Rigid-flexible mixed ground propulsion accelerating device

Abstract

The invention discloses a rigid-flexible mixed ground propulsion acceleration device. Power equipment and transmission equipment are arranged on a bearing platform of the device; one end of the traction cable is fixed on the transmission equipment, the other end of the traction cable passes through the guide wheel set and then penetrates through the tractor to be fixed on another transmission equipment or a fixing mechanism, the power equipment transmits kinetic energy to the transmission equipment, and the transmission equipment drives the traction cable to wind or unwind to drive the tractor to accelerate or decelerate by driving the traction cable to wind or unwind. The tractor propulsion motion equipment runs along a linear guide rail arranged on the ground, and when the tractor propulsion motion equipment reaches a preset target speed v or a deceleration position, the power equipment is braked, the transmission equipment and the tractor are driven to decelerate and brake, the motion equipment is separated from the tractor, and a skating test is continued or take-off is accelerated. The method has the characteristics of low cost, flexible and convenient deployment, continuous propulsion acceleration and the like.

Description

Technical Field

[0001] The present invention belongs to the field of ground propulsion acceleration technology, and specifically relates to a rigid-flexible hybrid ground propulsion acceleration device, which is used for ground boost acceleration testing of moving objects such as vehicles, trolleys, vehicle-mounted equipment, aircraft, and airborne equipment, as well as boost acceleration takeoff of moving equipment such as aircraft. Background Art

[0002] Impact testing of various vehicles, aircraft, and other moving equipment is a core verification method that systematically evaluates vehicle structural strength, occupant protection, and the reliability of key components by simulating extreme conditions such as actual collisions and gravel impacts. Hydraulic, pneumatic, and electromagnetic forces are typically used as power systems to simulate collisions and measure vehicle body deformation and airbag response accuracy. Future developments are advancing the use of electromagnetic forces, coupled with rapid power regulation through power electronics and precise motor control, to facilitate high-speed vehicle impact testing.

[0003] Furthermore, ground overload testing and aerodynamic testing of various vehicles, drones, and other aircraft, as well as propulsion-accelerated catapult launches, typically utilize air pressure, hydraulic pressure, or electromagnetic forces as power sources, rapidly accelerating the equipment to the required speed through a momentary release of energy. In particular, propulsion-accelerated catapult launch technology enables runway-free, ultra-short-distance takeoffs for drones and other aircraft, significantly reducing fuel consumption and increasing payload capacity and flight endurance.

[0004] However, the current rapid propulsion and acceleration systems that use air pressure, hydraulic pressure or linear motor electromagnetic force as power sources usually adopt the form of power rails, which are relatively large in size and weight and relatively expensive. They are difficult to meet the growing demand for vehicle impact testing, impact testing of industrial equipment, ground overload testing and aerodynamic testing of aircraft and other sports equipment, as well as continuous and rapid boost acceleration for takeoff of aircraft, etc., especially the propulsion and acceleration of sports equipment that are not suitable for frequent changes of locations. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a rigid-flexible hybrid ground propulsion acceleration device to propel vehicles, aircraft and other sports equipment to quickly accelerate. In order to achieve the necessary autonomous movement, the sports equipment is equipped with support wheels. During the acceleration process of the sports equipment, the support wheels are in direct contact with the road surface. The acceleration device propels the tractor to accelerate or decelerate, and the tractor propels the sports equipment to accelerate. After reaching the target speed or deceleration position, the tractor brakes, the tractor and the sports equipment are separated, and the sports equipment continues to taxi, thereby achieving short-distance high-speed testing or aircraft boosted acceleration takeoff. At the same time, it can be flexibly moved and quickly deployed.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A rigid-flexible hybrid ground propulsion acceleration device includes a load-bearing platform, a power unit, a transmission unit, a traction rope, a guide wheel assembly, a tractor, and a linear guide rail. The load-bearing platform is equipped with a power unit and a transmission unit. The kinetic energy output by the power unit drives the traction rope through the transmission unit to wind or unwind the traction rope on the traction drum. The traction rope is then guided to the tractor through the guide wheel assembly. The traction rope passes through the tractor pulley assembly on the tractor, driving the tractor to accelerate or decelerate. The tractor propels the motion device along the linear guide rail arranged on the ground.

