Bending moment-torque composite loading device for testing load capacity of steering engine

Abstract

The invention relates to a bending moment-torque composite loading device for testing the load capacity of a steering engine, and belongs to the technical field of ammunition weapon system testing. In the device, the pressure head, the pressurizing rod and the composite loading slip ring synchronously rotate along with the rotation of the rudder wing, so that the applied pressure can be ensured to be always perpendicular to the rudder surface and is closer to the real wind resistance working condition during flight. The bending moment output device and the torque output device are coupled together through the composite loading slip ring, so that the bending moment and the torque can be loaded at the same time and are closer to the actual flight condition.

Description

Technical Field

[0001] This invention belongs to the field of ammunition and weapon system testing technology, specifically relating to a bending moment-torque composite loading device for testing the load capacity of servo motors. Background Technology

[0002] Servo mechanisms are a crucial component of guided munitions, and the magnitude of their output torque directly determines the effectiveness and real-time performance of attitude adjustments. Guided munitions operate under extremely complex aerodynamic loads during flight. Therefore, when the rudder wings rotate under servo drive, they must withstand not only torque drag but also bending moments caused by the normal force on the rudder surfaces. This bending moment leads to significant deflection of the rudder wings and rudder shaft, thereby substantially increasing the frictional torque in the servo drivetrain. Both the torque drag and the frictional drag from the aerodynamic bending moment severely impact critical servo parameters such as yaw rate, overshoot, and settling time. Therefore, during ground testing of the servo mechanism, its ability to withstand combined bending and torque loads must be thoroughly evaluated.

[0003] Currently reported servo moment-torque composite loading devices typically apply bending moment and torque to the servo motor separately through separate bending moment loading and torque loading units. In actual operation, a drive shaft fixture needs to be installed on the servo motor's output shaft. Then, a radial force (simulating the normal aerodynamic force of the servo surface) is applied to the middle of this drive shaft fixture via a motor or other device to form a bending moment load. Finally, a torque load is applied at the end of the drive shaft fixture via a torsion bar or other device.

[0004] The existing servo moment-torque composite loading device has the following defects: (1) It cannot directly load the moment on the aerodynamic pressure center of the real servo wing, which is quite different from the actual situation; (2) The applied radial force is always in the same direction. Therefore, when the servo shaft deflects with the command, the radial force is no longer in a state perpendicular to the servo surface, which is inconsistent with the actual situation. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] This invention addresses the shortcomings of existing servo motor bending moment-torque composite loading devices by proposing a bending moment-torque composite loading device for servo motor load capacity testing. During ground testing, bending moment and torque loads are simultaneously applied to the servo motor's control blades. The point of application of the applied control surface normal pressure is adjustable to approximate the actual aerodynamic pressure center position, thereby improving the accuracy of the servo motor bending moment-torque composite loading capacity testing process.

[0007] (II) Technical Solution

[0008] To solve the above-mentioned technical problems, the present invention provides a bending moment-torque composite loading device for testing the load capacity of a servo motor, including a lifting platform 1, a composite loading slip ring 4, a pressure head 5, a pressure rod 6, a pressure sensor 7, a slip ring support 8, a torque sensor 9, a torsion bar support 10, a torsion bar 11, and an industrial control computer 13.

[0009] The composite loading slip ring 4 is a hollow thin-shell cylindrical structure with one open end; the open end of the composite loading slip ring 4 is used to extend into the rudder 3, and the closed end has a connecting shaft that is fixed to the torsion bar 11; the cylindrical side of the composite loading slip ring 4 is used to install the pressure rod 6.

[0010] The composite loading slip ring 4 and the torsion bar 11 are coaxially arranged and installed on the slip ring support 8. When the servo motor 2 drives the rudder 3 to rotate, the pressure head 5 and the pressure rod 6 can drive the composite loading slip ring 4 and the torsion bar 11 to rotate simultaneously, so that the rudder 3 is subjected to bending moment and torque load at the same time.

[0011] The bending moment output device, consisting of the pressure head 5 and the pressure rod 6, is used to apply normal pressure to the rudder wing 3. The torque output device, consisting of the torsion bar 11 and the torsion bar support 10, is used to apply torque to the rudder wing 3. The torsion bar 11 is mounted on the two torsion bar supports 10 through bearings. The bending moment output device and the torque output device are linked together under the rotation of the composite loading slip ring 4, and simultaneously apply bending moment and torque to the rudder wing 3.

[0012] The pressure head 5 is fixed to the rudder 3 by screws. An elastic layer is provided on the contact surface between the pressure head 5 and the rudder 3 to eliminate the contact gap between the pressure head 5 and the arc surface of the rudder 3.

