Seesaw control method for regulating air intake flow in aircraft

Abstract

The present invention discloses a seesaw control method for adjusting the flow rate of an aircraft inlet duct, and relates to the field of wind tunnel test implementation device control. The seesaw control method adjusts the flow rate of an aircraft inlet duct by means of a seesaw rotating device, and the seesaw rotating device includes a base and a sleeve fixedly connected to the aircraft body; a motor arranged on the base, and a connecting rod is arranged at its power output end; a cylindrical mounting portion matched with the sleeve is arranged on the seesaw; a rotating shaft is arranged in the mounting portion and connected with the sleeve through a bushing; wherein a connecting section matched with the connecting rod is arranged on the seesaw, and the seesaw and the connecting section have a predetermined angle in space. The present invention provides a seesaw control method for adjusting the flow rate of an aircraft inlet duct, which is mainly used in the flow rate adjustment of the inlet duct of a hypersonic aircraft in a wide speed range and a large airspace, and can quickly achieve angle adjustment when adjusting the seesaw according to demand in a wind tunnel test, and has the characteristics of high precision, good repeatability, and strong reliability.

Description

Technical Field

[0001] The present invention relates to the field of wind tunnel test implementation devices. More specifically, the present invention relates to a seesaw control method for adjusting the flow rate of an aircraft inlet duct, which can achieve flow rate adjustment of an inlet duct of a hypersonic air-breathing aircraft in a wide speed range and large airspace hypersonic aircraft wind tunnel test. Background Art

[0002] Flying in a wide speed range and large airspace is an inevitable trend in the development of hypersonic aircraft. Its inlet captures air as an oxidant and transports it to the core components of the downstream combustion chamber. For wide-range hypersonic aircraft, under the condition of lower flight Mach number, the flight altitude is low, the air density is high, and the required air flow is large; under the condition of higher flight Mach number, the flight altitude is high, the air density is low, and the required air flow is greatly reduced.

[0003] Traditional methods of inlet flow regulation and flow control include large geometric deformation, small deformation of local bulge, boundary layer suction and leakage flow. Among them, small deformation of local bulge, boundary layer suction and leakage flow can achieve flow regulation and local flow optimization in a smaller range, but they are not applicable to the wide range flow regulation requirements of hypersonic aircraft in a wide speed range and large airspace.

[0004] Therefore, for wide-range aircraft inlets, the geometric configuration is usually adjusted to match the flow requirements under different flight conditions, meet the air flow required by the engine combustion organization, and the working conditions of mass conservation and flow continuity.

[0005] Setting a seesaw rotation device in the hypersonic aircraft inlet is a common geometric configuration adjustment method. However, the existing seesaw rotation is mainly carried out by rotating the shaft connected to the electrode. However, due to the low power of the motor and the low control accuracy, the seesaw cannot be rotated with a small precision, and thus the flow rate cannot be adjusted within a small range, which affects the test effect of the aircraft inlet. Summary of the invention

[0006] An object of the present invention is to solve at least the above problems and / or disadvantages and to provide at least the advantages which will be described hereinafter.

[0007] In order to achieve these purposes and other advantages of the present invention, a seesaw rotation device for adjusting the flow rate of an aircraft inlet is provided, comprising:

[0008] A base and a sleeve fixedly connected to the aircraft body;

[0009] A motor is arranged on the base, and a connecting rod is arranged at a power output end of the motor;

[0010] A seesaw plate, on which a columnar mounting portion matching the shaft sleeve is arranged;

[0011] A rotating shaft is inserted into the mounting portion and connected to the shaft sleeve via a bushing;

[0012] Wherein, the seesaw is provided with a connecting section cooperating with the connecting rod, and the seesaw and the connecting section have a predetermined angle in space.

[0013] Preferably, a sealing gasket is provided on one end surface of the top of the seesaw.

[0014] Preferably, it further comprises: a feedback unit for obtaining the output state of the motor;

[0015] Wherein, the feedback unit is an encoder arranged on the motor shaft, and the encoder is communicatively connected with a control module provided in the motor.

[0016] An application method of a seesaw rotating device for adjusting the flow rate of an aircraft inlet duct, which is applicable to the seesaw rotating device for adjusting the flow rate of an aircraft inlet duct, comprises:

[0017] S1. Install a seesaw rotating device on the aircraft;

[0018] S2. The stroke of the connecting rod is regulated by controlling the rotation speed of the motor shaft, and the flow rate of the intake duct is regulated by changing the rotation angle of the connecting rod rocker.

