A test device and method for aviation self-guided depth bomb servo

Abstract

The present invention relates to a testing device and method suitable for an aviation self-guided depth charge servo, which is used to solve the problem of incomplete detection of traditional depth charge servo testing equipment. Under the control of a measurement and control cabinet, the present invention can use a multi-channel loading platform to apply simulated loads to multiple rudder blades of the servo, respectively, and collect and process the test signals of the servo signal to complete the performance test of the servo under no-load and load conditions. By simulating the load environment that may be encountered in actual use, the present invention tests the performance of the servo under various load conditions, thereby improving the testability, security, and reliability of the depth charge servo, and is an effective means of performance verification during the development, production, and maintenance of the depth charge servo.

Description

Technical Field

[0001] The invention relates to a comprehensive performance testing device for an aviation self-guided depth charge servo, belonging to the technical field of equipment detection equipment. Background Art

[0002] The servos used in deep-guided bombs are digital, offering advantages over traditional analog servos, including higher control precision, faster response, and greater torque output. Driven by high-efficiency brushless DC motors, these servos boast high power density and integration, enabling parallel control of multiple rudders. In deep-guided bombs, servos are crucial power components of the control system, and their performance directly impacts the safety and quality of the missile's navigation. Their complex design requires high precision coordination, and their characteristics are influenced by numerous factors, each of which interacts with the other.

[0003] Traditional manual servo testing methods suffer from low efficiency, incomplete indicator coverage, and limited test accuracy. Existing servo testing equipment typically performs component-level performance testing on the controller and actuator of a deep charge servo, but is unable to fully test the entire servo, including the rudder blades. Therefore, it is necessary to design a device specifically designed for comprehensive performance testing of deep charge servos. This device can be tested under both no-load and loaded conditions to comprehensively verify the performance of the servo. Summary of the Invention

[0004] In view of this, the present invention proposes a testing method and device suitable for aviation self-guided depth charge servos, which is used to solve the problem that existing methods cannot include servos to conduct comprehensive performance testing of the entire servo. Under the control of the measurement and control cabinet, the present invention can use a multi-channel loading platform to apply simulated loads (i.e. torque) to multiple servos of the servo, and collect and process the test signals of the servo signals to complete the performance test of the servo under no-load and loaded conditions. The no-load test content includes sensitivity test, step response test, and deflection speed test; the load test content includes step response test, deflection speed test, and frequency domain response test to determine whether the servo meets the design quality requirements.

[0005] The technical solutions of the present invention are as follows:

[0006] The comprehensive performance test device for depth charge servo is composed of two parts: a multi-channel loading platform and a measurement and control cabinet.

[0007] The multi-channel loading platform is used for installing and fixing a servo under test, applying load torque to a plurality of rudder blades of the servo under test, and measuring the angle change of the rudder blades. The multi-channel loading platform specifically comprises a servo interface tool (1), a torque loading device (2), a photoelectric encoder (3), and a calibration device (4). The servo is installed on the servo interface tool (1), the torque loading device (2) is used to load torque on the servo rudder blades, and the rudder deflection angle of the servo rudder blades is measured by the photoelectric encoder (3). At the same time, in order to achieve accurate torque loading, the calibration device (4) and a torque sensor are used to calibrate the torque loading device (2).

[0008] The steering gear interface tooling (1) is a universal mechanical interface for the steering gear outer cabin, such as Figure 4 As shown, it is used for servo installation and bottom fixing.

[0009] The torque loading device (2) completes the switching work of the servo torque loading and unloading, and is used to simulate the load torque of the servo rudder blade. Since each servo includes multiple rudder blades, the torque loading device (2) is composed of multiple single-channel torque loading components, each of which includes a servo clamp (2-1), a spring torsion bar (2-2), a torsion bar connector (2-3), a clutch (2-4), and a guide bracket (2-5). The steering gear clamp (2-1) is used for clamping the steering plate; the spring torsion bar (2-2) is used for applying load torque to the steering plate; different spring torsion bars (2-2) provide different load torques; the torsion bar connector (2-3) is located at the front end of the spring torsion bar (2-2) and is used for connecting the spring torsion bar (2-2) with the steering plate; the clutch (2-4) is located between the steering gear clamp (2-1) and the torsion bar connector (2-3) and is used for connecting and disassembling the torsion bar connector (2-3) and the steering plate, completing the loading and unloading of the spring torsion bar torque; the guide bracket (2-5) is used for connecting the torsion bar connector (2-3) and the clutch (2-4) to ensure the coaxiality of the front end of the torsion bar connector (2-3) and the clutch (2-4) so ​​as to correctly apply the load torque.