[0013] One end of the pressure rod 6 is fixed to the pressure head 5, and the other end is fixed to the composite loading slip ring 4. The pressure rod 6 can achieve the elongation of its own structure, thereby applying a normal force to the rudder 3, that is, applying a bending moment.

[0014] The pressure sensor 7 is installed between the pressure rod 6 and the composite loading slip ring 4. The pressure sensor 7 is used to test the normal force of the rudder surface and is connected to the industrial control computer 13. The industrial control computer 13 monitors the normal force of the rudder surface in real time.

[0015] The torque sensor 9 is mounted on the torsion bar support 10 and can send the real-time torque signal of the torsion bar 11 to the industrial control computer 13.

[0016] Preferably, multiple weight-reducing grooves are added to the cylindrical side of the composite loading slip ring 4.

[0017] Preferably, the frictional resistance between the composite loading slip ring 4 and the slip ring support 8 is reduced by decreasing the contact surface, setting a slide rail, or installing balls between the contact surfaces of the two.

[0018] Preferably, the device further includes a base 12, and the composite loading slip ring 4 is mounted on the base 12 via a slip ring support 8. The horizontal adjustment of the composite loading slip ring 4 is achieved by adjusting the position of the slip ring support 8 left and right along the direction of the torsion bar 11. The lifting platform 1 is located at the bottom of the servo motor 2 at one end of the opening of the composite loading slip ring 4. By adjusting the height of the lifting platform 1 and the horizontal adjustment of the composite loading slip ring 4, the pressure head 5 and the aerodynamic pressure center of the rudder 3 are made to coincide in the lateral offset position, and the rudder 3, the pressure head 5 and the torsion bar 11 are made to rotate coaxially.

[0019] Preferably, the pressure head 5, the pressure rod 6, and the composite loading slip ring 4 are all made of lightweight materials.

[0020] Preferably, when the torsion bar 11 cannot be used to apply torque due to space constraints, a magnetic powder brake is installed on the torsion bar support 10, and the magnetic powder brake is directly connected to the output shaft of the composite loading slip ring 4; or the composite loading slip ring 4 and the slip ring support 8 are electromagnetically designed to form electromagnetic resistance between them to achieve torque loading.

[0021] Preferably, the position of the pressure head 5 is adjustable so that its offset in the lateral direction is the same as that of the actual pressure core; while in the longitudinal direction, the pressure core position is completely covered to achieve loading.

[0022] Preferably, the pressure rod 6 extends its structure by means of a manual screw or electric mechanism.

[0023] The present invention also provides an installation method for the device, comprising the following steps: before conducting the servo motor bending moment-torque loading test, firstly, the servo motor 2 is installed on the lifting platform 1, and the rudder wing 3 is placed inside the cavity of the composite loading slip ring 4; the height of the lifting platform 1 is adjusted so that the rudder shaft and the torsion bar 11 are kept coaxial; the angle position of the composite loading slip ring 4 is adjusted so that the pressure head 5 is close to the rudder wing 3, and then the two are fastened with screws; then the extension length of the pressure rod 6 is adjusted so that the pressure head 5 applies normal pressure to the rudder wing 3, and the pressure magnitude is adjusted by the pressure sensor 7; the torsion bar 11 and the composite loading slip ring 4 are fixed together so that the two can rotate together.

[0024] The present invention also provides a method for conducting a servo motor bending moment-torque loading test using the device, comprising the following steps: during the servo motor bending moment-torque loading test, the servo motor 2 is powered on and a command is sent to it, the pressure sensor 7 and the torque sensor 9 are observed to send pressure and torque signals to the industrial control computer 13 respectively, and the dynamic performance of the servo motor under the current bending moment-torque loading condition is judged by combining the angle curve of the current real-time position of the rudder 3 fed back by the servo motor 2.

[0025] (III) Beneficial Effects

[0026] The present invention provides a bending moment-torque composite loading device for testing the load capacity of servo motors, and the technical advantages are reflected in the following aspects:

[0027] 1) The pressure head, pressure rod and composite loading slip ring rotate synchronously with the rotation of the control wing, which can ensure that the applied pressure is always perpendicular to the control surface, which is closer to the actual wind resistance conditions during flight.

[0028] 2) By adjusting the position of the pressure head on the control surface and the height of the servo itself, the point of application of the normal force of the control surface can be made to coincide with the lateral offset position of the aerodynamic pressure center of the control surface, which is closer to the actual flight situation.

[0029] 3) The pressure head is fixed to the rudder blade with screws, and elastic materials such as rubber pads are placed between the two to effectively prevent the pressure application point from slipping during the test.

