Intelligent measurement and control system and method for friction and wear test machine of typical kinematic pair of aircraft exhaust nozzle

Abstract

The application provides an intelligent measurement and control system and method for a friction and wear tester of typical motion pairs of an aircraft tail nozzle, comprising: a state monitoring module: obtaining the deflection angles of horizontal actuators and vertical actuators in a motion loading control module; an image acquisition module: acquiring motion images of a test piece, and obtaining pose data of the test piece based on the acquired motion images of the test piece; a digital twin system module: controlling the motion loading control module based on the obtained pose data of the test piece and the deflection angles, and realizing friction and wear tests of typical motion pairs of the aircraft tail nozzle under preset temperature, load and motion form test conditions. Based on the digital twin technology, the application realizes accurate control of temperature, load and motion form of the friction and wear test of the typical motion pairs of the aircraft tail nozzle and state monitoring of a test system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of friction and wear testing machines, in particular to an intelligent measurement and control system and method for a friction and wear testing machine for typical motion pairs of an aircraft nozzle, and more particularly to an intelligent measurement and control system for a friction and wear testing machine for typical motion pairs of an aircraft nozzle based on digital twinning technology. BACKGROUND

[0002] In recent years, new engineering high-performance requirements in the fields of aerospace, nuclear power and other national defense cutting-edge technologies in China have caused the motion mechanism to be in extreme working conditions such as high temperature and heavy load for a long time, which easily leads to the degradation of the service performance of key motion pairs and even failure, thereby limiting the performance, life and reliability of the overall equipment system, and even causing major engineering disasters. In order to clarify the degradation mechanism of the tribological performance of the motion parts and optimize the tribological design of the surface interface, it is urgent to develop a tribological test system for simulating high-temperature and heavy-load working conditions to fill the gap in the field of test instruments. The existing tribological measurement and control system can well complete the whole process of experimental control and data acquisition for laboratory sample tribological research under single extreme working conditions and simple motion rules, but there is still no tribological measurement and control system for real service condition tests. For the tribological research of actual samples under high-temperature and heavy-load complex extreme working conditions and complex motion rules, it is urgent to develop a corresponding tribological test and control system.

[0003] Patent document CN113029762B (application number: 202110459910.6) discloses a multifunctional rolling friction and wear testing machine and a control method thereof. The testing machine includes a control system, a frame body, a lubricating bath, a first motor, a torque sensor, a rotational speed sensor, a first fixed shaft, a first fixed shaft support, a first sample ring, a second motor, a speed reducer, a guide shaft, a first pressure plate, a second pressure plate, a spring, a push rod, a pressure sensor, a linear sliding guide rail, a second fixed shaft support, a second fixed shaft, a second sample ring, a thrust plate, a first connecting rod, and a second connecting rod. The rolling friction coefficient can be calculated, and the material wear after the friction experiment under different experimental conditions can be observed. The testing machine can simulate various special working conditions and restore the real working conditions as much as possible. The patent optimizes the ergonomics of this type of friction and wear testing machine and increases the reliability of the rolling friction and wear testing, but it can only be used for research on motion pairs with rolling friction and cannot be compatible with multiple typical motion pairs.

[0004] Patent document CN104198370B (application number: 201410484513.4) discloses a sliding-rolling tribological performance test bench measurement and control system. The present application aims at the problem that various tribological performance test benches in the prior art can only manually adjust the movement of each component. It provides a sliding-rolling tribological performance test bench intelligent measurement and control system, which includes a loading device, an inclined electric spindle, a vertical electric spindle, a contact area, and a data acquisition module, a control module, a data processing module, and an image acquisition module. The image acquisition module and the data acquisition module are connected to the data processing module, and the data processing module is connected to the control module. The patent can realize accurate adjustment of the sliding-rolling ratio and tribological performance testing under multiple working conditions, but it does not realize monitoring of the structure deformation of the friction and wear testing machine under test conditions, and the control accuracy under force-thermal coupling complex conditions still has room for improvement. SUMMARY

[0005] In view of the defects in the prior art, the purpose of the present application is to provide an intelligent measurement and control system and method for a typical motion pair friction and wear testing machine of an aviation tail nozzle.

[0006] According to the present application, an intelligent measurement and control system for a typical motion pair friction and wear testing machine of an aviation tail nozzle is provided, which includes:

[0007] The state monitoring module acquires the deflection angles of the horizontal actuator and the vertical actuator in the motion loading control module.

[0008] The image acquisition module acquires the motion images of the test piece and obtains the test piece pose data based on the acquired test piece motion images.

[0009] The digital twin system module controls the motion loading control module based on the obtained test piece pose data and deflection angles, and realizes the friction and wear test of the typical motion pair of the aviation tail nozzle under the preset temperature, load, and motion form test conditions.

[0010] Preferably, the state monitoring module includes a deformation measurement block and a strain gauge. The deformation measurement block is a tempered 45 steel plate shaped like an isosceles right triangle, with a hollow center to form three equal-width edges. The strain gauge is installed at the center of the three edges of the deformation measurement block. The strain gauge is parallel to the long edge of the deformation measurement block.

[0011] Preferably, the state monitoring module includes: the testing machine structure deforms under temperature and load, and a deformation measuring block fixed to the testing machine structure deforms simultaneously; a mathematical geometric model is established based on the strain of the deformation measuring block and the deformation of the testing machine structure; the strain of the three sides of the deformation measuring block is calculated using the test data of the strain gauges; the deformation of the three sides is calculated based on the strain of the three sides of the deformation measuring block; the calculation result of the three-sided deformation is corrected according to the static simulation calculation result; the deformation of the testing machine structure is calculated based on the corrected three-sided deformation; and finally, the deflection angle of the horizontal actuator and the vertical actuator mounting plane in the motion loading control module is calculated.

[0012] Preferably, the motion loading control module includes a horizontal actuator and a vertical actuator; the horizontal actuator and the vertical actuator are connected to the test piece; the horizontal actuator and the vertical actuator simultaneously output displacement to drive the test piece to achieve planar motion.

