Testing System and Testing Method for Frictional Torque of Gas Rudder Manipulating Mechanism

Abstract

The present application provides a test system and a test method for the frictional torque of a gas rudder control mechanism. The test system includes: a first simulation device, a loading device, a control device, and a collection device; the first simulation device includes: a simulated rudder shaft, a servo mechanism, and a control mechanism; the loading device is configured to provide a load to the simulated rudder shaft according to a preset first loading instruction; the control device is configured to control the servo mechanism to output power according to a preset control instruction, and drive the simulated rudder shaft to rotate through the transmission of the control mechanism; the collection device is configured to test a first strain value of the first simulation device, so as to calculate and obtain the frictional torque. The solution of the present application fully simulates the actual working conditions of the gas rudder control mechanism and obtains accurate frictional torque, thereby providing accurate and reliable input conditions for the design of the gas rudder system and its servo mechanism.

Description

Technical Field

[0001] This application relates to the technical field of mechanical design, and particularly to a test system and a test method for the frictional torque of a gas rudder control mechanism. Background Art

[0002] Currently, the requirements for the load torque of the servo mechanism of a gas rudder are usually determined according to the maximum hinge torque value of the rudder surface under aerodynamic loads, without considering the frictional torque generated by the control mechanism. Therefore, it may not be able to generate sufficient driving force to drive the gas rudder to deflect, resulting in a launch failure.

[0003] In the related art, the frictional torque is estimated by empirically giving the bearing friction coefficient or calculated by using finite element simulation. The actual working conditions of the gas rudder control mechanism cannot be fully considered, resulting in a large calculation error. Summary of the Invention

[0004] In view of this, the purpose of this application is to propose a test system and a test method for the frictional torque of a gas rudder control mechanism to solve or partially solve the above problems.

[0005] In the first aspect of this application, a test system for the frictional torque of a gas rudder control mechanism is provided, including:

[0006] A first simulation device, a loading device, a control device, and a collection device;

[0007] The first simulation device includes: a simulated rudder shaft, a servo mechanism, and a control mechanism;

[0008] The loading device is configured to provide a load to the simulated rudder shaft according to a preset first loading instruction;

[0009] The control device is configured to control the servo mechanism to output power according to a preset control instruction, and drive the simulated rudder shaft to rotate through the transmission of the control mechanism;

[0010] The collection device is configured to test the first strain value of the first simulation device, and thus calculate the frictional torque.

[0011] In the second aspect of this application, a test method for the frictional torque of a gas rudder control mechanism is provided, including:

[0012] Providing a load to a first simulation device according to a preset first loading instruction; wherein, the first simulation device includes: a simulated rudder shaft, a servo mechanism, and a control mechanism;

[0013] Controlling the servo mechanism to output power according to a preset control instruction, and drive the simulated rudder shaft to rotate through the transmission of the control mechanism;

[0014] Test the first strain value of the first simulation device, so as to calculate the frictional torque.

[0015] As can be seen from the above, the test system and test method for the frictional torque of the gas rudder control mechanism provided by the present application fully simulate the actual working conditions of the gas rudder control mechanism through the first simulation device, the loading device and the control device to ensure the accuracy and objectivity of the experiment, and use the acquisition device to test the strain value, so as to obtain the accurate frictional torque, and further provide accurate and reliable input conditions for the design of the gas rudder system and its servo mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present application or related technologies, the following will briefly introduce the drawings required for use in the embodiments or related technology descriptions. Obviously, the drawings in the following descriptions are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 Schematic diagram of the test system for the frictional torque of the gas rudder control mechanism according to the embodiment of the present application;

[0018] Figure 2 Schematic diagram of the first simulation device according to the embodiment of the present application;

[0019] Figure 3 Schematic diagram of the connection between the simulated rudder shaft and the control mechanism according to the embodiment of the present application; <�

[0020] Figure 4 Schematic diagram of the connection between the joystick and the strain gauge according to the embodiment of the present application;

[0021] Figure 5 Partial enlarged schematic diagram of the test system for the frictional torque of the gas rudder control mechanism according to the embodiment of the present application;

