Passive rudder simulator loading system and method

Abstract

The application discloses a passive rudder motor simulation loading system and method, which comprises a passive rudder motor simulation loading device and a rudder motor. The passive rudder motor simulation loading device comprises a rack, a torsion device arranged in the rack, and a passive load mechanism comprising at least two elastic devices. The two elastic devices are symmetrically arranged on the two sides of the rack transversely to the torsion device. One end of each elastic device is movably connected with the torsion device, and the other end is limitingly connected with the rack. The elastic device has a vertical elastic force. The rudder motor is fixedly connected with the torsion device. The passive rudder motor simulation loading system and method provided by the application have a passive mechanical load mechanism, and are simple and reliable in structure and convenient to adjust.

Description

Technical Field

[0001] This invention relates to the field of testing technology, and specifically to a passive servo motor simulation loading system and method. Background Technology

[0002] Currently, to simulate a load state by applying external force to rotating devices such as servos, it can only be achieved through an independent load system such as an external load hydraulic cylinder, or by actively adjusting the load force through an external force drive source based on simulation calculation results. Introducing an active load drive source makes the system relatively complex and the magnitude of the force difficult to adjust. Summary of the Invention

[0003] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention provides a passive servo motor simulation loading device, the load mechanism of which is a passive mechanical structure, which is simple, reliable and easy to adjust.

[0004] To achieve the above objectives, the present invention adopts the following technical solution.

[0005] In some embodiments, a passive servo motor simulation loading system is provided, the passive servo motor simulation loading system comprising: a passive servo motor simulation loading device and a servo motor, the passive servo motor simulation loading device comprising:

[0006] frame,

[0007] The torsion device is located within the frame;

[0008] A passive load mechanism includes at least two elastic devices, which are symmetrically arranged on both sides of the torsion device in the transverse direction. One end of each elastic device is movably connected to the torsion device, and the other end is limitedly connected to the frame. The elastic device has a vertical elastic force.

[0009] The servo motor is fixedly connected to the torsion device.

[0010] In some embodiments, the elastic device is a compression spring.

[0011] In some embodiments, the frame includes a limiting plate;

[0012] The passive load mechanism also includes a guide column and an adjusting nut;

[0013] One end of the guide post passes through the top of the limiting plate and is connected to the adjusting nut, while the other end of the guide post passes through the bottom of the limiting plate. The compression spring is located below the limiting plate and is sleeved on the guide post.

[0014] In some embodiments, the torsion device includes a load plate with a sliding groove extending laterally along the load plate.

[0015] The guide post has a sliding part at one end where the compression spring is sleeved. The sliding part cooperates with the sliding groove and can slide within the sliding groove.

[0016] In some embodiments, the sliding groove has an arc-shaped cross-section; the sliding part has a spherical surface; the spherical surface and the guide post are an integral structure or the sliding part includes a rolling ball.

[0017] In some embodiments, the guide post has a limiting baffle at one end where it is sleeved with the compression spring. The limiting baffle has a guide hole and a positioning sleeve below the guide hole. The inner diameter of the positioning sleeve is larger than the outer diameter of the compression spring. The guide post passes through the positioning sleeve and the guide hole, and the compression spring is disposed between the limiting baffle and the limiting baffle.

[0018] In some embodiments, the torsion device includes a bushing for fixed connection with the rudder shaft of the servo motor.

[0019] In some embodiments, a reinforcing rib is provided between the bushing and the load plate, and the bushing, the load plate and the reinforcing rib are fixedly connected to form an integral torsion block.

[0020] In some embodiments, the elastic device has multiple sets, and the multiple sets of elastic devices are distributed along the longitudinal direction of the torsion device.

[0021] In some embodiments, a passive servo motor simulation loading method is also provided, wherein the passive servo motor simulation loading method uses the passive servo motor simulation loading system as described in any of the preceding embodiments to simulate loading the servo motor.