[0010] The spring torsion bar (2-2) is a rectangular parallelepiped with a square cross section. The side length and length of the cross section are calculated based on the required load and the selected spring steel type.

[0011] The photoelectric encoder (3) is used to measure the deflection angle of the rudder blade.

[0012] The calibration device (4) is used to calibrate the torsional stiffness of the spring torsion bar (2-2). Since each servo includes four rudder blades, the calibration device (4) is composed of multiple single-channel calibration components, each of which includes a moving plate (4-1), a guide rail and a guide rail base (4-2), a hand wheel (4-3), a spring torsion bar pressing mechanism (4-4), and a torque sensor (4-5). The movable plate (4-1) is used to limit the length of the spring torsion bar (2-2); the movable plate (4-1) moves forward and backward on the guide rail and the guide rail base (4-2) to change the length of the spring torsion bar, and the guide rail and the guide rail base (4-2) provide length indications on the side of the guide rail; the hand wheel (4-3) is used to drive the movable plate (4-1) to move on the guide rail; the spring torsion bar clamping mechanism (4-4) is located at the front end of the movable plate (4-1) and is fixed on the spring torsion bar (2-2), and is used to lock the spring torsion bar (2-2) to ensure that the length of the spring torsion bar (2-2) remains unchanged; the torque sensor (4-5) is used to measure the torque of the spring torsion bar (2-2) and is only installed and used during calibration.

[0013] The measurement and control cabinet utilizes a PXI bus architecture and includes a measurement and control computer, a PXI 4-slot chassis, a signal acquisition card, an interface card, a signal conditioning unit, and a power supply unit. The measurement and control computer, interface card, and signal acquisition card are installed in the PXI 4-slot chassis. Under the control of the measurement and control computer, the cabinet generates rudder control commands, controls the test process, conditions and collects rudder angle and torque signals, and monitors the servo's power supply voltage and current.

[0014] The measurement and control computer completes the test control of various performance parameters of the servo, including controlling the test sequence, controlling the output and reading of signals by the interface card, controlling the acquisition card to collect signals, and controlling the output signal of the power supply. At the same time, the measurement and control computer is connected to the display and keyboard through the interface to realize the test operation and display the test results.

[0015] The signal conditioning unit is used to collect the rudder angle signal output by the photoelectric encoder (3), the torque signal output by the torque sensor, and the voltage and current signals of the servo power supply.

[0016] The interface card communicates with the servo under test through the serial port, outputs control waveform data as the servo's rudder control signal, and can also read back the servo's status and the rudder angle signal detected by the servo's internal potentiometer.

[0017] The signal acquisition card collects the rudder angle signal, torque signal, power supply voltage and current signal processed by the signal conditioning unit.

[0018] The power supply unit includes a servo power supply unit and a measurement and control cabinet power supply unit, which is used to supply power to the servo and the measurement and control cabinet, and has the functions of displaying the power supply voltage and current, and overcurrent and overvoltage alarm protection.

[0019] The specific working process of the above-mentioned depth charge steering gear comprehensive performance test device is as follows:

[0020] 1) Self-test: After power-on, the test device will first perform a self-test on the functional status of each component. If an abnormality is found, the task will be terminated; if normal, the task will continue;

[0021] 2) Installing the servo to be tested: Install the end face of the servo housing on the servo interface fixture (1), and rotate the servo so that the servo clamps respectively clamp the servo blades;

[0022] 3) Test state selection: select no-load test or load test according to test requirements, determine the position of the torque loading device (2), complete the switching work of loading and unloading the torque of multiple rudder blades of the servo, and then select the corresponding test items and parameter settings.

[0023] 4) Performance test of the tested servo: Power on the tested servo, and the measurement and control cabinet outputs the servo control signal corresponding to the test task. The tested servo completes the specified action according to the instruction requirements. The various signals are output to the data acquisition unit through the electrical interface. The measurement and control computer collects the various action signals, instruction information, and various analog and digital signals of the tested servo in real time. The data is received by the controller module and the computer;

[0024] 5) Data processing and result display: The measurement and control computer stores, processes and analyzes the test data in real time, displays the processing results, and determines the various performance indicators of the servo through comprehensive analysis of the servo input excitation signal and the servo output response signal, and verifies whether the servo performance meets the requirements;

[0025] 6) Remove the servo under test: After the test is completed, remove the servo under test from the loading platform, save the test results, and complete the performance test of the depth bomb servo.

