Space multi-link back-stepping mechanism pneumatic load servo loading simulation device and method

Abstract

The present application relates to a kind of space multi-link reverse thrust mechanism aerodynamic load servo loading simulation device and method, including fixed mechanism and fixed on it servo control device, loading control device, space multi-link reverse thrust mechanism, space multi-link reverse thrust mechanism includes blocker door, angle sensor is provided;Servo control device includes main motor and servo motor, along V rail movement, servo control device passes through the direction of motor loading force, loading control device includes servo cylinder, tension sensor, fixed pulley device, to control the direction of rope, servo cylinder adjusts the loading of force, servo motor control system is adjusted main motor, servo motor by the feedback of angle sensor and tension sensor.The present application realizes the high-precision simulation of blocker door surface aerodynamic load, provides test conditions for the dynamics related research test of reverse thrust device, also provides design idea for the servo loading problem of space type large-scale motion mechanism.

Description

Technical Field

[0001] This invention belongs to the field of experimental device loading technology, and particularly relates to a simulation device and method for aerodynamic load follow-up loading of a space multi-link reverse thrust mechanism. Background Technology

[0002] When conducting dynamic tests on aero-engine thrust reversers, the aerodynamic loads on their choke gates need to be realistically simulated using a test loading system. Generally, the force direction on the choke gate during its movement is always perpendicular to its surface, and the aerodynamic load gradually increases over time. During the dynamic tests of the thrust reverser, the choke gate undergoes translational and flipping motions. Therefore, the loading device should follow the movement of the choke gate in real time to ensure that the choke gate surface is always subjected to aerodynamic loads in the vertical direction. Simulating the aerodynamic loads on the choke gate is unavoidable. However, due to the significant changes in the stroke and deflection angle of the choke gate during its movement, which includes both translational and flipping components, and the fact that the actuator needs to simultaneously load multiple sets of moving choke gates distributed in space during the test, the complexity of the motion is greatly increased. This results in numerous loading points and significant loading difficulty. Currently, the traditional hydraulic cylinder follow-up loading method is difficult to implement, and this method requires a large hydraulic cylinder stroke. Existing follow-up loading devices cannot meet the dynamic loading requirements of this space thrust reverser mechanism. In addition, since the space reverse propulsion mechanism contains multiple sets of flow-blocking gates, it is necessary to simultaneously perform follow-up loading on multiple link mechanisms, which severely limits the installation space of the loading system.

[0003] Regarding existing research on servo loading devices, Chinese Patent (Publication No.: CN106596029A, Publication Date: April 26, 2017) provides a servo loading device for aerodynamic loads on an airfoil. This device mainly consists of a load actuator, a servo mechanism, and sensors. The servo mechanism controls the position of the bottom end of the load actuator, and then adjusts the load magnitude of the load actuator, thereby achieving a realistic simulation of the magnitude and direction of aerodynamic loads on the airfoil under large deformation conditions during testing. The structure of the loading device is as follows: Figure 1As shown. This wing aerodynamic load follow-up loading device mainly simulates the aerodynamic load on the wing surface through two cooperating hydraulic cylinders. The deformation of the wing surface is measured by sensors and fed back to the control actuator, thereby ensuring the magnitude and direction of the load on the wing surface. However, the loading range of this loading device is mainly determined by the stroke of the hydraulic cylinders, and it is usually suitable for loading simulation of mechanisms with small range of changes. When the movement range of the loaded mechanism is large, the space occupied by the loading device will increase sharply. At the same time, when the mechanism deforms frequently, the response speed of the hydraulic cylinder will directly affect the loading accuracy. Chinese Patent (Publication No.: CN114166495A, Publication Date: March 11, 2022) provides a load oblique follow-up loading device, which mainly consists of a slide rail, an electric cylinder, and a hydraulic actuator. The electric cylinder and the guide rail are used as follow-up control devices to adjust the position and angle of the loading load. The hydraulic actuator is connected to the follow-up device and the loading is achieved through a telescopic piston rod. The structure of the device is as follows. Figure 2 As shown. This oblique load-following device mainly uses dual electric cylinders to drive dual guide rails to control the position of the loading hydraulic cylinder to achieve the application of oblique load. This device is related to... Figure 1 The principle of the device shown is similar, but it is only applicable to loading motion mechanisms in the plane formed by the electric cylinder and the hydraulic cylinder, and its loading range is directly determined by the stroke of the electric cylinder and the hydraulic cylinder. Furthermore, due to the large space occupied by its dual electric cylinders and dual guide rails, it is difficult to load spatial motion mechanisms. Chinese Patent (Publication No.: CN106081157A, Publication Date: November 9, 2016) provides a vertical follow-up loading device. This device mainly consists of a hydraulic cylinder, a pull rod, a lever, a force sensor, and a sprocket. The two loading joints are connected by a lever principle, and then the pull rod connects the loading point to the loading device. The structure of this device is as follows: Figure 3 As shown, this vertical servo loading device primarily uses a hydraulic cylinder and a telescopic rod for loading, while leveraging the lever principle to ensure that the loading force is always perpendicular to the component surface. However, the loading base of this device is fixed to the ground, the component being loaded is placed directly above the ground, and the component can only move along the direction of the hydraulic cylinder's extension and retraction. Furthermore, due to the limited sliding distance of the bearings, the adjustable range of motion of the component is extremely small, making it unsuitable for large-scale motion mechanisms and difficult to load complex spatial motion mechanisms.

