A continuous load simulation ground test device

Abstract

The present invention discloses a continuous loaded simulated delivery ground test device, comprising a test load-bearing frame, a transfer platform, an airborne launch system, a delivery and recovery device, a vertical loading and lateral loading control system, an electromagnetic release device, and a high-speed image acquisition system. The vertical loading and lateral loading control system is a servo actuation system or an electric hoist tension system. The test load-bearing frame comprises a base, a first column, a load beam, and a triangular block. The airborne launch system comprises an airborne launch device, a projectile, a launch control simulation test bench, and a small oil source. The electromagnetic release device comprises a disc-type loading fixture, a suction cup electromagnet, a beam-type photoelectric switch, a relay, and a first power supply. The high-speed image acquisition system comprises a high-speed camera, a multi-channel timing controller, and an image acquisition host computer. The present invention can be widely used in delivery tests of various airborne launch devices and delivery tests under continuous loaded conditions, as well as the design and construction of delivery test systems.

Description

Technical Field

[0001] The present invention belongs to the field of testing technology, and in particular relates to a continuous load-carrying simulated ground test device. Background Art

[0002] Drop testing is the primary test method for verifying the stability of the electronic control system, the safety of the separation mechanism, and the mission reliability of airborne launchers. By simulating the mechanical and environmental factors of airborne launchers in actual use environments on the ground, key performance indicators such as drop accuracy, drop speed, and drop distance are evaluated. This is of decisive significance to the effectiveness and success rate of mission execution, and provides an important reference basis for subsequent equipment development and performance improvement. Airborne launchers use flying vehicles as platforms to drop payloads to designated targets. They are a key link in executing mission instructions, completing payload separation, and ensuring mission accomplishment. With the continuous development of modern technology and equipment, the performance requirements for airborne launchers are increasing. In order to cope with complex operating environments and diverse mission requirements, airborne launchers must not only be able to withstand mechanical shocks under extreme conditions such as high-speed flight and sharp maneuvers without structural failure, but also ensure the safety and reliability of the electronic control system and separation mechanism to ensure accurate communication and smooth execution of missions.

[0003] To verify the reliability of the airborne launcher during payload delivery, ground simulation tests are conducted to replicate the airborne launch state and conduct comprehensive functional performance tests on the airborne launcher. This not only ensures its reliability and stability in actual use, but also identifies potential design flaws and performance issues, providing strong data support for subsequent improvements and optimizations. Therefore, conducting simulated ground delivery reliability assessments on airborne launchers is of great significance for ensuring the safety of flight vehicles and mission reliability.

[0004] The airborne launcher release test is to install the airborne launcher in the test load-bearing frame, load the center of the thrown material to the specified load, and then conduct the release test. However, for airborne launchers with a mechanism extension action before release, there are several problems: (1) When the vertical positive overload is loaded in place, at the moment of the mechanism extension, the servo actuator response speed lags behind the mechanism extension speed, and it is impossible to maintain dynamic adjustment of the load synchronization, which will cause the load data to be lost during the mechanism extension period, thereby affecting the accuracy of the test data; (2) When the lateral simulated roll load is loaded in place, the loading axis will deviate after the mechanism is extended, and will not act perpendicularly on the loading surface, resulting in an angle, resulting in a deviation between the actual loading load and the expected load, thereby affecting the accuracy of the test data; (3) During the test, the separation posture, separation speed, overload acceleration, separation angular velocity, deformation and time of the airborne launcher need to be measured and recorded. The launch trajectory and separation posture of the thrown object can be used to judge the separation safety between the thrown object and the carrier aircraft, and to avoid interference or collision between the load and the carrier aircraft after separation. Summary of the Invention

[0005] In order to solve the deficiencies in the prior art, the present invention provides a continuous loaded simulated ground test device.

[0006] The present invention provides the following technical solutions:

[0007] A continuous loaded simulated delivery ground test device includes a test bearing frame, a transfer platform, an airborne launch system, a delivery and recovery device, a vertical loading and lateral loading control system, an electromagnetic release device, and a high-speed image acquisition system, wherein:

[0008] The test load-bearing frame includes a base, a first column on the base, a load-bearing beam above the first column, and a triangular block, and the test load-bearing frame is installed on the foundation;

[0009] The airborne launch system includes an airborne launch device, a projectile, a launch control simulation test bench, and a small oil source. The projectile is suspended and connected to the airborne launch device, the airborne launch device is connected to the small oil source via high and low pressure oil pipes, and the airborne launch device is connected to the launch control simulation test bench via cables.

[0010] The delivery and recovery device includes a buffer pad, a rubber ring and an explosion-proof wall;

[0011] The vertical loading and lateral loading control system is a servo actuation system, which includes an oil source control host computer, an oil source power system, an oil source cooling system, a hydraulic substation, a loading control host computer, a servo actuator, a servo controller and a switching cabinet;

[0012] The electromagnetic release device includes a disc-type loading tooling, a suction cup electromagnet, a beam-type photoelectric switch, a relay and a first power supply. The disc-type loading tooling is connected to the thrown object, and the suction cup electromagnet is connected to the disc-type loading tooling through magnetic attraction.

[0013] Furthermore, the servo actuator includes a support, a cylinder, a piston rod, a servo valve, a force sensor, a displacement sensor and a safety valve group. The oil source control host computer is connected to the oil source power system for transmitting instructions to the oil source power system. The oil source power system, the hydraulic substation and the servo actuator are connected in sequence through pipelines for supplying oil to the servo actuator. The oil source power system is connected to the oil source cooling system for cooling the oil source equipment and oil. The loading control host computer is connected to the servo controller for transmitting instructions to the servo controller. The servo controller, servo valve, force sensor and displacement sensor are all connected to the adapter cabinet. The loading control host computer sends a control signal to the servo controller, which reaches the servo actuator through the adapter cabinet. The servo valve converts the electrical signal into a hydraulic signal, and further converts the hydraulic signal into an action signal through the servo actuator. The servo controller then controls the piston rod to perform the loading action to form a closed-loop control by referring to the signals fed back by the force sensor and the displacement sensor.

[0014] Furthermore, the opposing-type photoelectric switch includes a photoelectric switch transmitter, a photoelectric switch receiver, and an opposing-type photoelectric switch adapter. The photoelectric switch transmitter and the photoelectric switch receiver are respectively arranged on both sides of the thrown object. The first power supply provides power to the electromagnetic release device. The photoelectric switch transmitter emits a laser beam to the photoelectric switch receiver to form a detection circuit. When the thrown object is thrown, the optical path of the laser beam changes, triggering the relay to operate, thereby controlling the on and off of the circuit, and realizing closed-loop control of the electromagnetic release device through the magnetic attraction and demagnetization of the suction cup electromagnet.

[0015] Furthermore, the high-speed image acquisition system includes a high-speed camera, a multi-channel timing controller and an image acquisition host computer.

[0016] Furthermore, the vertical loading and lateral loading control system is an electric hoist tension system, which includes an electric hoist, a load measurement host computer, a load sensor, a signal amplifier, a data acquisition instrument and a second power supply. Fisheye bolts are provided at the upper and lower ends of the load sensor. The fisheye bolts at the upper end of the load sensor are connected to the electric hoist through a wire rope. The signal amplifier and the load sensor are connected by a cable. The load measurement host computer, the data acquisition instrument, the signal amplifier and the second power supply are connected in sequence. The load sensor monitors the dynamic changes of the load signal in real time, amplifies and transmits the load signal through the signal amplifier, and the data acquisition instrument processes and sends the transmitted amplified signal. The load measurement host computer displays and records the received data in real time, thereby realizing the integrity and smoothness of the entire signal transmission link and completing real-time transmission and monitoring of data.

[0017] Furthermore, a threaded hole is opened on the lower side of the throwing object, and the threaded portion of the first eye bolt is threadedly connected to the threaded hole. The eye portion of the first eye bolt is connected to a steel wire rope. The steel wire rope passes around a fixed pulley and is then connected to one end of an elastic rope. The other end of the elastic rope is connected to a piston rod of a servo actuator. The fixed pulley is mounted on a pulley adapter tooling, and the pulley adapter tooling is mounted on a foundation.

[0018] Furthermore, a threaded hole is opened on the lower side of the throwing object, and the threaded portion of the first eye bolt is threadedly connected to the threaded hole. The eye portion of the first eye bolt is connected to a steel wire rope. The steel wire rope passes around the fixed pulley and is then connected to one end of the elastic rope. The other end of the elastic rope is connected to the fisheye bolt at the lower end of the load sensor. The fixed pulley is installed on a pulley adapter tooling, and the pulley adapter tooling is installed on the foundation.

[0019] Furthermore, a threaded hole is provided on the side of the throwing object, the disc-type loading tooling includes a first magnetic disc and a screw in the middle of the disc, the disc-type loading tooling and the throwing object are threadedly connected by the screw, the suction cup-type electromagnet includes a second magnetic disc and a second eye bolt threadedly connected to the second magnetic disc, the suction cup-type electromagnet is connected to the disc-type loading tooling by magnetism, the second eye bolt is connected to a wire rope, the wire rope is connected to one end of an elastic rope, the other end of the elastic rope is connected to the piston rod of a servo actuator, and the servo actuator is mounted on a second column through a triangular block.