[0019] Preferably, in S2, it further includes:

[0020] S20, when the motor rotates, real-time position data of the motor is obtained through the feedback unit in real time, and transmitted back to the control module;

[0021] S21 control module compares the real-time position data with the target position data to obtain an error value between the two;

[0022] S22, the control module obtains a control quantity for eliminating the error value based on a PID control method to control the motor output.

[0023] Preferably, in S20, the method for acquiring the real-time location data includes:

[0024] The magnetic pole position is detected in real time through the Hall sensor to obtain the motor running status feedback information related to the motor speed and position;

[0025] The encoder is used to detect the rotation state of the motor shaft in real time to obtain the current position feedback information of the motor shaft.

[0026] Preferably, in S1, the process of installing the seesaw rotating device on the aircraft includes:

[0027] S10, fixing the rocker plate and the sealing gasket, and fixing the shaft sleeve and the bushing by a press machine;

[0028] S11, the motor is fixedly connected to the base, and the power output end of the motor is transmission-connected to the connecting section of the seesaw through a connecting rod;

[0029] S12. Install the feedback unit at the corresponding position of the motor.

[0030] The present invention has at least the following beneficial effects: the present invention designs a seesaw rotating device, which improves the dynamic response of the system and reduces the error by selecting a high-power, high-precision servo motor in the external structure, and selecting a PID control algorithm for calculating the position error ratio, integral and differential and a feedback system combining a Hall sensor and an encoder in the internal structure, thereby achieving higher positioning accuracy;

[0031] Furthermore, the rotating shaft, bushing and motor all adopt rolling friction motion, which reduces the friction during the motion process, ensures good stability of the motion process, reduces errors caused by mechanical vibration or deformation, and thus achieves the stability of the reciprocating motion of the seesaw rotation.

[0032] In addition, the components of the seesaw rotating device are made of high-strength and fatigue-resistant alloy steel and stainless steel. Some of the components are heat-treated and surface-hardened to improve their surface hardness, toughness, wear resistance and corrosion resistance, thereby improving the strength of the seesaw rotation; the sealing gasket is made of high-temperature resistant, aging-resistant, corrosion-resistant, and resilient chloroprene rubber to ensure the sealing between the seesaw and the body.

[0033] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural schematic diagram of the seesaw rotating device of the present invention;

[0035] Figure 2 It is an exploded schematic diagram of the seesaw rotating device of the present invention, and the cooperation of the seesaw, the bushing, the shaft sleeve, and the rotating shaft;

[0036] Figure 3 It is a structural schematic diagram of a sealing gasket of the seesaw rotating device of the present invention;

[0037] Figure 4 It is an exploded schematic diagram of the seesaw rotating device of the present invention, the connecting rod, the motor and the base;

[0038] Figure 5 It is an exploded schematic diagram of the seesaw rotating device of the present invention, wherein the connecting rod cooperates with the seesaw;

[0039] Figure 6This is a pressure distribution cloud diagram of working condition 1 in an embodiment of the present invention;

[0040] Figure 7 This is a pressure distribution cloud diagram of working condition 2 in an embodiment of the present invention;

[0041] Figure 8 This is a pressure distribution cloud diagram of working condition 3 in an embodiment of the present invention;

[0042] Fig. 9 This is a pressure distribution cloud diagram of working condition 4 in an embodiment of the present invention;

[0043] Fig.10 This is a pressure distribution cloud diagram of working condition 5 in an embodiment of the present invention;

[0044] Fig.11 This is a pressure distribution cloud diagram of working condition 6 in an embodiment of the present invention;

[0045] Fig.12 This is a pressure distribution cloud diagram of working condition 7 in an embodiment of the present invention;

[0046] Fig.13 This is a pressure distribution cloud diagram of working condition 8 in an embodiment of the present invention;

[0047] Fig.14 This is a pressure distribution cloud diagram of working condition 9 in an embodiment of the present invention;

[0048] Fig.15 This is a pressure distribution cloud diagram of working condition 10 in an embodiment of the present invention;

[0049] Fig.16 This is a pressure distribution cloud diagram of working condition 11 in an embodiment of the present invention;

