Non-contact electro-hydraulic position synchronous drive variable magnetic force loading load simulator

Abstract

This invention discloses a non-contact electro-hydraulic position synchronization-driven variable magnetic force loading load simulator, belonging to the field of electro-hydraulic servo control and semi-physical simulation. It includes a servo system, a loading system, and a synchronization system. It solves the problem of redundant force, where the active movement of the servo system during loading severely affects the loading performance of current electro-hydraulic load simulators. This invention uses electromagnetic force for loading, suitable for non-high-power loading applications. The loading force is flexible and does not generate redundant force. The control strategy does not need to consider redundant force compensation, reducing the complexity of the control strategy. This invention solves the problem of low loading accuracy caused by redundant force in electro-hydraulic load simulators, and its structure is scientific and reasonable.

Description

Technical Field

[0001] This invention relates to a non-contact electro-hydraulic position synchronous drive variable magnetic loading load simulator, belonging to the field of electro-hydraulic servo control and semi-physical simulation. Background Technology

[0002] An electro-hydraulic load simulator is a hardware-in-the-loop simulation device used to simulate the dynamic forces / torques experienced by a load-bearing system during actual operation under laboratory conditions. This system is widely used in various fields, such as simulating the aerodynamic forces / torques experienced by the control surfaces of aircraft and missile servo motors, the hydrodynamic forces / torques experienced by ship servo motors, and the dynamic torques of seismic waves. Using a load simulation system, these various loads can be simulated in a laboratory environment to assess the dynamic and static performance indicators of the servo motor device, including structural material strength, control accuracy, response speed, and system reliability. This allows for an evaluation of the overall performance of the servo motor device, reducing product development costs and time, and has significant practical implications for my country's national defense and industrial production. In existing technologies, the servo motor system and the loading system are connected by an approximately rigid connection. When the servo motor system moves, it drives the piston rod of the hydraulic cylinder in the loading system to move together, causing forced flow inside the hydraulic cylinder and generating redundant forces that severely affect loading accuracy. Furthermore, since the load spectrum to be simulated is a nonlinear function, the load simulator must be a high-order, zero-static-error system. However, the presence of redundant forces makes it difficult to achieve accurate dynamic loading. The control strategy for the loading system needs to compensate for excess force, which makes the design of the control strategy more difficult and complex, and difficult to apply to different objects.

[0003] To eliminate redundant forces, achieve high-precision loading, reduce the complexity of control strategies, and enable the production deployment of electro-hydraulic load simulators, there is an urgent need for an electro-hydraulic load simulator that can eliminate redundant forces. Summary of the Invention

[0004] The purpose of this invention is to provide a non-contact electro-hydraulic position synchronous drive variable magnetic loading load simulator to solve the problems mentioned in the background art. To achieve the above objective, this invention provides the following technical solution:

[0005] A non-contact electro-hydraulic position synchronization drive variable magnetic loading load simulator, characterized in that it includes a servo system, a loading system, and a synchronization system. The servo system includes a servo system hydraulic cylinder, a servo system piston rod, a servo system displacement sensor, a servo system servo amplifier, a spring plate, a mass block, a force sensor, a servo system controller, a servo system servo valve, a position signal generator, a servo system electromagnet, a servo system coil, a servo system power supply, and a servo system resistor. The servo system hydraulic cylinder is fixedly connected to the ground; the servo system piston rod is slidably connected to the servo system hydraulic cylinder; the servo system piston rod is fixedly connected to the servo system displacement sensor; the servo system... The displacement sensor output of the servo system is connected to the servo amplifier input of the servo system; the servo amplifier output is connected to the controller input of the servo system; the position signal generator output is connected to the controller input; the controller output is connected to the servo valve input; the servo valve output is connected to the hydraulic cylinder; the hydraulic cylinder piston rod is fixedly connected to a spring plate, which is fixedly connected to a mass block; the mass block is fixedly connected to a force sensor; the electromagnet is fixedly connected to the force sensor; the servo coil is wound around the electromagnet; the servo coil and the servo... The power supply and servo motor system resistors are connected via wires; the loading system includes an industrial computer, a loading system electromagnet, a loading system coil, a loading system power supply, a loading system resistor, and a loading system current controller; the loading system coil is wound around the loading system electromagnet; the loading system coil, loading system power supply, loading system resistor, and loading system current controller are connected via wires; the input terminal of the industrial computer is connected to the output terminal of the force sensor; the output terminal of the industrial computer is connected to the loading system current controller; the synchronization system includes a synchronization system hydraulic cylinder, a synchronization system piston rod, a synchronization system displacement sensor, a synchronization system servo amplifier, and a synchronization system controller. The system includes a servo valve for the synchronization system; a hydraulic cylinder for the synchronization system fixedly connected to the ground; a piston rod for the synchronization system slidingly connected to the hydraulic cylinder; a piston rod for the synchronization system fixedly connected to a displacement sensor for the synchronization system; an output terminal of the displacement sensor connected to an input terminal of a servo amplifier for the synchronization system; an output terminal of the servo amplifier connected to an input terminal of the controller for the synchronization system; an output terminal of the position signal generator connected to an input terminal of the controller for the synchronization system; an output terminal of the controller for the synchronization system connected to an input terminal of the servo valve for the synchronization system; an output terminal of the servo valve connected to the hydraulic cylinder for the synchronization system; and a piston rod for the synchronization system fixedly connected to an electromagnet for the loading system.

