All-motion steering engine of dynamic test model of hypersonic wind tunnel and control method of all-motion steering engine

Abstract

The invention belongs to the technical field of hypersonic wind tunnel tests, and discloses a hypersonic wind tunnel dynamic test model all-motion steering engine and a control method thereof. A frameless motor and a control module are mounted at the front end of the frame; a transmission module and a rudder deflection angle detection module are mounted in the frame; a brake module is mounted at the rear end of the frame; a full-motion control surface is mounted on the right rear side surface of the frame; the control module controls the frameless motor to drive the transmission module to drive the all-moving control surface to change the rudder deflection angle; the rudder deflection angle detection module measures the rudder deflection angle of the full-motion rudder surface; the brake module fixes the rudder deflection angle of the full-motion control surface. The control method comprises the steps of determining a control target of the all-motion steering engine; establishing a frameless motor servo controller mathematical model; establishing a frameless motor transmission structure mathematical model; establishing a rudder deflection angle detection module mathematical model; establishing a steering engine control model; and full-motion control surface control is carried out. The all-motion steering engine and the control method thereof realize miniaturization, high load and high precision, and can be applied to dynamic wind tunnel tests of hypersonic aircrafts.

Description

Technical Field

[0001] The present invention belongs to the technical field of hypersonic wind tunnel tests, and in particular relates to a hypersonic wind tunnel dynamic test model full-motion servo and a control method thereof. Background Art

[0002] As the core component of a hypersonic aircraft, the shape and performance of the servo system greatly affect the attitude control and performance of the hypersonic aircraft.

[0003] The wind tunnel test model servo system is used in the dynamic test model variable rudder deflection wind tunnel test to simulate various motion states of hypersonic aircraft. The wind tunnel test model servo system is placed inside the test model and reliably connected to the control rudder blade. It automatically moves according to the specified deflection angle to achieve automatic change of the dynamic test model rudder deflection angle. It can accurately control and measure the model rudder surface attitude in real time, and improve the accuracy and efficiency of the model aerodynamic measurement.

[0004] At present, wind tunnel test model servo systems are mainly used in low-speed and subsonic wind tunnels. Generally, small-load servo systems for model aircraft or real servo systems used in aircraft are selected. Special servo systems are also designed for some special simulation needs.

[0005] In the paper "Development of Wind Tunnel Test Model Servo System" published in the 3rd issue of "Experimental Fluid Mechanics" in 2012, Wang Hui et al. designed a servo consisting of a displacement sensor, a controller, a connecting rod and a double hinge mechanism. The servo has a small size, light weight, good load characteristics, and ideal temperature stability and shock load stability. The servo control accuracy is high, the servo test accuracy is high, and it operates reliably in a low-speed wind tunnel. The use of this servo has increased the efficiency of a certain aircraft's full rudder efficiency test by 3 times, and reduced the wind tunnel operation time by 36.5%.

[0006] In 2014, the China Patent Literature Database published an invention by Che Binghui's team titled "A Low-speed Wind Tunnel Force Measurement Test Model Automatic Servo" (ZL201420386906.7). This patent designs a test model servo for a low-speed wind tunnel that integrates an elevator, a rudder and a control system. The computer controls the test model to automatically adjust the rudder angle in the wind tunnel, which is 40% more efficient than manually adjusting the rudder angle.

[0007] Liang Jianliang et al. designed a small electric servo transmission mechanism consisting of a screw nut pair and a connecting rod mechanism in the paper "Optimization Design and Development of Small Electric Servo Transmission Mechanism" published in the 4th issue of "Mechanical Research and Application" in 2016. The small electric servo transmission mechanism improves the efficiency and accuracy of wind tunnel tests, increases the deflection angle of the servo, increases the deflection angle adjustment range, and achieves a smooth change in the servo rotation speed; the maximum rudder angle given is 69.89°, the average angular velocity is 2.331° / s, and the standard deviation of angular velocity fluctuation is 0.0813.

[0008] In 2021, Zhang Haihang's team from Harbin Institute of Technology published a paper titled "Research on Electric Variable Control Surface System in Wind Tunnel Test" in Harbin Institute of Technology. They designed a servo with a ball screw and a six-link structure, and studied the electric variable control surface system installed inside the aircraft scale model in the wind tunnel test, mainly from the aspects of structural optimization design, nonlinear interference factor analysis and control methods. The servo can withstand a certain aerodynamic load, has locking and remote control capabilities, high measurement accuracy, improved transmission efficiency, and has the advantages of small size and weight, fewer structural parts, low complexity and high reliability.

[0009] In 2022, the China Patent Literature Library disclosed the invention of Li Guangliang's team, named A servo module for a wind tunnel test model (ZL202223219584.0). This patent designs a wind tunnel test model servo with a rotating shaft pin method. Through gears, drive shafts, forks and encoders, the end feedback of the rudder angle and the closed-loop control of the servo are realized. The rudder angle accuracy of the servo unit in the wind tunnel test is within 0.05°, and it has the advantages of small size and high precision.

[0010] In summary, due to the low wind speed and small simulated load in low-speed and sub-transsonic wind tunnel flow fields, the load on the servo is not high; the low-speed and sub-transsonic wind tunnels have large calibers, large test model sizes, large allowable space for the servo system, and large servo volume; currently, the servo system of wind tunnel test models is mainly used in low-speed and sub-transsonic wind tunnels. Relatively speaking, the hypersonic wind tunnel has a small caliber, small test model size, and smaller allowable space for the servo system of the wind tunnel test model. The simulated dynamic pressure of the hypersonic wind tunnel flow field is high, and the load on the servo system is large. At the same time, the dynamic test of the hypersonic wind tunnel has high requirements for the control accuracy of the rudder deflection. The existing wind tunnel test model servo system cannot be used in a hypersonic wind tunnel.

[0011] At present, in the field of hypersonic wind tunnel dynamic tests, there is an urgent need to develop a corresponding wind tunnel test model servo system, and there is an urgent need to develop a hypersonic wind tunnel dynamic test model full-motion servo and its control method. Summary of the invention

[0012] One technical problem to be solved by the present invention is to provide a full-motion servo for a hypersonic wind tunnel dynamic test model. Another technical problem to be solved by the present invention is to provide a control method for a full-motion servo for a hypersonic wind tunnel dynamic test model, so as to carry out dynamic test research on aircraft in a hypersonic wind tunnel.