[0022] Compared with the prior art, the beneficial effects of the present invention are at least as follows: In the embodiments of this application, the passive servo motor simulation loading system and method are mainly used to simulate loading force. They do not require a separate external power source and can achieve reliable loading of the equipment by relying only on the elastic force of the elastic device and the rotational force of rotating equipment such as servo motors. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the passive servo motor simulation loading device in its initial state, according to an embodiment of the present invention.

[0024] Figure 2 This is a side view of the passive servo motor simulation loading device according to another embodiment of the present invention.

[0025] Figure 3 This is a schematic diagram of the front structure of the limiting plate in one embodiment of the present invention.

[0026] Figure 4This is a top view of the limiting plate in one embodiment of the present invention.

[0027] Figure 5 This is a frontal structural diagram of the torsion device in one embodiment of the present invention.

[0028] Figure 6 This is a lateral structural schematic diagram of the torsion device in one embodiment of the present invention.

[0029] Figure 7 This is a schematic diagram of a passive servo motor simulation loading device in one embodiment of the present invention.

[0030] Figure 8 This is a schematic diagram of the passive servo motor simulation loading device in a loading state according to one embodiment of the present invention.

[0031] Explanation of reference numerals in the attached figures:

[0032] 1000. Passive servo motor simulation loading device;

[0033] 100. Frame; 101. Limiting plate; 101a. Upper limiting plate; 101b. Lower limiting plate; 101c. Connecting plate; 1011. Guide hole; 1011a. First guide hole; 1011b. Second guide hole; 1012. Positioning sleeve; 1013. Fixing hole; 102. Base; 1021. Base plate; 1022. Through hole; 1023. Anchor bolt; 1024. Anchor nut; 103. Fixing bolt;

[0034] 200. Torsion device; 201. Bushing; 2011. Keyway; 2012. Bolt hole; 202. Load plate; 2021. Sliding groove; 203. Reinforcing rib; 2001. Torsion block;

[0035] 300. Passive load mechanism; 301. Elastic device; 301a. First compression spring; 301b. Second compression spring; 302. Guide post; 302a. First guide post; 302b. Second guide post; 3021. Limiting baffle; 3022. Sliding part; 303. Adjusting nut. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0037] In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. The interpretation of such terms should be made from the perspective of a person skilled in the art. For example, "above" or "below" should be understood as the positional relationship of the main structure or structure of a component, etc., in its initial state, which may be broken during movement. "...set on" should be understood as the general connection relationship of the components, not necessarily above.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," "link," and "fix" should be interpreted broadly from the perspective of someone skilled in the art. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0040] like Figure 1-2 As shown, Figure 1 This is a frontal schematic diagram of a passive servo motor simulation loading device provided for some embodiments of this application. Figure 2This is a lateral structural diagram of a passive servo motor simulation loading device according to another embodiment of the present invention. The passive servo motor simulation loading device 1000 includes: a frame 100, a torsion device 200, and a passive load mechanism 300. In some embodiments, the frame 100 may be fixedly connected to the ground. The torsion device 200 is located within the frame 100 and is used for fixed connection to a servo motor. The passive load mechanism 300 includes at least two elastic devices 301, symmetrically arranged on both sides of the torsion device 200 in the lateral direction. Each elastic device 301 has one end movably connected to the torsion device 200 and the other end limitedly connected to the frame 100, and the elastic device 301 has a vertical elastic force. The torsion device 200 is laterally... Figure 1 The left and right directions, and the vertical direction are Figure 1 The vertical direction in the middle. In the embodiments of this application, the passive servo motor simulation loading device 1000 does not have a separate load drive source, and there is no active load drive source (such as hydraulically driven or load force calculated by computer simulation). Instead, the load force is passively generated by the elastic device 301.

[0041] In some embodiments, the rack 100 includes a limiting plate 101. (See reference...) Figures 3-4 , Figure 3 This is a frontal structural diagram of the limiting plate in one embodiment of the present invention. Figure 4 This is a top view structural diagram of the limiting plate in one embodiment of the present invention. In some embodiments, the frame 100 further includes a base 102, the limiting plate 101 is fixedly connected to the base 102, and the base 102 is fixedly connected to the ground. In some embodiments, the lower part of the base 102 has a base plate 1021, the base plate 1021 has a through hole 1022, and the passive servo motor simulation loading device 1000 further includes anchor bolts 1023 and anchor nuts 1024. The base 102 can be fixed to the ground by the anchor bolts 1023 passing through the through hole 1022 of the base plate 1021 and the anchor nuts 1024.

