Gas rudder control mechanism starting torque test device and test method

Abstract

The present application provides a test device and a test method for the starting torque of a gas rudder control mechanism, the test device comprising: a control mechanism simulation device, comprising: a simulated rudder surface connected to a power mechanism through a joystick; a first static loading device connected to the simulated rudder surface, configured to provide a simulated tensile load to the end of the simulated rudder surface; a second static loading device connected to the simulated rudder surface, configured to provide a simulated pressure load to a position on the simulated rudder surface corresponding to the rudder shaft of the simulated rudder surface; a measuring component connected to the joystick, configured to measure the starting torque of the control mechanism simulation device; wherein the power mechanism and the first static loading device can control the simulated rudder surface to be in a first state, or control the simulated rudder surface to rotate a certain angle and be in a second state. The embodiment of the present application fully simulates the actual working conditions of the gas rudder control mechanism, ensures the accuracy and objectivity of the test process, and provides accurate and reliable input conditions for designing the gas rudder system.

Description

Technical Field

[0001] The present application relates to the field of mechanical design technology, and in particular to a starting torque testing device and a testing method for a gas rudder control mechanism. Background Art

[0002] Under the action of the engine jet, the gas rudder generates a large hinge torque, and the transmission link in its control mechanism will generate a certain additional torque under the action of large load. At present, the load torque requirement of the servo mechanism is usually determined according to the maximum hinge torque value of the rudder surface under aerodynamic load, and there is a lack of effective means to evaluate the additional torque value under severe load conditions.

[0003] In addition, the bearings in the control mechanism have the characteristics of heavy load, short service time and few rotation times, which is very different from the long-term and millions of rotation times of traditional industrial bearings under a certain load. There is no friction coefficient reference standard to support the overloaded service conditions of the gas rudder system bearings. Therefore, estimating the additional friction torque by empirically given bearing friction coefficient or calculating the torque value by finite element simulation and other methods cannot fully consider the actual working conditions of the gas rudder control mechanism. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a gas rudder control mechanism starting torque test device and test method.

[0005] Based on the above purpose, the present application provides a test device for the starting torque of a gas rudder control mechanism, which is characterized by comprising:

[0006] The control mechanism simulation device comprises: a simulated control surface connected to the power mechanism through a control rod;

[0007] a first static loading device connected to the simulated rudder surface and configured to provide a simulated tensile load to an end of the simulated rudder surface;

[0008] a second static loading device, connected to the simulated rudder surface, and configured to provide a simulated pressure load to a position on the simulated rudder surface corresponding to the rudder axis of the simulated rudder surface;

[0009] a measuring assembly connected to the joystick and configured to measure the starting torque of the manipulator simulation device;

[0010] The power mechanism and the first static loading device are capable of controlling the simulated control surface to be in a first state, or controlling the simulated control surface to rotate to a certain angle and be in a second state.

[0011] In a possible implementation, the control mechanism simulation device includes: a rocker arm;

[0012] The rudder shaft is fixedly connected to the rocker arm;

[0013] The first end of the joystick is rotatably connected to the rocker arm;

[0014] The second end of the joystick is rotatably connected to the power mechanism;

[0015] The power mechanism is configured to output a driving force which is sequentially transmitted through the joystick and the rocker arm to drive the simulated control surface to rotate.

[0016] In a possible implementation, the control mechanism simulation device further includes: a first bearing, a second bearing, a simulation cabin and a gas rudder support;

[0017] The gas rudder support is connected to the simulation cabin;

[0018] The rudder shaft is connected to the gas rudder support through the first bearing and the second bearing, so that the stability of the rudder shaft is maintained through the first bearing and the second bearing.

[0019] In a possible implementation, the control mechanism simulation device further includes: a first retaining ring and a second retaining ring;

[0020] The first retaining ring is fixedly connected to the gas rudder support;

[0021] The first retaining ring is located on the outer ring of the second bearing and is fixedly connected to the second bearing;

[0022] The second retaining ring is located at one end of the second bearing along the rudder shaft close to the gas rudder support and is rotatably connected to the rudder shaft to limit the axial movement of the rudder shaft.

[0023] In a possible implementation, the manipulation mechanism simulation device further includes: a first universal connecting rod and a second universal connecting rod;

[0024] One end of the first universal connecting rod is universally connected to the end of the simulated rudder surface;

[0025] The other end of the first universal connecting rod is connected to the first static loading device to transmit the simulated tensile load to the simulated rudder surface;

[0026] One end of the second universal connecting rod is universally connected to a position on the simulated rudder surface corresponding to the rudder axis;

[0027] The other end of the second universal connecting rod is connected to the second static loading device to transmit the simulated pressure load to the simulated rudder surface.

[0028] In a possible implementation, the first static loading device includes: a first load-bearing column, a first hydraulic ram, a first tension sensor, and an elastic connecting member;

[0029] The first hydraulic actuator is fixed to the first bearing column and is connected to the first universal connecting rod through the first tension sensor and the elastic connecting piece in sequence;

[0030] The first hydraulic jack is kept at the same horizontal position as the center line of the first universal connecting rod.

