Test system for simulating motion of aircraft swing mechanism

Abstract

The invention provides a test system for motion simulation of an aircraft swing mechanism, which provides a driving force for coordinated motion for the swing mechanism, is used for researching load characteristics of the swing mechanism at different swing speeds and angles, and can apply test loads at different direction angles and rotation angles to the aircraft swing mechanism. And finally, the friction torques of the swing mechanism of the aircraft in all attitudes are obtained. The method can also be used for researching the mechanical properties of similar mechanisms in other fields under strict boundary conditions.

Description

Technical Field

[0001] The invention belongs to the field of aircraft simulation, and in particular relates to a test system for simulating the movement of an aircraft swing mechanism. Background Art

[0002] The design process of an aircraft presents numerous structural statics and dynamics challenges, including strength, modal, and vibration considerations. The oscillating mechanism, used to control flight attitude, is subject to complex loads. In particular, the friction loads generated by its own structural design and characteristics significantly impact the aircraft's stable operation and attitude control. Therefore, relevant experiments are necessary to study the friction load characteristics of the oscillating mechanism and analyze the impact of factors such as the oscillation speed and angle on the load characteristics. This will provide a basis for reducing load torque and optimizing load characteristics, thereby optimizing the structural design and improving its efficiency.

[0003] In actual operation, the swing mechanism not only withstands a complex load environment but also requires actuation from the control system within the servo system to achieve coordinated motion. Currently, commonly used control systems struggle to meet the driving force requirements of the swing mechanism, and there is no test system available to conduct load characteristic tests of the swing mechanism during ground testing. Summary of the Invention

[0004] The present invention aims to address the aforementioned problems in the prior art by providing a test system for simulating the motion of an aircraft's oscillating mechanism. This system drives the oscillating mechanism to move according to swing angle and speed commands without inducing additional translational loads or bending moments on the oscillating mechanism. This system simulates the motion of an aircraft's oscillating mechanism during ground-based verification tests and is used to study the friction load characteristics of the oscillating mechanism. The present invention can also be used to study the interrelationships between similar mechanisms in other fields under complex load conditions and the mechanical properties under strict boundary conditions.

[0005] The present invention provides a test system for simulating the movement of an aircraft swing mechanism, comprising a hydraulic oil source, a servo valve group, a base plate, a hydraulic actuator, a fixing fixture, a switching fixture, a load sensor, an inclination sensor and a control system.

[0006] Four hydraulic actuators are symmetrically mounted on the baseplate. Their upper ends are connected to the adapter fixture via load cells and ball joints. The upper end of the swing mechanism is connected to the lower end of the adapter fixture, which in turn is connected to the upper end of the fixed fixture. The lower end of the fixed fixture is fixed to the baseplate.

[0007] The transfer fixture is designed in the shape of radial ribs, and reinforcing ribs are designed at the legs connected to the hydraulic actuator. This ensures the connection strength of the fixture while reducing the weight of the fixture and minimizing the impact of the fixture quality on system characteristics.

[0008] The hydraulic oil source provides reciprocating power to the hydraulic actuator through a servo valve block. A displacement sensor is installed within the hydraulic actuator. The control system generates a command signal, which is compared with the actuator's displacement feedback signal and then input into the control servo valve block. This controls the oil supply pressure and flow rate to the hydraulic actuator, allowing it to reciprocate at the set displacement and speed.

[0009] The servo valve group is equipped with four servo valves, each controlling one of four hydraulic actuators. The swing mechanism consists of an upper cylinder section and a base. The upper cylinder section and the base are spherically matched. The base is connected and fixed to a fixed fixture. The upper cylinder section can rotate around the center of the base sphere. A guide button is provided at the center of the base sphere to limit the self-rotation of the swing mechanism, so that it can only swing around the center of the sphere. The upper cylinder section is connected to the adapter fixture. The swing mechanism and the fixture assembly form a swing mechanism. Two servo valves form a group, which control two diagonally installed hydraulic actuators, one and three, in parallel. The upper oil chamber of hydraulic actuator one is connected to the lower oil chamber of hydraulic actuator three, and the lower oil chamber of hydraulic actuator one is connected to the upper oil chamber of hydraulic actuator three. When the servo valve is cut off in the middle position, the hydraulic oil circuit is blocked and the upper end surface of the swing mechanism remains stationary; the servo valve core is controlled to move to the left, oil enters the upper chamber of the hydraulic actuator and the lower chamber of the hydraulic actuator, and oil returns from the lower chamber of the hydraulic actuator and the upper chamber of the hydraulic actuator, and the actuator push rod pushes the upper cylinder section of the test piece to rotate counterclockwise around the axis; when the servo valve core is controlled to move to the right, the upper cylinder section of the swing mechanism rotates clockwise around the rotating axis.

