A flexible variable loading device for deploying folding rudders in pyrotechnic devices and its testing method

Abstract

This invention relates to a flexible variable loading device and testing method for deploying a folding fin of a pyrotechnic device. In this device, one end of a loading plate is used to clamp the folding fin, and the other end is fixedly mounted on a loading disk. The loading disk is fixedly mounted on a connecting rod, which is mounted on a bracket via bearings. A roller is mounted on a roller bracket. One end of a flexible polyester rope is fixed to the loading disk, and the other end passes over the roller on the roller bracket and is fixed to one end of a tension spring. The other end of the tension spring is fixed to the upper end of a lead screw, and the lower end of the lead screw is fixed to a ground bracket. An encoder is fixed to the bracket, and the encoder's shaft is fixedly connected to the connecting rod, used to measure the rotation angle, angular velocity, and angular acceleration of the folding fin. The pyrotechnic device is installed inside a mounting cylinder. One end of a tension sensor is connected to a connecting rod of the pyrotechnic device, and the other end of the tension sensor is connected to the fin connecting rod via a guide cylinder. The fin is mounted on the guide cylinder, and the tension sensor is used to measure the tension generated by the pyrotechnic device during the rotation of the folding fin.

Description

Technical Field

[0001] This invention relates to a flexible variable loading device and test method for deploying folding fins in pyrotechnic devices, applicable to flexible variable loading during the deployment of folding fins. Background Technology

[0002] Folding wing technology has become a new aircraft design trend due to its various outstanding advantages (high maneuverability, high platform adaptability).

[0003] Existing folding rudders all use sliders and elastic ropes to load the axially folded (retracted) and unfolded rudders, and are not suitable for loading radially folded rudders (one rudder folds into two parts).

[0004] Folding fin deployment loading simulates the tailwind and headwind conditions when the folding fins are deployed during aircraft launch. It involves applying variable forward and reverse loading to the fin loading area, mainly simulating the deployment action of the folding fins under real working conditions during aircraft launch, and evaluating the ignition operation performance of the pyrotechnic device. It is one of the important test items before the delivery of the pyrotechnic device.

[0005] The environmental conditions for the deployment and folding of pyrotechnic devices vary greatly depending on the time and location of the aircraft launch. Wind force and direction will affect the load drag when the pyrotechnic devices deploy and fold the folding fins.

[0006] Existing folding wing deployment loading technology mainly uses a servo motor to apply load through a torque sensor-coupling-connecting shaft-coupling-loading plate-connecting shaft, and uses an encoder to measure rotation angle, angular velocity, angular acceleration, etc. The main problems with this technology are as follows:

[0007] (1) There are many rotating elements, and the inertial torque generated by the rotational inertia during the loading motion is large. At the same time, because the wing surface is driven by the pyrotechnic device to unfold, the motion speed and fluctuation are violent, making it difficult to control and impossible to eliminate the rotational inertia.

[0008] (2) The existing servo motor variable load loading test system has a large moment of inertia. After the folding rudder is unfolded and locked, the loading system continues to rotate forward, exceeding the structural strength of the folding rudder, resulting in damage to the rudder. Summary of the Invention

[0009] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a flexible variable loading device and test method for deploying folding fins in pyrotechnic devices, so as to realize the variable direction and variable loading torque during the deployment process of folding fins.

[0010] The solution to the technical problem of the present invention is: a flexible variable loading device for deploying folding rudder wings in a pyrotechnic device, characterized in that it includes a loading plate, a loading disk, an encoder, a connecting rod, a bracket, a tension spring, a flexible polyester rope, a lead screw, a guide cylinder, a tension sensor, a mounting cylinder, a roller, and a roller bracket;

[0011] One end of the loading plate is used to clamp the folding rudder, and the other end is fixedly mounted on the loading disk. The loading disk is fixedly mounted on the connecting rod, which is mounted on the bracket via bearings. The roller is mounted on the roller bracket. One end of the flexible polyester rope is fixed to the loading disk, and the other end passes through the roller on the roller bracket and is fixed to one end of the tension spring. The other end of the tension spring is fixed to the upper end of the lead screw, and the lower end of the lead screw is fixed to the ground bracket. The encoder is fixed to the bracket, and the encoder shaft is fixedly connected to the connecting rod. It is used to measure the rotation angle, angular velocity, and angular acceleration of the folding rudder.