[0031] In a possible implementation, the second static loading device includes: a second load-bearing column, a second tension sensor, and a second hydraulic actuator;

[0032] The second hydraulic actuator is fixed to the second bearing column and connected to the second universal connecting rod through the second tension sensor;

[0033] The second hydraulic jack is kept at the same horizontal position as the center line of the second universal connecting rod.

[0034] In a possible implementation, the measuring component includes: at least one strain gauge;

[0035] The strain gauge is connected to the joystick and is configured to measure the starting torque of the operating mechanism simulation device.

[0036] Based on the same inventive concept, the present application also provides a method for testing the starting torque of a gas rudder control mechanism using the testing device as described in any one of the above items, comprising:

[0037] Controlling the simulated control surface to be in a first state through a power mechanism;

[0038] Providing a preset simulated tensile load to the simulated rudder surface through a first static loading device;

[0039] Providing a preset simulated pressure load to the simulated rudder surface through a second static loading device;

[0040] The simulated control surface is driven to rotate by a power mechanism, and a first strain of the joystick when the simulated control surface rotates is detected by a measuring component;

[0041] Based on the first strain and the calibration coefficient, the starting torque is calculated; wherein the calibration coefficient is calculated by the second strain and torque of the joystick.

[0042] In a possible implementation, the driving of the simulated control surface to rotate by a power mechanism includes:

[0043] The simulated rudder surface is controlled by a power mechanism to rotate to a certain angle and remain in the second state within a preset maintenance time;

[0044] Restoring the existing load of the first static loading device to a preset simulated tensile load by means of the first static loading device;

[0045] The simulated rudder surface is controlled by a power mechanism to rotate to a certain angle and be in a first state.

[0046] From the above description, it can be seen that the gas rudder control mechanism starting torque test device and test method provided in the present application fully simulate the actual working conditions of the gas rudder, and ensure the accuracy and objectivity of the test boundary conditions; at the same time, the starting torque of the gas rudder control mechanism under high load conditions is detected and calculated, and accurate test results can be obtained, which provides accurate and reliable input conditions for designing the gas rudder system; at the same time, it also solves the problem that it is difficult to test and calculate the starting torque of the gas rudder control mechanism under laboratory conditions, and the detection accuracy is high, the error is small, the efficiency is high, the cycle is short, and the device is easy to install. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0048] Figure 1 This is a schematic diagram of a starting torque test device for a gas rudder control mechanism according to an embodiment of the present application;

[0049] Figure 2 A schematic diagram of a control mechanism simulation device according to an embodiment of the present application;

[0050] Figure 3 This is a schematic diagram of the main body of the operating mechanism of the embodiment of the present application;

[0051] Figure 4 A schematic diagram of a simulated rudder surface according to an embodiment of the present application;

[0052] Figure 5 It is a partially enlarged schematic diagram of a gas rudder control mechanism starting torque test device according to an embodiment of the present application.

[0053] Figure 6 This is a schematic diagram of the connection between the universal connecting rod and the simulated control surface in an embodiment of the present application;

[0054] Figure 7 This is a cross-sectional view of the universal connecting rod and the simulated rudder surface according to an embodiment of the present application;

[0055] Figure 8 A schematic diagram of a ball head rod according to an embodiment of the present application;

[0056] Fig. 9 A schematic diagram of a ball and socket nut according to an embodiment of the present application;

[0057] Fig.10 A schematic diagram of the connection between the joystick and the strain gauge according to an embodiment of the present application;

[0058] Fig.11 A schematic diagram of a device for measuring the calibration coefficient of a joystick according to an embodiment of the present application;

[0059] Fig.12 It is a partially enlarged schematic diagram of a device for measuring the calibration coefficient of a joystick according to an embodiment of the present application;

[0060] Fig.13 This is a flow chart of a method for testing the starting torque of a gas rudder control mechanism according to an embodiment of the present application;

[0061] Fig.14 A schematic diagram of the axial force provided by the second hydraulic jack to the operating mechanism simulation device under different working conditions in the embodiment of the present application;

[0062] Fig.15 This is a schematic diagram of the starting torque calculated for the No. 1 joystick under different working conditions in an embodiment of the present application;

[0063] Fig.16 This is a schematic diagram of the change of the starting torque with the simulated pressure load according to an embodiment of the present application.

