Load high-speed follow-up loading system and loading method for movable airfoil of aircraft

Abstract

The invention belongs to the technical field of aircraft testing, and relates to a load high-speed follow-up loading system and method for an aircraft movable airfoil, the loading system comprises a movable airfoil driving and load direction control mechanism and a movable airfoil load control mechanism, one end of the movable airfoil is hinged to one end of a fixed airfoil, and the other end of the movable airfoil is hinged to the fixed airfoil. The movable airfoil driving and load direction control mechanism comprises a first driving actuating cylinder, a second driving actuating cylinder, a first swing arm actuating cylinder, a second swing arm actuating cylinder, a swing arm and a first linear sliding assembly. The first linear sliding assembly is used for synchronously driving the second driving actuator cylinder and the second swing arm actuator cylinder to act so as to drive the movable airfoil and the swing arm to turn over synchronously, and the movable airfoil load control mechanism comprises a first loading actuator cylinder, a second loading actuator cylinder and a second linear sliding assembly. And the second linear sliding assembly is used for driving the second loading actuating cylinder to load the load onto the movable wing surface, so that the number of control channels is reduced, and the synchronism of the movement and direction control of the movable wing surface is ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft testing, and in particular relates to a high-speed follow-up loading system and a loading method for a movable wing surface of an aircraft. Background Art

[0002] Active wing mechanisms, such as flaps, ailerons, and rudders, are crucial aircraft components. Due to their complex structure, high loads, and low stiffness, the reliability of their kinematic function remains a primary concern in aircraft design. To verify their kinematic function and identify potential failure modes and durability indicators, ground-based functional and reliability testing is essential. Dynamic loading of active wing surface loads is a key component of these tests.

[0003] At present, the follow-up loading schemes of movable surface loads are mainly divided into the mobile actuator scheme and the "movable surface drive-load loading" closed-loop control scheme.

[0004] The mobile actuator solution is to achieve dynamic adjustment of the loading direction or position through a mechanical structure (such as a follower device, a pulley or a displacement actuator, etc.). First, the loading force direction or position can follow the deformation or motion trajectory of the test piece (such as an aircraft flap), and then the force is directly applied to the test piece through the loading actuator (such as a loading cylinder, a driving actuator or a pressure rod, etc.) to perform the loading test.

[0005] For example, the aircraft stabilizer control load test loading device disclosed in publication number CN112161861A includes: a support unit configured to be articulated with the stabilizer to provide support for the stabilizer; a loading unit configured to generate a load and apply the control load to the stabilizer through the support unit, the loading unit including an actuator and a threaded joint rod; a connecting unit configured to connect the support unit and the loading unit; a positioning unit configured to fix the position of the stabilizer and adjust the loading height and loading angle of the loading unit; the support unit, connecting unit, loading unit, and positioning unit are arranged in order from top to bottom. When the loading device is tested, if the load direction angle is large, the actuator of the loading unit needs to be significantly extended or shortened to adapt to the direction change, resulting in a large length change, which results in an excessively long stroke of the actuator, an increase in structural dimensions, and reduced applicability. It is particularly unsuitable for space-constrained or high-precision test scenarios.

[0006] The "active wing drive-load loading" closed-loop control scheme uses closed-loop control to provide real-time feedback on wing position information and dynamically adjust loading parameters to achieve synchronized matching of load and wing motion. For example, the academic paper "Functional Test and Application of Active Surface Based on Swing-Arm Servo Loading Technology" by Zhang Cao et al. proposes a servo loading method based on coordinated control of wing motion, swing-arm frame deflection, and load loading; the academic paper "Active wing Servo Loading Technology and Application Based on Trajectory Simulation" proposes a servo loading technology utilizing position-controlled actuators, force-controlled actuators, and a rail-mounted trolley; and the academic paper "Servo Loading Technology for Complex Motion Lift-Enhancing Structures in Space" proposes a servo loading system for complex motion wing surfaces that utilizes a swing-arm mechanism, position-controlled actuators, force-controlled actuators, and a rail-mounted trolley. In these papers, the wing position sensors read the wing position information in real time during wing motion, allowing the control system to infer the load magnitude and direction. Based on this wing position information and its relationship to the pressure curves of each actuator, the electric cylinder or actuator motion is adjusted in real time to ensure that the load magnitude and direction match the desired load. However, the disadvantages of the above academic paper scheme are: when coordinated control of three channels such as the position of the movable wing surface, load size, and load direction is required, the number of control channels is large, the system is relatively complex, load oscillation is easy to occur, and it is difficult to increase the follow-up loading speed. Summary of the Invention

[0007] In order to solve the above technical problems, the purpose of the present invention is to provide a high-speed follow-up loading system and loading method for the movable wing surface of an aircraft, which can not only simulate the size and direction changes of the aerodynamic load of the movable wing surface in real time, but also realize bidirectional loading of tensile and compressive loads, and at the same time adapt to the high-speed movement of the movable wing surface.