[0004] Therefore, there is an urgent need for a simulation device for the aerodynamic load of the thrust reverser mechanism that can solve the problem of simulating the aerodynamic load of the flow gate in the multi-link thrust reverser mechanism in space. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a simulation device for the aerodynamic load follow-up loading of a space multi-link thrust reverser mechanism, which solves the loading problem of complex motion mechanisms over a large range in space, provides an experimental basis for conducting dynamic tests related to thrust reverser mechanisms, and provides design ideas for the follow-up loading problem of space-type mechanisms.

[0006] A space multi-link thrust reverser mechanism pneumatic load follow-up loading simulation device includes a fixed mechanism and a follow-up control device, a loading control device, and a space multi-link thrust reverser mechanism fixed thereon. The space multi-link thrust reverser mechanism includes a flow-blocking gate with an angle sensor installed on it, which is electrically connected to a servo motor control system. The follow-up control device includes a main motor and a servo motor electrically connected to the servo motor control system. The main motor and servo motor move along a V-rail. The follow-up control device adjusts the direction of the direction rod, i.e., the direction of the loading force, through the motor. The loading control device includes a servo electric cylinder and a tension sensor connected thereto, as well as a fixed pulley device to control the direction of the rope. The loading force is adjusted by the servo electric cylinder. The servo motor control system issues commands to the main motor, servo motor, and electric cylinder through feedback from the angle sensor and tension sensor, thereby performing follow-up loading on the space multi-link thrust reverser mechanism.

[0007] The fixing mechanism includes an installation platform fixed to the ground, with two fixed support plates vertically fixed on the platform and arranged in parallel. A V-rail, a linear guide rail, and a rack are horizontally fixed between the two fixed support plates, and two motor brackets are fixed side-by-side on the V-rail. The rack is installed in a rack bracket. The working surface of the linear guide rail is its side, placed perpendicular to the installation platform, with three linear sliders slidably connected to the side of the linear guide rail. The two ends of the linear guide rail are connected and fixed to the fixed support plates.

[0008] The follow-up control device includes a servo motor. One of the two motor brackets is used to place the servo motor. A gear is installed on the output shaft of the servo motor, and the gear meshes with the rack below. A ring block is installed on one of the sliders of the linear guide rail, and the slider cooperates with the linear guide rail. A lifting lug is provided around the ring block, and one end of the auxiliary direction rod is hinged to the lifting lug. The ring block cooperates with the output shaft of the servo motor. The other of the two motor brackets is used to house the main motor. A gear is mounted on the output shaft of the main motor, meshing with the rack. The other two sliders of the linear guide are fixed relative to each other, and a main motor ring block and a pull rope ring block are respectively mounted on them. The main motor ring block is circumferentially provided with a lifting lug, and one end of the main directional rod is hinged to the lifting lug. The pull rope ring block is circumferentially provided with a lifting lug. The main motor ring block cooperates with the output shaft of the main motor. The other end of the auxiliary directional rod is connected to the hole in the middle of the main directional rod through a pin.

[0009] The spatial multi-link reverse thrust mechanism includes an inner channel, the lower end of which is fitted with a cast iron base and fixed to the mounting platform. The sides of the inner channel are fixed to the mounting platform via mutually perpendicularly arranged horizontal and vertical columns. The movable cover is connected to the inner channel via upper and lower guide rail grooves, allowing it to move on the inner channel. Five sets of flow-blocking door motion mechanisms are installed between the inner channel and the movable cover. Each flow-blocking door motion mechanism includes a flow-blocking door. The front of the flow-blocking door is hinged to the inner channel via its lower end pull rod, and the back of the flow-blocking door is hinged to the movable cover via a pin at the flow-blocking door back hinge point on its back. The flow-blocking door moves and flips as the movable cover moves. The other end of the main directional rod is connected to a rope led out from the pull ring on the back. The connection between the main directional rod and the rope extends out of the movable cover through a strip hole. The connection point between the lower pull rod and the choke gate does not correspond to the hinge point on the back of the choke gate, ensuring that the choke gate can be flipped. An angle sensor is installed on the back of the flow-blocking gate in the flow-blocking gate motion mechanism, and the angle sensor is electrically connected to the servo motor control system. An inertial navigation system (INS) is installed at the end of the main directional rod, with the mounting plane perpendicular to the flow barrier. An INS is installed on the back of the flow barrier, directly below the end of the directional rod, with the mounting plane coinciding with the surface of the flow barrier. INS 1 and INS 2 are electrically connected to the servo motor control system.