[0013] Preferably, the digital twin system module includes:

[0014] The deflection angle θ of the horizontal actuator mounting plane is measured in real time by the state monitoring module. H Deflection angle θ relative to the vertical actuator mounting plane v calculate:

[0015] X Hc1 =(L H +X H )·sinθ v

[0016] X Vc1 =(L V +X V )·sinθ H

[0017] Among them, L H L is the length of the horizontal actuator base. V X is the length of the vertical actuator base; H The horizontal displacement measured by the encoder integrated into the actuator; X V The actual vertical displacement measured by the encoder integrated into the actuator; the displacement compensation X of the horizontal actuator is calculated. Hc1 Displacement compensation X of vertical actuator Vc1 ;

[0018] The horizontal position X of the end effector of the horizontal actuator is measured in real time by the image acquisition module. Ha and the vertical position X of the vertical actuator end Va The horizontal position X of the end of the horizontal actuator in the typical kinematic pair test condition setting of the aircraft tail nozzle. Ht and the vertical position X of the vertical actuator endVt Compare separately, based on the formula:

[0019] X Hc2 =X Ht -X Ha

[0020] X Vc2 =X Vt -X Va

[0021] The displacement compensation X of the horizontal actuator was calculated. Hc2 Displacement compensation X of vertical actuator Vc2 ;

[0022] Based on a typical test condition setting for an aircraft tail nozzle kinematic pair, the expected horizontal displacement X of the horizontal actuator at any moment during the test process motion cycle is calculated using a virtual model of the test machine's motion loading law based on ADAMS rigid-flexible coupling dynamic simulation. Ht The vertical actuator expects a vertical displacement X. Vt Horizontal actuator desired horizontal load F Ht With the vertical actuator's desired vertical load F Vt ;

[0023] X with horizontal actuator displacement compensation Hc2 Vertical actuator displacement compensation X Vc2 Based on this, the horizontal actuator displacement compensation X calculated using the condition monitoring module is used. Hc1 Vertical actuator displacement compensation X Vc1 Interpolation correction is performed to obtain the compensated and corrected desired horizontal displacement X. Hc Compared with the compensated and corrected expected vertical displacement X Vc ;

[0024] The desired horizontal displacement X Ht With horizontal displacement compensation X Hc The summation yields the compensated and corrected desired horizontal displacement X. Ht1 The desired vertical displacement X Vt Vertical displacement compensation X Vc The summation yields the compensated and corrected desired vertical displacement X. Vt1 ;

[0025] Based on the expected horizontal load F Ht Compared with the compensated and corrected expected horizontal displacement X Ht1 Or the expected vertical load F Vt Compared with the compensated and corrected expected vertical displacement X Vt1The active compliance control algorithm is a dual-loop feedback control, with an outer loop of an impedance / admittance controller and an inner loop of a PID controller, which simultaneously controls displacement and load.

[0026] The typical working conditions of the aircraft tail nozzle kinematic pair include: selecting a triangular tie rod or cam roller as the test piece, setting the ambient temperature, speed of the test piece and load on the typical kinematic pair of the test piece under the full afterburner state of the aircraft tail nozzle, and the ambient temperature, speed of the test piece and load on the typical kinematic pair of the test piece under the intermediate state of the tail nozzle, programming the number of cycles under the full afterburner state of the tail nozzle and the number of cycles under the intermediate state of the tail nozzle, and the distribution law of the full afterburner state and the intermediate state in the total cycle.

[0027] Preferably, typical kinematic pairs of aircraft tail nozzles include: cam-roller kinematic pairs, tie rod-pin kinematic pairs, and tie rod-ball joint kinematic pairs;

[0028] In the cam-roller kinematic pair friction and wear test, the vertical actuator is responsible for driving the test piece to move, and is controlled using a displacement-based admittance control algorithm; the horizontal actuator is responsible for loading and also needs to follow the test piece, and is controlled using a load-based impedance control algorithm.

[0029] In the friction and wear test of the tie rod-pin kinematic pair, the horizontal actuator is responsible for driving the test piece to move, and is controlled by a displacement-based admittance control algorithm; the vertical actuator is responsible for loading and also needs to follow the test piece, and is controlled by a load-based impedance control algorithm.

[0030] In the friction and wear test of the tie rod-ball socket kinematic pair, the horizontal actuator and the rotary actuator are responsible for driving the motion of the test piece, and are controlled by a displacement-based admittance control algorithm; the vertical actuator is responsible for loading and also needs to follow the motion of the test piece, and is controlled by a load-based impedance control algorithm.

[0031] Preferably, based on the typical motion pair working conditions of an aircraft tail nozzle, the force F at the connection point in a complete motion cycle under full-load and cyclic conditions is obtained by using a virtual model of the test machine's motion loading law based on ADAMS rigid-flexible coupling dynamic simulation. ADAMS ; the force situation F ADAMS The stress-strain distribution of the testing machine structure, based on ANSYS static simulation, is used to calculate the deflection angle θ of the horizontal actuator mounting plane during a complete motion cycle in both fully loaded and cyclic states. Hp Deflection angle θ relative to the vertical actuator mounting plane Vp ; Deflection angle θ based on the horizontal actuator mounting plane Hp Deflection angle θ relative to the vertical actuator mounting planeVp The displacement compensation X of the horizontal actuator was calculated. Hcp And the displacement compensation X of the vertical actuator Vcp ;

[0032] X Hcp =(L H +X Hp )·sinθ vp

[0033] X Vcp =(L V +X Vp )·sinθ Hp

[0034] Horizontal actuator displacement compensation X Hcp Vertical actuator displacement compensation X Vcp , and horizontal displacement compensation X in feedback control Hc Vertical displacement compensation X Vc By comparison, the control effect of the measurement system of the friction and wear test machine for typical moving pairs of aircraft tail nozzles is evaluated.

[0035] Preferably, a standard calibration test is conducted and the measurement error of the testing machine is analyzed based on the test data to determine the reliability of the testing machine's measurement data, so that the testing machine meets the consistency and uncertainty of the test requirements;

[0036] Step 1: Three sets of typical motion pair test pieces of aircraft tail nozzles that meet the quality and performance standards are manually inspected. The test pieces are equipped with calibrated strain gauges and gyroscopes. The actual force and motion data of the test pieces are calculated as the true values.

[0037] Step 2: Multiple testers conduct repeated tests on each set of test pieces based on the same test settings, and record the force and motion data of the test pieces measured by the testing machine;

[0038] Step 3: Perform data analysis on the force and motion data. Using the measurement system analysis method, and based on the hypothesis testing level α = 0.05, analyze the statistical characteristics of the friction and wear test machine for typical moving pairs of aircraft tail nozzles, including accuracy, precision, linearity, stability, repeatability and reproducibility.

[0039] Step 4: display data analysis and judgment results, the test machine measurement system analysis software interface displays the data analysis results, including bias-true value graph, mean control chart, range control chart, measurement system standard deviation, test operation standard deviation and instrument / product precision ratio (%R&R); wherein, the upper and lower limit lines of the control chart are drawn using 95% confidence interval, and the %R&R evaluation threshold is set to 10%. If all control chart data is within the confidence interval, and the %R&R is less than or equal to 10%, it is displayed that the measurement system analysis verification is passed this time, if the control chart data is outside the confidence interval, or the %R&R is greater than 10%, the measurement system standard deviation and the test operation standard deviation are compared, if the measurement system standard deviation is greater than the test operation standard deviation, it is prompted that the measurement system needs to be corrected, if the measurement system standard deviation is less than the test operation standard deviation, it is prompted that the test personnel needs to receive the test specification training again.