[0026] Beneficial effects

[0027] 1) Compared with the existing technology, the present invention realizes the comprehensive performance test of the servo of the aviation self-guided depth bomb, and provides a comprehensive, fast, safe, reliable and authentic testing solution for the miniaturized digital servo of the depth bomb;

[0028] 2) Simulate different loads by using different spring torsion bars;

[0029] 3) Flexible design of the size of the spring torsion bar can better match the size requirements of the test device;

[0030] 4) For the no-load and loaded testing of the depth charge servo, a high-precision photoelectric encoder is used to measure the rudder deflection angle, the spring torsion bar rudder loading, and the torque sensor is used to measure the torque. This fully covers the real-time automatic testing of multiple indicators of the depth charge servo under no-load and loaded conditions, real-time data collection and storage, and improves the reliability and efficiency of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 —Block diagram of the depth bomb servo test device

[0032] Figure 2 — Actual picture of the four-channel loading platform of the depth charge servo test device

[0033] Figure 3a — Main view of the four-channel loading platform of the depth bomb servo test device

[0034] Figure 3b —Top view of the four-channel loading platform of the depth charge servo test device

[0035] Figure 4 —Diagram of the bottom installation of the depth charge servo

[0036] Figure 5 —Schematic diagram of the single-channel torque loading component and calibration component

[0037] Figure 6 —Block diagram of the measurement and control cabinet of the depth bomb steering gear test device

[0038] Figure 7 —Schematic diagram of the front structure of the measurement and control cabinet of the depth bomb steering gear test device

[0039] Figure 8 —Workflow diagram of the depth bomb servo test device

[0040] 1. Servo interface tooling, 2. Torque loading device, 3. Photoelectric encoder, 4. Calibration device, 2-1. Servo chuck, 2-2. Spring torsion bar, 2-3. Torsion bar connector, 2-4. Clutch, 2-5. Guide bracket, 4-1. Moving plate, 4-2. Guide rail and guide rail base, 4-3. Handwheel, 4-4. Spring torsion bar clamping mechanism, 4-5. Torque sensor. DETAILED DESCRIPTION

[0041] The present invention will be further described below with reference to the accompanying drawings and examples.

[0042] See also Figure 1 A comprehensive performance testing device for aviation self-guided depth charge servos consists of two major parts: a four-channel loading platform and a measurement and control cabinet. The two are connected by a control cable. The specific number of channels can be changed according to actual test requirements. In this embodiment, there are four channels.

[0043] The four-channel loading platform is installed on a box with running wheels, including a servo interface tool 1, a torque loading device 2, a photoelectric encoder 3, and a calibration device 4. It is mainly used to install and fix the servo under test, apply load torque to the four rudder blades of the servo under test, and measure the angle change of the rudder blades, such as Figure 2, as shown in Figure 3. The four-channel loading platform mounts the servo on the servo interface fixture 1. The torque loading device 2 applies torque to the servo's four rudder blades, and the photoelectric encoder 3 measures the rudder angles of the four rudder blades. To achieve precise torque loading, the torque loading device 2 is calibrated using a calibration device 4 and a torque sensor.

[0044] The servo interface fixture 1 is a universal mechanical interface for the servo outer compartment, used for servo installation and bottom fixing. When installing the servo, the inner hole of the servo housing matches the outer circle of the mounting seat positioning shaft on the servo interface fixture 1, so that the end face of the servo housing is installed on the servo interface fixture 1. Figure 4 shown.

