A method and system for accurately positioning the deflection angle of an automatic deflection mechanism of a rudder

Abstract

The invention relates to a method and system for accurately positioning the deflection angle of an automatic deflection mechanism of a rudder surface. The invention establishes a working plane and a virtual lead screw axis of the mechanism; establishes an analytical expression for positioning the deflection angle in the working plane; converts the expression of the positioning analytical expression to be related to the actual mechanism output; converts the structural uncertainty of the mechanism into a problem of solving three undetermined structural parameters; controls the mechanism to perform four predetermined actions respectively, measures the actual rudder deflection angle and the corresponding lead screw stroke, and solves the undetermined structural parameters according to the measurement results; and realizes accurate positioning of the deflection angle by using the solved analytical expression. The invention establishes an analytical expression for positioning the deflection angle, converts the structural uncertainty of the mechanism into three solvable structural parameters, and designs an easy-to-implement method for solving the parameters, thereby realizing accurate and continuous control of the deflection angle of the rudder surface.

Description

Technical Field

[0001] The present invention relates to a method and system for accurately positioning the deflection angle of an automatic deflection mechanism of a rudder surface, which is applicable to a rudder surface servo drive mechanism in which a ball screw is driven by a motor to drive a nut to move linearly and the linear motion is converted into the rotational motion of the rudder surface through a shift fork and a shift shaft, and belongs to the field of experimental aerodynamic measurement and control. Background Art

[0002] The rudder surface is a key component of aerospace vehicles and missile flight control. The aerodynamic characteristics of the rudder surface are one of the most important test contents of the wind tunnel test. By measuring the aerodynamic load of the aircraft under the deflection of each control surface (or rudder surface, such as canard, tail and rudder, etc.) in the wind tunnel, the control efficiency required by the rudder surface is obtained, which provides a screening basis for the early aerodynamic shape design of the aircraft, and also provides data support for the later selection or design of appropriate control devices. Taking into account the cost and measurement accuracy of wind tunnel tests, wind tunnel test models generally use scaled models of aircraft. When the scale is large, the internal space of the model is greatly compressed, which leads to the deflection of the rudder surface of the traditional test model. Generally, it is achieved by manually replacing the angle block or the shaft pin. One wind blowing test corresponds to a single rudder surface deflection angle. Not only is the test efficiency low and the energy consumption high, but the manual labor is large and it is easy to cause human errors. Therefore, the design is like Figure 2 The automatic deflection structure of the rudder surface shown can realize the independent and continuous precise deflection of the angles of each rudder surface of the test model, and can achieve multiple rudder surface deflection angles corresponding to one wind blowing, thereby greatly improving the efficiency of wind tunnel tests and reducing human errors and labor costs.

[0003] For the automatic deflection mechanism of the rudder surface, the precise positioning of the deflection angle of the rudder surface determines the accuracy of the wind tunnel test data. In order to ensure the authenticity and effectiveness of the test results, the positioning accuracy of the rudder surface is required to be within 3'. The automatic deflection mechanism of the rudder surface applicable to the present invention has the characteristics of high transmission accuracy, small space size and large output torque. The automatic deflection mechanism includes a lead screw driven by a motor reducer and a rudder surface driven by a shift fork. The two rely on the shift fork and the shift shaft to achieve transmission. The angle change of the rudder surface deflection shows a nonlinear change with the nut / shift shaft along the axial movement distance of the lead screw. Due to the problems of manufacturing and assembly accuracy and tolerance, the parallel or perpendicular relationship between the lead screw shaft and the rudder axis coordinate system in three directions cannot be guaranteed, and the mechanism space is compact and insufficient to install the rudder deflection angle end feedback device. In order to realize the positioning of the rudder deflection angle, a multi-point fitting method is usually adopted. The process is complicated. The higher the order of fitting, the greater the calculation cost, and the precise positioning of the continuous angle cannot be fully guaranteed.