[0020] Furthermore, a threaded hole is opened on the side of the throwing object, and the threaded part of the first eye bolt is threadedly connected to the threaded hole. The eye part of the first eye bolt is connected to a steel wire rope, and the steel wire rope is connected to one end of an elastic rope. The elastic rope passes around a fixed pulley and is then connected to a fisheye bolt at the lower end of the load sensor. The fixed pulley is installed on a pulley adapter tooling, and the pulley adapter tooling is installed on the second column.

[0021] Furthermore, the transfer platform is connected to the lower portion of the load-bearing beam, and the thrown object is connected to the lower portion of the transfer platform.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The test load-bearing frame can replace the number and length of beams, columns, and triangle blocks according to the size requirements of the airborne launch device. The structural shape of the test load-bearing frame can be modularly designed to improve the flexibility of the test load-bearing frame structure to meet the load and size requirements of various airborne launch devices.

[0024] 2. The transfer platform can be designed and processed according to the installation interface size of the airborne launcher, and can truly simulate the installation boundary of the airborne launcher on the aircraft to meet the installation requirements of different types of airborne launchers.

[0025] 3. The delivery and recovery device can purchase mature products based on the requirements of different models, and the materials are all reusable and recyclable, which improves the assessment efficiency of the delivery test of the airborne launch device under continuous load state and effectively reduces the test cost. At the same time, the buffer recovery area can be adjusted according to different test technical requirements to meet the recovery requirements of different types of thrown objects.

[0026] 4. The servo actuation system and the electric hoist tension system can realize the mechanical load application of the lateral simulated rolling catapult launch and the vertical positive overload catapult launch of the airborne launch device.

[0027] 5. The separation posture, separation speed, overload acceleration, separation angular velocity, deformation, time and other parameters of the airborne launcher are measured and analyzed through a high-speed image acquisition system to achieve the accuracy assessment of the airborne launcher in completing the delivery under a continuous load state.

[0028] 6. The present invention can achieve synchronous dynamic adjustment of the load when the delivery mechanism of the airborne launcher is extended, maintaining a continuous loaded state to meet the assessment requirements of different types of airborne launchers completing delivery tests on the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the vertical positive overload catapult delivery scheme 1;

[0030] Figure 2 This is a schematic diagram of the second vertical positive overload catapult delivery scheme;

[0031] Figure 3 This is a schematic diagram of the first lateral simulated rolling catapult delivery scheme;

[0032] Figure 4 This is a schematic diagram of the second lateral simulated rolling catapult delivery scheme;

[0033] Figure 5 It is a structural diagram of the test load-bearing frame;

[0034] Figure 6 It is a structural diagram of the transfer platform;

[0035] Figure 7 yes Figure 1 and Figure 2 Schematic diagram of the medium-sized recycling device;

[0036] Figure 8 yes Figure 3 and Figure 4 Schematic diagram of the medium-sized recycling device;

[0037] Figure 9 This is a schematic diagram of explosion-proof bricks;

[0038] Figure 10 is a schematic diagram of a servo actuator;

[0039] Figure 11 It is a schematic diagram of the disc loading tooling;

[0040] Figure 12 It is a schematic diagram of a suction cup electromagnet;

[0041] Figure 13 This is a schematic diagram of a through-beam photoelectric switch;

[0042] Figure 14 It is a schematic diagram of an electric hoist;

[0043] Figure 15 It is a schematic diagram of the combined structure of the load sensor, fisheye bolt and signal amplifier;

[0044] Figure 16 is a schematic diagram of the first eyebolt;

[0045] Figure 17 is a schematic diagram of a fixed pulley;

[0046] Figure 18 It is a schematic diagram of the pulley transfer fixture;

[0047] Figure 19 This is a schematic diagram of the electric hoist adapter tooling;

[0048] Figure 20 It is a schematic diagram of a shackle;

[0049] Figure 21 This is a schematic diagram of the airborne launch system;

[0050] Figure 22 It is the schematic diagram of the servo actuation system;

[0051] Figure 23 It is a schematic diagram of the electromagnetic release device;

[0052] Figure 24 It is the schematic diagram of the electric hoist pulling system;

[0053] Figure 25 This is the schematic diagram of the high-speed image acquisition system;

[0054] Figure 26 yes Figure 1 Remove Figure 7 Schematic diagram;

[0055] Figure 27 yes Figure 2 Remove Figure 7 Schematic diagram;

[0056] Figure 28 yes Figure 3 Remove Figure 8 Schematic diagram;

[0057] Figure 29 yes Figure 4 Remove Figure 8 Schematic diagram.

[0058] Among them, 1-test load-bearing frame, 111-base, 112-first column, 113-load-bearing beam, 114-triangle block, 115-second column, 2-transfer platform, 211-plate, 212-mounting boss, 213-counterbore, 3-foundation, 4-airborne launch device, 5-throwing object, 6-launch control simulation test bench, 7-small oil source, 8-buffer pad, 9-rubber ring, 10-explosion-proof wall, 101-explosion-proof brick, 11-Oil source control host computer, 12-Oil source power system, 13-Oil source cooling system, 14-Hydraulic substation, 15-Loading control host computer, 16-Servo actuator, 161-Support, 162-Cylinder, 163-Piston rod, 164-Servo valve, 165-Force sensor, 166-Displacement sensor, 167-Safety valve group, 17-Servo controller, 18-Transfer cabinet, 19-Disc loading fixture, 191- First magnetic disc, 192-screw, 20-suction cup electromagnet, 201-second magnetic disc, 202-second eyebolt, 21-through-beam photoelectric switch, 2111-photoelectric switch transmitter, 2112-photoelectric switch receiver, 2113-through-beam photoelectric switch adapter, 22-relay, 23-first power supply, 24-high-speed camera, 25-multi-channel timing controller, 26-image acquisition host computer, 27 -Electric hoist, 28-Load measurement host computer, 29-Load sensor, 30-Signal amplifier, 31-Data logger, 32-Second power supply, 33-Fisheye bolt, 34-Wire rope, 35-First lifting eye bolt, 36-Fixed pulley, 37-Elastic rope, 38-Pulley adapter, 39-Wireless remote control, 40-Wiring handle, 41-Overhead crane, 42-Electric hoist adapter, 43-Shackle, 44-Power distribution cabinet. DETAILED DESCRIPTION

[0059] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0060] like Figure 1-Figure 29 As shown, a continuous loaded simulated delivery ground test device includes a test carrying frame 1, a transfer platform 2, an airborne launch system, a delivery and recovery device, a vertical loading and lateral loading control system, an electromagnetic release device and a high-speed image acquisition system, wherein:

[0061] The test load-bearing frame 1 includes a base 111, a first column 112 on the base 111, a load-bearing beam 113 above the first column 112, and a triangular block 114. The test load-bearing frame 1 is installed on the foundation 3;

[0062] The airborne launch system includes an airborne launch device 4, a projectile 5, a launch control simulation test bench 6, and a small oil source 7. The projectile 5 is suspended from the airborne launch device 4, the airborne launch device 4 is connected to the small oil source 7 via high and low pressure oil pipes, and the airborne launch device 4 is connected to the launch control simulation test bench 6 via cables.

[0063] The delivery and recovery device includes a buffer pad 8, a rubber ring 9 and an explosion-proof wall 10;

[0064] The vertical loading and lateral loading control system is a servo actuation system, which includes an oil source control host computer 11, an oil source power system 12, an oil source cooling system 13, a hydraulic substation 14, a loading control host computer 15, a servo actuator 16, a servo controller 17 and a transfer cabinet 18;

[0065] The electromagnetic release device includes a disc-type loading tooling 19, a suction cup electromagnet 20, a beam-type photoelectric switch 21, a relay 22 and a first power supply 23. The disc-type loading tooling 19 is connected to the thrown object 5, and the suction cup electromagnet 20 is connected to the disc-type loading tooling 19 by magnetic attraction.

[0066] The continuous load simulation ground test device, its servo actuator 16 includes a support 161, a cylinder 162, a piston rod 163, a servo valve 164, a force sensor 165, a displacement sensor 166 and a safety valve group 167, the oil source control host computer 11 is connected to the oil source power system 12, for transmitting instructions to the oil source power system 12, the oil source power system 12, the hydraulic substation 14 and the servo actuator 16 are connected in sequence through pipelines, for supplying oil to the servo actuator 16, the oil source power system 12 is connected to the oil source cooling system 13, for cooling the oil source equipment and oil, the loading control host computer 11 is connected to the oil source power system 12, for transmitting instructions to the oil source power system 12, the oil source power system 12, the hydraulic substation 14 and the servo actuator 16 are connected in sequence through pipelines, for supplying oil to the servo actuator 16, the oil source power system 12 is connected to the oil source cooling system 13, for cooling the oil source equipment and oil, 5 is connected to the servo controller 17 and is used to transmit instructions to the servo controller 17. The servo controller 17, servo valve 164, force sensor 165 and displacement sensor 166 are all connected to the adapter cabinet 18. The loading control host computer 15 sends a control signal to the servo controller 17, which reaches the servo actuator 16 through the adapter cabinet 18. The servo valve 164 converts the electrical signal into a hydraulic signal, which is further converted into an action signal through the servo actuator 16. The servo controller 17 then controls the piston rod 163 to perform the loading action by referring to the feedback signals from the force sensor 165 and displacement sensor 166 to form a closed-loop control.