[0013] The hypersonic wind tunnel dynamic test model full-moving steering gear of the present invention comprises a frame, a frameless motor, a transmission module, a brake module, a rudder angle detection module, a full-moving steering surface and a control module; The main body of the full-motion servo is the frame, the front end of the frame is equipped with a frameless motor and a control module, the inside of the frame is equipped with a transmission module and a rudder angle detection module, the rear end of the frame is equipped with a brake module, and the right rear side of the frame is equipped with a full-motion rudder surface; The control module controls the frameless motor to drive the transmission module to drive the full-moving rudder surface to change the rudder deflection angle; the rudder deflection angle detection module is used to measure the rudder deflection angle of the full-moving rudder surface; and the brake module is used to fix the rudder deflection angle of the full-moving rudder surface.

[0014] Furthermore, the frame includes a frame body, a motor mounting seat, a left cover plate, a right cover plate and a front cover plate; The transmission module is installed in the inner cavity of the frame body; the motor mounting seat is fixed on the front end surface of the frame body, and the frameless motor and the control module are fixedly installed on the motor mounting seat; The left cover is installed on the left opening of the frame body, and the right cover is installed on the right opening of the frame body; the front cover is installed on the front end surface of the motor mounting seat; The frame body, motor mounting base, left cover, right cover and front cover are all made of 7075 aluminum alloy.

[0015] Furthermore, the frameless motor comprises a locking nut, a motor rotor, a motor stator and a motor fixing block; The frameless motor is mounted on a motor mount and fixed to the front end of the frame body by screws; When the frameless motor is powered on, the motor stator generates a rotating magnetic field, driving the motor rotor to rotate; the locking nut fixes the motor rotor to the screw of the screw-nut assembly, and the motor rotor drives the screw to rotate, driving the nut of the screw-nut assembly to move linearly.

[0016] Furthermore, the transmission module comprises a screw nut assembly, a gear rack assembly and a rudder shaft assembly, and the transmission module transmits the power output by the motor shaft of the frameless motor to the full-moving rudder surface through the screw nut assembly, the gear rack assembly and the rudder shaft assembly, and drives the full-moving rudder surface to generate rudder surface deflection movement; The lead screw and nut assembly includes a lead screw, a nut, a slider assembly, a cylindrical guide rod, a lead screw front end bearing, a lead screw rear end bearing and a retaining ring; the slider assembly consists of a sliding bearing and a slider, the sliding bearing is installed inside the slider, and the sliding bearing and the cylindrical guide rod form a friction pair; the lead screw and the nut are located in the central cavity of the frame body, the slider assembly is installed on the two cylindrical guide rods on both sides of the lead screw, and the nut and the slider assembly are fixedly connected by screws; the frameless motor drives the lead screw to rotate, and the nut drives the slider assembly to move along the cylindrical guide rod, converting the rotation of the lead screw into the linear motion of the slider; The rack and pinion assembly comprises a rack, a gear, a gear flat key and a mechanical limiter; the rack is fixed on the slider of the slider assembly, the rack meshes with the gear, the gear is connected to the rudder shaft of the rudder shaft assembly through the gear flat key, and the gear retaining ring fixes the axial position of the gear; when the frameless motor drives the lead screw nut assembly to move, the rack generates a linear motion along with the slider of the slider assembly, the rack meshes with the gear to drive the rudder shaft to move, and the mechanical limiter is parallel to the rack and is used to limit the motion range of the slider, thereby limiting the rudder deflection angle adjustment range of the full-motion rudder surface; The rudder shaft assembly comprises a rudder shaft, a power bearing, a rudder shaft mounting base, a bearing front pressure cover and a bearing rear pressure cover; the rudder shaft is fixedly mounted in the rudder shaft mounting base through two groups of power bearings, the bearing front pressure cover and the bearing rear pressure cover; the power bearings are arranged in groups of two, the inner rings of the power bearings are fixed on the rudder shaft, and the friction and wear are reduced by the rolling of the rolling bodies between the inner and outer rings; one end of the rudder shaft is fixedly connected to the gear, and the other end of the rudder shaft is fixedly connected to the full-moving rudder surface; when the frameless motor moves through the screw nut assembly and the gear rack assembly, the gear rack assembly drives the rudder shaft to rotate, and the rudder shaft drives the full-moving rudder surface to rotate, thereby changing the rudder deflection angle of the full-moving rudder surface.

[0017] Furthermore, the brake module comprises a DC electromagnetic brake, a brake block, a brake fixing block, a rear retaining ring and a flat key; The brake module is installed at the rear end of the screw, the rear retaining ring is fixed to the rear end face of the frame body, the brake block is connected to the frame body by screws, the DC electromagnetic brake is fixed to the brake block by screws, the brake fixing block is connected to the DC electromagnetic brake by a flat key, the upper part of the flat key is fixed on the keyway of the brake fixing block and the DC electromagnetic brake, and the lower part of the flat key is fixed in the keyway of the screw; under power-off conditions, the electromagnetic force of the DC electromagnetic brake overcomes the spring force and releases the DC electromagnetic brake, and the DC electromagnetic brake jams the flat key to prevent the screw from rotating when it is stationary or power-off; under power-on conditions, the spring force contracts the DC electromagnetic brake and releases the screw to achieve braking.

[0018] Furthermore, the rudder angle detection module includes a magnetic turntable, a magnetoresistive effect sensor and a sensor mounting plate; The magnetic turntable is fixed on the left end of the rudder shaft of the rudder shaft assembly and moves synchronously with the rudder shaft; the magnetoresistive effect sensor is fixedly mounted on the sensor mounting plate, the sensor mounting plate is fixed on the bottom surface of the frame body, and the magnetoresistive effect sensor is matched and aligned with the magnetic turntable; the gear rack assembly drives the rudder shaft to rotate, and the magnetic turntable rotates synchronously with the rudder shaft. The rotation of the magnetic turntable causes the internal magnetic field strength to change, and the magnetoresistive effect sensor detects the analog signal related to the change in magnetic field strength. The analog signal is collected and decoded by the host computer and then outputs the rudder deflection angle of the full-moving rudder surface.

[0019] Furthermore, the fully movable rudder surface comprises a rudder surface body, a rudder surface bearing, a positioning assembly, a rudder surface bearing gland, a rudder surface upper cover plate and a pin shaft; The positioning assembly includes screws and positioning pins, which are used to connect the full-moving rudder surface and the rudder shaft; the rudder surface upper cover plate is connected to the rudder surface body by screws, the rudder surface bearing cover fixes the rudder surface bearing to the left rear end face of the rudder surface body by screws, the pin passes through the rudder surface bearing cover and the rudder surface bearing and is fixed to the left rear end face of the rudder surface body, and the rudder surface bearing supports the pin and reduces friction when the pin rotates.

