missile according to the position of the selected sensor measurement point and calibrate the position of the laser;

[0024] Step 7: Connect multiple laser sensors to the laser controller through cables, connect the laser controller to the vibration controller through cables, connect the vibration controller to the industrial computer and power amplifier through cables, and connect the power amplifier to the vibration table through cables;

[0025] Step 8: Debug the entire test system, start the drive motor, and control the rotation speed of the rotating missile through the motor controller to meet the test conditions;

[0026] Step 9: Select the multi-point average vibration control method and conduct a small-scale preliminary test to determine whether the control scheme meets the test requirements. If not, change the position of the vibration control point and conduct the small-scale preliminary test again;

[0027] Step 10: After the test requirements are met, gradually increase the output of the vibration controller and, in turn, the output of the power amplifier using the industrial computer, increasing the vibration level of the vibration table until the vibration test level specified in the test outline is reached. The formal test can then begin. Record the test data using data logging software on the industrial computer.

[0028] Step 11: The vibration controller controls the vibration table to stop vibrating after completing the vibration that meets the test requirements according to the input program of the industrial control computer.

[0029] Step 12: Use the motor controller to gradually reduce the speed of the drive motor until the drive motor stops rotating completely, that is, the rotating missile stops rotating. The test is completed and the test equipment is turned off.

[0030] Step 13: After the test, remove the clips and rubber ropes on the vibration fixture, use a crane to lower the rotating missile and place it on a special tooling, and remove the missile lifting ring and the rotating parts in the vibration fixture.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] (1) The present invention provides a solution to the vibration test of a rotating missile in its rotating state, which can more realistically simulate the vibration dynamic environment experienced by the rotating missile during flight and fully evaluate the reliability and vibration environment adaptability of the rotating missile;

[0033] (2) The present invention uses a non-contact laser sensor to measure and control the vibration of the entire missile when it is rotating, overcoming the problem that traditional sensors cannot measure vibration under rotational motion;

[0034] (3) The present invention uses a vibration fixture with a missile body protection ring and a rolling component to connect the entire missile to the vibration table in a rotating state to achieve vibration transmission;

[0035] (4) The present invention uses a missile lifting ring with a missile body protection ring and a rolling component to rotate the missile so that the entire missile is connected to the gantry when the missile is rotating, thereby balancing the gravity of the missile. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0037] Figure 1 It is a structural schematic diagram of the present invention;

[0038] Figure 2 A partial perspective view of an embodiment of the present invention;

[0039] Figure 3is an axial side view of the vibration fixture of the present invention;

[0040] Figure 4 It is an axonometric view of the missile lifting ring of the present invention;

[0041] Figure 5 It is an axial side view of the rotating clamp of the present invention;

[0042] Figure 6 This is the installation diagram of the hollow shaft slip ring of the present invention.

[0043] Numbers in the figure:

[0044] Vibration device 100, fixing device 200, rotating device 300, vibration table 1, vibration controller 2, industrial control computer 3, power amplifier 4, laser controller 5, laser sensor 6, vibration fixture 7, fixture base 71, first projectile protection ring 72, first rolling component 73, retaining ring 74, first bolt 75, first nut 76, hollow shaft slip ring 8, missile lifting ring 9, lifting ring clamp 91, second projectile protection ring 92, second rolling component 93, second bolt 94, second nut 95, rubber rope 10, gantry 11, rotating fixture 12, rotating bracket 121, rotating retaining ring 122, third bolt 123, third nut 124, ball cage coupling 13, reducer 14, drive motor 15, cable 16, rotating missile 17, support platform 18 DETAILED DESCRIPTION

[0045] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0046] Example 1

[0047] The present invention provides a vibration test system for the vibration of the entire missile in a rotating state. Figure 1-6 As shown, it includes a vibration device 100, a fixing device 200 and a rotating device 300. The fixing device 200 fixes the rotating missile 17 on the vibration device 100, and the end of the rotating missile 17 is connected to the rotating device 300; the rotating missile 17 realizes the application of vibration excitation through the vibration device 100, the rotating missile 17 realizes the balance of the missile's gravity through the fixing device 200, and the rotating missile 17 realizes the application of rotational motion through the rotating device 300.