[0067] The continuous load-simulated ground test device, whose beam-type photoelectric switch 21 includes a photoelectric switch transmitter 2111, a photoelectric switch receiver 2112 and a beam-type photoelectric switch adapter 2113. The photoelectric switch transmitter 2111 and the photoelectric switch receiver 2112 are respectively arranged on both sides of the projectile 5. The first power supply 23 provides power for the electromagnetic release device. The photoelectric switch transmitter 2111 emits a laser beam to the photoelectric switch receiver 2112 to form a detection circuit. When the projectile 5 is released, the optical path of the laser beam changes, triggering the relay 22 to operate, thereby controlling the on and off of the circuit, and realizing closed-loop control of the electromagnetic release device through the magnetic attraction and demagnetization of the suction cup electromagnet 20.

[0068] The high-speed image acquisition system of the continuous loaded simulated delivery ground test device includes a high-speed camera 24 , a multi-channel timing controller 25 and an image acquisition host computer 26 .

[0069] The continuous load-simulated ground test device has a vertical loading and lateral loading control system that is an electric hoist tension system. The electric hoist tension system includes an electric hoist 27, a load measurement host computer 28, a load sensor 29, a signal amplifier 30, a data acquisition instrument 31 and a second power supply 32. Fisheye bolts 33 are provided at the upper and lower ends of the load sensor 29. The fisheye bolts 33 at the upper end of the load sensor 29 are connected to the electric hoist 27 through a wire rope 34. The signal amplifier 30 and the load sensor 29 are connected by a cable. The load measurement host computer 28, the data acquisition instrument 31, the signal amplifier 30 and the second power supply 32 are connected in sequence. The load sensor 29 monitors the dynamic changes of the load signal in real time, amplifies and transmits the load signal through the signal amplifier 30, and the data acquisition instrument 31 processes and sends the transmitted amplified signal. The load measurement host computer 28 displays and records the received data in real time, thereby realizing the integrity and smoothness of the entire signal transmission link and completing real-time transmission and monitoring of data.

[0070] The continuous load-simulated ground test device has a threaded hole on the lower side of the throwing object 5, and the threaded portion of the first eye bolt 35 is threadedly connected to the threaded hole. The eye portion of the first eye bolt 35 is connected to the wire rope 34, and the wire rope 34 passes around the fixed pulley 36 and is then connected to one end of the elastic rope 37. The other end of the elastic rope 37 is connected to the piston rod 163 of the servo actuator 16. The fixed pulley 36 is installed on the pulley adapter tooling 38, and the pulley adapter tooling 38 is installed on the foundation 3.

[0071] The continuous load-simulated ground test device has a threaded hole on the lower side of the thrown object 5, and the threaded part of the first eye bolt 35 is threadedly connected to the threaded hole. The eye part of the first eye bolt 35 is connected to the wire rope 34, and the wire rope 34 passes around the fixed pulley 36 and is then connected to one end of the elastic rope 37. The other end of the elastic rope 37 is connected to the fisheye bolt 33 at the lower end of the load sensor 29. The fixed pulley 36 is installed on the pulley adapter tool 38, and the pulley adapter tool 38 is installed on the foundation 3.

[0072] The continuous load-simulated ground test device has a threaded hole on the side of the thrown object 5, and the disc-type loading tooling 19 includes a first magnetic disc 191 and a screw 192 in the middle of the disc. The disc-type loading tooling 19 and the thrown object 5 are threadedly connected by the screw 192. The suction cup electromagnet 20 includes a second magnetic disc 201 and a second eye bolt 202 threadedly connected to the second magnetic disc 201. The suction cup electromagnet 20 is connected to the disc-type loading tooling 19 by magnetic attraction. The second eye bolt 202 is connected to the wire rope 34, which is connected to one end of the elastic rope 37. The other end of the elastic rope 37 is connected to the piston rod 163 of the servo actuator 16. The servo actuator 16 is installed on the second column 115 through the triangular block 114.

[0073] The continuous load-simulated ground test device has a threaded hole on the side of the throwing object 5, and the threaded part of the first eye bolt 35 is threadedly connected to the threaded hole. The eye part of the first eye bolt 35 is connected to the wire rope 34, and the wire rope 34 is connected to one end of the elastic rope 37. The elastic rope 37 passes around the fixed pulley 36 and is then connected to the fisheye bolt 33 at the lower end of the load sensor 29. The fixed pulley 36 is installed on the pulley adapter tool 38, and the pulley adapter tool 38 is installed on the second column 115.

[0074] The continuous loaded simulated ground test device has a transfer platform 2 connected to the lower part of the load-bearing beam 113 , and the thrown object 5 is connected to the lower part of the transfer platform 2 .

[0075] The normally open contact end of the relay 22 is electrically connected to the positive end of the suction cup electromagnet 20 , and the negative end of the suction cup electromagnet 20 is connected to the negative end of the first power supply 23 through an electric wire.

[0076] The transfer platform 2 includes a flat plate 211, a mounting boss 212 on the flat plate 211, and a countersunk hole 213. The countersunk hole 213 is connected to the top load-bearing beam 113 of the test load-bearing frame 1 via bolts, and the mounting boss 212 is connected to the mechanical interface on the airborne launcher 4 via bolts. The mounting boss 212 also abuts against the anti-support interface on the airborne launcher 4.

[0077] The support 161 of the servo actuator 16 is connected to the triangular block 114 , and the triangular block 114 is connected to the foundation 3 or the second column 115 .

[0078] The first eyebolt 35 and the second eyebolt 202 have the same structure.

[0079] The test bearing frame 1 is used to provide a stable structural support to withstand the reaction force generated by the ejection of the projectile 5.

[0080] The base 111 is stably and reliably connected to the foundation 3 via bolts, transmitting the reaction force of the airborne launcher 4 to the foundation 3 during vertical positive overload catapult release and lateral simulated rolling catapult release. The test load-bearing frame 1 has a high load-bearing capacity of 10 tons and a deformation of no more than 0.5 mm. The base 111, first column 112, load-bearing beam 113, triangular block 114, and second column 115 all have universal standard interfaces. The structural shape of the test load-bearing frame 1 can be modularly designed according to the size of the airborne launcher 4, greatly enhancing the flexibility of the test load-bearing frame 1 to meet the load and size requirements of various airborne launchers 4. It features a simple structure, efficient construction, reusability, and safety assurance, effectively improving testing efficiency.

[0081] The transfer platform 2 is used to fix the airborne launch device 4 and simulate the installation boundary of the airborne launch device 4 on the aircraft.

[0082] The transfer platform 2 is designed with countersunk holes 213 arranged in an array to ensure a smooth surface and avoid interference. This effectively distributes the load and reduces local stress concentration. The countersunk holes 213 are bolted to the top support beam 113 of the test support frame 1. The transfer platform 2 is designed with highly consistent mounting bosses 212 at the mechanical interface and counter-support interface of the airborne launcher 4. This not only ensures the flatness of the mounting surface, improves the stability and reliability of the connection, but also facilitates positioning and installation. Mounting threaded holes are machined into the mounting bosses 212 corresponding to the mechanical interface and are bolted to the mechanical interface of the airborne launcher 4. The mounting bosses 212 also abut against the corresponding counter-support interface of the airborne launcher 4, providing a support surface for the airborne launcher 4 and enhancing its stability. This ensures that the airborne launcher 4 maintains its precise position and attitude during flight, accurately simulating the installation boundaries of the airborne launcher 4 on the aircraft and ensuring the authenticity, accuracy, and effectiveness of the launch assessment.

[0083] The airborne launching system includes an airborne launching device 4, a projectile 5, a launch control simulation test bench 6 and a small oil source 7. The airborne launching device 4 is charged by the small oil source 7, and the launch control simulation test bench 6 issues instructions to execute the launching action of the projectile 5.

[0084] The airborne launch device 4 is used as a test object to connect the carrier aircraft and the thrown object, so that the thrown object can be stably mounted on the aircraft, and to control the unlocking, ejection and separation of the thrown object when performing the mission, to ensure that the thrown object can leave the carrier aircraft with the best posture and speed and fly towards the target; the thrown object 5 is used to verify the performance of the airborne launch device 4 when bearing actual loads. Through the launching process of the thrown object 5, the dynamic characteristics of the airborne launch device 4 can be evaluated to ensure that the thrown object can be smoothly and safely separated from the carrier aircraft; the small oil source 7 is the power source of the airborne launch device 4, which provides ejection power for the thrown object 5. The small oil source 7 adopts a movable integrated design to facilitate movement and use. Its features include: using YH-15 hydraulic oil as the working medium, the system working pressure is stable and not less than 28MPa, and adopts an efficient constant pressure variable method to meet the power requirements of the airborne launch device 4. The oil source outlet pressure is adjustable, with a rated flow rate of no less than 10 L / min and a return oil back pressure of no less than 2 MPa, continuously adjustable between 0 and 2 MPa, enhancing the adaptability and stability of the hydraulic system. The effective oil source volume is no less than 50 L to meet the hydraulic oil volume requirements of the four airborne launchers. The oil source features a separate oil discharge port for easy maintenance and oil replacement. Pressure measuring points are located at the pump outlet, oil source outlet, and return oil, enabling real-time monitoring and control of system pressure. To ensure efficient and stable operation of the oil source, air cooling is employed and an oil temperature alarm is provided. An alarm is activated when the oil temperature exceeds 60°C, and the system automatically shuts down when it exceeds 70°C. A high-precision filter with a filtration accuracy of no less than 3 µm is installed at the oil source outlet, while a filter with a filtration accuracy of no less than 20 µm is also installed in the return oil line to maintain hydraulic oil cleanliness and ensure stable system operation. A valve is installed between the oil suction port of the pump and the oil tank, and manual valves are set at the high-pressure pipeline outlet and the oil return port of the oil tank to facilitate disassembly and maintenance; the launch control simulation test bench 6 is the core control hub of the airborne launch device 4, and the small oil source 7 is connected to the airborne launch device 4. The hydraulic oil is pressurized to the specified pressure manually, and the opening and closing state of the solenoid valve in the airborne launch device 4 is controlled by the built-in logic algorithm of the launch control simulation test bench 6 to realize the hydraulic oil input of the small oil source 7, thereby driving the airborne launch device 4 to complete the delivery action.