[0006] Furthermore, the position signal generator transmits position signal commands to the servo system controller and the synchronization system controller; the servo system displacement sensor detects the position information of the servo system piston rod, and the detection signal is amplified by the servo system servo amplifier and input to the servo system controller; the synchronization system displacement sensor detects the position information of the synchronization system piston rod, and the detection signal is amplified by the synchronization system servo amplifier and input to the synchronization system controller; the servo system controller controls the servo valve of the servo system according to the position signal and detection information; the synchronization system controller controls the synchronization system according to the position signal and detection information. The system is controlled by a servo valve; the servo valve drives the piston rod of the servo system; the movement of the piston rod of the servo system drives the spring plate, mass block, force sensor and servo system electromagnet that are fixed to it to move; the servo valve of the synchronization system drives the piston rod of the synchronization system to move; the movement of the piston rod of the synchronization system drives the electromagnet of the loading system that is fixed to it to move; the electromagnet of the servo system and the electromagnet of the loading system are at a certain distance; the piston rod of the servo system and the piston rod of the synchronization system move synchronously, which can keep the electromagnet of the servo system and the electromagnet of the loading system relatively stationary, ensuring that no excess force is generated inside the loading system.

[0007] Furthermore, the servo system resistor serves as a circuit protection element; the servo system power supply powers the servo system coil, and the energized servo system coil causes the servo system electromagnet to generate a fixed magnetic field; the loading system resistor also serves as a circuit protection element; the loading system power supply powers the loading system current controller; the loading system current controller powers the loading system coil, and the energized loading system coil causes the loading system electromagnet to generate a magnetic field; the interaction of the magnetic fields between the servo system electromagnet and the loading system electromagnet generates magnetic force, which is used to load the servo system electromagnet; the force sensor detects the force signal in real time and feeds it back to the industrial control computer; the industrial control computer quickly controls the magnitude and direction of the current generated by the loading system current controller based on the deviation between the force loading signal and the detection signal, thereby controlling the direction and intensity of the magnetic field generated by the loading system electromagnet, and thus precisely controlling the loading force applied by the loading system electromagnet to the servo system electromagnet.