[0042] In some embodiments, a limiting plate 101 is mounted on a base 102, with the limiting plate 101 positioned above the base 102, and a passive load mechanism 300 is mounted on the limiting plate 101. In some embodiments, the limiting plate 101 has a fixing hole 1013, and the limiting plate 101 and the base 102 are fixedly connected by fixing bolts 103 passing through the fixing hole 1013. In some embodiments, the base 102 and the limiting plate 101 form a gantry structure, with a torsion device 200 located within the gantry structure. Specifically, the torsion device 200 is located below the limiting plate 101 and in the middle of the base 102, and an elastic device 301 is located between the torsion device 200 and the limiting plate 101. In some embodiments, the torsion device 200 is rotatably mounted on the base 102. Of course, the torsion device 200 can be directly rotatably connected to the base, or it can be rotatably mounted on the base through other structures, for example, it can be fixedly connected to a rotatable rudder shaft, thereby allowing it to rotate relative to the base. For other specific structures of the rack 100, this application does not impose further limitations in some embodiments.

[0043] In some embodiments, reference Figures 5-8 , Figure 5 This is a frontal structural diagram of the torsion device in one embodiment of the present invention. Figure 6 This is a lateral structural schematic diagram of a torsion device according to one embodiment of the present invention. The torsion device 200 includes a bushing 201, the inner cavity of which is used for fixed connection with the rudder shaft of a servo motor. Specifically, in some embodiments, the inner cavity of the bushing 201 has a keyway 2011, and the rudder shaft of the servo motor is circumferentially fixedly connected to the bushing 201 by a fixing key. In some embodiments, there are two keyways 2011, symmetrically arranged in the inner cavity of the bushing 201 along the rotation center axis of the bushing 201.

[0044] In some embodiments, the end of the bushing 201 has a plurality of bolt holes 2012, which are distributed circumferentially along the end of the bushing 201. The rudder shaft can be directly fixedly connected to the torsion device 200 by bolts passing through the bolt holes 2012. In some embodiments, both ends of the torsion device 200 can also be connected to the base 102 by rotating bearings. In some embodiments, both axial ends of the bushing 201 can be connected to the base 102 by rotating bearings. Of course, in some preferred embodiments of this application, the torsion device 200 is directly fixedly connected to the rudder shaft by bolts passing through the bolt holes 2012, which is simple in structure, convenient in connection, and easy to adjust. In some embodiments, the torsion device 200 includes a load plate 202, which is connected to the elastic device 301. In some embodiments, a reinforcing rib 203 is provided between the bushing 201 and the load plate 202, and both the bushing 201 and the load plate 202 are fixedly connected to the reinforcing rib 203 to form an integral torsion block 2001.

[0045] In some embodiments, the elastic device 301 is a compression spring. The compression spring is disposed on the side of the load plate 202 opposite to the bushing 201. That is, during simulated load, the compression spring and the servo shaft of the servo are located on different sides above and below the load plate 202, respectively. In some embodiments, the bushing 201 is disposed at the middle position below the load plate 202, and there are at least two compression springs, including a first compression spring 301a and a second compression spring 301b. The first compression spring 301a and the second compression spring 301b are disposed above the load plate 202 and located on both sides of the load plate 202 laterally. That is, the bushing 201 serves as a fulcrum, and the first compression spring 301a and the second compression spring 301b provide elastic force on both sides. In the initial state, the initial elastic force of the first compression spring 301a and the second compression spring 301b is equal, and both sides of the load plate 202 are subjected to the same elastic force, which is the initial static load force.

