Multi-axial skid system with hydraulic rotary drive cantilever layout

Abstract

The invention discloses a hydraulic rotary driving cantilever layout multi-axial skid system. The hydraulic rotary driving cantilever layout multi-axial skid system comprises a skid body, a ground moving oil source, a three-axial rotary execution device, a hydraulic driving system and a hydraulic control system, wherein the three-axial rotary execution device, the hydraulic driving system and the hydraulic control system are mounted on the skid body; the triaxial rotation execution device is used for installing a test piece in a single-point cantilever supporting mode and driving the test piece to independently rotate in the three axial directions of rolling, pitching and yawing. The hydraulic driving system is used for providing high-pressure oil serving as a power source for the triaxial rotation execution device and independently controlling the triaxial rotation angular speed, angular displacement and attitude angle; the hydraulic control system is used for controlling the hydraulic driving system to work and recording motion data, and can output control according to a preset rotation angular velocity-time curve; the ground moving oil source is used for providing high-pressure oil for the hydraulic driving system. According to the system, multi-axial dynamic / static attitude simulation can be realized, and the requirements of high-speed skid carrying, high bearing and large torque output are met.

Description

Technical Field

[0001] The present invention relates to rocket sled tests, and particularly to a multi-axial sled system with a hydraulic rotary drive and a cantilever layout. Background Art

[0002] Rocket sled tests are comprehensive large-scale ground dynamic tests with full-scale, actual combat aircraft and airborne systems, missile systems, spacecraft and other defense weaponry and related civilian high-tech products as the main test objects, featuring high dynamics and high comprehensiveness.

[0003] Rocket sled tests use a specially designed sled system as a platform, carrying test pieces and test and auxiliary equipment, and driving the sled to run along a high-precision rail fixed to the ground by a rocket engine to simulate the dynamic working conditions of the test piece in the working profiles such as startup, flight in the air, and function realization. The test system is used to obtain test environment parameters and performance parameters of the test piece, and based on this, work such as verification and evaluation analysis of the combat and technical performance indicators and related comprehensive performance of the test piece, failure and fault analysis, quality identification and evaluation such as performance reliability, and testing of key parameters such as aerodynamic characteristics is carried out.

[0004] In view of the diverse attitude characteristics of various types of equipment, especially various highly maneuverable advanced aircraft during operation, to improve the comprehensiveness of rocket sled test verification and the comprehensive and actual combat levels of rocket sled tests, the multi-axial attitude simulation ability of test pieces is the key ability that is vigorously developed in current rocket sled tests. According to the requirements of current and future technology and equipment development for the multi-axial attitude simulation ability of test pieces in rocket sled tests, it shows a large envelope and diverse trend. The specific content is shown in Table 1.

[0005] Table 1 Main requirements for the multi-axial attitude simulation ability of test pieces by technology and equipment development

[0006] Currently, the main multi-axial sleds mainly use rocket engines as the rotary drive source and adopt the traditional layout method of "embedding" the test piece into the sled structure, that is, the test piece is "embedded" into the main sled structure through connection points at the front and rear ends, and only an actuator with roll-axis rotatability is used between the test piece and the sled structure. Therefore, the current main multi-axial sleds are actually roll-axis sleds with only the ability to simulate dynamic / static attitudes in the roll axis. Moreover, due to the use of rocket engines as the rotary drive source, the controllability and accuracy of rotary drive are significantly insufficient, especially the accurate simulation of complex dynamic attitudes such as uniform angular velocity rotation under variable angular velocity and variable load conditions cannot be achieved.

[0007] Currently, similar attitude simulation systems are generally used in ground static working scenarios. They are large in volume and overall mass, and require ground equipment to supply rotational driving force. They cannot meet the mounting requirements of high-speed skids with a running speed of no less than 500 km / h, nor can they adapt to high-dynamic application environments above 500 km / h. Among them, the attitude simulation system based on electromagnetic rotation drive has an obvious bearing capacity and torque output value smaller than that of a hydraulic drive system of the same size (volume or mass). It cannot take into account the mounting requirements of high-speed skids and the high bearing and large torque output requirements faced by the performance verification of large-size and large-mass test pieces. Moreover, the electromagnetic system is difficult to adapt to the harsh vibration and impact environment generated during the high-speed operation of the skid.

[0008] In summary, neither the current main multi-axial skids nor the current similar attitude simulation systems can fully meet the current and future multi-axial rocket sled test requirements. It is difficult to achieve accurate simulation of various multi-axial (roll, pitch, yaw) combined dynamic / static postures of large test pieces during the high-speed movement of the skid. In particular, it lacks the large envelope attitude simulation ability represented by large attitude angles and high angular velocities, and the complex dynamic attitude simulation ability represented by multi-axial linkage, variable rotational angular velocity, and uniform angular velocity rotation under variable load. It cannot meet the multi-axial rocket sled test requirements shown in Table 1, resulting in the inability to carry out large-load and high-dynamic tests such as high-speed ejection escape tests based on real front fuselages. Summary of the Invention

[0009] Aiming at the problem of insufficient multi-axial attitude simulation ability of test pieces in current large-scale high-dynamic ground tests represented by rocket sled tests, the purpose of the present invention is to provide a multi-axial skid system with a hydraulic rotation drive cantilever layout. The system installs the test piece in a single-point cantilever support manner and adopts an attitude simulation strategy of independent actions of each axis. The test piece can achieve multi-axial dynamic / static attitude simulation, taking into account the mounting of high-speed skids and the requirements of high bearing and large torque output.

[0010] The technical solution adopted by the present invention is: A multi-axial skid system with a hydraulic rotary drive cantilever layout for high-dynamic ground tests, comprising a skid body that can be propelled by a rocket engine to move forward at high speed along a rail, a ground mobile oil source that can move on the ground, and a three-axial rotary actuator, a hydraulic drive system, and a hydraulic control system installed on the skid body; the three-axial rotary actuator is used to install a test piece in a single-point cantilever support manner and drive the test piece to rotate independently in the three axes of roll, pitch, and yaw. After the test piece is installed, the front part extends out of the skid body and does not interfere with other components during movement; the hydraulic drive system is used to provide high-pressure oil as a power source to the three-axial rotary actuator and independently control the rotational angular velocity, angular displacement, and attitude angle in the three axes; the hydraulic control system is used to control the operation of the hydraulic drive system and record motion data, and can output control according to a preset rotational angular velocity-time curve; the ground mobile oil source is used to provide high-pressure oil to the hydraulic drive system.