[0020] Furthermore, the control module includes a control circuit and a connector, the control circuit is connected to the host computer through the connector, and the connector communicates with the host computer through an RS485 interface; the control module and the frameless motor are fixed on the motor mounting seat, the control module is located below the frameless motor, and the connector is installed on the front end surface of the control module; when the host computer receives the rudder deflection angle output by the rudder deflection angle detection module, the host computer outputs a signal to the control module, controls the movement of the frameless motor, and performs feedback control until the full-moving rudder surface reaches the specified rudder deflection angle.

[0021] The control method of the hypersonic wind tunnel dynamic test model full-moving steering gear of the present invention comprises the following steps: S10. Determine the control target of the full-motion servo; The full-moving servo of the hypersonic wind tunnel dynamic test model works in constant force mode, and the working states include one or a combination of two or more of co-pushing, co-pulling, braking, and push-pull interlocking; the servo controller is developed with FPGA as the core, and an electrical control program is established to control the frameless motor to drive the full-moving rudder surface to reach the specified rudder deflection angle; S20. Establishing a mathematical model of a frameless motor servo controller; The mathematical model of frameless motor servo controller is established through Laplace transform; Torque , the mathematical model of the frameless motor servo controller is simplified to: ; in ; ; in, is the rotation angle of the motor shaft relative to the initial position; is the DC bus voltage of the motor; is the electromagnetic time constant; is a complex variable in the frequency domain; is the motor time constant, ; is the inductor, is the resistance, is the load torque, is the electromotive force constant, is the torque coefficient; then the transfer function of the motor : ; in, Input voltage to the motor; It is the electromotive force transmission system. , is the electromotive force coefficient; is the torque transmission system, ; , , ; is the electromagnetic time coefficient, is the torque coefficient, is the back EMF value, is the magnetic field strength of the motor, is the diameter of the motor, is the current; Substitute the relevant parameters to get the transfer function of the motor ,in, is the electromagnetic torque: ; The driver amplifies the control signal output by the control module and drives the frameless motor. After mathematical modeling, it is a proportional link in the system. ; S30. Establishing a mathematical model of the frameless motor transmission structure; The screw nut assembly decelerates the angle output by the frameless motor and drives the rudder blade to deflect, which is also a proportional link. ;make , is the proportional coefficient between the driving structure and the transmission structure; S40. Establishing a mathematical model of the rudder angle detection module; The rudder angle detection module converts the full-motion rudder surface deflection position feedback signal into an electrical signal and transmits it to the control module. The control module sends a control signal to the brake module, and the brake module is powered off and brakes, forming a proportional link in the system, recorded as ; S50. Establish a steering gear control model; The simplified full-motion servo transfer function is written in the form of a differential equation: ; in, is a time domain constant; is the DC bus voltage of the motor, is the deflection angle of the full-moving rudder surface, is the derivative symbol, which means Small changes over time; is the input voltage, is the output voltage; according to the selected frameless motor performance parameters and rudder angle design index requirements, the theoretical parameters of the servo model are obtained as follows: ; in, is the maximum gain coefficient of the servo model; is the minimum gain coefficient of the servo model; The differential equation of the input and output of the servo system is as follows: ; S60. Perform full-motion rudder control; The control module sends a control signal to the electrical control program to drive the frameless motor to rotate, and transmits power to the full-moving rudder surface through the transmission module to drive the full-moving rudder surface to rotate. At the same time, the rudder angle detection module provides real-time feedback on the rudder angle to determine whether the full-moving rudder surface has reached the specified position. If it has reached the specified position, the control module sends a control signal to the frameless motor and the brake module, the frameless motor stops rotating, and the brake module cuts off power to brake.

[0022] The hypersonic wind tunnel dynamic test model full-motion steering gear and control method thereof of the present invention have the following characteristics: a. The steering gear drive, transmission and rudder angle measurement unit has a compact structure and small size, and can be directly installed inside the test model, with a total weight of 2.48kg; b. The servo has high repeatability and wide range of motion. The servo has a motion speed of ≥50° / s, a motion range of ≥±30°, a motion positioning accuracy of 0.1°, and a repeatability accuracy better than 0.1°, and can accurately adjust the angle of the rudder blade in hypersonic wind tunnel tests; c. High rudder angle measurement accuracy and fast response. The rudder angle measurement accuracy is better than 0.02°, the real-time performance is better than 1ms, the delay error is ≤5ms, and the servo overshoot is ≤10%. It can quickly adjust the angle of the rudder blade in the hypersonic wind tunnel test; d. The servo can realize automatic adjustment of the rudder angle. The displacement and control process of automatic adjustment can be set and automatically executed as required before the system is operated, and the input position command can also be executed in real time.

[0023] The hypersonic wind tunnel dynamic test model full-moving steering gear of the present invention has the characteristics of simple structure, small size, high precision, small delay, etc. It adopts a screw nut-gear rack structure. Compared with the rotating shaft pin and the screw nut-connecting rod mechanism, it has a compact structure, a small size, a large change angle, and can be built into the full-moving rudder blade; the steering gear has high motion positioning accuracy, high repeatability accuracy, high rudder deflection angle measurement accuracy, and small delay, thereby improving the measurement sensitivity and accuracy of the steering gear.

[0024] The hypersonic wind tunnel dynamic test model full-motion servo and control method thereof of the present invention are based on mechanical transmission and control science. The control module sends a control signal to the frameless motor to drive the frameless motor to rotate. The power is transmitted to the rudder shaft through the transmission module for speed reduction and torque increase to drive the rudder shaft to rotate. At the same time, the rudder deflection angle measurement sensor feeds back the rudder deflection angle measurement signal in real time to determine whether the specified position has been reached.