[0012] The pyrotechnic device is installed inside the mounting cylinder. One end of the pyrotechnic device's pull rod is connected to a tension sensor, and the other end of the tension sensor is connected to a rudder connecting rod passing through the guide cylinder. The rudder is mounted on the guide cylinder, and the tension sensor is used to measure the tension generated by the pyrotechnic device during the rotation of the folding rudder.

[0013] Preferably, the loading plate, loading disk, and folding rudder shaft are coaxial and have the same rotation radius.

[0014] Preferably, the loading disk is provided with N loading rods, and the flexible polyester rope is fixed to the loading disk by connecting the loading rods. The loading rods are involutes or arcs, and N is greater than or equal to 2.

[0015] Preferably, the strength of the flexible polyester rope is greater than twice the loading torque of the folding rudder.

[0016] Preferably, the range of the tension sensor is greater than 1.5 times the peak tension of the pyrotechnic device.

[0017] Preferably, during forward loading, the direction of the force on the flexible polyester rope is consistent with the direction of deployment of the folding rudder.

[0018] Preferably, during reverse loading, the direction of the force on the flexible polyester rope is opposite to the direction of the folding rudder deployment.

[0019] Preferably, the flexible polyester rope is pulled out in a direction parallel to the loading disk plane and perpendicular to the rudder.

[0020] Another technical solution of the present invention is: a method for testing the performance of a folding rudder, the method comprising the following steps:

[0021] S1. Before the test, the tensile sensor was calibrated using a material testing machine to obtain the relationship between the output voltage of the tensile sensor and the tensile force;

[0022] S2. Install the flexible variable loading device for unfolding the folding rudder of the above-mentioned pyrotechnic device. With the pyrotechnic device and tension sensor removed, use a torque wrench to rotate the loading plate until it reaches the initial position of the folding rudder. Read the torque value, adjust the length of the flexible polyester rope and the extension of the screw until the torque value meets the preset requirements, and apply the preset initial torque to the folding rudder.

[0023] S3. Install the pyrotechnic device and the tension sensor. After the pyrotechnic device is activated, it generates tension. The pyrotechnic device pulls the tension sensor and the rudder linkage. The folding part of the rudder first cuts the shear pin, then overcomes the load force to rotate into place and lock.

[0024] S4. Based on the encoder accuracy and the number of output pulses-time, calculate the angle-time curve, angular velocity-time curve, and angular acceleration-time curve of the folding rudder during the operation of the pyrotechnic device under the condition that the folding rudder has a preset initial torque loading and the load changes gradually.

[0025] S5. Based on the voltage output by the tension sensor, substitute it into the relationship between the output voltage of the tension sensor and the tension to obtain the tension-time curve of the pyrotechnic device during operation when the folding rudder is subjected to a preset initial torque loading and the load gradually changes.

[0026] In step S1, the relationship between the output voltage of the tension sensor and the tension is fitted using the least squares method, which is F = aV + b, where F is the tension value, V is the voltage value output by the tension sensor, and a and b are constant coefficients calculated by the least squares method during calibration. The number of calibration points is no less than 6.

[0027] The advantages of this invention compared to the prior art are:

[0028] (1) The present invention uses tension springs and lightweight flexible polyester ropes to replace the motor loading in the prior art, which reduces the moment of inertia and avoids excessive inertial impact after the folding rudder is unfolded into place, which would cause damage to the rudder.

[0029] (2) The present invention can achieve forward and reverse loading by changing the installation direction of the tension spring and the lightweight polyester rope according to the needs.

[0030] (3) The loading point of the loading rod (flexible polyester rope) of the present invention is arranged in an involute shape, and the loading force radius is changed to realize variable loading during the unfolding process of the folding rudder.

[0031] (4) The present invention uses the method of generating tension by spring deformation to realize the loading of the folding rudder during the unfolding process. Compared with the motor loading method in the prior art, the folding rudder loading process is simplified under the premise of satisfying the transient variable loading of the folding rudder.

[0032] (5) The present invention verifies the action and force of the rudder wing during the unfolding process by testing the pulling force during the process of pulling the folding rudder wing of the pyrotechnic device. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the unfolding of the folding wing surface according to an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram illustrating the unfolding and folding of the folding wing surface according to an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the flexible variable loading device for deploying folding rudders in a pyrotechnic apparatus according to an embodiment of the present invention.

[0036] Figure 4 This is a simplified diagram of the folded state of the variable-load rudder wing during forward loading, according to an embodiment of the present invention.