[0022] Figure 6 Schematic diagram of the test system for the frictional torque of another gas rudder control mechanism according to the embodiment of the present application;

[0023] Figure 7 Partial enlarged schematic diagram of the test system for the frictional torque of another gas rudder control mechanism according to the embodiment of the present application;

[0024] Figure 8 Flow schematic diagram of the test method for the frictional torque of the gas rudder control mechanism according to the embodiment of the present application;

[0025] Figure 9 Schematic diagram of the exemplary step control instruction according to the embodiment of the present application;

[0026] Figure 10 Schematic diagram of the first strain value obtained from the test of the embodiment of the present application;

[0027] Figure 11 Schematic flow chart of the method for obtaining the functional relationship of the embodiment of the present application;

[0028] Figure 12A Schematic diagram of the second strain value obtained from the test of the embodiment of the present application;

[0029] Figure 12B Schematic diagram of the second strain mean value of the embodiment of the application;

[0030] Figure 13 Schematic diagram of the calculated frictional torque of the embodiment of the present application.

[0031] In the figure, 100 is the test system for the frictional torque of the gas rudder control mechanism; 1 is the first simulation device; 11 is the simulated rudder shaft; 12 is the servo mechanism; 13 is the control mechanism; 14 is the simulated cabin body; 15 is the loading rod; 121 is the push rod; 122 is the lug; 131 is the gas rudder support; 132 is the heat insulation shield; 133 is the first bearing; 134 is the second bearing; 135 is the rocker arm; 136 is the control rod; 137 is the third bearing; 1311 is the taper pin with screw tail; 1312 is the strain gauge;

[0032] 2 is the loading device; 21 is the bearing column; 22 is the hydraulic actuator; 23 is the tension sensor; 24 is the chain; 211 is the anchor bolt; 212 is the double-ear joint; 3 is the test bench base;

[0033] 600 is the test system for the frictional torque of another gas rudder control mechanism; 4 is the second simulation device; 41 is the simulated rudder surface; 411 is the through hole; 412 is the nut; 413 is the single-ear joint. Detailed implementation manners

[0034] To make the objectives, technical solutions and advantages of the present application clearer and more understandable, the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0035] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of this application should have the ordinary meanings understood by those with ordinary skills in the field to which this application belongs. The "first", "second" and similar words used in the embodiments of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right", etc. are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0036] Under the action of the engine jet flow, while the gas rudder generates a large hinge moment, its operating mechanism will inevitably generate a certain frictional moment during the movement process. This poses higher requirements for indicators such as the response time and structural strength of the servo mechanism under the condition of bearing a large external load. However, currently, the requirements for the load torque of the servo mechanism are usually determined according to the maximum hinge moment value of the rudder surface under aerodynamic load, without considering the frictional moment generated by the operating mechanism. Therefore, it may not be able to generate sufficient driving force to drive the gas rudder to deflect, resulting in launch failure.

[0037] In the related art, obtaining the load torque of the gas rudder operating mechanism through engine hot-fire tests not only has high test costs but also long test preparation times. In addition, the bearings in the operating mechanism have the characteristics of large loads, short usage times, and few rotation times in their operating conditions, which are very different from the long-time and millions of rotation times of industrial traditional bearings under a certain load. Generally, it is used beyond the basic static radial load rating of the bearing, and there is no friction coefficient reference standard to support the overload usage conditions of the bearings for the rudder system. Therefore, for estimating the frictional moment by empirically giving the bearing friction coefficient or calculating the frictional moment using finite element simulation in the related art, the actual working conditions of the gas rudder operating mechanism cannot be fully considered, resulting in large calculation errors.

[0038] In view of this, the embodiments of the present application provide a test system and a test method for the frictional torque of a gas rudder control mechanism. The actual working conditions of the gas rudder control mechanism are fully simulated by a first simulation device, a loading device, and a control device to ensure the accuracy and objectivity of the experiment. The strain value is measured by a data acquisition device, and the accurate frictional torque is obtained by calculation, so as to provide accurate and reliable input conditions for the design of the gas rudder system and its servo mechanism. The solution of the present application solves the problem that it is difficult to obtain the frictional torque of the gas rudder control mechanism under laboratory conditions, and provides an effective means for evaluating the frictional torque value under severe load conditions. In addition, the test system for the frictional torque of the gas rudder control mechanism provided by the present application is easy to install, so the solution of the present application can save labor costs and has both high efficiency and economy.