[0010] A ball joint is installed between each hydraulic actuator and the adapter. The lower end of the actuator is fixed to the baseplate with a single-ear flange to prevent the specimen from tipping over during the swinging motion. The adapter is equipped with a support foot connected to the ball joint. The height of the support foot is sized to ensure that when the hydraulic actuator cylinder rod is in the neutral position, the ball joint's rotation center is at the same height as the swing mechanism's rotation ball.

[0011] The structure and hydraulic oil circuit design of hydraulic actuator 2 and hydraulic actuator 4 are consistent with the principles of hydraulic actuators 1 and 3 mentioned above.

[0012] Each hydraulic actuator is equipped with a load sensor on the top to measure the output force of the hydraulic actuator.

[0013] Each hydraulic actuator is equipped with a displacement sensor to measure the displacement of the hydraulic actuator piston rod.

[0014] An inclination sensor is installed at the center of the transfer fixture. The sensitive direction of the sensor is consistent with the direction of the two sets of orthogonal actuators, which can measure the swing angle of the swing mechanism.

[0015] The control system can collect the actuator displacement signal in real time, transfer the tooling inclination signal, transfer the tooling and actuator piston rod contact force signal, and calculate the output servo valve drive signal in real time.

[0016] The control system can input the transfer tooling inertia parameters, structural parameters, and spatial position parameters, including the transfer tooling mass, moment of inertia, geometric dimensions, and center of mass coordinates.

[0017] The control system can input the inertia parameters and structural parameters of the swing mechanism, including rotational inertia, mass, and size.

[0018] The control system can input actuator layout parameters, including actuator center distance.

[0019] The control system can display the current friction torque in real time and ultimately obtain the friction torque parameters of the swing mechanism at any posture. The specific method is as follows:

[0020] Define the center of rotation of the swing mechanism as the origin of the coordinate system. The line connecting the centers of the ball joints of hydraulic actuators 1 and 3 is the x-axis, and the line connecting the centers of the ball joints of hydraulic actuators 2 and 4 is the y-axis. The z-axis passes through the center of rotation and is perpendicular to the xy plane. Define the plane where hydraulic actuators 1 and 3 are located as the position where the rotation angle θ = 0°, and the horizontal position of the adapter tooling is the swing angle. location.

[0021] The rotation direction angle θ and the swing angle of the swing mechanism are calculated by measuring the values α and β of the inclination sensor.

[0022]

[0023] By using the rotation angle θ, the inertia parameters of the swing mechanism and the transfer fixture and the spatial position parameters, the moment of inertia J of the moving part at the current direction angle is calculated. θ .

[0024] The force arm L of each actuator can be calculated by the rotation direction angle θ and the actuator spatial layout parameters. i (i=1~4) length.

[0025] M z (θ) is the total torque applied by the loading mechanism. The control system can be based on the feedback value F of each load sensor. i (i=1~4) and lever arm length L i (i=1~4) to perform calculation.

[0026] To cope with the additional torque generated by the transfer fixture, the control system can calculate in real time based on the feedback value of the inclination sensor and the inertia parameters and installation position parameters of the transfer fixture.

[0027] The control system can calculate the direction angle θ and the swing angle in real time The friction torque matrix at The calculation method is as follows:

[0028]

[0029] The control system can map different positions of the swing mechanism Friction torque at Surface plot of space.

[0030] By adjusting the loading speed of this test system, the friction torque under different speed conditions can be carried out Comparative trials and related studies.