[0046] The passive load mechanism 300 also includes a guide post 302, with a compression spring located below the limiting plate 101 and sleeved on the guide post 302. In some embodiments, one end of the guide post 302, on which the compression spring is sleeved, has a limiting baffle 3021 and contacts the load plate 202. The limiting plate 101 has a guide hole 1011, and the other end of the guide post 302 passes through the guide hole 1011 of the limiting plate 101, allowing the guide post 302 to move up and down along the guide hole 1011. The compression spring is disposed between the limiting baffle 3021 and the limiting plate 101. The limiting baffle 3021 contacts the lower end of the compression spring, limiting the travel of the lower end of the compression spring. The limiting plate 101 contacts the upper end of the compression spring, limiting the travel of the upper end of the compression spring.

[0047] In some embodiments, a positioning sleeve 1012 is provided below the guide hole 1011, and the positioning sleeve 1012 is fixedly connected to the limiting plate 101. The inner diameter of the positioning sleeve 1012 is larger than the outer diameter of the compression spring, the diameter of the guide post 302 matches the inner diameter of the guide hole 1011, and the inner diameter of the compression spring is larger than the diameter of the guide post 302. The guide post 302 passes through the positioning sleeve 1012 and the guide hole 1011, and the compression spring can only be compressed and released vertically under the action of the positioning sleeve 1012 and the guide post 302.

[0048] In some embodiments, the first compression spring 301a and the second compression spring 301b are respectively provided with the first guide post 302a and the second guide post 302b, which are respectively provided in the first guide hole 1011a and the second guide hole 1011b. The first guide hole 1011a and the second guide hole 1011b are laterally symmetrically provided in the limiting plate 101. Figure 1As shown, when simulating servo load, the servo shaft is fixedly connected to the bushing 201 of the torsion device 200. When the servo is working, the rotation of the servo shaft drives the bushing 201 to rotate, thereby driving the torsion block 2001 to rotate together. Taking the clockwise rotation of the servo shaft as an example, when the servo shaft and bushing 201 rotate clockwise, the left side of the load plate 202 rotates upward, the first guide post 302a moves upward, the first compression spring 301a is further compressed, and the elastic force of the first compression spring 301a increases; the right side of the load plate 202 rotates downward, the second guide post 302b moves downward, the second compression spring 301b extends, the elastic force of the second compression spring 301b decreases, and the elastic force of the second compression spring 301b is gradually released, so that the left side of the servo is subjected to a greater force, realizing the simulation of the loading force.

[0049] In some embodiments, the passive load mechanism 300 further includes an adjusting nut 303. Specifically, one end of the guide post 302 passes above the limiting plate 101 and is connected to the adjusting nut 303, while the other end of the guide post 302 passes below the limiting plate 101 and contacts the load plate 202. The initial position and initial spring force of the compression spring can be adjusted by adjusting the adjusting nut 303. Specifically, the end of the guide post 302 connected to the adjusting nut 303 has a threaded portion, which is threadedly connected to the adjusting nut 303. In some embodiments, a compression spring is first fitted onto the guide post 302. Then, the guide post 302 passes through the guide hole 1011 of the limiting plate 101 from below. Next, an adjusting nut 303 is threaded onto the guide post 302 above the limiting plate 101, confining the compression spring between the limiting baffle 3021 and the limiting plate 101. Additionally, the connection height between the adjusting nut 303 and the threaded portion of the guide post 302 can be adjusted to adjust the initial position and length of the first compression spring 301a and the second compression spring 301b, thereby adjusting the initial elastic force of the first compression spring 301a and the second compression spring 301b. This ensures that the lower ends of both the first guide post 302a and the second guide post 302b are in contact with the load plate 202, making the load plate 202 horizontal, corresponding to the initial static load force of the servo motor. For different servos, compression springs with different lengths and / or stiffnesses in the free state can be provided. When the servo is working, the rotation of the servo shaft drives the bushing 201 to rotate, which in turn drives the torsion block 2001 to rotate as well. Taking the clockwise rotation of the servo shaft as an example, when the servo shaft and bushing 201 rotate clockwise by an angle θ, the left side of the load plate 202 rotates upward, the first guide post 302a moves upward a distance H, the first compression spring 301a is further compressed, and the elastic force of the first compression spring 301a increases; due to the limiting effect of the adjusting nut 303, the second guide post 302b cannot move downward further, so the load plate 202 and the second guide post 302b are disengaged, and the servo is only subjected to the force of the left first compression spring 301a, thus simulating the loading force more accurately.