[0039] Reference Figure 1 , a schematic diagram of a test system 100 for the frictional torque of a gas rudder control mechanism according to an embodiment of the present application. As Figure 1 shown, the test system 100 for the frictional torque of the gas rudder control mechanism provided by the embodiment of the present application may include: a first simulation device 1, a loading device 2, a control device (not shown in the figure), a data acquisition device (not shown in the figure), and a test bench base 3.

[0040] Further, as Figure 2 shown, it is a schematic diagram of the first simulation device 1 according to an embodiment of the present application. The first simulation device 1 may include: a simulation rudder shaft 11, a servo mechanism 12, and a control mechanism 13 to simulate the actual installation state of the control mechanism of the gas rudder.

[0041] Specifically, the loading device 2 is configured to provide a load to the simulation rudder shaft 11 according to a preset first loading instruction.

[0042] Specifically, the control device is configured to control the servo mechanism 12 to output power according to a preset control instruction, and drive the simulation rudder shaft 11 to rotate through the transmission of the control mechanism 13.

[0043] Specifically, the data acquisition device is configured to measure a first strain value of the first simulation device 1, and calculate the frictional torque therefrom.

[0044] As Figure 1 and Figure 2 shown, in some alternative embodiments, the first simulation device 1 may further include: a simulation cabin 14 and a loading rod 15. Specifically, the simulation cabin 14 can be fixed to the test bench base 3 by bolts, and the simulation cabin 14 is configured to provide support for the servo mechanism 12 and the control mechanism 13; the first end of the loading rod 15 is rotatably connected to the simulation rudder shaft 11, and the second end of the loading rod 15 is connected to the loading device 2.

[0045] Further, as Figure 2 shown, the steering mechanism may include: a gas rudder support 131 and a heat insulation shield 132.

[0046] In some embodiments, the gas rudder support 131 is fixed to the simulation cabin 14. Specifically, the gas rudder support 131 can be fixedly connected to the simulation cabin 14 by screws to provide support for the heat insulation shield 132.

[0047] In some embodiments, the heat insulation shield 132 is fixed to the gas rudder support 131, and the heat insulation shield 132 is provided with an opening for the simulation rudder shaft 11 to pass through. Specifically, the heat insulation shield 132 can be fitted with the gas rudder support 131, and then the heat insulation shield 132 is fixed to the gas rudder support 131 by two screws.

[0048] Optionally, referring to Figure 3 , it is a schematic connection diagram of the simulation rudder shaft 11 and the steering mechanism 13 in the embodiment of the present application. As Figure 2 shown, the servo mechanism 12 may include: a push rod 121 and a lug 122; as Figure 3 shown, the steering mechanism 13 may further include: a first bearing 133, a second bearing 134, a rocker arm 135 and a control rod 136.

[0049] During specific implementation, the first bearing 133 and the second bearing 134 are respectively installed on the gas rudder support 131 through an axial hole mating relationship, and the position of the first bearing 133 is restricted by a first retaining ring (not shown in the figure); and the simulation rudder shaft 11 is inserted from the second bearing 134 and passes through the first bearing 133, and then the simulation rudder shaft 11 is clamped in the inner ring of the second bearing 134 by a second retaining ring (not shown in the figure) to restrict the axial movement of the simulation rudder shaft 11. In this way, the simulation rudder shaft 11 can be rotatably connected to the gas rudder support 131 through the first bearing 133 and the second bearing 134, so as to maintain the stability of the simulation rudder shaft 11 through the first bearing 133 and the second bearing 134.

[0050] During specific implementation, the rocker arm 135 is fixed to the simulation rudder shaft 11 by a taper pin with a threaded tail 1311, and is specifically configured to drive the simulation rudder shaft 11 to rotate by the power output of the servo mechanism 12, that is, to convert the linear motion of the push rod 121 into the rotational motion of the simulation rudder shaft 11.