[0008] In order to achieve the above object, the technical solution adopted by the present invention is as follows: The present invention first provides a high-speed follow-up loading system for a load of an aircraft movable wing surface, comprising a movable wing surface drive and load direction control mechanism and a movable wing surface load control mechanism, wherein the movable wing surface drive and load direction control mechanism comprises a first driving actuator, a second driving actuator, a first swing arm actuator, a second swing arm actuator, a swing arm and a first linear sliding assembly, wherein one end of the first driving actuator is hinged to one end of the movable wing surface, and the other end is hinged to one end of the fixed wing surface, the other end of the movable wing surface is suspended, and the other end of the fixed wing surface is hinged to one end of the movable wing surface, one end of the second driving actuator is fixed, and the other end is connected to the first linear sliding assembly, one end of the swing arm is hinged to the hinge shaft of the fixed wing surface and the movable wing surface, one end of the first swing arm actuator is hinged to the test bench, and the other end is hinged to the swing arm, and one end of the second swing arm actuator is hinged to the test bench The movable wing surface is fixed, and the other end is connected to the first linear sliding assembly. The second swing arm actuator is synchronously connected to the first swing arm actuator, and the second drive actuator is synchronously connected to the first drive actuator. The first linear sliding assembly is used to synchronously drive the second drive actuator and the second swing arm actuator to drive the movable wing surface and the swing arm to flip synchronously; the movable wing surface load control mechanism includes a first loading actuator, a second loading actuator and a second linear sliding assembly. One end of the second loading actuator is fixed, and the other end is connected to the second linear sliding assembly. One end of the first loading actuator is hinged to the movable wing surface, and the other end is hinged to the other end of the swing arm. The second loading actuator is synchronously connected to the first loading actuator, and the second linear sliding assembly is used to drive the second loading actuator to load the load onto the movable wing surface.

[0009] Furthermore, the first linear sliding assembly includes a driving slider, a swing arm slider, a screw assembly, a driving guide rail and a driving motor. The driving slider and the swing arm slider are both slidably connected to the driving guide rail and screwed to the screw assembly. The driving slider is connected to the other end of the second driving actuator cylinder, and the swing arm slider is connected to the other end of the second swing arm actuator cylinder. The driving motor is used to drive the driving slider and the swing arm slider to move synchronously, so as to drive the second driving actuator cylinder and the second swing arm actuator cylinder to telescope synchronously.

[0010] Furthermore, the screw assembly includes a driving screw and a swing arm screw, the driving screw and the swing arm screw are connected in series through a reducer, one end of the swing arm screw is connected to the driving motor, the swing arm slider is screwed to the swing arm screw, and the driving slider is screwed to the driving screw.

[0011] Furthermore, the second linear sliding assembly includes a loading guide rail, a loading slider, a loading screw, a loading motor and a load adjustment assembly. The loading slider is connected to the loading guide rail and screwed to the loading screw. The loading slider is connected to the other end of the second loading actuator through the load adjustment assembly. The loading motor is used to drive the loading screw to rotate and drive the loading slider to move, so that the load adjustment assembly drives the second loading actuator to telescopic movement.

[0012] Furthermore, the load adjustment assembly includes a loading frame, a baffle and a spring. The loading frame is arranged on the loading slider, and the baffle is slidably nested in the loading frame. Springs are provided at both ends of the baffle to stop the baffle in the loading frame, and one end of the second loading actuator is connected to the baffle.

[0013] Furthermore, a pressure sensor is connected between one end of the first loading ram and the movable wing surface.

[0014] Furthermore, the first driving actuator cylinder and the second driving actuator cylinder are connected through a first hydraulic pipeline and are synchronously transmitted, the first swing arm actuator cylinder and the second swing arm actuator cylinder are connected through a second hydraulic pipeline and are synchronously transmitted, and the first loading actuator cylinder and the second loading actuator cylinder are connected through a third hydraulic pipeline and are synchronously transmitted.

[0015] Furthermore, a first triangle OAB is formed by connecting the hinge point O of the swing arm, the movable wing surface and the fixed wing surface, the hinge point A of the movable wing surface and the first driving actuator, and the hinge point B of the first driving actuator and the fixed wing surface; a second triangle OCD is formed by connecting the hinge point O of the swing arm, the movable wing surface and the fixed wing surface, the hinge point C of the swing arm and the first swing arm actuator, and the hinge point D of the first swing arm actuator and the test bench. The corresponding internal angles of the first triangle OAB and the second triangle OCD during the movement are equal; the reduction ratio of the reducer ; Among them, L1 is the distance between the hinge point C and the hinge point O, h1 is the lead of the driving screw, L2 is the distance between the hinge point A and the hinge point O, and h2 is the lead of the swing arm screw.

