Dynamic wing tilting device for wind tunnel test and wind tunnel test system

Abstract

The invention discloses a dynamic wing tilting device for a wind tunnel test and a wind tunnel test system, and the device is characterized in that an output shaft of a servo motor is connected with a planetary reducer, and the output end of the planetary reducer is connected with one end of a transmission shaft through a planetary output gear disc; the flange plate at the other end is connected with the wing connecting piece so as to connect the transmission shaft with the wing; the exterior of the transmission shaft is connected with a bearing sleeve through a bearing. The bearing sleeve is sequentially sleeved with a bearing seat and a shell. The servo motor drives the transmission shaft and the wing to rotate synchronously so as to realize dynamic tilting of the wing in a wind tunnel test, and the planetary reducer reduces the rotating speed and increases the torque so as to reduce the rotational inertia ratio of the wing and the servo motor. According to the technical scheme, the problems that in an existing tilting rotor-wing aeroelastic coupling dynamic scaling model test, dynamic tilting of a wing cannot be achieved, and the tilting angular displacement error is large due to the fact that a large gap exists when transmission parts are matched are solved.

Description

Technical Field

[0001] The present invention relates to, but is not limited to, the technical field of helicopter rotor testing, and in particular to a wing dynamic tilting device and a wind tunnel testing system for wind tunnel testing. Background Art

[0002] Tilt-rotor aircraft is a new type of rotorcraft with the ability of vertical take-off and landing, fixed-point hovering and high-speed forward flight. It has very complex rotor-wing aeroelastic coupling characteristics. The rotor-wing aeroelastic coupling dynamics problem is the key to the dynamics of tilt-rotor aircraft. Tilt-rotor-wing aeroelastic coupling dynamics scaled model test is an important means of studying the dynamics of tilt-rotor aircraft.

[0003] In the previous scaled model test of the aeroelastic coupling dynamics of the tilt-rotor-wing, the tilt mechanism adopts a worm gear mechanism, and the rotation output of the tilt motor is used to drive the tilting movement of the nacelle after being reduced by the worm gear. The self-locking principle of the worm gear mechanism is used to realize the tilting of the nacelle according to the set tilting law and the positioning of the tilt nacelle at the set tilting angle position. The above-mentioned tilt mechanism can realize the tilting of the rotor-nacelle, but it cannot realize the dynamic tilting of the wing, and there is a large gap when the transmission parts cooperate, resulting in a large tilt angle displacement error. Summary of the invention

[0004] Purpose of the present invention: In order to solve the above-mentioned problems, the embodiments of the present invention provide a wing dynamic tilting device and a wind tunnel test system for wind tunnel testing, so as to solve the problem that in the existing tilt-rotor-wing aeroelastic coupling dynamics scaled model test, the dynamic tilting of the wing cannot be achieved due to the use of a worm gear mechanism for the tilting mechanism, and the problem that the tilting angle displacement error is large due to the large gap when the transmission components are matched.

[0005] Technical solution of the present invention: The embodiment of the present invention provides a wing dynamic tilting device for wind tunnel test, comprising: a servo motor 1, a planetary reducer 2, a transmission shaft 6, a tilt sensor 7, a flange 8, a wing connector 10, a housing 12, a planetary output gear plate 13, and a bearing and a bearing seat 15;

[0006] The output shaft of the servo motor 1 is connected to the planetary reducer 2, the output end of the planetary reducer 2 is connected to one end of the transmission shaft 6 through the planetary output gear plate 13, the other end of the transmission shaft 6 is provided with a flange 8, and the other end of the transmission shaft 6 is connected to the wing 11 by using a wing connector 10 with a flange; the outside of the transmission shaft 6 is connected to the bearing sleeve through a bearing, and the outside of the bearing sleeve is sequentially sleeved with a bearing seat 15 and a housing 12;

[0007] The wing dynamic tilting device is used to drive the transmission shaft 6 and the wing 11 to rotate synchronously through the servo motor 1 to achieve dynamic tilting of the wing 11 in a wind tunnel test, and reduce the rotation speed and increase the torque through the planetary reducer 2 to reduce the rotational inertia ratio of the wing 11 and the servo motor 1.

[0008] Optionally, in the wing dynamic tilting device for wind tunnel testing as described above,

[0009] The planetary reducer 2 and the servo motor 1 are connected in the form of key+hoop, the planetary output gear plate 13 and the planetary reducer 2 are connected in the form of locating pin+bolt, and the planetary output gear plate 13 and the transmission shaft 6 are connected in the form of key+bolt.

[0010] Optionally, the wing dynamic tilting device for wind tunnel test as described above further comprises: a tilt angle sensor 7;

[0011] The tilt sensor 7 is installed on the upper end of the flange between the transmission shaft 6 and the wing connecting member 10, and rotates synchronously with the flange 8 on the rotating shaft 6, and is used to collect the angle signal of the dynamic tilt of the wing 11 in real time.