[0031] The beneficial effects of the present invention are as follows:

[0032] 1. The present invention can obtain the friction load characteristics of the aircraft's swing mechanism in all postures. It can conduct loading tests at any direction angle without changing the installation structure, generate test results, and improve test efficiency. This test system provides reliable test equipment for ground testing of flight equipment, with complete functions, effectively reducing the development cycle and cost of aircraft swing mechanisms. In addition, this test system is highly versatile and reliable, and can be applied to motion simulation tests of similar mechanisms in different fields, with good market prospects.

[0033] 2. The present invention uses symmetrically arranged anti-phase motion actuators, combined with specially designed adapter fixtures, to ensure that the translational displacement experienced by the specimen is sufficiently small within the loading angle range, thereby reducing the complexity of system control and improving reliability.

[0034] 3. The present invention can eliminate the additional torque of the test fixture in real time, calculate the friction torque of the test piece in real time, and display it intuitively in the form of a spatial surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which constitute a part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an improper limitation of the present invention.

[0036] Figure 1 This is a schematic diagram of the composition and principle of a motion simulation test system for an aircraft swing mechanism according to an embodiment of the present invention;

[0037] Figure 2 2. It is a schematic diagram of the principle of the oil circuit of the servo valve controlling the hydraulic actuator according to an embodiment of the present invention;

[0038] Figure 3 2. It is a schematic diagram of the planar swing principle of the swing mechanism according to an embodiment of the present invention;

[0039] Figure 4 2 is a schematic diagram of a coordinate system definition of a swing mechanism according to an embodiment of the present invention.

[0040] Among them: 1-Hydraulic oil source, 2-Servo valve group, 3-Base plate, 4-Hydraulic actuator 1, 5-Fixed fixture, 6-Swing mechanism, 7-Hydraulic actuator 2, 8-Hydraulic actuator 3, 9-Load sensor, 10-Load sensor, 11-Adapter fixture, 12-Tilt sensor, 13-Hydraulic actuator 4, 14-Control system DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0042] This embodiment provides a test system for simulating the movement of an aircraft's swing mechanism, including a hydraulic oil source 1, a servo valve group 2, a base plate 3, a hydraulic actuator 1 4, a hydraulic actuator 2 7, a hydraulic actuator 3 8, a hydraulic actuator 4 13, a fixing fixture 5, a transfer fixture 11, a load sensor 10, an inclination sensor 12, and a control system 14.

[0043] Hydraulic actuators 1 (4), 3 (8), 2 (7), and 4 (13) are symmetrically mounted on base plate 3. The upper ends of the four hydraulic actuators are connected to adapter fixture 11 via load cells 9 and ball joints. The upper end of the swing mechanism 6 is connected to the lower end of the adapter fixture 11, while the lower end of the swing mechanism 6 is connected to the upper end of the fixed fixture 5. The lower end of the fixed fixture 5 is fixed to base plate 3.

[0044] The transfer tooling 11 is designed in a radial rib shape, and a reinforcing rib plate is designed at the support leg connected to the hydraulic actuator. While ensuring the connection strength of the tooling, the weight of the tooling is reduced, thereby reducing the impact of the tooling quality on the system characteristics.

[0045] Hydraulic oil source 1 provides reciprocating power to hydraulic actuators 1, 2, 3, and 4 through servo valve group 2. Displacement sensors are installed within the hydraulic actuators. Control system 14 generates command signals, which are compared with the actuator displacement feedback signals and then input into control servo valve group 2. This controls the oil supply pressure and flow rate of the hydraulic actuators, allowing them to reciprocate at the set displacement and speed.