[0004] Therefore, it is necessary to develop a method for accurately positioning the deflection angle of the rudder automatic deflection mechanism with low computational cost and non-fitting method, so as to realize continuous and precise positioning of the rudder deflection angle and provide strong technical support for the development of aerospace vehicles. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned defects of the prior art and to provide a method and system for accurately positioning the deflection angle of an automatic deflection mechanism of a rudder surface. By combining the structural characteristics and motion characteristics of the automatic deflection mechanism of the rudder surface and taking into account structural uncertainty, a rudder surface deflection angle positioning formula including structural characteristics is established to achieve continuous and accurate positioning of the rudder surface angle.

[0006] The above-mentioned purpose of the present invention is mainly achieved through the following technical solutions:

[0007] A method for accurately positioning a deflection angle of an automatic deflection mechanism of a rudder surface, comprising:

[0008] S1. Establishing a rotation coordinate system for the motion of the shift fork, and obtaining an analytical expression of the deflection angle of the rudder surface of the automatic deflection mechanism of the rudder surface on the virtual plane;

[0009] S2. According to the proportional relationship between the parameters on the virtual axis of the virtual plane and the parameters on the actual screw axis, convert the analytical expression on the virtual plane into a motion expression on the actual motion plane;

[0010] S3. Using the given movement distance of the rudder surface automatic deflection mechanism and the actual corresponding output rudder deflection angle, determine the three parameters in the movement expression of the actual movement plane, which are the actual movement distance of the shifting shaft on the screw shaft, X, and dr , the distance L from the center of the rudder axis to the actual screw axis r , the angle between the virtual screw shaft and the X-axis of the fork motion rotation coordinate system

[0011] S4. Substitute the three parameters into the motion expression of the actual motion plane to complete the deflection angle precise positioning method.

[0012] In the above-mentioned method for accurately positioning the deflection angle of the automatic deflection mechanism of the rudder surface, the fork motion rotation coordinate system OXYZ established in step S1 is: the intersection of the axis center line of the fork rotating around the rudder axis and the fork rotation plane is taken as the origin O of the coordinate system, when the rudder deflection angle of the wind tunnel test model is 0 degrees, the wind tunnel flow direction in the fork rotation plane is the positive direction of the X-axis, the fork opening direction is the positive direction of the Y-axis, and the positive direction of the Z-axis is determined according to the left-hand rule.

[0013] In the above-mentioned method for accurately positioning the deflection angle of the automatic deflection mechanism of the rudder surface, the analytical expression of the deflection angle of the rudder surface of the automatic deflection mechanism of the rudder surface on the virtual plane in step S1 is as follows:

[0014]

[0015] Among them, θ m is the deflection angle of the rudder surface, X m X is the distance the shifting axis moves on the virtual screw axis.d The deflection angle of the rudder surface is When , the moving distance of the shifting axis on the virtual screw axis is L is the angle between the virtual screw shaft and the X-axis of the fork motion rotation coordinate system, 0 It is the vertical distance from the origin O of the rotating coordinate system to the virtual screw axis.

[0016] In the above-mentioned method for accurately positioning the deflection angle of the automatic deflection mechanism of the rudder, the proportional relationship between the virtual axis parameters of the virtual plane and the actual screw axis parameters in step S2 is as follows:

[0017]

[0018] Where: X dr L is the actual moving distance of the shifting shaft on the screw shaft, r is the distance from the center of the rudder shaft to the real screw shaft, X r is the moving distance of the controlled lever shaft, k is the proportional coefficient between the moving distance of the lever shaft on the virtual screw shaft and the moving distance on the corresponding real screw shaft, X m X is the distance the shifting axis moves on the virtual screw axis. d The deflection angle of the rudder surface is When the shifting axis moves on the virtual screw axis, L 0 It is the vertical distance from the origin O of the rotating coordinate system to the virtual screw axis.

[0019] In the above-mentioned method for accurately positioning the deflection angle of the automatic deflection mechanism of the control surface, the analytical expression on the virtual plane is converted into the motion expression of the actual motion plane in step S2 as follows:

[0020]

[0021] Where: θ m is the rudder surface deflection angle, It is the angle between the virtual screw shaft and the X-axis of the fork motion rotation coordinate system.