[0012] Optionally, the wing dynamic tilting device for wind tunnel testing as described above further includes: a control system;

[0013] The control system is connected to the servo motor 1 and the tilt sensor 7 respectively, and is used to control the target angle of the tilt of the wing 11 through the servo motor 1, collect the actual tilt angle of the wing 11 in real time through the tilt sensor 7, and compare the difference between the actual angle and the target angle in real time through the control software. If the difference exceeds the difference threshold, the servo motor 1 is emergency stopped, and the motor current and motor torque status are monitored in real time through the control software.

[0014] Optionally, the wing dynamic tilting device for wind tunnel testing as described above further comprises: a connecting transition piece 9;

[0015] One end of the connecting transition piece 9 is connected to the bottom of the outer shell 12, and the other end is connected to the test bench. The installation position of the wing dynamic tilt device is adjusted by connecting the transition piece 9 so that the wing 11 is located in the center of the wind tunnel.

[0016] Optionally, the wing dynamic tilting device for wind tunnel testing as described above further includes: a transmission shaft locating pin 16 and a transmission shaft fixing bolt 17, and a gear plate locating pin 14 and a gear plate fixing bolt 18;

[0017] The connection between the transmission shaft 6 and the wing connector 10 is as follows:

[0018] The flange 8 at the other end of the transmission shaft 6 is positioned and connected with the flange of the wing connector 10 by the transmission shaft positioning pin 16, and the two flanges are fixedly connected by the transmission shaft fixing bolt 17;

[0019] The positioning pin+bolt connection form of the planetary output gear plate 13 and the planetary reducer 2 is specifically as follows:

[0020] The planetary output gear plate 13 is positioned and connected to the output end of the planetary reducer 2 by means of the gear plate positioning pin 14 , and the planetary output gear plate 13 and the planetary reducer 2 are fixedly connected by means of the gear plate fixing bolt 18 .

[0021] Optionally, in the wing dynamic tilting device for wind tunnel testing as described above,

[0022] The transmission motion chain of the wing dynamic tilting device is: servo motor 1→planetary reducer 2→transmission shaft 6→wing 11, which is specifically used to drive the wing 11 to perform 360° tilting through the wing dynamic tilting device.

[0023] Optionally, in the wing dynamic tilting device for wind tunnel testing as described above,

[0024] The wing dynamic tilting device is also used to apply triangular wave pulse excitation to the wing 11.

[0025] Optionally, in the wing dynamic tilting device for wind tunnel testing as described above,

[0026] The wing dynamic tilting device has a self-locking capability, which is achieved by the brake provided by the servo motor 1, and is used to stop running at any angle within the tilting angle range and maintain the current state.

[0027] An embodiment of the present invention further provides a wing wind tunnel test system, comprising: a test bench arranged in a wind tunnel, and a wing dynamic tilting device for wind tunnel test as described in any one of the above items;

[0028] The wing dynamic tilting device is fixedly connected to the test bench and connected to the wing 11 through the output end of the transmission shaft 6 of the wing dynamic tilting device, so that the transmission shaft 6 and the wing 11 are driven to rotate synchronously through the servo motor 1 to realize the dynamic tilting of the wing 11 in the wind tunnel test, and the rotation speed is reduced and the torque is increased through the planetary reducer 2 to reduce the rotational inertia ratio of the wing 11 and the servo motor 1.

[0029] Beneficial effects of the present invention: The embodiment of the present invention provides a wing dynamic tilting device and a wind tunnel test system for wind tunnel tests. By reasonably designing the transmission structure and transmission form between the servo motor 1, the transmission shaft 6 and the wing 11, the rotor-wing tilting angle can be controlled with high precision, the rotor-wing attitude dynamic conversion can be realized, and the stability during the conversion between the helicopter mode and the fixed-wing mode can be ensured. The servo motor 1 and the planetary reducer 2 are connected by a key + clamp, the planetary output gear plate 13 and the planetary reducer 2 are connected by a locating pin + screw, the transmission shaft 6 and the planetary output gear plate 13 are connected by a tapered end face tooth connection, and the transmission shaft 6 and the wing connector 10 are connected by two locating pins + bolts. The problem of large gaps when the transmission components are matched is solved, so that the tilt angle displacement error of the wing dynamic tilting device is small. In addition, the control system can adopt a mature and reliable all-digital bus control method, use high-performance EtherCAT motion network technology to achieve high-speed responsiveness of the system, and set up multiple safety protections to ensure the high precision and reliability of the wing dynamic tilting device. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0031] Figure 1 A schematic diagram of the three-dimensional structure of a wing dynamic tilting device for wind tunnel testing provided by an embodiment of the present invention;

[0032] Figure 2 A three-dimensional cross-sectional schematic diagram of a wing dynamic tilting device for wind tunnel testing provided by an embodiment of the present invention;

[0033] Figure 3 for Figure 2 A cross-sectional view of a wing dynamic tilting device for wind tunnel testing provided by the illustrated embodiment;