[0008] The working principle of this invention is as follows: The servo system controller controls the servo system servo valve based on the deviation between the position signal given by the position signal generator and the servo system piston rod position signal detected by the servo system displacement sensor. This drives the servo system piston rod to move, which in turn moves the spring plate, mass block, force sensor, and servo system electromagnet fixed to it. Simultaneously, the synchronization system controller controls the synchronization system servo valve based on the deviation between the position signal given by the position signal generator and the synchronization system piston rod position signal detected by the synchronization system displacement sensor. This drives the synchronization system piston rod to move, which in turn moves the loading system electromagnet fixed to it. This ensures that the distance between the servo system electromagnet and the loading system electromagnet remains constant, thus ensuring that the servo system electromagnet and the loading system electromagnet are always within each other's magnetic fields. The servo system power supply supplies power to the servo system coil, and the servo system resistor acts as a protection circuit. The energized servo system coil causes the servo system electromagnet to generate a fixed magnetic field. The loading system power supply powers the loading system current controller, which outputs current to the loading system coil. The energized coil causes the loading system electromagnet to generate a magnetic field. The loading system resistor acts as a circuit protector. The loading system electromagnet and the servo system electromagnet generate magnetic force under the influence of this magnetic field. This magnetic force is used to apply load to the servo system electromagnet. A force sensor feeds back the detection signal to the industrial control computer in real time. The industrial control computer controls the magnitude and direction of the current in the loading system current controller based on the deviation between the force loading signal and the detection signal. This, in turn, controls the direction and intensity of the magnetic field generated by the loading system electromagnet, achieving non-contact, precise, and controllable loading of the servo system.

[0009] The beneficial effects of this invention are as follows: The non-contact electro-hydraulic position synchronous drive variable magnetic loading load simulator proposed in this invention does not cause rigid position interference to the piston rod of the synchronization system due to the active movement of the piston rod of the servo system; that is, when the two piston rods are non-contact and controlled synchronously driven, the magnitude and direction of the loading force can be detected in real time by the force sensor, and the polarity and magnitude of the coil current can be controlled in real time to accurately ensure the output of the loading force. Thus, the load simulator does not have forced flow and redundant force, and can achieve high-precision loading of the loading force. Therefore, the control strategy does not need to consider the compensation of redundant force, the complexity of the control strategy is reduced, and the system is fast and accurate. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0011] Figure 1 This is a schematic diagram of the structure of the present invention.

[0012] In the diagram: 1-Hydraulic cylinder of the servo system, 11-Piston rod of the servo system, 111-Displacement sensor of the servo system, 112-Servo amplifier of the servo system, 113-Spring plate, 114-Mass block, 115-Force sensor, 12-Servo system controller, 13-Servo valve of the servo system, 2-Position signal generator, 3-Industrial computer, 4-Electromagnet of the servo system, 41-Coil of the servo system, 42-Power supply of the servo system, 43-Resistor of the servo system, 5-Hydraulic cylinder of the synchronization system, 51-Piston rod of the synchronization system, 511-Displacement sensor of the synchronization system, 512-Servo amplifier of the synchronization system, 52-Controller of the synchronization system, 53-Servo valve of the synchronization system, 6-Electromagnet of the loading system, 61-Coil of the loading system, 62-Power supply of the loading system, 63-Resistor of the loading system, 64-Current controller of the loading system. Detailed Implementation