[0022] In the above-mentioned method for accurately positioning the deflection angle of the rudder automatic deflection mechanism, the method for determining the three parameters in the motion expression of the actual motion plane by using the given mechanism motion distance and the actual corresponding output rudder deflection angle in step S3 is as follows:

[0023] (3.1) The rudder surface of the automatic deflection mechanism returns to zero position, the drive motor rotates, and the control shaft moves in the positive and negative directions on the screw shaft respectively. r1 distance, and measure the corresponding angle of the rudder, which are recorded as θ 1 and θ 3 ;

[0024] (3.2) The rudder surface of the automatic deflection mechanism returns to zero position, the drive motor rotates, and the control shaft moves in the positive and negative directions on the screw shaft respectively. r2 distance, and satisfy X r2 ≠X r1 , measure the corresponding angle of the rudder surface, recorded as θ 2 and θ 4 ;

[0025] (3.3), according to the angle θ 1 ,θ 3 ,θ 2 and θ 4 , according to the motion expression of the actual motion plane, the following equations are established:

[0026]

[0027] (3.4), solve the equations in step (3.3) to obtain the actual moving distance X of the pulley shaft on the screw shaft dr , the distance L from the center of the rudder axis to the actual screw axis r , the angle between the virtual screw shaft and the X-axis of the fork motion rotation coordinate system

[0028] In the above-mentioned method for accurately positioning the deflection angle of the automatic deflection mechanism of the rudder, the method for solving the equation group in step (3.3) in step (3.4) to obtain the three parameters is:

[0029] Eliminate the parameter X in the system of equations dr and L r , after simplification, we get:

[0030]

[0031] Further solving, we get for:

[0032]

[0033] Take any two formulas in the equation group of step (3.3) and convert Substituting in, we can solve for X dr for:

[0034]

[0035] Take any formula in the equation group of step (3.3) and replace and X dr Substitute it and get L r for:

[0036]

[0037] The above-mentioned method for accurately positioning the deflection angle of the automatic deflection mechanism of the rudder surface also includes: controlling the automatic deflection mechanism shaft of the rudder surface to move a given distance on the screw shaft, measuring the corresponding angle of the rudder surface and comparing it with the result of the motion expression of the actual motion plane after the deflection angle is accurately positioned in step S4 to verify the accuracy and effectiveness.

[0038] A deflection angle accurate positioning system for a rudder automatic deflection mechanism comprises a coordinate system establishment module, a conversion module and a parameter calculation module, wherein:

[0039] A coordinate system establishment module is used to establish a rotation coordinate system for the fork motion and obtain an analytical expression of the rudder surface deflection angle of the rudder surface automatic deflection mechanism on a virtual plane;

[0040] A conversion module, which converts the analytical expression on the virtual plane into a motion expression on the actual motion plane according to the proportional relationship between the parameters on the virtual axis of the virtual plane and the parameters on the actual screw axis;

[0041] The parameter calculation module uses the given mechanism motion distance and the actual corresponding output rudder deflection angle to determine the three parameters in the motion expression of the actual motion plane, which are the actual moving distance X of the pull shaft on the screw shaft and the actual moving distance X of the pull shaft on the screw shaft. dr , the distance L from the center of the rudder axis to the actual screw axis r , the angle between the virtual screw shaft and the X-axis of the fork motion rotation coordinate system Substituting the three parameters into the motion expression of the actual motion plane completes the method for accurately positioning the deflection angle.

[0042] In the above-mentioned deflection angle precise positioning system of the rudder automatic deflection mechanism, the parameter calculation module uses the given mechanism movement distance and the actual corresponding output rudder deflection angle to determine the three parameters in the motion expression of the actual motion plane as follows:

[0043] (3.1) The rudder surface of the automatic deflection mechanism returns to zero position, the drive motor rotates, and the control shaft moves in the positive and negative directions on the screw shaft respectively. r1 distance, and measure the corresponding angle of the rudder, which are recorded as θ 1 and θ 3 ;

[0044] (3.2) The rudder surface of the automatic deflection mechanism returns to zero position, the drive motor rotates, and the control shaft moves in the positive and negative directions on the screw shaft respectively. r2 distance, and satisfy X r2 ≠X r1 , measure the corresponding angle of the rudder surface, recorded as θ 2 and θ 4 ;