[0034] Figure 4 As shown, Figure 3 A schematic diagram of a partial structure of a wing dynamic tilting device provided in the illustrated embodiment;

[0035] Figure 5 A schematic diagram of the structure of a transmission shaft in a wing dynamic tilting device provided in an embodiment of the present invention;

[0036] Figure 6 A schematic diagram of the structure of a planetary output gear plate in a wing dynamic tilting device provided by an embodiment of the present invention;

[0037] Figure 7 A schematic diagram of the structure of a bearing seat in a wing dynamic tilting device provided by an embodiment of the present invention;

[0038] Figure 8 A schematic diagram of the structure of a housing in a wing dynamic tilting device provided in an embodiment of the present invention;

[0039] Fig. 9 A schematic diagram of the structure of a connecting transition piece in a wing dynamic tilting device provided in an embodiment of the present invention. Specific implementation plan

[0040] In order to make the purpose, technical solution and advantages of the present invention more clear, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0041] The above background technology has explained that in the existing tilt-rotor-wing aeroelastic coupling dynamics scaled model test, since the tilt mechanism adopts a worm gear mechanism, it is impossible to achieve dynamic tilting of the wing; in addition, there is a large gap when the transmission components are matched, resulting in a large tilt angle displacement error.

[0042] To solve the above problems, an embodiment of the present invention provides a wing dynamic tilting device and a wind tunnel test system for wind tunnel tests. The wing dynamic tilting device is a key test equipment for a tiltrotor-wing aeroelastic coupling dynamics scaled model test. By using the wing dynamic tilting device, dynamic conversion of the rotor-wing attitude can be achieved, the stability during the conversion between helicopter mode and fixed-wing mode can be increased, the control accuracy can be improved, and the tilt angle displacement error can be reduced.

[0043] The present invention provides the following specific embodiments which can be combined with each other. The same or similar concepts or processes may not be described in detail in some embodiments.

[0044] Figure 1 A schematic diagram of a three-dimensional structure of a wing dynamic tilting device for wind tunnel testing provided by an embodiment of the present invention, Figure 2 A three-dimensional cross-sectional schematic diagram of a wing dynamic tilting device for wind tunnel testing provided by an embodiment of the present invention, Figure 3 for Figure 2 The embodiment shown is a cross-sectional view of a wing dynamic tilting device for wind tunnel testing. Figures 1 to 3 As shown, the wing dynamic tilting device for wind tunnel test provided by an embodiment of the present invention has a main structure including: a servo motor 1, a planetary reducer 2, a transmission shaft 6, an inclination sensor 7, a housing 12, and a bearing and a bearing seat 15.

[0045] like Figures 1 to 3In the wing dynamic tilting device shown, the output shaft of the servo motor 1 is connected to the planetary reducer 2, the output end of the planetary reducer 2 is connected to one end of the transmission shaft 6 through the planetary output gear plate 13, the other end of the transmission shaft 6 is provided with a flange 8, and is connected to the wing 11 through the wing connector 10 with a flange; the outside of the transmission shaft 6 is connected to the bearing sleeve through a bearing, and the outside of the bearing sleeve is sequentially sleeved with a bearing seat 15 and a housing 12. Figure 2 and Figure 3 As shown, the bearing includes: a first bearing 5 , a second bearing 4 and a third bearing 3 .

[0046] The wing dynamic tilting device provided in an embodiment of the present invention is used to drive the transmission shaft 6 and the wing 11 to rotate synchronously through the servo motor 1 to achieve the dynamic tilting of the wing 11 in the wind tunnel test, and reduce the rotation speed and increase the torque through the planetary reducer 2 to reduce the rotational inertia ratio of the wing 11 and the servo motor 1.

[0047] In one implementation of an embodiment of the present invention, the planetary reducer 2 and the servo motor 1 are connected in the form of a key + clamp, the planetary output gear plate 13 and the planetary reducer 2 are connected in the form of a locating pin + bolt, and the planetary output gear plate 13 and the transmission shaft 6 are connected in the form of a key + bolt.

[0048] Reference Figures 1 to 3 The wing dynamic tilting device for wind tunnel test shown in the figure, the composition structure and function of the wing dynamic tilting device are described below:

[0049] The structural relationship and function of each component in the wing dynamic tilting device are described as follows:

[0050] The servo motor 1 in the embodiment of the present invention is used to drive the transmission shaft 6 to rotate to achieve dynamic tilting of the wing;

[0051] The planetary reducer 2 in the embodiment of the present invention is connected to the servo motor 1 and the transmission shaft 6 to reduce the rotation speed and increase the torque, thereby reducing the moment of inertia ratio of the wing 11 and the servo motor 1. Specifically, in this embodiment, the planetary reducer 2 is connected to the servo motor 1 in a key+hoop manner, the planetary output gear plate 13 is connected to the planetary reducer 2 in a locating pin+bolt manner, and the planetary output gear plate 13 is connected to the transmission shaft 6 in a key+bolt manner.