[0013] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0014] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0015] A non-contact electro-hydraulic position synchronization drive variable magnetic loading load simulator, as shown in the figure, includes a servo system, a loading system, and a synchronization system. The servo system includes a servo system hydraulic cylinder 1, a servo system piston rod 11, a servo system displacement sensor 111, a servo system servo amplifier 112, a spring plate 113, a mass block 114, a force sensor 115, a servo system controller 12, a servo system servo valve 13, a position signal generator 2, a servo system electromagnet 4, a servo system coil 41, a servo system power supply 42, and a servo system resistor 43. The servo system hydraulic cylinder 1 is fixedly connected to the ground; the servo system piston rod 11 is slidably connected to the servo system hydraulic cylinder 1; and the servo system piston rod 11 is connected to the servo system displacement sensor... 111 is fixedly connected; the output terminal of the displacement sensor 111 of the servo system is connected to the input terminal of the servo amplifier 112 of the servo system; the output terminal of the servo amplifier 112 of the servo system is connected to the input terminal of the controller 12 of the servo system; the output terminal of the position signal generator 2 is connected to the input terminal of the controller 12 of the servo system; the output terminal of the controller 12 of the servo system is connected to the input terminal of the servo valve 13 of the servo system; the output terminal of the servo valve 13 of the servo system is connected to the hydraulic cylinder 1 of the servo system; the piston rod 11 of the hydraulic cylinder of the servo system is fixedly connected to the spring plate 113, the spring plate 113 is fixedly connected to the mass block 114; the mass block 114 is fixedly connected to the force sensor 115; the electromagnet 4 of the servo system is fixedly connected to the force sensor 115; the servo system cable A coil 41 is wound around the electromagnet 4 of the servo system; the servo system coil 41, the servo system power supply 42, and the servo system resistor 43 are connected by wires; the loading system includes an industrial control computer 3, a loading system electromagnet 6, a loading system coil 61, a loading system power supply 62, a loading system resistor 63, and a loading system current controller 64; the loading system coil 61 is wound around the loading system electromagnet 6; the loading system coil 61, the loading system power supply 62, the loading system resistor 63, and the loading system current controller 64 are connected by wires; the input terminal of the industrial control computer 3 is connected to the output terminal of the force sensor 115; the output terminal of the industrial control computer 3 is connected to the loading system current controller 64; the synchronization system includes a synchronization system hydraulic cylinder 5 and a synchronization system... The system comprises a piston rod 51, a synchronous system displacement sensor 511, a synchronous system servo amplifier 512, a synchronous system controller 52, and a synchronous system servo valve 53; the synchronous system hydraulic cylinder 5 is fixedly connected to the ground; the synchronous system piston rod 51 and the synchronous system hydraulic cylinder 5 are slidably connected; the synchronous system piston rod 51 and the synchronous system displacement sensor 511 are fixedly connected; the output terminal of the synchronous system displacement sensor 511 is connected to the input terminal of the synchronous system servo amplifier 512; the output terminal of the synchronous system servo amplifier 512 is connected to the input terminal of the synchronous system controller 52; the output terminal of the position signal generator 2 is connected to the input terminal of the synchronous system controller 52; and the output terminal of the synchronous system controller 52 is connected to the input terminal of the synchronous system servo valve 53.The output end of the servo valve 53 of the synchronization system is connected to the hydraulic cylinder 5 of the synchronization system; the piston rod 51 of the synchronization system is fixedly connected to the electromagnet 6 of the loading system.

[0016] Furthermore, the position signal generator 2 transmits position signal commands to the servo system controller 12 and the synchronization system controller 52; the servo system displacement sensor 111 detects the position information of the servo system piston rod 11, and the detection signal is amplified by the servo system servo amplifier 112 and input to the servo system controller 12; the synchronization system displacement sensor 511 detects the position information of the synchronization system piston rod 51, and the detection signal is input to the synchronization system controller 52 through the synchronization system servo amplifier 512; the servo system controller 12 controls the servo system servo valve 13 according to the position signal and detection information; the synchronization system controller 52 controls the synchronization system according to the position signal and detection information. The servo valve 53 controls the movement of the servo system piston rod 11; the movement of the servo system piston rod 11 causes the spring plate 113, mass block 114, force sensor 115 and servo system electromagnet 4, which are fixed to it, to move; the servo valve 53 of the synchronization system drives the piston rod 51 of the synchronization system to move; the movement of the piston rod 51 of the synchronization system causes the electromagnet 6 of the loading system, which is fixed to it, to move; there is a certain distance between the electromagnet 4 of the servo system and the electromagnet 6 of the loading system; the piston rod 11 of the servo system and the piston rod 51 of the synchronization system move synchronously, which can keep the electromagnet 4 of the servo system and the electromagnet 6 of the loading system relatively stationary, ensuring that no excess force is generated inside the loading system.

[0017] Furthermore, the servo system resistor 43 serves as a circuit protection element; the servo system power supply 42 supplies power to the servo system coil 41, and the energized servo system coil 41 causes the servo system electromagnet 4 to generate a fixed magnetic field; the loading system resistor 63 serves as a circuit protection element; the loading system power supply 62 supplies power to the loading system current controller 64; the loading system current controller 64 supplies power to the loading system coil, and the energized loading system coil 61 causes the loading system electromagnet 6 to generate a magnetic field; the servo system electromagnet 4 and the loading system electromagnet 6 generate magnetic force due to the interaction of their magnetic fields, and the magnetic force generated by the loading system electromagnet 6 is used to load the servo system electromagnet 4; the force sensor 115 detects the force signal in real time and feeds it back to the industrial control computer 3; the industrial control computer 3 quickly controls the magnitude and direction of the current generated by the loading system current controller 64 based on the deviation between the force loading signal and the detection signal, thereby controlling the direction and intensity of the magnetic field generated by the loading system electromagnet 6, and thus precisely controlling the loading force generated by the loading system electromagnet 6 on the servo system electromagnet 4.