[0040] Preferably, an intelligent measurement and control method for an aviation tail nozzle typical motion pair friction and wear test machine, comprising:

[0041] Step S1: the state monitoring module obtains the deflection angles of the horizontal actuator and the vertical actuator in the motion loading control module;

[0042] Step S2: the image acquisition module acquires test piece motion images, and obtains test piece pose data based on the acquired test piece motion images;

[0043] Step S3: the digital twin system module controls the motion loading control module based on the obtained test piece pose data and deflection angles, to realize friction and wear test of the aviation tail nozzle typical motion pair under preset temperature, load and motion form test conditions.

[0044] Preferably, the state monitoring module comprises a deformation measurement block and a strain gauge; the deformation measurement block is a tempered 45 steel plate shaped as an isosceles right triangle, with a hollow center to form three equal-width edges; the strain gauge is installed at the center of the three edges of the deformation measurement block; the strain gauge is parallel to the long edge of the deformation measurement block;

[0045] The state monitoring module comprises: the test machine structure generates deformation under the action of temperature and load, and the deformation measurement block fixedly connected with the test machine structure also generates deformation; a mathematical geometry model is established based on the strain of the deformation measurement block and the deformation of the test machine structure, the strain of the three edges of the deformation measurement block is calculated using the measured test data of the strain gauge, the deformation of the three edges of the deformation measurement block is calculated based on the strain of the three edges, and the calculation result of the deformation of the three edges is corrected according to the statics simulation calculation result; the deformation of the test machine structure is calculated based on the corrected deformation of the three edges, and finally the deflection angle of the installation plane of the horizontal actuator and the vertical actuator in the motion loading control module is calculated;

[0046] The motion loading control module comprises a horizontal actuator and a vertical actuator; the horizontal actuator and the vertical actuator are connected with the test piece; the horizontal actuator and the vertical actuator simultaneously output displacement to drive the test piece to realize planar motion;

[0047] The digital twin system module comprises:

[0048] Based on the deflection angle θ of the horizontal actuator installation plane measured by the state monitoring module in real time H and the deflection angle θ of the vertical actuator installation plane v Calculate:

[0049] X Hc1 =(L H +X H )·sinθ v

[0050] X Vc1 =(L V +X V )·sinθ H

[0051] Wherein, L H is the length of the horizontal actuator base; L V is the length of the vertical actuator base; X H is the horizontal displacement measured by the integrated encoder of the actuator; X V is the actual vertical displacement measured by the integrated encoder of the actuator; the displacement compensation X Hc1 of the horizontal actuator and the displacement compensation X Vc1 of the vertical actuator are calculated;

[0052] Based on the horizontal position X Ha of the horizontal actuator end and the vertical position X Va of the vertical actuator end measured by the image acquisition module in real time, the horizontal position X Ht of the horizontal actuator end and the vertical position X Vt of the vertical actuator end in the typical motion pair test working condition setting of the aircraft tail nozzle are compared respectively, based on the formula:

[0053] X Hc2 =X Ht -X Ha

[0054] X Vc2 =X Vt -X Va

[0055] The displacement compensation X Hc2 of the horizontal actuator and the displacement compensation X Vc2 of the vertical actuator are calculated;

[0056] Based on a typical motion pair test working condition setting of an aircraft nozzle, the expected horizontal displacement X of the horizontal actuator at any time in the motion cycle during the test process is calculated by the virtual model of the test machine motion loading rule based on ADAMS rigid-flexible coupling dynamics simulation Ht , the expected vertical displacement X of the vertical actuator Vt , the expected horizontal load F of the horizontal actuator Ht , and the expected vertical load F of the vertical actuator Vt ;

[0057] Taking the horizontal actuator displacement compensation X Hc2 and the vertical actuator displacement compensation X Vc2 as the basis, the horizontal actuator displacement compensation X Hc1 and the vertical actuator displacement compensation X Vc1 calculated by the state monitoring module are interpolated and corrected to obtain the compensated and corrected expected horizontal displacement X Hc and the compensated and corrected expected vertical displacement X Vc ;

[0058] The expected horizontal displacement X Ht is added to the horizontal displacement compensation X Hc to obtain the compensated and corrected expected horizontal displacement X Ht1 , and the expected vertical displacement X Vt is added to the vertical displacement compensation X Vc to obtain the compensated and corrected expected vertical displacement X Vt1 ;

[0059] Based on the expected horizontal load F Ht and the compensated and corrected expected horizontal displacement X Ht1 , or the expected vertical load F Vt and the compensated and corrected expected vertical displacement X Vt1 , through an active compliance control algorithm, the active compliance control algorithm is a double-loop feedback control, the outer loop is an impedance / admittance controller, and the inner loop is a PID controller, while realizing the control of displacement and load;

[0060] The typical motion pair working condition of the aircraft nozzle includes: selecting the test piece as a triangular pull rod or a cam roller, setting the environment temperature of the test piece, the motion speed of the test piece and the load on the typical motion pair under the full afterburner state of the aircraft nozzle, and the environment temperature of the test piece, the motion speed of the test piece and the load on the typical motion pair under the intermediate state of the nozzle, programming the cycle number of the full afterburner state of the nozzle and the cycle number of the intermediate state of the nozzle, and the distribution rule of the full afterburner state and the intermediate state in the total cycle;

[0061] The typical kinematic pairs of the aircraft tail nozzle include cam-roller kinematic pairs, pull rod-pin kinematic pairs and pull rod-ball socket kinematic pairs;

[0062] In the cam-roller kinematic pair friction and wear test, the vertical actuator is responsible for driving the test piece movement, and a displacement-based admittance control algorithm is used for control; the horizontal actuator is responsible for loading, and needs to follow the test piece servo, and a load-based impedance control algorithm is used for control;

[0063] In the pull rod-pin kinematic pair friction and wear test, the horizontal actuator is responsible for driving the test piece movement, and a displacement-based admittance control algorithm is used for control; the vertical actuator is responsible for loading, and needs to follow the test piece servo, and a load-based impedance control algorithm is used for control;

[0064] In the pull rod-ball socket kinematic pair friction and wear test, the horizontal actuator and the rotary actuator are responsible for driving the test piece movement, and a displacement-based admittance control algorithm is used for control; the vertical actuator is responsible for loading, and needs to follow the test piece servo, and a load-based impedance control algorithm is used for control.