[0011] Preferably, a lifting frame is provided on the skid body, and the three-axial rotary actuator is installed on the lifting frame; when the test piece needs to perform a large pitch angle attitude movement or a test piece with a large width needs to perform a roll attitude movement, a heightening frame is added to the lifting frame, and the three-axial rotary actuator is installed on the heightening frame.

[0012] Preferably, the three-axial rotary actuator is located at the front of the skid body, and the rear end of the test piece is installed at the front end of the three-axial rotary actuator; the three-axial rotary actuator includes a yaw rotary mechanism, a pitch rotary mechanism, and a roll rotary mechanism. The yaw rotary mechanism is installed on the skid body, the pitch rotary mechanism is installed at the transmission end of the yaw rotary mechanism, the roll rotary mechanism is installed at the transmission end of the pitch rotary mechanism, the transmission end of the roll rotary mechanism is used to install the test piece, and the yaw rotary mechanism, the pitch rotary mechanism, and the roll rotary mechanism are used to independently drive their respective transmission ends to achieve yaw rotation, pitch rotation, and roll rotation, respectively. The yaw rotary mechanism, the pitch rotary mechanism, and the roll rotary mechanism respectively adopt independent hydraulic power.

[0013] Preferably, the yaw rotary mechanism includes a base and a gear-rack hydraulic swing cylinder installed on the skid body, a slewing bearing rotatably arranged on the base through bearings, and a yaw frame connected to the upper side of the slewing bearing. The output end of the gear-rack hydraulic swing cylinder is meshed with the slewing bearing through a transmission gear. The rotation direction of the yaw frame is the yaw rotation direction, and the yaw frame is U-shaped; the pitch rotary mechanism includes a pitch axis and a screw hydraulic cylinder. The two ends of the pitch axis are rotatably arranged at both ends of the yaw frame through bearings, and a sleeve is arranged in the middle. The screw hydraulic cylinders are respectively installed at both ends of the yaw frame, and the output ends are respectively connected to both ends of the pitch axis. The rotation direction of the pitch axis is the pitch rotation direction, and the sleeve can perform a pitching motion within the yaw frame; the roll rotary mechanism includes a roll axis rotatably arranged in the sleeve through bearings and a gear-rack hydraulic swing cylinder arranged at the rear end of the sleeve with the output end connected to the rear end of the roll axis. The front end of the roll axis is located outside the sleeve and has an installation position for the test piece.

[0014] Preferably, the yaw rotation mechanism, the pitch rotation mechanism, and the roll rotation mechanism are respectively equipped with mechanical locking components to lock their respective attitude angles. Each mechanical locking component is controlled by the test control system to unlock and lock, and feedback signals indicating successful unlocking and locking.

[0015] Preferably, the hydraulic drive system includes two main oil circuits and three parallel branch oil circuits connected between the two main oil circuits. The three branch oil circuits respectively correspond to and act on the hydraulic actuators that achieve three-axis rotation in the three-axis rotation actuator; a quick connector for connecting to a ground mobile oil source, an accumulator for receiving high-pressure oil from the ground mobile oil source during the rotating dynamic attitude test and supplying high-pressure and large-flow hydraulic oil to each branch oil circuit, and a main valve for controlling the switch of the main oil circuit where it is located are provided on one main oil circuit; a quick connector for connecting to a ground mobile oil source and a return oil tank for collecting the hydraulic oil flowing out of each branch oil circuit are provided on the other main oil circuit; two-way directional valves for controlling the on / off and changing the flow direction of the branch oil circuit where they are located, precision electro-hydraulic proportional throttle valves for controlling the flow rate of the branch oil circuit where they are located, and hydraulic locks for locking the position of the hydraulic actuator on the branch oil circuit where they are located are provided on each branch oil circuit; during operation, the start and stop of the rotation action in the corresponding axis can be controlled by controlling the on / off of the two-way directional valve, the direction of the rotation action in the corresponding axis can be changed by changing the flow direction of the two-way directional valve, the rotational angular velocity in the corresponding axis can be controlled by controlling the flow rate with the precision electro-hydraulic proportional throttle valve to ensure that the rotational angular velocity change curve meets the test preset requirements, and redundant locking of the attitude angle in the corresponding axis can be achieved by locking with the hydraulic lock and closing the two-way directional valve.

[0016] Preferably, the hydraulic control system adopts three independent control subsystems corresponding to the rotation control of the three axes respectively; the control subsystem includes a control box and a storage battery installed on the skid body, and an angular velocity sensor provided on the hydraulic actuator that drives the rotation in the corresponding axis. The control box is used to receive signals from the upper system and send action instructions to the corresponding valves in the hydraulic drive system to complete the test. The storage battery is used to supply power to the control box. The angular velocity sensor is used to measure the rotational angular velocity in the corresponding axis. The control box can collect the data of the angular velocity sensor and output the rotational angular velocity-time curve.

[0017] Preferably, after receiving the test start signal, the control box controls the corresponding valves in the hydraulic drive system to perform corresponding actions according to the specific parameters of the roll, pitch, and yaw three-axis actions. After receiving the test end signal, the control box controls the corresponding valves in the hydraulic drive system to reset. The control box has a data storage function, can collect the data of the angular velocity sensor, and output it to the upper system after the test ends.

[0018] Preferably, the ground mobile oil source includes an oil tank, a hydraulic pump, an oil filling port, and an oil receiving port installed on a trolley. The hydraulic pump is used to pressurize and transport the hydraulic oil in the oil tank to the oil filling port. The oil filling port is used to connect to the quick interface of the hydraulic drive system when filling the hydraulic drive system with oil. The oil receiving port is connected to the oil tank and is used to connect to the quick interface of the hydraulic drive system when recovering the hydraulic oil of the hydraulic drive system. An overflow valve for adjusting the working pressure of the ground mobile oil source system, an inlet oil filter for filtering the hydraulic oil, a check valve for preventing the hydraulic oil from flowing back, and a throttle valve for adjusting the oil filling flow rate are provided between the hydraulic pump and the oil filling port. An oil return filter for filtering the hydraulic oil is provided between the oil tank and the oil receiving port.

[0019] Preferably, the ground mobile oil source further includes a liquid level and temperature gauge for detecting the liquid level and temperature in the oil tank, a low-position ball valve for discharging the oil tank, a pressure detector for detecting the pressure at key positions, and an oil source control system. The oil source control system has a PLC controller and a touch screen, which are used to control the start and stop of the hydraulic pump and the opening and closing of the overflow valve, and can monitor the operating state of the ground mobile oil source.

