High-precision steering engine load analog simulation system, method and device

Abstract

The invention provides a high-precision steering engine load simulation system, device and method, and the system comprises a steering engine three-dimensional geometric structure model and a steering engine dynamics simulation model which are used for simulating an input force according to steering engine dynamics, and outputting a steering engine load simulation value of a preset position; the steering engine finite element simulation model is used for outputting stress and deformation simulation results of the rudderstock according to the simulation load simulation force; according to the steering engine dynamics simulation input force, the stress and deformation simulation result of the rudder blade is output; the steering engine load simulation input module is connected with the steering engine dynamics simulation model and used for providing steering engine dynamics simulation input force, and the steering engine dynamics simulation input force is obtained according to a steering engine load simulation device. Dynamic simulation and finite element simulation are carried out through a computer simulation model, a comprehensive simulation result is obtained, design can be better aided, in addition, the simulation result can be compared with a physical experiment result for verification, and the accuracy of the result is further guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of computer modeling simulation and semi-physical simulation testing, and in particular relates to a high-precision steering gear load simulation system, method and device. Background Art

[0002] With the development of computer technology, digital modeling, dynamic software modeling and analysis, and finite element analysis have been integrated into the industrial design and manufacturing process of various industries. Computer modeling simulation and semi-physical simulation testing technology have also been well applied in the intelligent manufacturing of high-end equipment manufacturing industries such as ships and underwater equipment. The current simulation test methods are divided into software simulation and semi-physical simulation. Semi-physical simulation can use the real error characteristics of each component to simulate and obtain more accurate simulation results. However, most of the current semi-physical simulation methods are software simulations of each module or component separately, and the degree of simulation is not high, and the authenticity of the simulation results cannot be effectively verified.

[0003] A servo is a device used on navigation equipment to change or maintain the direction of navigation. In general, a servo consists of a rudder blade, a rudder stock, a rudder transmission mechanism, etc. When the servo is sailing, it will encounter the resistance formed by the medium of the environment (water when sailing in water, and air when flying), that is, the load effect, and the faster the sailing speed, the more obvious the load effect. When designing a servo, load is a necessary design input. When designing, the normal force and normal moment of the rudder blade under different sailing conditions are generally given as the load design input of the servo.

[0004] The servo load simulation device is a device that can simulate the load effect on the servo during navigation under land conditions. It is generally used to verify the design of the servo and for the equipment delivery test of the servo. High-precision load simulation is generally active valve-controlled, and common servo load simulation devices generally include the following two schemes. One is to directly simulate the servo hydraulic cylinder, as shown in patent CN103423217A, the hydraulic cylinder of the load simulation device is against the hydraulic cylinder under test; the second is to set a simulated rudder blade on the rudder stock of the servo, and connect the load simulation hydraulic cylinder with the opposite movement trend of the servo hydraulic cylinder to the rudder blade. The main difference between the two is that the latter test object has an additional set of rudder stock and rudder transmission mechanism than the former, the latter has more objects for actual verification, and the relationship with the overall design input is more direct (the former needs to convert the load force and torque into the load force of the servo hydraulic cylinder).

[0005] But the latter also has obvious problems (ref. Figure 6), for a balanced rudder, the pressure action center of the rudder blade is close to the rudder shaft, that is, the actual load action arm when the rudder blade is at zero position is much smaller than the radius of the rudder shaft. In order to improve the effective action power of the load simulation device and the load simulation accuracy, the loading point of the load simulation device is generally close to the projection position of the load action point of the rudder blade. For a through-rudder-shaft balanced rudder, the rudder shaft almost penetrates the entire rudder blade, and the theoretical loading point interferes with the rudder shaft, resulting in the inability to actually arrange it. The next best approach is to move the loading point toward the trailing edge of the rudder blade. Although it solves the problem of arranging the actual loading point, it will lead to the inability to take into account both the load normal force and the load moment, that is, affecting the loading accuracy, and then affecting the accuracy of the test. For a non-through-type balanced rudder, since the simulated load force must pass through the loading point, a certain load moment will inevitably be generated when the load force is applied, which will also lead to the inability to take into account both the simulation accuracy of the load normal force and the load moment.

[0006] The existing technology has not yet well combined the physical experiment of the steering gear with the computer simulation, and the load simulation accuracy of the steering gear is not high. Therefore, it is necessary to combine computer modeling simulation and semi-physical simulation test technology to provide a high-precision steering gear load simulation system, method and device. Summary of the invention

[0007] In view of the above defects or improvement needs of the prior art, the present invention provides a high-precision steering gear load simulation system, device and method. On the one hand, through a computer simulation model, dynamic simulation and finite element simulation are performed to obtain comprehensive simulation results, which can better assist the design. In addition, the simulation results can be compared and verified with the physical experimental results to further ensure the accuracy of the results. On the other hand, the high-precision steering gear load simulation device and method of the present application are easy to control, have high load simulation accuracy, and can realize large load simulation.

[0008] In some embodiments, a high-precision steering gear load simulation system is provided, the simulation system comprising:

[0009] A three-dimensional geometric structure model of the steering gear, wherein the three-dimensional geometric structure model of the steering gear includes a rudder blade structure model and a rudder stock structure model;

[0010] A steering gear dynamics simulation model, the steering gear dynamics simulation model comprising: a dynamics simulation component generated according to the steering gear three-dimensional geometric structure model and a motion constraint pair between the dynamics simulation component; the steering gear dynamics simulation model is used to output a steering gear load simulation value at a preset position according to a steering gear dynamics simulation input force, the steering gear load simulation value comprising a simulated load simulation force;

[0011] A finite element simulation model of a steering gear, the finite element simulation model of the steering gear comprising: a finite element simulation mesh model generated according to the three-dimensional geometric structure model of the steering gear, and a constraint boundary relationship generated according to the dynamic simulation model of the steering gear, the finite element simulation model being used to output the stress and deformation simulation results of the rudder stock according to the simulated load simulation force; and to output the stress and deformation simulation results of the rudder blade according to the dynamic simulation input force of the steering gear;

[0012] A steering gear load simulation input module, which is connected to the steering gear dynamics simulation model and is used to provide a steering gear dynamics simulation input force, wherein the steering gear dynamics simulation input force is obtained according to a steering gear load simulation device;

[0013] The load simulation device is used to obtain the steering gear dynamics simulation input force at a preset position according to a preset load force and a preset load moment.