[0016] The present invention also provides a high-speed servo loading method for a movable wing surface of an aircraft. The method is implemented based on the high-speed servo loading system for a movable wing surface of an aircraft of the present invention. The method comprises the following steps: Step 1: determining a first rotation angle time curve of a driving motor of a first linear sliding assembly according to a time rotation angle motion requirement of a movable airfoil; Step 2, calibrating a second rotation angle time curve of a loading motor of a second linear sliding assembly according to the load required to be loaded at different rotation angles of the movable airfoil; Step 3: Control the driving motor and the loading motor to rotate according to a predetermined first rotation angle time curve and a second rotation angle time curve respectively, so as to achieve synchronous changes in the rotation angle, load direction and load size of the movable airfoil.

[0017] Furthermore, the step 2, calibrating the second rotation angle time curve of the loading motor according to the load required to be loaded at different rotation angles of the movable airfoil, specifically includes: Step 201, driving the movable airfoil by the driving motor to deflect to a certain angle and then stop; Step 202: applying a load to the movable wing surface via the loading motor; when the load reaches a given value, recording the rotation angle position of the loading motor; Step 203, unloading the load via the loading motor; Step 204, repeat steps 201 to 203 to complete the calibration of all corners in sequence.

[0018] The present invention adopts the above technical solution, which has the following advantages and effects: The high-speed follow-up loading system and loading method for the load of the movable wing surface of an aircraft of the present invention drives a pair of driving actuators and a pair of swing arm actuators for synchronous transmission through a first linear sliding assembly, and utilizes a driving motor to achieve synchronous and coordinated movement of the movable wing surface and the swing arm, thereby reducing the number of required control channels and ensuring the synchronization of the movable wing surface movement and directional control.

[0019] The high-speed follow-up loading system and loading method for the load of the movable wing surface of an aircraft of the present invention pre-calibrates the angle-time relationship curves of the driving motor and the loading motor. The driving motor and the loading motor realize position closed-loop control through their own encoders and servo controllers. There is no data interaction with the motion angle and load value of the movable wing surface. The system logic is simple, and the problem of load oscillation is avoided.

[0020] The high-speed follow-up loading system and loading method for the movable wing surface of an aircraft of the present invention transmits both the downward load and the upward load of the second loading actuator to the reducer. The torque formed by the downward load and the upward load is exactly offset after passing through the reducer and will not be transmitted to the drive motor. Therefore, the load of the drive motor only involves the gravity of components such as the movable wing surface, the swing arm and a pair of loading actuators, as well as the friction of the movable wing surface drive and load direction control mechanism, thereby effectively reducing the power of the drive motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural principle diagram of the movable wing surface of the present invention when it is not deflected.

[0022] Figure 2 It is a structural principle diagram of the movable wing surface of the present invention when it is deflected.

[0023] Figure 3 This is a schematic diagram of the principle of synchronous control of the active wing angle and load direction of the present invention.

[0024] Figure 4 It is a schematic diagram of the active wing surface load variation curve of the present invention.

[0025] Figure 5 It is a schematic diagram of the time angle curve of the loading motor and the driving motor of the present invention.

[0026] The figures are marked as follows: 1-fixed wing surface, 2-movable wing surface, 3-first driving actuator, 4-second driving actuator, 5-first swing arm actuator, 6-second swing arm actuator, 7-driving slider, 8-driving screw, 9-swing arm slider, 10-swing arm screw, 11-driving guide rail, 12-reducer, 13-driving motor, 14-swing arm, 15-first loading actuator, 16-second loading actuator, 17-pressure sensor, 18-tension and pressure block, 19-loading guide rail, 20-loading slider, 21-loading screw, 22-loading frame, 23-baffle, 24-spring, 25-loading motor. DETAILED DESCRIPTION

[0027] The following will be described in detail with reference to the accompanying drawings to provide a clearer understanding of the objectives, features and advantages of the present invention. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solution of the present invention.