[0018] The working principle of this invention is as follows: The servo system controller 12 controls the servo system servo valve 13 based on the deviation between the position signal given by the position signal generator 2 and the position signal of the servo system piston rod 11 detected by the servo system displacement sensor 111, thereby driving the servo system piston rod 11 to move. The movement of the servo system piston rod 11 drives the spring plate 113, mass block 114, force sensor 115, and servo system electromagnet 4, which are fixed to it, to move. At the same time, the synchronization system controller 52 controls the synchronization system servo valve 53 based on the deviation between the position signal given by the position signal generator 2 and the position signal of the synchronization system piston rod 51 detected by the synchronization system displacement sensor 511, thereby driving the synchronization system piston rod 51 to move. The movement of the synchronization system piston rod 51 drives the loading system electromagnet 6, which is fixed to it, to move, so as to ensure that the distance between the servo system electromagnet 4 and the loading system electromagnet 6 remains unchanged, thereby ensuring that the servo system electromagnet 4 and the loading system electromagnet 6 are always in each other's magnetic field. The servo system power supply 42 supplies power to the servo system coil 41. The servo system resistor 43 acts as a circuit protection mechanism. When energized, the servo system coil 41 causes the servo system electromagnet 4 to generate a fixed magnetic field. The loading system power supply 62 supplies power to the loading system current controller 64. The loading system current controller 64 outputs current to the loading system coil 61. When energized, the loading system coil 61 causes the loading system electromagnet 6 to generate a magnetic field. The loading system resistor 63 acts as a circuit protection mechanism. The loading system electromagnet 6 and the servo system electromagnet 4 generate magnetic force under the influence of the magnetic field. The magnetic force generated by the loading system electromagnet 6 is used to load the servo system electromagnet 4. The force sensor 115 feeds back the detection signal to the industrial control computer 3 in real time. The industrial control computer 3 controls the magnitude and direction of the current in the loading system current controller 64 based on the deviation between the force loading signal and the detection signal, thereby controlling the direction and intensity of the magnetic field generated by the loading system electromagnet 6, achieving non-contact, precise, and controllable loading of the servo system.

[0019] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A non-contact electro-hydraulic position synchronous drive variable magnetic force loading load simulator, characterized in that: The application relates to a rudder system, a loading system and a synchronization system, wherein the rudder system comprises a rudder system hydraulic cylinder (1), a rudder system piston rod (11), a rudder system displacement sensor (111), a rudder system servo amplifier (112), a spring plate (113), a mass block (114), a force sensor (115), a rudder system controller (12), a rudder system servo valve (13), a position signal generator (2), a rudder system electromagnet (4), a rudder system coil (41), a rudder system power supply (42) and a rudder system resistor (43); the rudder system hydraulic cylinder (1) is fixedly connected with the ground; the rudder system piston rod (11) is slidably connected with the rudder system hydraulic cylinder (1); the rudder system piston rod (11) is fixedly connected with the rudder system displacement sensor (111); the output end of the rudder system displacement sensor (111) is connected with the input end of the rudder system servo amplifier (112); the output end of the rudder system servo amplifier (112) is connected with the input end of the rudder system controller (12); the output end of the position signal generator (2) is connected with the input end of the rudder system controller (12); the output end of the rudder system controller (12) is connected with the input end of the rudder system servo valve (13); the output end of the rudder system servo valve (13) is connected with the rudder system hydraulic cylinder (1); the rudder system piston rod (11) is fixedly connected with the spring plate (113), the spring plate (113) is fixedly connected with the mass block (114), the mass block (114) is fixedly connected with the force sensor (115), the rudder system electromagnet (4) is fixedly connected with the force sensor (115), the rudder system coil (41) is wound around the rudder system electromagnet (4), and the rudder system coil (41), the rudder system power supply (42) and the rudder system resistor (43) are connected through wires; the loading system comprises an industrial computer (3), a loading system electromagnet (6), a loading system coil (61), a loading system power supply (62), a loading system resistor (63) and a loading system current controller (64); the loading system coil (61) is wound around the loading system electromagnet (6), and the loading system coil (61), the loading system power supply (62), the loading system resistor (63) and the loading system current controller (64) are connected through wires; the input end of the industrial computer (3) is connected with the output end of the force sensor (115); the output end of the industrial computer (3) is connected with the loading system current controller (64); the synchronization system comprises a synchronization system hydraulic cylinder (5), a synchronization system piston rod (51), a synchronization system displacement sensor (511), a synchronization system servo amplifier (512), a synchronization system controller (52) and a synchronization system servo valve (53); the synchronization system hydraulic cylinder (5) is fixedly connected with the ground; the synchronization system piston rod (51) is slidably connected with the synchronization system hydraulic cylinder (5); the synchronization system piston rod (51) is fixedly connected with the synchronization system displacement sensor (511).The output end of the synchronous system displacement sensor (511) is connected with the input end of a synchronous system servo amplifier (512); the output end of the synchronous system servo amplifier (512) is connected with the input end of a synchronous system controller (52); the output end of the position signal generator (2) is connected with the input end of the synchronous system controller (52); the output end of the synchronous system controller (52) is connected with the input end of a synchronous system servo valve (53); the output end of the synchronous system servo valve (53) is connected with a synchronous system hydraulic cylinder (5); and the synchronous system piston rod (51) is fixedly connected with the loading system electromagnet (6).