[0045] The torque loading device 2 completes the switching work of the servo torque loading and unloading, and is used to simulate the load torque of the servo rudder. Since each servo has four rudders, the torque loading device 2 is composed of four single-channel torque loading components. Each single-channel torque loading component includes a servo chuck, a spring torsion bar, a torsion bar connector, a clutch, and a guide bracket. Figure 5 As shown. The servo chuck is used to clamp the rudder blade; the spring torsion bar is used to apply load torque to the rudder blade. The magnitude of the spring torsion bar torque is determined by the material, cross-sectional area and length. The present invention designs the spring torsion bar according to the load torque requirements of the four rudder blades of the servo; the torsion bar connector is located at the front end of the spring torsion bar, and is used to connect the spring torsion bar to the rudder blade; the clutch is located between the torsion bar connector and the rudder blade, and is used to realize the connection and disassembly of the torsion bar connector and the rudder blade, complete the loading and unloading of the spring torsion bar torque, and is used to realize the load and no-load test of the servo respectively; the guide bracket is used to connect the torsion bar connector and the clutch, and ensure the coaxiality of the front end of the torsion bar connector and the clutch, so as to correctly apply the load torque.

[0046] In actual implementation, the spring torsion bar is made of spring steel 65Mn. The cross-sectional area and length of the spring bar can be calculated using the following formula:

[0047] Polar moment of inertia of spring torsion bar (mm 4 ):I p =0.141a 4 …………………………〔1〕

[0048] Torsional section modulus of spring torsion bar (mm 3 ): Z t =0.28a 3 ……………………〔2〕

[0049] Torsional deformation angle (rad):

[0050] Torsional shear stress (MPa):

[0051] Torsional stiffness:

[0052] Where: a——side length of rectangular cross-section spring torsion bar, mm

[0053] G——spring torsion bar shear elastic modulus,

[0054] L——effective length of torsion bar, mm

[0055] T——Torque on the spring torsion bar, Nm

[0056] T′——torsional stiffness of spring torsion bar, Nm / rad

[0057] In this embodiment, according to the required load and the stiffness of the spring torsion bar, the appropriate cross-sectional area and length of the spring torsion bar are selected using formulas (4) and (5). Alternatively, the requirements may be changed and other formulas may be used to design the elastic torsion bar.

[0058] The servo contains four rudder blades, which need to be loaded with 8Nm load torque and 4Nm load torque respectively.

[0059] Torsion bar design at 8Nm load:

[0060] The known conditions are: the material is spring steel 65Mn, the maximum torsional shear force is set to τ' = 420Mpa, the shear elastic modulus G = 82GPa, and the torsional stiffness of the spring torsion bar is T' = 0.533Nm / °.

[0061] Since T1 = 8 Nm, the maximum torsional shear force is τ' = 420 MPa. According to formula (4),

[0062] Right now:

[0063] From formula (5), we can get: Then when a=4.507×10 -3 (m), L=0.141×(4.7×10 -3 ) 4 ×82×10 9 ×15 / (8×57.3)=0.1846m, so when a≥4.507×10 -3 (m), L≥0.141×(4.7×10 -3 ) 4 ×82×10 9 ×15 / (8×57.3), within the allowable size range of the loading component, the side length of the torsion bar section is 4.7mm, and the working length is 184.6mm

[0064] Torsion bar design at 4Nm load:

[0065] Similarly to the above, the side length of the torsion bar is 3.9 mm and the working length is 175.1 mm.

[0066] The photoelectric encoder 3 uses a high-performance photoelectric encoder, which is located at the front end of the torsion bar connector. Figure 5 As shown, it is fixed on the guide bracket and is used to measure the deflection angle of the rudder blade.

[0067] The calibration device 4 is used to calibrate the torsional stiffness of the spring torsion bar. The torsional stiffness of the spring torsion bar determines the load torque applied by the spring torsion bar to the rudder blade. Since each servo has four rudder blades, the calibration device 4 is composed of four single-channel calibration components. Each single-channel calibration component includes a moving plate, a guide rail and a guide rail base, a handwheel, a spring torsion bar clamping mechanism, and a torque sensor. Figure 5 As shown. The movable plate is used to limit the length of the spring torsion bar; the guide rail and the guide rail base are used to move the movable plate back and forth to change the length of the spring torsion bar, and provide a length indication on the side of the guide rail; the handwheel is used to drive the movable plate to move on the guide rail; the spring torsion bar clamping mechanism is located at the rear end of the movable plate and is fixed to the spring torsion bar, and is used to lock the spring torsion bar to ensure that the length of the spring torsion bar remains unchanged; the torque sensor is used to measure the torque of the spring torsion bar and is only installed and used during calibration. Slide the movable plate back and forth along the guide rail to change the length of the spring torsion bar, and use the photoelectric encoder 3 and the torque sensor to measure the angle and torque of the spring torsion bar respectively, and calculate the torsional stiffness of the spring torsion bar at the corresponding length. When the torsion bar stiffness meets the requirements, the spring torsion bar clamping mechanism can be used to fix the length of the spring torsion bar.