[0045] (3.3), according to the angle θ1 ,θ 3 ,θ 2 and θ 4 , according to the motion expression of the actual motion plane, the following equations are established:

[0046]

[0047] (3.4), solve the equations in step (3.3) to obtain the actual moving distance X of the pulley shaft on the screw shaft dr , the distance L from the center of the rudder axis to the actual screw axis r , the angle between the virtual screw shaft and the X-axis of the fork motion rotation coordinate system

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] (1) The present invention combines the structural features and motion characteristics of the rudder surface automatic deflection mechanism to establish a rudder surface deflection angle positioning formula with structural features; converts the structural uncertainty of the deflection mechanism into the solution of three undetermined structural parameters; and solves the undetermined structural parameters by designing four groups of predetermined motion actions. The solution process is easy to implement, and the rudder surface deflection angle positioning formula finally obtained has high positioning accuracy, can realize continuous and accurate positioning of the rudder surface angle, and has low calculation cost.

[0050] (2) The present invention establishes a working plane and a virtual screw axis of the mechanism; establishes an analytical expression for the deflection angle positioning in the working plane; converts the expression of the positioning analytical expression to be related to the actual mechanism output; converts the structural uncertainty of the mechanism into the solution problem of three undetermined structural parameters; the control mechanism performs four predetermined actions respectively, measures the actual rudder deflection angle and the corresponding screw stroke, and solves the undetermined structural parameters according to the measurement results; and uses the solved analytical expression to achieve precise positioning of the deflection angle. The present invention establishes an analytical expression for the deflection angle positioning, converts the structural uncertainty of the mechanism into three solvable structural parameters, and designs an easy-to-implement method to solve them, thereby achieving precise and continuous control of the rudder surface deflection angle.

[0051] (3) The present invention provides a method and system for accurately positioning the deflection angle of an automatic deflection mechanism of a rudder surface. The method combines the structural features and motion characteristics of the automatic deflection mechanism of the rudder surface, considers the structural uncertainty, and establishes a rudder surface deflection angle positioning formula that includes the structural features to achieve continuous and accurate positioning of the rudder surface angle. The method overcomes the problems that the automatic deflection mechanism of the rudder surface in the prior art has a compact structure that is not large enough to install a rudder deflection angle end feedback device, the actual structure has uncertainty and parameter measurement is difficult, and the commonly used fitting positioning method has a complex process, a high calculation cost, and cannot guarantee continuous and accurate positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1This is a flow chart of the method for accurately positioning the deflection angle of the automatic deflection mechanism of the rudder surface of the present invention;

[0053] Figure 2 This is a schematic diagram of the structure and composition of the automatic deflection mechanism of the rudder surface of the present invention;

[0054] Figure 3 It is a simplified schematic diagram of the movement of the shift shaft and the shift fork in the XOY plane of the present invention;

[0055] Figure 4 Schematic diagram of the four movements set for the present invention in the XOY plane. Specific implementation plan

[0056] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0057] like Figure 1 The flowchart of the method for accurately positioning the deflection angle of the automatic deflection mechanism of the rudder surface of the present invention is shown. The method for accurately positioning the deflection angle of the automatic deflection mechanism of the rudder surface of the present invention comprises the following steps:

[0058] 1. Establish the rotation coordinate system of the shift fork motion and obtain the analytical expression of the rudder surface deflection angle of the rudder surface automatic deflection mechanism on the virtual plane.

[0059] Establish a coordinate system with the center of rotation of the shift fork around the rudder axis as the origin, such as Figure 2 The structure and composition diagram of the automatic deflection mechanism of the rudder surface of the present invention is shown. The shift fork is perpendicular to the rudder surface, and the angle of rotation of the shift fork around the origin O is equal to the deflection angle of the rudder surface. The movement of the shift fork belongs to the rotation movement in the plane XOY. The automatic deflection mechanism of the rudder surface is mainly composed of a motor reducer, a lead screw, a nut, a shift shaft, a shift fork, a rudder shaft and a rudder surface.