[0028] like Figure 1 、 Figure 2As shown. The high-speed follow-up loading system for the load of an aircraft movable wing of the present invention includes a movable wing drive and load direction control mechanism and a movable wing load control mechanism. The movable wing drive and load direction control mechanism is used to drive the movable wing and control the load direction, and the movable wing load control mechanism is used to control the load size. The movable wing drive and load direction control mechanism includes a first drive actuator 3, a second drive actuator 4, a first swing arm actuator 5, a second swing arm actuator 6, a swing arm 14 and a first linear sliding assembly. One end of the first drive actuator 3 is hinged to one end of the movable wing 2, and the other end is hinged to one end of the fixed wing 1. The other end of the movable wing 2 is suspended, and the other end of the fixed wing 1 is hinged to one end of the movable wing 2. One end of the second drive actuator 4 is fixed, and the other end is connected to the first linear sliding assembly. One end of the swing arm 14 is hinged to the hinge axis of the fixed wing 1 and the movable wing 2. One end of the first swing arm actuator 5 is hinged to the test bench, and the other end is hinged to the middle of the swing arm 14. One end of the second swing arm actuator 6 is fixed, and the other end is connected to the first linear sliding assembly. The first swing arm actuator 5 and the second swing arm actuator 6 are synchronously connected, and the first drive actuator 3 and the second drive actuator 4 are synchronously connected. The first linear sliding assembly is used to synchronously drive the second drive actuator 4 and the second swing arm actuator 6 to move to drive the movable airfoil 2 and the swing arm 14 to flip synchronously. The movable airfoil load control mechanism includes a first loading actuator 15, a second loading actuator 16, and a second linear sliding assembly. The second loading actuator 16 has one end fixed, and the other end connected to the second linear sliding assembly. One end of the first loading actuator 15 is hinged to the movable airfoil 2, and the other end is hinged to the other end of the swing arm 14. The first loading actuator 15 and the second loading actuator 16 are synchronously connected. The second linear sliding assembly is used to drive the second loading actuator 16 to load the load onto the movable airfoil 2.

[0029] Specifically, the test bench includes a first test bench, a second test bench and a third test bench. The first test bench and the second test bench are spaced apart in an upper and lower manner, and the third test bench is arranged between the first test bench and the second test bench and is located at the outer ends of the first test bench and the second test bench. The first linear sliding assembly is arranged on the second test bench, and the second linear sliding assembly is arranged on the first test bench. One end of the fixed wing surface 1 is horizontally fixed to the vertical surface of the third test bench for support, and the movable wing surface 2 is hinged to the fixed wing surface 1 through a rotating pair, and the suspended end of the movable wing surface 2 rotates around the rotating pair. The fixed end of the first driving actuator 3 is hinged to the fixed end of the fixed wing surface 1, and the telescopic end of the first driving actuator 3 is hinged to the lower end of the hinge shaft between the movable wing surface 2 and the fixed wing surface 1. The first driving actuator 3 is used to drive the movable wing surface 2 to deflect up and down around the rotating pair. One end of the swing arm 14 is coaxially hinged to the revolving pair of the movable airfoil 2 and the fixed airfoil 1. The telescopic end of the first loading actuator 15 is hinged to the other end of the swing arm 14, and the fixed end of the first loading actuator 15 is connected to the movable airfoil 2. The telescopic end of the first swing arm actuator 5 is hinged to the middle section of the swing arm 14, and the fixed end of the first swing arm actuator 5 is hinged to the horizontal plane of the first test bench for support.

[0030] Furthermore, the first linear sliding assembly includes a driving slider 7, a swing arm slider 9, a screw assembly, a driving guide rail 11 and a driving motor 13. The driving slider 7 and the swing arm slider 9 are both slidably connected to the driving guide rail 11 and screwed to the screw assembly. The driving slider 7 is connected to the other end of the second driving actuator cylinder 4, and the swing arm slider 9 is connected to the other end of the second swing arm actuator cylinder 6. The driving motor 13 is used to drive the driving slider 7 and the swing arm slider 9 to move synchronously, so as to drive the second driving actuator cylinder 4 and the second swing arm actuator cylinder 6 to telescope synchronously.

[0031] Specifically, the drive motor 13 is fixed to the outside of one end of the horizontal surface of the second test bench, the lead screw assembly is slidably connected to both ends of the horizontal surface of the second test bench, and the output end of the drive motor 13 is connected to one end of the lead screw assembly. The fixed end of the second drive actuator 4 is connected to the vertical surface of the second test bench, the telescopic end of the second drive actuator 4 is connected to the drive slider 7, the fixed end of the second swing arm actuator 6 is connected to the vertical surface of the second test bench, and the telescopic end of the second swing arm actuator 6 is connected to the swing arm slider 9. The drive motor 13 drives the lead screw assembly to rotate, and the drive slider 7 and the swing arm slider 9 can respectively move back and forth linearly along the drive guide rail 11 to drive the second drive actuator 4 and the second swing arm actuator 6 to telescope. When the second drive actuator 4 and the second swing arm actuator 6 telescope, the second drive actuator 4 drives the first drive actuator 3 to telescope synchronously, and the second swing arm actuator 6 drives the first swing arm actuator 5 to telescope synchronously.