[0050] Fig.17 This is a pressure distribution cloud diagram of working condition 12 in an embodiment of the present invention;

[0051] Fig.18 This is a pressure distribution cloud diagram of working condition 13 in an embodiment of the present invention;

[0052] Fig.19 This is a pressure distribution cloud diagram of working condition 14 in an embodiment of the present invention;

[0053] Fig. 20 This is a pressure distribution cloud diagram of working condition 15 in an embodiment of the present invention;

[0054] Fig.21 This is a pressure distribution cloud diagram of working condition 16 in an embodiment of the present invention;

[0055] Fig. 22 This is a pressure distribution cloud diagram of working condition 17 in an embodiment of the present invention;

[0056] Fig.23 This is a pressure distribution cloud diagram of working condition 18 in an embodiment of the present invention;

[0057] Fig.24 This is a pressure distribution cloud diagram of working condition 19 in an embodiment of the present invention;

[0058] Fig.25 This is a pressure distribution cloud diagram of working condition 20 in an embodiment of the present invention;

[0059] Fig.26 This is a pressure distribution cloud diagram of working condition 21 in an embodiment of the present invention;

[0060] Fig. 27 This is a pressure distribution cloud diagram of working condition 22 in an embodiment of the present invention;

[0061] Fig.28 This is a pressure distribution cloud diagram of working condition 23 in an embodiment of the present invention;

[0062] Fig.29 This is a pressure distribution cloud diagram of working condition 24 in an embodiment of the present invention;

[0063] Fig.30 A schematic diagram of a three-dimensional inward-rotating air intake duct-isolation section structure constructed by an air intake duct and a double rocker structure in one embodiment of the present invention;

[0064] Fig.31 for Fig.30 Schematic diagram from another perspective;

[0065] Among them, seesaw-1, bushing-2, sleeve-3, shaft-4, sealing gasket-5, connecting rod-6, motor-7, base-8, connecting section-9, first-stage seesaw-13, second-stage seesaw-15, shaft I-12, shaft II-14, inlet section-10, outlet section-11, inlet-16, outlet-17. DETAILED DESCRIPTION

[0066] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0067] like Figure 1-Figure 5 As shown, the present invention provides a seesaw rotating device that can realize the flow regulation of the aircraft inlet duct in the wind tunnel test of the hypersonic aircraft model, which mainly includes: a seesaw 1, a bushing 2, a shaft sleeve 3, a rotating shaft 4, a sealing gasket 5, a connecting rod 6, a motor 7 and a base 8, wherein the base 8 and the shaft sleeve 3 are fixedly connected to the aircraft body; the motor 7 is arranged on the base 8, and the power output end of the motor 7 is connected to the connecting rod 6; a columnar mounting portion matching with the shaft sleeve 3 is arranged on the seesaw 1, and a connecting section 9 matching with the connecting rod 6 is arranged on the seesaw 1, and the seesaw 1 and the connecting section have a predetermined angle in space.

[0068] In actual applications, in order to improve the strength of the seesaw rotating device, the seesaw 1, bushing 2, shaft sleeve 3, shaft 4, connecting rod 6, base 8 and motor 7 internal components of the seesaw rotating device are all made of high-strength and fatigue-resistant alloy steel and stainless steel, among which the seesaw 1, shaft 4 and bushing 2 are subjected to appropriate heat treatment and surface hardening treatment, such as quenching, tempering, carburizing, chrome plating, etc., to improve their surface hardness, toughness, wear resistance and corrosion resistance.

[0069] In order to ensure the sealing performance of the seesaw rotating device during use, the sealing gasket in the seesaw rotating device is made of high temperature resistant, aging resistant, corrosion resistant, and resilient chloroprene rubber. This device has a simple structure, convenient manufacturing, clear principle, good effect, and has a good effect on the realization of hypersonic aircraft inlet configuration adjustment. The overall manufacturing cost is very low and has certain economy.

[0070] The seesaw rotation device for adjusting the flow rate of the aircraft inlet can be applied to the flow rate adjustment of the inlet of a hypersonic aircraft in a wide speed range and large airspace, and can quickly adjust the angle when adjusting the seesaw according to the needs in the wind tunnel test, and has the characteristics of high precision, good repeatability, strong reliability, etc. At the same time, during use, the adjustment target can be achieved by replacing the motor according to the specific parameter requirements such as the internal space of the aircraft, the size of the seesaw, and the rotation requirements of the seesaw, which can reduce the device R&D and maintenance costs and improve the operability of the device.