[0050] In some embodiments, the load plate 202 is provided with a sliding groove 2021, which extends laterally along the load plate 202. The end of the guide post 302 fitted with the compression spring has a sliding part 3022, which cooperates with the sliding groove 2021 and can slide within the sliding groove 2021.

[0051] In some embodiments, the sliding groove 2021 has an arc-shaped cross-section, specifically, it can be a semi-circular groove. The sliding part 3022 has a spherical surface, and the spherical surface of the sliding part 3022 matches the semi-circular groove of the sliding groove 2021. The sliding groove 2021 can guide the guide post 302 laterally, and the arc-shaped sliding groove 2021 and the spherical sliding part 3022 cooperate to reduce sliding resistance.

[0052] In some embodiments, the spherical surface and the guide post 302 are integrally formed, meaning that the end of the guide post 302 is directly formed into a spherical surface, for example, by grinding. In some embodiments, the sliding part 3022 includes a rolling ball, which is tactilely connected to the end of the guide post 302 and can roll within the sliding groove 2021.

[0053] In some embodiments, the elastic device 301 comprises multiple sets, which are distributed along the longitudinal direction of the torsion device 200. Each set of elastic devices includes at least two elastic devices, such as a first compression spring 301a and a second compression spring 301b. In some embodiments, 4-8 sets of elastic devices may be arranged side by side. Figure 2 In the illustrated embodiment, seven sets of elastic devices 301A-301G are arranged side by side. Correspondingly, the guide column and other components of the passive load mechanism 300 also have multiple sets. The multiple sets of elastic devices 301A-301G are distributed along the longitudinal direction of the torsion device 200, which can make the torsion device 200 uniformly stressed, thereby making the rudder shaft uniformly stressed at multiple points in the axial direction.

[0054] In some embodiments, each set of elastic devices 301 includes a first compression spring 301a and a second compression spring 301b. In some embodiments, each set of elastic devices 301 may also include a third compression spring and a fourth compression spring (not shown in the figure), with the first compression spring 301a and the third compression spring disposed on one side of the load plate 202, and the second compression spring 301b and the fourth compression spring disposed on the other side of the load plate 202. The stiffness of the first compression spring 301a and the third compression spring may be the same or different, and the stiffness of the second compression spring 301b and the fourth compression spring may be the same or different. By providing two compression springs on each side of the load plate 202 in the lateral direction, the stiffness of the two compression springs can be set differently, which can better simulate load conditions under various circumstances. Of course, other structures for simulating loading of the passive servo motor corresponding to the four compression springs in the lateral direction can be adaptively designed, and are not specifically limited in this embodiment.

[0055] In some embodiments, the initial distance between the load plate 202 and the limiting plate 101 can be adjusted, thereby adjusting the initial length of the compression spring in conjunction with the adjusting nut 303, ensuring that the guide post 302 contacts the load plate 202 based on the adjusted initial elastic force of the compression spring. In some embodiments, the height of the limiting plate 101 mounted on the base 102 can be adjusted by adjusting the shims. In some embodiments, the mounting height of the load plate 202 can also be adjusted. In this embodiment, the method of adjusting the distance between the load plate 202 and the limiting plate 101 is not limited. In some embodiments, the limiting plate 101 has an upper limiting plate 101a and a lower limiting plate 101b, which are arranged in parallel. A connecting plate 101c is provided between the upper limiting plate 101a and the lower limiting plate 101b, and the upper limiting plate 101a and the lower limiting plate 101b can be welded together by the connecting plate 101c. The connecting plate 101c also serves to strengthen the fixation. The upper limit plate 101a contacts the adjusting nut 303, and the lower limit plate 101b contacts the compression spring. The guide hole 1011 passes through the upper limit plate 101a and the lower limit plate 101b.