[0085] The servo actuation system is used to perform vertical positive overload and lateral simulated rolling load loading, and can achieve precise control of the load and multi-dimensional loading.

[0086] The loading control host computer 15 and the oil source control host computer 11 can remotely control the servo controller 17 and the oil source power system 12 and monitor the equipment status respectively. The oil source power system 12, serving as the power source for the servo loading system, is responsible for delivering the required high-pressure hydraulic oil. The hydraulic substation 14 includes an oil separator, which, through a pre-distributor, splits the high-pressure hydraulic oil output from the oil source power system 12 into multiple channels for output to the hydraulic substation 14. Simultaneously, the hydraulic substation 14, serving as the servo loading system's secondary pressure-regulating unit, not only provides secondary regulation and pressure stabilization for the high-pressure oil provided by the oil separator but also filters the oil. The oil source cooling system 13 primarily cools the oil source equipment and oil to ensure the proper operation of the hydraulic system. The servo actuator 16 executes loading actions according to test instructions. The servo controller 17, using real-time feedback from the servo actuator's 16 displacement and load sensors, regulates the oil supply flow rate to the oil source power system 12 to precisely control the servo actuator's 16 output displacement or force, thereby forming a closed-loop servo actuation control system. During the test, the servo controller enables manual intervention at any time in loading, unloading, starting, stopping, loading rate, control parameters, and emergency unloading to ensure the accuracy of the test load and meet gradient loading requirements.

[0087] A vertical positive overload and a simulated lateral roll load are applied via the servo controller 17. The installation height and position of the servo actuator 16 are determined based on the endpoint of the load force line. The support 161 of the servo actuator 16 is bolted to the second column 115. The high- and low-pressure oil pipes are connected to the hydraulic ports on the safety valve assembly 167. Integrated cables connect the servo valve 164 port, the force sensor 165 port, and the displacement sensor 166 port to the adapter cabinet 18. The oil source control host computer 11 sends a control signal to the oil source power system 12. The high-pressure hydraulic oil output from the oil source power system 12 is then split into multiple channels via a pre-mounted oil distributor and output to the hydraulic substation 14, and then to the servo actuator 16. The oil source cooling system 13 cools the oil source equipment and the oil. The loading control host computer 15 sends a control signal, which is processed by the servo controller 17 and the adapter cabinet 18 and reaches the servo actuator 16. The servo valve 164 converts the electrical signal into a hydraulic signal, which is further converted into an output displacement signal and a force signal by the servo actuator 16. The hydraulic signal is converted into an electrical signal by the displacement sensor 166 and the force sensor 165, and then controlled to perform the loading action by the piston rod 163 in the cylinder 162, thereby realizing the closed-loop control function of the servo actuator system.

[0088] The delivery and recovery device is used for recovering projectiles 5 that are ejected and released, and includes a buffer pad 8, a rubber ring 9 and an explosion-proof wall 10. The buffer pad 8 is a high-damping, low-rebound buffer pad, and the explosion-proof wall 10 is made of stacked explosion-proof bricks 101. The explosion-proof bricks 101 are hollow structures filled with sand and gravel, which can quickly absorb energy and buffer when encountering impact. The device can effectively reduce the rebound of the projectile 5 and the sliding impact after landing, thereby reducing the damage to the projectile 5.

[0089] The layout area for the launch and recovery device must be designed according to the test technical requirements. When designing the load loading methods for vertical positive overload catapult launch and lateral simulated roll catapult launch, a steel wire rope 34 is used as the primary force transmission medium. To further optimize the integrity and accuracy of the load during the launch process, a highly elastic elastic rope 37 is installed at the connection between the steel wire rope 34 and the servo actuator 16 or electric hoist 27. This can effectively absorb and disperse the impact energy generated during launch, thereby ensuring the stability and safety of the projectile launch test process. The vertical positive overload catapult launch trajectory of the projectile 5 can be approximated as a vertical downward throw under the action of gravity acceleration, with the projectile 5 landing directly below the airborne launch device 4. The lateral simulated roll catapult launch trajectory of the projectile 5 can be approximated as a horizontal throw under the action of gravity acceleration, requiring an estimation of the horizontal landing point of the projectile 5.

[0090] Based on the law of conservation of energy, the projectile obtains an initial velocity v0 at the moment of release:

[0091]

[0092]

[0093] Among them, v is the instantaneous velocity of the projectile, m / s; m is the weight of the projectile, kg; k is the elastic coefficient of the elastic rope, N / m; x is the elongation of the elastic rope, m.

[0094] The falling time t of the projectile is:

[0095]

[0096] Where h is the height of the projectile falling, m; g is the acceleration due to gravity, m / s 2 ; t is the falling time, s.

[0097] The horizontal distance x1 of the landing point of the projectile is:

[0098]

[0099] Through the above theoretical calculation, the horizontal landing point range of the thrown object can be obtained [-x1, x1]. Taking into account the deviation distance, potential error, size of the delivery and recovery device and layout of the test load-bearing frame 1 in extreme cases, and combining engineering experience, an appropriate safety margin x is reserved. 2 To ensure that the throwing and recovery device can effectively and reliably recover the thrown objects, the final buffer recovery range is [-x1-x2, x1+x2], which can be used to confirm the range of laying high-damping and low-rebound buffer pads.

[0100] To prevent secondary rebounds caused by projectiles hitting the delivery and recovery device, which could damage the projectile, the airborne launcher, the delivery test device, and surrounding equipment, theoretical calculations and verification of the rebound height are necessary. Based on the law of conservation of energy, a simplified model can be developed to approximate the rebound height. When a projectile hits the cushion, its kinetic energy begins to decrease. Some of this energy is absorbed by the cushion, while the remaining energy is converted into the object's rebound kinetic energy. Due to the cushion's high damping properties, most of the energy is absorbed, leaving only a small amount of energy for the object to rebound.

[0101] Initial kinetic energy E k for:

[0102]

[0103] Rebound kinetic energy E r for:

[0104]

[0105] Where v1 is the rebound velocity of the projectile, m / s.

[0106] Ignoring the influence of air resistance, the relationship between rebound height h1 and rebound speed is:

[0107]

[0108] Rebound kinetic energy E r The final expression is:

[0109]

[0110] Kinetic energy of projectile rebound E r Should be equal to the initial kinetic energy E k Subtract the energy E absorbed by the cushion abs ,Right now:

[0111]

[0112] Among them Eabs It needs to be confirmed according to the performance parameters of the cushion. Due to the characteristics of high damping and low rebound cushion, E abs will be much larger than E r .

[0113] Then we get the approximate formula of rebound height h1:

[0114]

[0115] Through the above theoretical calculations, the rebound height of the thrown object can be obtained, thereby effectively evaluating the safety of the drop test device, avoiding potential safety risks, and ensuring the personal safety of the test personnel.

[0116] Based on the theoretically calculated horizontal landing range of the projectile 5, the minimum longitudinal span of the test support frame 1 can be determined, while also allowing for adequate operating space to ensure the projectile 5 lands stably and accurately within the test support frame 1, avoiding safety issues caused by landing point deviations. Based on the theoretically calculated rebound height and loading method of the projectile 5, the layout and height of the delivery and recovery device can be determined, ensuring accurate recovery of the projectile 5 during delivery and improving the reliability and safety of the test.

[0117] There are two loading schemes to choose from for vertical positive overload ejection. A downward delivery load is applied to the center of mass of the projectile 5 through a servo actuation system or an electric hoist tension system, and a fixed pulley 36 is installed on the foundation 3 directly below the center of mass of the projectile 5 to achieve the steering application of the delivery load.

[0118] According to the technical conditions of vertical positive overload ejection, a layered layout design is adopted from bottom to top. The lower layer consists of a load-bearing beam 113 and a rubber ring 9, and the upper layer is a buffer pad 8. The two longitudinally arranged load-bearing beams 113 are connected to the foundation 3 by bolts, and a rubber ring 9 is laid in the middle. The load-bearing beam 113 not only provides rigid support for both sides of the buffer pad 8, but also acts as a baffle for the rubber ring 9 to prevent the buffer pad 8 from sinking due to the side sliding of the rubber ring 9 due to compression, which in turn causes the launch and recovery device to fail. The rubber ring 9 provides flexible support for the middle part of the buffer pad 8, and the laying height of the rubber ring 9 must be higher than the height of the fixed pulley 36, which can effectively prevent the projectile 5 from falling and hitting the fixed pulley 36 and causing damage to the projectile. Explosion-proof bricks 101 are stacked on both sides to form an explosion-proof wall 10 as a safety barrier, which fully protects the projectiles, test personnel and test site, and further enhances the safety of the launch and recovery device.