[0037] Figure 5 This is a left view of the deployed state of the variable-load rudder wing during forward loading, according to an embodiment of the present invention.

[0038] Figure 6 This is a simplified diagram of the folded state of the variable-load rudder during reverse loading, according to an embodiment of the present invention.

[0039] Figure 7(a) is a front view of the involute loading disk according to an embodiment of the present invention;

[0040] Figure 7(b) is a cross-sectional view of the involute loading disk according to an embodiment of the present invention;

[0041] Figure 8 This is a schematic diagram of an equidistant loading disk according to an embodiment of the present invention;

[0042] Figure 9(a) is a left view of the connecting rod in an embodiment of the present invention;

[0043] Figure 9(b) is a front view of the connecting rod in an embodiment of the present invention. Detailed Implementation

[0044] The present invention will be further described below with reference to the embodiments.

[0045] Figure 1 This is a schematic diagram of the rudder wing surface deployment. Figure 2 This is a schematic diagram of the unfolding and folding of the folding wing surface; as shown in the diagram, the wing surface unfolds and folds by rotating around the rotation axis.

[0046] like Figure 3 As shown, the present invention provides a flexible variable loading device for deploying folding rudders in a pyrotechnic device, comprising a loading plate 1, a loading disk 2, an encoder 3, a connecting rod 4, a bracket 5, a tension spring 6, a flexible polyester rope 7, a lead screw 8, a guide cylinder 11, a tension sensor 10, a mounting cylinder 9, and a roller 12.

[0047] One end of the loading plate is clamped to the rudder clamping part by a screw, clamping the folding rudder. The other end is fixedly mounted on the loading disk. The loading disk 2 is mounted on the connecting rod by a key and a retaining ring. The connecting rod is mounted on the bracket by a bearing. The roller 12 is mounted on the roller bracket. One end of the flexible polyester rope is fixed to the loading disk, and the other end passes through the roller on the roller bracket and is fixed to one end of the tension spring. The other end of the tension spring is fixed to the upper end of the lead screw, and the lower end of the lead screw is fixed to the ground bracket. The lead screw is used to adjust the height of the tension spring from the ground. The encoder 3 is fixed to the bracket 5. The rotating shaft of the encoder 3 is fixedly connected to the connecting rod 4 by a stop screw and rotates synchronously to measure the rotation angle, angular velocity, and angular acceleration of the folding rudder.

[0048] The pyrotechnic device is installed on the mounting cylinder 9 with bolts and nuts. One end of the pyrotechnic device pull rod is connected to the tension sensor 10, and the other end of the tension sensor is connected to the rudder connecting rod passing through the guide cylinder. The rudder is installed on the guide cylinder 11. The tension sensor 10 is used to measure the tension generated by the pyrotechnic device during the rotation of the folding rudder.

[0049] During installation, loading plate 1 should contact and clamp the rudder clamping part. After installation, rotating loading disk 2 should result in smooth rotation of loading plate 1, loading disk 2, and rudder.

[0050] Preferably, the loading plate is in contact with the rudder clamping part, the loading plate, loading disk, and rudder shaft are coaxial and have the same rotation radius, and the loading plate, loading disk, and connecting rod have small mass.

[0051] Preferably, the loading disk 2 is provided with N loading rods, and the flexible polyester rope 7 is fixed on the loading disk 2 by connecting the loading rods. The loading rods are involutes or arcs, and N is greater than or equal to 2.

[0052] Preferably, the tension spring stiffness is not less than 1 N / mm.

[0053] Preferably, the strength of the flexible polyester rope is greater than twice the loading torque of the folding rudder.

[0054] Preferably, the range of the tension sensor is greater than 1.5 times the peak tension of the pyrotechnic device, and the range of the tension sensor can be selected according to 1.5 times the maximum tension when the pyrotechnic device is working.

[0055] The flexible polyester rope 7 is pulled out in a direction parallel to the plane of the loading disk 2 and perpendicular to the rudder.

[0056] The present invention also provides a test method for a flexible variable loading device that utilizes the folding fin deployment of the device, comprising:

[0057] S1. Before the test, the tensile sensor 10 is calibrated using a material testing machine to obtain the relationship between the output voltage of the tensile sensor 10 and the tensile force.

[0058] The tensile sensor is calibrated using a material testing machine according to JJG 669. The calibration steps are generally five equally spaced steps. The intercept and slope of the calibration line are calculated from the calibration data.