[0051] During specific implementation, the first end of the control rod 136 is rotatably connected to the rocker arm 135, and the second end of the control rod 136 is rotatably connected to the servo mechanism 12. Specifically, the first end of the control rod 136 can be connected to the rocker arm 135 through the second bearing 134, and the second end of the control rod 136 can be connected to the lug 122 through a fourth bearing (not shown in the figure).

[0052] Further, in this embodiment, at least two strain gauges 1312 are provided on the joystick 136 and are configured to test the first strain value of the first simulation device 1 by using a collection device. Refer to Figure 4 , which is a schematic connection diagram of the joystick 136 and the strain gauge 1312 according to an embodiment of the present application. As Figure 4 shown, considering the small size of the joystick 136 and its limited movement space, 4 strain gauges 1312 (wherein, the strain gauge 1312 can be a BE120-4BB-P200 strain gauge) can be provided on the joystick 136, and data can be collected by using a half-bridge connection method. In this way, after testing the strain by pasting multiple strain gauges 1312 on the joystick 136 and taking the average value, and testing the relationship between the loading force provided by the loading device 2 and the strain value, the uncertainty and other influences brought by the pasting position of the strain gauge 1312 and manual operation on the test result can be eliminated.

[0053] Refer to Figure 5 , which is a partial enlarged schematic diagram of the test system 100 for the frictional torque of the gas rudder control mechanism according to an embodiment of the present application. As Figure 5 shown, the control mechanism 13 further includes a third bearing 137, and the simulation rudder shaft 11 is rotatably connected to the loading rod 15 through the third bearing 137. Specifically, the third bearing 137 is installed at the opening at the first end of the loading rod 15, and the outer ring of the third bearing 137 is fixed by a third retaining ring (not shown in the figure) to limit its axial displacement; the inner ring of the third bearing 137 is fitted and installed with the front end of the simulation rudder shaft 11, and a fourth retaining ring (not shown in the figure) is installed at the grooved portion of the simulation rudder shaft 11 to limit the movement of the loading rod 15 in the axial direction of the simulation rudder shaft 11. Moreover, the position of the third bearing 137 on the simulation rudder shaft 11 is equal to the length of the actual center of pressure of the gas rudder along the axis direction of the simulation rudder shaft 11, so as to fully ensure the authenticity of the loading load.

[0054] In addition, in some alternative embodiments, as Figure 1 shown, the loading device may include: a bearing column 21, a hydraulic actuator 22, a tension sensor 23, and a chain 24.

[0055] During specific implementation, the bearing column 21 can be fixed to the test bench base 3 through four anchor bolts 211 and is configured to provide installation and support conditions for the hydraulic actuator 22.

[0056] During specific implementation, the first end of the hydraulic actuator 22 is fixed to the load-bearing column 21, and the second end of the hydraulic actuator 22 is connected to the tension sensor 23. Specifically, the first end of the hydraulic actuator 22 can be fixed to the load-bearing column 21 by four screws through an adapter joint, and the second end of the hydraulic actuator 22 is connected to the first end of the tension sensor 23 by a stud to ensure that the loading direction of the hydraulic actuator 22 and the axis of the simulated rudder shaft 11 are in the same horizontal position.

[0057] During specific implementation, the first end of the chain 24 is fixedly connected to the load-bearing column 21, and the second end of the chain 24 is fixedly connected to the second end of the hydraulic actuator 22, so that the hydraulic actuator 22 is kept in a horizontal state and remains in the position fixed above and on the same horizontal line as the axis of the simulated rudder shaft 11.

[0058] Furthermore, as Figure 5 shown, the loading device 2 may further include a double-ear joint 212. In this way, in some embodiments, the second end of the tension sensor 23 can connect the double-ear joint 212 to the second end of the loading rod 15 by bolts, so as to realize the loading of the first simulation device 1 by the loading device 2 through the loading rod 15.