[0046] The servo valve group 2 is equipped with 4 servo valves, which respectively control 4 sets of hydraulic actuators. Taking the symmetrically installed 4 and 8 sets of hydraulic actuators as an example, the hydraulic oil circuit control principle is as follows: Figure 2As shown. The swing mechanism 6 consists of an upper barrel section and a base. The upper barrel section and the base are spherically matched. The base is connected and fixed to the fixed fixture 5. The upper barrel section can rotate around the spherical center of the base. A guide button is provided at the spherical center of the base to limit the self-rotation of the swing mechanism so that it can only swing around the spherical center. The upper barrel section is connected to the adapter fixture 11. The swing mechanism 6 and the fixture assembly form Figure 2 The swing mechanism of the plane shown. Two servo valves form a group, controlling hydraulic actuators 4 and 8 in parallel. The upper oil chamber of hydraulic actuator 1 (4) communicates with the lower oil chamber of hydraulic actuator 3 (8), and the lower oil chamber of hydraulic actuator 1 (4) communicates with the upper oil chamber of hydraulic actuator 3 (8). Figure 2 -a), when the servo valve is in the middle position, the hydraulic oil circuit is blocked and the upper end surface of the swing mechanism 6 remains stationary; Figure 2 -b), when the servo valve core is controlled to move to the left, oil flows into the upper chamber of hydraulic actuator 14 and the lower chamber of hydraulic actuator 38, and oil returns from the lower chamber of hydraulic actuator 14 and the upper chamber of hydraulic actuator 38, and the actuator push rod pushes the upper cylinder section of the test piece to rotate counterclockwise around the axis; when the servo valve core is controlled to move to the right, the upper cylinder section of the swing mechanism 6 rotates clockwise around the axis.

[0047] A ball joint is installed between each hydraulic actuator and the adapter 11. The lower end of the actuator is fixed to the base plate with a single-ear flange to ensure that the test piece does not tip over during the swinging motion. The adapter 11 is equipped with a support foot connected to the ball joint. The height of the support foot should ensure that when the hydraulic actuator cylinder rod is in the middle position, the height of the ball joint rotation center is the same as the height of the rotation center of the swing mechanism 6. Figure 3 As shown, the solid line portion is the initial state of the swing mechanism, where the cylinder rods of hydraulic actuator 1 4 and hydraulic actuator 3 8 are both extended to the middle position, defining the swing mechanism's swing angle as 0°. Hydraulic actuator 1 4 is controlled to retract and hydraulic actuator 3 8 is controlled to extend the same displacement, and the mechanism moves to the position shown by the dotted line, with a swing angle of When the swing mechanism swings to its maximum swing angle of ±5°, the difference in length between the retracted rod of hydraulic actuator 1-4 and the extended rod of hydraulic actuator 3-8 is approximately 0.01mm. This structural design and hydraulic circuit principle ensure the synchronized movement of the diagonally mounted hydraulic actuators 1-4 and 3-8, preventing non-rotational forces on the specimen due to inconsistent reciprocating speeds and displacements of the actuator levers, which could affect the specimen's load characteristics or even damage it.

[0048] The structure and hydraulic oil circuit design of hydraulic actuator 2 7 and hydraulic actuator 4 13 are consistent with the principles of hydraulic actuator 1 4 and hydraulic actuator 3 8 mentioned above.

[0049] Each hydraulic actuator is equipped with a load sensor 10 on its upper end for measuring the output force of the hydraulic actuator.

[0050] Each hydraulic actuator is equipped with a displacement sensor 9 for measuring the displacement of the hydraulic actuator piston rod.

[0051] The center of the transfer fixture 11 is equipped with an inclination sensor 12. The sensitive direction of the sensor is consistent with the direction of the two sets of orthogonal actuators, and the swing angle of the swing mechanism can be measured.

[0052] The control system 14 can collect the actuator displacement signal in real time, transfer the inclination signal of the tooling 11, transfer the contact force signal between the tooling 11 and the actuator piston rod, and calculate and output the servo valve drive signal in real time.

[0053] The control system 14 may input inertia parameters, structural parameters, and spatial position parameters of the transfer fixture 11 , including mass, moment of inertia, geometric dimensions, and center of mass coordinates of the transfer fixture 11 .

[0054] The control system 14 may input inertia parameters and structural parameters of the swing mechanism, including rotational inertia, mass, and size.

[0055] The control system 14 may input actuator placement parameters, including actuator center distance.

[0056] The control system 14 can display the current friction torque in real time and finally obtain the friction torque parameters of the swing mechanism at any posture. The specific method is as follows:

[0057] like Figure 4 As shown, the center of rotation of the swing mechanism is defined as the origin of the coordinate system. The line connecting the centers of the ball joints of hydraulic actuators 1 (4) and 3 (8) is defined as the x-axis, and the line connecting the centers of the ball joints of hydraulic actuators 2 (7) and 4 (13) is defined as the y-axis. The z-axis passes through the center of rotation and is perpendicular to the xy plane. The plane containing hydraulic actuators 1 (4) and 3 (8) is defined as the position where the rotation angle θ = 0°. The horizontal position of the adapter 11 is defined as the swing angle. location.