[0059] Specifically, the relationship between the output voltage and the tension of the tension sensor 10 is fitted using the least squares method: F = aV + b, where F is the tension value, V is the voltage value output by the tension sensor, and a and b are constant coefficients calculated by the least squares method during calibration. The number of calibration points is no less than 6.

[0060] S2. Construct the flexible variable loading device for unfolding the folding rudder. With the pyrotechnic device and tension sensor removed, use a torque wrench to rotate the loading disk 2 until it reaches the initial position of the folding rudder. Read the torque value and adjust the length of the flexible polyester rope 7 and the extension of the screw 8 until the torque value meets the preset requirements. Apply the preset initial torque to the folding rudder.

[0061] S3. Install the pyrotechnic device and tension sensor. After the pyrotechnic device operates, it generates tension. The pyrotechnic device pulls the tension sensor 10 and the rudder linkage. The folding part of the rudder first cuts the shear pin, then overcomes the loading force to rotate into place and lock. Figure 4 , Figure 5 As shown.

[0062] S4. Based on the encoder 3 accuracy and the number of output pulses-time, calculate the angle-time curve, angular velocity-time curve, and angular acceleration-time curve of the folding rudder during the operation of the pyrotechnic device under the condition that the folding rudder has a preset initial torque loading and the load changes gradually.

[0063] S5. Based on the voltage output by the tension sensor 10, substitute it into the relationship between the output voltage of the tension sensor 10 and the tension to obtain the tension-time during the operation of the pyrotechnic device under the condition that the folding rudder is subjected to a preset initial torque loading and the load gradually changes.

[0064] The voltage and tension are numerically fitted using the least squares method to obtain the tension-time curve of the pyrotechnic device-rudder.

[0065] This invention can achieve forward and reverse loading by changing the positions of the flexible polyester rope 7, roller 12, and tension spring relative to the loading disk 2. During forward loading, the direction of the force on the flexible polyester rope 7 is consistent with the deployment direction of the folding rudder; during reverse loading, the direction of the force on the flexible polyester rope 7 is consistent with the deployment direction of the folding rudder. Figure 6 As shown.

[0066] As a preferred option, the accuracy of the encoder can be determined by calculating the rotation time based on the magnitude of the angular velocity and angular acceleration of the folding rudder.

[0067] As a preferred option, the specifications and model of the tension spring can be determined based on the rotation stroke and the magnitude of the loading torque, including the tension spring stiffness, initial size, and final size. The deformation size of the tension spring should be greater than the rotation stroke, and the product of the tension spring stiffness and the deformation size of the tension spring should be greater than the loading torque.

[0068] The stiffness k of a tension spring is related to the shear modulus, material diameter, effective number of coils, and mean diameter of the tension spring.

[0069]

[0070] Where G is the shear modulus of the tension spring (MPa), d is the material diameter (mm), n is the effective number of coils of the tension spring, and D is the mean diameter of the tension spring (mm).

[0071] As a preferred option, the size of the loading plate can be determined based on the size of the loading part of the folding part of the rudder and the loading torque. This includes the thickness, length, connection size and overall size of the loading plate. The thickness of the loading plate should ensure that it does not deform during the rotation of the rudder, the length should be as small as possible, the connection size should ensure that the connection is reliable during the rotation, and the overall size should ensure that the wind resistance is low during the rotation.

[0072] As a preferred option, the position and size of the loading disk and loading plate can be determined based on the rotation radius of the loading part of the folding rudder. The loading disk is coaxial with the rotation axis of the folding rudder, and the radius of the loading plate fixed on the loading disk is the same as the rotation radius of the loading part of the folding rudder.

[0073] As a preferred solution, the position and dimension curve of the loading rods (flexible polyester ropes) on the loading disk can be determined based on the loading torque curve of the folded part of the rudder. For constant torque loading, the loading rods are on the same circle of the loading disk. For variable torque loading, the loading rods are arranged in an involute pattern, with the distance between the loading rods and the center of the loading disk gradually decreasing and increasing, and the difference in distance between any two adjacent loading rods and the center is equal. During the loading process of the flexible polyester ropes, each loading rod is subjected to force sequentially. (See Figures 7(a) and 7(b)). Figure 8 As shown.