[0065] Compared with the prior art, the present application has the following beneficial effects:

[0066] 1. The present application is suitable for high-temperature heavy-load extreme working conditions;

[0067] 2. High degree of modularity, easy to expand functions;

[0068] 3. High reliability, meets the requirements of kinematic pair large cycle life experiment;

[0069] 4. High control accuracy, can realize the reproduction of complex motion law and load working condition of kinematic pair;

[0070] 5. Excellent man-machine efficiency, can improve the efficiency of friction and wear test. BRIEF DESCRIPTION OF DRAWINGS

[0071] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0072] Figure 1 It is an intelligent measurement and control system structure schematic diagram of the aircraft tail nozzle typical kinematic pair friction and wear tester.

[0073] Figure 2 It is a digital twin system structure schematic diagram.

[0074] Figure 3 It is a measurement system analysis method flow chart of the aircraft tail nozzle typical kinematic pair friction and wear tester.

[0075] Figure 4 Assemble a relationship diagram for the state monitoring module.

[0076] Figure 5 A multi-source sensor fusion high-precision motion control method logic diagram based on predictive compensation for high-temperature heavy-load working conditions. DETAILED DESCRIPTION

[0077] The application will be described in detail below with specific embodiments. The following examples will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be pointed out that for those skilled in the art, without departing from the concept of the application, a number of changes and improvements can be made. These all belong to the protection scope of the application.

[0078] The application discloses an intelligent measurement and control system of an aviation tail nozzle typical motion pair friction and wear testing machine based on digital twinning technology. The digital twinning system is integrated with a testing machine integrated measurement and control software for controlling the operation of the testing machine and a testing machine measurement system analysis software for testing correction, and is mutually mapped with a digital twinning body deployed on a cloud platform through a communication module. A state monitoring module monitors the structural deformation of the testing machine by strain measurement of a deformation measurement block. An image acquisition module realizes the monitoring of the motion state of the testing piece by acquiring images. A motion loading control module uses the monitoring data of multiple source sensors, and controls multiple actuators to load the testing piece with large load and reproduce complex motion law through feedforward control and active compliance control algorithm. The application realizes the precise control of temperature, load and motion form of the aviation tail nozzle typical motion pair friction and wear test and the state monitoring of the testing system based on digital twinning technology.

[0079] Example 1

[0080] According to the intelligent measurement and control system of the aviation tail nozzle typical motion pair friction and wear testing machine based on digital twinning technology, as shown in Figures 1 to 5 The digital twinning system comprehensively controls the motion loading control module by analyzing the measurement data provided by the state monitoring module and the image acquisition module, realizes the friction and wear test of the aviation tail nozzle typical motion pair under the preset temperature, load and motion form test conditions.

[0081] The motion loading control module comprises a horizontal actuator, a vertical actuator, a rotary actuator, an actuator integrated encoder, a horizontal force sensor and a vertical force sensor. The horizontal actuator and the vertical actuator are connected with the test piece, and the two actuators simultaneously output displacement to drive the test piece to realize planar motion. Specifically, the horizontal actuator and the vertical actuator are jointly controlled to drive the motion pair to bear a specified load and move according to a specified motion law, so as to finally complete the reproduction of the actual service condition of the workpiece.

[0082] The state monitoring module comprises a deformation measurement block 4-1 and a strain gauge 4-2. The deformation measurement block 4-1 is cut from a tempered 45 steel plate in the shape of an isosceles right triangle, with a hollow center and three edges with a width of 20 mm. The strain gauge is installed at the center of the three edges of the deformation measurement block 4-1, and the long edge of the strain gauge is parallel to the long edge of the deformation measurement block 4-1. The deformation measurement block 4-1 fixedly connected with the test machine structure simultaneously deforms under the action of temperature and load, and the three edges of the deformation measurement block 4-1 are either in tension or in compression. A mathematical geometric model is established between the strain of the deformation measurement block 4-1 and the deformation of the test machine structure, and the strain of the three edges of the deformation measurement block 4-1 is calculated using the measured strain data, and then the deformation of the three edges is calculated. According to the simulation calculation result of statics, the calculation result of the deformation of the three edges is corrected. The three edges of the deformation measurement block 4-1 are approximated as three mutually fixed rods, and the deformation of the test machine structure is calculated according to the trigonometric function relationship, so as to obtain the deflection angle of the installation plane of the horizontal actuator 2-1 and the vertical actuator 2-2.

[0083] The image acquisition module comprises a fixed support, an image sensor and a pose recognition marker. The image sensor is fixedly connected with the test machine structure through the fixed support and has a digital anti-shake feature to avoid image shaking during the test process and improve the visual recognition accuracy. The image sensor acquires images of the test piece during movement. The image sensor has a specification of 5 million pixels and 60 frames per second, a resolution of 2448*2048, and a 50mm equivalent focal length lens. The observation target area size is 320x250mm. The acquired test piece movement images are processed in real time by the upper computer to obtain test piece pose data, and the position recognition accuracy can reach 0.2mm. The pose data is input into the measurement and control software as feedback information for motion control. The pose recognition marker is an ArUco marker with yellow and white stripes, which is sprayed on the surface of the test piece facing the image sensor.

[0084] The digital twin system comprises a test machine integrated measurement and control software, a test machine measurement system analysis software, a cloud platform, a digital twin, a communication module, a multi-source sensor fusion high-precision motion control method for high-temperature heavy-load working conditions with prediction compensation, a test machine measurement system analysis method for typical motion pairs of an aircraft exhaust nozzle, and a test working condition setting for typical motion pairs of an aircraft exhaust nozzle.

[0085] The test machine integrated measurement and control software and the test machine measurement system analysis software deployed on the test machine body are mapped to each other with the digital twin deployed on the cloud platform through the communication module.

[0086] The test machine integrated measurement and control software supports a typical motion pair working condition setting of an aircraft exhaust nozzle, and realizes control of the test machine based on a multi-source sensor fusion high-precision motion control method with prediction compensation in a high-temperature heavy-load working condition.

[0087] The test machine measurement system analysis software supports setting the test machine to enter a correction mode, and monitors the installation of the test piece and compensates and calibrates the measurement system online based on a typical motion pair friction and wear test machine measurement system analysis method of an aircraft exhaust nozzle.

[0088] The cloud platform is used to receive data from the test machine integrated measurement and control software and the test machine measurement system analysis software, and store the data in the cloud database.

[0089] The digital twin includes a test machine structure stress-strain distribution virtual model based on ANSYS statics simulation, a test machine motion loading law virtual model based on ADAMS rigid-flexible coupling dynamics simulation, and a test machine temperature distribution virtual model based on FLUENT thermodynamics simulation. The setting of the above virtual models inputs data from the cloud platform and stores the analysis results in the cloud platform as well.