[0025] The hypersonic wind tunnel dynamic test model full-moving servo and control method thereof of the present invention realize miniaturization, high load and high precision, can be applied to the dynamic wind tunnel test of hypersonic aircraft, and have engineering practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the servo of the full-moving servo of the hypersonic wind tunnel dynamic test model of the present invention; Figure 2 It is a schematic diagram of the structure of the steering gear frame of the full-moving steering gear of the hypersonic wind tunnel dynamic test model of the present invention; Figure 3 It is a schematic diagram of the structure of the frameless motor of the full-moving servo of the hypersonic wind tunnel dynamic test model of the present invention; Figure 4 It is a schematic diagram of the transmission module structure of the full-moving steering gear of the hypersonic wind tunnel dynamic test model of the present invention; Figure 5 It is a schematic structural diagram of a lead screw nut assembly in a drive transmission module of a full-motion servo of a hypersonic wind tunnel dynamic test model of the present invention; Figure 6 It is a schematic cross-sectional structural diagram of a slider assembly of a full-moving servo of a hypersonic wind tunnel dynamic test model of the present invention; Figure 7 It is a schematic structural diagram of the rack and pinion assembly in the transmission module of the full-moving servo of the hypersonic wind tunnel dynamic test model of the present invention; Figure 8 It is a schematic structural diagram of the rudder shaft assembly in the transmission module of the full-moving servo of the hypersonic wind tunnel dynamic test model of the present invention; Fig. 9 It is a schematic structural diagram of a brake module of a full-moving servo of a hypersonic wind tunnel dynamic test model of the present invention; Fig.10 It is a structural schematic diagram of a rudder angle detection module of a full-moving servo of a hypersonic wind tunnel dynamic test model of the present invention; Fig.11 It is a schematic structural diagram of the fully movable control surface module of the fully movable servo of the hypersonic wind tunnel dynamic test model of the present invention; Fig.12 It is a schematic diagram of the control module structure of the full-moving servo of the hypersonic wind tunnel dynamic test model of the present invention; Fig.13 It is a schematic diagram of the overall explosion of the full-moving steering gear of the hypersonic wind tunnel dynamic test model of the present invention; Fig.14 It is a steering gear control model of the full-motion steering gear control method of the hypersonic wind tunnel dynamic test model of the present invention.

[0027] In the figure, 1. frame; 2. frameless motor; 3. transmission module; 4. brake module; 5. rudder angle detection module; 6. full-moving rudder surface; 7. control module; 8. frame body; 9. motor mounting seat; 10. left cover plate; 11. right cover plate; 12. front cover plate; 13. locking nut; 14. motor rotor; 15. motor stator; 16. motor fixing block; 17. lead screw nut assembly; 18. gear rack assembly; 19. rudder shaft assembly; 20. lead screw; 21. nut; 22. slider assembly; 23. cylindrical guide rod; 24. lead screw front end bearing; 25. lead screw rear end bearing; 26. retaining ring; 27. sliding bearing ; 28. Slider; 29. ​​Rack; 30. Gear; 31. Gear flat key; 32. Mechanical limit; 33. Rudder shaft; 34. Power bearing; 35. Rudder shaft mounting base; 36. Bearing front pressure cover; 37. Bearing rear pressure cover; 38. DC electromagnetic brake; 39. Brake block; 40. Brake fixing block; 41. Rear retaining ring; 42. Flat key; 43. Magnetic turntable; 44. Magnetoresistive effect sensor; 45. Sensor mounting plate; 46. Rudder surface body; 47. Rudder surface bearing; 48. Positioning assembly; 49. Rudder surface bearing pressure cover; 50. Rudder surface upper cover plate; 51. Pin shaft; 52. Control circuit; 53. Connector. DETAILED DESCRIPTION

[0028] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0029] like Figure 1 , Fig.13 As shown, the hypersonic wind tunnel dynamic test model full-moving steering gear of the present invention includes a frame 1, a frameless motor 2, a transmission module 3, a brake module 4, a rudder angle detection module 5, a full-moving steering surface 6 and a control module 7; The main body of the full-motion steering gear is a frame 1, a frameless motor 2 and a control module 7 are installed at the front end of the frame 1, a transmission module 3 and a rudder angle detection module 5 are installed inside the frame 1, a brake module 4 is installed at the rear end of the frame 1, and a full-motion steering surface 6 is installed on the right rear side of the frame 1; The control module 7 controls the frameless motor 2 to drive the transmission module 3 to drive the full-moving rudder surface 6 to change the rudder angle; the rudder angle detection module 5 is used to measure the rudder angle of the full-moving rudder surface 6; and the brake module 4 is used to fix the rudder angle of the full-moving rudder surface 6.

[0030] Furthermore, if Figure 2 As shown, the frame 1 includes a frame body 8, a motor mounting seat 9, a left cover plate 10, a right cover plate 11 and a front cover plate 12; The transmission module 3 is installed in the inner cavity of the frame body 8; the motor mounting seat 9 is fixed on the front end surface of the frame body 8, and the frameless motor 2 and the control module 7 are fixedly installed on the motor mounting seat 9; The left cover plate 10 is installed at the left opening of the frame body 8, and the right cover plate 11 is installed at the right opening of the frame body 8; the front cover plate 12 is installed at the front end surface of the motor mounting seat 9; The frame body 8, the motor mounting base 9, the left cover plate 10, the right cover plate 11 and the front cover plate 12 are all made of 7075 aluminum alloy material to meet the strength, rigidity and weight reduction requirements of the steering gear.

[0031] Furthermore, if Figure 3 As shown, the frameless motor 2 includes a locking nut 13, a motor rotor 14, a motor stator 15 and a motor fixing block 16; The frameless motor 2 is mounted on a motor mounting seat 9 and fixed to the front end of the frame body 8 by screws; When the frameless motor 2 is powered on, the motor stator 15 generates a rotating magnetic field, driving the motor rotor 14 to rotate; the locking nut 13 fixes the motor rotor 14 to the screw 20 of the screw nut assembly 17, and the motor rotor 14 drives the screw 20 to rotate, driving the nut 21 of the screw nut assembly 17 to perform linear motion.