[0008] When the tractor propels the moving equipment to a preset target speed v or deceleration position, emergency braking is applied to the power equipment, driving the transmission equipment, tractor, etc. to decelerate and brake. The moving equipment is separated from the tractor and then continues to taxi for high-speed testing or accelerate for takeoff. Among them, when the two ends of the traction rope are respectively fixed on the two transmission devices, the speeds of the two power equipment can follow each other and operate in coordination with each other by setting the actuator flexible controller.

[0009] Furthermore, the rigid-flexible hybrid ground propulsion acceleration device is provided with two bearing platforms, which are arranged in a mirror-image manner at a certain distance apart, and the guide rails are arranged along the center line between the two bearing platforms. The tractor propels the motion equipment to accelerate along the guide rails.

[0010] Furthermore, the two carrying platforms, the traction rope and the traction vehicle are arranged in a V shape.

[0011] Furthermore, the width W0 between the two supporting platforms of the rigid-flexible hybrid ground propulsion acceleration device is not less than the total width W1 of the moving device, and a certain safety margin is reserved. The ground is a hardened flat ground or a hardened road, and the width of the hardened flat ground or hardened road is not less than the maximum spacing W2 between the support wheels of the moving device. The device runs on the hardened flat ground or hardened road between the two supporting platforms. The guide rail length L0 is determined by the target speed v of the moving device leaving the guide rail, the average longitudinal acceleration a of the tractor, and the sliding distance L1 of the moving device from braking to separation from the tractor, that is, L0 ≥ v 2 / 2a+L1, the starting end of the linear guide is at the starting acceleration point of the motion equipment, and the end is on the side of the carrying platform.

[0012] Furthermore, the power equipment arranged on each supporting platform of the rigid-flexible hybrid ground propulsion accelerator provides the required kinetic energy for the accelerator, which can be pneumatic energy, hydraulic energy or electrical energy, including a system controller, a generator set, an energy storage device, a rapid energy converter, an actuator, and an actuator flexible controller. The system controller controls the energy transmission of the energy storage device to the rapid energy converter to provide electrical energy to the actuator.

[0013] Furthermore, the energy storage device preferably adopts a supercapacitor or a power battery pack or a flywheel inertial energy storage device, the energy fast converter preferably adopts a high overload inverter, the actuator preferably adopts a large starting torque, low inertia traction motor, and the actuator flexible controller is a motor flexible controller.

[0014] Furthermore, the transmission equipment mounted on the carrier platform of the rigid-flexible hybrid ground propulsion accelerator includes a traction drum, a rope guide, and a position sensor. The actuator drives the connected traction drum to rotate, which in turn winds or unwinds the traction rope around the drum, accelerating or decelerating the tractor. During braking, the energy of the moving object is fed back to the energy storage device via the tractor, traction rope, traction drum, and actuator.

[0015] Furthermore, one end of the traction rope is fixed to the traction drum of the transmission equipment, and the other end of the traction rope passes through the traction vehicle pulley group of the traction vehicle through the guide wheel group and is connected to the traction drum of the transmission equipment on the other side. The traction drum controls the retraction and release of the traction rope by winding or releasing the rope, thereby propelling the traction vehicle to move, and the traction vehicle propels the motion equipment to accelerate the movement.

[0016] Furthermore, a position sensor is provided at the end of the traction drum to send the detected winding position and winding speed of the traction rope and acceleration information of the tractor to the system controller, and the system controller implements synchronous and coordinated control of the two actuators.

[0017] Furthermore, the system controllers on the two carrying platforms control the energy storage device, actuator flexible controller, fast energy converter, actuator and traction drum of the power equipment to move synchronously. The system controller implements acceleration propulsion control on the tractor and the motion equipment, or deceleration braking control on the tractor according to the acceleration signal transmitted from the tractor.