[0071] It should also be noted that in order to ensure the stability of the reciprocating motion of the seesaw rotating device, the rotating shaft and the bushing of the seesaw rotation are rotated through rolling bearings, and the ball screw inside the motor reciprocates. Both of these motion modes are rolling friction motions. This method reduces the friction during the motion process, ensures that the motion process has good stability, and reduces errors caused by mechanical vibration or deformation, thereby achieving the stability of the reciprocating motion of the seesaw rotating device.

[0072] Furthermore, the installation process of the seesaw rotating device includes:

[0073] 1. The sealing gasket 5, bushing 2, shaft sleeve 3 and rotating shaft 4 of the seesaw are fixedly connected, wherein the seesaw 1 and the sealing gasket 5 are fixedly connected with screws, and the shaft sleeve 3 and the bushing are pressed with a press until they are firmly fixed, and finally the rotating shaft 4, the seesaw 1 and the bushing are fixedly connected with a flat key and screws.

[0074] 2. Use bolts and nuts to fix the motor 7 and the base 8, and then use screws to fix the connecting rod 6 and the internal lead screw nut of the motor 7.

[0075] 3. Fix the other end of the connecting rod 6 to one end of the rocker 1 with stud bolts, nuts and washers.

[0076] 4. The base 8 and the sleeve 3 of the device are fixedly connected to the aircraft body respectively, and the travel of the connecting rod 6 is adjusted by controlling the rotation speed of the rotating shaft 4 of the motor 7 to realize the rotation of the seesaw 1 to meet different control requirements.

[0077] Furthermore, in order to improve the positioning accuracy of the connecting rod device, the motor in the connecting rod device uses a high-power, high-precision servo motor, and a feedback system combining a PID control algorithm and an encoder is used internally for position errors to improve the dynamic response of the system and reduce errors, thereby achieving higher positioning accuracy. The encoder is a device that provides feedback by measuring the angle and position of the motor rotor. It is fixed on the motor shaft and rotates with the rotation of the motor. It contains a set of gratings or magnetic elements. When the motor rotates, these elements will generate changing light signals or magnetic signals, which are converted into electrical signals and transmitted to the control module.

[0078] After receiving the electrical signal, the control module uses the PID control method (based on the proportional, integral, and devivative control algorithms) to perform proportional, integral, and differential operations on the system's deviation signal, and uses the results of the operations to adjust the system's input to achieve precise control of the system's output. The proportional control term is used to eliminate steady-state errors, the integral control term is used to eliminate static errors, and the differential control term is used to suppress the system's sensitivity to external disturbances. This method can more accurately control the motor output to improve the system's dynamic response and reduce errors.

[0079] In actual applications, this device converts the linear stroke of the servo motor into a rotational stroke through devices such as connecting rods and rotating shafts. The linear stroke of the motor is 49mm, the control accuracy is 0.01mm, the equivalent rotational stroke is 15 degrees, and the equivalent control accuracy of the rotation angle is 0.18 points, which can achieve precise control of the intake rocker rotating device.

[0080] Example 1: The reliability of the rotation of the inlet regulating seesaw in a wide speed range and large airspace hypersonic environment is verified by numerical simulation and theoretical analysis. Taking aircraft Mach numbers 2, 4, and 8 as typical flight conditions, numerical simulations are performed on the rotation of the aircraft inlet seesaw at different angles to obtain the pressure distribution on the seesaw surface under different working conditions (Table 1). The pressure load on the seesaw is calculated based on the seesaw surface pressure, and the seesaw is subjected to strength analysis based on the pressure load. Based on the analysis results, the reliability of the device is verified.

[0081] Table 1

[0082]

[0083] According to the pressure distribution of the seesaw under different working conditions, it can be concluded that the maximum pressure point is at the front end of the seesaw (see Figure 6-Figure 17 ), according to the pressure distribution on the outer surface of the seesaw, the pressure load on the seesaw is calculated and the strength analysis is carried out. Strength conditions: , is the maximum stress value of the simulation, is the allowable stress, is the yield strength, S is the safety factor, which is 2. The seesaw, bushing, sleeve, shaft, connecting rod, base and some motor parts are all made of high-strength and fatigue-resistant alloy quenched and tempered steel 30CrMnSiA during the implementation process. Its material properties are shown in Table 2. The stress cloud diagram of the seesaw under different loads in working conditions 13-24 is shown in Table 3 (it should be noted that the stress cloud diagram in Table 2 Figure 18-Figure 29 The calculation parameters represented by the stress cloud diagram include: the calculated stress type is the equivalent (von-Mises) stress in the static structure, the stress unit during calculation is MPa, and the load application is terminated after 1s of load application).