[0010] The loading control device includes a servo electric cylinder. A cylinder bracket is fixed at one corner of the mounting platform, and the servo electric cylinder is mounted on the cylinder bracket. A tension sensor is connected to the front end of the servo electric cylinder, and a centralized pull ring is connected to the other end of the tension sensor for connecting a rope. The tension sensor is electrically connected to the servo motor control system. A fixed pulley device of equal height is set in front of the servo electric cylinder through a bracket, and the fixed pulley device is installed horizontally. One end of the rope is connected to the centralized pull ring, and the other end passes around the fixed pulley device, passes through the lug on the rope ring block, passes through the top of the main direction rod, and is fixed to the pull ring of the flow-blocking gate movement mechanism.

[0011] The number of V-rails is four, and the four V-rails are distributed in a 2×2 matrix. Each V-rail is fixed to the V-rail bracket with bolts through countersunk holes.

[0012] Roller bearings are installed at the four corners of the upper and lower surfaces of the two motor brackets. Four roller bearings are installed at each corner, distributed left and right. The roller bearings are installed at 45° on the roller frame, which is fixed to the motor bracket with screws. The motor brackets roll with the four V-rails through the roller bearings installed on the upper and lower surfaces.

[0013] A bearing mounting plate is fixed to the side of the ring block, and a deep groove ball bearing is installed inside the bearing mounting plate. The outer ring of the deep groove ball bearing is fixed relative to the bearing mounting plate, and the inner ring is engaged with the output shaft of the servo motor. A bearing mounting plate is fixed to the side of the main motor slider, and a deep groove ball bearing is installed inside the bearing mounting plate. The outer ring of the deep groove ball bearing is fixed relative to the main motor ring block, and the inner ring is engaged with the output shaft of the main motor.

[0014] The test method for the above-mentioned space multi-link reverse thrust mechanism aerodynamic load follow-up loading simulation device specifically includes the following steps: Step 1: Debug the test bench equipment to bring the entire device to its initial state; the initial state means that the flow-blocking gate is in its initial state and the flow-blocking gate is parallel to the inner channel; Step 2: Simultaneously start the main motor, servo motor, and moving cover, and simultaneously start the servo electric cylinder to achieve the required loading force; Step 3: The angle sensor, inertial navigation system 1, and inertial navigation system 2 feed back data to the servo motor control system. The servo motor control system adjusts the positions of the main motor and servo motors, and adjusts the relative positions of the main directional rod and the auxiliary directional rod through the movement of the main motor and servo motors. This ensures that the end of the main directional rod is perpendicular to the flow barrier mechanism, i.e., the part of the rope connected to one end of the main directional rod is always perpendicular to the surface of the flow barrier, controlling the direction of the loading force and ensuring precise adjustment of the loading direction. At the same time, the angle sensor monitors and provides feedback in real time to achieve closed-loop control. Step 4: The tension sensor feeds back data to the servo motor control system, which controls the extension and retraction length of the piston rod of the servo electric cylinder. The extension and retraction length of the servo electric cylinder controls the change in the magnitude of the loading force. At the same time, the tension sensor monitors and provides feedback in real time, realizing closed-loop control and ensuring precise control of the loading force.

[0015] The beneficial effects of this invention are: This invention provides a spatial multi-link reverse thrust mechanism pneumatic load follow-up loading simulation device. By forming a closed-loop control with angle sensors, force sensors, servo motors, main motors, and servo electric cylinders, it greatly improves the high-precision control of loading direction and loading force. In addition, the V-rail, linear guide rail, and gear rack sliding mechanism have good support, stable structure, and reliable performance, which greatly increases the motor's motion stroke and expands the adjustment range of the main and auxiliary direction rods, realizing the spatial follow-up loading requirements of a large-range motion mechanism.