[0048] The fixing device 200 includes a missile lifting ring 9, a rubber rope 10 and a gantry 11. The missile lifting ring 9 is evenly connected to the rotating missile 17 to drive the rotating missile to maintain gravity balance. The missile lifting ring 9 is connected to the gantry 11 through the rubber rope 10. Figure 4 As shown, the missile lifting ring 9 includes a lifting ring clamp 91, a second missile body protection ring 92, a second rolling member 93, a second bolt 94, and a second nut 95. The lifting ring clamp 91 is connected to the outer wall of the second missile body protection ring 92 via the second rolling member 93. Second bolts 94 are inserted into the connecting ends of the lifting ring clamp 91 and the second missile body protection ring 92, and the second bolts 94 are secured by second nuts 95. The two lifting ring clamps 91 are fastened to the rotating missile 17 via the second bolts 94 and second nuts 95. The missile body protection ring 92 is used to prevent damage to the missile body surface during rotation, and the rolling member 93 is used to ensure the relative rotation of the missile with respect to the lifting ring clamp 91.

[0049] like Figure 2 As shown, the vibration device 100 includes a vibration table 1, a vibration controller 2, an industrial computer 3, a power amplifier 4, a laser controller 5, a laser sensor 6, a vibration fixture 7, and a hollow shaft slip ring 8. The rotating missile 17 is connected to the vibration table 1 through the vibration fixture 7. The vibration fixture 7 is connected to the power amplifier 4. The power amplifier 4 is connected to the vibration controller 2. The vibration controller 2 is connected to the industrial computer 3 and the laser controller 5 respectively. The laser controller 5 is connected to the laser sensor 6. The laser sensors 6 are evenly distributed on both sides of the vibration table 1. Figure 6 As shown, hollow shaft slip ring 8 is a 50-way graphite hollow shaft slip ring. Its inner diameter is 10 mm larger than that of the missile and is fixed to the vibration fixture 7 with four bolts. Hollow shaft slip ring 8 does not interfere with the rotating missile 17. It is used to transmit signals between the onboard equipment and the off-board test equipment while the missile 17 is rotating. The number of energized circuits in hollow shaft slip ring 8 is selected based on actual conditions.

[0050] like Figure 3 The vibration fixture 7 uses a two-point clamping method to secure the rotating missile 17. The vibration fixture 7 includes a fixture base 71, a first projectile protection ring 72, a first rolling member 73, a snap ring 74, a first bolt 75, and a first nut 76. The first projectile protection ring 72 is connected to the fixture base 71, which is connected to the snap ring 74 via the first rolling member 73. The connecting ends of the first projectile protection ring 72 and the snap ring 74 are each inserted with a first bolt 75, which is secured by a first nut 76. The fixture base 71 and the snap ring 74 each have two threaded holes on their sides, which connect to the hollow shaft slip ring 8 through the threaded holes. The rolling member 73 ensures free rotation relative to the vibration fixture 7 and the missile suspension ring 9, while the projectile protection ring 72 prevents wear on the surface of the rotating missile 17 during rotation.

[0051] The vibration operating principle: First, vibration measurement points are determined and multiple laser sensors 6 are calibrated to obtain vibration signals. Then, multiple laser sensors 6 are connected to a laser controller 5 via cables 16 to transmit signals between them. Furthermore, the laser controller 5 is connected to a vibration controller 2 via cables 16 to transmit signals between the laser sensors 6 and the vibration table controller 2. This connection completes the signal transmission loop between the laser sensors 6 and the vibration controller 2. The vibration table controller 2 processes the vibration signals measured by the laser sensors 6 using a weighted average, compares them with the vibration table 1 control program set by the industrial control computer 3, and adjusts the intensity of its own output signal. Finally, the vibration controller 2 is connected to the industrial control computer 3 and a power amplifier 4 via cables 16 to transmit signals between them. In response to the signals output by the vibration controller 2, the power amplifier 4 adjusts its own current output, which in turn adjusts the current input to the vibration table 1, thereby controlling the thrust of the vibration table 1. The industrial control computer 3 in this signal transmission loop is used for human-computer interaction between the vibration controller 2 and the user, to monitor system status, and to input the vibration table control program.

[0052] The rotating device 300 includes a rotating fixture 12, a ball cage coupling 13, a reducer 14, a drive motor 15 and a support platform 18. The rotating fixture 12 is connected to the end of the rotating missile 17. The rotating fixture 12 is connected to the reducer 14 through the ball cage coupling 13. The reducer 14 is connected to the drive motor 15. The reducer and the drive motor 15 are connected to the support platform 18. Figure 5 As shown, the rotating fixture 12 includes a rotating bracket 121, a rotating retaining ring 122, a third bolt 123, and a third nut 124. The rotating retaining ring 122 is connected to the rotating bracket 121 at both ends. Preferably, the rotating bracket 121 is designed to avoid interference with multiple surfaces of the rotating missile 17. The third bolt 123 is inserted into the rotating retaining ring 122 and is secured by the third nut 124. Felt is bonded to the inner wall of the rotating retaining ring 122 to prevent damage to the missile surface.