[0074] As a preferred option, the dimensions of the connecting rod and the bracket can be determined based on the rotation radius of the loading part of the folding wing. The connecting rod is coaxial with the rotation axis of the folding wing, and the height of the bracket should be greater than the dimension of the folding wing when folded downwards. The structure of the connecting rod is shown in Figures 9(a) and 9(b).

[0075] As a preferred option, the specifications and dimensions of the flexible polyester rope can be determined based on the loading torque of the folding part of the rudder wing. The strength of the flexible polyester rope should be greater than twice the loading torque of the folding rudder wing.

[0076] As a preferred option, the size of the guide tube can be determined based on the interface size of the folding rudder and the pyrotechnic device. The interface size of the guide tube should be consistent with the interface size of the folding rudder and the pyrotechnic device. The inner diameter of the guide tube should be greater than the outer diameter of the folding rudder connecting rod, and the height of the guide tube should be less than the length of the cylindrical section of the folding rudder connecting rod.

[0077] As a preferred option, the size of the mounting cylinder can be determined based on the dimensions of the pyrotechnic device and the tension sensor. The internal space of the mounting cylinder should facilitate the installation of the tension sensor, and the height of the mounting cylinder should be greater than 1.5 times that of the tension sensor.

[0078] Preferably, the loading plate is made of aluminum.

[0079] Preferably, the loading disk is made of steel. When determining the position and dimension curve of the loading rod (flexible polyester rope) on the loading disk, the position and dimension curve can be an involute or a circular arc. The involute or circular arc curve is selected according to the change requirements of the loading force.

[0080] In summary, this invention, through a rationally designed tension transmission path of the tension spring 6 and the use of a high-strength, low-elongation, lightweight, flexible polyester rope 7, accurately loads the folded part of the rudder wing by adjusting the height of the roller 12. It mainly includes several aspects: rudder wing fixing, tension transmission of the pyrotechnic device, loading force transmission, and signal conversion. Specifically, the rudder wing is fixed via the guide cylinder 11 and the mounting cylinder 9; the rudder wing folding part's pull rod is connected to the tension sensor and the pyrotechnic device; one end of the loading plate clamps the folded part of the rudder wing, and the other end is vertically fixed to the loading plate 2; the loading plate 2 is fixed to the connecting rod via a key; the connecting rod is fixed to the bearing bracket; one end of the flexible polyester rope 7 is fixed to the loading plate 2, and the other end is fixed to the tension spring 6 via the roller 12; the other end of the tension spring 6 is fixed to the lead screw 8; after the pyrotechnic device operates, the piston rod pulls the folded rudder wing through the tension sensor. Partially, the shear pins of the folding section of the rudder wing are cut off, and the rudder wing rotates to its final position against the load. The height and forward / backward position of the roller 12 are adjusted to ensure that the direction of the flexible polyester rope 7 is pulled out parallel to the loading disc 2 and perpendicular to the rudder wing. The mechanical deformation force of the high-strength, low-elongation, lightweight flexible polyester rope 7 and the tension spring 6 is used to reduce the additional rotational inertia. The deformation coefficient of the tension spring 6 is calculated based on the rotational stroke and the magnitude of the loading torque to determine the specifications and model of the tension spring 6. The deformation dimension of the tension spring should be greater than the rotational stroke, and the product of the stiffness and the deformation dimension of the tension spring should be greater than the loading torque. The loading force is finely adjusted using the lead screw 8 to quickly adjust the magnitude of the loading force. The voltage signal generated by the tension is calibrated using the least squares method to obtain the tension-time curve of the pyrotechnic device. This invention has a small rotational inertia, is simple to assemble and operate, and can obtain complete angle-time curves, angular velocity-time curves, angular acceleration-time curves of the folding rudder wing, and tension-time curves of the pyrotechnic device. It has good repeatability and small deviation in multiple measurements, eliminating the adverse effects of large rotational inertia when the folding rudder is loaded and deployed.