[0020] The beneficial effects of the present invention are as follows: This system does not adopt the traditional layout scheme of "inserting" both ends of the test piece into the skid, but is installed on a three-axis rotary actuator in a single-point cantilever support manner, which can avoid interference between the test piece and other components during the three-axis rotation of roll, pitch, and yaw, providing a basis for realizing comprehensive multi-axis attitude simulation such as three-axis linkage. This system adopts an attitude simulation strategy of independent actions for each axis. The three-axis rotary actuator can drive the test piece to rotate independently in the three axes of roll, pitch, and yaw, realizing independent actions for each axis rotation, avoiding mutual influence during the rotation of each axis, and the hydraulic drive system can independently control the angular velocity, angular displacement, and attitude angle of the three axes, realizing the independence of the rotation drive control for each axis, reducing the system control difficulty. Therefore, the dynamic / static attitude of each axis is prevented from affecting the attitude simulation of other axes, and the test piece can rotate independently in the three axes of roll, pitch, and yaw to achieve multi-axis dynamic / static attitude simulation, improving the diversity of the test piece attitude simulation. The system is hydraulically driven, effectively solving the problems of poor rotation drive accuracy and controllability of existing rocket engines. While significantly improving the accuracy of rotation control, it realizes complex rotation attitude simulations such as variable angular velocity rotation and uniform angular velocity rotation under variable load conditions. At the same time, it also solves the problem of insufficient torque output of electromagnetic rotation systems of the same size, effectively taking into account the two requirements of high-speed sled carrying and high load-bearing and large torque output. Moreover, the hydraulic components have a strong dynamic environment, and the system can work normally under the harsh dynamic environment generated by the high-speed operation of the sled. In addition, using a ground mobile oil source as a non-sled-mounted device can reduce the carrying load of the sled; The system realizes precise simulation of multi-axial dynamic / static postures, is suitable for conducting rocket sled tests or other large-scale high-dynamic ground tests, is suitable for large test pieces (such as the front fuselage of an aircraft), and can also meet the high-speed test requirements of medium and small test pieces. Brief Description of the Drawings

[0021] Figure 1 It is a three-dimensional view of the multi-axial sled system with a hydraulic rotation drive cantilever layout after installing the test piece.

[0022] Figure 2 is Figure 1 the front view of

[0023] Figure 3 is Figure 2 a schematic diagram after adding a heightening frame.

[0024] Figure 4 It is a structural schematic diagram of the three-axial rotation actuator in the present invention.

[0025] Figure 5 It is a hydraulic schematic diagram of the hydraulic drive system in the present invention.

[0026] Figure 6 It is a hydraulic schematic diagram of the ground mobile oil source in the present invention.

[0027] Figure 7 It is an application scenario diagram of the present invention in a rocket sled test.

[0028] In the figure: 1 - test piece; 2 - three - axis rotation actuator; 3 - elevation frame; 4 - skid body; 5 - accumulator; 6 - slider; 7 - oil return tank; 8 - hydraulic control system; 9 - valve group; 10 - heightening frame; 11 - base; 12 - slewing bearing; 13 - transmission gear; 14 - gear - rack hydraulic swing cylinder of yaw rotation mechanism; 15 - mechanical locking assembly of yaw rotation mechanism; 16 - yaw frame; 17 - screw hydraulic cylinder; 18 - pitch axis; 19 - mechanical locking assembly of pitch rotation mechanism; 20 - gear - rack hydraulic swing cylinder of roll rotation mechanism; 21 - roll axis; 22 - mechanical locking assembly of roll rotation mechanism; 23.1, 23.2 - quick connectors; 24 - accumulator; 25 - pressure gauge; 26 - main valve; 27 - two - way direction valve; 28 - precision electro - hydraulic proportional throttle valve; 29 - pressure sensor; 30 - hydraulic lock; 31 - oil return tank; 32 - fuel tank; 33 - low - pressure ball valve; 34 - air filter; 35 - hydraulic pump; 36 - return - oil filter; 37 - liquid level and liquid temperature gauge; 38 - overflow valve; 39 - pressure gauge; 40 - inlet - oil filter; 41 - check valve; 42 - ; 43 - ; 44 - throttle valve; 45 - oil filling port; 46 - oil receiving port; 47 - propulsion vehicle; 48 - rocket engine; 49 - slide rail. Detailed implementation manners

[0029] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some but not all of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application claimed, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts fall within the scope of protection of the present application.

[0031] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0032] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this application is usually placed during use. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0033] In the description of the present application, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", "linked" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0034] The features and performance of the present application will be further described in detail below in conjunction with embodiments.

[0035] Embodiment 1 The present application discloses a multi-axial skid system with a hydraulic rotary drive cantilever layout, which is used for rocket sled tests or other high-dynamic ground tests, such as Figure 1 and Figure 2 As shown, it includes a skid body 4, a three-axial rotary actuator 2, a hydraulic drive system, a hydraulic control system 8, and a ground mobile oil source (not shown in the figure); among them: The skid body 4 is both an integrated platform and a power platform. As an integrated platform, the three-axial rotary actuator 2, the hydraulic drive system, the hydraulic control system 8, as well as the test piece 1 and the test equipment required for the test are integrally installed on the skid body 4. As a power platform, the rear part of the skid body 4 is directly or indirectly connected to the rocket engine 48 through a propulsion vehicle 47, and the bottom is slidably matched with the slide rail 49 through a slider 6. During the test, the rocket engine 48 can push the skid body 4 to move forward at high speed along the slide rail 49, as shown in Figure 1 、 Figure 2 、 Figure 7 ; The three-axial rotary actuator 5 is installed on the skid body 7, and is used to install the test piece 1 in a single-point cantilever support manner and drive the test piece 1 to rotate independently in the three axes of roll, pitch, and yaw. After the test piece 1 is installed, the front part extends out of the skid body 7 and does not interfere with other components during movement, as shown in Figure 1 、 Figure 2 ; The hydraulic drive system is installed on the skid body 7, and is used to provide high-pressure oil as a power source to the three-axial rotary actuator 5, and independently control the rotational angular velocity, angular displacement, and attitude angle of the three axes, as shown in Figure 1 、 Figure 2 ; The hydraulic control system 8 is installed on the skid 4, used to control the operation of the hydraulic drive system and record motion data, and can output control according to the preset rotational angular velocity - time curve. See Figure 1 、 Figure 2 ; The ground - mobile oil source is a non - skid - mounted and mobile ground device, used to provide high - pressure oil to the hydraulic drive system.