[0068] In this embodiment, when calibrating the torsional stiffness of the spring torsion bar, the formula for calculating the torsional stiffness is: torque / angle measured by the photoelectric encoder. The calculated stiffness coefficient should meet the requirements of: 8 Nm load, 8 / 15, = 0.533 Nm / °; and 4 Nm load, 4 / 15, = 0.267 Nm / °.

[0069] The measurement and control cabinet is built based on the PXI bus structure, including the measurement and control computer (including display and keyboard, hardware interface), PXI 4-slot chassis, signal acquisition card, interface card, signal conditioning unit, power supply unit, the composition block diagram is as follows Figure 6 The measurement and control cabinet adopts a 19-inch standard chassis structure with a height of 26.5U (1U = 44.5mm). The front structure diagram is shown as follows: Figure 7 The measurement and control computer, interface card, and signal acquisition card are installed in a 4-slot PXI chassis. Cables connect these components to the signal conditioning unit, power supply unit, and display within the measurement and control cabinet. Under the control of the measurement and control computer, the cabinet generates rudder control commands, controls the test process, conditions and collects rudder angle and torque signals, and monitors the servo's power supply voltage and current.

[0070] The measurement and control computer completes the test control of various performance parameters of the servo, including controlling the test sequence, controlling the output and reading of signals by the interface card, controlling the acquisition card to collect signals, and controlling the output signal of the power supply. At the same time, the measurement and control computer is connected to the display and keyboard through the interface to realize the test operation and display the test results.

[0071] The signal conditioning unit is used to collect the rudder angle signal output by the photoelectric encoder 3, the torque signal output by the torque sensor, and the voltage and current signals of the servo power supply.

[0072] The interface card includes a PXI serial port card, which communicates with the servo under test through the serial port and outputs control waveform data as the servo's rudder control signal. At the same time, it can read back the servo status and the rudder angle signal detected by the servo's internal potentiometer.

[0073] The signal acquisition card includes a PXI data acquisition card and a PXI encoder card, which collects the rudder angle signal, torque signal, power supply voltage and current signals processed by the signal conditioning unit, so that the test device can monitor the actual load capacity and operating conditions of the servo under test during no-load and loaded tests.

[0074] The power supply unit includes a programmable power supply and an integrated power servo unit, which is used to provide power to the servo measurement and control cabinet, and has the functions of displaying the power supply voltage and current, and overcurrent and overvoltage alarm protection.

[0075] The specific working process of the above-mentioned deep charge steering gear comprehensive performance test device is as follows, and the flow chart is as follows: Figure 8 shown.

[0076] 1) Self-test: After power-on, the test device will first perform a self-test on the functional status of each component. If an abnormality is found, the task will be terminated; if normal, the task will continue;

[0077] 2) Install the servo under test: Fit the inner hole of the servo housing with the outer diameter of the mounting seat positioning shaft on the servo interface fixture 1, so that the end face of the servo housing is installed on the servo interface fixture 1. Rotate the servo so that the four servo chucks respectively clamp the four rudder blades, and connect the cables between the four-channel loading platform and the measurement and control cabinet;

[0078] 3) Test state selection: select no-load test or loaded test according to the test requirements, determine the position of the torque loading device 2, complete the switching of the torque loading and unloading of the four rudder blades of the servo, and then select the corresponding test items and parameter settings.

[0079] 4) Performance test of the tested servo: Power on the tested servo, and the measurement and control cabinet outputs the servo control signal corresponding to the test task. The tested servo completes the specified action according to the instruction requirements. The various signals are output to the data acquisition unit through the electrical interface. The measurement and control computer collects the various action signals, instruction information, and various analog and digital signals of the tested servo in real time. The data is received by the controller module and the computer;

[0080] 5) Data processing and result display: The measurement and control computer stores, processes and analyzes the test data in real time, displays the processing results, and determines the various performance indicators of the servo through comprehensive analysis of the servo input excitation signal and the servo output response signal, and verifies whether the servo performance meets the requirements;