[0090] The communication module realizes real-time contact among the test machine integrated measurement and control software, the test machine measurement system analysis software and the digital twin of the test machine body, so that the digital twin can intervene in the test machine body according to feedback information in the cloud platform.

[0091] The multi-source sensor fusion high-precision motion control method with prediction compensation includes a feedforward control algorithm based on the digital twin, a multi-source sensor fusion feedback control algorithm based on a state monitoring module and an image acquisition module, and an active compliant control algorithm.

[0092] The feedforward control algorithm based on the digital twin includes reading a typical motion pair working condition setting parameter of an aircraft exhaust nozzle input into the test machine integrated measurement and control software through the cloud platform and the communication module, loading the test machine structure stress-strain distribution virtual model based on ANSYS statics simulation and the test machine motion loading law virtual model based on ADAMS rigid-flexible coupling dynamics simulation in the digital twin for calculation. The specific process is that the test machine motion loading law virtual model based on ADAMS rigid-flexible coupling dynamics simulation reads all parameters in the typical motion pair working condition setting of an aircraft exhaust nozzle, and simulates and calculates the force condition F ADAMS of the connecting point in a complete motion cycle in the full afterburner state and the cycle state.ADAMS Data import into the test machine structure stress-strain distribution virtual model based on ANSYS static simulation as simulation modeling input, simulation calculation in full force state and cycle state in a complete motion cycle horizontal executor installation plane deflection angle θ Hp With the vertical executor installation plane deflection angle θ Vp , based on the formula:

[0093] X Hcp =(L H +X Hp )·sinθ vp

[0094] X Vcp =(L V +X Vp )·sinθ Hp

[0095] Wherein, L H is the length of horizontal executor base, L V is the length of vertical executor base, X Hp is the actual horizontal displacement of horizontal executor end in the test machine motion loading law virtual model based on ADAMS rigid-flexible coupling dynamics simulation; X vp is the actual vertical displacement of vertical executor end in the test machine motion loading law virtual model based on ADAMS rigid-flexible coupling dynamics simulation.

[0096] The displacement compensation X Hcp of horizontal executor and the displacement compensation X Vcp of vertical executor are calculated, which are used for feedforward compensation of the influence of structure deformation on the pose of horizontal executor and vertical executor and their motion accuracy.

[0097] The multi-source sensor fusion feedback control algorithm based on the state monitoring module and the image acquisition module comprises:

[0098] The deflection angle θ H of the horizontal executor installation plane and the deflection angle θ v of the vertical executor installation plane measured by the state monitoring module in real time

[0099] X Hc1 =(L H +X H )·sinθ v

[0100] X Vc1 =(L V +X V )·sinθ H

[0101] wherein, L H is the horizontal actuator base length, L V is the vertical actuator base length, X H is the horizontal displacement measured by the actuator integrated encoder, X V is the actual vertical displacement measured by the actuator integrated encoder.

[0102] The displacement compensation X Hc1 of the horizontal actuator and the displacement compensation X Vc1 of the vertical actuator are calculated for feedback compensation of the influence of structural deformation on the pose of the horizontal actuator and the vertical actuator and their motion accuracy.

[0103] The image acquisition module measures the horizontal position X Ha of the end of the horizontal actuator and the vertical position X Va of the end of the vertical actuator in real time, which are compared with the horizontal position X Ht of the end of the horizontal actuator and the vertical position X Vt of the end of the vertical actuator in a typical motion pair test working condition setting of an aircraft nozzle, respectively, based on the formula:

[0104] X Hc2 = X Ht -X Ha

[0105] X Vc2 = X Vt -X Va

[0106] The displacement compensation X Hc2 of the horizontal actuator and the displacement compensation X Vc2 of the vertical actuator are calculated for feedback compensation of the influence of structural deformation on the pose of the horizontal actuator and the vertical actuator and their motion accuracy.

[0107] In a typical motion pair test working condition setting of an aircraft nozzle, the expected horizontal displacement X Ht of the horizontal actuator, the expected vertical displacement X Vt of the vertical actuator, the expected horizontal load F Ht of the horizontal actuator, and the expected vertical load F Vt of the vertical actuator at any time in the motion cycle during the test are calculated by a test machine motion loading rule virtual module as initial inputs of a multi-source sensor fusion high-temperature heavy-load working condition high-precision motion loading control method based on predictive compensation.

[0108] The multi-source sensor fusion feedback control algorithm calculates the displacement compensation X Hc2 of the horizontal actuator and the displacement compensation X Vc2 of the vertical actuator by the image acquisition module.It has high accuracy but low sampling frequency; the horizontal actuator displacement compensation X calculated by the condition monitoring module is... Hc1 Vertical actuator displacement compensation X Vc1 The accuracy is relatively low, but the sampling frequency is high. The horizontal actuator displacement compensation X is calculated using the image acquisition module. Hc2 Vertical actuator displacement compensation X Vc2 Based on this, the horizontal actuator displacement compensation X calculated using the condition monitoring module is used. Hc1 Vertical actuator displacement compensation X Vc1 Interpolation correction is performed to obtain the horizontal displacement compensation X. Hc Vertical displacement compensation X Vc .

[0109] Horizontal actuator displacement compensation for feedforward compensation of structural deformation X Hcp Vertical actuator displacement compensation X Vcp , and horizontal displacement compensation X in feedback control Hc Vertical displacement compensation X Vc For comparison, the measurement system analysis method of the typical moving pair friction and wear test machine for aircraft tail nozzles is used to evaluate the control effect.

[0110] The desired horizontal displacement X Ht With horizontal displacement compensation X Hc The summation yields the compensated and corrected desired horizontal displacement X. Ht1 The desired vertical displacement X Vt Vertical displacement compensation X Vc The summation yields the compensated and corrected desired vertical displacement X. Vt1 The expected horizontal displacement X after compensation correction Ht1 Compared with the compensated and corrected expected vertical displacement X Vt1 Data input required to meet the requirements of the active compliant control algorithm.

[0111] The active compliance control algorithm takes the desired horizontal load F as its input. Ht Compared with the compensated and corrected expected horizontal displacement X Ht1 Or the expected vertical load F Vt The expected vertical displacement X after compensation correction Vt1 The active compliance control algorithm is a dual-loop feedback control, with an outer loop being an impedance / admittance controller and an inner loop being a PID controller, which can simultaneously control displacement and load.