2. The non-contact electro-hydraulic position synchronous drive variable magnetic force loading load simulator according to claim 1, characterized in that: The position signal generator (2) transmits position signal instructions to the rudder system controller (12) and the synchronization system controller (52); the rudder system displacement sensor (111) detects the position information of the rudder system piston rod (11), and the detection signal is amplified by the rudder system servo amplifier (112) and input to the rudder system controller (12); the synchronization system displacement sensor (511) detects the position information of the synchronization system piston rod (51), and the detection signal is input to the synchronization system controller (52) through the synchronization system servo amplifier (512); the rudder system controller (12) controls the rudder system servo valve (13) according to the position signal and the detection information; the synchronization system controller (52) controls the synchronization system servo valve (53) according to the position signal and the detection information; the rudder system servo valve (13) drives the rudder system piston rod (11) to move; the rudder system piston rod (11) moves with the spring plate (113), the mass block (114), the force sensor (115) and the rudder system electromagnet (4) fixedly connected thereto; the synchronization system servo valve (53) drives the synchronization system piston rod (51) to move; the synchronization system piston rod (51) moves with the loading system electromagnet (6) fixedly connected thereto; the rudder system electromagnet (4) and the loading system electromagnet (6) are at a certain distance; the rudder system piston rod (11) and the synchronization system piston rod (51) move synchronously, which can keep the rudder system electromagnet (4) and the loading system electromagnet (6) relatively stationary, and ensure that no excess force is generated inside the loading system.

3. The non-contact electro-hydraulic position synchronous drive variable magnetic force loading load simulator of claim 1, wherein: The rudder system resistor (43) plays a role in protecting the circuit; the rudder system power supply (42) supplies power to the rudder system coil (41), and the rudder system coil (41) generates a fixed magnetic field after being electrified; the loading system resistor (63) plays a role in protecting the circuit; the loading system power supply (62) supplies power to the loading system current controller (64); the loading system current controller (64) supplies power to the loading system coil, and the loading system coil (61) generates a magnetic field after being electrified; the rudder system electromagnet (4) and the loading system electromagnet (6) generate magnetic force due to the interaction of the magnetic fields, and the magnetic force generated by the loading system electromagnet (6) is used to load the rudder system electromagnet (4); the force sensor (115) detects the force signal in real time and feeds back to the industrial computer (3); the industrial computer (3) controls the size and direction of the current generated by the loading system current controller (64) according to the deviation of the force loading signal and the detection signal, and then controls the direction and strength of the magnetic field generated by the loading system electromagnet (6), and then accurately controls the loading force generated by the loading system electromagnet (6) to the rudder system electromagnet (4).

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