[0081] During the no-load test, taking the sensitivity test as an example, the procedures for the tested servo 2), 3), 4), and 5) are as follows: First, manually slide the clutch to disengage the clutch from the torsion bar connector, completing the unloading of the servo's four rudder blades by the torque loading device 2. The no-load test includes a sensitivity test, a step response test, and a deflection speed test. The sensitivity test indicators are sensitivity, the step response test indicators are steady-state error, overshoot, rise time, and delay time, and the deflection speed test indicator is deflection speed. Then, the corresponding test item is selected based on the no-load test content and set to the sensitivity test. The sensitivity test parameters are then set, with the sensitivity step parameter set to a step value of 0.05° and 50 points per step. The tested servo is then powered on, and the measurement and control computer in the measurement and control cabinet automatically sends step signals to the corresponding channels of the servo according to the set parameters. Finally, the measurement and control computer stores, processes, and analyzes the rudder angle signals from the photoelectric encoder 3 in real time, and displays the results on the screen.

[0082] During the load test, taking the step response test as an example, the processes 2), 3), 4), and 5) for the servo under test are as follows: First, manually slide the clutch to connect it to the torsion bar connector, completing the loading of the servo's four rudder blades by the torque loading device 2. The load test includes a step response test, a deflection velocity test, and a frequency domain response test. The step response test indicators include steady-state error, overshoot, rise time, and delay time; the deflection velocity test indicator is the deflection velocity; and the frequency domain response test indicators include peak-to-peak value and phase difference. Then, the corresponding test item is selected based on the load test content, and the test item is set to the frequency domain response test. The frequency domain response test parameters are then set, with the frequency domain response sinusoidal excitation parameters set to 1.5° amplitude and 1Hz frequency. The servo under test is then powered on, and the measurement and control computer in the measurement and control cabinet automatically sends sinusoidal excitation signals to the corresponding channels of the servo according to the set parameters. Finally, the measurement and control computer stores, processes, and analyzes the rudder deflection angle signals detected by the photoelectric encoder 3 and the rudder deflection angle signals detected by the servo's internal potentiometer in real time, and displays the results on the screen.

[0083] 6) Remove the servo under test: After the test is completed, disconnect the connecting cables, remove the servo under test from the loading platform, save the test results, and complete the performance test of the depth bomb servo.

[0084] The present invention provides a device and method for testing the comprehensive performance of a depth charge servo based on a virtual instrument. By simulating the load environment that may be encountered in actual use, the performance of the servo under various load conditions is tested, thereby improving the testability, security and reliability of the depth charge servo. It is an effective means of performance verification during the development, production and maintenance of the depth charge servo.

Claims

1. A test device for an aviation homing depth charge servo, comprising a measurement and control cabinet, characterized in that: Also included are multi-channel loading stations; The multi-channel loading platform is used for installing and fixing the servo to be tested, applying load torque to multiple rudder blades of the servo to be tested, and measuring the angle change of the rudder blades. The multi-channel loading platform specifically comprises a servo interface tool (1), a torque loading device (2), a photoelectric encoder (3), and a calibration device (4); the servo interface tool (1) is used for installing the servo to be tested, the torque loading device (2) is used for applying torque loading to the servo rudder blades, and the photoelectric encoder (3) is used for measuring the deflection angle of the rudder blades; the calibration device (4) and the torque sensor are used for calibrating the torque loading device (2); The measurement and control cabinet controls the multi-channel loading platform to apply simulated loads to multiple rudder blades of the servo, and collects and processes the test signals of the servo to complete the performance test of the servo under no-load and loaded conditions; The torque loading device (2) is composed of a plurality of single-channel torque loading components, each of which includes a steering gear clamp (2-1), a spring torsion bar (2-2), a torsion bar connector (2-3), a clutch (2-4), and a guide bracket (2-5); the steering gear clamp (2-1) is used to clamp the steering plate; the spring torsion bar (2-2) is used to apply load torque to the steering plate, and different spring torsion bars (2-2) provide different load torques; the torsion bar connector (2-3) is located at the spring torsion bar (2- 2) is used to match different spring torsion bars (2-2); the clutch (2-4) is located between the steering gear clamp (2-1) and the torsion bar connector (2-3), and is used to connect and disassemble the torsion bar connector (2-3) and the rudder, and complete the loading and unloading of the spring torsion bar torque; the guide bracket (2-5) is used to connect the torsion bar connector (2-3) and the clutch (2-4), ensuring the coaxiality of the front end of the torsion bar connector (2-3) and the clutch (2-4) to correctly apply the load torque; The calibration device (4) is composed of a plurality of single-channel calibration components, wherein one single-channel calibration component is used to calibrate a single-channel torque loading component, and the single-channel calibration components include a movable plate (4-1), a guide rail and a guide rail base (4-2), a hand wheel (4-3), a spring torsion bar clamping mechanism (4-4), and a torque sensor (4-5); the movable plate (4-1) is used to limit the length of the spring torsion bar (2-2); the hand wheel (4-3) is used to drive the movable plate (4-1) to move on the guide rail; the guide rail and the guide rail base (4-2) provide length indications on the side of the guide rail; the spring torsion bar clamping mechanism (4-4) is located at the front end of the movable plate (4-1) and is fixed on the spring torsion bar (2-2), and is used to lock the spring torsion bar (2-2) to ensure that the length of the spring torsion bar (2-2) remains unchanged; the torque sensor (4-5) is used to measure the torque of the spring torsion bar (2-2) and is installed and used only during calibration.