[0032] Furthermore, the screw assembly includes a driving screw 8 and a swing arm screw 10, which are connected in series through a reducer 12, one end of the swing arm screw 10 is connected to a driving motor 13, the swing arm slider 9 is slidably screwed on the swing arm screw 10, and the driving slider 7 is slidably screwed on the driving screw 8.

[0033] Specifically, the reducer 12 is fixed in the middle of the horizontal plane of the second test bench, the driving screw 8 and the swing arm screw 10 are respectively connected to the two ends of the reducer 12, and the upward load of the second loading actuator 16 is transmitted to the reducer 12 through the swing arm 14, the first swing arm actuator 5, the second swing arm actuator 6, the swing arm slider 9 and the swing arm screw 10. The downward load of the second loading actuator 16 is transmitted to the reducer 12 through the movable wing 2, the first driving actuator 3, the second driving actuator 4, the driving slider 7 and the driving screw 8, so that the torque formed by the driving screw 8 and the swing arm screw 10 is equal in magnitude and opposite in direction after passing through the reducer 12, which is exactly offset and will not be transmitted to the drive motor 13, thereby reducing the power of the drive motor 13. Furthermore, since the second driving actuator 4 and the second swing arm actuator 6 are connected to the reducer 12 through the driving screw 8 and the swing arm screw 10 respectively, a single driving motor 13 can be used to achieve synchronous and coordinated movement of the movable wing surface 2 and the swing arm 14, thereby reducing the number of control channels and ensuring the synchronization of movement and direction control of the movable wing surface 2.

[0034] Furthermore, the second linear slide assembly includes a loading rail 19, a loading slider 20, a loading screw 21, a loading motor 25, and a load adjustment assembly. The loading slider 20 is slidably connected to the loading rail 19 and threadedly connected to the loading screw 21. The loading slider 20 is connected to the other end of the second loading actuator 16 via the load adjustment assembly. The loading motor 25 is used to drive the loading screw 21 to rotate, thereby driving the loading slider 20 to move. This allows the load adjustment assembly to drive the second loading actuator 16 to extend and retract, which in turn drives the first loading actuator 15 to extend and retract synchronously.

[0035] Specifically, the loading motor 25 is fixed to the outside of one horizontal end of the first test bench, and the loading screw 21 is slidably connected to both ends of the horizontal surface of the first test bench. The fixed end of the second loading actuator 16 is hinged to the vertical surface of the first test bench, and the telescopic end of the second loading actuator 16 is connected to the load adjustment assembly. The loading motor 25 drives the loading screw 21 for axial rotation, while the loading slider 20 reciprocates along the loading screw 21 to drive the second loading actuator 16 to extend and retract. The telescopic movement of the second loading actuator 16 drives the synchronous telescopic movement of the first loading actuator 15.

[0036] Furthermore, the load adjustment assembly includes a loading frame 22, a baffle 23, and a spring 24. The loading frame 22 is mounted on the loading slide 20, and the baffle 23 slides and nests within the loading frame 22. Springs 24 are provided at both ends of the baffle 23 to retain the baffle 23 within the loading frame 22. One end of the second loading actuator 16 passes through the loading frame 22 and connects to the baffle 23. A loading motor 25 drives the loading slide 20 to reciprocate axially along the loading guide rail 19, while the baffle 23 drives the telescopic end of the second loading actuator 16 to reciprocate and extend. The springs 24 on both sides of the baffle 23 can apply tension or pressure loads to the movable airfoil 2.

[0037] Furthermore, a pressure sensor 17 is connected between one end of the first loading ram 15 and the movable airfoil 2. The pressure sensor 17 can monitor the pressure load applied to the movable airfoil 2 by the first loading ram 15. The pressure sensor 17 is mounted on the outer circumferential surface of the movable airfoil 2 via a tension and compression block 18.

[0038] Furthermore, the first driving actuator 3 and the second driving actuator 4 are connected and transmitted synchronously through the first hydraulic pipeline, the first swing arm actuator 5 and the second swing arm actuator 6 are connected and transmitted synchronously through the second hydraulic pipeline, and the first loading actuator 15 and the second loading actuator 16 are connected and transmitted synchronously through the third hydraulic pipeline.