[0016] This invention solves the current problem of aerodynamic load loading on the flow gate of a multi-link thrust reverser mechanism in space, realizes high-precision simulation of aerodynamic load on the surface of the flow gate, provides experimental conditions for dynamic research and experiments of thrust reverser devices, and also provides design ideas for the follow-up loading problem of space-type large-range motion mechanisms. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a wing aerodynamic load follow-up loading device mentioned in the background art; Figure 2 This is a schematic diagram of a load oblique follow-up loading device mentioned in the background art; Figure 3 This is a schematic diagram of a vertical follower loading device mentioned in the background art; Figure 4 This is a schematic diagram of the overall structure of the follow-up loading simulation device of the present invention; Figure 5 This is a top view of the assembly of the present invention; Figure 6 This is a schematic diagram of the overall structure of the follow-up loading simulation device in this invention (the moving cover is not shown); Figure 7 This is a schematic diagram of the overall structure of the follow-up loading simulation device in this invention (the moving cover and inner channel are not shown). Figure 8 This is a schematic diagram of the connection between the V-rail and the motor bracket in this invention; Figure 9 This is a schematic diagram of the spatial multi-link back-propagation mechanism in this invention; Figure 10 This is a schematic diagram showing the positional and connection relationships between the main motor and the servo motor in this invention; Figure 11 This is a partial schematic diagram of the servo motor in this invention; Figure 12 This is a schematic diagram showing the positional relationship between the main directional rod and the auxiliary directional rod in this invention. Figure 13 This is a partial schematic diagram of the flow-blocking gate in this invention; Figure 14 This is a schematic diagram showing the positional relationship between the electric cylinder and the pulley device in this invention; Figure 15 This is a schematic diagram showing the installation location of the inertial navigation system in this invention; Figure 16 This is the control flowchart of the present invention; in, 1-Mounting platform, 11-Main direction rod, 12-Auxiliary direction rod, 13-Fixed pulley device, 2-Fixed support plate, 3-Inner channel, 31-Moving cover, 32-Flow-restricting door motion mechanism, 321-Inertial navigation system one, 322-Inertial navigation system two, 33-Horizontal column, 34-Vertical column, 35-Cast iron base, 36-Back pull ring, 37-Angle sensor, 38-Lower end pull rod, 39-Back hinge point, 4-V-rail, 41-V-rail bracket, 42-Foot support 5-Servo motor, 51-Motor bracket, 52-Gear, 53-Output shaft, 55-Deep groove ball bearing, 56-Bearing mounting plate, 57-Ring block, 58-Roller bearing, 59-Long bolt, 6-Main motor, 67-Main motor ring block, 7-Linear guide rail, 71-Linear slider, 8-Pull rope ring block, 9-Servo electric cylinder, 91-Electric cylinder bracket, 93-Rope, 94-Force sensor, 95-Centralized pull ring, 10-Rack, 101-Rack bracket. Detailed Implementation

[0018] To better explain and facilitate understanding of the present invention, the technical solution and effects of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] like Figure 4-7 As shown, a space multi-link thrust reverse mechanism aerodynamic load follow-up loading simulation device includes a fixed mechanism and a follow-up control device, a loading control device, and a space multi-link thrust reverse mechanism fixed thereon. The space multi-link thrust reverse mechanism includes a flow-blocking gate with an angle sensor 37 electrically connected to a servo motor control system. The follow-up control device includes a main motor 6 and a servo motor 5 electrically connected to the servo motor control system. The main motor 6 and the servo motor 5 move along a V-rail 4. The follow-up control device adjusts the direction of the direction rod, i.e., the direction of the loading force, through the motor. The loading control device includes a servo electric cylinder 9 and a tension sensor 94 connected thereto, as well as a fixed pulley device 13 to control the direction of the rope 93. The loading force is adjusted by the servo electric cylinder 9. The servo motor control system sends commands to the main motor 6, the servo motor 5, and the electric cylinder through feedback from the angle sensor 37 and the tension sensor 94, thereby performing follow-up loading on the space multi-link thrust reverse mechanism. The fixed mechanism includes a mounting platform 1, which is fixed to the ground. Two fixed support plates 2 are vertically fixed to the mounting platform 1 by bolts and are arranged in parallel. A V-rail 4, a linear guide rail 7, and a rack 10 are horizontally fixed between two fixed support plates 2. The fixed support plates 2 are used to fix the V-rail 4, the linear guide rail 7, and the rack 10. There are four V-rails 4 in total, arranged in a 2×2 matrix. Each V-rail 4 is fixed to the V-rail bracket 41 with bolts through countersunk holes. Figure 8As shown, the two ends of the V-rail bracket 41 are bolted to the fixed support plate 2 via foot supports 42; two motor brackets 51 are fixed side by side on the four V-rails 4, increasing the support area of ​​the motor inside the motor bracket 51. The rack 10 is installed in the rack bracket 101 and bolted to the rack bracket 101 via a side through hole. The rack bracket 101 is connected and fixed to the fixed support plate 2 via foot supports 42. The working surface of the linear guide rail 7 is the side, which is placed perpendicular to the mounting platform 1. Multiple linear sliders 71 are slidably connected to the side of the linear guide rail 7. In this embodiment, there are three linear sliders 71. The two ends of the linear guide rail 7 are connected and fixed to the fixed support plate 2 via foot supports 42.

[0020] like Figure 10-12 As shown, roller bearings 58 are installed at the four corners of the upper and lower surfaces of the two motor brackets 51. Four roller bearings 58 are distributed left and right at each corner. The roller bearings 58 are mounted at a 45° angle on the roller frame, which is fixed to the motor bracket 51 with screws, greatly reducing the movement resistance of the motor within the motor bracket 51. The motor bracket 51 rolls with the four V-rails 4 through the roller bearings 58 installed on the upper and lower surfaces. This rolling engagement with the V-rails 4 enhances the stability of the motor sliding within the motor bracket 51 and prevents the motor from derailing.