[0030] 4) The pressure head, pressure rod, and composite loading slip ring adopt a lightweight inertia structure design, and reduce the rotational friction resistance between the composite loading slip ring and the slip ring support, effectively reducing the impact of the rotational inertia of the above components on the torque loading accuracy.

[0031] 5) By coupling the bending moment output device and the torque output device together through a composite loading slip ring, bending moment and torque can be loaded simultaneously, which is closer to the actual flight situation.

[0032] 6) This device has a simple structure, is easy to use and operate, and has good compatibility with different types of servos. Attached Figure Description

[0033] Figure 1a This is a perspective view of a bending moment-torque composite loading device for testing the load capacity of a servo motor according to the present invention. Figure 1b This is a partial side view of the device. Figure 1c This is a partial front view of the device;

[0034] The components include: 1. Lifting platform, 2. Servo motor, 3. Rudder wing, 4. Composite loading slip ring, 5. Pressure head, 6. Pressure rod, 7. Pressure sensor, 8. Slip ring support, 9. Torque sensor, 10. Torque bar support, 11. Torque bar, 12. Base, and 13. Industrial control computer.

[0035] Figure 2 This is a schematic diagram illustrating the working principle of the device of the present invention applying bending moment and torque to the rudder.

[0036] Figure 3 This is a schematic diagram showing the positional relationship between the pressure head and the pressure center of the rudder surface in this invention. Detailed Implementation

[0037] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0038] like Figures 1a to 1c As shown, the present invention provides a bending moment-torque composite loading device for testing the load capacity of a servo motor, which consists of a lifting platform 1, a composite loading slip ring 4, a pressure head 5, a pressure rod 6, a pressure sensor 7, a slip ring support 8, a torque sensor 9, a torsion bar support 10, a torsion bar 11, a base 12, and an industrial control computer 13.

[0039] The composite loading slip ring 4 is a hollow thin-shell cylindrical structure with one open end; the open end of the composite loading slip ring 4 is used to extend into the rudder 3, and the closed end has a connecting shaft that can be fixed to the torsion bar 11; the cylindrical side of the composite loading slip ring 4 is used to install the pressure rod 6, and multiple weight-reducing grooves are added to the cylindrical side to reduce the rotational inertia of the composite loading slip ring 4 (which can reduce the resistance of the composite loading slip ring 4's own weight to the rotation of the rudder 3).

[0040] The composite loading slip ring 4 is coaxially arranged with the torsion bar 11 and installed on the slip ring support 8. When the servo motor 2 drives the rudder 3 to rotate, the pressure head 5 and the pressure rod 6 can drive the composite loading slip ring 4 and the torsion bar 11 to rotate simultaneously, so that the rudder 3 is subjected to bending moment and torque load at the same time.

[0041] As an important component of the composite loading device, the composite loading slip ring 4 is fixedly connected to both the torsion bar 11 and the pressure bar 6. When the rudder 3 rotates, the rudder 3 can drive the pressure bar 6 and the torsion bar 11 to rotate synchronously, so that the rudder 3 is constantly subjected to the bending moment brought by the pressure bar 6, and is also subjected to the torque brought by 11 during the rotation.

[0042] The bending moment output device, consisting of the pressure head 5 and the pressure rod 6, is used to apply normal pressure to the rudder wing 3 of the servo motor 2. The torque output device, consisting of the torsion bar 11 and the torsion bar support 10, is used to apply torque to the rudder wing 3 of the servo motor 2. The torsion bar 11 is mounted on two torsion bar supports 10 through bearings and can rotate. The bending moment output device and the torque output device are linked together under the rotation of the composite loading slip ring 4, and simultaneously apply bending moment and torque to the rudder wing 3.

[0043] The pressure head 5 is fixed to the rudder 3 by screws. An elastic layer such as a rubber pad is provided on the contact surface between the pressure head 5 and the rudder 3 to eliminate the contact gap between the pressure head 5 and the arc surface of the rudder 3.

[0044] One end of the pressure rod 6 is fixed to the pressure head 5, and the other end is fixed to the composite loading slip ring 4. The pressure rod 6 extends its own structure by manual spiral or electric means, thereby applying a normal force to the rudder 3, that is, applying a bending moment.

[0045] The pressure sensor 7 is installed between the pressure rod 6 and the composite loading slip ring 4. The pressure sensor 7 is used to test the normal force of the control surface (i.e., the normal pressure applied by the bending moment output device to the control wing 3). It is connected to the industrial control computer 13 and can monitor the normal force of the control surface in real time through the industrial control computer 13.