[0018] Furthermore, when the tractor propels the motion device to accelerate and reach the target speed v or deceleration position, the system controller controls the energy storage device, the actuator flexibility controller (hereinafter referred to as the motor as the actuator, the corresponding actuator flexibility controller is the motor flexibility controller), the fast energy converter, the actuator and the traction drum to brake the tractor through the traction rope. After the motion device is separated from the tractor, it continues to taxi to complete the high-speed test or accelerate for takeoff.

[0019] Furthermore, the rigid-flexible hybrid ground propulsion acceleration device is connected by two motors through a flexible traction cable, and the sum of the starting traction forces of the tractor, sports equipment, traction drum and traction cable is used as the thrust input instruction. , input to the motor flexibility controller, the motor flexibility controller includes motor torque model, load torque observer, torque controller, cross-coupling regulation controller, and voltage controller;

[0020] The variable forces such as wind resistance and friction resistance of moving objects such as tractors, moving equipment, traction drums, and traction ropes are equivalent to generating nonlinear random external disturbance forces on the two motors. The load torque observer is used to estimate and compensate the motor output torque, and calculate the torque required for the two motors to drive the load. 、 ;

[0021] A speed cross-coupling regulation controller is set. When the two motors are subjected to different external disturbance forces during startup and acceleration, resulting in different speeds, the speed difference between the two motors is converted into a torque change ΔT through the cross-coupling regulation controller. The input of the cross-coupling regulation controller is the speed difference between the two motors, and the output is the torque change ΔT. The coupling regulation controller can be a linear or nonlinear adaptive controller such as a proportional-integral-derivative (PID) controller or an adaptive proportional-integral-resonance (PIR) controller.

[0022] Input the above thrust into the command , the torque required to drive the load 、 , torque change △T, input to the torque controller to adjust the motor stator torque current i qs1 and i qs2 , through the voltage controller, the torque of the two motors is adjusted to achieve the speed tracking of the two motors and complete the coordinated operation of the two motors.

[0023] Furthermore, the tractor should include a tractor pulley set, a motion equipment push rod, an acceleration sensor, and a wireless communication device. Information such as the speed of the tractor is sent to the system controller via the wireless communication device.

[0024] Furthermore, the guide rail is made of steel or aluminum alloy material and is divided into several guide rail sections, which facilitates convenient transportation and rapid installation.

[0025] Furthermore, the rigid-flexible hybrid ground propulsion acceleration device may not be provided with a guide rail. By controlling the two sets of power equipment, under the action of the transmission equipment and the traction rope, the tractor is driven to accelerate or brake along the center line between the two bearing platforms.

[0026] Furthermore, the rigid-flexible hybrid ground propulsion acceleration device can be provided with a bearing platform, which is arranged on one side of the road, and a fixed mechanism on the other side. A section of the traction rope is fixed on the fixed mechanism. The bearing platform and the fixed mechanism are arranged along both sides of the road, and the guide rails are arranged along the center line between the bearing platform and the fixed mechanism. The bearing platform, the fixed mechanism, the traction rope, and the tractor form a V-shaped arrangement. The propulsion acceleration device relies on the power equipment and transmission equipment of a bearing platform to propel the tractor and the motion equipment to accelerate along the guide rails.

[0027] The beneficial effects of the present invention are:

[0028] The rigid-flexible hybrid (rigid load-bearing platform + flexible traction cable) ground propulsion and acceleration device of this invention features low cost, quick deployment, and continuous propulsion and acceleration. It is suitable for the growing demand for impact testing of vehicles and industrial equipment, ground overload testing of moving equipment such as aircraft, and aerodynamic testing, particularly for continuous, rapid boost and acceleration of aircraft for takeoff. By controlling the retraction and extension of the traction cable and reel, it enables rapid acceleration or deceleration of moving equipment (vehicles, aircraft, etc.), with precise adjustment of acceleration. During braking, energy can be fed back to an energy storage device (such as a supercapacitor or flywheel), improving energy efficiency. It supports a variety of power sources (electrical, hydraulic, and pneumatic), accommodating testing needs of varying scales (from drones to large vehicles). Optional guide rails (or no guide rails) are available for use in various scenarios, including hardened surfaces and runways. Thrust coordination achieves synchronized speed, ensuring stable operation of the tractor along the centerline. An emergency braking function allows for rapid separation of the moving equipment at the target speed or position, avoiding the risk of over-impact. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a top view of a rigid-flexible hybrid ground propulsion device of the present invention;