[0119] Two loading schemes are available for lateral simulated rolling catapult delivery: the first is to apply a lateral delivery load to the center of mass of the projectile 5 through a servo actuation system and electromagnetic release device, and the second is to apply a lateral delivery load to the center of mass of the projectile 5 through an electric hoist tension system. The delivery and recovery device for lateral simulated rolling catapult delivery consists of a cushion pad 8 and explosion-proof bricks 101. Based on the theoretical calculation of the horizontal landing point range of the projectile 5, the design is based on the above-mentioned theoretical calculation. The cushion pad 8 is laid in the buffer recovery area, and explosion-proof bricks 101 are stacked on one side along the direction of the initial velocity of the projectile 5, forming an explosion-proof wall 10 as a safety barrier. This effectively prevents the projectile 5 from bouncing or rolling in extreme situations, reduces the risk of accidents, enhances the safety protection capabilities of the delivery and recovery device, and provides a solid safety guarantee for the test process, thereby achieving effective recovery of the projectile 5.

[0120] The explosion-proof bricks 101 measure 500mm x 250mm x 100mm, and the stacked explosion-proof wall 10 measures 1750mm x 500mm x 1000mm. Based on the technical requirements for lateral simulated rolling catapult delivery and theoretical calculations of the horizontal impact point range of projectiles 5, cushioning pads 8 are laid in the buffer recovery area, and the explosion-proof bricks 101 are stacked unilaterally in the direction of the initial velocity of the projectiles 5 to form the explosion-proof wall 10. Based on the test specifications for two types of projectiles 5, each approximately 4m long and weighing approximately 700kg and 550kg, respectively, and the dimensions of a single cushion 8 measuring 2500mm x 1500mm x 500mm, the buffer recovery area of the delivery and recovery device is confirmed to be approximately 15m². The buffer recovery area and the layout of the cushioning pads can be adjusted based on different test specifications to ensure the effective recovery of various types and large sizes of projectiles 5 delivered by catapult delivery.

[0121] The buffer pad 8, rubber ring 9 and explosion-proof brick 101 can all be directly purchased as mature products based on different model requirements, and the materials are all reusable and recyclable, which can effectively reduce the test cost and shorten the time to build a recycling platform.

[0122] The electromagnetic release device is used to instantaneously release the lateral simulated roll load after the servo actuator system has loaded it. When the loading device is a servo actuator 16, the lateral simulated roll load is input through the load control host computer 15 before release. The servo actuator 16 then performs the loading. The force sensor 165, displacement sensor 166, and servo valve 164 then provide feedback signals to the servo controller 17, which dynamically adjusts the oil output of the oil source power system 12 to form a closed-loop control circuit. During release, the force sensor 165 will experience changes, while the servo actuator 16 maintains a continuous and stable output of the preset load through its closed-loop control function. Therefore, the electromagnetic release device is used to momentarily disconnect the load at the front end of the loading force line at the moment of release. This prevents the projectile 5 from being continuously connected to the servo actuator 16, which could cause the projectile to carry kinetic energy and impact the side of the test load frame 1, thereby creating safety issues.

[0123] The electromagnetic release device is used for the situation where the electric hoist pulling system is loaded with a lateral simulated rolling load. The electric hoist pulling system is a one-way open-loop control process. The load data is fed back to the load measurement host computer through the front-end load sensor to observe the real-time display data. It is manually remotely controlled using a wireless remote control, and the wire rope is continuously tightened to adjust to the predetermined lateral simulated rolling load before release.

[0124] The electromagnetic release device is an automated release control mechanism based on electromagnetic principles. A first power source 23 provides stable power to the electromagnetic release device. A photoelectric switch transmitter 2111 transmits a laser beam to a photoelectric switch receiver 2112, forming a detection circuit. When a projectile 5 is released, the laser beam is interrupted, triggering a relay 22, which controls the connection circuit. The magnetic attraction and de-magnetization of the suction cup electromagnet 20 achieves closed-loop control of the electromagnetic release device.

[0125] The through-beam photoelectric switch 21 is an M18 cylindrical laser photoelectric sensor with the model number E3FA-M18TN300A-L. The output signal is NPN normally open and the detection distance is adjustable from 0 to 30 meters. The through-beam photoelectric switch 21 includes a photoelectric switch transmitter 2111, a photoelectric switch receiver 2112 and a through-beam photoelectric switch adapter 2113, which are arranged horizontally on both sides of the projectile 5 along the test load-bearing frame 1. The installation height should be lower than the bottom of the projectile 5 after the delivery mechanism of the airborne launch device 4 is extended. When the projectile 5 is delivered, the laser beam is blocked, the photoelectric switch transmitter 2111 detects the change in the laser beam, the signal line outputs a low-level signal, the relay coil is energized and attracted, and the normally open contact is closed; the relay 22 is a type The 8-pin 5A DC 24V two-open and two-closed intermediate relay with the model number RXM2LB2BD has a response speed of 5-20ms and is used to receive the electrical signal of the beam-type photoelectric switch 21. By controlling the on and off of the coil, the contact state is changed, thereby further controlling the on and off of the connecting circuit to achieve magnetic attraction and demagnetization control of the suction cup electromagnet 20; the first power supply 23 is a 5A DC 24V power supply with the model number LRS-120-24, which provides stable power for the electromagnetic release device to ensure the normal operation of each component.

[0126] If drilling is allowed for the projectile 5, a vertical or lateral threaded hole can be machined at the center of mass of the projectile 5. The first eyebolt 35 can be screwed to the projectile 5 through the vertical threaded hole, and the disc-type loading tool 19 can be screwed to the projectile 5 through the lateral threaded hole. If drilling is not allowed for the projectile 5, a canvas bag can be attached to the center of mass of the projectile 5 for positioning. The loop at one end of the flexible sling is passed along the canvas bag around the projectile 5. The flexible sling is stretched until the loops at both ends are aligned, and then a horseshoe ring is installed to connect the wire rope 34 to the horseshoe ring. Multiple bundles of elastic ropes 37 of sufficient length are connected between the end of the wire rope 34 and the electric hoist 27 or the servo actuator 16 to prevent the elastic ropes 37 from being subjected to plastic deformation due to long-term stress. When the delivery load is loaded into place, the elastic rope 37 undergoes a large deformation. At the moment when the delivery mechanism of the airborne launcher 4 is extended, in order to prevent the load from decaying too quickly, the elastic rope 37 maintains a stable elongation through elastic deformation adjustment, thereby reducing the load fluctuation range and ensuring that it is within the tolerance range, thereby achieving a continuous loaded state of the projectile 5 before the delivery mechanism of the airborne launcher 4 is extended and the load is instantly disconnected during delivery.

[0127] The disc-type loading fixture 19 is an integrated structure consisting of a first magnetic disc 191 and an M16 screw 192 in the middle of the disc. The disc-type loading fixture 19 is screwed into the disc-type loading fixture 19 through an M16 threaded hole opened laterally at the center of mass of the projectile 5. The disc-type loading fixture 19 is made of magnetic metal. The suction surface of the first magnetic disc 191 should be as smooth and flat as possible, with an area no smaller than the suction surface of the suction cup electromagnet 20, ensuring complete contact with the suction surface of the suction cup electromagnet 20, thereby achieving a stable magnetic connection.

[0128] The suction cup electromagnet 20 includes a second magnetic disk 201 with an M14 threaded hole reserved for the connection surface, which can be screwed into an M14 second eyebolt 202. Loading is carried out in a tensile manner and can be connected to the servo actuator 16 or electric hoist 27 via a wire rope 34 and a sufficiently long multi-stranded elastic rope 37. The suction cup electromagnet 20 is model BP-P120 / 60-24V-500. The second magnetic disk 201 has a diameter of 120mm and a height of 60mm, with a suction force of 500kg. The internal material is a copper coil with good temperature stability, insulation and conductivity. The external material is made of electrical pure iron. The one-piece molded design has the advantages of simple structure, low power consumption, low temperature rise, strong adsorption force, and no residual magnetism when the magnet is demagnetized.

[0129] The electric hoist 27 as the core execution component and the load sensor 29 as the detection feedback component both have a maximum load capacity of 3T, which can provide stable and reliable load support for the test and ensure normal operation within the load range required by the test.

[0130] The electric hoist 27 is a single-chain fixed electric hoist of model HSY03-01S, which has a load capacity of 3T and can be used immediately after hanging. It is flexible to use.

[0131] The electric hoist 27 can support both remote and short-range dual control modes through the wireless remote controller 39 or the wiring handle 40 on the electric hoist 27. It can be directly operated through the wiring handle 40, which is intuitive and stable, ensuring the accuracy and timeliness of the operation. It can also be remotely operated through the wireless remote controller 39 to smoothly adjust the operating speed, ensure the safety and work efficiency of the loading process, and thus meet the control requirements in different working environments; the load sensor 29 is an S-type load sensor with a model of BK-2C-3T, with a maximum load of 3T, used for tensile load measurement during the delivery process, and connected to a signal amplifier 30 with a model of TS-2 to achieve signal amplification and transmission. The load sensor 29 adopts an M18×1.5 internal thread design at both ends, and fisheye bolts 33 can be installed to connect the wire rope 34; the data logger 31 is a Gantner-Sation B's multifunctional data acquisition instrument is used for real-time monitoring and analysis of the load sensor 29 signal; the second power supply 32 is also a 5A DC 24V power supply with model LRS-120-24, which is used to power the load sensor 29; the load sensor 29 is connected to the data acquisition instrument 31, and the load sensor 29 is powered separately by the 24V power supply. The electric hoist 27 is remotely controlled to tighten through the wireless remote control 39, and the load measurement host computer 28 displays the load changes and records the load in real time. When the load reaches the predetermined value, the electric hoist 27 can be shut down, or the electric hoist 27 can be manually controlled to apply the load and manually control the electric hoist 27 to shut down, thereby realizing the loading of the released load.

