Universal torque and linear force loading test mechanism and control method

Abstract

The invention discloses a universal torque and linear force loading test mechanism and a control method, belongs to the field of steering engine loading test, and aims at solving the problem that an existing steering engine loading test mechanism is single in function. The mechanism comprises a test motor and a test steering engine, the output end of the test motor is sequentially connected with the output ends of a first dynamic torque sensor, an adapter shaft and the test steering engine, and a PID controller is electrically connected with the test motor and the first dynamic torque sensor; or the output end of the test motor is sequentially connected with the output ends of the first dynamic torque sensor, the screw rod of the ball screw mechanism, the screw sleeve of the ball screw mechanism, the second dynamic force sensor and the test steering engine, and the PID controller is electrically connected with the test motor and the second dynamic torque sensor. The input current of the test motor is adjusted in real time through the PID controller, the output torque of the mechanism can be accurately controlled, the output torque linearly reaches the expected torque, and the test precision is high.

Description

Technical Field

[0001] The invention belongs to the field of steering gear loading test, and in particular relates to a universal loading test mechanism for torque and linear force and a control method. Background Art

[0002] In the process of developing new types of missiles, aircraft and other aircraft, it is necessary to conduct comprehensive tests on the performance of the aircraft to ensure that the performance of the aircraft strictly meets the index requirements. Compared with traditional full-physical experiments, the space environment of the aircraft is simulated under laboratory conditions, and ground semi-physical simulation experiments are conducted. The experimental data obtained is more reliable and repeatable, and can reproduce the working conditions of the aircraft under various extreme conditions. While ensuring that the performance of the aircraft meets the index requirements, it significantly shortens the R&D cycle and saves scientific research funds. Therefore, ground semi-physical simulation experiments have become a necessary step in the development process of various aircraft and have received widespread attention.

[0003] As the actuator of the aircraft control system, the servo has a direct impact on the overall performance of the aircraft. In order to simulate the torque effect on the servo under various flight conditions in the ground semi-physical simulation experiment, it is necessary to design a servo torque / force loading test mechanism to perform torque / force loading tests on the servo shaft of the aircraft to simulate the various torque effects on the control surface during flight. A high-performance torque / force loading test mechanism is the key to ensuring the reliability and credibility of the ground semi-physical simulation experiment.

[0004] In addition, modern aircraft usually have both rotary and linear servos. When conducting ground semi-physical simulation experiments on aircraft, torque and force loading tests are required at the same time. In order to reduce the cost of the test, the loading test mechanism is required to have the functions of torque loading and force loading. The existing loading test mechanism has a single function and cannot meet the requirements of linear force and torque loading tests at the same time. Summary of the invention

[0005] The purpose of the present invention is to provide a universal loading test mechanism and control method for torque and linear force, so as to solve the problem that the existing servo loading test mechanism has a single function. The technical solution adopted by the present invention is as follows:

[0006] A universal loading test mechanism for torque and linear force, comprising a test motor, a first dynamic torque sensor, a ball screw mechanism, a transfer shaft, a second dynamic force sensor, a test steering gear and a PID controller;

[0007] The first mounting seat, the second mounting seat and the third mounting seat are fixed on the test bench from left to right in sequence, the test steering gear is mounted on the first mounting seat, the first dynamic torque sensor is mounted on the second mounting seat, the test motor is mounted on the third mounting seat, and the output end of the test motor is connected to the right end shaft head of the first dynamic torque sensor;

[0008] When performing a torque loading test, the left end shaft head of the first dynamic torque sensor is connected to the right end of the adapter shaft, the output end of the test servo is connected to the left end of the adapter shaft, and the PID controller is electrically connected to the test motor and the first dynamic torque sensor respectively;

[0009] When performing a linear force loading test, the left end shaft head of the first dynamic torque sensor is connected to the screw of the ball screw mechanism, the output end of the test servo is connected to one end of the second dynamic force sensor, and the other end of the second dynamic force sensor is connected to the screw sleeve of the ball screw mechanism. The PID controller is electrically connected to the test motor and the second dynamic torque sensor, respectively.

[0010] Furthermore, the output end of the test motor is connected to the right end shaft head of the first dynamic torque sensor through a first coupling.