[0014] In some embodiments, the load simulation device comprises a rudder blade, a first load loading device, a second load loading device, and a control system, wherein the rudder blade is used to be fixedly connected to the rudder stock of the steering gear, and the first load loading device and the second load loading device are respectively connected to the rudder blade;

[0015] The first load loading device comprises a first servo hydraulic cylinder, the first servo hydraulic cylinder is connected to the rudder blade via a first ball joint, and the first servo hydraulic control assembly is connected to the first servo hydraulic cylinder;

[0016] The second load loading device comprises a second servo hydraulic cylinder, and the second servo hydraulic cylinder is connected to the rudder blade via a second ball joint;

[0017] The first servo hydraulic cylinder and the second servo hydraulic cylinder are respectively arranged on both sides of the rudder stock; the first servo hydraulic cylinder includes a first piston rod, and the second servo hydraulic cylinder includes a second piston rod; the other end of the first servo hydraulic cylinder opposite to the first piston rod is connected to the frame through a first rotating pair, and the other end of the second servo hydraulic cylinder opposite to the second piston rod is connected to the frame through a second rotating pair;

[0018] The distance between the first ball joint and the axis of the rudder stock is L1, and the distance between the second ball joint and the axis of the rudder stock is L2;

[0019] When the rudder blade is at zero position, a first zero position angle α1 is formed between the direction of the first piston rod and the normal direction of the rudder blade, a second zero position angle α2 is formed between the direction of the second piston rod and the normal direction of the rudder blade, a distance between the first ball joint and the first revolute pair is S1, and a distance between the second ball joint and the second revolute pair is S2;

[0020] When the rudder blade is in any loading position, the angle of rotation of the rudder blade is an angle β, a first loading angle θ1 is formed between the direction of the first piston rod and the normal direction of the rudder blade, a second loading angle θ2 is formed between the direction of the second piston rod and the normal direction of the rudder blade, a first piston rod angle γ1 is formed between the direction of the first piston rod and the normal direction of the rudder blade when the rudder blade is in zero position, and a second piston rod angle γ2 is formed between the direction of the second piston rod and the normal direction of the rudder blade when the rudder blade is in zero position;

[0021] The step of obtaining the servo dynamics simulation input force at a preset position according to the preset load force and the preset load moment comprises:

[0022] The preset load force is the load normal force F, and the preset load moment is the load moment T. By setting the structural parameters L1, L2, S1, S2, α1, and α2, the target output force value F1 of the first servo hydraulic cylinder and the target output force value F2 of the second servo hydraulic cylinder are obtained according to the following formula:

[0023] F=F1 cosθ1+F2 cosθ2

[0024] T=F1L1 cosθ1-F2L2 cosθ2

[0025]

[0026]

[0027] θ1=β+γ1

[0028] θ2=γ2-β

[0029] The target output force value F1 of the first servo hydraulic cylinder and the target output force value F2 of the second servo hydraulic cylinder are used as the input force of the servo dynamics simulation at the preset position, and the preset position is the position of the first ball joint corresponding to the target output force value F1 of the first servo hydraulic cylinder and the position of the second ball joint corresponding to the target output force value F2 of the second servo hydraulic cylinder.

[0030] In some embodiments, a high-precision steering gear load simulation device is provided, the steering gear load simulation device comprising a rudder blade, a first servo hydraulic control component, a first load loading device, a first force sensor, a second servo hydraulic control component, a second load loading device, a second force sensor, and a control system, the rudder blade is used to be fixedly connected to the rudder stock of the steering gear, and the first load loading device and the second load loading device are respectively connected to the rudder blade;

[0031] The first load loading device comprises a first servo hydraulic cylinder, the first servo hydraulic cylinder is connected to the rudder blade via a first ball joint, the first servo hydraulic control assembly is connected to the first servo hydraulic cylinder, the first servo hydraulic control assembly is used to control and output hydraulic oil to the first servo hydraulic cylinder, and the first force sensor is connected to the first servo hydraulic cylinder, and is used to detect a first output force of the first servo hydraulic cylinder;

[0032] The second load loading device comprises a second servo hydraulic cylinder, the second servo hydraulic cylinder is connected to the rudder blade via a second ball joint, the second servo hydraulic control assembly is connected to the second servo hydraulic cylinder, the second servo hydraulic control assembly is used to control and output hydraulic oil to the second servo hydraulic cylinder, and the second force sensor is connected to the second servo hydraulic cylinder to detect a second output force of the second servo hydraulic cylinder;

[0033] The first servo hydraulic cylinder and the second servo hydraulic cylinder are respectively arranged on both sides of the rudder stock;

[0034] The control system is connected with the first force sensor, the second force sensor, the first servo hydraulic control component, and the second servo hydraulic control component, and the control system is configured as follows:

[0035] According to the preset load input, the target output force values ​​of the first servo hydraulic cylinder and the second servo hydraulic cylinder are obtained, and control instructions are output to the first servo hydraulic control component and the second servo hydraulic control component, and the output forces of the first servo hydraulic cylinder and the second servo hydraulic control component are controlled and adjusted by the first servo hydraulic control component and the second servo hydraulic control component; at the same time, the actual output force value fed back by the first force sensor and the second force sensor is used to feedback and adjust the first servo hydraulic control component and the second servo hydraulic control component, so as to realize accurate closed-loop control of the output forces of the first servo hydraulic cylinder and the second servo hydraulic cylinder.

[0036] In some embodiments, the rudder blade is a simulated rudder blade, and the simulated rudder blade is connected to the rudder bar by a key. In some embodiments, the first ball joint is arranged at the tail end of the rudder blade, and the second ball joint is arranged at the head end of the rudder blade.

[0037] In some embodiments, the first servo hydraulic cylinder includes a first piston rod, and the second servo hydraulic cylinder includes a second piston rod, and directions of the first piston rod and the second piston rod are both adjustable.

[0038] In some embodiments, the first servo hydraulic control assembly and the second servo hydraulic control assembly each include an independent hydraulic pump source and a servo control valve;

[0039] The control system is connected to the hydraulic pump source and the servo control valve of the first servo hydraulic control assembly and the second servo hydraulic control assembly.

[0040] In some embodiments, the first servo hydraulic control assembly and the second servo hydraulic control assembly both include a bypass valve, and the bypass valve is disposed between an oil inlet line and an oil return line of the first servo hydraulic cylinder and the second servo hydraulic cylinder.

[0041] In some embodiments, the preset load input includes a preset load force and a preset load moment, and the preset load force and the preset load moment are in a nonlinear relationship.

[0042] In some embodiments, the rudder blade has a load reinforcement structure, the load reinforcement structure includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are in the same straight line, the first connecting rod is fixedly connected to the rudder blade, and the first piston rod is connected to the first connecting rod through a first ball joint; the second connecting rod is fixedly connected to the rudder blade, and the second piston rod is connected to the second connecting rod through a second ball joint;

[0043] The other end of the first servo hydraulic cylinder opposite to the first piston rod is connected to the frame through a first rotating pair, and the other end of the second servo hydraulic cylinder opposite to the second piston rod is connected to the frame through a second rotating pair;

[0044] The distance between the first ball joint and the axis of the rudder stock is L1, and the distance between the second ball joint and the axis of the rudder stock is L2;

[0045] When the rudder blade is at zero position, a first zero position angle α1 is formed between the direction of the first piston rod and the normal direction of the rudder blade, a second zero position angle α2 is formed between the direction of the second piston rod and the normal direction of the rudder blade, a distance between the first ball joint and the first revolute pair is S1, and a distance between the second ball joint and the second revolute pair is S2;

[0046] When the rudder blade is in any loading position, the angle of rotation of the rudder blade is an angle β, a first loading angle θ1 is formed between the direction of the first piston rod and the normal direction of the rudder blade, a second loading angle θ2 is formed between the direction of the second piston rod and the normal direction of the rudder blade, a first piston rod angle γ1 is formed between the direction of the first piston rod and the normal direction of the rudder blade when the rudder blade is in zero position, and a second piston rod angle γ2 is formed between the direction of the second piston rod and the normal direction of the rudder blade when the rudder blade is in zero position;

[0047] The step of obtaining target output force values ​​of the first servo hydraulic cylinder and the second servo hydraulic cylinder according to the preset load input comprises:

[0048] The preset load force is the load normal force F, and the preset load moment is the load moment T. By setting the structural parameters L1, L2, S1, S2, α1, and α2, the target output force value F1 of the first servo hydraulic cylinder and the target output force value F2 of the second servo hydraulic cylinder are obtained according to the following formula:

[0049] F=F1 cosθ1+F2 cosθ2

[0050] T=F1L1 cosθ1-F2L2 cosθ2

[0051]

[0052] θ1=β+γ1

[0053] θ2=γ2-β

[0054] The coupled load normal force and load moment can simultaneously meet the load normal force and load moment requirements of the nonlinear relationship. In some embodiments, the present application also provides a high-precision steering gear load simulation method, which is performed using the high-precision steering gear load simulation device as described above, and the steering gear load simulation method includes:

[0055] According to the preset load input, the target output force values ​​of the first servo hydraulic cylinder and the second servo hydraulic cylinder are obtained, and control instructions are output to the first servo hydraulic control component and the second servo hydraulic control component, so that the output forces of the first servo hydraulic cylinder and the second servo hydraulic cylinder are controlled and adjusted by the first servo hydraulic control component and the second servo hydraulic control component;

[0056] At the same time, the actual output force value fed back by the first force sensor and the second force sensor is used to feedback and adjust the first servo hydraulic control component and the second servo hydraulic control component to achieve accurate closed-loop control of the output force of the first servo hydraulic cylinder and the second servo hydraulic cylinder.

[0057] In the embodiments of the present application, compared with the prior art, at least the following technical effects are achieved:

[0058] On the one hand, through the computer simulation model, dynamic simulation and finite element simulation are carried out to obtain comprehensive simulation results, which can better assist the design. Computer simulation is carried out by establishing a three-dimensional geometric structure model of the servo. The servo dynamics simulation model outputs the servo load simulation value of the preset position according to the servo dynamics simulation input force. The servo finite element simulation model outputs the stress and deformation simulation results of the rudder bar according to the simulated load simulation force; and outputs the stress and deformation simulation results of the rudder blade according to the servo dynamics simulation input force. The servo load simulation system of the present application combines physical and digital simulation, and has the advantages of high precision, verifiability, and high simulation efficiency.

[0059] On the other hand, by differentially controlling the two servo hydraulic cylinders, the two load forces act on the rudder blades to couple and obtain the required load force and load torque. It has a simple structure, convenient control, good feasibility, high load simulation accuracy, and can achieve large load simulation.

[0060] In addition, in some embodiments, various load forces and load moments can be simulated and various load requirements can be met by adjusting the structural parameters L1, L2, S1, S2, α1, and α2. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments and the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0062] Figure 1 The figure is a schematic diagram of the module structure of a high-precision steering gear load simulation system in some embodiments of the present invention.

[0063] Figure 2 Schematic diagram of the structure of a high-precision steering gear load simulation device in some embodiments of the present invention.

[0064] Figure 3 Schematic diagram of the structure of the hydraulic and control system of the steering gear load simulation device in some embodiments of the present invention.

[0065] Figure 4 Schematic diagram of the state of the steering gear load simulation device at zero position in some embodiments of the present invention.

[0066] Figure 5 Schematic diagram of the state of the steering gear load simulation device in some embodiments of the present invention at any loading position.

[0067] Figure 6 It is a schematic diagram of the structure of a steering gear load simulation device in the background technology.

[0068] Figure 7 This is a schematic diagram of the state of the servo load simulation device of the technical solution in the comparative example at zero position.

[0069] Figure 8 This is a schematic diagram of the state of the servo load simulation device of the technical solution in the comparative example at any loading position.

[0070] Fig. 9 The figure is a flowchart of a high-precision steering engine load simulation method in some embodiments of the present invention.

[0071] Fig.10A computer schematic diagram of a high-precision steering gear load simulation system in some embodiments of the present invention. DETAILED DESCRIPTION

[0072] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0073] In some embodiments, the present application provides a high-precision steering gear load simulation system, the simulation system comprising:

[0074] A three-dimensional geometric structure model 1000 of a steering gear, wherein the three-dimensional geometric structure model of the steering gear comprises a rudder blade structure model and a rudder stock structure model;

[0075] A steering gear dynamics simulation model 2000, the steering gear dynamics simulation model comprising: a dynamics simulation component generated according to the steering gear three-dimensional geometric structure model and a motion constraint pair between the dynamics simulation components; the steering gear dynamics simulation model is used to output a steering gear load simulation value at a preset position according to a steering gear dynamics simulation input force, the steering gear load simulation value comprising a simulated load simulation force;

[0076] A steering gear finite element simulation model 3000, the steering gear finite element simulation model comprising: a finite element simulation mesh model generated according to the steering gear three-dimensional geometric structure model, and a constraint boundary relationship generated according to the steering gear dynamics simulation model, the finite element simulation model being used to output the stress and deformation simulation results of the rudder stock according to the simulated load simulation force; and to output the stress and deformation simulation results of the rudder blade according to the steering gear dynamics simulation input force;

[0077] A steering gear load simulation input module 4000, which is connected to the steering gear dynamics simulation model and is used to provide a steering gear dynamics simulation input force, wherein the steering gear dynamics simulation input force is obtained according to a steering gear load simulation device;

[0078] The load simulation device is used to obtain the steering gear dynamics simulation input force at a preset position according to a preset load force and a preset load moment.

[0079] In some embodiments, the load simulation system includes the load simulation device. In some embodiments, the load simulation device includes a rudder blade, a first load loading device, a second load loading device, and a control system, wherein the rudder blade is used to be fixedly connected to the rudder stock of the steering gear, and the first load loading device and the second load loading device are respectively connected to the rudder blade;

[0080] The first load loading device comprises a first servo hydraulic cylinder, the first servo hydraulic cylinder is connected to the rudder blade via a first ball joint, and the first servo hydraulic control assembly is connected to the first servo hydraulic cylinder;

[0081] The second load loading device comprises a second servo hydraulic cylinder, and the second servo hydraulic cylinder is connected to the rudder blade via a second ball joint;

[0082] The first servo hydraulic cylinder and the second servo hydraulic cylinder are respectively arranged on both sides of the rudder stock; the first servo hydraulic cylinder includes a first piston rod, and the second servo hydraulic cylinder includes a second piston rod; the other end of the first servo hydraulic cylinder opposite to the first piston rod is connected to the frame through a first rotating pair, and the other end of the second servo hydraulic cylinder opposite to the second piston rod is connected to the frame through a second rotating pair;

[0083] The distance between the first ball joint and the axis of the rudder stock is L1, and the distance between the second ball joint and the axis of the rudder stock is L2;

[0084] When the rudder blade is at zero position, a first zero position angle α1 is formed between the direction of the first piston rod and the normal direction of the rudder blade, a second zero position angle α2 is formed between the direction of the second piston rod and the normal direction of the rudder blade, a distance between the first ball joint and the first revolute pair is S1, and a distance between the second ball joint and the second revolute pair is S2;

[0085] When the rudder blade is in any loading position, the angle of rotation of the rudder blade is an angle β, a first loading angle θ1 is formed between the direction of the first piston rod and the normal direction of the rudder blade, a second loading angle θ2 is formed between the direction of the second piston rod and the normal direction of the rudder blade, a first piston rod angle γ1 is formed between the direction of the first piston rod and the normal direction of the rudder blade when the rudder blade is in zero position, and a second piston rod angle γ2 is formed between the direction of the second piston rod and the normal direction of the rudder blade when the rudder blade is in zero position;