[0032] Furthermore, if Figure 4 As shown, the transmission module 3 includes a screw nut assembly 17, a gear rack assembly 18 and a rudder shaft assembly 19. The transmission module 3 transmits the power output by the motor shaft of the frameless motor 2 to the full-moving rudder surface 6 through the screw nut assembly 17, the gear rack assembly 18 and the rudder shaft assembly 19, and drives the full-moving rudder surface 6 to generate rudder surface deflection movement; like Figure 5 As shown, the screw nut assembly 17 includes a screw 20, a nut 21, a slider assembly 22, a cylindrical guide rod 23, a screw front end bearing 24, a screw rear end bearing 25 and a retaining ring 26; Figure 6As shown, the slider assembly 22 is composed of a sliding bearing 27 and a slider 28. The sliding bearing 27 is installed inside the slider. The sliding bearing 27 and the cylindrical guide rod 23 form a friction pair, which can greatly reduce the friction loss and surface wear between the cylindrical guide rod 23 and the slider assembly 22; the lead screw 20 and the nut 21 are located in the central cavity of the frame body 8, the slider assembly 22 is installed on the two cylindrical guide rods 23 on both sides of the lead screw 20, and the nut 21 is fixedly connected to the slider assembly 22 by screws; the frameless motor 2 drives the lead screw 20 to rotate, and the nut 21 drives the slider assembly 22 to move along the cylindrical guide rod 23, converting the rotation of the lead screw 20 into the linear motion of the slider 28; like Figure 7 As shown, the rack and pinion assembly 18 includes a rack 29, a gear 30, a gear flat key 31 and a mechanical limit 32; the rack 29 is fixed on the slider 28 of the slider assembly 22, the rack 29 is meshed with the gear 30, the gear 30 is connected to the rudder shaft 33 of the rudder shaft assembly 19 through the gear flat key 31, and the gear retaining ring fixes the axial position of the gear 30; when the frameless motor 2 drives the screw nut assembly 17 to move, the rack 29 generates a linear motion with the slider 28 of the slider assembly 22, the rack 29 is meshed with the gear 30 to drive the rudder shaft 33 to move, and the mechanical limit 32 is parallel to the rack 29, and is used to limit the movement range of the slider 28, thereby limiting the rudder deflection angle adjustment range of the full-moving rudder surface 6; like Figure 8 As shown, the rudder shaft assembly 19 includes a rudder shaft 33, a dynamic bearing 34, a rudder shaft mounting base 35, a bearing front pressure cover 36 and a bearing rear pressure cover 37; the rudder shaft 33 is fixedly installed in the rudder shaft mounting base 35 through two groups of dynamic bearings 34, the bearing front pressure cover 36 and the bearing rear pressure cover 37; the dynamic bearing 34 is a mechanical component that converts mechanical energy and kinetic energy into each other, and replaces sliding friction with rolling friction. The dynamic bearings 34 are grouped in pairs, and the inner ring of the dynamic bearing 34 is fixed on the rudder shaft 33, and the friction and wear are reduced by the rolling of the rolling body between the inner and outer rings; one end of the rudder shaft 33 is fixedly connected to the gear 30, and the other end of the rudder shaft 33 is fixedly connected to the full-motion rudder surface 6; when the frameless motor 2 moves through the screw nut assembly 17 and the gear rack assembly 18, the gear rack assembly 18 drives the rudder shaft 33 to rotate, and the rudder shaft 33 drives the full-motion rudder surface 6 to rotate, thereby changing the rudder deflection angle of the full-motion rudder surface 6.

[0033] Furthermore, if Fig. 9 As shown, the brake module 4 adopts the electromagnetic brake principle, including a DC electromagnetic brake 38, a brake block 39, a brake fixing block 40, a rear retaining ring 41 and a flat key 42; The brake module 4 is installed at the rear end of the screw 20, the rear retaining ring 41 is fixed to the rear end surface of the frame body 8, the brake block 39 is connected to the frame body 8 by screws, the DC electromagnetic brake 38 is fixed on the brake block 39 by screws, the brake fixing block 40 is connected to the DC electromagnetic brake 38 by a flat key 42, the upper half of the flat key 42 is fixed on the keyway of the brake fixing block 40 and the DC electromagnetic brake 38, and the lower half of the flat key 42 is fixed in the keyway of the screw 20; under power-off conditions, the electromagnetic force of the DC electromagnetic brake 38 overcomes the spring force and releases the DC electromagnetic brake 38, and the DC electromagnetic brake 38 clamps the flat key 42 to prevent the screw 20 from rotating when it is stationary or power-off; under power-on conditions, the spring force contracts the DC electromagnetic brake 38 and releases the screw 20 to achieve braking.

[0034] Furthermore, if Fig.10 As shown, the rudder angle detection module 5 includes a magnetic turntable 43, a magnetoresistive effect sensor 44 and a sensor mounting plate 45; The magnetic turntable 43 is fixed to the left end of the rudder shaft 33 of the rudder shaft assembly 19 and moves synchronously with the rudder shaft 33; the magnetoresistance effect sensor 44 is fixedly mounted on the sensor mounting plate 45, the sensor mounting plate 45 is fixed to the bottom surface of the frame body 8, and the magnetoresistance effect sensor 44 is matched and aligned with the magnetic turntable 43; the gear rack assembly 18 drives the rudder shaft 33 to rotate, and the magnetic turntable 43 rotates synchronously with the rudder shaft 33. The rotation of the magnetic turntable 43 causes the internal magnetic field strength to change, and the magnetoresistance effect sensor 44 detects the analog signal related to the change in magnetic field strength. The analog signal is collected and decoded by the host computer and then outputs the rudder deflection angle of the full-moving rudder surface 6.

[0035] Furthermore, if Fig.11 As shown, the fully movable rudder surface 6 comprises a rudder surface body 46, a rudder surface bearing 47, a positioning assembly 48, a rudder surface bearing pressure cover 49, a rudder surface upper cover plate 50 and a pin 51; The positioning assembly 48 includes screws and positioning pins, which are used to connect the full-moving rudder 6 and the rudder shaft 33; the rudder surface upper cover plate 50 is connected to the rudder surface body 46 by screws, and the rudder surface bearing cover 49 fixes the rudder surface bearing 47 to the left rear end surface of the rudder surface body 46 by screws, and the pin 51 passes through the rudder surface bearing cover 49 and the rudder surface bearing 47 and is fixed to the left rear end surface of the rudder surface body 46. The rudder surface bearing 47 supports the pin 51 and reduces the friction when the pin 51 rotates, ensuring that the rudder surface body 46 can accurately adjust the rudder deflection angle.

[0036] Furthermore, if Fig.12As shown, the control module 7 includes a control circuit 52 and a connector 53. The control circuit 52 is connected to the host computer through the connector 53, and the connector 53 communicates with the host computer through the RS485 interface; the control module 7 and the frameless motor 2 are fixed on the motor mounting seat 9, the control module 7 is located below the frameless motor 2, and the connector 53 is installed on the front end surface of the control module 7; when the host computer receives the rudder deflection angle output by the rudder deflection angle detection module 5, the host computer outputs a signal to the control module 7 to control the movement of the frameless motor 2 and perform feedback control until the full-moving rudder surface 6 reaches the specified rudder deflection angle.