[0036] According to the above scheme: This system does not adopt the traditional layout scheme of "inserting" both ends of the test piece 1 into the skid, but is installed on the three - axis rotary actuator 2 in a single - point cantilever support manner, which can avoid interference between the test piece and other components during the three - axis rotation of roll, pitch, and yaw, providing a basis for realizing comprehensive multi - axial attitude simulation such as three - axis linkage; This system adopts an attitude simulation strategy of independent actions for each axis. The three - axis rotary actuator 2 can drive the test piece to rotate independently in the three axes of roll, pitch, and yaw, realizing independent actions of rotation for each axis and avoiding mutual influence during the rotation of each axis. The hydraulic drive system can independently control the rotational angular velocity, angular displacement, and attitude angle of the three axes, realizing the independence of rotational drive control for each axis, reducing the system control difficulty. Therefore, it avoids the influence of the dynamic / static attitude of each axis on the attitude simulation of other axes. The test piece 1 can realize multi - axial dynamic / static attitude simulation through independent rotational movements in the three axes of roll, pitch, and yaw, improving the diversity of attitude simulation of the test piece 1; This system uses hydraulic pressure as the driving force, effectively solving the problems of poor rotational drive accuracy and controllability of existing rocket engines. While greatly improving the rotational control accuracy, it realizes complex rotational attitude simulations such as variable - angular - velocity rotation and uniform - angular - velocity rotation under variable - load conditions. At the same time, it also solves the problem of insufficient torque output of electromagnetic rotary systems of the same size, effectively taking into account the two requirements of high - speed skid carrying and high load - bearing and large - torque output. Moreover, hydraulic components have a strong dynamic environment, and the system can work normally under the harsh dynamic environment generated by the high - speed operation of the skid. In addition, using the ground - mobile oil source as a non - skid - mounted device can reduce the carrying load of the skid; This system realizes precise multi - axial dynamic / static attitude simulation, is suitable for conducting rocket sled tests or other large - scale high - dynamic ground tests, is suitable for large test pieces 1 (such as the front fuselage of an aircraft), and can also meet the high - speed test requirements of medium - and small - sized test pieces 1.

[0037] The following is the specific scheme of the multi - axial skid system with a hydraulic rotary drive cantilever layout: I. Regarding the skid 4, in this embodiment, as Figures 1 to 3 shown: To ensure the structural stability, the sled body 4 is formed by welding high-strength alloy steel. To avoid interference between the test piece 1 and other components during movement after installation, the three-axis rotation actuator 2 needs to be installed at a raised position so that there is sufficient suspended height after the test piece is installed. Therefore, a raised frame 3 can be set on the sled body 4. The three-axis rotation actuator 2 is installed on the raised frame 3 by bolts. The raised frame 3 is formed by welding high-strength alloy steel and bolted to the sled body 4, as shown in Figure 1 and Figure 2 .

[0038] When the test piece 1 needs to perform a large pitch-down attitude movement or a test piece 1 with a large width needs to perform a roll attitude movement, a single raised frame 3 is not sufficient to provide enough suspended height after the test piece 1 is installed. To avoid interference between the test piece 1 and other components during movement after installation in the above cases, a heightening frame 10 can be set on the raised frame 3. The heightening frame 10 is formed by welding high-strength alloy steel and bolted to the raised frame 3, as shown in Figure 3 .

[0039] Second, regarding the three-axis rotation actuator 2, in this embodiment, as shown in Figure 1 , Figure 2 , Figure 4 : To avoid interference from other components with the movement of the test piece 1 during the test, the three-axis rotation actuator 2 is installed at the front of the sled body 4, and the rear end of the test piece 1 is installed at the front end of the three-axis rotation actuator 2, as shown in Figure 1 and Figure 2 .

[0040] The three-axis rotation actuator 2 includes a yaw rotation mechanism, a pitch rotation mechanism, and a roll rotation mechanism. The yaw rotation mechanism is installed on the sled body 4. The pitch rotation mechanism is installed at the transmission end of the yaw rotation mechanism. The roll rotation mechanism is installed at the transmission end of the pitch rotation mechanism. The transmission end of the roll rotation mechanism is used to install the test piece 1. The yaw rotation mechanism, the pitch rotation mechanism, and the roll rotation mechanism are used to independently drive their respective transmission ends to achieve yaw rotation, pitch rotation, and roll rotation. The yaw rotation mechanism, the pitch rotation mechanism, and the roll rotation mechanism respectively adopt independent hydraulic power, as shown in Figure 4 . The yaw rotation mechanism, as the first stage, can drive the pitch rotation mechanism, the roll rotation mechanism, and the test piece 1 to perform yaw rotation. The pitch rotation mechanism, as the second stage, can drive the roll rotation mechanism and the test piece 1 to perform pitch rotation. The roll rotation mechanism, as the third stage, can drive the test piece 1 to perform roll rotation.

[0041] The yaw rotation mechanism includes a base 11 and a rack and pinion hydraulic swing cylinder 14 mounted on the skid body 4, a slewing bearing 12 rotatably arranged on the base 11 through bearings, and a yaw frame 16 connected to the upper side of the slewing bearing 12. The output end of the rack and pinion hydraulic swing cylinder 14 meshes with the slewing bearing 12 through a transmission gear 13. The rotation direction of the yaw frame 16 is the yaw rotation direction. The yaw frame 16 is U-shaped, see Figure 4 . As the support structure of the entire three-axis rotation actuator, the yaw rotation mechanism requires a larger output torque. At the same time, since it is mounted on the skid body 4 and has sufficient installation space, a rack and pinion hydraulic swing cylinder 14 with a larger torque output capacity is selected. During operation, high-pressure oil is input into the rack and pinion hydraulic swing cylinder 14, driving the rack and pinion hydraulic swing cylinder 14 to drive the transmission gear 13, the slewing bearing 12, and the yaw frame 16 to rotate in sequence, that is, yaw rotation is performed.