[0086] The step of obtaining the servo dynamics simulation input force at a preset position according to the preset load force and the preset load moment comprises:

[0087] The preset load force is the load normal force F, and the preset load moment is the load moment T. By setting the structural parameters L1, L2, S1, S2, α1, and α2, the target output force value F1 of the first servo hydraulic cylinder and the target output force value F2 of the second servo hydraulic cylinder are obtained according to the following formula:

[0088] F=F1 cosθ1+F2 cosθ2

[0089] T=F1L1 cosθ1-F2L2 cosθ2

[0090]

[0091] θ1=β+γ1

[0092] θ2=γ2-β

[0093] The target output force value F1 of the first servo hydraulic cylinder and the target output force value F2 of the second servo hydraulic cylinder are used as the input force of the servo dynamics simulation at the preset position, and the preset position is the position of the first ball joint corresponding to the target output force value F1 of the first servo hydraulic cylinder and the position of the second ball joint corresponding to the target output force value F2 of the second servo hydraulic cylinder.

[0094] The present application provides a steering gear load simulation device and method. Specifically, by differentially controlling two servo hydraulic cylinders, the two load forces act on the rudder blades to couple and obtain the required load force and load torque. The device and method can be applied to the above-mentioned steering gear load simulation system.

[0095] The specific embodiments of the steering gear load simulation device and method of the present application are as follows.

[0096] Figure 2 Schematic diagram of the structure of a high-precision steering engine load simulation device in some embodiments of the present invention. Figure 2 In some embodiments of the present invention, a high-precision steering gear load simulation device is provided, which can be used to simulate the load of a rudder stock 100 of a steering gear. The steering gear load simulation device includes a rudder blade 200, a first servo hydraulic control component 300, a first load loading device 400, a first force sensor 500, a second servo hydraulic control component 600, a second load loading device 700, a second force sensor 800, and a control system 900. The rudder blade 200 is used to be fixedly connected to the rudder stock 100 of the steering gear, and the first load loading device 400 and the second load loading device 700 are connected to the rudder blade 100 respectively.

[0097] The first load loading device 400 includes a first servo hydraulic cylinder 401, which is connected to the rudder blade 200 via a first ball joint 402, and the first servo hydraulic control component 300 is connected to the first servo hydraulic cylinder 401. The first servo hydraulic control component 300 is used to control and output hydraulic oil to the first servo hydraulic cylinder 401, and the first force sensor 500 is connected to the first servo hydraulic cylinder 401 for detecting the first output force of the first servo hydraulic cylinder 401.

[0098] The second load loading device 700 includes a second servo hydraulic cylinder 701, which is connected to the rudder blade 200 via a second ball joint 702. The second servo hydraulic control component 600 is connected to the second servo hydraulic cylinder 701. The second servo hydraulic control component 600 is used to control and output hydraulic oil to the second servo hydraulic cylinder 701. The second force sensor 800 is connected to the second servo hydraulic cylinder 701 for detecting the second output force of the second servo hydraulic cylinder 701.

[0099] The first servo hydraulic cylinder 401 and the second servo hydraulic cylinder 701 are respectively disposed on both sides of the rudder stock 100 .

[0100] The control system 900 is connected to the first force sensor 500, the second force sensor 800, the first servo hydraulic control component 300, and the second servo hydraulic control component 600. The control system 900 is configured as follows:

[0101] According to the preset load input, the target output force values ​​of the first servo hydraulic cylinder and the second servo hydraulic cylinder are obtained, and control instructions are output to the first servo hydraulic control component and the second servo hydraulic control component, and the output forces of the first servo hydraulic cylinder and the second servo hydraulic control component are controlled and adjusted by the first servo hydraulic control component and the second servo hydraulic control component; at the same time, the actual output force value fed back by the first force sensor and the second force sensor is used to feedback and adjust the first servo hydraulic control component and the second servo hydraulic control component, so as to realize accurate closed-loop control of the output forces of the first servo hydraulic cylinder and the second servo hydraulic cylinder.

[0102] In the embodiment of the present application, by differentially controlling the two servo hydraulic cylinders, the two load forces act on the rudder blades to couple and obtain the required load force and load torque. The structure is simple, the control is convenient, the feasibility is good, the load simulation accuracy is high, and large load simulation can be achieved.

[0103] Specifically, the rudder stock 100 is a real rudder stock. In some embodiments, the rudder stock 100 is a rudder stock of a servo of a balancing rudder, which is an actual load component. In the embodiments of the present application, the rudder stock is tested by simulating its load. In some embodiments, the rudder blade 200 is a simulated rudder blade, that is, the rudder blade 200 is not a rudder blade actually used by the servo, but a rudder blade used to simulate loading on a servo load simulation device. In some embodiments, the rudder blade 200 has a body 201, and the shape and size of the body 201 are the same as the shape and size of the rudder blade actually used by the servo. Of course, in some embodiments, the shape and size of the body 201 may also be different from the shape and size of the rudder blade actually used by the servo. The simulated rudder blade is only used to simulate the load of a real rudder blade on the rudder stock, and its shape and size can ensure load simulation and complete load loading. In some embodiments, the rudder blade 200 is fixedly connected to the rudder stock 100 by a key.

[0104] Figure 3 It is a partial structural schematic diagram of the hydraulic and control system of the steering gear load simulation device in some embodiments of the present invention. Figure 4 Schematic diagram of the state of the steering gear load simulation device at zero position in some embodiments of the present invention. Figure 5 Schematic diagram of the state of the steering gear load simulation device in some embodiments of the present invention at any loading position.

[0105] refer to Figure 3 Specifically, in some embodiments, the first servo hydraulic cylinder 401 and the second servo hydraulic cylinder 701 both have an oil inlet chamber 471, an oil return chamber 472, an oil inlet pipeline 473 and an oil return pipeline 474. The first servo hydraulic control assembly and the second servo hydraulic control assembly both include an independent hydraulic pump source 361 and a servo control valve 362. The control system 900 is connected to the hydraulic pump source 361 and the servo control valve 362 of the first servo hydraulic control assembly and the second servo hydraulic control assembly. The first servo hydraulic control assembly and the second servo hydraulic control assembly both include a bypass valve 363. The bypass valve 363 is arranged between the oil inlet pipeline 473 and the oil return pipeline 474 of the first servo hydraulic cylinder and the second servo hydraulic cylinder. In some embodiments, the bypass valve can be opened so that the two chambers (the oil inlet chamber 471 and the oil return chamber 472) of the first servo hydraulic cylinder and the second servo hydraulic cylinder are bypassed, and the servo control valve, the control system, the hydraulic pump source, etc. do not need to be put into operation, thereby simulating a no-load state.

[0106] Understandably, Figure 3 The structure of a servo hydraulic cylinder and a servo hydraulic control component is only exemplarily shown. In an embodiment of the present application, the control system includes a PID controller and can simultaneously control the first servo hydraulic control component and the second servo hydraulic control component. For the specific control method of the control system and the steering gear load simulation method, refer to the following description.