[0059] In addition, the embodiment of the present application also provides a test system 600 for the frictional torque of another gas rudder control mechanism. Referring to Figure 6 , it is a schematic diagram of a test system 600 for the frictional torque of another gas rudder control mechanism according to an embodiment of the present application. As Figure 6 shown, the system includes a second simulation device 4. The second simulation device 4 is specifically configured to obtain the functional relationship between the strain value and the torque value, so as to calculate its frictional torque based on the first strain value of the first simulation device 1 obtained by testing.

[0060] Figure 7 It is a partial enlarged schematic diagram of a test system 600 for the frictional torque of another gas rudder control mechanism according to an embodiment of the present application. As shown in 7, the second simulation device 4 may include: a simulated rudder surface 41. Specifically, the simulated rudder surface 41 includes three through holes 411, and the hole pitch is 50 mm.

[0061] In some alternative embodiments, the second end of the tensile sensor 23 may be connected to the double-ear joint 212 through a stud, and then the double-ear joint 212 is connected to the single-ear joint 413 by a bolt. Further, the tail screw of the single-ear joint 413 passes through the upper hole of the simulated rudder surface 41 and is fixed with a nut 412. In this way, based on the tensile sensor 23, the loading direction of the hydraulic actuator 22 can be in the same horizontal position as the axis of the upper hole of the simulated rudder surface 41, so as to realize the cooperation between the loading device 2 and the second simulation device 4, thereby realizing the loading of the second simulation device 4 by the loading device 2, and testing the second strain value of the second simulation device 4 through the acquisition device, and finally obtaining the functional relationship between the second strain value and the torque value. The specific method for obtaining this functional relationship will be described later.

[0062] Based on the same inventive concept, the present application also provides a method for testing the frictional torque of a gas rudder control mechanism, which is applied to the frictional torque testing system 100 of the above gas rudder control mechanism.

[0063] Reference Figure 8 , is a schematic flowchart of the method 800 for testing the frictional torque of the gas rudder control mechanism according to the embodiment of the present application. As <[ Figure 8 shown, the method 800 may include the following steps.

[0064] Step S801, providing a load to the first simulation device 1 according to a preset first loading instruction; wherein, the first simulation device 1 includes: a simulated rudder shaft 11, a servo mechanism 12, and a control mechanism 13.

[0065] In this embodiment, the first loading instruction is set according to the aerodynamic load of the gas rudder at a typical deflection angle. For example, the resultant force of the normal force and the axial force of the gas rudder under six working conditions corresponding to 0°, 10°, 15°, 20°, 25°, and 30° is used as the first loading instruction. Among them, the aerodynamic force data of the gas rudder under these six working conditions may include pre-simulation experiment data or laboratory experiment data. In this way, based on the aerodynamic load at a typical deflection angle, the first loading instruction for the first simulation device 1 is set to provide relatively realistic load conditions.

[0066] In this embodiment, a frictional torque testing system 100 of a gas rudder control mechanism is built. Specifically, the frictional torque testing system 100 of the gas rudder control mechanism includes: a first simulation device 1, a loading device 2, a control device, an acquisition device, and a test bench base 3. Among them, the first simulation device 1 may include: a simulated rudder shaft 11, a servo mechanism 12, and a control mechanism 13 to simulate the actual installation state of the control mechanism of the gas rudder.

[0067] In this embodiment, in response to the completion of the construction of the test system 100 for the frictional torque of the gas rudder control mechanism, the servo mechanism 12 is powered on and returns to the zero position state, and then the loading device 2 applies a pre-tightening force to ensure the normal operation of the entire system.

[0068] In this embodiment, in response to determining that the test system 100 for the frictional torque of the gas rudder control mechanism is operating normally, the loading device 2 loads the first simulation device 1 according to the above first loading instruction.

[0069] Step S802: Control the servo mechanism 12 to output power according to a preset control instruction, and drive the simulation rudder shaft 11 to rotate through the transmission of the control mechanism 13.

[0070] In this embodiment, a control instruction is set and input to the servo mechanism 12 to control the servo mechanism 12 to output power. Specifically, the control instruction may include a sine control instruction, a triangular wave control instruction, or a step control instruction. Refer to Figure 9 , which is an exemplary step control instruction of an embodiment of the present application.