[0053] The rotational operating principle is as follows: the drive motor 15 rotates the reducer 14. The output shaft of the reducer 14 is connected to the rotating fixture 12 via the ball cage universal joint 13, driving the rotating fixture 12 to rotate, which in turn drives the rotating missile 17, thus applying rotational motion. The speed of the rotating missile 17 is continuously adjustable by controlling the speed of the drive motor 15. Two rotating retaining rings 122 secure the rotating missile 17 via third bolts 123 and third nuts 124, transmitting rotational torque. The support platform 18 is height- and position-adjustable, allowing adjustments to the height and position of the drive motor 15 and reducer 14 to ensure that the axis of the reducer 14 output shaft aligns with the axis of the missile.

[0054] Example 2

[0055] The present invention also provides a test method for a vibration test system for a rotating missile to measure the vibration of the entire missile in a rotating state, which specifically includes the following steps:

[0056] Step 1: Use 3D design software, dynamic analysis software, and system simulation software to establish a mapping of the entire test system in a virtual digital space, and conduct a virtual test in the virtual digital space;

[0057] Step 2: In the virtual digital space, continuously adjust the excitation point position and suspension position. Based on the virtual test results, select the optimal excitation point position, suspension position, vibration control point position, and obtain the missile dynamic transfer characteristic parameters.

[0058] Step 3: Design the vibration fixture 7, missile hanging ring 9, and rotating fixture 12 based on the selected optimal excitation point position, suspension position, vibration control point position, missile dynamic transfer characteristic parameters, and test conditions. The designed vibration fixture 7, missile hanging ring 9, and rotating fixture 12 should satisfy the requirement of having no resonance peak within the vibration test frequency range.

[0059] Step 4: Build a gantry 11 2 meters above the vibration table 1. According to the selected excitation point position and suspension position, connect the rotating missile 17 to the vibration table 1 and the gantry 11 respectively through the designed vibration fixture 7, missile lifting ring and rubber rope;

[0060] Step 5: Adjust the height and position of the support frame 18 so that the output shaft axis of the reducer 14 coincides with the axis of the rotating missile 17, and use the rotating fixture 12 and the ball cage coupling 13 to connect the rotating missile 17 to the reducer 14;

[0061] Step 6: Arrange the laser sensor 6 at a position 1 m away from the axis of the rotating missile 17 according to the position of the selected sensor measurement point, and calibrate the position of the laser;

[0062] Step 7: Connect the multiple laser sensors 6 to the laser controller 5 through the cable 16, connect the laser controller 5 to the vibration controller 2 through the cable 16, connect the vibration controller 2 to the industrial computer 3 and the power amplifier 4 through the cable 16, and connect the power amplifier 4 to the vibration table 1 through the cable 16;

[0063] Step 8: Debug the entire test system, start the drive motor 15, and control the rotation speed of the rotating missile 17 through the motor controller to meet the requirements of the test conditions;

[0064] Step 9: Select the multi-point average vibration control method and conduct a small-scale preliminary test to determine whether the control scheme meets the test requirements. If not, change the position of the vibration control point and conduct the small-scale preliminary test again;

[0065] Step 10: After the test requirements are met, the output of vibration controller 2 is gradually increased through industrial computer 3, which in turn increases the output of power amplifier 4 to increase the vibration level of vibration table 1 until the vibration test level specified in the test outline is reached. The formal test begins. The test data is recorded using data logging software on industrial computer 3.

[0066] Step 11: The vibration controller 2 controls the vibration table 1 to stop vibrating after completing the vibration that meets the test requirements according to the input program of the industrial control computer 3.

[0067] Step 12: The rotation speed of the driving motor 15 is gradually reduced through the motor controller until the driving motor 15 completely stops rotating, that is, the rotating missile 17 stops rotating, the test is completed, and the test equipment is turned off.

[0068] Step 13: After the test is completed, remove the clamping ring 74 and the rubber rope 10 on the vibration fixture 7, use a crane to lower the rotating missile 17 and place it on a special tooling, and remove the missile lifting ring 9 and the rotating parts in the vibration fixture 7.