[0011] Further, the left end shaft head of the first dynamic torque sensor is connected to the right end of the adapter shaft through the second coupling, or the left end shaft head of the first dynamic torque sensor is connected to the screw of the ball screw mechanism through the second coupling.

[0012] Further, the output end of the test servo is connected to the left end of the adapter shaft through a third coupling, or the output end of the test servo is connected to the second dynamic force sensor through a third coupling.

[0013] Furthermore, the second dynamic force sensor is an S-type force sensor.

[0014] Furthermore, the first mounting seat, the second mounting seat and the third mounting seat are respectively detachably connected to the test bench.

[0015] The present invention also provides a torque and linear force universal loading test control method, which is implemented based on the above-mentioned torque and linear force universal loading test mechanism and includes the following steps:

[0016] Step 1: Customize the first mounting seat and the third coupling according to the external mounting dimensions and mounting height of the test servo;

[0017] Step 2: fix the test motor, the first dynamic torque sensor, the second mounting seat, the third mounting seat and the first coupling on the test bench according to the connection method of the loading test mechanism;

[0018] Step 3: Select a loading component according to the loading test requirements. When performing a torque loading test, the left end shaft head of the first dynamic torque sensor is connected to the right end of the adapter shaft. When performing a linear force loading test, the left end shaft head of the first dynamic torque sensor is connected to the screw of the ball screw mechanism, and the second dynamic force sensor is connected to the screw sleeve of the ball screw mechanism.

[0019] Step 4: Install the test servo, the first mounting seat and the third coupling on the test bench according to the connection mode of the loading test mechanism, and connect the third coupling to the second dynamic force sensor or the adapter shaft;

[0020] Step 5, electrically connecting the PID controller to the test motor, and electrically connecting the PID controller to the first dynamic torque sensor or the second dynamic force sensor;

[0021] Step 6: Start the test motor and the PID controller, and select to start the first dynamic torque sensor or the second dynamic force sensor according to the loading test requirements. When performing the torque loading test, start the first dynamic torque sensor, and when performing the linear force loading test, start the second dynamic force sensor;

[0022] Step 7: According to the loading test requirements, the loading mode of the PID controller is selected as a torque loading mode or a linear force loading mode;

[0023] Step 8: setting the desired torque of the PID controller;

[0024] Step 9: The test motor runs using the current adjusted by the PID controller and generates a control torque, while the test steering gear generates an interference torque, and the combined torque of the control torque and the interference torque is the output torque;

[0025] Step 10: The first dynamic torque sensor or the second dynamic force sensor measures the output torque, and transmits the measurement result to the PID controller in real time;

[0026] Step 11, the PID controller calculates and adjusts the new input current of the test motor in real time according to the measurement result of the first dynamic torque sensor or the second dynamic force sensor and the expected torque;

[0027] Step 12: Repeat steps 10 to 12 until the test is completed;

[0028] Step 13: changing the desired torque of the PID controller to zero, so that the loading test mechanism gradually stops running;

[0029] Step 14: Turn off the test motor and the PID controller, and turn off the first dynamic torque sensor or the second dynamic force sensor;

[0030] Step 15. Remove the test servo, test servo mounting bracket and the third coupling.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The purpose of the present invention is to solve the problems that the servo load simulator has high cost, large space and a servo loading test bench can only test one type and size of servo. According to the requirements of the loading test, the loading component between the test motor and the test servo is selected to realize the loading test of both linear servos and rotary servos. The test system has the characteristics of low cost, small space, simple and reliable structure and relatively high precision.

[0033] 2. The input current of the test motor is adjusted in real time by the PID controller, so that the output torque of the mechanism of the present invention can be accurately controlled, so that the output torque linearly reaches the expected torque, and the test accuracy is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the mechanism structure of the present invention when performing a moment loading test;

[0035] Figure 2 It is a control strategy flow chart of the control method of the present invention under the torque loading mode;

[0036] Figure 3 It is a schematic diagram of the mechanism structure when the present invention performs a linear force loading test;

[0037] Figure 4 It is a control strategy flow chart of the control method of the present invention under the linear force loading mode.