[0107] refer to Figure 2 , Figure 4 and Figure 5In some embodiments, the first servo hydraulic cylinder 401 includes a first piston rod 4011, and the second servo hydraulic cylinder 701 includes a second piston rod 7011. The rudder blade 200 has a load reinforcement structure 2023. The load reinforcement structure 2023 can be fixedly connected to the rudder blade 200. In some embodiments, the load reinforcement structure 2023 is welded to the rudder blade 200. In some embodiments, the load reinforcement structure 2023 is connected to the rudder blade 200 through a card slot. The load reinforcement structure 2023 is used to strengthen the structural strength of the rudder blade to ensure that the load applied to the rudder blade can be transmitted to the rudder stock. Through the load reinforcement structure of the present application, it can be ensured that a large load simulation is achieved, and the concentrated load application can be avoided to cause bending deformation of the rudder blade 200. In some embodiments, the material strength of the load reinforcement structure 2023 is higher than that of the rudder blade 200. In some embodiments, the load reinforcement structure includes a first connecting rod 202 and a second connecting rod 203, the first connecting rod 202 and the second connecting rod 203 are in the same straight line, the first connecting rod 202 is fixedly connected to the rudder blade 200, and the first piston rod 4011 is connected to the first connecting rod 202 through a first ball joint 402. The second connecting rod 203 is fixedly connected to the rudder blade 200, and the second piston rod 7011 is connected to the second connecting rod 203 through a second ball joint 702. Specifically, the rudder blade 200 is connected to the rudder stock 100 through a key. The first connecting rod 202 and the second connecting rod 203 can be welded and fixedly connected to the rudder blade 200.

[0108] The other end of the first servo hydraulic cylinder 401 opposite to the first piston rod is connected to the frame (not shown) through the first rotation pair 403, and the other end of the second servo hydraulic cylinder 701 opposite to the second piston rod is connected to the frame through the second rotation pair 703. Specifically, the frame can be a fixed structure. The specific structure of the frame is not limited in the embodiments of the present application.

[0109] In some embodiments, the distance between the first ball joint and the axis of the rudder bar is L1, and the distance between the second ball joint and the axis of the rudder bar is L2. The distance L1 between the first ball joint and the axis of the rudder bar and the distance L2 between the second ball joint and the axis of the rudder bar can be adjusted according to the size of the rudder blade and the size of the simulated load. The L1 and L2 can be equal or unequal. In some embodiments, the first servo hydraulic cylinder and the second servo hydraulic cylinder adopt an asymmetric structure, for example, the L1 and L2 are unequal. In this embodiment, the first servo hydraulic cylinder and the second servo hydraulic cylinder are asymmetric with respect to the center line of the axis of the rudder bar. Reference Figure 2, the distance between the rudder blade action point P and the axis of the rudder bar is L0. By setting unequal L1 and L2, the actual load loading position is simulated. Specifically, in some embodiments, the first ball joint is arranged at the tail end of the rudder blade, and the second ball joint is arranged at the head end of the rudder blade. It can be understood that the head end is the end of the rudder blade closer to the rudder bar, and its cross-sectional area is relatively large. The tail end is the end of the rudder blade farther away from the rudder bar, and its cross-sectional area is relatively small.

[0110] In some embodiments, the direction of the first piston rod and the direction of the second piston rod can be adjusted. By setting the direction of the first piston rod and the direction of the second piston rod to be adjustable, nonlinear normal force and load moment loading can be better achieved, loading accuracy can be improved, and the accuracy of the test can be ensured. In some embodiments, in the zero position state, the first piston rod and the second piston rod are farther away from the rudder stock at the end closer to the rudder stock, such as Figure 4 In some embodiments, the directions of the first piston rod and the second piston rod can also be set to a straight figure eight according to load requirements. Of course, under some simple load simulation requirements, the directions of the first piston rod and the second piston rod can also be set to be parallel.

[0111] In some embodiments, the first rotational pair 403 and the second rotational pair 703 are connected to the frame with a sliding adjustment assembly (not shown). The position of the sliding adjustment assembly can be adjusted as needed to adjust the position and distance between the first rotational pair 403 and the second rotational pair 703, thereby adjusting the structural parameters S1, S2, α1, α2 to meet different load simulation requirements. The specific structure of the sliding adjustment assembly is not limited here. The sliding adjustment assembly can be moved on the frame and fixed relative to the frame after being adjusted into place. The first rotational pair 403 and the second rotational pair 703 are connected to the sliding adjustment assembly.

[0112] In some embodiments, the preset load input includes a preset load force and a preset load moment. Specifically, the preset load force is a load normal force along the normal direction of the rudder blade. Figure 4 and Figure 5 , the normal direction of the rudder blade is the vertical direction of the center line K of the rudder blade section.

[0113] refer to Figure 4, when the rudder blade is in zero position, there is a first zero position angle α1 between the direction of the first piston rod and the normal of the rudder blade, there is a second zero position angle α2 between the direction of the second piston rod and the normal of the rudder blade, the distance between the first ball joint and the first revolute pair is S1, and the distance between the second ball joint and the second revolute pair is S2. In some embodiments, the zero position of the rudder blade is that the rudder blade is in a horizontal state, and the center line K of the rudder blade section is parallel to the horizontal plane. In some embodiments, when the rudder blade is in zero position, the height of the center line K of the rudder blade section from the first revolute pair and the second revolute pair can be set to be fixed. Therefore, the distance S1 and the distance S2 can be changed by adjusting the first zero position angle α1 and the second zero position angle α2, which facilitates parameter determination and adjustment. Of course, according to different servos and load requirements, all structural parameters L1, L2, S1, S2, α1, α2 can be set as adjustable parameters.

[0114] refer to Figure 5 When the rudder blade is in any loading position, the rotation angle of the rudder blade is an angle β, a first loading angle θ1 is defined between the direction of the first piston rod and the normal direction of the rudder blade, a second loading angle θ2 is defined between the direction of the second piston rod and the normal direction of the rudder blade, a first piston rod angle γ1 is defined between the direction of the first piston rod and the normal direction of the rudder blade at zero position, and a second piston rod angle γ2 is defined between the direction of the second piston rod and the normal direction of the rudder blade at zero position. Figure 5 In the embodiment shown, the leading end of the rudder blade is the left, the trailing end of the rudder blade is the right, and the rudder blade rotates counterclockwise by an angle β, which is the angle between the center line K of the rudder blade section and the horizontal plane, and the angle β is less than 90 degrees. Figure 5 The state shown is only an example, and the loading position of the rudder blade can also be in other states. Figure 5 The load bits shown are for illustration purposes only.

[0115] The step of obtaining target output force values ​​of the first servo hydraulic cylinder and the second servo hydraulic cylinder according to the preset load input comprises:

[0116] The preset load force is the load normal force F, and the preset load moment is the load moment T. By setting the structural parameters L1, L2, S1, S2, α1, and α2, the target output force value F1 of the first servo hydraulic cylinder and the target output force value F2 of the second servo hydraulic cylinder are obtained according to the following formula:

[0117] F=F1 cosθ1+F2 cosθ2

[0118] T=F1L1 cosθ1-F2L2 cosθ2

[0119]

[0120] θ1=β+γ1

[0121] θ2=γ2-β

[0122] The actual output force values ​​of the first servo hydraulic cylinder and the second servo hydraulic cylinder are controlled by the target output force value F1 of the first servo hydraulic cylinder and the target output force value F2 of the second servo hydraulic cylinder, so that the load normal force and load moment after coupling the actual output force values ​​of the first servo hydraulic cylinder and the second servo hydraulic cylinder can simultaneously meet the load normal force and load moment requirements of the nonlinear relationship.