[0069] In summary, the present invention provides a solution for vibration testing of the entire rotating missile while in rotation. This solution can more realistically simulate the vibration dynamics experienced by a rotating missile during flight, allowing for a thorough assessment of the missile's reliability and adaptability to vibration environments. The present invention utilizes a non-contact laser sensor to measure and control the vibration of the entire missile while in rotation, overcoming the inability of traditional sensors to measure vibration during rotational motion. The present invention also designs a vibration fixture with rotating and protective components, which is used to connect the entire missile to a vibration table while in rotation, enabling vibration transmission.

[0070] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0071] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A test method for a vibration test system for a rotating missile in a rotating state, characterized in that: The test system comprises: A vibration device (100), a fixing device (200) and a rotating device (300), wherein the fixing device (200) fixes a rotating missile (17) to the vibration device (100), and the end of the rotating missile (17) is connected to the rotating device (300); the rotating missile (17) is subjected to vibration excitation through the vibration device (100), the rotating missile (17) is subjected to missile gravity balance through the fixing device (200), and the rotating missile (17) is subjected to rotational motion through the rotating device (300); The vibration device (100) comprises a vibration table (1), a vibration controller (2), an industrial control computer (3), a power amplifier (4), a laser controller (5), a laser sensor (6) and a vibration fixture (7), wherein the rotating missile (17) is connected to the vibration table (1) via the vibration fixture (7), the vibration fixture (7) is connected to the power amplifier (4), the power amplifier (4) is connected to the vibration controller (2), the vibration controller (2) is respectively connected to the industrial control computer (3) and the laser controller (5), the laser controller (5) is connected to the laser sensor (6), and the laser sensors (6) are evenly distributed on both sides of the vibration table (1); The laser sensor (6) transmits the obtained vibration signal to the laser controller (5), and the laser controller (5) transmits the vibration signal to the vibration controller (2). The vibration controller (2) processes the vibration signal measured by the laser sensor (6) and compares it with the program set by the industrial control computer (3). The power amplifier (4) responds after receiving the signal output by the vibration controller (2) and adjusts the current input of the vibration table (1) to achieve control of the thrust of the vibration table (1); The test method specifically comprises the following steps: Step 1: Use 3D design software, dynamic analysis software, and system simulation software to establish a mapping of the entire test system in a virtual digital space, and conduct a virtual test in the virtual digital space; Step 2: In the virtual digital space, continuously adjust the excitation point position and suspension position. Based on the virtual test results, select the optimal excitation point position, suspension position, vibration control point position, and obtain the missile dynamic transfer characteristic parameters. Step 3: Design the vibration fixture (7), the missile hanging ring (9), and the rotating fixture (12) according to the selected optimal excitation point position, suspension position, vibration control point position, missile dynamic transfer characteristic parameters, and test conditions. The designed vibration fixture (7), the missile hanging ring (9), and the rotating fixture (12) should satisfy the requirement that there is no resonance peak within the vibration test frequency range. Step 4: Build a gantry (11) 2 meters above the vibration table (1), and connect the rotating missile (17) to the vibration table (1) and the gantry (11) respectively through the designed vibration fixture (7), missile hanging ring and rubber rope according to the selected excitation point position and suspension position; Step 5: Adjust the height and position of the support platform (18) so that the axis of the output shaft of the reducer (14) coincides with the axis of the rotating missile (17), and use the rotating fixture (12) and the ball cage coupling (13) to connect the rotating missile (17) to the reducer (14); Step 6: Arrange the laser sensor (6) at a position 1 m away from the axis of the rotating missile (17) according to the position of the selected sensor measurement point, and calibrate the position of the laser; Step 7: Connecting the plurality of laser sensors (6) to the laser controller (5) via a cable (16), connecting the laser controller (5) to the vibration controller (2) via the cable (16), connecting the vibration controller (2) to the industrial control computer (3) and the power amplifier (4) via the cable (16), and connecting the power amplifier (4) to the vibration table (1) via the cable (16); Step 8: Debug the entire test system, start the drive motor (15), and control the rotation speed of the rotating missile (17) through the motor controller to meet the requirements of the test conditions; Step 9: Select the multi-point average vibration control method and conduct a small-scale preliminary test to determine whether the control scheme meets the test requirements. If not, change the position of the vibration control point and conduct the small-scale preliminary test again; Step 10: After the test requirements are met, the output of the vibration controller (2) is gradually increased through the industrial control computer (3), thereby increasing the output of the power amplifier (4) to achieve an increase in the magnitude of the vibration table (1) until the vibration test magnitude specified in the test outline is reached, and the formal test is started, and the test data is recorded through the data recording software on the industrial control computer (3); Step 11: the vibration controller (2) controls the vibration table (1) to stop vibrating after the vibration table (1) completes the vibration that meets the test requirements according to the input program of the industrial control computer (3); Step 12: gradually reducing the rotation speed of the driving motor (15) through the motor controller until the driving motor (15) completely stops rotating, i.e., the rotating missile (17) stops rotating, the test is completed, and the test equipment is turned off; Step 13: After the test is completed, the clamping ring (74) and the rubber rope (10) on the vibration fixture (7) are removed, and the rotating missile (17) is lowered by a crane and placed on a special tooling, and the missile lifting ring (9) and the rotating parts in the vibration fixture (7) are removed.