[0021] One of the two motor brackets 51 is used to house the servo motor 5, which is an auxiliary motor. The servo motor 5 is fixed to the motor bracket 51 via a front flange. The rear end of the motor bracket 51 has a slot to accommodate the wiring port of the servo motor 5. Threaded holes are provided on both sides of the slot. The upper and lower surfaces of the motor bracket 51 are supported and fixed by long bolts 59. A gear 52 is mounted on the output shaft 53 of the servo motor 5. The gear 52 is connected to the output shaft 53 via a keyway. The lower part of the gear 52 meshes with the rack 10. When the servo motor 5 starts, the gear 52 drives the motor bracket 51 and the servo motor 5 inside it to move along the rack 10. A ring block 57 is mounted on one of the linear sliders 71 of the linear guide rail 7. The ring block 57 surrounds the linear slider 71, and the cooperation between the linear slider 71 and the linear guide rail 7 provides support for the ring block 57. The ring block 57 is provided with a lifting lug around its circumference, and one end of the auxiliary directional rod 12 is hinged to the lifting lug. A bearing mounting plate 56 is fixed to the side of the ring block 57, and a deep groove ball bearing 55 is installed inside the bearing mounting plate 56. The outer ring of the deep groove ball bearing 55 is fixed relative to the bearing mounting plate 56, and the inner ring is engaged with the output shaft 53 of the servo motor 5. When the servo motor 5 starts, the gear 52 moves along the rack 10, which simultaneously drives the linear slider 71 and the ring block 57 fixed on it to move along the linear guide rail 7.

[0022] The other of the two motor brackets 51 is used to house the main motor 6. It is fixed to the motor bracket 51 via a front flange. The rear end of the motor bracket 51 has a slot to provide a wiring port for the main motor 6. Threaded holes are provided on both sides of the slot. The upper and lower surfaces of the motor bracket 51 are supported and fixed by long bolts 59. Similar to the servo motor 5, a gear 52 is mounted on the output shaft 53 of the main motor 6. The gear 52 is connected to the output shaft 53 via a keyway. The lower part of the gear 52 meshes with the rack 10. When the main motor 6 starts, the gear 52 drives the motor bracket 51 and the main motor 6 inside it to move along the rack 10. The other two linear sliders 71 of the linear guide rail 7 are fixed relative to each other. The main motor ring block 67 and the pull rope ring block 8 are respectively installed on these two linear sliders 71. Therefore, the main motor ring block 67 and the pull rope ring block 8 are relatively fixed to each other, ensuring the stability of the movement law of the pull rope ring block 8. The main motor ring block 67 and the pull rope ring block 8 are wrapped around the linear slider 71. The cooperation between the linear slider 71 and the linear guide rail 7 provides support for the main motor ring block 67 and the pull rope ring block 8. The main motor ring block 67 is provided with a lifting lug around its circumference. One end of the main direction rod 11 is hinged to the lifting lug. The pull rope ring block 8 is provided with a lifting lug around its circumference for connecting the rope 93. A bearing mounting plate 56 is fixed to the side of the main motor ring block 67. A deep groove ball bearing 55 is installed in the bearing mounting plate 56. The outer ring of the deep groove ball bearing 55 is fixed relative to the main motor ring block 67, and the inner ring is engaged with the output shaft 53 of the main motor 6. When the main motor 6 starts, the gear 52 moves along the rack 10, simultaneously driving the two linear sliders 71 and the main motor ring block 67 fixed on them to move along the linear guide rail 7. The other end of the auxiliary directional rod 12 is connected to the hole in the middle of the main directional rod 11 by a pin.

[0023] The servo motor 5, main motor 6 and servo motor control system are not electrically connected as shown in the diagram; the servo motor 5 and main motor 6 have a large sliding stroke on the V-rail 4, and move flexibly, which can realize the loading of a large range of motion mechanism.

[0024] The aforementioned gear 52 meshes with the rack 10, providing sliding power to the servo motor 5 and the main motor 6 along the linear guide rail 7.

[0025] The deep groove ball bearing 55 reduces the friction between the servo motor 5 and the main motor 6 during rotation.

[0026] like Figure 9As shown, the spatial multi-link reverse thrust mechanism includes an inner channel 3. A cast iron base 35 is installed at the lower end of the inner channel 3, and the cast iron base 35 is fixed to the mounting platform 1 by bolts. The sides of the inner channel 3 are fixed to the mounting platform 1 by mutually perpendicularly arranged horizontal columns 33 and vertical columns 34. The movable cover 31 cooperates with the inner channel 3 through upper and lower guide rail grooves, allowing the movable cover 31 to move on the inner channel 3 in the same direction as the linear guide rails 7. Five sets of flow-blocking door motion mechanisms 32 are installed between the inner channel 3 and the movable cover 31. Each flow-blocking door motion mechanism 32 includes a flow-blocking door. The front of the flow-blocking door is hinged to the inner channel 3 via its lower end pull rod 38. The back of the flow-blocking door is hinged to the movable cover 31 via a pin at the flow-blocking door back hinge point 39 on its back, and it translates and flips as the movable cover 31 moves. The connection point between the lower end pull rod 38 and the flow-blocking door does not correspond to the position of the flow-blocking door back hinge point 39, ensuring that the flow-blocking door can flip. Each flow-blocking gate motion mechanism 32 has a back pull ring 36 for connecting a rope 93; the other end of the main direction rod 11 is connected to the rope 93 led out from the back pull ring 36, and the connection between the main direction rod 11 and the rope 93 extends out of the outside of the moving cover 31 through the strip hole on the moving cover 31.