[0030] Figure 2 This is a principle diagram of the force acceleration process of a rigid-flexible hybrid ground propulsion device of the present invention;

[0031] Figure 3 This is a principle diagram of the force deceleration process of a rigid-flexible hybrid ground propulsion device of the present invention;

[0032] Figure 4 This is a layout diagram of the flexible traction rope, traction vehicle and power equipment of a rigid-flexible hybrid ground propulsion device of the present invention;

[0033] Figure 5 A positional relationship diagram of a rigid-flexible hybrid ground propulsion device of the present invention propelling a vehicle into a propulsion area;

[0034] Figure 6 This is a diagram showing the acceleration process of a vehicle propelled by a rigid-flexible hybrid ground propulsion device according to the present invention;

[0035] Figure 7 This is a diagram showing the acceleration process of a rigid-flexible hybrid ground propulsion device propelling a UAV;

[0036] Figure 8 This is a schematic diagram of a rigid-flexible hybrid ground propulsion device without an intermediate linear guide rail according to the present invention;

[0037] Figure 9 This is a schematic diagram of a single-bearing platform of a rigid-flexible hybrid ground propulsion device of the present invention;

[0038] Figure 10 This is a side view of a rigid-flexible hybrid ground propulsion device according to the present invention, wherein the guide wheel assembly is arranged at the bottom of the carrying platform;

[0039] Figure 11 This is the motor flexible control strategy diagram.

[0040] Reference numerals:

[0041] Carrying platform 1, platform chassis 11, wheels 12, vibration reduction mechanism 13, steering traction mechanism 14, hydraulic pump 15, impact-resistant vehicle body support rod 16, power equipment 2, generator set 21, energy storage device 22, energy rapid converter 23, actuator 24, system controller 25, transmission equipment 3, traction drum 31, rope arranger 32, position sensor 33, traction rope 4, guide wheel group 5, linear guide 6, tractor 7, tractor pulley group 73, motion equipment push rod 74, speed sensor 77, wireless communication equipment 78, ground 100, fixing mechanism 101, center line 200, connecting line 201, motion equipment 300, actuator flexibility controller 210, load torque observer 211, torque controller 212, cross-coupling regulation controller 213, voltage controller 214, motor torque model 215, inverter 221. DETAILED DESCRIPTION

[0042] The present invention will be further described below with reference to the accompanying drawings and examples.

[0043] like Figure 1 The figure shows a schematic diagram of a rigid-flexible hybrid ground propulsion and acceleration device of the present invention, which includes at least one supporting platform 1, a power device 2, a transmission device 3, a traction rope 4, and a guide wheel set 5. The propulsion and acceleration device must also cooperate with a linear guide 6 and a tractor 7 to propel the motion device 300 forward or backward. Specifically,

[0044] A power device 2 and a transmission device 3 are arranged on each carrying platform 1, and are equipped with a traction rope 4. One end of the traction rope 4 is fixed to the traction drum 31 of the transmission device 3 on the carrying platform 1, and the other end is led to the traction vehicle 7 through the guide wheel group 5. The energy output by the power device 2 drives the traction rope 4 to wind or release the traction drum 31 through the traction drum 31 of the transmission device 3. The traction rope 4 passes through the traction vehicle pulley group 73 on the traction vehicle 7, driving the traction vehicle 7 to accelerate or decelerate. The traction vehicle 7 propels the motion device 300 to run along the linear guide rail 6 arranged on the ground 100.