[0042] The pitch rotation mechanism includes a pitch axis 18 and a screw hydraulic cylinder 17. Both ends of the pitch axis 18 are rotatably arranged at both ends of the yaw frame 16 through bearings, and a sleeve is provided in the middle. The screw hydraulic cylinders 17 are respectively installed at both ends of the yaw frame 16, and the output ends are respectively connected to both ends of the pitch axis 18. The rotation direction of the pitch axis 18 is the pitch rotation direction. The sleeve can perform pitching motion within the yaw frame 16, see Figure 4 . Considering that the requirements for the response degree and angular velocity of the pitch axis 18 rotation are not high, in order to control the structural dimensions of the entire system, a more delicate and compact screw hydraulic cylinder 17 is selected, and two screw hydraulic cylinders 17 are used to drive both ends of the pitch axis 18 respectively to ensure smooth transmission. For the convenience of installation, both the pitch axis 18 and the screw hydraulic cylinder 17 are installed at both ends of the yaw frame 16 through upper and lower split hoop. The output end of the screw hydraulic cylinder 17 is connected to the end of the pitch axis 18 through a key. During operation, high-pressure oil is input into the screw hydraulic cylinder 17, driving the screw hydraulic cylinder 17 to drive the pitch axis 18 to rotate, that is, pitch rotation is performed.

[0043] The roll rotation mechanism includes a roll axis 21 rotatably arranged in the sleeve through bearings and a rack and pinion hydraulic swing cylinder 20 arranged at the rear end of the sleeve and with the output end connected to the rear end of the roll axis 21. The front end of the roll axis 21 is located outside the sleeve and has an installation position for the test piece 1, see Figure 4 . Since the roll rotation requires a high response speed and a large roll angular velocity, a rack and pinion hydraulic swing cylinder 20 with a large output torque and a fast response speed is selected. For the convenience of installation, the installation position of the test piece 1 uses a flange. The output end of the rack and pinion hydraulic swing cylinder 20 is connected to the rear end of the roll axis 21 through a key. During operation, high-pressure oil is input into the rack and pinion hydraulic swing cylinder 20, driving the rack and pinion hydraulic swing cylinder 20 to drive the roll axis 21 and the test piece 1 to rotate in sequence, that is, roll rotation is performed.

[0044] The yaw rotation mechanism, pitch rotation mechanism, and roll rotation mechanism are respectively equipped with mechanical locking components (15, 19, 22) to lock their respective attitude angles. Each mechanical locking component (15, 19, 22) is controlled by the test control system (different from the hydraulic control system 8, and the two are not the same system) to unlock and lock, and feedback the signals of successful unlocking and locking. See Figure 4 . The mechanical locking components (15, 19, 22) can achieve mechanical locking between the rotating pairs of each rotating mechanism when in a fixed attitude angle or other situations where rotation is not required, improving the reliability of attitude angle locking during the high-speed movement of the skid. Moreover, each mechanical locking component (15, 19, 22) is controlled by the test control system, realizing automation.

[0045] The three-axis rotation actuator 2 adopts a highly integrated and high-strength structure, which can ensure the support and installation of large-size and large-mass test pieces.

[0046] Third, regarding the hydraulic drive system, in this embodiment, as Figure 1 、 Figure 2 and Figure 5 shown: The hydraulic drive system includes two main oil circuits and three parallel branch oil circuits connected between the two main oil circuits. The three branch oil circuits respectively correspond to and act on the hydraulic actuators that achieve three-axis rotation in the three-axis rotation actuator 2. One main oil circuit is provided with a quick connector 23.1 for connecting to the ground mobile oil source, an accumulator 24 for receiving high-pressure oil from the ground mobile oil source during the rotating dynamic attitude test and providing high-pressure and large-flow hydraulic oil to each branch oil circuit, and a main valve 26 for controlling the switch of the main oil circuit where it is located (for example, a manual ball valve). The other main oil circuit is provided with a quick connector 23.2 for connecting to the ground mobile oil source and a return oil tank 31 for collecting the hydraulic oil flowing out of each branch oil circuit. Each branch oil circuit is provided with a two-way directional valve 27 for controlling the on / off and changing the flow direction of the branch oil circuit where it is located, a precision electro-hydraulic proportional throttle valve 28 for controlling the flow rate of the branch oil circuit where it is located, and a hydraulic lock 30 for locking the position of the hydraulic actuator on the branch oil circuit where it is located. See Figure 5; During operation, the on-off of the two-way directional valve 27 can be used to control the start and stop of the axial rotation movement, the flow direction can be changed by the two-way directional valve 27 to change the direction of the axial rotation movement, the flow rate can be controlled by the precision electro-hydraulic proportional throttle valve 28 to control the rotational angular velocity of the corresponding axis to ensure that the rotational angular velocity change curve meets the test preset requirements, and the redundancy locking of the attitude angle of the corresponding axis can be achieved by locking with the hydraulic lock 30 and closing the two-way directional valve 27. In the hydraulic drive system, the two-way directional valve 27 realizes the start, stop and direction change of the rotation movement, the precision electro-hydraulic proportional throttle valve 28 realizes the precise control of the rotational angular velocity, the hydraulic lock 30 and the two-way directional valve 27 can jointly lock to ensure the reliability of the test piece attitude angle locking during the high-dynamic operation of the skid, and the accumulator 24 can provide high-pressure oil for each branch oil circuit during the rotational attitude test.

[0047] In order to reduce the influence of the skid vibration and impact environment during the high-speed operation of the skid on the hydraulic oil in the oil circuit, and at the same time to reduce the influence of the natural attenuation of the oil pressure during the operation of the accumulator 24 on the driving performance, the accumulator 24 adopts a high-pressure energy storage scheme with a total pressure not less than 30 MPa.

[0048] Regarding the influence of the skid dynamics on the hydraulic control during the high-dynamic operation of the skid, two parallel precision electro-hydraulic proportional throttle valves 28 are arranged on each branch oil circuit to improve the reliability of the angular velocity control, as shown in Figure 5 .

[0049] For the convenience of installation and layout, all control valves and the hydraulic lock 30 are integrated into a valve group. The valve group is installed on the skid 4 by bolts, and the accumulator 24 and the oil return tank 31 are respectively installed on the skid 4, as shown in Figure 1 and Figure 2 .

[0050] In order to monitor the pressure at key positions, a pressure detection component (pressure gauge 25) is provided on the main oil circuit where the accumulator 24 is located, and pressure detection components (pressure sensors 29) are provided on each branch oil circuit, as shown in Figure 5 .

[0051] The three branch oil circuits respectively correspond to and act on the rack and pinion hydraulic swing cylinder 14 of the yaw rotation mechanism, the screw hydraulic cylinder 17 of the pitch rotation mechanism, and the rack and pinion hydraulic swing cylinder 20 of the roll rotation mechanism, as shown in Figure 5 .