[0060] The established shift fork motion rotation coordinate system OXYZ takes the intersection of the axis centerline of the shift fork rotating around the rudder axis and the shift fork rotation plane as the origin O of the coordinate system. When the rudder deflection angle of the wind tunnel test model is 0 degrees, the wind tunnel flow direction in the shift fork rotation plane is the positive direction of the X axis, the shift fork opening direction is the positive direction of the Y axis, and the positive direction of the Z axis is determined according to the left-hand rule.

[0061] Due to the accuracy and tolerance of manufacturing and assembly, the screw shaft cannot completely meet the conditions of being parallel to the X axis and perpendicular to the Y axis and Z axis. The screw shaft is projected into the working plane of the shift fork, that is, the virtual screw shaft is generated in the XOY plane of the coordinate system. After projection, the angle between the virtual screw shaft and the X axis is The vertical distance from the origin O to the virtual screw axis is L 0 .

[0062] When the shift fork is at the Y-axis position, the rudder angle is at zero, which is also the zero position of the shift shaft moving on the virtual screw shaft. Figure 3The figure shows a simplified schematic diagram of the movement of the shift shaft and the shift fork in the XOY plane of the present invention. m When m (clockwise is positive), there is an analytical expression between them, and the analytical expression of the rudder deflection angle of the rudder automatic deflection mechanism on the virtual plane is as follows:

[0063]

[0064] Among them, θ m is the deflection angle of the rudder surface, X m X is the distance the shifting axis moves on the virtual screw axis. d The deflection angle of the rudder surface is When , the moving distance of the shifting axis on the virtual screw axis is L is the angle between the virtual screw shaft and the X-axis of the fork motion rotation coordinate system, 0 It is the vertical distance from the origin O of the rotating coordinate system to the virtual screw axis.

[0065] Second, according to the proportional relationship between the virtual axis parameters of the virtual plane and the actual screw axis parameters, the analytical expression on the virtual plane is converted into the motion expression of the actual motion plane, that is, the rudder deflection angle θ is derived. m The distance X that the pull shaft moves along the screw shaft r The analytical expression between .

[0066] The parameters related to the virtual screw axis in formula (1) cannot be actually measured, but their values ​​are determined after the mechanism structure is assembled, and the shifting axis moves the virtual screw axis by a certain distance X. m The distance X from the corresponding shift axis on the real screw axis r There is a certain trigonometric proportional relationship between them, and the proportional size is defined as the coefficient k. From the analysis of the spatial relationship of the mechanism structure, the distance L from the rudder axis center O to the virtual screw axis is 0 Distance L from the rudder axis center O to the actual screw axis r Between, X d With X dr The proportional relationship between them is also the coefficient k.

[0067] Then the following formula holds true, that is, the proportional relationship between the virtual axis parameters of the virtual plane and the actual screw axis parameters is as follows:

[0068]

[0069] Therefore, the solution of equation (1) is equivalent to the following equation, which converts the analytical expression on the virtual plane into the motion expression of the actual motion plane as follows:

[0070]

[0071] Where: X dr L is the actual moving distance of the shifting shaft on the screw shaft, r is the distance from the center of the rudder shaft to the real screw shaft, X r is the moving distance of the controlled lever shaft, k is the proportional coefficient between the moving distance of the lever shaft on the virtual screw shaft and the moving distance on the corresponding real screw shaft, X m X is the distance the shifting axis moves on the virtual screw axis. d The deflection angle of the rudder surface is When the shifting axis moves on the virtual screw axis, L 0 is the vertical distance from the origin O of the rotating coordinate system to the virtual screw axis; θ m is the rudder surface deflection angle, It is the angle between the virtual screw shaft and the X-axis of the fork motion rotation coordinate system.

[0072] Formula (3) is the derived rudder surface deflection angle θ m The actual moving distance X of the pulley shaft along the screw shaft r The analytical expression of the control axis movement distance X r The size of the rudder surface can achieve a deflection angle θ m Precise and continuous control.

[0073] There are three unknown parameters X related to the mechanism structure in formula (3): dr , L r and Their values ​​are certain, but cannot be directly measured. The result of formula (3) is meaningful only when the precise values ​​of these three parameters are obtained.