[0064] In the figure, 1 is a control mechanism simulation device; 11 is a simulated cabin; 12 is a power mechanism; 13 is a control mechanism body; 121 is a servo mechanism; 122 is a push rod; 123 is an ear piece; 131 is a gas rudder support; 132 is a heat-proof baffle; 133 is a simulated rudder surface; 134 is a screw tail cone pin; 135 is a rocker arm; 136 is a control rod; 137 is a second bearing; 138 is a first bearing; 139 is a tapered hole; 1331 is a first threaded hole; 1332 is a second threaded hole; 1361 is a strain gauge;

[0065] 2 first static loading device; 21 first hydraulic actuator; 22 first bearing column; 23 chain; 24 first tension sensor; 25 first double-ear joint; 26 rubber rope; 27 first adapter rod; 28 first ball head rod; 29 first ball nut; 3 test bench base;

[0066] 4 second static loading device 41 second hydraulic actuator; 42 second bearing column; 43 second adapter rod; 44 second tension sensor; 45 second ball head rod; 46 second ball nut;

[0067] 5 the third static loading device; 51 the third hydraulic actuator; 52 the nut; 53 the single-ear joint; 54 the second double-ear joint; 55 the third tension sensor; 56 the third bearing column. DETAILED DESCRIPTION

[0068] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0069] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0070] As described in the background technology section, a relatively accurate load torque of the gas rudder control mechanism can be obtained by carrying out a hot test with an engine, but this method not only has high test costs and a long test preparation time, but also the bearings in the control mechanism have the characteristics of large load, short service time, and few rotations under certain loads, which is very different from the long-term use and millions of rotations of traditional industrial bearings under certain loads. There is no friction coefficient reference standard to support the overloaded use conditions of the gas rudder system bearings. Therefore, there is currently no test device and test method for testing the starting torque of the gas rudder control mechanism that can fully consider the actual working conditions of the gas rudder control mechanism.

[0071] In view of this, an embodiment of the present application provides a gas rudder control mechanism starting torque test device, comprising: a control mechanism simulation device, comprising: a simulated rudder surface connected to a power mechanism through a joystick; a first static loading device, connected to the simulated rudder surface, and configured to provide a simulated tensile load to the end of the simulated rudder surface; a second static loading device, connected to the simulated rudder surface, and configured to provide a simulated pressure load to a position on the simulated rudder surface corresponding to the rudder axis of the simulated rudder surface; a measuring component, connected to the joystick, and configured to measure the starting torque of the control mechanism simulation device; wherein the power mechanism and the first static loading device can control the simulated rudder surface to be in a first state, or control the simulated rudder surface to rotate a certain angle and be in a second state. The present application provides a test device for the starting torque of a gas rudder control mechanism, which can fully simulate the actual working conditions of the gas rudder and ensure the accuracy and objectivity of the test conditions; at the same time, it detects and calculates the starting torque of the gas rudder control mechanism under high load conditions, and can obtain accurate test results, providing precise and reliable input conditions for designing the gas rudder system; at the same time, it also solves the problem that it is difficult to test and calculate the starting torque of the gas rudder control mechanism under laboratory conditions, effectively improves the detection accuracy, reduces the test error, and improves the test efficiency.

[0072] The technical solution of the present application is described in detail below through specific embodiments.

[0073] refer to Figure 1 , is a schematic diagram of a starting torque testing device for a gas rudder control mechanism according to an embodiment of the present application.

[0074] The gas rudder control mechanism starting torque test device of the embodiment of the present application comprises: a control mechanism simulation device 1, comprising: a simulated rudder surface 133 connected to a power mechanism 12 via a joystick 136;

[0075] a first static loading device 2 connected to the simulated rudder surface 133 and configured to provide a simulated tensile load to an end of the simulated rudder surface 133;

[0076] A second static loading device 4 is connected to the simulated rudder surface 133 and is configured to provide a simulated pressure load to a position on the simulated rudder surface 133 corresponding to the rudder axis of the simulated rudder surface 133;

[0077] a measuring assembly connected to the joystick 136 and configured to measure the starting torque of the manipulator simulation device;

[0078] The power mechanism 12 and the first static loading device 2 can control the simulated control surface 133 to be in a first state, or control the simulated control surface 133 to rotate to a certain angle and be in a second state.

[0079] Specifically, refer to Figure 2 , is a schematic diagram of a control mechanism simulation device according to an embodiment of the present application. The control mechanism simulation device 1 can simulate the working state of a gas rudder control mechanism during normal operation. The control mechanism simulation device mainly includes: a simulation cabin 11, a power mechanism 12 and a control mechanism body 13. The power mechanism mainly consists of a servo mechanism 121, a push rod 122 and a lug 123. The servo mechanism 121 and the push rod 122 are fixedly connected, and the push rod 122 and the lug 123 are fixedly connected, so that the power of the servo mechanism can be transmitted to the lug 123 through the push rod 122.

[0080] The control mechanism body 13 mainly includes: a gas rudder support 131, a heat-proof baffle 132, a simulated rudder surface 133, a screw tail cone pin 134, a rocker arm 135, a joystick 136, a second bearing 137, a first bearing 138 and a tapered hole 139. Specifically, the gas rudder support 131 is fixed to the simulated cabin 11 by screws, and the rudder shaft of the simulated rudder surface 133 is fixed to the gas rudder support 131 through the heat-proof baffle 132. The heat-proof baffle 132 is fixed to the gas rudder support 131 by two screws. In the actual working condition of the gas rudder control mechanism, high-temperature gas will be involved. The heat-proof baffle 132 is set to simulate the protection of the part of the control mechanism body 13 in the gas rudder support 131 in the actual working condition.