[0052] IV. Regarding the hydraulic control system, in this embodiment: To effectively reduce the control difficulty and improve the control responsiveness at the same time, the hydraulic control system 8 adopts three independent control subsystems to respectively control the rotation in three axial directions; the control subsystem includes a control box and a storage battery installed on the skid body 4, and an angular velocity sensor provided on the hydraulic actuator that drives the rotation in the axial direction. The control box is used to receive signals from the upper system (such as, test start signal, test end signal) and send action instructions to the corresponding valves (two-way directional valve, precision electro-hydraulic proportional throttle valve, hydraulic lock) in the hydraulic drive system to complete the test. The storage battery is used to supply power to the control box. The angular velocity sensor is used to measure the angular velocity of rotation in the axial direction. The control box can collect the data of the angular velocity sensor and output the rotation angular velocity-time curve.

[0053] The control box is the core of the control subsystem. It includes a box body, a controller, a power module and a relay. After receiving the test start signal, it controls the two-way directional valve 27, the precision electro-hydraulic proportional throttle valve 28, and the hydraulic lock 30 to perform corresponding actions according to the specific parameters of the roll, pitch, and yaw three-axial movements (attitude angle, rotation angular velocity-time curve); after receiving the test end signal, it controls the two-way directional valve 27, the precision electro-hydraulic proportional throttle valve 28, and the hydraulic lock 30 to reset; it has a data storage function, can collect the data of the angular velocity sensor and output it to the upper system after the test, so it has the function of dynamic roll trajectory testing.

[0054] The storage battery pack has a large battery capacity and can meet the needs of multiple tests after being fully charged once.

[0055] The angular velocity sensors are respectively installed on the horizontal planes of the rack and pinion hydraulic swing cylinder 14 of the yaw rotation mechanism, the screw hydraulic cylinder 17 of the pitch rotation mechanism, and the rack and pinion hydraulic swing cylinder 20 of the roll rotation mechanism.

[0056] V. Regarding the ground mobile oil source, in this embodiment, as Figure 6 shown: The ground mobile oil source is a ground mobile device, and its main functions are: precharging pressure and flow for the hydraulic drive system before the test; resetting the rotation attitude of the test piece after each test; providing power for the adjustment of the attitude angle in the fixed attitude angle state.

[0057] The ground mobile oil source includes a fuel tank 32, a hydraulic pump 35, an oil filling port 45 and an oil receiving port 46 installed on a trolley. The hydraulic pump 35 is used to pressurize and transport the hydraulic oil in the fuel tank 32 to the oil filling port 54. The oil filling port 45 is used to connect to the quick interface of the hydraulic drive system when filling the hydraulic drive system with oil. The oil receiving port 46 is connected to the fuel tank 32 and is used to connect to the quick interface of the hydraulic drive system when recovering the hydraulic oil of the hydraulic drive system. An overflow valve 38 for adjusting the working pressure of the ground mobile oil source system, an inlet oil filter 40 for filtering the hydraulic oil, a check valve 41 for preventing the hydraulic oil from flowing back, and a throttle valve 42 for adjusting the oil filling flow rate are provided between the hydraulic pump 35 and the oil filling port 45. A return oil filter 36 for filtering the hydraulic oil is provided between the fuel tank 32 and the oil receiving port 46, see Figure 6 。

[0058] The hydraulic pump 35 is a constant pressure variable pump, the overflow valve 38 is an electromagnetic overflow valve with electromagnetic unloading, and the throttle valve 42 is a manual throttle valve.

[0059] The ground mobile oil source further includes a liquid level and temperature gauge 37 for detecting the liquid level and temperature in the fuel tank 34, a low position ball valve 33 for discharging oil from the fuel tank, a pressure detection component (pressure gauge 39) for detecting the pressure at key positions, and an oil source control system; the oil source control system has a PLC controller and a touch screen, which are mainly used to control the start and stop of the hydraulic pump 35 and the opening and closing of the overflow valve 38, and can monitor the operating state of the ground mobile oil source, see Figure 6 。

[0060] For the convenience of installation, the entire fuel tank 34 is placed on the trolley, and other components are integrally installed on the fuel tank 34.

[0061] To improve the service life, all pipe fittings and components in the ground mobile oil source are made of stainless steel materials.

[0062] The following are the functions of the multi-axial skid system with a hydraulic rotary drive cantilever layout: The multi-axial skid system with a hydraulic rotary drive cantilever layout can accurately simulate complex rotary postures such as variable angular velocity rotation and uniform angular velocity rotation under variable load conditions, and has the ability to simulate 27 multi-axial posture states in 9 categories. See Table 2 below for details.

[0063] Table 2 Multi-axial posture simulation capabilities achievable by this application

[0064] Taking the high-speed rocket sled test as an example, test piece 1 is selected as the front fuselage of the aircraft, and two typical tests are carried out: the multi-axial static posture test with a fixed posture angle and the test piece three-axis linkage rotary dynamic posture test.

[0065] Test 1: Multi-axial Static Attitude Test with Fixed Attitude Angles Before the test: Connect the oil filling port 45 of the ground mobile oil source to the quick connector 23.2 on the main oil path where the return oil tank 31 is located in the hydraulic drive system. Start the hydraulic pump 35 of the ground mobile oil source and inject high-pressure oil into the three-axial rotary actuator 2 through the hydraulic drive system to drive the yaw rotary mechanism, pitch rotary mechanism, and roll rotary mechanism to rotate to the pre-set three-axial attitude angles (based on the basic attitude) of the test. Then, lock the hydraulic locks 30 of the hydraulic drive system, the mechanical locking components 15 of the yaw rotary mechanism, the mechanical locking components 19 of the pitch rotary mechanism, and the mechanical locking components 22 of the roll rotary mechanism in sequence. Then, unplug the oil filling port 45 and remove the ground mobile oil source; During the test: As Figure 7 shown, the rocket engine 48 pushes the sled to move forward at high speed along the slide rail 49, simulating the multi-axial attitude flight condition of the aircraft's front fuselage with fixed attitude angles. Obtain relevant performance data through various test equipment to carry out performance tests or verification work on the aircraft's front fuselage and related airborne equipment under dynamic conditions.

[0066] After the test: After the sled brakes and stops, unlock the hydraulic locks 30 of the hydraulic drive system, the mechanical locking components 15 of the yaw rotary mechanism, the mechanical locking components 19 of the pitch rotary mechanism, and the mechanical locking components 22 of the roll rotary mechanism. Connect the oil filling port 45 of the ground mobile oil source to the quick connector 23.2 on the main oil path where the return oil tank 31 is located in the hydraulic drive system, and switch the two-way direction valve 27 in the hydraulic drive system to change the flow direction, driving the yaw rotary mechanism, pitch rotary mechanism, and roll rotary mechanism to rotate and reset, that is, reset the aircraft's front fuselage.