[0081] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A flexible, variable loading device for deploying folding rudders in a pyrotechnic apparatus, characterized in that... Includes loading plate (1), loading disk (2), encoder (3), connecting rod (4), bracket (5), tension spring (6), flexible polyester rope (7), lead screw (8), guide cylinder (11), tension sensor (10), mounting cylinder (9), roller (12), and roller bracket; One end of the loading plate (1) is used to clamp the folding rudder, and the other end is fixedly installed on the loading disk (2). The loading disk (2) is fixedly installed on the connecting rod (4). The connecting rod (4) is installed on the bracket (5) through the bearing. The roller (12) is installed on the roller bracket. One end of the flexible polyester rope (7) is fixed on the loading disk (2), and the other end passes through the roller (12) on the roller bracket and is fixed to one end of the tension spring (6). The other end of the tension spring (6) is fixed to the upper end of the lead screw (8), and the lower end of the lead screw (8) is fixed to the ground bracket. The encoder (3) is fixed on the bracket (5). The rotating shaft of the encoder (3) is fixedly connected to the connecting rod (4) and is used to measure the rotation angle, angular velocity, and angular acceleration of the folding rudder. The pyrotechnic device is installed inside the mounting cylinder (9). The pyrotechnic device pull rod is connected to one end of the tension sensor (10), and the other end of the tension sensor (10) is connected to the rudder connecting rod passing through the guide cylinder (11). The rudder is installed on the guide cylinder (11), and the tension sensor (10) is used to measure the tension generated by the pyrotechnic device during the rotation of the folding rudder.

2. The flexible variable loading device for deploying folding rudders in a pyrotechnic apparatus according to claim 1, characterized in that, The loading plate (1), loading disk (2), and folding rudder shaft are coaxial and have the same rotation radius.

3. The flexible variable loading device for deploying folding rudders in a pyrotechnic apparatus according to claim 1, characterized in that, The loading disk (2) is provided with N loading rods. The flexible polyester rope (7) is fixed on the loading disk (2) by connecting the loading rods. The loading rods are involutes or arcs, and N is greater than or equal to 2.

4. The flexible variable loading device for deploying folding rudders in a pyrotechnic apparatus according to claim 1, characterized in that, The strength of the flexible polyester rope is greater than twice the loading torque of the folding rudder.

5. A flexible variable loading device for deploying folding rudders in a pyrotechnic apparatus according to claim 1, characterized in that, The range of the tension sensor is greater than 1.5 times the peak tension of the pyrotechnic device.

6. A flexible variable loading device for deploying folding rudders in a pyrotechnic apparatus according to claim 1, characterized in that, When loaded in the forward direction, the direction of the force on the flexible polyester rope (7) is consistent with the direction of the folding rudder deployment.

7. A flexible variable loading device for deploying folding rudders in a pyrotechnic apparatus according to claim 1, characterized in that, When reverse loading occurs, the direction of the force on the flexible polyester rope (7) is opposite to the direction of the unfolding of the folding rudder.

8. A flexible variable loading device for deploying folding rudders in a pyrotechnic apparatus according to claim 1, characterized in that, The flexible polyester rope (7) is pulled out in a direction parallel to the plane of the loading disk (2) and perpendicular to the rudder.

9. A method for testing the performance of a folding rudder, characterized in that... Includes the following steps: S1. Before the test, the tensile sensor (10) was calibrated using a material testing machine to obtain the relationship between the output voltage of the tensile sensor (10) and the tensile force. S2. Install the flexible variable loading device for unfolding the folding rudder of the pyrotechnic device as described in claim 1. With the pyrotechnic device and the tension sensor removed, use a torque wrench to rotate the loading disk (2) until it reaches the initial position of the folding rudder, read the torque value, adjust the length of the flexible polyester rope (7) and the extension of the screw (8) until the torque value meets the preset requirements, and apply the preset initial torque to the folding rudder. S3. Install the pyrotechnic device and the tension sensor. After the pyrotechnic device works, it generates tension. The pyrotechnic device pulls the tension sensor (10) and the rudder connecting rod. The folding part of the rudder first cuts the shear pin, then overcomes the loading force to rotate into place and lock. S4. Based on the encoder (3) accuracy and the number of output pulses-time, calculate the angle-time curve, angular velocity-time curve, and angular acceleration-time curve of the folding rudder during the operation of the pyrotechnic device under the condition that the folding rudder has a preset initial torque loading and the load changes gradually. S5. Based on the voltage output by the tension sensor (10), substitute it into the relationship between the output voltage and tension of the tension sensor (10) to obtain the tension-time curve of the pyrotechnic device during operation when the folding rudder is subjected to a preset initial torque loading and the load gradually changes.

10. The method for testing the performance of a folding rudder according to claim 9, characterized in that, In step S1, the relationship between the output voltage of the tension sensor (10) and the tension is fitted according to the least squares method, F = aV + b, where F is the tension value, V is the voltage value output by the tension sensor, and a and b are constant coefficients calculated by the least squares method during calibration. The number of calibration points is not less than 6.

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