[0039] Specifically, the telescopic ends of the first drive actuator 3 and the second drive actuator 4 are rod-type cavities, which are directly connected via a first hydraulic pipeline. The fixed ends of the first drive actuator 3 and the second drive actuator 4 are rodless cavities, which are directly connected via a first hydraulic pipeline. The cavities of the first and second drive actuators 3 and 4 and the first hydraulic pipeline are filled with hydraulic oil, which drives the first and second drive actuators 3 and 4 to synchronously telescope and extend, thereby achieving synchronous transmission. The telescopic ends of the first swing arm actuator 5 and the second swing arm actuator 6 are rod-type cavities, which are directly connected via a second hydraulic pipeline. The fixed ends of the first swing arm actuator 5 and the second swing arm actuator 6 are rodless cavities, which are directly connected via a second hydraulic pipeline. The cavities of the first and second swing arm actuators 5 and 6 and the second hydraulic pipeline are filled with hydraulic oil, which drives the first and second swing arm actuators 5 and 6 to synchronously telescope and extend, thereby achieving synchronous transmission. The telescopic ends of the first and second loading rams 15, 16 are rod-mounted cavities, directly connected by a third hydraulic line. The fixed ends of the first and second loading rams 15, 16 are rodless cavities, directly connected by a third hydraulic line. The cavities of the first and second loading rams 15, 16 and the third hydraulic line are filled with hydraulic oil, which drives the first and second loading rams 15, 16 to synchronously telescope and extend, achieving synchronous transmission. The first, second, and third hydraulic lines are all bidirectional hydraulic lines.

[0040] As a preference, the first driving actuator 3, the second driving actuator 4, the first swing arm actuator 5, the second swing arm actuator 6, the first loading actuator 15 and the second loading actuator 16 are all hydraulic telescopic cylinders.

[0041] As a preferred embodiment, both the driving motor 13 and the loading motor 25 are servo motors. Since the servo motor has a high control frequency, the rotation angle can be closed-loop controlled through its own encoder and servo controller to achieve extremely high movement speed and accuracy, thereby realizing highly dynamic loading.

[0042] like Figure 3Furthermore, to ensure the synchronous flipping of the swing arm 14 and the movable airfoil 2, the swing arm 14, the movable airfoil 2, the first swing arm actuator 5, and the first drive actuator 3 are hinged to each other to form a pair of triangular structures. The lines connecting the swing arm 14, the hinge point O between the movable airfoil 2 and the fixed airfoil 1, the hinge point A between the movable airfoil 2 and the first drive actuator 3, and the hinge point B between the first drive actuator 3 and the fixed airfoil 1 form a first triangle OAB. The lines connecting the swing arm 14, the hinge point O between the movable airfoil 2 and the fixed airfoil 1, the hinge point C between the swing arm 14 and the first swing arm actuator 5, and the hinge point D between the first swing arm actuator 5 and the third test bench form a second triangle OCD. The angles of the corresponding internal angles of the first triangle OAB and the second triangle OCD are always equal during the movement, that is, the angle of the first internal angle ∠OAB of the first triangle OAB is equal to the angle of the first internal angle ∠OCD of the second triangle OCD, the angle of the second internal angle ∠OBA of the first triangle OAB is equal to the angle of the second internal angle ∠ODC of the second triangle OCD, and the angle of the third internal angle ∠AOB of the first triangle OAB is equal to the angle of the third internal angle ∠COD of the second triangle OCD, thereby ensuring that the swing arm 14 and the movable wing surface 2 flip synchronously.

[0043] Furthermore, in order to ensure that the corresponding internal angles of the first triangle OAB and the second triangle OCD are always equal during the movement, the reduction ratio n of the reducer 12 is used to control the stroke of the drive screw 8 and the swing arm screw 10 to ensure that the length ratio of the telescopic length of the first swing arm actuator 5 and the telescopic length of the first drive actuator 3 remains unchanged. The telescopic length of the first swing arm actuator 5 is the distance between the hinge points C and D at the two ends of the first swing arm actuator 5, and the telescopic length of the first drive actuator 3 is the distance between the hinge points A and B at the two ends of the first drive actuator 3. At this time, the reduction ratio of the reducer 12 is ; Among them, L1 is the distance between the hinge point C of the first swing arm actuator 5 and the hinge point O of the movable wing surface 2, h1 is the lead of the driving screw 8, L2 is the distance between the hinge point A of the first driving actuator 3 and the hinge point O of the movable wing surface 2, and h2 is the lead of the swing arm screw 10.

[0044] The high-speed follow-up loading method for a movable wing surface of an aircraft of the present invention is implemented based on the high-speed follow-up loading system for a movable wing surface of an aircraft of the present invention. The loading method comprises the following steps: Step 1: Determine a first rotation angle time curve of the driving motor 13 of the first linear sliding assembly according to the time rotation angle motion requirement of the movable airfoil 2.

[0045] Specifically, since the movable airfoil 2 is generally required to move according to a certain time rotation angle curve in the laboratory, and the present invention is driven by a drive motor 13, the time rotation angle curve is converted into a first rotation angle time curve of the drive motor 13 in advance based on the correspondence between time t and the movable airfoil rotation angle θ and time t and the motor rotation angle α.