[0045] Two supporting platforms 1 are arranged in mirror-image configurations at a distance from each other. A linear guide 6 is arranged along the centerline 200 between the two supporting platforms 1. A tractor 7 propels the moving device, which accelerates along this centerline 200 under the constraints of the linear guide 6. The two supporting platforms 1, the traction cable 4, and the tractor 7 form a V-shaped arrangement.

[0046] like Figure 2 、 Figure 3 As shown, when the tractor 7 propels the moving device to reach a preset target speed v or deceleration position, that is, the connecting line 201 of the two guide wheel groups 5, the power device 2 is braked, driving the transmission device 3, the tractor 7, etc. to decelerate and brake, the moving device 300 is separated from the tractor 7, and then continues to taxi for high-speed testing or accelerate for takeoff.

[0047] Figure 4 This is a layout diagram of the flexible traction rope, traction vehicle and power equipment of a rigid-flexible hybrid ground propulsion device of the present invention.

[0048] Figure 5 Given a situation where the motion device 300 is a vehicle and is about to enter a propulsion device area, Figure 6 The acceleration of the vehicle when the rigid-flexible hybrid ground propulsion device propels the moving device 300 is given. Figure 7 The following describes a situation in which the sports device 300 is a drone and is about to enter a propulsion device area.

[0049] The width W0 between the two supporting platforms 1 is not less than the total width W1 of the moving device, and a certain safety margin is reserved. The ground 100 is a hardened flat ground or a hardened road. The width of the hardened flat ground or hardened road is not less than the maximum spacing W2 of the support wheels of the moving device 300, ensuring that the moving device 300 can slide along the linear guide rail 6. The length L0 of the linear guide rail 6 is determined by the target speed v of the moving device 300 leaving the guide rail, the average longitudinal acceleration a of the tractor, and the sliding distance L1 of the moving device 300 from braking to separation from the tractor 7, that is, L0 ≥ v 2 / 2a+L1, the starting end of the linear guide rail 6 is at the starting acceleration point of the motion device 300, and the end end is at one side of the carrying platform 1.

[0050] Each load-bearing platform 1 is an unpowered structural platform that is towed and moved by an external motor vehicle, or can be a self-powered vehicle driven by a human operator. Each load-bearing platform 1 includes at least a platform chassis 11, wheels 12, a vibration damping mechanism 13, a steering and traction mechanism 14, a hydraulic pump 15, and impact-resistant support rods 16. The impact-resistant support rods 16 can be operated manually or hydraulically.

[0051] The power equipment 2 arranged on each supporting platform 1 is the energy required by the acceleration device, which can be pneumatic energy, hydraulic energy or electrical energy, and includes at least one generator set 21, an energy storage device 22, an energy rapid converter 23, an actuator 24, an actuator flexible controller 210, and a system controller 25. Before the system works, the energy is pre-stored in the energy storage device 22. The system controller 25 controls the energy transmission of the energy storage device 22 to the energy rapid converter 23 to provide energy to the actuator 24. The generator set 21 is used to power the above components.

[0052] The energy storage device 22 preferably adopts a supercapacitor, a power battery pack, or a flywheel inertial energy storage device, the energy rapid converter 23 preferably adopts an anti-large overload inverter 221, and the actuator 24 preferably adopts a high-torque, low-inertia traction motor. During system braking, the braking energy of the tractor 7 can be recovered and fed back to the energy storage device 22.

[0053] The transmission device 3 includes a traction drum 31, which can be cylindrical or disc-shaped, a rope arranger 32, fixed to the inlet and outlet of the traction rope 4 on the traction drum 31, and a column that moves with the position of the traction rope 4. The column is driven by a rolling screw and moves with the outlet position of the traction rope, which is used to organize the traction rope to prevent the rope from being disordered and stuck when releasing or collecting the rope, a position sensor 33, and two ends of the traction rope 4 are respectively fixed to one end of the traction drum 31 of the two transmission devices 3. The actuator 24 drives the traction drum 31 connected thereto to rotate, and the traction drum 31 drives the traction rope 4 to be wound around the traction drum 31 or released. The traction rope 4 is connected to the traction vehicle pulley group 73 of the traction vehicle 7 through the guide wheel group 5 to push the traction vehicle 7 to move, and then the traction vehicle 7 pushes the motion device 300 to accelerate along the linear guide rail 6.