[0046] The torque sensor 9 is mounted on the torsion bar support 10 and can send the real-time torque signal of the torsion bar 11 to the industrial control computer 13.

[0047] The frictional resistance between the composite loading slip ring 4 and the slip ring support 8 is minimized by reducing the contact surface, setting a slide rail, and installing balls between the contact surfaces.

[0048] The composite loading slip ring 4 is mounted on the base 12 via the slip ring support 8. Therefore, the horizontal adjustment of the composite loading slip ring 4 can be achieved by adjusting the position of the slip ring support 8 left and right along the direction of the torsion bar 11. By adjusting the height of the lifting platform 1 and the horizontal adjustment of the composite loading slip ring 4, the lateral offset position of the pressure head 5 and the aerodynamic pressure center of the rudder 3 are made to coincide, and the rudder 3, the pressure head 5 and the torsion bar 11 are made to rotate coaxially.

[0049] The pressure head 5, pressure rod 6, and composite loading slip ring 4 are all made of lightweight materials and have weight-reducing grooves to reduce their own rotational inertia and minimize their impact on torque load.

[0050] When the torsion bar 11 cannot be used to apply torque due to space constraints, a magnetic powder brake can be used to achieve torque loading. That is, a magnetic powder brake can be installed on the torsion bar support 10 and directly connected to the output shaft of the composite loading slip ring 4, so that a long torsion bar 11 is not required; or an electromagnetic design can be made for the composite loading slip ring 4 and the slip ring support 8 to form an electromagnetic resistance between them to achieve torque loading.

[0051] As can be seen, the present invention has a simple structure, fewer parts, and can be adapted to different adapters for different servo types, with good compatibility.

[0052] like Figure 2 As shown, before conducting the servo motor bending moment-torque loading test, the servo motor 2 is first installed on the lifting platform 1, and the rudder wing 3 is placed inside the cavity of the compound loading slip ring 4. The height of the lifting platform 1 is adjusted to ensure that the rudder shaft and the torsion bar 11 are coaxial. The angle position of the compound loading slip ring 4 is adjusted so that the pressure head 5 is as close as possible to the rudder wing 3, and then the two are tightened with screws. Next, the extension length of the pressure rod 6 is adjusted so that the pressure head 5 applies normal pressure to the rudder wing 3, and the pressure magnitude is adjusted by the pressure sensor 7. The torsion bar 11 and the compound loading slip ring 4 are fixed together so that they can rotate together. The preliminary installation work is thus completed.

[0053] During the bending moment-torque loading test of the servo motor, the servo motor 2 is powered on and a command is sent. The pressure and torque signals sent by the pressure sensor 7 and the torque sensor 9 to the industrial control computer 13 are observed. At the same time, the dynamic performance of the servo motor 2 under the current bending moment-torque loading condition is judged by combining the feedback curve of the servo motor 2 (that is, the angle curve of the current real-time position of the rudder 3 detected and issued by the servo motor 2 itself).

[0054] like Figure 3 As shown, the position of the pressure center varies depending on the shape and sweep angle of the rudder wing 3. To ensure that the normal force applied to the rudder surface in this invention matches the actual situation as closely as possible, the position of the pressure head 5 can be adjusted so that its lateral offset is the same as the actual pressure center; while in the longitudinal direction, the pressure center position is completely covered to achieve loading. This installation method may result in the normal pressure of the rudder surface being evenly distributed between the contact surface of the pressure head 5 and the rudder wing 3, with a slight error compared to the concentrated load of the pressure center. This error can be eliminated through load equivalence theory analysis.