[0074] 3. Using the given movement distance of the mechanism and the actual corresponding output rudder deflection angle, determine the three parameters in the movement expression of the actual movement plane, which are the actual movement distance X of the pull shaft on the screw shaft dr , the distance L from the center of the rudder axis to the actual screw axis r , the angle between the virtual screw shaft and the X-axis of the fork motion rotation coordinate system

[0075] Design a method to use the given mechanism motion distance X r And the actual corresponding output rudder deflection angle θ m To determine the parameter X dr , L r and The specific steps are as follows:

[0076] 1) The rudder returns to zero position, the drive motor rotates, and the control shaft moves on the screw shaft in the positive and negative directions respectively. r1 distance, and use the instrument to measure the corresponding angle of the rudder surface, which is recorded as θ1 and θ 3 ;

[0077] 2) The rudder returns to zero position, the drive motor rotates, and the control shaft moves on the screw shaft in the positive and negative directions respectively. r2 Distance(X r2 ≠X r1 ), use the instrument to measure the corresponding angle of the rudder surface, which are recorded as θ 2 and θ 4 The movement is shown as Figure 4 As shown, Figure 4 Schematic diagram of the four movements set for the present invention in the XOY plane.

[0078] 3) According to the angle θ 1 ,θ 3 ,θ 2 and θ 4 , according to the motion expression (3) of the actual motion plane, the following equations are established:

[0079]

[0080] Eliminate the parameter X in equation (4) dr and L r , after simplification, we get:

[0081]

[0082] Further solving, we get for

[0083]

[0084] Take any two equations in equation (4), now take the first and second equations, and replace equation (6) with Substituting the result into the solution, we get X dr for:

[0085]

[0086] Take the first equation in equation (4), substitute equations (6) and (7) to obtain L r for:

[0087]

[0088] So far, the three parameters X to be determined dr , and L r All solved.

[0089] 4. The three parameters X dr , and L rSubstituting the motion expression of the actual motion plane, that is, formula (3), the final rudder deflection angle positioning formula is obtained, which can realize the rudder surface deflection angle θ m Precise and continuous control.

[0090] Finally, control the rudder surface automatic deflection mechanism to move a given distance on the screw shaft, measure the corresponding angle of the rudder surface and compare it with the motion expression result of the actual motion plane after the deflection angle is accurately positioned in step 4 to verify its accuracy and effectiveness.

[0091] The method for accurately positioning the deflection angle of the automatic deflection mechanism of the rudder surface of the present invention involves solving the structural parameters of the mechanism and accurately positioning the deflection angle, and the steps are as follows: establishing a working plane and a virtual screw shaft of the mechanism; establishing a deflection angle positioning analytical expression in the working plane; converting the positioning analytical expression expression to be related to the actual mechanism output; converting the structural uncertainty of the mechanism into the solution problem of three undetermined structural parameters; controlling the mechanism to perform four predetermined actions respectively, measuring the actual rudder deflection angle and the corresponding screw stroke, and solving the undetermined structural parameters according to the measurement results; and using the solved analytical expression to realize the accurate positioning of the deflection angle. The present invention establishes a deflection angle positioning analytical expression, converts the structural uncertainty of the mechanism into three solvable structural parameters, and designs an easy-to-implement method for solving the solution, which can realize accurate and continuous control of the deflection angle of the rudder surface.

[0092] The invention discloses a method for accurately positioning the deflection angle of a rudder automatic deflection mechanism, which is applicable to a rudder servo drive mechanism in which a motor drives a ball screw to drive a nut to move linearly and converts the linear motion of the rudder into rotational motion of the rudder through a shift fork and a shift shaft.

[0093] The present invention also provides a deflection angle accurate positioning system for a rudder automatic deflection mechanism, comprising a coordinate system establishment module, a conversion module and a parameter calculation module, wherein:

[0094] A coordinate system establishment module is used to establish a rotation coordinate system for the fork motion and obtain an analytical expression of the rudder surface deflection angle of the rudder surface automatic deflection mechanism on a virtual plane;

[0095] A conversion module, which converts the analytical expression on the virtual plane into a motion expression on the actual motion plane according to the proportional relationship between the parameters on the virtual axis of the virtual plane and the parameters on the actual screw axis;

[0096] The parameter calculation module uses the given mechanism motion distance and the actual corresponding output rudder deflection angle to determine the three parameters in the motion expression of the actual motion plane, which are the actual moving distance X of the pull shaft on the screw shaft and the actual moving distance X of the pull shaft on the screw shaft. dr , the distance L from the center of the rudder axis to the actual screw axis r , the angle between the virtual screw shaft and the X-axis of the fork motion rotation coordinate system Substituting the three parameters into the motion expression of the actual motion plane completes the method for accurately positioning the deflection angle.