[0038] In the figure, 1. test motor, 2. third mounting seat, 3. first coupling, 4. first dynamic torque sensor, 5. second mounting seat, 6. second coupling, 7. ball screw mechanism, 8. adapter shaft, 9. second dynamic force sensor, 10. third coupling, 11. test servo, 12. first mounting seat. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0040] The connection mentioned in the present invention is divided into fixed connection and detachable connection. The fixed connection is a non-detachable connection including but not limited to conventional fixed connection methods such as folding connection, rivet connection, bonding connection and welding connection. The detachable connection includes but not limited to conventional detachable methods such as bolt connection, snap connection, pin connection and hinge connection. When the specific connection method is not clearly defined, it is assumed that at least one connection method can be found in the existing connection methods to achieve the function, and those skilled in the art can choose according to their needs. For example: welding connection is selected for fixed connection, and bolt connection is selected for detachable connection.

[0041] The present invention will be further described in detail below in conjunction with the accompanying drawings. The following embodiments are provided to explain the present invention, but the present invention is not limited to the following embodiments.

[0042] Embodiment 1: Figure 1 , Figure 3 As shown, a universal loading test mechanism for torque and linear force includes a test motor 1, a first dynamic torque sensor 4, a ball screw mechanism 7, a transfer shaft 8, a second dynamic force sensor 9, a test steering gear 11 and a PID controller;

[0043] The first mounting seat 12, the second mounting seat 5 and the third mounting seat 2 are fixed on the test bench from left to right in sequence, the test steering gear 11 is mounted on the first mounting seat 12, the first dynamic torque sensor 4 is mounted on the second mounting seat 5, the test motor 1 is mounted on the third mounting seat 2, and the output end of the test motor 1 is connected to the right end shaft head of the first dynamic torque sensor 4;

[0044] When performing a torque loading test, the left end shaft head of the first dynamic torque sensor 4 is connected to the right end of the adapter shaft 8, the output end of the test servo 11 is connected to the left end of the adapter shaft 8, and the PID controller is electrically connected to the test motor 1 and the first dynamic torque sensor 4 respectively;

[0045] When performing a linear force loading test, the left end shaft head of the first dynamic torque sensor 4 is connected to the screw of the ball screw mechanism 7, the output end of the test servo 11 is connected to one end of the second dynamic force sensor 9, and the other end of the second dynamic force sensor 9 is connected to the threaded sleeve of the ball screw mechanism 7, and the PID controller is electrically connected to the test motor 1 and the second dynamic torque sensor 9, respectively.

[0046] The purpose of the present invention is to solve the problems that the servo load simulator has high cost, large space and a servo loading test bench can only test one type and size of servo. According to the loading test requirements, the loading component between the test motor 1 and the test servo 11 is selected to realize loading tests on both linear servos and rotary servos. The test system has the characteristics of low cost, small space, simple and reliable structure and relatively high accuracy.

[0047] The output end of the test motor 1 is connected to the right end shaft head of the first dynamic torque sensor 4 through the first coupling 3.

[0048] The left end shaft head of the first dynamic torque sensor 4 is connected to the right end of the adapter shaft 8 through the second coupling 6 , or the left end shaft head of the first dynamic torque sensor 4 is connected to the screw of the ball screw mechanism 7 through the second coupling 6 .

[0049] The output end of the test servo 11 is connected to the left end of the adapter shaft 8 through the third coupling 10 , or the output end of the test servo 11 is connected to the second dynamic force sensor 9 through the third coupling 10 .

[0050] The second dynamic force sensor 9 is an S-type force sensor.

[0051] The first mounting seat 12, the second mounting seat 5 and the third mounting seat 2 are respectively detachably connected to the test bench.