[0081] For further reference, Figure 3 , is a schematic diagram of the main body of the operating mechanism of the embodiment of the present application, Figure 3 As can be seen in FIG. 1 , the simulated rudder surface 133 passes through the first bearing 138, the rocker arm 135 and the second bearing 137 in sequence through its rudder shaft. Figure 2 The rudder shaft of the simulated rudder surface 133 passes through the heat-proof baffle 132, the first bearing 138, the rocker arm 135 and the second bearing 137 in sequence, and is fixed on the gas rudder support 131. The first bearing 138 and the second bearing 137 are both fixed in the gas rudder support 131, and the rudder shaft is maintained stable by the first bearing 138 and the second bearing 137.

[0082] The joystick 136 is rotatably connected to the ear piece 123, the joystick 136 is rotatably connected to the rocker arm 135, and the rocker arm 135 is fixedly connected to the rudder shaft of the simulated rudder surface 133 through the screw tail cone pin 134, Figure 4 , is a schematic diagram of a simulated rudder surface of this application, Figure 4 The tapered hole 139 is shown in the figure, and the screw tail tapered pin 134 cooperates with the tapered hole 139 to fix the rocker arm 135 and the rudder shaft of the simulated rudder surface 133.

[0083] In actual work, the servo mechanism 121 outputs a driving force, which is transmitted to the joystick 136 through the push rod 122 and the ear piece 123 in sequence, causing it to move up and down at an angle (with the test bench base 3 as the horizontal plane). The joystick 136 further drives the rocker arm 135 to rotate. The rocker arm 135 is fixedly connected to the rudder shaft. The rotation of the rocker arm 135 will naturally drive the rudder shaft to rotate, further causing the simulated rudder surface 133 to rotate clockwise or counterclockwise.

[0084] Furthermore, the gas rudder support 131 further includes a first retaining ring and a second retaining ring (not shown in the figure), the first retaining ring is fixedly connected to the gas rudder support 131 and is located at the outer ring of the second bearing 137 and is fixedly connected to the second bearing 137, so that the second bearing 137 can be fixed in the gas rudder support 131. The second retaining ring is located at one end of the second bearing 137 along the rudder shaft close to the gas rudder support 131 and is rotatably connected to the rudder shaft. Specifically, there is a bayonet on the rudder shaft, and the second retaining ring is rotatably connected to the rudder shaft through the bayonet, and the second retaining ring limits the axial movement of the rudder shaft through the bayonet.

[0085] Furthermore, the control mechanism simulation device 1 also includes a first universal connecting rod and a second universal connecting rod; one end of the first universal connecting rod is universally connected to the end of the simulated rudder surface 133; the other end of the first universal connecting rod is connected to the first static loading device 2 to transmit the simulated tensile load to the simulated rudder surface 133; one end of the second universal connecting rod is universally connected to a position on the simulated rudder surface 133 corresponding to the rudder axis; the other end of the second universal connecting rod is connected to the second static loading device 4 to transmit the simulated pressure load to the simulated rudder surface 133.

[0086] refer to Figure 4 and Figure 6-9 In this embodiment, the first universal connecting rod is the first ball head rod 28, and the second universal connecting rod is the second ball head rod 45. In this embodiment, the first ball head rod 28 is connected with the first ball socket nut 29, and the first ball socket nut 29 is screwed into the first threaded hole 1331 of the simulated rudder surface 133 by threaded fastening, that is, the end of the simulated rudder surface 133; the second ball head rod 45 is connected with the second ball socket nut 46, and the second ball socket nut 46 is screwed into the second threaded hole 1332 of the simulated rudder surface 133 by threaded fastening, that is, the position corresponding to the rudder shaft on the simulated rudder surface 133, and the spacing between the two threaded holes on the simulated rudder surface 133 is 50 mm. The use of the ball head rod in this embodiment can effectively ensure that the load loading direction remains unchanged and will not bring additional torque, so that the final test results are more accurate.

[0087] The first static loading device includes: a first bearing column 22, a first hydraulic actuator 21, a first tension sensor 24 and an elastic connecting piece; the first hydraulic actuator 21 is fixed to the first bearing column 22 and is connected to the first universal connecting rod through the first tension sensor 24 and the elastic connecting piece in sequence; the first hydraulic actuator 21 is maintained at the same horizontal position as the center line of the first universal connecting rod.

[0088] refer to Figure 1 , Figure 5 , Figure 6 and Figure 8 In this embodiment, the first hydraulic cylinder 21 is fixed to the first bearing column 22, and the first hydraulic cylinder 21 is connected to the first universal connecting rod (second ball head rod 28) through the first tension sensor 24, the first double-ear joint 25, the elastic connector and the first transfer rod 27 in sequence. Among them, the first hydraulic cylinder 21 is fixedly connected to the first tension sensor 24, the first tension sensor 24 is fixedly connected to the first double-ear joint 25, the elastic connector is fixedly connected to the first double-ear joint 25, the elastic connector is fixedly connected to the first transfer rod 27, and the first transfer rod 27 is fixedly connected to the first universal connecting rod (first ball head rod 28) through threads.