[0037] The control method of the hypersonic wind tunnel dynamic test model full-moving steering gear of the present invention comprises the following steps: S10. Determine the control target of the full-motion servo; The full-moving servo of the hypersonic wind tunnel dynamic test model works in constant force mode, and the working states include one or a combination of two or more of co-push, co-pull, brake, and push-pull interlocking; due to the complexity of the control scheme, there is no suitable finished servo controller, so only the self-developed servo controller can be used. In order to ensure accurate positioning, the servo controller needs to have complex functions and fast response capabilities. The servo controller is developed with FPGA as the core, and an electrical control program is established to control the frameless motor 2 to drive the full-moving rudder surface 6 to reach the specified rudder deflection angle; S20. Establishing a mathematical model of the servo controller for the frameless motor 2; The mathematical model of the servo controller of frameless motor 2 is established through Laplace transform; Torque , the mathematical model of the frameless motor 2 servo controller is simplified to: ; in ; ; in, is the rotation angle of the motor shaft relative to the initial position; is the DC bus voltage of the motor; is the electromagnetic time constant; is a complex variable in the frequency domain; is the motor time constant, ; is the inductor, is the resistance, is the load torque, is the electromotive force constant, is the torque coefficient; then the transfer function of the motor : ; in, Input voltage to the motor; It is the electromotive force transmission system. , is the electromotive force coefficient; is the torque transmission system, ; , , ; is the electromagnetic time coefficient, is the torque coefficient, is the back EMF value, is the magnetic field strength of the motor, is the diameter of the motor, is the current; Substitute the relevant parameters to get the transfer function of the motor ,in, is the electromagnetic torque: ; The driver amplifies the control signal output by the control module 7 and drives the frameless motor 2. After mathematical modeling, it is a proportional link in the system. ; S30. Establishing a mathematical model of the transmission structure of the frameless motor 2; The screw nut assembly 17 decelerates the angle output by the frameless motor 2 and drives the rudder blade to deflect, which is also a proportional link. ;make , is the proportional coefficient between the driving structure and the transmission structure; S40. Establishing a mathematical model of the rudder angle detection module 5; The rudder angle detection module 5 converts the deflection position feedback signal of the full-moving rudder surface 6 into an electrical signal and transmits it to the control module 7. The control module 7 sends a control signal to the brake module 4, and the brake module 4 is powered off and brakes, forming a proportional link in the system, which is recorded as ; S50. Establish a steering gear control model; Establish as Fig.14 The steering gear control model shown; The simplified full-motion servo transfer function is written in the form of a differential equation: ; in, is a time domain constant; is the DC bus voltage of the motor, The full-motion rudder surface has 6 deflection angles. is the derivative symbol, which means Small changes over time; is the input voltage, is the output voltage; according to the performance parameters of the selected frameless motor 2 and the rudder angle design index requirements, the theoretical parameters of the servo model are obtained as follows: ; in, is the maximum gain coefficient of the servo model; is the minimum gain coefficient of the servo model; The differential equation of the input and output of the servo system is as follows: ; S60. Perform full-motion control of the rudder surface 6; The control module 7 sends a control signal to the electrical control program to drive the frameless motor 2 to rotate, and transmits power to the full-moving rudder surface 6 through the transmission module 3 to drive the full-moving rudder surface 6 to rotate. At the same time, the rudder angle detection module 5 provides real-time feedback on the rudder angle to determine whether the full-moving rudder surface 6 has reached the specified position. If it has reached the specified position, the control module 7 sends a control signal to the frameless motor 2 and the brake module 4, the frameless motor 2 stops rotating, and the brake module 4 is powered off for braking.

[0038] Embodiment: The hypersonic wind tunnel dynamic test model full-motion steering gear and its control method of this embodiment meet the following relevant technical indicators and requirements: 1. Automatic locking and unlocking can be achieved, and the rudder torque is ≥60Nm; 2. Load index: rated output torque of a single servo ≥ 50 Nm; maximum load torque ≥ 100 Nm; servo mass ≤ 5 kg; 3. Movement indicators: movement range ≥ ± 30°, movement positioning accuracy 0.1°, repeatability accuracy 0.1°, servo movement speed ≥ 50° / s; 4. Technical indicators of servo measurement and control: rudder angle measurement accuracy is better than 0.02°, rudder angle measurement real-time is better than 1ms, full-motion rudder surface 6 deflection delay error is ≤5ms, servo overshoot is ≤10%, servo system bandwidth (dynamic response) is ≥5Hz.

[0039] The main component selection process of the hypersonic wind tunnel dynamic test model full-moving steering gear of this embodiment is as follows: 1. Frameless motor 2: This embodiment requires the steering gear system to have the following three output parameters: deflection range: 32°~-32°, output torque: 100Nm, deflection angular velocity: 50° / s. Frameless motor 2 adopts direct drive design, and there is no need to consider the reducer parameters. The output parameters and structural parameters are substituted into the calculation program for calculation. The calculation results are: under the working state of maximum 100Nm, the screw speed is 7853.98rpm, the screw input torque is 0.158Nm, the screw input power is 130W, and the transmission clearance error of the steering gear system is 0.038°. The maximum speed of frameless motor 2 is required to be 10000rpm, the maximum torque is 11.050Nm, and the speed and torque have sufficient reserve space to ensure that the steering gear movement speed is greater than 50° / s, the movement range is greater than ±30°, the rudder deflection positioning accuracy is less than 0.1°, and the repeatability is better than 0.1°. After the frameless motor 2 of this embodiment is torqued by the screw nut assembly, the rated thrust of the screw nut assembly is 7800N, which fully meets the requirements of the servo. The frameless motor 2 is a maxon ecXXframeless flat frameless motor with a maximum speed of 10000rpm and a maximum torque of 11.050Nm; 2. Braking module 4: Braking module 4 uses the principle of electromagnetic braking and is installed at the rear end of the lead screw 20. The lead of the lead screw 20 is 0.25mm, and the pitch radius of the gear is 15mm. To achieve a braking torque of 60Nm, it is only necessary to load 0.29Nm at the input end of the lead screw 20. When selecting the DC electromagnetic brake 38, it only needs to be greater than 0.29Nm. This embodiment requires that the working voltage of the DC electromagnetic brake 38 is 24V, the braking torque is 0.4Nm, and the braking torque is greater than 0.3Nm. The braking torque generated by the mechanism is greater than 85Nm, which is better than the braking requirement of 60Nm. The DC electromagnetic brake 38 adopts MAXON's AB28 DC permanent magnet, dry brake. The braking torque generated by the lead screw 20 after the torsion is increased is greater than 85Nm, which meets the requirements of automatic locking or unlocking.