[0112] The installation plane deflection angle data measured by the state detection module is taken as a control parameter input, and the above process is used to calculate the motion error of the test piece. The calculation result is input to the displacement ring to feed forward compensate the closed loop control of the horizontal actuator and the vertical actuator; the high-temperature heavy-load working condition motion control error prediction compensation method can improve the motion control precision of the motion pair by compensating the influence of structural deformation on the position and motion precision of the horizontal actuator and the vertical actuator.

[0113] The high-temperature heavy-load working condition high-precision motion feedback control method of multi-source sensor fusion is realized by the digital twin system, the motion loading control module and the image acquisition module. The intelligent measurement and control system of the aviation tail nozzle typical motion pair friction and wear tester based on digital twin technology can test three kinds of motion pairs. In the aviation tail nozzle typical motion pair friction and wear test, the horizontally installed horizontal actuator and vertical actuator jointly realize the motion driving and loading of the test piece, and output according to the specified load-displacement relationship; since the motion driving and large load loading are realized by the horizontal actuator and the vertical actuator, a active compliant control algorithm suitable for large load working condition is developed; according to the difference of the motion pair, the horizontal actuator and the vertical actuator use different active compliant control algorithms:

[0114] Ⅰ. In the cam-roller motion pair test, the vertical actuator is responsible for driving the test piece to move, and uses the displacement-based admittance control algorithm for control; the horizontal actuator is responsible for loading, and needs to follow the test piece to move, and uses the load-based impedance control algorithm for control.

[0115] Ⅱ. In the pull rod-pin motion pair test, the horizontal actuator is responsible for driving the test piece to move, and uses the displacement-based admittance control algorithm for control; the vertical actuator is responsible for loading, and needs to follow the test piece to move, and uses the load-based impedance control algorithm for control.

[0116] Ⅲ. In the pull rod-ball socket motion pair test, the horizontal actuator and the rotary actuator are responsible for driving the test piece to move, and use the displacement-based admittance control algorithm for control; the vertical actuator is responsible for loading, and needs to follow the test piece to move, and uses the load-based impedance control algorithm for control.

[0117] The above active compliant control algorithm is built into the tester integrated measurement and control software, which needs to collect the displacement of the actuator through the integrated encoder of the actuator as input, and collect the load output data of the actuator through the horizontal force sensor and the vertical force sensor as input.

[0118] The image acquisition module acquires the planar two-dimensional images of the movement process of the test piece, obtains image frames from the video, carries out marking and detection on the pose recognition mark after denoising the image frames, and estimates the pose of the test piece according to the pose recognition mark, and finally compares the pose estimation results of the front and rear two images to monitor the movement of the test piece in real time.

[0119] The method analyzes the measurement system of the typical motion pair friction and wear test machine of the aircraft exhaust nozzle, guides the test personnel to carry out standard calibration test, analyzes the measurement error of the test machine based on the detection data, judges the reliability of the measurement data of the test machine, and makes the test machine meet the consistency and uncertainty of the test requirements, comprising the following steps:

[0120] S1, prepare 3 sets of test samples of the typical motion pair of the aircraft exhaust nozzle which meet the quality performance through artificial detection, and configure calibrated strain gauges and gyroscopes on the test pieces, so that the actual force data and movement data of the test samples can be calculated as true values;

[0121] S2, select 2 test personnel who use the test machine, each test personnel carries out 5 repeated tests on each set of test pieces based on the same test setting, records the force data and movement data of the test pieces measured by the test machine, and in particular, the measurement system analysis process includes 30 tests in total, and the test sequence is randomly generated by the test machine measurement system analysis software;

[0122] S3, data analysis is performed on the force data and movement data, the measurement system analysis (MSA) method is adopted, the statistical characteristics of the typical motion pair friction and wear test machine of the aircraft exhaust nozzle are analyzed based on the hypothesis test level a=0.05, including accuracy, precision, linearity, stability, repeatability and reproducibility, wherein the repeatability and reproducibility are calculated based on the range method;

[0123] S4, display the data analysis and judgment results, the test machine measurement system analysis software interface displays the data analysis results, including bias-true value chart, mean control chart, range control chart, measurement system standard deviation, test operation standard deviation and instrument / product precision ratio (%R&R), wherein the upper and lower limit lines of the control chart are drawn with 95% confidence interval, and the %R&R evaluation threshold is set to 10%. If all control chart data is within the confidence interval, and the %R&R is less than or equal to 10%, it is displayed that the measurement system analysis verification is passed, if the control chart data is outside the confidence interval, or the %R&R is greater than 10%, the measurement system standard deviation and the test operation standard deviation are compared, if the measurement system standard deviation is greater than the test operation standard deviation, it is prompted that the measurement system needs to be corrected, if the measurement system standard deviation is less than the test operation standard deviation, it is prompted that the test personnel needs to accept the test specification training again.

[0124] The test piece is selected as a triangular pull rod or a cam roller, the environment temperature of the test piece, the movement speed of the test piece and the load of a typical movement pair under the full afterburner state of the aircraft nozzle and the environment temperature of the test piece, the movement speed of the test piece and the load of a typical movement pair under the intermediate state of the nozzle are set, the cycle number of the full afterburner state of the nozzle and the cycle number of the intermediate state of the nozzle and the distribution rule of the full afterburner state and the intermediate state in the total cycle are programmed.

[0125] The intelligent measurement and control system of the aircraft nozzle typical movement pair friction and wear test machine provided by the application can be realized through the step process in the intelligent measurement and control method of the aircraft nozzle typical movement pair friction and wear test machine provided by the application. Those skilled in the art can understand that the intelligent measurement and control method of the aircraft nozzle typical movement pair friction and wear test machine is a preferred example of the intelligent measurement and control system of the aircraft nozzle typical movement pair friction and wear test machine.

[0126] Those skilled in the art know that, in addition to realizing the system, device and each module thereof provided by the application in the form of pure computer readable program code, the same program can also be realized in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, the system, device and each module thereof provided by the application can be considered as a hardware component, and the modules included therein for realizing various programs can also be considered as structures in the hardware component; the modules for realizing various functions can also be considered as both software programs for realizing methods and structures in the hardware component.

[0127] The specific embodiments of the application are described above. It needs to be understood that the application is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the application. In the case of no conflict, the embodiments of the application and the features in the embodiments can be combined with each other at will.