[0054] A position sensor 33 is provided at the end of the traction drum 31 to transmit the detected winding position information of the traction rope 4 to the system controller 25 .

[0055] The system controller 25 on the two supporting platforms 1 controls the generator set 21, the actuator flexible controller 210, the rapid energy converter 23, and the actuator 24. Based on signals from the position sensor 33 at the end of the traction drum 31 and the speed sensor 77 of the tractor 7, the system controller 25, through the actuator flexible controller 210, performs closed-loop torque (current) control on the actuator 24 and traction drum 31, accelerating the tractor 7 and the motion device 300 and decelerating and braking the tractor 7. The system controller 25, via optical fiber signal transmission, coordinates the synchronous operation of the energy storage device 22, the actuator flexible controller 210, the rapid energy converter 23, and the actuator 24 of the two power devices 3.

[0056] When the tractor 7 propels the moving device to run at high speed and reaches the target speed v or the deceleration position, the system controller 25 controls the energy storage device 22, the actuator flexible controller 210, the energy rapid converter 23, the actuator 24 and the traction drum 31, and applies emergency braking to the tractor 7 through the traction rope 4. The tractor 7 brakes with deceleration, and the moving device 300 continues to taxi after separating from the tractor 7 to complete the high-speed test or accelerate for takeoff.

[0057] The linear guide rail 6 is made of steel or aluminum alloy, is divided into a plurality of linear guide rail segments, and is firmly mounted on the ground 100 for easy transportation and quick installation.

[0058] Figure 8 This is a solution in which the rigid-flexible hybrid ground propulsion device does not have an intermediate linear guide rail 6. Through accurate control of the power equipment 2, under the action of the transmission equipment 3 and the traction rope 4, the tractor 7 is driven to accelerate and brake along the center line 200 between the two supporting platforms 1.

[0059] Figure 9 This is a top view of a rigid-flexible hybrid ground propulsion device using a single load-bearing platform. The system features a load-bearing platform 1, located on one side of the road, and a fixed mechanism 101 on the other. A section of a traction cable 4 is fixed to this fixed mechanism 101. The load-bearing platform 1 and fixed mechanism 101 are arranged along both sides of the road. Linear guides 6 are arranged along the centerline 200 between the load-bearing platform 1 and the fixed mechanism 101. The load-bearing platform 1, fixed mechanism 101, traction cable 4, and tractor 7 form a V-shaped arrangement. The propulsion acceleration device relies on the power device 2 and transmission device 3 of the load-bearing platform 1 to propel the tractor 7 and motion device 300 along the linear guides 6.

[0060] When there is only one traction motor, conventional motor torque regulation is used. In this case, for the same moving equipment (load), the capacity of the traction motor and other equipment exceeds the sum of the two, and there is no redundancy. When the moving equipment is heavy, two traction motors have a clear advantage.

[0061] Figure 10 This is an example of a rigid-flexible hybrid ground propulsion device in which the guide wheel group 5 is arranged on the side of the carrier platform 1. The guide wheel group 5 can be flexibly placed according to the equipment layout of the carrier platform 1 to meet the needs of different working scenarios.

[0062] Figure 11 This is an example of a traction motor torque control strategy. Two traction motors (i.e., traction actuators 24) are connected by a flexible traction cable 4. The sum of the starting traction forces of the tractor 7, the moving equipment 300, the traction drum 31, and the traction cable 4 is used as the thrust input command. , input to the motor flexibility controller 210;

[0063] The variable forces such as wind resistance and friction resistance of the moving objects such as the tractor 7, the moving equipment 300, the traction drum 31 and the traction rope 4 are equivalent to the nonlinear random external disturbance forces generated on the two motors. The load torque observer 211 and the motor torque model 215 are used to estimate and compensate the external disturbance forces and calculate the torque required to drive the load. 、 ;

[0064] A cross-coupling regulation controller 213 is provided. When the two traction motors are subjected to different external disturbance forces and thus have different speeds during the start-up and acceleration process, the cross-coupling regulation controller 213 converts the speed difference between the two motors into a torque change ΔT.