[0067] Test 2: Tri-axial Linkage Rotation Dynamic Attitude Test of the Test Piece Before the test: Connect the oil filling port 45 of the mobile ground oil source to the quick connector 23.2 on the main oil path where the oil return tank 31 is located in the hydraulic drive system. Start the hydraulic pump 35 of the mobile ground oil source and inject high-pressure oil into the three-axis rotation actuator 2 through the hydraulic drive system to drive the yaw rotation mechanism, pitch rotation mechanism, and roll rotation mechanism to rotate to the three-axis attitude angles preset for the test (based on the basic attitude), and then lock the mechanical locking components 15 of the yaw rotation mechanism, 19 of the pitch rotation mechanism, and 22 of the roll rotation mechanism. At the same time, lock the main valve 26 of the hydraulic drive system and the two-way directional valves 27 and precision electro-hydraulic proportional throttle valves 28 on each branch oil path; then unplug the oil filling port 45 and connect it to the quick connector 23.1 on the main oil path where the accumulator 24 is located in the hydraulic drive system. Start the hydraulic pump 25 of the mobile ground oil source and fill the accumulator 24 of the hydraulic drive system with oil (during the oil filling process, use the overflow valve 38 of the mobile ground oil source to adjust the system working pressure, the inlet oil filter 40 to filter the hydraulic oil, the check valve 41 to prevent the hydraulic oil from flowing back, and the throttle valve 42 to adjust the oil filling flow rate). After the high-pressure oil output is completed, unplug the oil filling port 45 and remove the mobile ground oil source, and open the main valve 26 of the hydraulic drive system.

[0068] During the test: As Figure 7As shown, the rocket engine 48 propels the sled to move forward at high speed along the slide rail 49. When the dynamic parameters such as the moving speed of the sled meet the requirements of the test, the test control system carried by the sled sends unlocking instructions to the mechanical locking components 15 of the yaw rotation mechanism, the mechanical locking components 19 of the pitch rotation mechanism, and the mechanical locking components 22 of the roll rotation mechanism respectively according to the preset of the test, and controls each mechanical locking component (15, 19, 22) to unlock in sequence as required and send a successful unlocking feedback to the test control system; after receiving the successful unlocking feedback of each mechanical locking component (15, 19, 22), the test control system sends opening instructions to the precision electro-hydraulic proportional throttle valves 28 on each branch oil circuit in the hydraulic drive system respectively to open the precision electro-hydraulic proportional throttle valves 28, and then sends opening instructions to the two-way directional valves 27 on each branch oil circuit in the hydraulic drive system to open the two-way directional valves 27, thereby connecting the rotation drive oil circuits of each axis in the hydraulic drive system; then the accumulator 24 drives the high-pressure oil to flow into the three branch oil circuits through the main valve 26, and flows into the rack and pinion hydraulic swing cylinder 14 of the yaw rotation mechanism, the screw hydraulic cylinder 17 of the pitch rotation mechanism, and the rack and pinion hydraulic swing cylinder 20 of the roll rotation mechanism respectively through the two-way directional valve 27 and the precision electro-hydraulic proportional throttle valve 28, and then flows into the oil return tank 31 to form a complete hydraulic drive oil circuit; through the flow of the high-pressure oil, each hydraulic actuator is driven to accelerate to the preset rotation angular velocity of the test, realizing the rotation of each axial rotation mechanism in the three-axial rotation actuator 2, and then driving the front fuselage of the aircraft to rotate along each axis at the preset angular velocity, and realizing the three-axial linkage of the front fuselage of the aircraft through the combination of the rotations of each axis; during the rotation drive process, the hydraulic control system 8 outputs instructions to the precision electro-hydraulic proportional throttle valves 28 on the branch oil circuits corresponding to the preset rotation angular velocity curves of each axis before the test, and controls the oil flow rate of each branch oil circuit through the precision electro-hydraulic proportional throttle valves 28, thereby realizing the real-time regulation of the rotation angular velocity of the corresponding axis, so as to meet the requirements of the test preset.

[0069] After the test: After the sled brakes and stops, connect the oil filling port 45 of the ground mobile oil source to the quick connector 23.2 on the main oil circuit where the oil return tank 31 in the hydraulic drive system is located, and switch the two-way directional valve 27 in the hydraulic drive system to change the flow direction, and drive the yaw rotation mechanism, the pitch rotation mechanism, and the roll rotation mechanism to rotate and reset, that is, to reset the front fuselage of the aircraft.

[0070] The embodiments described above are some embodiments of the present application, rather than all embodiments. The detailed description of the embodiments of the present application is not intended to limit the scope of the present application claimed, but merely represents the selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the scope of protection of the present application.

Claims

1. A multi-axial sled system with a hydraulically driven cantilever layout for conducting high dynamic ground tests, characterized in that: It includes a sled that can be pushed by a rocket engine to move forward at high speed along a slide rail, a ground-mobile oil source that can move on the ground, and a three-axial rotation actuator, a hydraulic drive system and a hydraulic control system installed on the sled; the three-axial rotation actuator is used to install the test piece in a single-point cantilever support manner and drive the test piece to independently rotate in the three axes of roll, pitch and yaw. After the test piece is installed, the front part extends out of the sled and does not interfere with other components during movement; the hydraulic drive system is used to provide high-pressure oil as a power source to the three-axial rotation actuator, and independently control the rotational angular velocity, angular displacement and attitude angle of the three axes; the hydraulic control system is used to control the operation of the hydraulic drive system and record motion data, and can output control according to a preset rotational angular velocity-time curve; the ground-mobile oil source is used to provide high-pressure oil to the hydraulic drive system.

2. The multi-axial sliding skid system of the hydraulic rotary drive cantilever layout according to claim 1, characterized in that: A lifting frame is arranged on the sled body, and a three-axis rotation actuator is installed on the lifting frame; when the test piece needs to perform a large pitch angle posture movement or a large width test piece needs to perform a rolling posture movement, an increasing frame is added to the lifting frame, and the three-axis rotation actuator is installed on the increasing frame.