[0089] The elastic connecting member of the embodiment of the present application adopts a rubber rope 26, and the length and the number of wound strands of the rubber rope 26 can be adjusted to ensure that its dynamic characteristics meet the test requirements under the loaded state. The specific length of the rubber rope 26 and the specific data of the number of wound strands can be adjusted by technical personnel in this field as needed.

[0090] In addition, the first static loading device 2 also includes a chain 23, which can assist the first hydraulic cylinder 21 to maintain the same horizontal position as the center line of the first universal connecting rod, so that no other interference force is introduced when the tension is applied later. It is easy to understand that the function of the chain 23 mentioned in the above embodiment to maintain the first hydraulic cylinder 21 at the same horizontal position as the center line of the first universal connecting rod can also be achieved by using other devices, such as designing a pillar under the first hydraulic cylinder 21, the pillar is fixedly connected to the first bearing column 22, and is fixedly connected to the first hydraulic cylinder 21 to support the first hydraulic cylinder 21 to maintain the same horizontal position as the center line of the first universal connecting rod. Of course, the aforementioned pillar can also be fixedly connected to the test bench base 3 to maintain the position of the first hydraulic cylinder 21. Those skilled in the art should clearly know all technical solutions in the technical field that replace the chain 23 and apply them in practice, so other specific alternatives are not listed here.

[0091] The second static loading device 4 includes: a second bearing column 42, a second tension sensor 44 and a second hydraulic cylinder 41; the second hydraulic cylinder 41 is fixed to the second bearing column 42 and connected to the second universal connecting rod through the second tension sensor 44; the second hydraulic cylinder 41 is maintained at the same horizontal position as the center line of the second universal connecting rod.

[0092] refer to Figure 1 and Figure 5-7 In this embodiment, the second hydraulic cylinder 41 is fixed to the second bearing column 42, and the second hydraulic cylinder 41 is connected to the second universal connecting rod (second ball head rod 45) through the second tension sensor 44 and the second transfer rod 43 in sequence. The second hydraulic cylinder 41 is fixedly connected to the second tension sensor 44, the second tension sensor 44 is fixedly connected to the second transfer rod 45, and the second transfer rod 43 is fixedly connected to the second universal connecting rod (second ball head rod 45) through threads.

[0093] Similarly, the second hydraulic cylinder 41 in the embodiment of the present application also needs to be kept at the same horizontal position as the center line of the second universal connecting rod, so as not to introduce other interference forces when pressure is applied later. In this embodiment, the chain 43 is also used to maintain the position of the second hydraulic cylinder 41, as described above for maintaining the first hydraulic cylinder 41. Those skilled in the art should be able to understand that other components can be used to maintain the position of the second hydraulic cylinder 41 without doubt, so other feasible embodiments will not be described in detail here.

[0094] The measuring component includes: at least one strain gauge 1361 ; the strain gauge 1361 is connected to the operating rod 136 and is configured to measure the starting torque of the operating mechanism simulation device 1 .

[0095] In this embodiment, reference Fig.10 There are four strain gauges 1361 pasted on the joystick 136 and distributed symmetrically. Pasting multiple strain gauges 1361 is to eliminate the uncertainty of the pasting position of the strain gauges 1361 and the test results caused by manual operation. Considering the small size of the joystick 136 and the limited movement space, four strain gauges 1361 are arranged on the joystick 136. In theory, the number of strain gauges 1361 can be freely set, one, two, or even eight. After many experiments, it is found that pasting four strain gauges 1361 can better adapt to the size of the joystick 136 and take into account the accuracy of the test results.

[0096] In addition, refer to Fig.11 and Fig.12, is a schematic diagram of a device for measuring the standard coefficient of the joystick in an embodiment of the present application. Specifically, it includes: a control mechanism simulation device 1, a test bench base 3 and a third static loading device 5. Among them, the control mechanism simulation device 1 is consistent with the above structure and is not repeated here. The third static loading device 5 is fixedly connected to the test bench base 3, and the specific connection method is consistent with the connection method of the first static loading device 2 or the second static loading device 4 and the test bench base 3, which is not repeated here.

[0097] The third static loading device 5 includes: a third hydraulic cylinder 51, a nut 52, a single-ear joint 53, a double-ear joint 54 and a third tension sensor 55. Specifically, the third hydraulic cylinder 51 is fixedly mounted on the third bearing column 56, and is fixedly connected to one end of the simulated rudder surface 133 through the third tension sensor 55, the second double-ear joint 54 and the single-ear joint 53 through the nut 52 in sequence, and the third hydraulic cylinder 51 applies a pressure load to the simulated rudder surface 133 along the above path.