Claims

1. An intelligent measurement and control system for an aircraft exhaust nozzle typical kinematic pair friction and wear tester, characterized in that, The method comprises the following steps: A state monitoring module is used to obtain the deflection angle of the horizontal actuator and the vertical actuator in the motion loading control module; An image acquisition module is used to acquire the motion image of the test piece and obtain the pose data of the test piece based on the acquired motion image of the test piece; A digital twin system module is used to control the motion loading control module based on the obtained pose data of the test piece and the deflection angle, so as to realize the friction and wear test of the typical motion pair of the aircraft tail nozzle under the test conditions of a preset temperature, load and motion form. The state monitoring module comprises: a deformation measuring block and a strain gauge; the deformation measuring block is a tempered 45 steel plate in the shape of an isosceles right triangle, the center of which is hollowed out to form three equal-width edges; the strain gauge is installed at the center of the three edges of the deformation measuring block; the strain gauge is parallel to the long edge of the deformation measuring block. The motion loading control module comprises a horizontal actuator and a vertical actuator; the horizontal actuator and the vertical actuator are connected with the test piece; the horizontal actuator and the vertical actuator simultaneously output displacement to drive the test piece to realize planar motion. based on the deflection angle of the horizontal actuator mounting plane measured in real time by the state monitoring module the deflection angle of the vertical actuator mounting plane Calculation: wherein, is the horizontal actuator base length; is the vertical actuator base length; is the horizontal displacement measured by the actuator integrated encoder; is the actual vertical displacement measured by the actuator integrated encoder; the displacement compensation for the horizontal actuator is calculated as ; the displacement compensation for the vertical actuator is calculated as ; Based on the image acquisition module real-time measured horizontal actuator end horizontal position and vertical actuator end vertical position , with the horizontal actuator end horizontal position and vertical actuator end vertical position respectively, based on the formula: Computed displacement compensation of horizontal actuators Computed displacement compensation of vertical actuators ; Based on a typical motion pair test working condition setting of an aircraft tail nozzle, the expected horizontal displacement of the horizontal actuator at any time in the motion cycle during the test process is calculated by the virtual model of the test machine motion loading rule based on ADAMS rigid-flexible coupling dynamics simulation , the expected vertical displacement of the vertical actuator , the expected horizontal load of the horizontal actuator , and the expected vertical load of the vertical actuator ; With horizontal actuator displacement compensation With vertical actuator displacement compensation As a basis, the horizontal actuator displacement compensation calculated using the state monitoring module With vertical actuator displacement compensation Interpolation correction is carried out to obtain a compensated and corrected expected horizontal displacement With compensated and corrected expected vertical displacement ; adding the desired horizontal displacement with the horizontal displacement compensation to obtain a compensated corrected desired horizontal displacement adding the desired vertical displacement with the vertical displacement compensation to obtain a compensated corrected desired vertical displacement ; based on a desired level load with a compensated modified desired level displacement or a desired vertical load with a compensated modified desired vertical displacement ; through an active compliance control algorithm, the active compliance control algorithm is a double-loop feedback control, the outer loop is an impedance / admittance controller, and the inner loop is a PID controller, while realizing the control of displacement and load.

2. The intelligent measurement and control system of the aircraft exhaust nozzle typical kinematic pair friction and wear tester according to claim 1, characterized in that, The working conditions of the typical motion pair of the aircraft tail nozzle comprise: selecting the test piece as a triangular pull rod or a cam roller, setting the environmental temperature of the test piece, the motion speed of the test piece and the load borne by the typical motion pair under the full afterburner state of the aircraft tail nozzle, setting the environmental temperature of the test piece, the motion speed of the test piece and the load borne by the typical motion pair under the intermediate state of the tail nozzle, and programming the cycle number of the full afterburner state of the tail nozzle, the cycle number of the intermediate state of the tail nozzle and the distribution rule of the full afterburner state and the intermediate state in the total cycle.

3. The intelligent measurement and control system of the aircraft exhaust nozzle typical kinematic pair friction and wear tester according to claim 1, characterized in that, The typical motion pair of the aircraft tail nozzle comprises a cam-roller motion pair, a pull rod-pin motion pair and a pull rod-socket motion pair; 4. The intelligent measurement and control system of the aircraft exhaust nozzle typical kinematic pair friction and wear tester according to claim 1, characterized in that, In the cam-roller motion pair friction and wear test, the vertical actuator is responsible for driving the test piece to move, and a displacement-based admittance control algorithm is used for control; the horizontal actuator is responsible for loading, and needs to follow the test piece to move, and a load-based impedance control algorithm is used for control; 5. The intelligent measurement and control system of the aircraft exhaust nozzle typical kinematic pair friction and wear tester according to claim 4, characterized in that, In the pull rod-pin motion pair friction and wear test, the horizontal actuator is responsible for driving the test piece to move, and a displacement-based admittance control algorithm is used for control; the vertical actuator is responsible for loading, and needs to follow the test piece to move, and a load-based impedance control algorithm is used for control; ​ ​ In the friction and wear test of the pull rod-ball socket pair, the horizontal actuator and the rotary actuator are responsible for driving the test piece to move, and a displacement-based mobility control algorithm is used for control; the vertical actuator is responsible for loading, and needs to follow the test piece at the same time, and a load-based impedance control algorithm is used for control.

6. The intelligent measurement and control system of the aircraft exhaust nozzle typical kinematic pair friction and wear tester according to claim 4, characterized in that, Based on the typical kinematic pair working conditions of the aircraft engine nozzle, the force conditions of the connecting point in a complete kinematic cycle in the full power state and the cycle state are calculated by using the virtual model simulation of the test machine motion loading law based on the ADAMS rigid-flexible coupling dynamics simulation ; the force conditions are input into the virtual model simulation of the test machine structure stress-strain distribution based on the ANSYS statics simulation to obtain the deflection angle of the horizontal actuator mounting plane in a complete kinematic cycle in the full power state and the cycle state and the deflection angle of the vertical actuator mounting plane ; the deflection angle of the horizontal actuator mounting plane and the deflection angle of the vertical actuator mounting plane are calculated to obtain the displacement compensation of the horizontal actuator and the displacement compensation of the vertical actuator ; Horizontal actuator displacement compensation Vertical actuator displacement compensation Horizontal displacement compensation in feedback control Vertical displacement compensation The control effect of the measurement system of the typical motion pair friction and wear tester for aircraft exhaust nozzles is evaluated by comparison.