[0046] Step 2, such as Figure 4 As shown in FIG, according to the load F required to be loaded at different rotation angles θ of the movable airfoil 2, the second rotation angle time curve of the loading motor 25 is calibrated. After the calibration is completed, according to the position of the loading motor 25 at each rotation angle θ of the movable airfoil 2, the first rotation angle time curve of the driving motor 13 and the second rotation angle time curve of the loading motor 25 are plotted, as shown in FIG. Figure 5 shown.

[0047] Specifically, the calibration process steps of the second rotation angle time curve are as follows: Step 201: Drive the movable airfoil 2 to deflect to a certain angle via the driving motor 13.

[0048] In step 202, the spring 24 is compressed by the loading motor 25 to apply a pressure load. The load of the spring 24 is first transferred to the first loading actuator 15 through the second loading actuator 16, and then applied to the movable airfoil 2 through the first loading actuator 15. Finally, the loaded load is monitored by the pressure sensor 17. When the load reaches a given value, the angular position of the loading motor 25 at this time is recorded.

[0049] Step 203: The spring 24 is driven to return to its original position by the driving motor 25 to unload the load.

[0050] Step 204: repeat steps 201-203 to complete the load calibration of all corners in sequence.

[0051] Step 3, control the drive motor 13 and the loading motor 25 to rotate synchronously according to the drawn first rotation angle time curve and the second rotation angle time curve respectively. At this time, the swing arm screw 10 and the drive screw 8 are linked to drive the swing arm slider 9 and the drive slider 7 to move respectively, and then drive the second swing arm actuator cylinder 6 and the second drive actuator cylinder 4 to move. The second swing arm actuator cylinder 6 and the second drive actuator cylinder 4 respectively drive the first swing arm actuator cylinder 5 and the first drive actuator cylinder 3 to move through the first hydraulic pipeline and the second hydraulic pipeline, and then drive the swing arm 14 and the movable airfoil 2 to rotate synchronously, so as to realize the synchronous change of the rotation angle, load direction and load size of the movable airfoil 2.

Claims

1. A high-speed follow-up loading system for aircraft movable wing surfaces, characterized in that: The invention comprises a movable wing surface drive and load direction control mechanism and a movable wing surface load control mechanism, wherein the movable wing surface drive and load direction control mechanism comprises a first drive actuator cylinder (3), a second drive actuator cylinder (4), a first swing arm actuator cylinder (5), a second swing arm actuator cylinder (6), a swing arm (14) and a first linear sliding assembly, wherein one end of the first drive actuator cylinder (3) is hinged to one end of the movable wing surface (2), and the other end is hinged to one end of the fixed wing surface (1), and the other end of the movable wing surface (2) is hinged to one end of the fixed wing surface (1). The fixed wing (1) is suspended in the air, and the other end of the fixed wing surface (1) is hinged to one end of the movable wing surface (2). One end of the second driving actuator (4) is fixed, and the other end is connected to the first linear sliding assembly. One end of the swing arm (14) is hinged to the hinge shaft of the fixed wing surface (1) and the movable wing surface (2). One end of the first swing arm actuator (5) is hinged to the test bench, and the other end is hinged to the swing arm (14). One end of the second swing arm actuator (6) is fixed, and the other end is connected to the first linear sliding assembly. The second swing arm actuator (6) is synchronously connected to the first swing arm actuator (5), the second drive actuator (4) is synchronously connected to the first drive actuator (3), and the first linear sliding assembly is used to synchronously drive the second drive actuator (4) and the second swing arm actuator (6) to drive the movable wing (2) and the swing arm (14) to flip synchronously; the movable wing load control mechanism includes a first loading actuator (15), a second loading actuator (16) and a second linear sliding assembly, one end of the second loading actuator (16) is fixed, and the other end is connected to the second linear sliding assembly, one end of the first loading actuator (15) is hinged to the movable wing (2), and the other end is hinged to the other end of the swing arm (14), the second loading actuator (16) is synchronously connected to the first loading actuator (15), and the second linear sliding assembly is used to drive the second loading actuator (16) to load the load onto the movable wing (2).

2. The high-speed follow-up loading system for aircraft movable wing surfaces according to claim 1, characterized in that: The first linear sliding assembly includes a driving slider (7), a swing arm slider (9), a screw assembly, a driving guide rail (11) and a driving motor (13). The driving slider (7) and the swing arm slider (9) are both slidably connected to the driving guide rail (11) and screwed to the screw assembly. The driving slider (7) is connected to the other end of the second driving actuator cylinder (4), and the swing arm slider (9) is connected to the other end of the second swing arm actuator cylinder (6). The driving motor (13) is used to drive the driving slider (7) and the swing arm slider (9) to move synchronously, so as to drive the second driving actuator cylinder (4) and the second swing arm actuator cylinder (6) to move synchronously.