[0055] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A bending moment-torque composite loading device for testing the load capacity of a servo motor, characterized in that, Includes lifting platform (1), composite loading slip ring (4), pressure head (5), pressure rod (6), pressure sensor (7), slip ring support (8), torque sensor (9), torsion bar support (10), torsion bar (11), and industrial computer (13); The composite loading slip ring (4) is a hollow thin-shell cylindrical structure with one open end; the open end of the composite loading slip ring (4) is used to extend into the rudder wing (3), and the closed end has a connecting shaft that is fixed to the torsion bar (11); the cylindrical side of the composite loading slip ring (4) is used to install the pressure rod (6). The composite loading slip ring (4) is coaxially arranged with the torsion bar (11) and installed on the slip ring support (8); when the servo motor (2) drives the rudder wing (3) to rotate, the pressure head (5) and the pressure rod (6) can drive the composite loading slip ring (4) and the torsion bar (11) to rotate at the same time, so that the rudder wing (3) is subjected to bending moment and torque load at the same time. A bending moment output device consisting of a pressure head (5) and a pressure rod (6) is used to apply normal pressure to the rudder wing (3), and a torque output device consisting of a torsion bar (11) and a torsion bar support (10) is used to apply torque to the rudder wing (3). The torsion bar (11) is mounted on two torsion bar supports (10) by bearings. The bending moment output device and the torque output device are linked together under the rotation of the composite loading slip ring (4) to apply bending moment and torque to the rudder wing (3) at the same time. The pressure head (5) is fixed to the rudder wing (3) by screws, and an elastic layer is provided on the contact surface between the pressure head (5) and the rudder wing (3); One end of the pressure rod (6) is fixed to the pressure head (5), and the other end is fixed to the composite loading slip ring (4). The pressure rod (6) can achieve the elongation of its own structure, thereby applying a normal force to the rudder wing (3), that is, applying a bending moment. The pressure sensor (7) is installed between the pressure rod (6) and the composite loading slip ring (4). The pressure sensor (7) is used to test the normal force of the rudder surface and is connected to the industrial control computer (13). The industrial control computer (13) monitors the normal force of the rudder surface in real time. The torque sensor (9) is mounted on the torsion bar support (10) and can send the real-time torque signal of the torsion bar (11) to the industrial control computer (13).

2. The apparatus as claimed in claim 1, characterized in that, Multiple weight-reducing grooves are added to the cylindrical side of the composite loading slip ring (4).

3. The apparatus as described in claim 1, characterized in that, The frictional resistance between the composite loading slip ring (4) and the slip ring support (8) is reduced by decreasing the contact surface, setting a slide rail, or installing balls between the contact surfaces.

4. The apparatus as claimed in claim 1, characterized in that, The device also includes a base (12), and the composite loading slip ring (4) is mounted on the base (12) through a slip ring support (8). The position of the slip ring support (8) is adjusted left and right along the direction of the torsion bar (11) to achieve the horizontal adjustment of the composite loading slip ring (4). The lifting platform (1) is located at the bottom of the servo motor (2) at one end of the opening of the composite loading slip ring (4). By adjusting the height of the lifting platform (1) and the horizontal adjustment of the composite loading slip ring (4), the pressure head (5) and the aerodynamic pressure center of the rudder (3) are made to coincide in the lateral offset position, and the rudder (3), pressure head (5) and torsion bar (11) are made to rotate coaxially.

5. The apparatus as claimed in claim 1, characterized in that, The pressure head (5), pressure rod (6), and composite loading slip ring (4) are all made of lightweight materials.

6. The apparatus as claimed in claim 1, characterized in that, When the torsion bar (11) cannot be used to apply torque due to space constraints, a magnetic powder brake is installed on the torsion bar support (10), and the magnetic powder brake is directly connected to the output shaft of the composite loading slip ring (4); or an electromagnetic design is made for the composite loading slip ring (4) and the slip ring support (8) to form an electromagnetic resistance between the two to achieve torque loading.

7. The apparatus as claimed in claim 1, characterized in that, The position of the pressure head (5) is adjustable so that its offset in the lateral direction is the same as that of the actual pressure core; while in the longitudinal direction, it is loaded by completely covering the position of the pressure core.

8. The apparatus as claimed in claim 1, characterized in that, The pressure rod (6) elongates its structure by manual screw or electric means.

9. A method for installing the device as described in any one of claims 1 to 8, characterized in that, Before conducting the servo motor bending moment-torque loading test, first install the servo motor (2) on the lifting platform (1) and place the rudder wing (3) inside the cavity of the composite loading slip ring (4); adjust the height of the lifting platform (1) so that the rudder shaft and the torsion bar (11) are coaxial; adjust the angle position of the composite loading slip ring (4) so ​​that the pressure head (5) is close to the rudder wing (3), and then tighten the two with screws; then adjust the extension length of the pressure rod (6) so that the pressure head (5) applies normal pressure to the rudder wing (3), and adjust the pressure magnitude through the pressure sensor (7); fix the torsion bar (11) and the composite loading slip ring (4) together so that the two can rotate together.

10. A method for conducting a servo motor bending moment-torque loading test using the device as described in any one of claims 1 to 8, characterized in that, Includes the following steps: During the servo motor bending moment-torque loading test, the servo motor (2) is powered on and commands are sent to it. The pressure and torque signals sent by the pressure sensor (7) and torque sensor (9) to the industrial control computer (13) are observed. At the same time, the dynamic performance of the servo motor (2) under the current bending moment-torque loading condition is judged by combining the angle curve of the rudder wing (3) at the current real-time position fed back by the servo motor (2).

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