[0052] An example is given to illustrate the dowel pin + bolt connection between the planetary output gear plate 13 and the planetary reducer 2, such as Figure 4 As shown, Figure 3 The local structural diagram of the wing dynamic tilting device provided by the embodiment shown is as follows: The planet output gear plate 13 is positioned and connected to the output end of the planetary reducer 2 by the gear plate positioning pin 14, and the planet output gear plate 13 is fixedly connected to the planetary reducer 2 by the gear plate fixing bolt 18.

[0053] The transmission shaft 6 in the embodiment of the present invention is fixedly connected to the wing 11 and drives the wing 11 to dynamically tilt. The transmission shaft 6 and the wing 11 are connected by a multi-bolt flange; specifically, one end of the transmission shaft 6 is connected to the planetary output gear plate 13 at the output end of the planetary reducer 2, and the other end thereof is provided with a flange 8, and the flange 8 connects the other end of the transmission shaft 6 to the wing 11 through a wing connector 10 having a flange. Figure 5 A schematic diagram of the structure of a transmission shaft in a wing dynamic tilting device provided in an embodiment of the present invention, Figure 6 A schematic diagram of the structure of a planetary output gear plate in a wing dynamic tilting device provided in an embodiment of the present invention, Figure 7 A schematic diagram of the structure of a bearing seat in a wing dynamic tilting device provided in an embodiment of the present invention, Figure 8 A schematic diagram of the structure of the outer shell of the wing dynamic tilting device provided in an embodiment of the present invention.

[0054] The connection between the transmission shaft 6 and the wing connecting member 10 is illustrated by way of example. Figure 4 As shown, the flange 8 at the other end of the transmission shaft 6 and the flange of the wing connector 10 are positioned and connected by a transmission shaft positioning pin 16, and the two flanges are fixedly connected by a transmission shaft fixing bolt 17.

[0055] The tilt sensor 7 in the embodiment of the present invention is arranged on the flange 8 and rotates with the flange 8. It is specifically installed on the upper end of the flange 8 between the transmission shaft 6 and the wing connecting member 10. It can be dynamically tilted in real time with the flange 8, and is used to collect the dynamic tilt angle signal of the wing 11 in real time.

[0056] In one implementation of an embodiment of the present invention, the wing dynamic tilt device also includes: a control system; the control system is connected to the servo motor 1 and the tilt sensor 7 respectively, and is used to control the target angle of the tilt of the wing 11 through the servo motor 1, collect the actual angle of the tilt of the wing 11 in real time through the tilt sensor 7, and compare the difference between the actual angle and the target angle in real time through the control software. If the difference exceeds the difference threshold, the servo motor 1 is emergency stopped, and the motor current and motor torque status are monitored in real time through the control software; the specific monitoring method is: if it is found through observation that the fluctuations of the motor current and motor torque are large, the servo motor 1 is manually stopped.

[0057] The control system is mainly composed of an industrial control computer, a central controller, a position control module, an analog acquisition module, an AC servo drive, and a control cabinet; for example, a mature and reliable all-digital bus control method can be adopted, and high-speed responsiveness of the system can be achieved through high-performance EtherCAT motion network technology.

[0058] In one implementation of an embodiment of the present invention, the wing dynamic tilt device also includes: one end of the connecting transition piece 9 is connected to the bottom of the outer shell 12, and the other end is connected to the test bench. The installation position of the wing dynamic tilt device can be adjusted by connecting the transition piece 9 so that the wing is located in the center of the wind tunnel. Fig. 9 A schematic diagram of the structure of a connecting transition piece in a wing dynamic tilting device provided in an embodiment of the present invention.

[0059] In an optional implementation, the transmission motion chain of the wing dynamic tilt device is: servo motor 1→planetary reducer 2→transmission shaft 6→wing 11, which is specifically used to drive the wing 11 to perform 360° tilt through the wing dynamic tilt device.

[0060] In an optional implementation, the wing dynamic tilting device can drive the wing 11 to tilt at a constant speed within a range of 0.5° / s to 20° / s.

[0061] In an optional implementation, the angular displacement error of the wing dynamic tilting device is not greater than the adjustment angle error, for example, the target angle is 90° and the actual tilting angle is 89.88° to 90.12°.

[0062] In an optional implementation, the deformation of the wing dynamic tilting device and the connecting end of the wing root (specifically, the flange of the wing connecting member 10) is less than 0.1 mm, for example, 0.09744 mm.

[0063] In an optional implementation, the wing dynamic tilt device can apply a triangular wave pulse excitation to the wing. For example, the triangular wave length is 0.2s, the first 0.1s causes the wing to tilt by 1.037°, and the second 0.1s returns the wing angle to its initial position.