[0132] Shackles 43 may be connected to both ends of the wire rope 34 or the elastic rope 37 , and then connected to other components through the shackles.

[0133] The high-speed image acquisition system is used to measure and analyze parameters such as the separation attitude, separation speed, overload acceleration, separation angular velocity, deformation, and time of the airborne launcher 4. A high-speed camera 24 captures the extremely short, high-speed dynamic changes of the airborne launcher 4 and the projectile 5 during the launch process. A high-speed image acquisition host computer 26 receives the image data transmitted by the high-speed camera 24 and, using a three-dimensional digital image correlation algorithm, tracks the spatial coordinates of each marked point during the launch process. Based on the changes in the marked points' spatial coordinates, it stores, processes, and analyzes the performance parameters of the airborne launcher 4, such as the separation attitude, separation speed, overload acceleration, separation angular velocity, deformation, and time.

[0134] The high-speed cameras 24 were model SH3-502, with three used in total. The multi-channel timing controller 25 was model HMIDemo. Before the launch test, quadrant markers were placed at appropriate locations on the airborne launcher 4 and the projectile 5, according to test requirements, such as locations with significant deformation of the airborne launcher 4 and the center of mass of the projectile 5. Furthermore, to analyze the separation attitude and angular velocity, at least three non-collinear quadrant markers were placed on the projectile. To obtain an accurate roll angular velocity, at least two quadrant markers were placed at the projectile's tail. Two of the high-speed cameras 24 were evenly positioned at angles along the horizontal axis of the airborne launcher 4, and one was positioned along the longitudinal center of the airborne launcher 4. A non-stroboscopic light source was placed next to the high-speed cameras 24 to simultaneously capture the extremely short, high-speed dynamic changes of the airborne launcher 4 and the projectile 5 from different perspectives during the launch process. A multi-channel timing controller 25 is connected to the high-speed camera 24 via a signal cable, enabling triggering and timing control of the high-speed camera 24. The frame rate is typically controlled at 1000 fps or higher. A high-speed image acquisition host computer 26 is connected to the high-speed camera 24 via a network cable for real-time image data transmission. After the image capture of the delivery process is completed and stored in the high-speed image acquisition host computer 26, digital image correlation methods are used to track the displacement and spatial coordinates of the quadrant markers. The basic principles and steps are as follows:

[0135] 1. Before performing marker point displacement and spatial coordinate tracking, the camera's intrinsic and extrinsic parameter matrices need to be calibrated. Based on the size of the field of view of the test, a rigid dot calibration plate no smaller than the size of an A1 paper is used to calibrate the two high-speed cameras on the horizontal side of the airborne launcher and the one high-speed camera at the longitudinal center. The two high-speed cameras on the horizontal side form a binocular high-speed photogrammetry system, and the projection model of the high-speed cameras is:

[0136] (10)

[0137] Where A is the intrinsic parameter matrix of the camera, R is the rotation matrix, T is the translation matrix, and [RT] constitutes the extrinsic parameter matrix of the system. is the pixel coordinate, is the three-dimensional space coordinate.

[0138] For a high-speed camera at the longitudinal center, it is only necessary to calibrate the actual length corresponding to the unit pixel.

[0139] 2. Feature point matching: To obtain the pixel coordinates of the marker points in each frame of the image captured by each high-speed camera during the motion process, the zero-mean normalized sum of squared differences (ZNSSD) correlation function is used to match the marker points of the reference image and the target image. This correlation function is de-meaned and normalized to eliminate the influence of image grayscale changes caused by light changes and has strong anti-interference ability. The calculation expression of ZNSSD is:

[0140]

[0141] Where, and is the grayscale value of each pixel in the reference image subregion and the target image subregion, and is the average grayscale value of the reference image sub-region and the target image sub-region, and The expressions are:

[0142]

[0143]

[0144] The image at time zero of the launch is selected as the reference image, and correlation operations are performed with each frame of the image after the launch to obtain the pixel coordinates of the marked points on the image after the launch.

[0145] 3. Reconstructing the 3D Coordinates of Marked Points: For a binocular measurement system consisting of two horizontally mounted high-speed cameras, after obtaining the pixel coordinates of the marker points in the images captured by the two high-speed cameras, a 3D reconstruction method based on spatial point clouds is used. This method uses the intrinsic and extrinsic parameter matrices of the two cameras obtained through camera calibration in 8.1 and the positional relationship between the position of a point in the 3D spatial coordinate system and the position of the two camera images in the coordinate system to calculate the 3D coordinates of the marker points. For the image captured by the single high-speed camera at the longitudinal center, the pixel coordinates of the marker points are converted to spatial coordinates based on the actual length per pixel obtained through calibration in 8.1.

[0146] After obtaining the spatial coordinates of each marking point on the captured image, that is, obtaining the spatial coordinates of each marking point at different times, the difference, fitting and derivative operations based on the spatial coordinates, as well as the motion parameter transformation operations, can be performed to obtain the separation posture, separation speed, overload acceleration, separation angular velocity, deformation and time of the airborne launch device.

[0147] The specific steps of the test are as follows:

[0148] 1. Install the base 111 on the foundation 3 with bolts, then install the first column 112 and the triangular block 114 in sequence with bolts, and finally fix the load-bearing beam 113 to the first column 112 with bolts to complete the assembly of the test load-bearing frame 1.

[0149] 2. The countersunk hole 213 of the transfer platform 2 is mounted on the load-bearing beam 113 of the test load-bearing frame 1 by means of bolts, and the mounting boss 212 of the transfer platform 2 is mounted on the mechanical interface of the airborne launch device 4 by means of bolts, while the mounting boss 212 abuts against the anti-support interface on the airborne launch device 4.

[0150] 3. Move the small oil source 7 and launch control simulation test bench 6 to an appropriate position near the test frame 1. Connect the airborne launcher 4 and the small oil source 7 via high- and low-pressure oil pipes, and connect the airborne launcher 4 and the launch control simulation test bench 6 via cables. After completing the connection, power on the system and conduct a preliminary test to verify that the electronic control system can accurately receive and respond to commands from the launch control simulation test bench 6, and that the ejection mechanism can correctly execute the locking and unlocking actions after receiving the commands.

[0151] 4. Drive the trolley to the longitudinal side of the test load frame 1 and hoist the projectile 5 horizontally onto the trolley using the overhead crane 41. Ensure that the lugs of the projectile 5 face upward to facilitate connection with the hook of the airborne launcher 4. The trolley's lifting arm lifts the projectile 5 to the hook of the airborne launcher 4. Fine-tune the trolley's position and connect the lugs of the projectile 5 to the hook of the airborne launcher 4 using the hanging bolts to complete the installation of the projectile 5.

[0152] 5. The present invention provides two sets of test schemes for the vertical positive overload ejection test in the simulated continuous loaded release ground test device.

[0153] 5.1 Vertical Positive Overload Ejection Release Test Plan 1: Loading is performed in a tensile manner. An M16 threaded hole is machined vertically below the center of mass of the projectile 5. The first eyebolt 35 is screwed onto the projectile 5. The wire rope 34 is connected to the eye of the first eyebolt 35. Ensure that the wire rope 34 is tangent to the wheel groove wall of the fixed pulley 36 along the loading force line. The pulley adapter fixture 38 is bolted to the foundation 3. The fixed pulley 36 is then mounted on the pulley adapter fixture 38. The vertical load is transmitted along the wire rope 34 and guided through the fixed pulley 36 to be applied as a lateral load. Bolt the triangular block 114 to the foundation 3. Bolt the support 161 of the servo actuator 16 to the triangular block 114 based on the end point of the load force line. Adjust the waist hole on the support 161 to determine the installation height of the servo actuator 16. Connect the high- and low-pressure oil pipes to the hydraulic ports on the safety valve assembly 167. Connect the servo valve 164 port, force sensor 165 port, and displacement sensor 166 port to the hydraulic substation 14 via integrated cables. After completing the wiring, conduct a preliminary test to confirm the overall performance and functionality of the servo actuator system. Confirm the number and length of elastic cords 37 through theoretical calculations and preliminary tests. Connect multiple bundles of elastic cords 37 of sufficient length between the end of the wire rope 34 and the center of the servo actuator 16, completing the first connection for the vertical positive overload catapult release test.