[0098] It can be seen from the above embodiments that the starting torque test device for the gas rudder control mechanism of the present embodiment fully simulates the actual working conditions of the gas rudder, wherein the designed universal connecting rod-ball nut connection mode can fully ensure the consistency of the loading load direction, and will not introduce eccentric torque. The test method is scientific and reasonable, and the obtained test data is detailed and reliable, thereby ensuring the accuracy and objectivity of the test boundary conditions. At the same time, while saving test costs and improving test efficiency, the problem of difficulty in evaluating the starting torque of the gas rudder control mechanism under laboratory conditions is solved, thereby providing accurate and reliable input conditions for designing the gas rudder system.

[0099] Based on the same inventive concept, Fig.13 The present application also provides a method for testing the starting torque of a gas rudder control mechanism, comprising:

[0100] Step S1301, controlling the simulated control surface 133 to be in a first state through the power mechanism 12;

[0101] Step S1302, providing a preset simulated tensile load to the simulated control surface 133 through the first static loading device 2;

[0102] Step S1303, providing a preset simulated pressure load to the simulated control surface 133 through the second static loading device 4;

[0103] Step S1304, driving the simulated control surface 133 to rotate by the power mechanism 12, and detecting the first strain of the joystick 136 when the simulated control surface 133 rotates by the measuring component;

[0104] Step S1305, based on the first strain and the calibration coefficient, the starting torque is calculated; wherein the calibration coefficient is calculated by the second strain and torque of the joystick 136.

[0105] With respect to step S1301, when the first hydraulic cylinder 21 and the second hydraulic cylinder 41 are unloaded, the servo mechanism 121 is started, and the servo mechanism 121 outputs a driving force, which is sequentially transmitted to the joystick 136 through the push rod 122 and the ear piece 123, and further drives the rocker arm 135 to rotate. The rocker arm 135 is fixedly connected to the rudder shaft. The rotation of the rocker arm 135 naturally drives the rudder shaft to rotate, and further drives the simulated rudder surface 133 to rotate. At this time, it is necessary to cause the servo mechanism 121 to output a driving force to keep the current simulated rudder surface 133 in a state perpendicular to the test bench base, that is, the first state. At this time, the first hydraulic cylinder 21 sequentially applies a pre-tightening tension to the first threaded hole 1331 of the simulated rudder surface 133 through the first tension sensor 24, the first double-ear joint 25, the rubber rope 26, the first adapter rod 27 and the first ball head rod 28. , the second hydraulic cylinder 41 sequentially applies pre-tightening pressure to the second threaded hole 1332 of the simulated rudder surface 133 through the second tension sensor 44, the second adapter rod 43 and the second ball head rod 45. In this process, the simulated rudder surface 133 needs to be kept in the first state. At this time, the measuring assembly, the first tension sensor 24 and the second tension sensor 44 all start to collect data. In the process of applying pre-tightening tension or pressure, observe whether the data collected by the measuring assembly, the first tension sensor 24 and the second tension sensor 44 are normal. If there is a path that cannot collect strain signals, it is necessary to check the corresponding strain gauge 1361 and the connecting line. If necessary, it is necessary to re-weld the connecting line or re-paste a new strain gauge 1361, and it is necessary to observe whether the entire set of gas rudder control mechanism starting torque test device can operate normally. The above-mentioned pre-tightening tension or pre-tightening pressure is generally 50N or 100N. This value is not limited to the above data. Those skilled in the art can set it according to their own needs.

[0106] Furthermore, when the entire set of gas rudder control mechanism starting torque test device can operate normally, the first hydraulic actuator 21 starts to load, which provides a normal force for the control mechanism simulation device 1. The load condition can be set to the maximum normal load of the gas rudder. During the entire experimental process, it is necessary to keep the simulated tensile load provided by it unchanged; at the same time, the second hydraulic actuator 41 also starts to load, which provides an axial force for the control mechanism simulation device 1. The load condition is the axial force of the gas rudder at a typical deflection angle. The loading load increases continuously with the change of the working conditions. Fig.14 , the ordinate in the figure is the axial force, and the abscissa is the working condition. Fig.14A schematic diagram of the axial force provided by the second hydraulic actuator 41 to the operating mechanism simulation device 1 under different working conditions is shown. It can be seen from the figure that the axial force is provided in a step-like manner, that is, in an embodiment of the present application, under a specific working condition, the axial force provided by the second hydraulic actuator 41 to the operating mechanism simulation device is fixed.