[0064] In an optional implementation, the wing dynamic tilt device has a self-locking capability, which can be achieved through the brake of the servo motor, and can stop running at any angle within the tilt angle range and maintain the current state. The self-locking function needs to be controlled by the control system, giving the servo motor 1 a rotation signal to achieve 0-360° rotation, and giving the servo motor 1 a locking signal according to the angle feedback from the inclination sensor 7 and the task requirements, so that the brake configured inside it implements braking for self-locking.

[0065] The wing dynamic tilting device for wind tunnel test provided by the embodiment of the present invention can control the rotor-wing tilting angle with high precision by reasonably designing the transmission structure and transmission form between the servo motor 1, the transmission shaft 6 and the wing 11, realize the dynamic conversion of the rotor-wing attitude, and ensure the stability during the conversion process between the helicopter mode and the fixed-wing mode. The servo motor 1 and the planetary reducer 2 are connected by a key + clamp, the planetary output gear plate 13 and the planetary reducer 2 are connected by a locating pin + screw, the transmission shaft 6 and the planetary output gear plate 13 are connected by a tapered end face tooth, and the transmission shaft 6 and the wing connector 10 are connected by two locating pins + bolts to solve the problem of large gaps when the transmission parts are matched, so that the tilting angle displacement error of the wing dynamic tilting device is small. In addition, the control system can adopt a mature and reliable all-digital bus control method, use high-performance EtherCAT motion network technology to achieve high-speed responsiveness of the system, and set multiple safety protections to ensure the high precision and reliability of the wing dynamic tilting device.

[0066] Based on the wing dynamic tilting device for wind tunnel testing provided in the above embodiments of the present invention, an embodiment of the present invention also provides a wing wind tunnel testing system, including: a test bench arranged in a wind tunnel, and a wing dynamic tilting device for wind tunnel testing provided in any of the above embodiments.

[0067] The wing dynamic tilting device is fixedly connected to the test bench and connected to the wing 11 through the output end of the transmission shaft 6 of the wing dynamic tilting device, so that the transmission shaft 6 and the wing 11 are driven to rotate synchronously through the servo motor 1 to realize the dynamic tilting of the wing 11 in the wind tunnel test, and the rotation speed is reduced and the torque is increased through the planetary reducer 2 to reduce the rotational inertia ratio of the wing 11 and the servo motor 1.

[0068] In an optional implementation, the wing dynamic tilt device specifically includes: a connecting transition piece 9; one end of the connecting transition piece 9 is connected to the bottom of the outer shell 12, and the other end is connected to the test bench. The installation position of the wing dynamic tilt device is adjusted by connecting the transition piece 9 so that the wing 11 is located in the center of the wind tunnel, thereby implementing a wind tunnel test.

[0069] The implementation of the wing dynamic tilting device for wind tunnel testing provided by the present invention is schematically described below through specific embodiments.

[0070] See also Figures 1 to 9As shown, the components and structural relationship of the wing dynamic tilting device for wind tunnel test provided by this embodiment have been described in detail in the above embodiments, which include: a servo motor 1, a planetary reducer 2, a plurality of bearings (3, 4, 5), a transmission shaft 6, an inclination sensor 7, a flange 8, an inclination sensor 7, a flange 8, a connecting transition piece 9, a wing connecting piece 10, a wing 11, a housing 12, a planetary output gear plate 13, a gear plate locating pin 14, a bearing seat 15, a transmission shaft locating pin 16, a transmission shaft fixing bolt 17 and a gear plate fixing bolt 18.

[0071] In this embodiment, the dynamic tilting of the wing is achieved as follows: the transmission shaft 6 is rotatable and connected to the wing connector 10 via the flange 8, and drives the wing 11 to rotate when rotating, so that the wing can be dynamically tilted.

[0072] Optionally, the transmission shaft 6 and the flange 8 are integrally formed, the flange end of the transmission shaft 6 is connected to the wing connector 10, and the other end is connected to the planetary output gear 13, such as Figure 4 The structure of the transmission shaft is shown.

[0073] Optionally, the inner and outer circles of the shaft section of the transmission shaft 6 and the end face of the flange 8 are machined by turning, the material is 42CrMo, the blank is forged, and the heat treatment is quenched and tempered HRC28 to 32. In order to control deformation and maintain uniformity of parts, the whole blank is processed after stress relief.

[0074] Optionally, the planetary output gear disc 13 is an important force transmission component of the wing dynamic tilting device. The machining accuracy of the end face teeth is the key point. The position and symmetry of the tooth surface must be controlled with high precision to ensure assembly accuracy and operating performance. It is an important control part. In order to meet the above requirements, the planetary output gear disc 13 is made of 42CrMo, the blank is processed with integral material and internal stress is eliminated, the heat treatment adopts quenching and tempering treatment HRC28~32, the position of the end face teeth is 0.01, the symmetry is 0.009, the position of the locating pin 14 is 0.01, and the surface roughness is 3.2. In order to control deformation and maintain the uniformity of parts, the overall material removal method is used for processing.