[0084] Table 2

[0085]

[0086] Table 3

[0087]

[0088] Through strength analysis, the maximum stress point of the seesaw under different working conditions (Table 1) is at the root of the seesaw (see Figure 18-Figure 29 ), and are all less than the allowable stress of the material, and the strength meets the use requirements. In addition, the device uses a high-power, high-precision servo motor, which can provide the required torque and achieve high positioning accuracy. The force is transmitted in the form of rolling friction motion during the transmission process, ensuring the stability of the device.

[0089] The above numerical simulation and theoretical analysis have verified that the device has high reliability in hypersonic environments with a wide speed range and large airspace.

[0090] In addition, although the seesaw rotating device is set in the hypersonic aircraft inlet, it has good stability, robustness and accuracy, and is the key to realize the inlet adjustment seesaw during ground tests and flight. However, the matching seesaw structure also needs to have good working performance, so the present invention further defines a local adjustment method for the three-dimensional inward rotating inlet of a wide-range air-breathing high-speed aircraft to meet its wide intake flow and local complex flow requirements, which mainly includes the following steps:

[0091] 1. Intake duct double rocker deformation method

[0092] by Fig.30 The method is introduced by taking the inward-inward three-dimensional inlet-isolator configuration as an example (see Fig.30 ), the inlet-isolation section configuration is 1990mm long and has a design Mach number of 6. When it is in the range below the design Mach number (Mach number 2~4), the inlet flow capture is poor and the working efficiency is low. In this regard, a double rocker control method is designed in the second half of the inlet. On the one hand, the aircraft forms one or more forebody shock waves during flight. Based on the basic principle of the characteristic line method, the characteristic line coverage area emitted by each point on the forebody shock wave is the dependency domain of the forebody shock wave. If the aircraft wall configuration in the dependency domain is modified, it will in turn affect the shape, intensity and other parameters of the forebody shock wave. Therefore, when designing a local geometric deformation scheme for the inlet, the inlet wall configuration in the forebody shock wave dependency domain cannot be changed, so as not to affect the shape and intensity of the forebody shock wave, thereby changing the performance of the inlet and the overall performance of the aircraft. On the other hand, when designing the local geometric deformation scheme of the air inlet, multiple factors such as the volume of the aircraft body, the demand for air by the combustion organization of the combustion chamber, and the three-dimensional geometric feature restrictions of the air inlet should be considered at the same time to achieve a better adjustment effect. In this method, the dependent domain of the shock wave of the aircraft forebody is used as the constraint condition for the design of the front end of the seesaw, and the turning section of the air inlet is used as the end of the seesaw design area.

[0093] Based on this principle, a seesaw structure is designed at the end of the shock wave dependent domain of the forebody of the aircraft (see Figure 30-Figure 31 ), the seesaw is the same width as the air inlet, and includes two levels of seesaws. The first level seesaw 13 can rotate around the rotation axis Ⅰ12 to the outside of the flow channel. The second level seesaw 15 is designed at the end of the first level seesaw. Based on the results of numerical calculation and analysis, it can be known that the length of the second level seesaw should be 1 to 3 times the thickness of the local boundary layer. The second level seesaw can rotate around the rotation axis Ⅱ14 to the outside of the flow channel. The first level seesaw 13 and the second level seesaw 15 are located between the inlet section 10 and the outlet section 11 of the air inlet, and the first level seesaw 13 and the second level seesaw 15 do not affect the smoothness of the gas channel constructed by the inlet 16 and the outlet 17 in the air inlet.

[0094] 2. Local deformation control method of double rocker

[0095] When the flight Mach number of the aircraft is lower than its aerodynamic design Mach number, flow regulation is achieved by rotating the first-stage seesaw, and the second-stage seesaw is kept at 0°. The greater the flight Mach number deviates from the design Mach number of the inlet, the greater the rotation angle of the first-stage seesaw, and the better the regulation effect on the total pressure recovery performance and flow field structure of the inlet. However, at the same time, the demand for oxidant by the combustion organization in the aircraft combustion chamber must be taken into account in combination with actual conditions.