[0065] Input the above thrust into the command , the torque required to drive the load 、 , torque change △T, input to the torque controller 212, adjust the motor stator torque current i qs The motor voltage controller 214 is used to adjust the torque of the two motors so that the speeds of the two motors follow each other and the two motors can operate in coordination.

[0066] Specifically, according to Hooke's law, the additional coupling forces F1 and F2 exerted on the shafts of the two motors due to the mutual influence when the two motors rotate at different speeds are:

[0067] (1)

[0068] 、 is the mechanical angular velocity of motors M1 and M2, K is the elastic coefficient of the traction rope, r1 and r2 are the radii of the two traction drums, and r1=r2.

[0069] T L1 、T L2It is the output torque of the motor driving the moving object. The moving object includes the tractor, sports equipment, traction drum, and traction rope. When there is an error in the speed of the two motors, the actual load torque of the motor is:

[0070] (2)

[0071] Motor transient dynamic equation:

[0072] (3)

[0073] i sq1 、i sq2 is the torque current of motor M1 and motor M2, K t1 , K t2 is the electromagnetic torque constant of motor M1 and motor M2, K t1 i sq1 , K t2 i sq1 is the transient electromagnetic torque, C1 and C2 are the friction coefficients of the motor system.

[0074] When the two motors are subjected to different external disturbance forces during the startup and acceleration process, the motor speeds fluctuate. The speed error between the motors is compensated and adjusted by a cross-coupling regulation controller 213. The input of the cross-coupling regulation controller 213 is the speed difference between the two motors, and the output is the torque change ΔT. The coupling regulation controller can adopt a linear or nonlinear adaptive controller such as a proportional-integral-derivative (PID) controller or an adaptive proportional-integral-resonant (PIR) controller.

[0075] Actual load torque of the motor T L1 、T L2 The load moment is obtained by observing the load observer 、 , the motor torque current i is calculated by the dynamic model formula (3) sq1 、i sq2 Feedforward compensation to balance the motor output torque.

[0076] The motor torque control strategy and motor flexibility controller proposed in this invention are examples and can be simplified or extended in actual systems. With the flexible connection method of this invention, when the tractor pulley block is frictionless, even if the two motors are running at different speeds, the traction cable is subjected to uniform force on both sides of the tractor. However, when the system friction is uneven, especially when the friction between the traction cable and the tractor pulley block is relatively high, if the two motors are running at different speeds, the traction cable will be subjected to severe imbalanced force, potentially damaging the traction cable.

[0077] In summary, the adoption of a rigid-flexible hybrid design (rigid load-bearing platform + flexible traction cable) significantly reduces system cost and deployment difficulty compared to traditional rigid power rail propulsion systems. The load-bearing platform can be deployed flexibly (e.g., trailer-mounted or self-propelled), eliminating the need for fixed infrastructure. It is suitable for temporary test sites or field environments, and can directly propel the test equipment, facilitating rapid and continuous propulsion. This low-cost, flexible deployment approach achieves high-precision propulsion control and energy recovery, addressing the bulk, high cost, and poor adaptability of traditional rigid power rail systems.

[0078] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A rigid-flexible hybrid ground propulsion acceleration device, characterized in that: It includes a load-bearing platform, power equipment, transmission equipment, traction rope, guide wheel set, and tractor, among which: The power equipment and transmission equipment are arranged on the carrying platform; One end of the traction rope is fixed to the transmission device, and the other end passes through the guide wheel group and then passes through the tractor to be fixed to a fixed mechanism or another transmission device. The power device transmits kinetic energy to the transmission device, and the transmission device drives the tractor to accelerate or decelerate by driving the traction rope to wind up or release the rope. The tractor propels the motion device to run along a linear guide rail arranged on the ground. When the tractor propels the motion device to reach a preset target speed v or a deceleration position, the power device is braked to drive the transmission device and the tractor to decelerate and brake. The motion device is separated from the tractor and continues the taxiing test or accelerated takeoff. Wherein, when the two ends of the traction rope are respectively fixed on two transmission devices, the rotational speeds of the two power devices are made to follow each other and to operate in coordination with each other by setting an actuator flexible controller.