[0040] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and implementation modes. For those familiar with the art, all features disclosed in the present invention, or steps in all methods or processes disclosed, except for mutually exclusive features and / or steps, can be combined in any way without departing from the principles of the present invention. The present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. Hypersonic wind tunnel dynamic test model full-motion steering gear, characterized in that: The fully movable steering gear comprises a frame (1), a frameless motor (2), a transmission module (3), a brake module (4), a rudder angle detection module (5), a fully movable steering surface (6) and a control module (7); The main body of the full-motion steering gear is a frame (1), a frameless motor (2) and a control module (7) are installed at the front end of the frame (1), a transmission module (3) and a rudder angle detection module (5) are installed inside the frame (1), a brake module (4) is installed at the rear end of the frame (1), and a full-motion steering surface (6) is installed on the right rear side of the frame (1); The control module (7) controls the frameless motor (2) to drive the transmission module (3) to drive the fully movable rudder surface (6) to change the rudder deflection angle; the rudder deflection angle detection module (5) is used to measure the rudder deflection angle of the fully movable rudder surface (6); and the brake module (4) is used to fix the rudder deflection angle of the fully movable rudder surface (6).

2. The hypersonic wind tunnel dynamic test model full-motion steering gear according to claim 1, characterized in that: The frame (1) comprises a frame body (8), a motor mounting seat (9), a left cover plate (10), a right cover plate (11) and a front cover plate (12); The transmission module (3) is installed in the inner cavity of the frame body (8); the motor mounting seat (9) is fixed to the front end surface of the frame body (8), and the frameless motor (2) and the control module (7) are fixedly installed on the motor mounting seat (9); The left cover plate (10) is mounted on the left opening of the frame body (8), and the right cover plate (11) is mounted on the right opening of the frame body (8); the front cover plate (12) is mounted on the front end surface of the motor mounting seat (9); The frame body (8), the motor mounting seat (9), the left cover plate (10), the right cover plate (11) and the front cover plate (12) are all made of 7075 aluminum alloy material.

3. The hypersonic wind tunnel dynamic test model full-moving steering gear according to claim 2, characterized in that: The frameless motor (2) comprises a locking nut (13), a motor rotor (14), a motor stator (15) and a motor fixing block (16); The frameless motor (2) is mounted on a motor mounting seat (9) and fixed to the front end of the frame body (8) by screws; When the frameless motor (2) is powered on, the motor stator (15) generates a rotating magnetic field, which drives the motor rotor (14) to rotate; the locking nut (13) fixedly connects the motor rotor (14) and the lead screw (20) of the lead screw nut assembly (17); the motor rotor (14) drives the lead screw (20) to rotate, and drives the nut (21) of the lead screw nut assembly (17) to perform linear motion.

4. The hypersonic wind tunnel dynamic test model full-moving steering gear according to claim 3, characterized in that: The transmission module (3) comprises a screw nut assembly (17), a gear rack assembly (18) and a rudder shaft assembly (19); the transmission module (3) transmits power output from the motor shaft of the frameless motor (2) to the full-moving rudder surface (6) via the screw nut assembly (17), the gear rack assembly (18) and the rudder shaft assembly (19), thereby driving the full-moving rudder surface (6) to generate rudder surface deflection movement; The lead screw nut assembly (17) comprises a lead screw (20), a nut (21), a slider assembly (22), a cylindrical guide rod (23), a lead screw front end bearing (24), a lead screw rear end bearing (25) and a retaining ring (26); the slider assembly (22) comprises a sliding bearing (27) and a slider (28), the sliding bearing (27) is mounted inside the slider, and the sliding bearing (27) and the cylindrical guide rod (23) form a friction pair; the lead screw (20) and the nut (21) are located in the central cavity of the frame body (8), the slider assembly (22) is mounted on two cylindrical guide rods (23) on both sides of the lead screw (20), and the nut (21) and the slider assembly (22) are fixedly connected by screws; the frameless motor (2) drives the lead screw (20) to rotate, and the nut (21) drives the slider assembly (22) to move along the cylindrical guide rod (23), thereby converting the rotation of the lead screw (20) into the linear motion of the slider (28); The rack and pinion assembly (18) comprises a rack (29), a gear (30), a gear flat key (31) and a mechanical limiter (32); the rack (29) is fixed on a slider (28) of a slider assembly (22); the rack (29) meshes with the gear (30); the gear (30) is connected to a rudder shaft (33) of a rudder shaft assembly (19) via a gear flat key (31); and a gear retaining ring fixes the axial position of the gear (30); when the frameless motor (2) drives the lead screw nut assembly (17) to move, the rack (29) generates linear motion along with the slider (28) of the slider assembly (22); the rack (29) meshes with the gear (30) to drive the rudder shaft (33) to move; the mechanical limiter (32) is parallel to the rack (29) and is used to limit the motion range of the slider (28), thereby limiting the rudder angle adjustment range of the full-motion rudder surface (6); The rudder shaft assembly (19) comprises a rudder shaft (33), a dynamic bearing (34), a rudder shaft mounting base (35), a bearing front pressure cover (36) and a bearing rear pressure cover (37); the rudder shaft (33) is fixedly mounted in the rudder shaft mounting base (35) through two sets of dynamic bearings (34), the bearing front pressure cover (36) and the bearing rear pressure cover (37); the dynamic bearings (34) are arranged in groups of two, the inner rings of the dynamic bearings (34) are fixed on the rudder shaft (33), and the friction and wear are reduced by the rolling of the rolling bodies between the inner and outer rings; one end of the rudder shaft (33) is fixedly connected to the gear (30), and the other end of the rudder shaft (33) is fixedly connected to the full-motion rudder surface (6); when the frameless motor (2) moves through the screw nut assembly (17) and the gear rack assembly (18), the gear rack assembly (18) drives the rudder shaft (33) to rotate, and the rudder shaft (33) drives the full-motion rudder surface (6) to rotate, thereby changing the rudder deflection angle of the full-motion rudder surface (6).

5. The hypersonic wind tunnel dynamic test model full-motion steering gear according to claim 4, characterized in that: The brake module (4) comprises a DC electromagnetic brake (38), a brake block (39), a brake fixing block (40), a rear retaining ring (41) and a flat key (42); The brake module (4) is installed at the rear end of the lead screw (20), the rear retaining ring (41) is fixed to the rear end surface of the frame body (8), the brake block (39) is connected to the frame body (8) by screws, the DC electromagnetic brake (38) is fixed to the brake block (39) by screws, the brake fixing block (40) is connected to the DC electromagnetic brake (38) by a flat key (42), the upper part of the flat key (42) is fixed to the key slots of the brake fixing block (40) and the DC electromagnetic brake (38), and the lower part of the flat key (42) is fixed in the key slot of the lead screw (20); when the power is off, the electromagnetic force of the DC electromagnetic brake (38) overcomes the spring force to release the DC electromagnetic brake (38), and the DC electromagnetic brake (38) clamps the flat key (42) to prevent the lead screw (20) from rotating when it is stationary or powered off; when the power is on, the spring force contracts the DC electromagnetic brake (38) to release the lead screw (20) to achieve braking.