[0056] In some embodiments, the upper surface of the load plate 202 is a horizontal plane, and the load plate 202 is a straight line in the lateral direction. Correspondingly, when the load plate 202 is in a horizontal state, the initial distance between the load plate 202 and the limiting plate 101 is the same, and the initial distance between the sliding groove 2021 and the limiting plate 101 in the lateral direction is also the same. In some embodiments, the initial distance between the load plate 202 and the limiting plate 101 in the lateral direction may be different. For example, the load plate 202 is not a horizontal line in the lateral direction; it may be a centrally symmetrical involute shape. In some embodiments, the depth of the sliding groove 2021 may also be designed to have different heights, so that when the load plate 202 is in a horizontal state, the initial distance between the sliding groove 2021 and the limiting plate 101 in the lateral direction is not the same. By designing the shape of the load plate 202 in the lateral direction and / or the depth of the sliding groove 2021, i.e. the initial distance between the load plate 202 / sliding groove 2021 and the limiting plate 101, the stroke of the compression spring when the load plate 202 rotates can be better simulated.

[0057] In some embodiments, the bushing 201 is provided with an angle mark (not shown in the figure), which allows the rotation angle θ of the bushing 201 to be visually observed. In some embodiments, the guide post 302 is provided with a length mark, which allows the upward movement distance H of the guide post 302 to be visually observed. In this embodiment, the specific method of the angle mark and length mark is not limited. For example, the angle mark can be an angle scale line provided on the end face of the bushing 201, and a horizontal scale line provided on the frame 100. By comparing the angle scale line with the horizontal scale line, the rotation angle of the bushing 201 can be obtained. The length mark can be a scale line provided on the threaded part at the upper end of the guide post 302. Using the angle mark and length mark, the rotation angle of the servo shaft and the magnitude of the passively applied load force can be directly calculated.

[0058] Of course, in some embodiments, the elastic device 301 can also be a tension spring. When the elastic device 301 is a tension spring, the tension spring is located on the same side of the load plate 202 and the bushing 201. That is, when simulating load, the tension spring and the servo shaft are located on the same side of the load plate 202. Other structures of the passive servo simulation loading device 1000 when the elastic device 301 is a tension spring can refer to the specific structure of the compression spring, and are not specifically limited in the embodiments of this application.

[0059] In some embodiments, a passive servo motor simulation loading system is also provided, the passive servo motor simulation loading system including the passive servo motor simulation loading device 1000 as described in any of the above embodiments, the passive servo motor simulation loading system further including a servo motor (not shown in the figure), the servo motor being fixedly connected to the torsion device 200.

[0060] In some embodiments, the servo motor includes a servo shaft, which is fixedly connected to the bushing 201 of the torsion device 200.

[0061] In practical use, the rudder shaft passes through the torsion block 2001 and is fixed together. In the initial state, both sides of the torsion block 2001 are subjected to the same elastic force, which is the initial static load force. When the servo is working, the rudder shaft rotates and drives the torsion block 2001 to rotate together. The torsion block 2001 pushes the guide post 302 on one side to move upward and further compresses the compression spring. The compressed side is subjected to the force of the compression spring, thereby simulating the loading force.