2. The rigid-flexible hybrid ground propulsion acceleration device according to claim 1, characterized in that: The traction rope and two bearing platforms are arranged symmetrically with the linear guide as the center line. The two bearing platforms, the traction rope and the tractor form a V-shape. The tractor propels the moving equipment to run along the center line under the constraint of the linear guide.

3. The rigid-flexible hybrid ground propulsion acceleration device according to claim 1, characterized in that: With the linear guide rail as the center line, a load-bearing platform is set on one side and a fixing mechanism is set on the other side. The load-bearing platform, the fixing mechanism, the traction rope and the tractor are arranged in a V shape. The propulsion acceleration device relies on the power equipment and transmission equipment of a load-bearing platform to propel the tractor and the moving equipment along the linear guide rail.

4. The rigid-flexible hybrid ground propulsion acceleration device according to claim 2, characterized in that: The length of the linear guide L0 is determined by the target speed v of the moving device, the average longitudinal acceleration a of the tractor and the moving device, and the sliding distance L1 required for the moving device and the tractor to separate from the braking time, that is, L0 ≥ v 2 / 2a+L1.

5. The rigid-flexible hybrid ground propulsion acceleration device according to claim 2, characterized in that: The power equipment is used to provide energy, including a system controller, an actuator flexible controller, an energy storage device, an energy rapid converter, and an actuator. Before the system works, energy is pre-stored in the energy storage device. During operation, the system controller controls the energy of the energy storage device to be transmitted to the energy rapid converter, and then provides energy to the actuator.

6. The rigid-flexible hybrid ground propulsion acceleration device according to claim 2, characterized in that: A traction rope is used to pass through the guide wheel groups on both sides of the tractor. The two ends of the traction rope are fixedly connected to the transmission equipment on both sides of the V shape. The transmission equipment on both sides drives the traction rope to be wound or released, thereby driving the tractor to move.

7. The rigid-flexible hybrid ground propulsion acceleration device according to claim 1, characterized in that: The guide wheel assembly is fixed on the ground, and can also be fixed on the platform chassis of the carrying platform, and is located below the platform chassis.

8. The rigid-flexible hybrid ground propulsion acceleration device according to claim 2, characterized in that: The transmission equipment includes a traction drum, a wire arranger, and a position sensor. The actuator drives the traction drum connected thereto to rotate, and the traction drum drives the traction rope to be wound or released on the traction drum, thereby driving the tractor to accelerate or decelerate.

9. The rigid-flexible hybrid ground propulsion acceleration device according to claim 8, characterized in that: The sum of the traction forces of the tractor, moving equipment, traction drum and traction rope is used as the input thrust command. ; Considering the external disturbance forces of the tractor, motion equipment, traction drum and traction rope, the load torque observer is used to estimate and compensate the output torque of the power equipment, and calculate the torque required for the power equipment to drive the load. 、 ; A speed cross-coupling regulation controller is set up. When the two power devices are subjected to different external disturbance forces during the startup and acceleration process, the speed cross-coupling regulation controller is used to convert the speed difference between the two power devices into a torque change △T; The thrust command Required torque 、 , torque change △T, input to the torque controller of the actuator flexibility controller, adjust the stator torque current i of the power equipment qs The torque of the power equipment is adjusted through the voltage controller to achieve mutual following and coordinated speed operation of the two power equipment.

10. The rigid-flexible hybrid ground propulsion acceleration device according to claim 1, characterized in that: The system does not need to be equipped with a linear guide rail. Through accurate control of the power equipment, the tractor is driven to accelerate and brake along the center line between the two load-bearing platforms under the action of the transmission equipment and the traction rope.

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