6. The hypersonic wind tunnel dynamic test model full-moving steering gear according to claim 5, characterized in that: The rudder angle detection module (5) comprises a magnetic turntable (43), a magnetoresistive effect sensor (44) and a sensor mounting plate (45); The magnetic turntable (43) is fixed to the left end of the rudder shaft (33) of the rudder shaft assembly (19) and moves synchronously with the rudder shaft (33); the magnetoresistance effect sensor (44) is fixedly mounted on a sensor mounting plate (45), the sensor mounting plate (45) is fixed to the bottom surface of the frame body (8), and the magnetoresistance effect sensor (44) matches and is aligned with the magnetic turntable (43); the gear rack assembly (18) drives the rudder shaft (33) to rotate, and the magnetic turntable (43) rotates synchronously with the rudder shaft (33), the rotation of the magnetic turntable (43) causes the internal magnetic field intensity to change, and the magnetoresistance effect sensor (44) detects an analog signal related to the change in magnetic field intensity, and the analog signal is collected and decoded by a host computer to output the rudder deflection angle of the full-motion rudder surface (6).

7. The hypersonic wind tunnel dynamic test model full-motion steering gear according to claim 6, characterized in that: The fully movable rudder surface (6) comprises a rudder surface body (46), a rudder surface bearing (47), a positioning assembly (48), a rudder surface bearing gland (49), a rudder surface upper cover plate (50) and a pin shaft (51); The positioning assembly (48) comprises screws and positioning pins, and is used to connect the fully movable rudder surface (6) and the rudder shaft (33); the rudder surface upper cover plate (50) is connected to the rudder surface body (46) by means of screws; the rudder surface bearing pressure cover (49) fixes the rudder surface bearing (47) to the left rear end surface of the rudder surface body (46) by means of screws; the pin shaft (51) passes through the rudder surface bearing pressure cover (49) and the rudder surface bearing (47) and is fixed to the left rear end surface of the rudder surface body (46); the rudder surface bearing (47) supports the pin shaft (51) and reduces friction when the pin shaft (51) rotates.

8. The hypersonic wind tunnel dynamic test model full-moving steering gear according to claim 7, characterized in that: The control module (7) comprises a control circuit (52) and a connector (53), the control circuit (52) is connected to a host computer via the connector (53), and the connector (53) communicates with the host computer via an RS485 interface; the control module (7) and the frameless motor (2) are fixed on a motor mounting seat (9), the control module (7) is located below the frameless motor (2), and the connector (53) is mounted on a front end surface of the control module (7); when the host computer receives the rudder deflection angle output by the rudder deflection angle detection module (5), the host computer outputs a signal to the control module (7), controls the movement of the frameless motor (2), and performs feedback control until the full-moving rudder surface (6) reaches a specified rudder deflection angle.

9. A control method for a hypersonic wind tunnel dynamic test model full-motion steering gear, which is used for a hypersonic wind tunnel dynamic test model full-motion steering gear as claimed in any one of claims 1 to 8, characterized in that: The control method comprises the following steps: S10. Determine the control target of the full-motion servo; The full-moving servo of the hypersonic wind tunnel dynamic test model works in a constant force mode, and the working state includes one or a combination of two or more of co-pushing, co-pulling, braking, and push-pull interlocking; the servo controller is developed with FPGA as the core, and an electrical control program is established to control the frameless motor (2) to drive the full-moving rudder surface (6) to reach a specified rudder deflection angle; S20. Establishing a mathematical model of the servo controller of the frameless motor (2); Establish the mathematical model of the frameless motor (2) servo controller through Laplace transform; Torque , the mathematical model of the frameless motor (2) servo controller is simplified to: ； in ; ； in, is the rotation angle of the motor shaft relative to the initial position; is the DC bus voltage of the motor; is the electromagnetic time constant; is a complex variable in the frequency domain; is the motor time constant, ; is the inductor, is the resistance, is the load torque, is the electromotive force constant, is the torque coefficient; then the transfer function of the motor : ； in, Input voltage to the motor; It is the electromotive force transmission system. , is the electromotive force coefficient; is the torque transmission system, ; , , ; is the electromagnetic time coefficient, is the torque coefficient, is the back EMF value, is the magnetic field strength of the motor, is the diameter of the motor, is the current; Substitute the relevant parameters to get the transfer function of the motor ,in, is the electromagnetic torque: ； The driver amplifies the control signal output by the control module (7) and drives the frameless motor (2). After mathematical modeling, it is a proportional link in the system. ; S30. Establishing a mathematical model of the transmission structure of the frameless motor (2); The lead screw nut assembly (17) decelerates the rotation angle output by the frameless motor (2) and drives the rudder blade to deflect, which is also a proportional link. ;make , is the proportional coefficient between the driving structure and the transmission structure; S40. Establishing a mathematical model of the rudder angle detection module (5); The rudder deflection angle detection module (5) converts the deflection position feedback signal of the full-moving rudder surface (6) into an electrical signal and transmits it to the control module (7). The control module (7) sends a control signal to the brake module (4). The brake module (4) is powered off and brakes, forming a proportional link in the system, which is recorded as ; S50. Establish a steering gear control model; The simplified full-motion servo transfer function is written in the form of a differential equation: ； in, is a time domain constant; is the DC bus voltage of the motor, is the deflection angle of the all-moving control surface (6), is the derivative symbol, which means Small changes over time; is the input voltage, is the output voltage; according to the performance parameters of the selected frameless motor (2) and the rudder angle design index requirements, the theoretical parameters of the servo model are obtained as follows: ； in, is the maximum gain coefficient of the servo model; is the minimum gain coefficient of the servo model; The differential equation of the input and output of the servo system is as follows: ； S60. Perform full-motion control of the rudder surface (6); The control module (7) sends a control signal to the electrical control program to drive the frameless motor (2) to rotate, and transmits power to the full-moving rudder surface (6) through the transmission module (3), driving the full-moving rudder surface (6) to rotate. At the same time, the rudder deflection angle detection module (5) feeds back the rudder deflection angle in real time to determine whether the full-moving rudder surface (6) has reached a specified position. If the specified position has been reached, the control module (7) sends a control signal to the frameless motor (2) and the brake module (4), the frameless motor (2) stops rotating, and the brake module (4) is powered off for braking.

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