3. The multi-axial sliding skid system of the hydraulic rotary drive cantilever layout according to claim 1, characterized in that: The three-axis rotation actuator is located at the front of the sled, and the rear end of the test piece is installed at the front end of the three-axis rotation actuator; the three-axis rotation actuator includes a yaw rotation mechanism, a pitch rotation mechanism and a roll rotation mechanism, the yaw rotation mechanism is installed on the sled, the pitch rotation mechanism is installed at the transmission end of the yaw rotation mechanism, the roll rotation mechanism is installed at the transmission end of the pitch rotation mechanism, and the transmission end of the roll rotation mechanism is used to install the test piece, the yaw rotation mechanism, the pitch rotation mechanism and the roll rotation mechanism are used to independently drive their respective transmission ends to realize yaw rotation, pitch rotation and roll rotation, and the yaw rotation mechanism, the pitch rotation mechanism and the roll rotation mechanism respectively use independent hydraulic power.

4. The multi-axial sliding skid system of the hydraulic rotary drive cantilever layout according to claim 3, characterized in that: The yaw rotation mechanism includes a base and a gear rack hydraulic swing cylinder installed on the sled body, a slewing bearing rotatably arranged on the base through a bearing, and a yaw frame connected to the upper side of the slewing bearing. The output end of the gear rack hydraulic swing cylinder is meshed with the slewing bearing through a transmission gear. The rotation direction of the yaw frame is the yaw rotation direction, and the yaw frame is U-shaped; the pitch rotation mechanism includes a pitch axis and a spiral hydraulic cylinder. The two ends of the pitch axis are rotatably arranged at the two ends of the yaw frame through bearings, and a sleeve is arranged in the middle. The spiral hydraulic cylinders are respectively installed at the two ends of the yaw frame and the output ends are respectively connected to the two ends of the pitch axis. The rotation direction of the pitch axis is the pitch rotation direction, and the sleeve can pitch in the yaw frame; the roll rotation mechanism includes a roll axis rotatably arranged in the sleeve through a bearing and a gear rack hydraulic swing cylinder arranged at the rear end of the sleeve and the output end is connected to the rear end of the roll axis. The front end of the roll axis is located outside the sleeve and has a mounting position for the test piece.

5. The multi-axial sliding skid system of hydraulic rotary drive cantilever layout according to claim 3 or 4, characterized in that: The yaw rotation mechanism, pitch rotation mechanism and roll rotation mechanism are respectively equipped with mechanical locking components to lock their respective attitude angles. Each mechanical locking component is controlled to be unlocked and unlocked by the test control system and feedbacks the unlocking and unlocking success signals.

6. The multi-axial sliding skid system of hydraulic rotary drive cantilever layout according to claim 1, characterized in that: The hydraulic drive system includes two main oil circuits and three parallel branch oil circuits connected between the two main oil circuits. The three branch oil circuits correspond to and act on the hydraulic actuators that realize three-axis rotation in the three-axis rotation actuator. One main oil circuit is provided with a quick connector for connecting to a ground mobile oil source, an accumulator for receiving high-pressure oil from the ground mobile oil source during the rotation attitude test and providing high-pressure and high-flow hydraulic oil to each branch oil circuit, and a main valve for controlling the switch of the main oil circuit. The other main oil circuit is provided with a quick connector for connecting to a ground mobile oil source and a return oil tank for collecting the hydraulic oil flowing out of each branch oil circuit. Each branch oil circuit is provided with There are two-way directional valves for controlling the on-off and changing the flow direction of the branch oil circuit, precision electro-hydraulic proportional throttle valves for controlling the flow rate of the branch oil circuit, and hydraulic locks for locking the position of hydraulic actuators on the branch oil circuit. When working, the on-off of the two-way directional valve can be used to control the start and stop of the axial rotation movement, the direction of the axial rotation movement can be changed by changing the flow direction of the two-way directional valve, the angular velocity of the axial rotation can be controlled by controlling the flow rate through the precision electro-hydraulic proportional throttle valve to ensure that the angular velocity change curve meets the preset requirements of the test, and the redundant locking of the axial attitude angle can be achieved by locking the hydraulic lock and closing the two-way directional valve.

7. The multi-axial sliding skid system of the hydraulic rotary drive cantilever layout according to claim 1, characterized in that: The hydraulic control system adopts three independent control subsystems corresponding to the rotation control of the three axes respectively; the control subsystem includes a control box and a battery installed on the skid body and an angular velocity sensor provided on the hydraulic actuator that drives the axial rotation. The control box is used to receive signals from the upper system and send action instructions to the corresponding valves in the hydraulic drive system to complete the test. The battery is used to power the control box. The angular velocity sensor is used to measure the angular velocity of the axial rotation. The control box can collect data from the angular velocity sensor and output the rotation angular velocity-time curve.

8. The multi-axial sliding skid system of hydraulic rotary drive cantilever layout according to claim 7, characterized in that: After receiving the test start signal, the control box controls the corresponding valves in the hydraulic drive system to perform corresponding actions according to the specific parameters of the three-axis actions of roll, pitch and yaw. After receiving the test end signal, the control box controls the corresponding valves in the hydraulic drive system to reset. The control box has a data storage function, which can collect data from the angular velocity sensor and output it to the upper system after the test.

9. The multi-axial sliding skid system of hydraulic rotary drive cantilever layout according to claim 1, characterized in that: The ground mobile oil source includes an oil tank, a hydraulic pump, an oil filling port and an oil receiving port installed on a trolley. The hydraulic pump is used to pressurize the hydraulic oil in the oil tank and transport it to the oil filling port. The oil filling port is used to connect with the quick interface of the hydraulic drive system when filling the hydraulic drive system with oil. The oil receiving port is connected to the oil tank. The oil receiving port is used to connect with the quick interface of the hydraulic drive system when recovering the hydraulic oil of the hydraulic drive system. An overflow valve for adjusting the working pressure of the ground mobile oil source system, an oil inlet filter for filtering the hydraulic oil, a one-way valve for preventing the backflow of the hydraulic oil, and a throttle valve for adjusting the oil filling flow are arranged between the hydraulic pump and the oil filling port. An oil return filter for filtering the hydraulic oil is arranged between the oil tank and the oil receiving port.

10. The multi-axial sliding skid system of hydraulic rotary drive cantilever layout according to claim 9, characterized in that: The ground mobile oil source also includes a level and thermometer for detecting the liquid level and temperature in the oil tank, a low-level ball valve for unloading oil from the oil tank, a pressure detection component for detecting the pressure at key positions, and an oil source control system; the oil source control system has a PLC controller and a touch screen for controlling the start and stop of the hydraulic pump and the opening and closing of the overflow valve, and can monitor the operating status of the ground mobile oil source.

Images