[0107] Further, when the axial force provided by the second hydraulic jack 41 to the control mechanism simulation device reaches the preset simulated pressure load under the working condition, the simulated rudder surface 133 is controlled by the power mechanism to rotate a certain angle and be in the second state within the preset maintenance time. In this embodiment, the simulated rudder surface 133 is controlled by the servo mechanism 121 to rotate 5° counterclockwise, and is in the state after the above rotation of 5° within 20 seconds. During this process, the first strain of the joystick 136 when the simulated rudder surface 133 rotates is detected by the measuring component. The need to maintain for 20 seconds here is because the first static loading device 2 contains an elastic connector. After the simulated rudder surface 133 rotates 5°, the elastic connector will be affected to a certain extent, causing the simulated tensile load applied by the first static loading device 2 to the control mechanism simulation device 1 to change. If not adjusted, this change will affect the accuracy of subsequent experimental data. Therefore, it is necessary to control the first hydraulic jack 21 in the first static loading device 2 to adjust so that the simulated tensile load applied to the simulated rudder surface 133 is finally restored to the preset simulated tensile load. When the simulated tensile load is restored to the preset simulated tensile load, the simulated control surface 133 is controlled by the servo mechanism 121 to rotate 5° clockwise and return to the first state again. In this process, the first strain of the joystick 136 when the simulated control surface 133 rotates is detected by the measuring component. Further, after waiting for 20 seconds, when the simulated tensile load is restored to the preset simulated tensile load, the simulated pressure load is adjusted to the axial force required by the next working condition by the second hydraulic jack 41. The subsequent steps are the same as described above, and the process stops after the strain of the control mechanism simulation device under all working conditions is measured.

[0108] Further, the data of the four strain gauges 1361 on the joystick 136 are averaged and recorded as This step is to eliminate the influence of the position of strain gauge 1361 on the test results.

[0109] Furthermore, before or after the above steps, by Fig.11The device shown performs a comparison experiment on the joystick 136. Specifically, after the above device is assembled, the power mechanism 12 drives the simulated rudder surface 133 to maintain in the first state, and the measuring component collects 4 strain signals on the joystick 136 in real time. Further, the third static loading device 5 starts from 0N, takes 400N as a loading step, negatively loads to -2800N, then returns to 0N, and then takes 400N as a loading step, positively loads to 2800N. The absolute value of the maximum torque value corresponding to the rated load of the positive and negative loading is 140Nm, and the torque value needs to cover the maximum hinge torque of the gas rudder. In addition, the time is maintained for 5 seconds at each load step. It should be noted that the specific data shown in the above embodiment is not limited to the above range. Those skilled in the art should clearly know that the data can be adjusted according to actual needs. Through the above step-by-step loading, the strain value of each strain gauge on the joystick 136 changes with the loading time. Specifically, referring to Table 1, which is the strain data of the joystick 136, it should be noted that the present embodiment performs a calibration test on four joysticks 136, and accordingly, a gas rudder control mechanism starting torque test is also performed on the four joysticks 136. Those skilled in the art should know that the calibration test on the four joysticks 136 is to ensure the accuracy of the test and to minimize the influence of human factors on the test. Of course, in the actual test process, more or fewer joysticks 136 can be tested.

[0110] Table 1 Joystick strain data

[0111]

[0112] The proportional relationship between the mean strain value and the torque of each joystick 136 in Table 1 is linearly fitted to obtain the functional relationship between the mean strain value and the torque of each joystick 136:

[0113] Y i =k i X(i=1,2,3,4)

[0114] Among them, Y i represents the mean strain of the i-th joystick, K i represents the scalar coefficient of the i-th joystick, and X represents the torque. Referring to Table 2, it is the joystick fitting equation of the embodiment of the present application.

[0115] Table 2 Fitting equations of each connecting rod

[0116]

[0117]

[0118] It can be seen from Table 2 that the linearity between the strain mean and the torque of the four joysticks 136 is relatively high. Therefore, the starting torque can be calculated by combining the proportional relationship between the two and the strain obtained in the above starting torque experiment.

[0119] The starting torque is calculated by the following formula:

[0120]

[0121] Among them, M i represents the starting torque of the ith joystick, represents the mean strain of the i-th joystick, K i represents the standard coefficient of the i-th joystick. The starting torque calculated under different working conditions for joystick No. 1 is as follows: Fig.15 As shown, the ordinate in the figure is the starting torque and the abscissa is the time. Since the time of different working conditions is not the same, the corresponding working condition can be represented by time.

[0122] In order to eliminate the influence of uncertain factors such as dimensional errors of various parts of the control mechanism, assembly errors, hydraulic stress, environmental stress, etc. on the test results, the test data obtained after the four sets of control mechanisms completed the starting torque test are averaged in the embodiment of the present application. First, the "peak value" and "valley value" of the starting torque corresponding to the deflection of each rudder control mechanism according to the control instruction under various working conditions are extracted, and the absolute value of the "valley value" is taken, and then the 48 "peak-valley" values ​​are averaged. The starting torque of each gas rudder control mechanism is obtained by calculation, and the change of the starting torque with the simulated pressure load is obtained, such as Fig.16 As shown in the figure, the ordinate is the starting torque, the abscissa is the axial force, that is, the simulated pressure load, 1 rudder link represents the No. 1 joystick, 2 rudder links represent the No. 2 joystick, 3 rudder links represent the No. 3 joystick, and 4 rudder links represent the No. 4 joystick. It can be seen from the figure that the starting torque of the control mechanism shows an increasing trend with the increase of the simulated pressure load, and under the condition of the maximum simulated pressure load, the starting torque of the four control mechanisms is in the range of 98Nm-108Nm.

[0123] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0124] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0125] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of the present application.