[0154] 5.2 Vertical Positive Overload Ejection Release Test Plan II: Loading is performed in a tensile manner. An M16 threaded hole is machined vertically below the center of mass of the projectile 5. The first eyebolt 35 is screwed onto the projectile 5. The wire rope 34 is connected to the eye of the first eyebolt 35, ensuring that the wire rope 34 is tangent to the sheave wall of the fixed pulley 36 along the loading force line. The pulley adapter 38 is bolted to the foundation 3. The fixed pulley 36 is then mounted on the pulley adapter 38. The vertical load is transmitted along the wire rope 34 and guided by the fixed pulley 36 to be applied as a lateral load. The triangular block 114 is bolted to the foundation 3. The electric hoist adapter 42 is bolted to the triangular block 114. The electric hoist 27 is then mounted on the electric hoist adapter 42 using pins. Finally, a jack is used to support the lower surface of the electric hoist 27. Through theoretical calculation and preliminary tests, the number and length of elastic ropes 37 are confirmed. Multiple bundles of elastic ropes 37 of sufficient length are connected between the end of the wire rope 34 and the fisheye bolt 33 at one end of the load sensor 29. The wire rope 34 is connected between the hook of the electric hoist 27 and the fisheye bolt 33 at the other end of the load sensor 29. The load sensor 29 is connected to the signal amplifier 30 through a cable. The second power supply 32 provides power to the signal amplifier 30. The data acquisition instrument 31 is connected to the signal amplifier 30 through a cable. Then, the data acquisition instrument 31 and the load measurement host computer 28 are connected through a network cable. Finally, the electric hoist 27 is connected to the distribution cabinet 44 through a cable. The electric hoist 27 is manually controlled to load. The real-time data displayed on the load measurement host computer 28 is observed to confirm whether the overall performance and function of the electric hoist tension system are normal, completing the connection of the second vertical positive overload ejection test plan.

[0155] 6. Determine the landing point of the projectile 5 according to the test technical requirements and lay out the delivery and recovery equipment within this area. This area adopts a layered design from bottom to top. The lower layer consists of a load-bearing beam 113 and rubber rings 9. The load-bearing beam 113 is connected to the foundation 3 by bolts. The rubber rings 9 are laid flat in two layers on the foundation 3 in an array, avoiding the installation location of the fixed pulley 36 and the loading area where the wire rope 34 or traction rope is laterally guided. The rubber rings 9 are laid higher than the height of the fixed pulley 36 to prevent projectile 5 from hitting the fixed pulley 36 and causing damage to the projectile 5. The upper layer consists of a buffer pad 8, which is laid horizontally from the head end of the load-bearing beam 113 to the end of the load-bearing beam 113. A gap is reserved in the middle to prevent interference with the wire rope 34 or traction rope during loading. At the same time, explosion-proof bricks 101 are stacked longitudinally on both sides of the buffer recovery area to form an explosion-proof wall 10 as a safety barrier to fully protect the projectile 5, test personnel, and test site.

[0156] 7. The present invention provides two sets of test schemes for the lateral simulated rolling ejection test in the simulated continuous loaded delivery ground test device.

[0157] 7.1. Lateral Simulated Rolling Ejection Release Test Plan 1: Loading is performed in the form of tension. An M16 threaded hole is machined laterally at the center of mass of the projectile 5. The screw 192 of the disc-type loading fixture 19 is screwed onto the projectile 5. The two bases 111 are bolted to the foundation 3 along the longitudinal centerline of the test load-bearing frame 1. The two second columns 115 are bolted to the two bases 111. According to the height of the bottom of the projectile 5 after the mechanism is extended, the two opposing photoelectric switch adapters 2113 are bolted to the projectile 5. Install it on the second column 115 of the two columns. Adjust the mounting height by adjusting the waist holes on the through-beam photoelectric switch adapter 2113. Bolt the photoelectric switch transmitter 2111 and the photoelectric switch receiver 2112 onto the two through-beam photoelectric switch adapters 2113 in sequence. Connect the positive and negative power cables of the photoelectric switch transmitter 2111 and the photoelectric switch receiver 2112 in parallel to the positive and negative terminals of the first power supply 23, respectively. Connect the signal cable of the photoelectric switch transmitter 2111 to one end of the control coil of the relay 22 and the other end to the positive terminal of the first power supply 23, completing a circuit. When the through-beam photoelectric switch 21 is triggered (the laser beam is blocked), the signal cable outputs a low-level signal, energizing the relay 22 coil and closing the normally open contact. One end of the normally open contact of the relay 22 is connected to the positive terminal of the suction cup electromagnet 20, while the other end serves as a common terminal. Connect the positive terminal of the suction cup electromagnet 20 to the normally open contact of the relay 22, and the negative terminal of the suction cup electromagnet 20 to the negative terminal of the first power supply 23, completing the circuit connection of the electromagnetic release device. Turn on the first power supply 23 and perform a functional test on the electromagnetic release device to ensure that it is working properly. After confirming that everything is correct, turn off the first power supply 23, connect the wire rope 34 to the eye at the mounting end of the suction cup electromagnet 20, bolt the base 111 to the foundation 3 along the direction of the load line, and bolt the second column 115 to the base 111. Bolt the support 161 of the servo actuator 16 to the second column 115 based on the end point of the load line. Adjust the waist hole on the support 161 to determine the installation height of the servo actuator 16. Then, connect the high and low pressure oil pipes to the hydraulic ports on the safety valve assembly 167. Use integrated cables to connect the servo valve 164 port, the force sensor 165 port, and the displacement sensor 166 port to the hydraulic substation 14. After the connections are complete, conduct a preliminary test to confirm the overall performance and functionality of the servo actuator system. Confirm the number and length of elastic cords 37 through theoretical calculations and preliminary tests, and connect multiple bundles of elastic cords 37 of sufficient length between the end of the wire rope 34 and the middle of the servo actuator 16. Turn on the first power supply 23, connect the magnetic end of the suction cup electromagnet 20 and the magnetic end of the disc-type loading fixture 19 through electromagnetic action, and complete the connection of the first lateral simulated rolling ejection delivery test scheme.

[0158] 7.2. Lateral Simulated Rolling Catapult Release Test Option II: Loading is performed in a tensile manner. An M16 threaded hole is machined laterally at the center of mass of projectile 5. The first eyebolt 35 is screwed onto projectile 5. The number and length of elastic cords 37 are confirmed through theoretical calculation and preliminary testing. The front end of the steel wire rope 34 is connected to the eye of the first eyebolt 35. The end of the steel wire rope 34 is connected to the front end of the elastic cord 37. Install the base 111 on the foundation 3 with bolts along the direction of the loading force line, install the second column 115 on the base 111 with bolts, and install the pulley adapter tooling 38 on the second column 115 with bolts, ensuring that the elastic rope 37 is tangent to the wheel groove wall of the fixed pulley 36 along the trajectory of the loading force line, and adjust the waist hole on the pulley adapter tooling 38 according to the end position of the load force line to determine the installation height, and then install the fixed pulley 36 on the pulley adapter tooling 38. The longitudinal load is transmitted along the elastic rope 37 and is guided by the fixed pulley 36 to be applied as a vertical load. Install the electric hoist 27 on the hook of the overhead crane 41 through the wire rope 34, connect the end of the elastic rope 37 to the fisheye bolt 33 at one end of the load sensor 29, connect the wire rope 34 between the hook of the electric hoist 27 and the fisheye bolt 33 at the other end of the load sensor 29, connect the load sensor 29 to the signal amplifier 30 through a cable, and the second power supply 32 provides power to the signal amplifier 30, connect the data acquisition instrument 31 to the signal amplifier 30 through a cable, and then connect the data acquisition instrument 31 and the load measurement host computer 28 through a network cable. Finally, connect the electric hoist 27 to the distribution cabinet 44 through a cable, manually control the electric hoist 27 to load, observe the real-time data displayed by the load measurement host computer 28, confirm whether the overall performance and function of the electric hoist tension system are normal, and complete the connection of the second lateral simulated rolling catapult delivery test plan.

[0159] 8. Determine the landing point of projectile 5 according to test technical requirements, and lay a delivery and recovery device within this area. A layer of cushioning pads 8 is laid longitudinally on foundation 3 in an array. Simultaneously, explosion-proof bricks 101 are stacked longitudinally on one side, along the direction of the projectile 5's initial velocity, to form an explosion-proof wall 10, serving as a safety barrier to fully protect projectile 5, test personnel, and the test site.

[0160] 9. Two high-speed cameras 24 are evenly distributed laterally on the foundation 3 via tripods. One high-speed camera 24 is also mounted longitudinally on the test bearing foundation 3 via a tripod. Signal cables are used to connect the high-speed cameras 24 to a multi-channel timing controller 25 to implement timing control and trigger capture. A high-speed image acquisition host computer 26 is connected to the high-speed cameras 24 via a network cable to enable real-time transmission and acquisition of image feedback data. The lens angle, focal length, and mounting position of the high-speed cameras 24 are adjusted to ensure that all three cameras can capture a complete image of the projectile 5 and cover the entire area during the launch process. The high-speed cameras 24 capture the extremely short, high-speed dynamic changes of the projectile 5 during the launch process. The high-speed image acquisition host computer 26 is responsible for receiving the image data transmitted by the high-speed cameras 24, thereby storing, processing, and analyzing the performance parameters of the airborne launcher 4, such as the separation attitude, separation velocity, overload acceleration, separation angular velocity, deformation, and time.

[0161] 10. The servo actuation system and electric hoist tension system were used to apply vertical and lateral mechanical loads to the projectile 5 in the vertical positive overload ejection release test scenarios 1 and 2, and the lateral simulated rolling ejection release test scenarios 1 and 2, respectively. Prior to the test, the high-speed image acquisition system was activated, and the oil pressure of the small oil source 7 was manually increased to the specified pressure. After the release load was loaded, the launch control simulation test bench 6 was first used to control the extension of the launch mechanism of the airborne launcher 4. The launch control simulation test bench 6 then controlled the release of the projectile 5 from the airborne launcher 4 onto the release and recovery device, completing the vertical positive overload ejection release test and the lateral simulated rolling ejection release test of the ground-based simulated airborne launcher 4 under continuous load.