[0058] The rotation direction angle θ and the swing angle of the swing mechanism are calculated by measuring the values α and β of the inclination sensor 12.

[0059] By using the rotation angle θ, the inertia parameters and spatial position parameters of the swing mechanism and the transfer fixture 11, the moment of inertia J of the moving part at the current direction angle is calculated. θ .

[0060] The force arm L of each actuator can be calculated by the rotation direction angle θ and the actuator spatial layout parameters. i (i=1~4) length.

[0061] M z(θ) is the total torque applied by the loading mechanism. The control system 14 can be based on the feedback value F of each load sensor. i (i=1~4) and lever arm length L i (i=1~4) to perform calculation.

[0062] In order to solve the additional torque generated by the transfer tooling 10 , the control system 14 can perform real-time calculation based on the feedback value of the inclination sensor 12 and the inertia parameters and installation position parameters of the transfer tooling 11 .

[0063] The control system 14 can calculate the direction angle θ and the swing angle in real time. The friction torque matrix at The calculation method is as follows:

[0064]

[0065] The control system 14 can map different positions of the swing mechanism Friction torque at Surface plot of space.

[0066] By adjusting the loading speed of this test system, the friction torque under different speed conditions can be carried out Comparative trials and related studies.

[0067] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A test system for simulating the motion of an aircraft swing mechanism, characterized in that: include: Hydraulic oil source, servo valve group, base plate, four sets of hydraulic actuators, swing mechanism, fixed fixture, transfer fixture, load sensor, inclination sensor and control system; The four sets of hydraulic actuators are symmetrically mounted on the base plate, and the upper ends are connected to the transfer fixture via load sensors and ball joints; The upper end surface of the swing mechanism is connected to the lower end surface of the transfer tooling, the lower end surface of the swing mechanism is connected to the upper end surface of the fixed tooling, and the lower end surface of the fixed tooling is fixed on the bottom plate.

2. A test system for simulating the motion of an aircraft swing mechanism according to claim 1, characterized in that: The transfer tooling is in the shape of radial ribs.

3. A test system for simulating the movement of an aircraft swing mechanism according to claim 1, characterized in that: A displacement sensor is installed inside the hydraulic actuator. The control system gives a command signal, which is compared and calculated with the displacement feedback signal of the hydraulic actuator and then input into the control servo valve group to control the oil supply pressure and flow of the hydraulic actuator, so that the hydraulic actuator can reciprocate according to the set displacement and speed.

4. A test system for simulating the motion of an aircraft swing mechanism according to claim 1, characterized in that: The swing mechanism consists of an upper cylinder section and a base. The upper cylinder section and the base are spherically matched. The base is connected and fixed to a fixed tool. The upper cylinder section can rotate around the center of the base. A guide button is provided at the center of the base. The upper cylinder section is connected to a transfer tool.

5. A test system for simulating the movement of an aircraft swing mechanism according to claim 1, characterized in that: A ball joint is installed between each set of hydraulic actuators and the transfer fixture, and the lower end of the actuator is fixed to the base plate with a single-ear flange.

6. A test system for simulating the motion of an aircraft swing mechanism according to claim 1, characterized in that: Each hydraulic actuator is equipped with a load sensor on the top.

7. A test system for simulating the movement of an aircraft swing mechanism according to claim 1, characterized in that: An inclination sensor is installed at the center of the transfer fixture. The sensitive direction of the sensor is consistent with the direction of the two sets of orthogonal actuators, and can measure the swing angle of the swing mechanism.

8. A test system for simulating the movement of an aircraft swing mechanism according to claim 7, characterized in that: The control system can collect the actuator displacement signal in real time.

9. A test system for simulating the movement of an aircraft swing mechanism according to claim 1, characterized in that: The control system can display the current friction torque in real time and ultimately obtain the friction torque parameters of the swing mechanism under any posture.

10. A test system for simulating the movement of an aircraft swing mechanism according to claim 1, characterized in that: The control system can input the transfer tooling inertia parameters, structural parameters, and spatial position parameters.

Images