[0123] It can be understood that the structural parameters L1, L2, S1, S2, α1, and α2 are all parameters of the steering gear load simulation device when the rudder blade is at zero position. Of course, the structural parameters L1, L2, S1, S2, α1, and α2 can be adjusted according to load requirements. The control system may include a processor, and the above calculation process can be directly calculated and implemented by the processor.

[0124] In some embodiments, the structural parameters L1 and L2 can be determined first according to the rudder blade size, and then the structural parameters S1, S2, α1, α2 can be adjusted according to the preset load force, and the target output force value F1 of the first servo hydraulic cylinder and the target output force value F2 of the second servo hydraulic cylinder can be obtained at the same time.

[0125] Of course, other variable solving algorithms may also be used to determine the optimal values ​​of the structural parameters L1, L2, S1, S2, α1, and α2 so as to meet the preset load force requirements.

[0126] In some embodiments, the control system further includes a PID controller, which is used to compare the actual output force value fed back by the first force sensor and the second force sensor with the target output force value F1 of the first servo hydraulic cylinder and the target output force value F2 of the second servo hydraulic cylinder, and feedback-adjust the first servo hydraulic control component and the second servo hydraulic control component, so as to accurately adjust the actual output force value of the first servo hydraulic cylinder and the actual output force value of the second servo hydraulic cylinder, and realize closed-loop control, so that the actual output force value is the same as the target output force value, so that the actual load normal force and load moment are respectively the same as the preset load normal force F and load moment T. The servo load simulation device of the embodiment of the present application has a simple structure and is easy to control, and can realize preset nonlinear normal force and load moment loading, improve loading accuracy, and ensure the accuracy of the test.

[0127] In order to better understand the technical solution of the present application, the present application provides some comparative examples. Figure 6 and Figure 7 This is a schematic diagram of the state of the steering gear load simulation device of the technical solution in the comparative example at zero position and any loading state. Figure 6 and Figure 7 Compared with some embodiments of the present application, the steering gear load simulation device of the comparative example has only one loading point. It can be regarded as having only the first servo hydraulic cylinder. It includes structural parameters L1 and S1. The structural parameters L1 and S1 are the parameters of the steering gear load simulation device when the rudder blade is in zero position. At zero position, the piston rod direction of the servo hydraulic cylinder is parallel to the normal direction of the rudder blade.

[0128] As described in the background art, according to the following formula, there is a linear relationship between the load normal force F and the load moment T:

[0129]

[0130] θ1=β-γ1

[0131] F=F1cosθ1

[0132] T=F·L1=F1L1 cosθ1

[0133] That is, load moment T = normal force F × lever arm L1, where F1 is the output force of the servo hydraulic cylinder. However, the load normal force and load moment given by the general design requirements, that is, the load normal force F and load moment T of the preset load input are not linearly related, that is, through the servo load simulation device of the comparative example, it is impossible to achieve nonlinear load normal force F and load moment T loading, and it is impossible to simultaneously meet the high-precision load normal force and load moment simulation.

[0134] In some embodiments of the present application, a high-precision steering gear load simulation method is further provided, which is performed using the high-precision steering gear load simulation device of any of the above embodiments. The steering gear load simulation method includes:

[0135] According to the preset load input, the target output force values ​​of the first servo hydraulic cylinder and the second servo hydraulic cylinder are obtained, and control instructions are output to the first servo hydraulic control component and the second servo hydraulic control component, so that the output forces of the first servo hydraulic cylinder and the second servo hydraulic cylinder are controlled and adjusted by the first servo hydraulic control component and the second servo hydraulic control component;

[0136] At the same time, the actual output force value fed back by the first force sensor and the second force sensor is used to feedback and adjust the first servo hydraulic control component and the second servo hydraulic control component to achieve accurate closed-loop control of the output force of the first servo hydraulic cylinder and the second servo hydraulic cylinder.

[0137] In the embodiment of the present application, closed-loop control is a control method that performs correction based on the output force feedback of the control object, i.e., the first servo hydraulic cylinder and the second servo hydraulic cylinder. When the actual output force value measured by the first force sensor and the second force sensor deviates from the target output force value, feedback adjustment is performed. In the embodiment of the present application, PID (proportional, integral, differential coefficient) closed-loop control is adopted. The embodiment of the present application effectively corrects the deviation of the controlled object through the combination of these three algorithms, so that it reaches a stable state and realizes precise closed-loop control.

[0138] In some embodiments of the present application, the steering gear load simulation method further includes: opening a bypass valve so that the two chambers of the first servo hydraulic cylinder and the second servo hydraulic cylinder are bypassed to simulate no-load. When the bypass valve between the servo hydraulic control assembly and the servo hydraulic cylinder oil inlet and return pipeline is opened, the two chambers of the servo hydraulic cylinder are connected, that is, the pressure difference between the two chambers is close to zero, and no load force is generated, which can meet the no-load test requirements of the tested system.

[0139] It can be understood that the servo load simulation method of the present application is performed using the servo load simulation device for the above-mentioned high-precision balancing rudder, and has a technical effect similar to that of the device.

[0140] In some embodiments of the present application, the steering gear load simulation method further includes adjusting at least one of the structural parameters L1, L2, S1, S2, α1, and α2 so that the output force of the first servo hydraulic cylinder and the second servo hydraulic cylinder meets the preset load input. In some embodiments, the structural parameters L1 and L2 can be first determined according to the rudder blade size, and then the structural parameters S1, S2, α1, and α2 can be adjusted according to the preset load force, and the target output force value F1 of the first servo hydraulic cylinder and the target output force value F2 of the second servo hydraulic cylinder can be obtained at the same time.

[0141] The servo load simulation method of the present application can achieve various load requirements by adjusting the above-mentioned structural parameters L1, L2, S1, S2, α1, and α2.

[0142] Fig. 9 This is a flowchart of a high-precision steering engine load simulation method in some embodiments of the present invention. Fig. 9 The present application also provides a high-precision steering gear load simulation method, and the simulation method is applied to the steering gear load simulation system.

[0143] The high-precision steering gear load simulation method comprises the following steps:

[0144] Establishing a three-dimensional geometric structure model of the steering gear, wherein the three-dimensional geometric structure model of the steering gear includes a rudder blade structure model and a rudder stock structure model;

[0145] Establishing a steering gear dynamics simulation model, the steering gear dynamics simulation model comprising: a dynamics simulation component generated according to the steering gear three-dimensional geometric structure model and a motion constraint pair between the dynamics simulation components;

[0146] Establishing a finite element simulation model of a steering gear, wherein the finite element simulation model of the steering gear comprises: a finite element simulation mesh model generated according to the three-dimensional geometric structure model of the steering gear, and a constraint boundary relationship generated according to the dynamics simulation model of the steering gear;

[0147] According to the preset load force and the preset load moment, the steering gear dynamics simulation input force at the preset position is obtained; the steering gear load simulation input module inputs the steering gear dynamics simulation input force into the steering gear dynamics simulation model, and the steering gear dynamics simulation input force is obtained according to the steering gear load simulation device;

[0148] According to the steering gear dynamics simulation input force, the steering gear dynamics simulation model outputs a steering gear load simulation value of a preset position, wherein the steering gear load simulation value includes a simulated load simulation force;

[0149] According to the simulated load simulation force, the finite element simulation model outputs the stress and deformation simulation results of the rudder stock; and according to the steering gear dynamics simulation input force, outputs the stress and deformation simulation results of the rudder blade.