[0071] In this embodiment, the servo mechanism 12 outputs power according to the above control instruction, and drives the simulation rudder shaft 11 to rotate through the transmission of the control mechanism 13.

[0072] Step S803: Test the first strain value of the first simulation device 1, and thus calculate the frictional torque.

[0073] In this embodiment, based on the strain gauge, the acquisition device is used to test the first strain value of the first simulation device 1. Specifically, it may include at least two strain gauges 1312, and the at least two strain gauges 1312 may be arranged on the joystick 136 (the control mechanism 13 includes the joystick 136). Taking the example that 4 strain gauges 1312 are arranged on the joystick 136, 4 groups of strain data of 4 channels are respectively tested, as Figure 10 shown, which is the first strain value obtained by testing in an embodiment of the present application. It can be understood that the first strain value changes with the experimental time.

[0074] During specific implementation, polish and clean the joystick 136, and use alcohol or acetone to clean the positions to be pasted with the strain gauge and the wiring terminals of the joystick 136 to remove sand grains and impurities on its surface; use a scriber to mark traces on the joystick 136 as the positioning marks of the strain gauge 1312, and then paste the strain gauge 1312 on the joystick 136 with medium-temperature glue; take protective measures to protect the exposed part of the strain gauge 1312 to ensure the normal operation of the strain gauge 1312 and improve the accuracy of the test results, and collect data in a half-bridge connection mode.

[0075] In this embodiment, the first strain value of the first simulation device 1 is tested, and the tested first strain value is processed and saved. Specifically, there are certain differences in the measurement results of each strain gauge 1312 provided on the joystick 136. Therefore, this data processing process may include: taking the average value of the first strain values tested by all the strain gauges 1312 and the acquisition device.

[0076] In this embodiment, according to the first strain average value obtained after the above processing, the friction torque is calculated using the pre-obtained functional relationship. The specific method for obtaining this functional relationship will be described later.

[0077] It can be understood that in response to completing the test of the first strain values corresponding to all the above first loading instructions, that is, completing the test of the first strain values corresponding to the first loading instructions respectively corresponding to each of the six working conditions, the test ends. And in response to the end of the test, the servo mechanism 12 returns to zero and the power supply is disconnected, and the test data is saved.

[0078] According to the embodiment of the present application, the method for obtaining the functional relationship between the above second strain value and the torque value can be as Figure 11 shown, and this method is applied to the friction torque test system 600 of the other gas rudder control mechanism. This method may include the following steps.

[0079] Step S1101: Provide a load to the second simulation device 4 according to a preset second loading instruction, and calculate the torque value according to the second loading instruction; wherein, the second simulation device 4 includes: a simulated rudder surface 41, a servo mechanism 12, and a control mechanism 13.

[0080] In this embodiment, the second loading instruction is set according to certain loading steps. For example, starting from 0N, with -400N as the loading step, negatively loading to -2800N, then returning to zero, and then with +400N as a loading step, positively loading to +2800N. It can be understood that the corresponding maximum torque value is ±140 N·m, and this torque value can cover the maximum hinge torque of the gas rudder. Among them, for negative loading, it may include providing tension, and for positive loading, it may include providing pressure; or, for negative loading, it may include providing pressure, and for positive loading, it may include providing tension.

[0081] In this embodiment, a friction torque test system 600 of another gas rudder control mechanism is built. Specifically, the friction torque test system 600 of this gas rudder control mechanism includes: a second simulation device 4, a loading device 2, a control device, an acquisition device, and a test bench base 3. Among them, the second simulation device 4 may include: a simulated rudder surface 41, a servo mechanism 12, and a control mechanism 13.

[0082] In this embodiment, a load is provided to the second simulation device 4 according to the above-mentioned second loading instruction. Specifically, it can be a step-by-step loading, and the holding time of each load step can be 5 seconds; the direction of providing the load to the second simulation device 4 is the horizontal direction same as the axis of the upper end hole of the simulation rudder surface 41.

[0083] Step S1102: Control the servo mechanism 12 to maintain the zero position state.