3. The high-speed follow-up loading system for aircraft movable wing surfaces according to claim 2, characterized in that: The screw assembly includes a driving screw (8) and a swing arm screw (10), wherein the driving screw (8) and the swing arm screw (10) are connected in series via a reducer (12), one end of the swing arm screw (10) is connected to the driving motor (13), the swing arm slider (9) is screwed to the swing arm screw (10), and the driving slider (7) is screwed to the driving screw (8).

4. The high-speed follow-up loading system for aircraft movable wing surfaces according to claim 3, characterized in that: The second linear sliding assembly includes a loading guide rail (19), a loading slider (20), a loading screw (21), a loading motor (25) and a load adjustment assembly. The loading slider (20) is connected to the loading guide rail (19) and is screwed to the loading screw (21). The loading slider (20) is connected to the other end of the second loading actuator (16) through the load adjustment assembly. The loading motor (25) is used to drive the loading screw (21) to rotate and drive the loading slider (20) to move, so that the load adjustment assembly drives the second loading actuator (16) to telescopic movement.

5. The high-speed follow-up loading system for aircraft movable wing surfaces according to claim 4, characterized in that: The load adjustment assembly includes a loading frame (22), a baffle (23) and a spring (24); the loading frame (22) is arranged on the loading slider (20); the baffle (23) is slidably nested in the loading frame (22); springs (24) are provided at both ends of the baffle (23) to stop the baffle (23) in the loading frame (22); one end of the second loading actuator (16) is connected to the baffle (23).

6. The high-speed follow-up loading system for aircraft movable wing surfaces according to claim 5, characterized in that: A pressure sensor (17) is connected between one end of the first loading ram (15) and the movable wing surface (2).

7. The high-speed follow-up loading system for aircraft movable wing surfaces according to claim 6, characterized in that: The first driving actuator (3) and the second driving actuator (4) are connected through a first hydraulic pipeline and are synchronously driven, the first swing arm actuator (5) and the second swing arm actuator (6) are connected through a second hydraulic pipeline and are synchronously driven, and the first loading actuator (15) and the second loading actuator (16) are connected through a third hydraulic pipeline and are synchronously driven.

8. The high-speed follow-up loading system for aircraft movable wing surfaces according to claim 7, characterized in that: A first triangle OAB is formed by connecting the hinge point O of the swing arm (14), the movable wing surface (2) and the fixed wing surface (1), the hinge point A of the movable wing surface (2) and the first driving actuator (3), and the hinge point B of the first driving actuator (3) and the fixed wing surface (1); a second triangle OCD is formed by connecting the hinge point O of the swing arm (14), the movable wing surface (2) and the fixed wing surface (1), the hinge point C of the swing arm (14) and the first swing arm actuator (5), and the hinge point D of the first swing arm actuator (5) and the test bench; the corresponding internal angles of the first triangle OAB and the second triangle OCD are equal during the movement; the reduction ratio of the reducer (12) is ; Wherein, L1 is the distance between the hinge point C and the hinge point O, h1 is the lead of the drive screw (8), L2 is the distance between the hinge point A and the hinge point O, and h2 is the lead of the swing arm screw (10).

9. A method for high-speed dynamic loading of loads on aircraft movable wing surfaces, characterized in that: Based on the high-speed follow-up loading system for aircraft movable wing surfaces according to any one of claims 1 to 8, the loading method includes the following steps: Step 1, determining a first rotation angle time curve of a driving motor (13) of a first linear sliding assembly according to a time rotation angle motion requirement of a movable wing surface (2); Step 2, calibrating a second rotation angle time curve of the loading motor (25) of the second linear sliding assembly according to the load required to be loaded at different rotation angles of the movable wing (2); Step 3, controlling the driving motor (13) and the loading motor (25) to rotate according to a predetermined first rotation angle time curve and a predetermined second rotation angle time curve, respectively, to achieve synchronous changes in the rotation angle, load direction, and load magnitude of the movable airfoil (2).

10. The high-speed follow-up loading method for aircraft movable wing surfaces according to claim 9, characterized in that: Said step 2, calibrating the second rotation angle time curve of the loading motor (25) according to the load required to be loaded at different rotation angles of the movable wing (2), specifically comprises: Step 201, driving the movable airfoil (2) by the driving motor (13) to deflect to a certain angle and then stopping; Step 202, applying a load to the movable airfoil (2) via the loading motor (25); when the load reaches a given value, recording the rotation angle position of the loading motor (25); Step 203, unloading the load via the loading motor (25); Step 204, repeat steps 201 to 203 to complete the calibration of all corners in sequence.

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