[0150] In some embodiments, the high-precision steering gear load simulation method includes:

[0151] According to the simulated value of the servo load at the preset position, a simulated load simulation force and a simulated load simulation torque are obtained, and the simulated load simulation force is compared with the preset load force, and the simulated load simulation torque is compared with the preset load torque. According to inconsistent feedback from the comparison result, the servo dynamics simulation model is updated and the verification is repeated until the comparison result feedback is consistent.

[0152] In some embodiments, the present application also provides an electronic device.

[0153] Fig.10 FIG. 1 is a schematic diagram of an electronic device according to an embodiment of the present invention. Fig.10 The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements any of the above-mentioned methods when executing the program.

[0154] In some embodiments, the electronic device includes a computer program of a servo load simulation system.

[0155] The computer program is at least used to obtain the following models and modules:

[0156] A three-dimensional geometric structure model of the steering gear, wherein the three-dimensional geometric structure model of the steering gear includes a rudder blade structure model and a rudder stock structure model;

[0157] A steering gear dynamics simulation model, the steering gear dynamics simulation model comprising: a dynamics simulation component generated according to the steering gear three-dimensional geometric structure model and a motion constraint pair between the dynamics simulation component; the steering gear dynamics simulation model is used to output a steering gear load simulation value at a preset position according to a steering gear dynamics simulation input force, the steering gear load simulation value comprising a simulated load simulation force;

[0158] A finite element simulation model of a steering gear, the finite element simulation model of the steering gear comprising: a finite element simulation mesh model generated according to the three-dimensional geometric structure model of the steering gear, and a constraint boundary relationship generated according to the dynamic simulation model of the steering gear, the finite element simulation model being used to output the stress and deformation simulation results of the rudder stock according to the simulated load simulation force; and to output the stress and deformation simulation results of the rudder blade according to the dynamic simulation input force of the steering gear;

[0159] A steering gear load simulation input module is connected to the steering gear dynamics simulation model and is used to provide a steering gear dynamics simulation input force, wherein the steering gear dynamics simulation input force is obtained according to a steering gear load simulation device.

[0160] At the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and of course may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to realize the function of the above-mentioned servo load simulation system. Of course, in addition to the software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices. It can be understood that it is only necessary to program the method flow slightly in a hardware description language and program it into an integrated circuit to obtain a hardware circuit that implements the logical method flow.

[0161] The above method can be implemented by a controller in any appropriate manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include but are not limited to microcontrollers. The memory controller can also be implemented as part of the control logic of the memory. It is understandable that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0162] The systems, devices, modules or units in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer device. Specifically, the computer device may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0163] For the convenience of description, the above device is described by dividing it into various modules according to its functions. Of course, when implementing this specification, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0164] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, this specification may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0165] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0166] In some embodiments, the computer device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0167] In some embodiments, the memory may include non-permanent storage in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0168] Those skilled in the art will appreciate that the various operations, methods, steps, measures, and schemes discussed in the present invention may be alternated, modified, combined, or deleted. Further, other steps, measures, and schemes in the various operations, methods, and schemes discussed in the present invention may also be alternated, modified, rearranged, decomposed, combined, or deleted. Further, the steps, measures, and schemes in the prior art that are similar to those disclosed in the present invention may also be alternated, modified, rearranged, decomposed, combined, or deleted.

[0169] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A high-precision steering gear load simulation system, characterized in that: The simulation system comprises: A three-dimensional geometric structure model of the steering gear, wherein the three-dimensional geometric structure model of the steering gear includes a rudder blade structure model and a rudder stock structure model; A steering gear dynamics simulation model, the steering gear dynamics simulation model comprising: a dynamics simulation component generated according to the steering gear three-dimensional geometric structure model and a motion constraint pair between the dynamics simulation component; the steering gear dynamics simulation model is used to output a steering gear load simulation value at a preset position according to a steering gear dynamics simulation input force, the steering gear load simulation value comprising a simulated load simulation force; A finite element simulation model of a steering gear, the finite element simulation model of the steering gear comprising: a finite element simulation mesh model generated according to the three-dimensional geometric structure model of the steering gear, and a constraint boundary relationship generated according to the dynamic simulation model of the steering gear, the finite element simulation model being used to output the stress and deformation simulation results of the rudder stock according to the simulated load simulation force; and to output the stress and deformation simulation results of the rudder blade according to the dynamic simulation input force of the steering gear; A servo load simulation input module, the servo load simulation input module is connected to the servo dynamics simulation model, and is used to provide a servo dynamics simulation input force, the servo dynamics simulation input force is obtained according to a servo load simulation device; the load simulation device is used to obtain the servo dynamics simulation input force of a preset position according to a preset load force and a preset load moment.

2. The high-precision steering gear load simulation system according to claim 1 is characterized in that: The load simulation device comprises a rudder blade, a first load loading device, a second load loading device, and a control system, wherein the rudder blade is used to be fixedly connected to the rudder stock of the steering gear, and the first load loading device and the second load loading device are respectively connected to the rudder blade; The first load loading device comprises a first servo hydraulic cylinder, the first servo hydraulic cylinder is connected to the rudder blade via a first ball joint, and the first servo hydraulic control assembly is connected to the first servo hydraulic cylinder; The second load loading device comprises a second servo hydraulic cylinder, and the second servo hydraulic cylinder is connected to the rudder blade via a second ball joint; The first servo hydraulic cylinder and the second servo hydraulic cylinder are respectively arranged on both sides of the rudder stock; the first servo hydraulic cylinder includes a first piston rod, and the second servo hydraulic cylinder includes a second piston rod; the other end of the first servo hydraulic cylinder opposite to the first piston rod is connected to the frame through a first rotating pair, and the other end of the second servo hydraulic cylinder opposite to the second piston rod is connected to the frame through a second rotating pair; The distance between the first ball joint and the axis of the rudder stock is L1, and the distance between the second ball joint and the axis of the rudder stock is L2; When the rudder blade is at zero position, a first zero position angle α1 is formed between the direction of the first piston rod and the normal direction of the rudder blade, a second zero position angle α2 is formed between the direction of the second piston rod and the normal direction of the rudder blade, a distance between the first ball joint and the first revolute pair is S1, and a distance between the second ball joint and the second revolute pair is S2; When the rudder blade is in any loading position, the angle of rotation of the rudder blade is an angle β, a first loading angle θ1 is formed between the direction of the first piston rod and the normal direction of the rudder blade, a second loading angle θ2 is formed between the direction of the second piston rod and the normal direction of the rudder blade, a first piston rod angle γ1 is formed between the direction of the first piston rod and the normal direction of the rudder blade when the rudder blade is in zero position, and a second piston rod angle γ2 is formed between the direction of the second piston rod and the normal direction of the rudder blade when the rudder blade is in zero position; The step of obtaining the servo dynamics simulation input force at a preset position according to the preset load force and the preset load moment comprises: The preset load force is the load normal force F, and the preset load moment is the load moment T. By setting the structural parameters L1, L2, S1, S2, α1, and α2, the target output force value F1 of the first servo hydraulic cylinder and the target output force value F2 of the second servo hydraulic cylinder are obtained according to the following formula: F=F1 cosθ1+F2 cosθ2 T=F1L1 cosθ1-F2L2 cosθ2 θ1=β+γ1 θ2=γ2-β The target output force value F1 of the first servo hydraulic cylinder and the target output force value F2 of the second servo hydraulic cylinder are used as the input force of the servo dynamics simulation at the preset position, and the preset position is the position of the first ball joint corresponding to the target output force value F1 of the first servo hydraulic cylinder and the position of the second ball joint corresponding to the target output force value F2 of the second servo hydraulic cylinder.