2. A test device for an aviation homing depth charge servo according to claim 1, characterized in that: The measurement and control cabinet adopts a PXI bus structure, including a measurement and control computer, a PXI 4-slot chassis, a signal acquisition card, an interface card, a signal conditioning unit, and a power supply unit. The measurement and control computer, the interface card, and the signal acquisition card are installed in the PXI 4-slot chassis. Under the control of the measurement and control computer, the measurement and control cabinet completes the generation of rudder control instructions, test process control, and the conditioning and acquisition of rudder angle and torque signals, and monitors the power supply voltage and current of the servo.

3. The test device for an aviation homing depth charge servo according to claim 2, characterized in that: The measurement and control computer completes the test control of various performance parameters of the servo, specifically controlling the test timing, controlling the output and reading of signals by the interface card, controlling the acquisition card to collect signals, and controlling the output signal of the power supply. The measurement and control computer is connected to the display and keyboard through the interface to realize the test operation and display the test results. The signal conditioning unit is used to collect the rudder angle signal output by the photoelectric encoder (3), the torque signal output by the torque sensor, and the voltage and current signals of the servo power supply; The interface card communicates with the servo under test through the serial port, outputs the control waveform data as the servo's rudder control signal, and simultaneously reads back the servo's status and the rudder angle signal detected by the servo's internal potentiometer; The signal acquisition card collects the rudder angle signal, torque signal, power supply voltage and current signal processed by the signal conditioning unit.

4. The test device for an aviation homing depth charge servo according to claim 3, characterized in that: The spring torsion bar (2-2) is a rectangular parallelepiped with a square cross section. The side length and length of the cross section are calculated based on the required load, the torsional stiffness of the spring torsion bar and the maximum torsional stress using the torsional shear stress calculation formula and the torsional stiffness calculation formula.

5. A method for testing an aircraft homing depth charge servo, based on the device of claim 1, characterized in that: 1) Self-test: After power-on, the test device will first perform a self-test on the functional status of each component. If an abnormality is found, the task will be terminated; if normal, the task will continue; 2) Install the servo under test: Install the end face of the servo housing on the servo interface fixture, and rotate the servo so that the servo chucks clamp the rudder blades respectively; 3) Test state selection: select no-load test or load test according to test requirements, determine the position of the torque loading device, complete the switching of the servo rudder torque loading and unloading, and then select the required test items and parameter settings; 4) Test performance test of the tested servo: Power on the tested servo, and the measurement and control cabinet outputs the servo control signal corresponding to the test task. The tested servo completes the specified action according to the instruction requirements. The measurement and control computer collects the signals of the tested servo required for the test in real time through the data acquisition unit. The data is received by the controller module and the computer; 5) Data processing and result display: The measurement and control computer stores, processes and analyzes the test data in real time, displays the processing results, and determines the various performance indicators of the servo through comprehensive analysis of the servo input excitation signal and the servo output response signal, and verifies whether the servo performance meets the requirements; 6) Remove the servo under test: After the test is completed, remove the servo under test from the loading platform, save the test results, and complete the performance test of the depth bomb servo.

6. The method for testing an aircraft homing depth charge servo according to claim 5, characterized in that: The no-load test includes sensitivity test, step response test, and deflection speed test; The load test includes step response test, deflection speed test, and frequency domain response test to determine whether the servo meets the design quality requirements.

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