Claims

1. A test device for the starting torque of a gas rudder control mechanism, characterized in that: include: The control mechanism simulation device comprises: a simulated control surface connected to a power mechanism through a control rod; the control mechanism simulation device comprises: a rocker arm; a first static loading device connected to the simulated rudder surface and configured to provide a simulated tensile load to an end of the simulated rudder surface; the first static loading device comprises a first hydraulic ram; a second static loading device connected to the simulated rudder surface and configured to provide a simulated pressure load to a position on the simulated rudder surface corresponding to the rudder axis of the simulated rudder surface; the second static loading device comprises a second hydraulic ram; a measuring assembly connected to the joystick and configured to measure the starting torque of the manipulator simulation device; Among them, the power mechanism and the first static loading device can control the simulated rudder surface to be in a first state, or control the simulated rudder surface to rotate a certain angle and be in a second state; the first state is to start the servo mechanism when the first hydraulic actuator cylinder and the second hydraulic actuator cylinder are unloaded, and the servo mechanism outputs a driving force, which is transmitted to the joystick through the push rod and the ear piece in sequence, and further drives the rocker arm to rotate. The rocker arm is fixedly connected to the rudder shaft. The rotation of the rocker arm naturally drives the rotation of the rudder shaft, and then drives the simulated rudder surface to rotate, so that the servo mechanism outputs a driving force to keep the current simulated rudder surface in a state perpendicular to the base of the test bench.

2. The testing device according to claim 1, characterized in that: The rudder shaft is fixedly connected to the rocker arm; The first end of the joystick is rotatably connected to the rocker arm; The second end of the joystick is rotatably connected to the power mechanism; The power mechanism is configured to output a driving force which is sequentially transmitted through the joystick and the rocker arm to drive the simulated control surface to rotate.

3. The testing device according to claim 1, characterized in that: The control mechanism simulation device also includes: a first bearing, a second bearing, a simulation cabin and a gas rudder support; The gas rudder support is connected to the simulation cabin; The rudder shaft is connected to the gas rudder support through the first bearing and the second bearing, so that the stability of the rudder shaft is maintained through the first bearing and the second bearing.

4. The testing device according to claim 3, characterized in that: The control mechanism simulation device further includes: a first retaining ring and a second retaining ring; The first retaining ring is fixedly connected to the gas rudder support; The first retaining ring is located on the outer ring of the second bearing and is fixedly connected to the second bearing; The second retaining ring is located at one end of the second bearing along the rudder shaft close to the gas rudder support and is rotatably connected to the rudder shaft to limit the axial movement of the rudder shaft.

5. The testing device according to claim 1, characterized in that: The control mechanism simulation device further comprises: a first universal connecting rod and a second universal connecting rod; One end of the first universal connecting rod is universally connected to the end of the simulated rudder surface; The other end of the first universal connecting rod is connected to the first static loading device to transmit the simulated tensile load to the simulated rudder surface; One end of the second universal connecting rod is universally connected to a position on the simulated rudder surface corresponding to the rudder axis; The other end of the second universal connecting rod is connected to the second static loading device to transmit the simulated pressure load to the simulated rudder surface.

6. The testing device according to claim 5, characterized in that: The first static loading device further includes: a first load-bearing column, a first tension sensor and an elastic connecting member; The first hydraulic actuator is fixed to the first bearing column and is connected to the first universal connecting rod through the first tension sensor and the elastic connecting piece in sequence; The first hydraulic jack is kept at the same horizontal position as the center line of the first universal connecting rod.

7. The testing device according to claim 5, characterized in that: The second static loading device further includes: a second load-bearing column and a second tension sensor; The second hydraulic actuator is fixed to the second bearing column and connected to the second universal connecting rod through the second tension sensor; The second hydraulic jack is kept at the same horizontal position as the center line of the second universal connecting rod.

8. The testing device according to claim 1, characterized in that: The measuring assembly comprises: at least one strain gauge; The strain gauge is connected to the joystick and is configured to measure the starting torque of the operating mechanism simulation device.

9. A method for testing the starting torque of a gas rudder control mechanism using the testing device according to any one of claims 1 to 8, characterized in that: include: Controlling the simulated control surface to be in a first state through a power mechanism; Providing a preset simulated tensile load to the simulated rudder surface through a first static loading device; Providing a preset simulated pressure load to the simulated rudder surface through a second static loading device; The simulated control surface is driven to rotate by a power mechanism, and a first strain of the joystick when the simulated control surface rotates is detected by a measuring component; Based on the first strain and the calibration coefficient, the starting torque is calculated; wherein the calibration coefficient is calculated by the second strain and torque of the joystick.

10. The method according to claim 9, characterized in that The method of driving the simulated control surface to rotate by a power mechanism includes: The simulated rudder surface is controlled by a power mechanism to rotate to a certain angle and remain in the second state within a preset maintenance time; Restoring the existing load of the first static loading device to a preset simulated tensile load by means of the first static loading device; The simulated rudder surface is controlled by a power mechanism to rotate to a certain angle and be in a first state.

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