3. A high-precision steering gear load simulation device, characterized in that: The steering gear load simulation device comprises a rudder blade, a first servo hydraulic control component, a first load loading device, a first force sensor, a second servo hydraulic control component, a second load loading device, a second force sensor, and a control system, wherein the rudder blade is used to be fixedly connected to the rudder stock of the steering gear, and the first load loading device and the second load loading device are respectively connected to the rudder blade; The first load loading device comprises a first servo hydraulic cylinder, the first servo hydraulic cylinder is connected to the rudder blade via a first ball joint, the first servo hydraulic control assembly is connected to the first servo hydraulic cylinder, the first servo hydraulic control assembly is used to control and output hydraulic oil to the first servo hydraulic cylinder, and the first force sensor is connected to the first servo hydraulic cylinder, and is used to detect a first output force of the first servo hydraulic cylinder; The second load loading device comprises a second servo hydraulic cylinder, the second servo hydraulic cylinder is connected to the rudder blade via a second ball joint, the second servo hydraulic control assembly is connected to the second servo hydraulic cylinder, the second servo hydraulic control assembly is used to control and output hydraulic oil to the second servo hydraulic cylinder, and the second force sensor is connected to the second servo hydraulic cylinder to detect a second output force of the second servo hydraulic cylinder; The first servo hydraulic cylinder and the second servo hydraulic cylinder are respectively arranged on both sides of the rudder stock; The control system is connected with the first force sensor, the second force sensor, the first servo hydraulic control component, and the second servo hydraulic control component, and the control system is configured as follows: According to the preset load input, the target output force values ​​of the first servo hydraulic cylinder and the second servo hydraulic cylinder are obtained, and control instructions are output to the first servo hydraulic control component and the second servo hydraulic control component, and the output forces of the first servo hydraulic cylinder and the second servo hydraulic control component are controlled and adjusted through the first servo hydraulic control component and the second servo hydraulic control component; at the same time, the actual output force value fed back by the first force sensor and the second force sensor is used to feedback and adjust the first servo hydraulic control component and the second servo hydraulic control component, so as to realize accurate closed-loop control of the output forces of the first servo hydraulic cylinder and the second servo hydraulic cylinder; The first servo hydraulic cylinder comprises a first piston rod, and the second servo hydraulic cylinder comprises a second piston rod. The rudder blade has a load-enhancing structure, which includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are in the same straight line, the first connecting rod is fixedly connected to the rudder blade, and the first piston rod is connected to the first connecting rod through a first ball joint; the second connecting rod is fixedly connected to the rudder blade, and the second piston rod is connected to the second connecting rod through a second ball joint; The other end of the first servo hydraulic cylinder opposite to the first piston rod is connected to the frame through a first rotating pair, and the other end of the second servo hydraulic cylinder opposite to the second piston rod is connected to the frame through a second rotating pair; The distance between the first ball joint and the axis of the rudder stock is L1, and the distance between the second ball joint and the axis of the rudder stock is L2; When the rudder blade is at zero position, a first zero position angle α1 is formed between the direction of the first piston rod and the normal direction of the rudder blade, a second zero position angle α2 is formed between the direction of the second piston rod and the normal direction of the rudder blade, a distance between the first ball joint and the first revolute pair is S1, and a distance between the second ball joint and the second revolute pair is S2; When the rudder blade is in any loading position, the angle of rotation of the rudder blade is an angle β, a first loading angle θ1 is formed between the direction of the first piston rod and the normal direction of the rudder blade, a second loading angle θ2 is formed between the direction of the second piston rod and the normal direction of the rudder blade, a first piston rod angle γ1 is formed between the direction of the first piston rod and the normal direction of the rudder blade when the rudder blade is in zero position, and a second piston rod angle γ2 is formed between the direction of the second piston rod and the normal direction of the rudder blade when the rudder blade is in zero position; The step of obtaining target output force values ​​of the first servo hydraulic cylinder and the second servo hydraulic cylinder according to the preset load input comprises: The preset load force is the load normal force F, and the preset load moment is the load moment T. By setting the structural parameters L1, L2, S1, S2, α1, and α2, the target output force value F1 of the first servo hydraulic cylinder and the target output force value F2 of the second servo hydraulic cylinder are obtained according to the following formula: F=F1 cosθ1+F2 cosθ2 T=F1L1 cosθ1-F2L2 cosθ2 θ1=β+γ1 θ2=γ2-β The coupled load normal force and load moment can simultaneously meet the load normal force and load moment requirements of the nonlinear relationship.

4. The steering gear load simulation device according to claim 3, characterized in that: The rudder blade is a simulated rudder blade, and the simulated rudder blade is connected to the rudder stock through a key.

5. The steering gear load simulation device according to claim 4, characterized in that: The first ball joint is arranged at the tail end of the rudder blade, and the second ball joint is arranged at the head end of the rudder blade.

6. The steering gear load simulation device according to claim 5, characterized in that: The direction of the first piston rod and the direction of the second piston rod are both adjustable.

7. The steering gear load simulation device according to claim 6, characterized in that: The first servo hydraulic control assembly and the second servo hydraulic control assembly both include independent hydraulic pump sources and servo control valves; The control system is connected to the hydraulic pump source and the servo control valve of the first servo hydraulic control assembly and the second servo hydraulic control assembly.

8. The steering gear load simulation device according to claim 7, characterized in that: The first servo hydraulic control assembly and the second servo hydraulic control assembly both include a bypass valve, and the bypass valve is arranged between an oil inlet pipeline and an oil return pipeline of the first servo hydraulic cylinder and the second servo hydraulic cylinder.

9. The steering gear load simulation device according to claim 6, characterized in that: The preset load input includes a preset load force and a preset load moment, and the preset load force and the preset load moment are in a nonlinear relationship.

10. A high-precision steering gear load simulation method, characterized in that: The high-precision steering gear load simulation device according to claim 9 is used, and the steering gear load simulation method comprises: According to the preset load input, the target output force values ​​of the first servo hydraulic cylinder and the second servo hydraulic cylinder are obtained, and control instructions are output to the first servo hydraulic control component and the second servo hydraulic control component, so that the output forces of the first servo hydraulic cylinder and the second servo hydraulic cylinder are controlled and adjusted by the first servo hydraulic control component and the second servo hydraulic control component; At the same time, the actual output force value fed back by the first force sensor and the second force sensor is used to feedback and adjust the first servo hydraulic control component and the second servo hydraulic control component to achieve accurate closed-loop control of the output force of the first servo hydraulic cylinder and the second servo hydraulic cylinder.

Images