[0027] While the servo motor 5 and the main motor 6 move along the V-rail 4, they drive the main directional rod 11 and the auxiliary directional rod 12 to move.

[0028] like Figure 13 As shown, in the flow-blocking gate motion mechanism 32, an angle sensor 37 is installed on the back of the flow-blocking gate and is electrically connected to the servo motor control system. The angle sensor 37 measures the change value of the movement angle of the flow-blocking gate in real time and feeds it back to the servo motor control system. The servo motor control system controls the position of the servo motor 5 and the main motor 6 to ensure the position of the end of the main direction rod 11, and ensures that the direction of the loading force is always perpendicular to the flow-blocking gate.

[0029] A cylinder bracket 91 is fixed at one corner of the installation platform 1, and a servo cylinder 9 is mounted on the cylinder bracket 91. A tension sensor 94 is threadedly connected to the front end of the servo cylinder 9, and a central pull ring 95 is threadedly connected to the other end of the tension sensor 94 for connecting a rope 93. The tension sensor 94 is electrically connected to the servo motor control system. A fixed pulley device 13 of equal height is installed in front of the servo cylinder 9 via a bracket. The fixed pulley device 13 is horizontally installed to ensure that the rope 93 is always under tension. Figure 14As shown; one end of rope 93 is connected to the central pull ring 95, and the other end passes around the fixed pulley device 13, through the lug on the rope ring block 8, along the main direction rod 11, through the top of the main direction rod 11, and is fixed to the back pull ring 36 of the flow-blocking gate motion mechanism 32. The specific installation process of rope 93 is as follows: one end of rope 93 is connected to the back pull ring 36, the back pull ring 36 extends out, along the main direction rod 11 to the main motor ring block 67, then rope 93 passes through the rope ring block 8 and around to the fixed pulley device 13, and finally connects to the servo cylinder 9 through the tension sensor 94.

[0030] like Figure 15 As shown, an inertial navigation system 321 is installed at the end of the main directional rod 11, with the mounting plane perpendicular to the flow barrier; an inertial navigation system 322 is installed on the back of the flow barrier, positioned directly below the end of the directional rod, with the mounting plane coinciding with the surface of the flow barrier. The inertial navigation system 321 and the inertial navigation system 322 are electrically connected to the servo motor control system.

[0031] The aforementioned main motor 6, servo motor 5, linear guide rail 7, V-rail 4, main direction rod 11, and auxiliary direction rod 12 constitute a follow-up control device; servo electric cylinder 9, tension sensor 94, and fixed pulley device 13 constitute a loading control device; and moving cover 31, inner channel 3, and flow-blocking gate motion mechanism 32 constitute a spatial reverse thrust mechanism.

[0032] When the aforementioned follow-up loading simulation device is working, the moving cover 31 moves, driving the flow-blocking gate motion mechanism 32 to move. The angle sensor 37 on the back of the flow-blocking gate motion mechanism 32 measures the change in the flip angle of the flow-blocking gate motion mechanism 32 and feeds it back to the servo motor control system. Then, the servo motor control system adjusts the positions of the servo motor 5 and the main motor 6 on the guide rail, continuously adjusting the motion trajectory of the main direction rod 11 and the auxiliary direction rod 12, thereby ensuring the relative position of the end of the main direction rod 11 and the flow-blocking gate motion mechanism 32. This relative position ensures that the part of the rope 93 connected to one end of the main direction rod 11 is always perpendicular to the surface of the flow-blocking gate. Specifically, inertial navigation systems are installed at the end of the main direction rod 11 and the corresponding back of the flow-blocking gate. The inertial navigation system 1 (321) and 2 (322) can provide real-time feedback to the servo motor control system on the relative movement distance and angle between the two positions. Based on the position information fed back by the two inertial navigation devices, the servo motor control system adjusts the main directional rod 11 and the auxiliary directional rod 12 in real time to ensure the relative positional relationship between the end of the main directional rod 11 and the flow barrier. When the servo motor 5 and the main motor 6 move, they control the loading direction of the rope 93. The force sensor 94 measures the change in loading force and feeds it back to the servo cylinder 9. The servo cylinder 9 has high motion accuracy and fast response speed. Based on the measurement data, the servo cylinder 9 adjusts the extension and retraction of its internal piston rod to control the loading force until the loading force required for the test is met, thereby realizing the simulation of the follow-up loading of the pneumatic load of the space thrust mechanism.