[0052] Embodiment 2: Figure 1 to Figure 4 As shown, a method for a universal loading test mechanism for torque and linear force is implemented based on a universal loading test mechanism for torque and linear force described in Example 1, and includes the following steps:

[0053] Step 1: Customize the first mounting seat 12 and the third coupling 10 according to the outer shape installation size and installation height of the test steering gear 11;

[0054] Step 2: fix the test motor 1, the first dynamic torque sensor 4, the second mounting seat 5, the third mounting seat 2 and the first coupling 3 on the test bench according to the connection method of the loading test mechanism;

[0055] Step 3: Select a loading component according to the loading test requirements. When performing a torque loading test, the left end shaft head of the first dynamic torque sensor 4 is connected to the right end of the adapter shaft 8. When performing a linear force loading test, the left end shaft head of the first dynamic torque sensor 4 is connected to the screw of the ball screw mechanism 7, and the second dynamic force sensor 9 is connected to the screw sleeve of the ball screw mechanism 7.

[0056] Step 4: Install the test servo 11, the first mounting seat 12 and the third coupling 10 on the test bench according to the connection mode of the loading test mechanism, and connect the third coupling 10 to the second dynamic force sensor 9 or the adapter shaft 8;

[0057] Step 5, electrically connecting the PID controller to the test motor 1, and electrically connecting the PID controller to the first dynamic torque sensor 4 or the second dynamic force sensor 9;

[0058] Step 6: Start the test motor 1 and the PID controller, and select to start the first dynamic torque sensor 4 or the second dynamic force sensor 9 according to the loading test requirements. When performing a torque loading test, start the first dynamic torque sensor 4, and when performing a linear force loading test, start the second dynamic force sensor 9;

[0059] Step 7: According to the loading test requirements, the loading mode of the PID controller is selected as a torque loading mode or a linear force loading mode;

[0060] Step 8: setting the desired torque of the PID controller;

[0061] Step 9: The test motor 1 runs with the current adjusted by the PID controller and generates a control torque. Meanwhile, the test steering gear 11 generates an interference torque. The combined torque of the control torque and the interference torque is the output torque.

[0062] Step 10: The first dynamic torque sensor 4 or the second dynamic force sensor 9 measures the output torque, and transmits the measurement result to the PID controller in real time;

[0063] Step 11, the PID controller calculates and adjusts the new input current of the test motor 1 in real time according to the measurement result of the first dynamic torque sensor 4 or the second dynamic force sensor 9 and the expected torque;

[0064] Step 12: Repeat steps 10 to 12 until the test is completed;

[0065] Step 13: changing the desired torque of the PID controller to zero, so that the loading test mechanism gradually stops running;

[0066] Step 14: Turn off the test motor 1 and the PID controller, and turn off the first dynamic torque sensor 4 or the second dynamic force sensor 9;

[0067] Step 15: Remove the test servo 11, the test servo mounting seat 12 and the third coupling 10.

[0068] According to the expected torque and the actual torque measured, the input current of the test motor 1 is adjusted in real time through the PID controller, and the output torque of the mechanism of the present invention can be accurately controlled so that the output torque linearly reaches the expected torque with high test accuracy.

[0069] The above embodiments are merely exemplary descriptions of the present invention and do not limit its protection scope. Those skilled in the art may also make partial changes thereto, which are within the protection scope of the present invention as long as they do not exceed the spirit of the present invention.

Claims

1. A universal loading test mechanism for moment and linear force, characterized in that: It comprises a test motor (1), a first dynamic torque sensor (4), a ball screw mechanism (7), a transfer shaft (8), a second dynamic force sensor (9), a test steering gear (11) and a PID controller; The first mounting seat (12), the second mounting seat (5) and the third mounting seat (2) are fixed on the test bench in sequence from left to right, the test steering gear (11) is mounted on the first mounting seat (12), the first dynamic torque sensor (4) is mounted on the second mounting seat (5), the test motor (1) is mounted on the third mounting seat (2), and the output end of the test motor (1) is connected to the right end shaft head of the first dynamic torque sensor (4); When performing a torque loading test, the left end shaft head of the first dynamic torque sensor (4) is connected to the right end of the adapter shaft (8), the output end of the test steering gear (11) is connected to the left end of the adapter shaft (8), and the PID controller is electrically connected to the test motor (1) and the first dynamic torque sensor (4) respectively; When performing a linear force loading test, the left end shaft head of the first dynamic torque sensor (4) is connected to the screw of the ball screw mechanism (7), the output end of the test steering gear (11) is connected to one end of the second dynamic force sensor (9), the other end of the second dynamic force sensor (9) is connected to the screw sleeve of the ball screw mechanism (7), and the PID controller is electrically connected to the test motor (1) and the second dynamic torque sensor (9), respectively.