2. The test method of the vibration test system for the rotating missile in the rotating state according to claim 1 is characterized in that: The vibration clamp (7) includes a clamp base (71), a first elastic body protection ring (72), a first rolling component (73), a snap ring (74), a first bolt (75) and a first nut (76), wherein the clamp base (71) is connected to the first elastic body protection ring (72), the first elastic body protection ring (72) is connected to the snap ring (74) via the first rolling component (73), the connecting ends of the first elastic body protection ring (72) and the snap ring (74) are respectively inserted with the first bolt (75), and the first bolt (75) is fixed by the first nut (76).

3. The test method of the vibration test system for the rotating missile in the rotating state according to claim 2 is characterized in that: The rotating device (300) includes a rotating fixture (12), a ball cage coupling (13), a reducer (14), a driving motor (15) and a support platform (18), wherein the rotating fixture (12) is connected to the end of the rotating missile (17), the rotating fixture (12) is connected to the reducer (14) through the ball cage coupling (13), the reducer (14) is connected to the driving motor (15), and the reducer and the driving motor (15) are connected to the support platform (18).

4. The test method of the vibration test system for the rotating missile in the rotating state according to claim 3 is characterized in that: The rotating clamp (12) comprises a rotating bracket (121), a rotating snap ring (122), a third bolt (123) and a third nut (124); both ends of the rotating snap ring (122) are connected to the rotating bracket (121); the third bolt (123) is inserted into the rotating snap ring (122); the third bolt (123) is fixed by the third nut (124); and felt is bonded to the inner wall of the rotating snap ring (122).

5. The test method of the vibration test system for the rotating missile in the rotating state according to claim 4 is characterized in that: The fixing device (200) includes a missile lifting ring (9), a rubber rope (10) and a gantry (11). The missile lifting ring (9) is evenly connected to the rotating missile (17) to drive the rotating missile to maintain gravity balance. The missile lifting ring (9) is connected to the gantry (11) via the rubber rope (10).

6. The test method of the vibration test system for the rotating missile according to claim 5, characterized in that: The missile lifting ring (9) comprises a lifting ring clamp (91), a second projectile protection ring (92), a second rolling component (93), a second bolt (94) and a second nut (95); the lifting ring clamp (91) is connected to the outer wall of the second projectile protection ring (92) via the second rolling component (93); the connecting ends of the lifting ring clamp (91) and the second projectile protection ring (92) are respectively inserted with the second bolt (94); the second bolt (94) is fixed by the second nut (95).

7. The test method of a vibration test system for a rotating missile in a rotating state according to claim 6, characterized in that: It also includes a hollow shaft slip ring (8), which is connected to the vibration fixture (7) or the missile hanging ring (9); the inner diameter of the hollow shaft slip ring (8) is 2 mm larger than the inner diameter of the rotating missile (17), and the hollow shaft slip ring (8) does not interfere with the rotating missile (17). The hollow shaft slip ring (8) is used for signal transmission between the on-board equipment and the off-board test equipment when the rotating missile (17) is in a rotating state.

8. The test method of a vibration test system for a rotating missile in a rotating state according to claim 7, characterized in that: Threaded holes are provided on two side surfaces of the clamp base (71) and the clamping ring (74), and are connected to the hollow shaft slip ring (8) through the threaded holes.

9. The test method of a vibration test system for a rotating missile according to claim 7, characterized in that: Both sides of the lifting ring clamp (91) are provided with threaded holes, and are connected to the hollow shaft slip ring (8) through the threaded holes.

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