7. The intelligent measurement and control system of the aircraft exhaust nozzle typical kinematic pair friction and wear tester according to claim 6, characterized in that, The standard calibration test is carried out, the measurement error of the test machine is analyzed based on the detection data, the reliability of the measurement data of the test machine is judged, and the consistency and uncertainty of the test machine are satisfied with the test requirements; Step 1: three sets of typical motion pair test pieces of the aviation exhaust nozzle are detected by artificial detection of quality performance, and the calibrated strain gauges and gyroscopes are configured on the test pieces, and the actual force data and motion data of the test pieces are calculated as true values; Step 2: a plurality of test personnel perform multiple repetitive tests on each set of test pieces based on the same test settings, and record the force data and motion data of the test pieces measured by the test machine; Step 3: the force data and motion data are analyzed, the measurement system analysis method is adopted, the statistical characteristics of the aviation exhaust nozzle typical motion pair friction and wear test machine are analyzed based on the hypothesis test level α=0.05, including accuracy, precision, linearity, stability, repeatability and reproducibility; Step 4: display the data analysis and judgment results, the data analysis results are displayed on the interface of the test machine measurement system analysis software, including bias-true value diagram, mean control chart, range control chart, measurement system standard deviation, test operation standard deviation and instrument / product precision ratio R&R; wherein the upper and lower limit lines of the control chart are drawn by using 95% confidence interval, and the R&R evaluation threshold is set to 10%; if all control chart data is within the confidence interval, and R&R is less than or equal to 10%, it is displayed that the measurement system analysis verification is passed this time, if the control chart data is outside the confidence interval, or R&R is greater than 10%, the measurement system standard deviation and the test operation standard deviation are compared, if the measurement system standard deviation is greater than the test operation standard deviation, the measurement system needs to be corrected, if the measurement system standard deviation is less than the test operation standard deviation, the test personnel need to accept the test specification training again.

8. A method for implementing the intelligent measurement and control system of the typical motion pair friction and wear tester of the aircraft exhaust nozzle according to any one of claims 1-7, characterized in that, It comprises: Step S1: the state monitoring module obtains the deflection angles of the horizontal actuator and the vertical actuator in the motion loading control module; Step S2: the image acquisition module acquires the motion image of the test piece, and obtains the pose data of the test piece based on the acquired motion image of the test piece; Step S3: the digital twin system module controls the motion loading control module based on the obtained pose data of the test piece and the deflection angles, so as to realize the friction and wear test of the aviation exhaust nozzle typical motion pair under the test conditions of preset temperature, load and motion form.

9. The method of claim 8, wherein, The state monitoring module comprises a deformation measurement block and a strain gauge; the deformation measurement block is a tempered 45 steel plate in the shape of an isosceles right triangle, the center is hollowed out to form three equal-width edges on the edge; the strain gauge is installed at the center of the three edges of the deformation measurement block; the strain gauge is parallel to the long edge of the deformation measurement block; The state monitoring module includes: the testing machine structure deforms under temperature and load, and a deformation measuring block fixed to the testing machine structure deforms simultaneously; a mathematical geometric model is established based on the strain of the deformation measuring block and the deformation of the testing machine structure; the strain of the three sides of the deformation measuring block is calculated using the test data of the strain gauges; the deformation of the three sides is calculated based on the strain of the three sides of the deformation measuring block; the calculation result of the three-sided deformation is corrected according to the static simulation calculation result; the deformation of the testing machine structure is calculated based on the corrected three-sided deformation; and finally, the deflection angle of the horizontal actuator and the vertical actuator mounting plane in the motion loading control module is calculated. The motion loading control module includes a horizontal actuator and a vertical actuator; the horizontal actuator and the vertical actuator are connected to the test piece; the horizontal actuator and the vertical actuator simultaneously output displacement to drive the test piece to achieve planar motion; The digital twin system module includes: based on the deflection angle of the horizontal actuator mounting plane measured in real time by the state monitoring module the deflection angle of the vertical actuator mounting plane Calculation: wherein, is the horizontal actuator base length; is the vertical actuator base length; is the horizontal displacement measured by the actuator integrated encoder; is the actual vertical displacement measured by the actuator integrated encoder; the displacement compensation for the horizontal actuator is calculated as ; the displacement compensation for the vertical actuator is calculated as ; Based on the image acquisition module real-time measured horizontal actuator end horizontal position and vertical actuator end vertical position , with the horizontal actuator end horizontal position and vertical actuator end vertical position respectively, based on the formula: Computed displacement compensation of horizontal actuators Computed displacement compensation of vertical actuators ; Based on a typical motion pair test working condition setting of an aircraft tail nozzle, the expected horizontal displacement of the horizontal actuator at any time in the motion cycle during the test process is calculated by the virtual model of the test machine motion loading rule based on ADAMS rigid-flexible coupling dynamics simulation , the expected vertical displacement of the vertical actuator , the expected horizontal load of the horizontal actuator , and the expected vertical load of the vertical actuator ; With horizontal actuator displacement compensation With vertical actuator displacement compensation As a basis, the horizontal actuator displacement compensation calculated using the state monitoring module With vertical actuator displacement compensation Interpolation correction is carried out to obtain a compensated and corrected expected horizontal displacement With compensated and corrected expected vertical displacement ; adding the desired horizontal displacement with the horizontal displacement compensation to obtain a compensated corrected desired horizontal displacement adding the desired vertical displacement with the vertical displacement compensation to obtain a compensated corrected desired vertical displacement ; based on a desired level load with a compensated modified desired level displacement , or a desired vertical load with a compensated modified desired vertical displacement ; through an active compliance control algorithm, the active compliance control algorithm is a double-loop feedback control, the outer loop is an impedance / admittance controller, and the inner loop is a PID controller, while realizing the control of displacement and load; The typical working conditions of the aircraft tail nozzle kinematic pair include: selecting a triangular tie rod or cam roller as the test piece, setting the ambient temperature, speed of the test piece and load on the typical kinematic pair under the full afterburner state of the aircraft tail nozzle, as well as the ambient temperature, speed of the test piece and load on the typical kinematic pair under the intermediate state of the tail nozzle, programming the number of cycles under the full afterburner state of the tail nozzle and the number of cycles under the intermediate state of the tail nozzle, and the distribution law of the full afterburner state and the intermediate state in the total cycle; Typical kinematic pairs of the aircraft tail nozzle include: cam-roller kinematic pairs, tie rod-pin kinematic pairs, and tie rod-ball joint kinematic pairs; In the cam-roller kinematic pair friction and wear test, the vertical actuator is responsible for driving the test piece to move, and is controlled using a displacement-based admittance control algorithm; the horizontal actuator is responsible for loading and also needs to follow the test piece, and is controlled using a load-based impedance control algorithm. In the friction and wear test of the tie rod-pin kinematic pair, the horizontal actuator is responsible for driving the test piece to move, and is controlled by a displacement-based admittance control algorithm; the vertical actuator is responsible for loading and also needs to follow the test piece, and is controlled by a load-based impedance control algorithm. In the friction and wear test of the tie rod-ball socket kinematic pair, the horizontal actuator and the rotary actuator are responsible for driving the motion of the test piece, and are controlled by a displacement-based admittance control algorithm; the vertical actuator is responsible for loading and also needs to follow the motion of the test piece, and is controlled by a load-based impedance control algorithm.

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