[0033] Combination Figure 16 As shown, the test method for the above-mentioned simulation device for aerodynamic load follow-up loading of a space multi-link reverse thrust mechanism specifically includes the following steps: Step 1: Debug the test bench equipment to bring the entire device to its initial state; the initial state means that the flow-blocking gate is in its initial state and the flow-blocking gate is parallel to the inner channel 3; Step 2: Simultaneously start the main motor 6, servo motor 5, and moving cover 31, and simultaneously start the servo electric cylinder 9 to achieve the required loading force; Step 3: The angle sensor 37, inertial navigation system 1 321, and inertial navigation system 2 322 feed back data to the servo motor control system. The servo motor control system adjusts the positions of the main motor 6 and the servo motor 5. The movement of the main motor 6 and the servo motor 5 adjusts the relative positions of the main directional rod 11 and the auxiliary directional rod 12, ensuring that the relative position of the end of the main directional rod 11 with the flow barrier motion mechanism 32 is maintained. That is, the part of the rope 93 connected to one end of the main directional rod 11 is always perpendicular to the surface of the flow barrier, controlling the direction of the loading force and ensuring precise adjustment of the loading direction. At the same time, the angle sensor 37 monitors and provides feedback in real time to achieve closed-loop control. Step 4: The tension sensor 94 feeds back data to the servo motor control system. The servo motor control system controls the extension and retraction length of the piston rod of the servo electric cylinder 9, and controls the change in the magnitude of the loading force by controlling the extension and retraction length of the servo electric cylinder 9. At the same time, the tension sensor 94 monitors and feeds back in real time to achieve closed-loop control and ensure precise control of the loading force.

[0034] The main motor 6, servo motor 5, and servo electric cylinder 9 form a large closed-loop control system to achieve high-precision follow-up loading simulation of the aerodynamic load of the space thrust mechanism.

Claims

1. A simulation device for aerodynamic load servo loading of a space multi-link reverse thrust mechanism, characterized in that: The system includes a fixed mechanism and a follow-up control device, a loading control device, and a spatial multi-link reverse thrust mechanism fixed thereon. The spatial multi-link reverse thrust mechanism includes a flow-blocking gate equipped with an angle sensor electrically connected to a servo motor control system. The follow-up control device includes a main motor and a servo motor electrically connected to the servo motor control system. The main motor and servo motor move along a V-rail. The follow-up control device adjusts the direction of the direction rod, i.e., the direction of the loading force, through the motor. The loading control device includes a servo electric cylinder and a tension sensor connected thereto, as well as a fixed pulley device to control the direction of the rope. The loading force is adjusted by the servo electric cylinder. The servo motor control system sends commands to the main motor, servo motor, and electric cylinder through feedback from the angle sensor and tension sensor, thereby performing follow-up loading on the spatial multi-link reverse thrust mechanism. The fixed mechanism includes an installation platform fixed to the ground. Two fixed support plates are vertically fixed to the installation platform and arranged in parallel. A V-rail, a linear guide rail, and a rack are horizontally fixed between the two fixed support plates. Two motor brackets are fixed side by side on the V-rail. The follow-up control device includes a servo motor. One of the two motor brackets is used to place the servo motor. A gear is installed on the output shaft of the servo motor, and the gear meshes with the rack below. A ring block is installed on one of the sliders of the linear guide rail, and the slider cooperates with the linear guide rail. A lifting lug is provided around the ring block, and one end of the auxiliary direction rod is hinged to the lifting lug. The ring block cooperates with the output shaft of the servo motor. The other of the two motor brackets is used to house the main motor. A gear is mounted on the output shaft of the main motor, meshing with the rack. The other two sliders of the linear guide are fixed relative to each other, and a main motor ring block and a pull rope ring block are respectively mounted on them. The main motor ring block is circumferentially provided with a lifting lug, and one end of the main directional rod is hinged to the lifting lug. The pull rope ring block is circumferentially provided with a lifting lug. The main motor ring block cooperates with the output shaft of the main motor. The other end of the auxiliary directional rod is connected to the hole in the middle of the main directional rod through a pin.

2. The aerodynamic load follow-up loading simulation device for a space multi-link reverse thrust mechanism according to claim 1, characterized in that: The rack is installed in the rack bracket; the working surface of the linear guide is the side, which is placed perpendicular to the mounting platform, and three linear sliders are slidably connected to the side of the linear guide. The two ends of the linear guide are connected and fixed to the fixed support plate.