[0162] In this way, the accuracy assessment of the airborne launch device in completing the delivery under continuous load state is achieved.

[0163] Compared with the existing technology, the present invention designs a ground test device that simulates continuous loaded delivery, which can meet the requirement of the continuous loaded state of the airborne launch device before the delivery test, complete the measurement and analysis of parameters such as the separation posture, separation speed, overload acceleration, separation angular velocity, deformation and time of the airborne launch device, ensure the accuracy and integrity of the test data, and effectively recover the ejection delivery of the projectile, thereby realizing the delivery reliability assessment of the ground simulated airborne launch device.

[0164] The present invention can be widely used in the release test of various airborne launch devices and the release test under continuous load state, as well as the design and construction of the release test system.

[0165] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method of the present invention and its core ideas. The above is only a preferred implementation method of the present invention. It should be pointed out that due to the limitations of textual expression, there are objectively infinite specific structures. For ordinary technicians in this technical field, without departing from the principles of the present invention, they can make several improvements, modifications or changes, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the scope of protection of the present invention.

Claims

1. A continuous load simulation ground test device, characterized in that: It includes a test carrying frame (1), a transfer platform (2), an airborne launch system, a delivery and recovery device, a vertical loading and lateral loading control system, an electromagnetic release device and a high-speed image acquisition system, wherein: The test load-bearing frame (1) comprises a base (111), a first column (112) on the base (111), a load-bearing beam (113) above the first column (112), and a triangular block (114); the test load-bearing frame (1) is installed on a foundation (3); The airborne launch system comprises an airborne launch device (4), a projectile (5), a launch control simulation test bench (6) and a small oil source (7), wherein the projectile (5) is suspended and connected to the airborne launch device (4), the airborne launch device (4) is connected to the small oil source (7) via high and low pressure oil pipes, and the airborne launch device (4) is connected to the launch control simulation test bench (6) via a cable; The delivery and recovery device comprises a buffer pad (8), a rubber ring (9) and an explosion-proof wall (10); The vertical loading and lateral loading control system is used to perform vertical positive overload and lateral simulated rolling load loading on the throwing of the projectile (5), and the vertical loading and lateral loading control system includes a steel wire rope and an elastic rope for connecting the projectile (5); The electromagnetic release device is used to connect the thrown object (5) and the steel wire rope and elastic rope that apply a lateral simulated rolling load. The electromagnetic release device includes a disc-type loading tool (19), a suction cup electromagnet (20), a beam-type photoelectric switch (21), a relay (22) and a first power supply (23). The disc-type loading tool (19) is connected to the thrown object (5). The suction cup electromagnet (20) is connected to the disc-type loading tool (19) by magnetic attraction. The beam-type photoelectric switch (21) includes a photoelectric switch transmitter (2111), a photoelectric switch receiver (2112) and a beam-type photoelectric switch. A photoelectric switch adapter (2113) is provided, wherein the photoelectric switch transmitter (2111) and the photoelectric switch receiver (2112) are respectively arranged on both sides of a thrown object (5); the first power supply (23) provides electric energy for the electromagnetic release device; the photoelectric switch transmitter (2111) transmits a laser beam to the photoelectric switch receiver (2112) to form a detection circuit; when the thrown object (5) is released, the optical path of the laser beam changes, triggering the action of the relay (22), thereby controlling the on-off of the circuit; and closed-loop control of the electromagnetic release device is achieved through the magnetic attraction and demagnetization of the suction cup electromagnet (20).

2. The continuous load simulation ground test device according to claim 1 is characterized in that: The vertical loading and lateral loading control system is a servo actuation system, which includes an oil source control host computer (11), an oil source power system (12), an oil source cooling system (13), a hydraulic substation (14), a loading control host computer (15), a servo actuator (16), a servo controller (17) and a transfer cabinet (18). The servo actuator (16) includes a support (161), a cylinder (162), a piston rod (163), a servo valve (164), a force sensor (165), a displacement sensor (166) and a safety valve group (167). The oil source control host computer (11) is connected to the oil source power system (12) for transmitting instructions to the oil source power system (12). The oil source power system (12), the hydraulic substation (14) and the servo actuator (16) are connected in sequence through pipelines for supplying oil to the servo actuator (16). The oil source power system (12) is connected to the oil source cooling system (13) for cooling the oil source equipment and the oil. The loading control host computer (15) is connected to the servo controller (17) for transmitting instructions to the servo controller (17). The servo controller (17), the servo valve (164), the force sensor (165) and the displacement sensor (166) are all connected to the transfer cabinet (18). The loading control host computer (15) sends a control signal to the servo controller (17), which reaches the servo actuator (16) through the transfer cabinet (18). The servo valve (164) converts the electrical signal into a hydraulic signal, which is further converted into an action signal through the servo actuator (16). The servo controller (17) controls the piston rod (163) to perform the loading action by referring to the feedback signals of the force sensor (165) and the displacement sensor (166) to form a closed-loop control.

3. The continuous loaded simulated release ground test device according to claim 1 is characterized in that: The high-speed image acquisition system includes a high-speed camera (24), a multi-channel timing controller (25), and an image acquisition host computer (26).

4. The continuous loaded simulated release ground test device according to claim 1 is characterized in that: The vertical loading and lateral loading control system is an electric hoist tension system, which includes an electric hoist (27), a load measurement host computer (28), a load sensor (29), a signal amplifier (30), a data acquisition instrument (31) and a second power supply (32). The load sensor (29) is provided with fisheye bolts (33) at the upper and lower ends. The fisheye bolts (33) at the upper end of the load sensor (29) are connected to the electric hoist (27) through a wire rope (34). The signal amplifier (30) and the load sensor (29) are connected to the electric hoist (27). ) are connected by cables, and the load measurement host computer (28), the data acquisition instrument (31), the signal amplifier (30) and the second power supply (32) are connected in sequence. The load sensor (29) monitors the dynamic changes of the load signal in real time, and amplifies and transmits the load signal through the signal amplifier (30). The data acquisition instrument (31) processes and transmits the amplified signal, and the load measurement host computer (28) displays and records the received data in real time, so as to realize the integrity and smoothness of the entire signal transmission link and complete the real-time transmission and monitoring of data.

5. The continuous loaded simulated release ground test device according to claim 2 is characterized in that: A threaded hole is provided on the lower side of the throwing object (5), and a threaded portion of a first eyebolt (35) is threadedly connected to the threaded hole. The eye portion of the first eyebolt (35) is connected to a steel wire rope (34). The steel wire rope (34) passes around a fixed pulley (36) and is then connected to one end of an elastic rope (37). The other end of the elastic rope (37) is connected to a piston rod (163) of a servo actuator (16). The fixed pulley (36) is mounted on a pulley transfer fixture (38), and the pulley transfer fixture (38) is mounted on a foundation (3).

6. The continuous loaded simulated drop ground test device according to claim 4 is characterized in that: A threaded hole is provided on the lower side of the throwing object (5), and a threaded portion of a first eyebolt (35) is threadedly connected to the threaded hole. The eye portion of the first eyebolt (35) is connected to a steel wire rope (34). The steel wire rope (34) passes around a fixed pulley (36) and is then connected to one end of an elastic rope (37). The other end of the elastic rope (37) is connected to a fisheye bolt (33) at the lower end of a load sensor (29). The fixed pulley (36) is mounted on a pulley transfer tool (38), and the pulley transfer tool (38) is mounted on a foundation (3).

7. The continuous loaded simulated release ground test device according to claim 2 is characterized in that: A threaded hole is provided on the side of the throwing object (5); the disc-type loading tooling (19) comprises a first magnetic disk (191) and a screw (192) in the middle of the disk; the disc-type loading tooling (19) and the throwing object (5) are threadedly connected via the screw (192); the suction cup electromagnet (20) comprises a second magnetic disk (201) and a second eye bolt (202) threadedly connected to the second magnetic disk (201); the suction cup electromagnet (20) and the disc-type loading tooling (19) are connected via magnetic attraction; the second eye bolt (202) is connected to a steel wire rope (34); the steel wire rope (34) is connected to one end of an elastic rope (37); the other end of the elastic rope (37) is connected to a piston rod (163) of a servo actuator (16); and the servo actuator (16) is mounted on a second column (115) via a triangular block (114).

8. The continuous loaded simulated release ground test device according to claim 4 is characterized in that: A threaded hole is provided on the side of the throwing object (5), and a threaded portion of a first eyebolt (35) is threadedly connected to the threaded hole. The eye portion of the first eyebolt (35) is connected to a steel wire rope (34), and the steel wire rope (34) is connected to one end of an elastic rope (37). The elastic rope (37) passes around a fixed pulley (36) and is then connected to a fisheye bolt (33) at the lower end of a load sensor (29). The fixed pulley (36) is mounted on a pulley adapter (38), and the pulley adapter (38) is mounted on a second column (115).

9. The continuous loaded simulated release ground test device according to claim 1 is characterized in that: The transfer platform (2) is connected to the lower portion of the load-bearing beam (113), and the thrown object (5) is connected to the lower portion of the transfer platform (2).

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