[0084] Step S1103: Test the second strain value of the second simulation device 4.

[0085] In this embodiment, based on the strain gauges 1312, the acquisition device is used to test the second strain value of the second simulation device 4. Specifically, it can include at least two strain gauges 1312, and the at least two strain gauges 1312 can be arranged on the joystick 136 (the operating mechanism 13 includes the joystick 136).

[0086] Step S1104: Perform linear fitting on the second strain value and the torque value to obtain the functional relationship.

[0087] In this embodiment, the second strain value of the second simulation device 4 is tested, and the tested second strain value is processed and saved. Specifically, there are certain differences in the measurement results of each strain gauge 1312 arranged on the joystick 136. Therefore, this data processing process can include: taking the average value of the second strain values tested by all the strain gauges 1312 and the acquisition device. Taking the example that 4 strain gauges 1312 are arranged on the joystick 136, 4 sets of strain data of 4 channels are respectively tested, as Figure 12A shown, which is the second strain value tested in the embodiment of the present application. It can be understood that the second strain value changes with the experimental time; and as Figure 12B shown, which is the second strain average value after taking the average value of the second strain value in the embodiment of the present application.

[0088] In some alternative embodiments, to improve the accuracy of the test results and the functional relationship, the four sets of second simulation devices 4 can be tested respectively, that is, the strain data of the four joysticks 136 are collected. Specifically, taking the example that four strain gauges are arranged on each joystick 136, 16 sets of strain data of 16 channels can be obtained, as shown in Table 1.

[0089] Table 1 Strain data of each joystick

[0090]

[0091]

[0092] In this embodiment, the above-mentioned second strain mean value and its corresponding torque value are linearly fitted to obtain the functional relationship Y between the second strain mean value and the torque of each joystick 136 i = K i X (where Y i represents the second strain mean value of the i-th joystick 136, X represents the torque, and i = 1, 2, 3, 4) and the correlation coefficient are shown in Table 2

[0093] Table 2 Fitting results of each joystick

[0094] Joystick number Fitting equation Correlation coefficient 1 Y = 1.8671X 0.9995 2 Y = 1.8607X 0.9999 3 Y = 1.9051X 0.9999 4 Y = 1.8090X 0.9999

[0095] In some embodiments, according to the above-mentioned first strain value and the functional relationship, the frictional torque can be calculated. It can be understood that in order to eliminate the influence of uncertain factors such as the dimensional errors of each part, assembly errors, and environmental stresses on the experimental results, the experimental data obtained after the frictional torque test is completed on the four sets of first simulation devices 1 is averaged (the experimental data of these four sets is not shown in the embodiments of the present application). Specifically, the "peak value" and "valley value" of the frictional torque corresponding to each set under 6 working conditions are extracted, and the absolute value of the "valley value" is taken, and then the average of all the "peak values" and "valley values" is calculated, and the frictional torque of each is obtained through calculation, and the change of the frictional torque with the load is plotted, as Figure 13 shown. It can be seen from Figure 13 that the frictional torque shows a non-linear increasing trend with the increase of the applied load, and under the condition of the maximum applied load, the frictional torque is in the range of 35 N·m to 41 N·m

[0096] As can be seen from the above, the test method for the frictional torque of the gas rudder control mechanism relies on the test system for the frictional torque of the gas rudder control mechanism, fully simulates the actual working conditions of the gas rudder control mechanism to ensure the accuracy and objectivity of the experiment, and tests the strain value to obtain the accurate frictional torque through calculation. It solves the problem of difficult to obtain the frictional torque of the gas rudder control mechanism under laboratory conditions, provides an effective means for the evaluation of the frictional torque value under severe load conditions, and provides accurate and reliable input conditions for the design of the gas rudder system and its servo mechanism

[0097] It should be noted that some embodiments of the present application are described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the above embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous

[0098] Those of ordinary skill in the art should understand that: Any discussion of the above embodiments is exemplary only and is not intended to imply that the scope of the present application (including the claims) is limited to these examples; Under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the embodiments of the present application as described above, and they are not provided in detail for the sake of brevity.