[0075] Optionally, the bearing seat 15 is a bearing mounting support, and a sleeve is arranged inside 15, which is a conventional part. The processing mainly controls the dimensional tolerance of the bearing position and the connection position to ensure the assembly accuracy and running performance. The material of the bearing seat is 42CrMo, the blank is selected for integral material processing and internal stress is eliminated, the heat treatment adopts quenching and tempering treatment HRC28~32, the coaxiality of each main outer circle and inner hole is 0.02, and the surface roughness is 3.2. In order to control deformation and maintain the uniformity of parts, the overall thick wall tube removal method is used for processing, mainly by CNC lathe processing.

[0076] Optionally, the outer shell 12 of the wing dynamic tilt device is the supporting component of the entire wing dynamic tilt device. Its processing quality is directly related to the assembly accuracy and operating performance of the transmission shaft assembly in the transmission system, and is an important control part. The maximum outer diameter of the outer shell of the wing dynamic tilt device is 400mm×350mm×307.5mm, which is a part with a relatively complex structure. The blank is processed on a machining center after welding. The material of the outer shell of the wing dynamic tilt device is Q345B. The raw materials of the blank are plates and thick-walled seamless pipes. They are assembled into a whole by welding and the internal stress is eliminated. The coaxiality of each main inner hole is required to be high. The inner hole is clamped and processed once, and the end face verticality is 0.03.

[0077] Optionally, the transition connector 9 is a high-altitude support part, which requires high rigidity, light weight, and large size, and is a key control part. The maximum outer dimension of the transition connector is 1625mm×1523mm, and the material is Q345B, which is welded by plate and thick-walled pipe. The connecting flange surface, hole and stop are processed on the gantry milling machine, and the stress is eliminated after welding. The heat treatment adopts artificial aging treatment, and the surface roughness is 3.2.

[0078] Optionally, the control system in the wing dynamic tilt device adopts an industrial control computer + high-speed bus communication method, which can realize wing tilt angle control, real-time acquisition of tilt angle, and real-time monitoring of motor current and torque status.

[0079] Optionally, the above control system is mainly composed of a control industrial computer, a central controller, a position control module, an analog acquisition module, an AC servo drive, an AC servo motor, a tilt angle sensor, and a control cabinet. The signal of the tilt angle sensor is connected to the analog acquisition module for real-time acquisition. The electromagnetic brake configured for the servo motor 1 can self-lock the motor shaft when the servo ON is disconnected or the power is accidentally lost to ensure accurate position and safety of personnel and equipment. In order to ensure the high precision and reliability of the wing tilt control system, the control system adopts a mature and reliable all-digital bus control method, and the servo system achieves high-speed responsiveness of the system through high-performance EtherCAT motion network technology. Using Category 6 shielded network cable communication, interference from power lines or external devices is completely shielded, and compared with metal cables, the anti-interference performance has been significantly improved.

[0080] Optionally, the control cabinet of the control system is equipped with servo drive, PLC controller, Ethernet switch, power filter, switching power supply, sensor power supply, circuit breaker, contactor, relay, input and output terminals, etc. The Ethernet switch is responsible for networking and communicating with other external systems, and communicating with the upper control industrial computer through a network cable. The servo motor power supply, motor brake, servo motor encoder, inclination sensor, main power supply and other power and signal input and output are provided through multiple multi-core aviation plug groups.

[0081] Optionally, the angular displacement error of the wing dynamic tilting device is, for example, 0.12°. It can be seen from the structural design that the links that produce motion errors include: the connection between the servo motor 1 and the planetary reducer 2; the connection between the planetary output gear plate 13 and the transmission shaft 6; the motion error of the planetary reducer 2 itself; the transmission shaft 6 and the wing connector 10. The connection between the servo motor 1 and the planetary reducer 2 is a key + clamping hoop method, which is firm and reliable without looseness, so the motion error here is zero; the planetary output gear plate 13 and the planetary reducer are connected by locating pins + screws, which are firm and reliable without looseness, and the transmission clearance is zero; the transmission shaft 6 and; the planetary output gear plate 13 is connected by a tapered end face tooth, which is an interference fit state, so the transmission clearance is zero; the motion error of the planetary reducer 2 is 0.12°; the transmission shaft 6 and the wing connector 10 are connected by two locating pins + bolts, and the locating pins are a clearance-free fit, so the clearance here is zero. Through the above analysis, it can be concluded that the maximum angular displacement error of the wing dynamic tilting device is 0.12°.

[0082] Optionally, the deformation of the connection end between the wing dynamic tilt device and the wing root is 0.09744mm. Because the transmission shaft and the wing connector are connected by multi-bolt flange surfaces, the flange surfaces at both ends are fitted together during force analysis to strengthen the structure, so they can be considered as an integrated analysis. The finite element analysis method is used to analyze the force on the transmission shaft, and all aerodynamic forces are loaded for calculation. Finite element analysis shows that the displacement of the connecting flange is 0.09744mm, the maximum stress of 509.0 is less than the material yield strength of 1100MPa, and the safety is 2.16.