[0096] When the flight Mach number is higher than the design Mach number, the inlet is in an over-rated state. At this time, the first-stage seesaw is kept at 0°, and the local flow field is adjusted by rotating the second-stage seesaw.

[0097] This scheme designs a seesaw structure that cooperates with the seesaw rotating device to adjust the inlet duct over a wide speed range and a large airspace. In the process of local deformation control of the seesaw, different control schemes are designed for two situations where the flight Mach number is lower than or higher than the design Mach number of the inlet duct, thereby achieving effective regulation of the inlet duct flow and optimization of the local flow field under wide Mach number conditions. It has the advantages of simple structure and easy implementation.

[0098] The above solution is only an illustration of a preferred embodiment, but is not limited thereto. When implementing the present invention, appropriate replacement and / or modification can be performed according to user needs.

[0099] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily realized. Therefore, without departing from the general concept defined by the claims and equivalent scope, the present invention is not limited to the specific details and the illustrations shown and described here.

Claims

1. A seesaw control method for adjusting the flow rate of an aircraft inlet, characterized in that: The invention comprises a seesaw rotating device matched with the seesaw, wherein the seesaw rotating device comprises: A base and a sleeve fixedly connected to the aircraft body; A motor is arranged on the base, and a connecting rod is arranged at a power output end of the motor; The seesaw is provided with a columnar mounting portion matched with the shaft sleeve; A rotating shaft is inserted into the mounting portion and connected to the shaft sleeve via a bushing; A feedback unit for obtaining the motor output status; Wherein, the seesaw is provided with a connecting section cooperating with the connecting rod, and the seesaw and the connecting section have a predetermined angle in space; The feedback unit is an encoder arranged on the motor shaft, and the encoder is communicatively connected with a control module provided in the motor; The seesaw is as wide as the air inlet and includes two stages of seesaws. The first stage seesaw can rotate around the rotation axis I toward the outside of the flow channel. A second stage seesaw is designed at the end of the first stage seesaw. The length of the second stage seesaw should be 1 to 3 times the thickness of the local boundary layer. The second stage seesaw can rotate around the rotation axis II toward the outside of the flow channel. The first stage seesaw and the second stage seesaw are located between the inlet section and the outlet section of the air inlet. The seesaw control method includes: When the flight Mach number of the aircraft is lower than its aerodynamic design Mach number, flow regulation is achieved by rotating the first-stage seesaw, and the second-stage seesaw is kept at 0°; When the flight Mach number is higher than the design Mach number, the inlet is in an over-rated state. At this time, the first-stage seesaw is kept at 0°, and the local flow field is adjusted by rotating the second-stage seesaw.

2. The seesaw control method for adjusting the flow rate of an aircraft inlet as claimed in claim 1, characterized in that: A sealing gasket is arranged on one end surface of the top of the seesaw.

3. The seesaw control method for adjusting the flow rate of an aircraft inlet as claimed in claim 1, characterized in that: The working mode of the seesaw rotating device includes: S1. Install a seesaw rotating device on the aircraft; S2, by controlling the rotation speed of the motor shaft to adjust the stroke of the connecting rod, so as to change the rotation angle of the connecting rod rocker to complete the intake duct flow regulation; In S1, the process of installing the seesaw rotation device on the aircraft includes: S10, fixing the rocker plate and the sealing gasket, and fixing the shaft sleeve and the bushing by a press machine; S11, the motor is fixedly connected to the base, and the power output end of the motor is transmission-connected to the connecting section of the seesaw through a connecting rod; S12, installing the feedback unit at the corresponding position of the motor; In S2, it also includes: S20, when the motor rotates, real-time position data of the motor is obtained through the feedback unit in real time, and transmitted back to the control module; S21, the control module compares the real-time position data with the target position data to obtain an error value between the two; S22, the control module obtains a control amount for eliminating the error value based on a PID control method to control the motor output; In S20, the real-time location data is obtained in the following manner: The magnetic pole position is detected in real time through the Hall sensor to obtain the motor running status feedback information related to the motor speed and position; The encoder is used to detect the rotation state of the motor shaft in real time to obtain the current position feedback information of the motor shaft.

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