2. A universal loading test mechanism for torque and linear force according to claim 1, characterized in that: The output end of the test motor (1) is connected to the right end shaft head of the first dynamic torque sensor (4) through a first coupling (3).

3. A universal loading test mechanism for torque and linear force according to claim 2, characterized in that: The left end shaft head of the first dynamic torque sensor (4) is connected to the right end of the adapter shaft (8) through the second coupling (6), or the left end shaft head of the first dynamic torque sensor (4) is connected to the screw of the ball screw mechanism (7) through the second coupling (6).

4. A universal loading test mechanism for torque and linear force according to claim 3, characterized in that: The output end of the test steering gear (11) is connected to the left end of the adapter shaft (8) through the third coupling (10), or the output end of the test steering gear (11) is connected to the second dynamic force sensor (9) through the third coupling (10).

5. A universal loading test mechanism for torque and linear force according to claim 4, characterized in that: The second dynamic force sensor (9) is an S-type force sensor.

6. A universal loading test mechanism for torque and linear force according to claim 5, characterized in that: The first mounting seat (12), the second mounting seat (5) and the third mounting seat (2) are respectively detachably connected to the test bench.

7. A torque and linear force universal loading test control method, implemented by relying on a torque and linear force universal loading test mechanism according to claim 6, characterized in that: The following steps are involved: Step 1: Customizing the first mounting seat (12) and the third coupling (10) according to the external mounting dimensions and mounting height of the test steering gear (11); Step 2: fix the test motor (1), the first dynamic torque sensor (4), the second mounting seat (5), the third mounting seat (2) and the first coupling (3) on the test bench according to the connection method of the loading test mechanism; Step 3: Select a loading component according to the loading test requirements. When performing a torque loading test, the left end shaft head of the first dynamic torque sensor (4) is connected to the right end of the adapter shaft (8). When performing a linear force loading test, the left end shaft head of the first dynamic torque sensor (4) is connected to the screw of the ball screw mechanism (7), and the second dynamic force sensor (9) is connected to the screw sleeve of the ball screw mechanism (7). Step 4: according to the connection mode of the loading test mechanism, the test steering gear (11), the first mounting seat (12) and the third coupling (10) are mounted on the test bench, and the third coupling (10) is connected to the second dynamic force sensor (9) or the adapter shaft (8); Step 5: electrically connecting the PID controller to the test motor (1), and electrically connecting the PID controller to the first dynamic torque sensor (4) or the second dynamic force sensor (9); Step 6: Start the test motor (1) and the PID controller, and select to start the first dynamic torque sensor (4) or the second dynamic force sensor (9) according to the load test requirements; Step 7: According to the loading test requirements, the loading mode of the PID controller is selected as a torque loading mode or a linear force loading mode; Step 8: setting the desired torque of the PID controller; Step 9, the test motor (1) uses the current adjusted by the PID controller as input current and generates a control torque, and the test steering gear (11) generates an interference torque, and the combined torque of the control torque and the interference torque is the output torque; Step 10: the first dynamic torque sensor (4) or the second dynamic force sensor (9) measures the output torque, and transmits the measurement result to the PID controller in real time; Step 11: the PID controller calculates and adjusts a new input current of the test motor (1) in real time according to the measurement result of the first dynamic torque sensor (4) or the second dynamic force sensor (9) and the expected torque; Step 12: Repeat steps 10 to 12 until the test is completed; Step 13: changing the desired torque of the PID controller to zero, so that the loading test mechanism gradually stops running; Step 14: Turn off the test motor (1) and the PID controller, and turn off the first dynamic torque sensor (4) or the second dynamic force sensor (9); Step 15: Remove the test steering gear (11), the test steering gear mounting seat 12 and the third coupling (10). By adjusting the input current of the test motor (1) in real time through the PID controller, the output torque of the mechanism of the present invention can be accurately controlled so that the output torque linearly reaches the expected torque, and the test accuracy is high.

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