[0083] Optionally, the wing dynamic tilt device has a triangular wave excitation function, the triangular wave excitation period is 0.2s, the first 0.1 second causes the wing to produce a tilt angle of 1.037°, and the second 0.1 second causes the wing angle to return to the initial position.

[0084] The moment of inertia of the wing is 2.984 kg·m 2 The rotational inertia of the transmission shaft assembly is 0.8769 kg·m 2 The planetary reducer has a rotational inertia of 2.329×10 -3 kg·m 2 , the motor rotor inertia is 1.095×10 -2 kg.m 2 , the rated torque of the motor is 35N.m, the no-load torque is 5.5N.m, the reduction ratio of the planetary reducer is 35, and the wing rotation torque is 1140N.m. According to the above parameters, the moment of inertia at the wing root is calculated as:

[0085] 2.948kg·m 2 +0.8769kg·m 2 +(23.29×10-4 kg·m 2 +109.5×10 -4 kg·m 2 )×352=20.0917kg·m 2 ;

[0086] The total friction torque of the bearing can be calculated from the parameters in Table 1 as follows: 19.98+0.93+13.83=34.74N·m. The maximum tilting capacity of the wing is derived from 1.5 times the rated torque:

[0087] (52.5N·m-5.5N·m)×35×0.94=1546.3N·m;

[0088] Table 1 Bearing parameters

[0089]

[0090] In this embodiment, after deducting the wing rotation torque and the bearing friction torque from the maximum tilting capacity of the wing, the excess capacity can realize triangular wave excitation, and the angular acceleration is calculated as:

[0091] (1546.3N·m-1140N·m-34.74N·m) / 20.0917kg·m 2 =18.49rad / s 2

[0092] Assume that the wing is driven statically to rotate, with an acceleration time of 0.011s. After acceleration, the wing has a final velocity, then runs at a constant speed for 0.078s, and then decelerates uniformly for 0.011s until the speed returns to zero. This completes a rising process of a triangular wave. At the same time, the falling process of the triangular wave is symmetrical to the rising process, so only one rising process needs to be calculated.

[0093] The rotation angle corresponding to the uniform acceleration process is:

[0094] 0.5×18.49rad / s 2 ×(0.011s)2×57.3=0.064°.

[0095] The angular velocity after uniform acceleration is:

[0096] 18.49rad / s 2 ×0.011s=0.2034rad / s.

[0097] The turning angle for uniform speed operation is:

[0098] 0.2034rad / s×0.078s×57.3=0.909.

[0099] The turning angle corresponding to uniform deceleration is:

[0100] 0.5×18.49rad / s 2 ×(0.011s)2×57.3=0.064°.

[0101] The total time used for a triangle wave excitation rising process is:

[0102] 0.011s+0.078s+0.011s=0.1s.

[0103] The wing tilt angle during a triangular wave excitation ascent is:

[0104] 0.064°+0.909°+0.064°=1.037°.

[0105] Optionally, the wing dynamic tilting device in this embodiment has multiple safety protection functions.

[0106] The control system safety protection function in the embodiment of the present invention includes five aspects: (1) providing an independent electrical emergency stop button (normally closed / self-locking) to ensure that the user can directly press the emergency stop button in an emergency to realize the emergency stop control system action; (2) setting the positive and negative limit parameters of the wing tilt angle in the control system to enhance the system safety in the form of soft limit; (3) considering the protection of the servo system against accidental power failure, motor disconnection, and driver connection disconnection, the Inovance SV660 series servo driver with multiple safety protection is selected during selection, which has complete alarm protection and self-diagnosis functions such as overload, overcurrent, overvoltage, encoder abnormality protection, overspeed protection, and excessive error protection; (4) adding a brake to the servo motor 1 to realize the function of maintaining the actuator position when the servo is turned on and an accidental error occurs; (5) adding a tilt sensor 7 to the control system as an angle calibration function, setting the tilt deviation parameter, realizing the tilt control angle and sensor feedback angle deviation alarm and emergency stop functions, and preventing the tilt control angle error during operation from causing damage to the test model and wind tunnel.

[0107] Although the embodiments disclosed in the present invention are as above, the contents are only embodiments adopted to facilitate understanding of the present invention and are not intended to limit the present invention. Any technician in the field to which the present invention belongs can make any modifications and changes in the form and details of implementation without departing from the spirit and scope disclosed in the present invention, but the patent protection scope of the present invention shall still be subject to the scope defined in the attached claims.