[0097] The above description is only the best specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

[0098] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. A method for accurately positioning the deflection angle of an automatic deflection mechanism of a rudder surface, characterized in that: include: S1. Establishing a rotation coordinate system for the motion of the shift fork, and obtaining an analytical expression of the deflection angle of the rudder surface of the automatic deflection mechanism of the rudder surface on the virtual plane; S2. According to the proportional relationship between the parameters on the virtual axis of the virtual plane and the parameters on the actual screw axis, convert the analytical expression on the virtual plane into a motion expression on the actual motion plane; S3. Using the given movement distance of the rudder surface automatic deflection mechanism and the actual corresponding output rudder deflection angle, determine the three parameters in the movement expression of the actual movement plane, which are the actual movement distance of the shifting shaft on the screw shaft, X, and dr , the distance L from the center of the rudder shaft to the actual screw shaft r , the angle between the virtual screw shaft and the X-axis of the fork motion rotation coordinate system S4, substituting the three parameters into the motion expression of the actual motion plane to complete the deflection angle precise positioning method; In step S3, the method for determining the three parameters in the motion expression of the actual motion plane by using the given mechanism motion distance and the actual corresponding output rudder deflection angle is as follows: (3.1) The rudder surface of the automatic deflection mechanism returns to zero position, the drive motor rotates, and the control shaft moves in the positive and negative directions on the screw shaft respectively. r1 distance, and measure the corresponding angle of the rudder surface, which are recorded as θ1 and θ3 respectively; (3.2) The rudder surface of the automatic deflection mechanism returns to zero position, the drive motor rotates, and the control shaft moves in the positive and negative directions on the screw shaft respectively. r2 distance, and satisfy X r2 ≠X r1 , measure the corresponding angles of the rudder surface, recorded as θ2 and θ4 respectively; (3.3), according to the angles θ1, θ3, θ2 and θ4, the following equations are established according to the motion expression of the actual motion plane: (3.4), solve the equations in step (3.3) to obtain the actual moving distance X of the pulley shaft on the screw shaft dr , the distance L from the center of the rudder shaft to the actual screw shaft r , the angle between the virtual screw shaft and the X-axis of the fork motion rotation coordinate system 2. The method for accurately positioning the deflection angle of the automatic deflection mechanism of the control surface according to claim 1, characterized in that: The shift fork motion rotation coordinate system OXYZ established in step S1 is: the intersection of the axis centerline of the shift fork rotating around the rudder axis and the shift fork rotation plane is taken as the coordinate system origin O, when the rudder deflection angle of the wind tunnel test model is 0 degrees, the wind tunnel flow direction in the shift fork rotation plane is the positive direction of the X axis, the shift fork opening direction is the positive direction of the Y axis, and the positive direction of the Z axis is determined according to the left-hand rule.

3. The method for accurately positioning the deflection angle of the automatic deflection mechanism of the control surface according to claim 1, characterized in that: The analytical expression of the rudder surface deflection angle of the rudder surface automatic deflection mechanism in step S1 on the virtual plane is as follows: Among them, θ m is the deflection angle of the rudder surface, X m X is the distance the shifting axis moves on the virtual screw axis. d The deflection angle of the rudder surface is When , the moving distance of the shifting axis on the virtual screw axis is is the angle between the virtual screw shaft and the X-axis of the rotating coordinate system of the fork motion, and L0 is the vertical distance from the origin O of the rotating coordinate system to the virtual screw shaft.