[0062] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A passive servo motor simulation loading system, characterized in that, The passive servo motor simulation loading system includes: a passive servo motor simulation loading device (1000) and a servo motor, wherein the passive servo motor simulation loading device (1000) includes: The rack (100) includes a base (102); A torsion device (200) is located within the frame (100) and is rotatably mounted on the base (102). The passive load mechanism (300) includes at least two elastic devices (301), which are symmetrically arranged on both sides of the torsion device (200) in the transverse direction. One end of each elastic device (301) is movably connected to the torsion device (200), and the other end is limitedly connected to the frame (100). The elastic device (301) has a vertical elastic force. The servo motor is fixedly connected to the torsion device; The elastic device (301) is a compression spring; The frame (100) includes a limiting plate (101); The passive load mechanism (300) also includes a guide post (302) and an adjusting nut (303); One end of the guide post (302) passes through the upper part of the limiting plate (101) and is connected to the adjusting nut (303), and the other end of the guide post (302) passes through the lower part of the limiting plate (101). The compression spring is located below the limiting plate (101) and is sleeved on the guide post (302). The torsion device (200) includes a load plate (202), on which a sliding groove (2021) is provided. The guide post (302) has a sliding part (3022) at one end where the compression spring is sleeved, and the sliding part (3022) cooperates with the sliding groove (2021). The limiting plate (101) has an upper limiting plate (101a) and a lower limiting plate (101b), which are arranged in parallel. The upper limiting plate (101a) contacts the adjusting nut (303), and the lower limiting plate (101b) contacts the compression spring. The initial distance between the load plate (202) and the limit plate (101) can be adjusted, thereby adjusting the initial length of the compression spring in conjunction with the adjusting nut (303), and ensuring that the guide post (302) contacts the load plate (202) based on the adjustment of the initial elastic force of the compression spring; In the lateral direction of the load plate (202), the initial distance between the load plate (202) and the limiting plate (101) is different, or the initial distance between the sliding groove (2021) and the limiting plate (101) in the lateral direction is not the same.

2. The passive servo motor simulation loading system according to claim 1, characterized in that, The initial position and initial elastic force of the compression spring can be adjusted by adjusting the adjusting nut (303).

3. The passive servo motor simulation loading system according to claim 2, characterized in that, The compression spring has at least two, including a first compression spring (301a) and a second compression spring (301b), which are disposed above the load plate (202); The first compression spring (301a) and the second compression spring (301b) are respectively provided with the first guide post (302a) and the second guide post (302b). In the initial state, the initial elastic force of the first compression spring and the second compression spring are equal. The lower ends of the first guide post and the second guide post are in contact with the load plate and make the load plate horizontal. Both sides of the load plate are subjected to the same elastic force, which is the initial static load force of the servo motor.

4. The passive servo motor simulation loading system according to claim 3, characterized in that, The (2021) sliding groove extends laterally along the load plate (202); The sliding part (3022) can slide within the sliding groove (2021).

5. The passive servo motor simulation loading system according to claim 4, characterized in that, The sliding groove (2021) has an arc-shaped cross-section; the sliding part (3022) has a spherical surface; the spherical surface and the guide post (302) are an integral structure or the sliding part (3022) includes a rolling ball.

6. The passive servo motor simulation loading system according to claim 4, characterized in that, The guide post (302) has a limiting baffle (3021) at one end where the compression spring is sleeved. The limiting plate (101) has a guide hole (1011). A positioning sleeve (1012) is located below the guide hole (1011). The inner diameter of the positioning sleeve (1012) is larger than the outer diameter of the compression spring. The guide post (302) passes through the positioning sleeve (1012) and the guide hole (1011). The compression spring is located between the limiting baffle (3021) and the limiting plate (101).

7. The passive servo motor simulation loading system according to claim 4, characterized in that, The torsion device (200) includes a bushing (201), the servo motor has a rudder shaft, and the bushing (201) is fixedly connected to the rudder shaft of the servo motor; When the rudder shaft and bushing rotate clockwise, the left side of the load plate rotates upward, the first guide post moves upward a distance H, the first compression spring is further compressed, and the elastic force of the first compression spring increases; Due to the limiting effect of the adjusting nut, the second guide post cannot move further downward, thus the load plate disengages from the second guide post, and the servo is only subjected to the force of the first compression spring on the left.

8. The passive servo motor simulation loading system according to claim 7, characterized in that, A reinforcing rib (203) is provided between the bushing (201) and the load plate (202), and the bushing (201) and the load plate (202) are fixedly connected with the reinforcing rib (203) to form an integral torsion block (2001).

9. The passive servo motor simulation loading system according to claim 1, characterized in that, The elastic device (301) has multiple sets, and the multiple sets of elastic devices are distributed along the longitudinal direction of the torsion device (200).

10. A passive servo motor simulation loading method, characterized in that, The passive servo motor simulation loading method uses the passive servo motor simulation loading system described in any one of claims 1-9 to simulate loading the servo motor.

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