3. The aerodynamic load servo loading simulation device for a space multi-link reverse thrust mechanism according to claim 1, characterized in that: The spatial multi-link reverse thrust mechanism includes an inner channel, the lower end of which is fitted with a cast iron base and fixed to the mounting platform. The sides of the inner channel are fixed to the mounting platform via mutually perpendicularly arranged horizontal and vertical columns. The movable cover is connected to the inner channel via upper and lower guide rail grooves, allowing it to move on the inner channel. Five sets of flow-blocking door motion mechanisms are installed between the inner channel and the movable cover. Each flow-blocking door motion mechanism includes a flow-blocking door. The front of the flow-blocking door is hinged to the inner channel via its lower end pull rod, and the back of the flow-blocking door is hinged to the movable cover via a pin at the flow-blocking door back hinge point on its back. The flow-blocking door moves and flips as the movable cover moves. The other end of the main directional rod is connected to a rope led out from the pull ring on the back. The connection between the main directional rod and the rope extends out of the movable cover through a strip hole. The connection point between the lower pull rod and the choke gate does not correspond to the hinge point on the back of the choke gate, ensuring that the choke gate can be flipped. An angle sensor is installed on the back of the flow-blocking gate in the flow-blocking gate motion mechanism, and the angle sensor is electrically connected to the servo motor control system. An inertial navigation system (INS) is installed at the end of the main directional rod, with the mounting plane perpendicular to the flow barrier. An INS is installed on the back of the flow barrier, directly below the end of the directional rod, with the mounting plane coinciding with the surface of the flow barrier. INS 1 and INS 2 are electrically connected to the servo motor control system.

4. The aerodynamic load follow-up loading simulation device for a space multi-link reverse thrust mechanism according to claim 3, characterized in that: The loading control device includes a servo electric cylinder. A cylinder bracket is fixed at one corner of the mounting platform, and the servo electric cylinder is mounted on the cylinder bracket. A tension sensor is connected to the front end of the servo electric cylinder, and a centralized pull ring is connected to the other end of the tension sensor for connecting a rope. The tension sensor is electrically connected to the servo motor control system. A fixed pulley device of equal height is set in front of the servo electric cylinder through a bracket, and the fixed pulley device is installed horizontally. One end of the rope is connected to the centralized pull ring, and the other end passes around the fixed pulley device, passes through the lug on the rope ring block, passes through the top of the main direction rod, and is fixed to the pull ring of the flow-blocking gate movement mechanism.

5. The aerodynamic load follow-up loading simulation device for a space multi-link reverse thrust mechanism according to claim 1, characterized in that: The number of V-rails is four, and the four V-rails are distributed in a 2×2 matrix. Each V-rail is fixed to the V-rail bracket with bolts through countersunk holes.

6. The aerodynamic load follow-up loading simulation device for a space multi-link reverse thrust mechanism according to claim 1, characterized in that: Roller bearings are installed at the four corners of the upper and lower surfaces of the two motor brackets. Four roller bearings are installed at each corner, distributed left and right. The roller bearings are installed at 45° on the roller frame, which is fixed to the motor bracket with screws. The motor brackets roll with the four V-rails through the roller bearings installed on the upper and lower surfaces.

7. The aerodynamic load follow-up loading simulation device for a space multi-link reverse thrust mechanism according to claim 1, characterized in that: A bearing mounting plate is fixed to the side of the ring block, and a deep groove ball bearing is installed inside the bearing mounting plate. The outer ring of the deep groove ball bearing is fixed relative to the bearing mounting plate, and the inner ring is engaged with the output shaft of the servo motor. A bearing mounting plate is fixed to the side of the main motor slider, and a deep groove ball bearing is installed inside the bearing mounting plate. The outer ring of the deep groove ball bearing is fixed relative to the main motor ring block, and the inner ring is engaged with the output shaft of the main motor.

8. A test method for a space multi-link reverse thrust mechanism aerodynamic load follow-up loading simulation device according to any one of claims 1 to 7, characterized in that, Specifically, the following steps are included: Step 1: Debug the test bench equipment to bring the entire device to its initial state; the initial state means that the flow-blocking gate is in its initial state and the flow-blocking gate is parallel to the inner channel; Step 2: Simultaneously start the main motor, servo motor, and moving cover, and simultaneously start the servo electric cylinder to achieve the required loading force; Step 3: The angle sensor, inertial navigation system 1, and inertial navigation system 2 feed back data to the servo motor control system. The servo motor control system adjusts the positions of the main motor and servo motors, and adjusts the relative positions of the main directional rod and the auxiliary directional rod through the movement of the main motor and servo motors. This ensures that the end of the main directional rod is perpendicular to the flow barrier mechanism, i.e., the part of the rope connected to one end of the main directional rod is always perpendicular to the surface of the flow barrier, controlling the direction of the loading force and ensuring precise adjustment of the loading direction. At the same time, the angle sensor monitors and provides feedback in real time to achieve closed-loop control. Step 4: The tension sensor feeds back data to the servo motor control system, which controls the extension and retraction length of the piston rod of the servo electric cylinder. The extension and retraction length of the servo electric cylinder controls the change in the magnitude of the loading force. At the same time, the tension sensor monitors and provides feedback in real time, realizing closed-loop control and ensuring precise control of the loading force.

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