4. The method for accurately positioning the deflection angle of the automatic deflection mechanism of the control surface according to claim 1, characterized in that: The proportional relationship between the virtual axis parameters of the virtual plane and the actual screw axis parameters in step S2 is as follows: Where: X dr L is the actual moving distance of the shifting shaft on the screw shaft, r is the distance from the center of the rudder shaft to the real screw shaft, X r is the moving distance of the controlled lever shaft, k is the proportional coefficient between the moving distance of the lever shaft on the virtual screw shaft and the moving distance on the corresponding real screw shaft, X m X is the distance the shifting axis moves on the virtual screw axis. d The deflection angle of the rudder surface is When , the shifting axis moves on the virtual screw axis, and L0 is the vertical distance from the origin O of the rotating coordinate system to the virtual screw axis.

5. The method for accurately positioning the deflection angle of the automatic deflection mechanism of the rudder surface according to claim 4, characterized in that: In step S2, the analytical expression on the virtual plane is converted into a motion expression on the actual motion plane as follows: Where: θ m is the rudder surface deflection angle, It is the angle between the virtual screw shaft and the X-axis of the fork motion rotation coordinate system.

6. The method for accurately positioning the deflection angle of the automatic deflection mechanism of the control surface according to claim 1, characterized in that: In step (3.4), the method for solving the equation group in step (3.3) to obtain the three parameters is: Eliminate the parameter X in the system of equations dr and L r , after simplification, we get: Further solving, we get for: Take any two formulas in the equation group of step (3.3) and convert Substituting in, we can solve for X dr for: Take any formula in the equation group of step (3.3) and replace and X dr Substitute it and get L r for:

7. The method for accurately positioning the deflection angle of the automatic deflection mechanism of the control surface according to claim 1, characterized in that: Also includes: The control surface automatic deflection mechanism shift shaft moves a given distance on the screw shaft, and the corresponding angle of the rudder surface is measured and compared with the result of the motion expression of the actual motion plane after the deflection angle is accurately positioned in step S4 to verify the accuracy and effectiveness.

8. A deflection angle accurate positioning system for an automatic deflection mechanism of a rudder surface, characterized in that: It includes a coordinate system establishment module, a conversion module and a parameter calculation module, among which: A coordinate system establishment module is used to establish a rotation coordinate system for the fork motion and obtain an analytical expression of the rudder surface deflection angle of the rudder surface automatic deflection mechanism on a virtual plane; A conversion module, which converts the analytical expression on the virtual plane into a motion expression on the actual motion plane according to the proportional relationship between the parameters on the virtual axis of the virtual plane and the parameters on the actual screw axis; The parameter calculation module uses the given mechanism movement distance and the actual corresponding output rudder deflection angle to determine the three parameters in the motion expression of the actual motion plane, which are the actual movement distance X of the pull shaft on the screw shaft and the actual movement distance X of the pull shaft on the screw shaft. dr , the distance L from the center of the rudder shaft to the actual screw shaft r , the angle between the virtual screw shaft and the X-axis of the fork motion rotation coordinate system Substituting the three parameters into the motion expression of the actual motion plane, the deflection angle precise positioning method is completed; The parameter calculation module uses the given mechanism movement distance and the actual corresponding output rudder deflection angle to determine the three parameters in the movement expression of the actual movement plane as follows: (3.1) The rudder surface of the automatic deflection mechanism returns to zero position, the drive motor rotates, and the control shaft moves in the positive and negative directions on the screw shaft respectively. r1 distance, and measure the corresponding angle of the rudder surface, which are recorded as θ1 and θ3 respectively; (3.2) The rudder surface of the automatic deflection mechanism returns to zero position, the drive motor rotates, and the control shaft moves in the positive and negative directions on the screw shaft respectively. r2 distance, and satisfy X r2 ≠X r1 , measure the corresponding angles of the rudder surface, recorded as θ2 and θ4 respectively; (3.3), according to the angles θ1, θ3, θ2 and θ4, the following equations are established according to the motion expression of the actual motion plane: (3.4), solve the equations in step (3.3) to obtain the actual moving distance X of the pulley shaft on the screw shaft dr , the distance L from the center of the rudder shaft to the actual screw shaft r , the angle between the virtual screw shaft and the X-axis of the fork motion rotation coordinate system

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