Claims

1. A wing dynamic tilting device for wind tunnel testing, characterized in that: include: A servo motor (1), a planetary reducer (2), a transmission shaft (6), an inclination sensor (7), a flange (8), a wing connector (10), a housing (12), a planetary output gear plate (13), and a bearing and a bearing seat (15); The output shaft of the servo motor (1) is connected to a planetary reducer (2), the output end of the planetary reducer (2) is connected to one end of a transmission shaft (6) through a planetary output gear plate (13), the other end of the transmission shaft (6) is provided with a flange (8), and a wing connector (10) having a flange is used to connect the other end of the transmission shaft (6) to a wing (11); the outside of the transmission shaft (6) is connected to a bearing sleeve through a bearing, and the outside of the bearing sleeve is sequentially sleeved with a bearing seat (15) and a housing (12); The wing dynamic tilting device is used to drive a transmission shaft (6) and a wing (11) to rotate synchronously through a servo motor (1) to achieve dynamic tilting of the wing (11) in a wind tunnel test, and to reduce the rotation speed and increase the torque through a planetary reducer (2) to reduce the moment of inertia ratio of the wing (11) and the servo motor (1).

2. The wing dynamic tilting device for wind tunnel test according to claim 1, characterized in that: The planetary reducer (2) and the servo motor (1) are connected in the form of a key+hoop, the planetary output gear plate (13) and the planetary reducer (2) are connected in the form of a positioning pin+bolt, and the planetary output gear plate (13) and the transmission shaft (6) are connected in the form of a key+bolt.

3. The wing dynamic tilting device for wind tunnel test according to claim 1, characterized in that: Also includes: Tilt sensor (7); The tilt sensor (7) is mounted on the upper end of the flange between the transmission shaft (6) and the wing connecting member (10), and rotates synchronously with the flange (8) on the rotating shaft (6), and is used to collect angle signals of the dynamic tilt of the wing (11) in real time.

4. The wing dynamic tilting device for wind tunnel test according to claim 3, characterized in that: Also includes: Control systems; The control system is connected to the servo motor (1) and the tilt sensor (7) respectively, and is used to control the target tilt angle of the wing (11) through the servo motor (1), collect the actual tilt angle of the wing (11) in real time through the tilt sensor (7), and compare the difference between the actual angle and the target angle in real time through the control software. If the difference exceeds the difference threshold, the servo motor (1) is emergency stopped, and the motor current and motor torque state are monitored in real time through the control software.

5. The wing dynamic tilting device for wind tunnel test according to claim 1, characterized in that: Also includes: Connecting transition piece (9); One end of the connecting transition piece (9) is connected to the bottom of the outer shell (12), and the other end is connected to the test bench. The installation position of the wing dynamic tilt device is adjusted by the connecting transition piece 9 so that the wing (11) is located in the center of the wind tunnel.

6. The wing dynamic tilting device for wind tunnel test according to claim 1, characterized in that: Also includes: A transmission shaft locating pin (16) and a transmission shaft fixing bolt (17), as well as a gear plate locating pin (14) and a gear plate fixing bolt (18); The connection form between the transmission shaft (6) and the wing connecting member (10) is: The flange (8) at the other end of the transmission shaft (6) is positioned and connected with the flange of the wing connecting member (10) by means of a transmission shaft positioning pin (16), and the two flanges are fixedly connected by means of a transmission shaft fixing bolt (17); The positioning pin+bolt connection form of the planetary output gear plate (13) and the planetary reducer (2) is specifically as follows: The planetary output gear plate (13) is positioned and connected to the output end of the planetary reducer (2) through a gear plate positioning pin (14), and the planetary output gear plate (13) and the planetary reducer (2) are fixedly connected using a gear plate fixing bolt (18).

7. The wing dynamic tilting device for wind tunnel test according to any one of claims 1 to 6, characterized in that: The transmission motion chain of the wing dynamic tilting device is: servo motor (1)→planetary reducer (2)→transmission shaft (6)→wing (11), and is specifically used to drive the wing (11) to perform 360° tilting through the wing dynamic tilting device.

8. The wing dynamic tilting device for wind tunnel test according to any one of claims 1 to 6, characterized in that: The wing dynamic tilting device is also used to apply triangular wave pulse excitation to the wing (11).

9. The wing dynamic tilting device for wind tunnel test according to any one of claims 1 to 6, characterized in that: The wing dynamic tilting device has a self-locking capability, which is achieved by a brake provided by the servo motor (1), and is used to stop running at any angle within the tilting angle range and maintain the current state.

10. A wing wind tunnel test system, characterized in that: include: A test bench arranged in a wind tunnel, and a wing dynamic tilting device for wind tunnel testing according to any one of claims 1 to 9; The wing dynamic tilting device is fixedly connected to the test bench and connected to the wing (11) via the output end of the transmission shaft (6) of the wing dynamic tilting device, so that the transmission shaft (6) and the wing (11) are driven to rotate synchronously by the servo motor (1) to realize the dynamic tilting of the wing (11) in the wind tunnel test, and the rotation speed is reduced by the planetary reducer (2) to increase the torque, so as to reduce the moment of inertia ratio of the wing (11) and the servo motor (1).

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