[0099] In addition, for simplicity of explanation and discussion, and in order not to make the embodiments of the present application difficult to understand, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the accompanying drawings. Further, the apparatus may be shown in block diagram form in order to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of the present application are to be implemented (i.e., these details should be fully within the understanding of those skilled in the art). In the case where specific details (such as circuits) are set forth to describe the exemplary embodiments of the present application, it will be apparent to those skilled in the art that the embodiments of the present application may be implemented without these specific details or with variations of these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0100] Although the present application has been described in connection with specific embodiments of the present application, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art based on the foregoing description.

[0101] The embodiments of the present application are intended to cover all such alternatives, 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 principle of the embodiments of the present application shall be included within the protection scope of the present application.

Claims

1. A test system for the frictional torque of a gas rudder control mechanism, characterized in that, Comprising: A first simulation device, a loading device, a control device, and a collection device; The first simulation device includes: a simulated rudder shaft, a servo mechanism, a control mechanism, a simulated cabin, and a loading rod; The loading device is configured to provide a load to the simulated rudder shaft according to a preset first loading instruction; The simulated cabin is configured to provide support for the servo mechanism and the control mechanism; A first end of the loading rod is rotatably connected to the simulated rudder shaft, and a second end of the loading rod is connected to the loading device; The control mechanism includes: a rocker arm and a control lever; The rocker arm is fixed to the simulated rudder shaft; A first end of the control lever is rotatably connected to the rocker arm, and a second end of the control lever is rotatably connected to the servo mechanism; Wherein, at least two strain gauges are arranged on the control lever and are configured to use the collection device to test a first strain value of the first simulation device; The control device is configured to control the servo mechanism to output power according to a preset control instruction to drive the simulated rudder shaft to rotate through the transmission of the control mechanism; The collection device is configured to test a first strain value of the first simulation device, so as to calculate and obtain a frictional torque.

2. The test system according to claim 1, characterized in that, The control mechanism further includes: a gas rudder support and a heat insulation shield; The gas rudder support is fixed to the simulated cabin; The heat insulation shield is fixed to the gas rudder support, and the heat insulation shield is provided with an opening for the simulated rudder shaft to pass through.

3. The test system according to claim 2, characterized in that, The control mechanism further includes: a first bearing, a second bearing, and a third bearing; The simulated rudder shaft is rotatably connected to the gas rudder support through the first bearing and the second bearing to maintain the stability of the simulated rudder shaft through the first bearing and the second bearing; The simulated rudder shaft is rotatably connected to the loading rod through the third bearing.

4. The test system according to claim 1, characterized in that The loading device includes: a bearing column, a hydraulic actuator, a tension sensor, and a chain; A first end of the hydraulic actuator is fixed to the bearing column, and a second end of the hydraulic actuator is connected to the tension sensor; A first end of the chain is fixedly connected to the bearing column, and a second end of the chain is fixedly connected to the second end of the hydraulic actuator to keep the hydraulic actuator in a horizontal state.

5. A test method for testing the frictional torque of a gas rudder control mechanism using the test system as described in claim 1, characterized in that, Comprising: Providing a load to a first simulation device according to a preset first loading instruction; Controlling the servo mechanism to output power according to a preset control instruction to drive the simulated rudder shaft to rotate through the transmission of the control mechanism; Testing a first strain value of the first simulation device, so as to calculate and obtain a frictional torque.

6. The test method according to claim 5, characterized in that The calculated frictional torque includes: calculating the frictional torque according to the first strain value by using a pre-obtained functional relationship.

7. The test method according to claim 6, wherein The functional relationship is obtained by the following method: Providing a load to a second simulation device according to a preset second loading instruction and calculating a torque value according to the second loading instruction; wherein, the second simulation device includes: a second simulated rudder surface, a second servo mechanism, and a second control mechanism; Controlling the second servo mechanism to maintain a zero position state; Testing a second strain value of the second simulation device; The second strain value and the torque value are linearly fitted to obtain the functional relationship.

8. The test method according to claim 7, wherein The direction of providing the load to the second simulation device is the horizontal direction same as the axis of the upper end hole of the second simulated rudder surface.

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