Recoverable rocket variable thrust simulation system

Abstract

The application discloses a recyclable rocket variable thrust simulation system. The recyclable rocket variable thrust simulation system comprises a driving assembly and a connecting rod mechanism. The driving assembly comprises a moving member, the moving member is capable of moving along the axial direction of a nozzle, the direction of the driving force output by the driving assembly passes through the pivot of the nozzle, the connecting rod mechanism comprises a first connecting rod, a connecting beam and a second connecting rod, the first connecting rod is connected to the moving member, the connecting beam is hinged to the first connecting rod, one end of the second connecting rod is hinged to the connecting beam, and the other end of the second connecting rod is directly hinged to the nozzle. According to the recyclable rocket variable thrust simulation system, the variable thrust generated by a rocket engine can be simulated, the driving force is transmitted to the nozzle through the connecting rod mechanism, the loading force of the driving assembly passes through the pivot, and no additional torque is generated.

Description

Technical Field

[0001] This application relates to the field of rocket technology, and more particularly to a variable thrust simulation system for reusable rockets. Background Technology

[0002] Launch vehicles typically consist of multi-stage engines. To reduce launch costs and improve the reusability of liquid rocket engines, reusable liquid rocket technology has become a hot research topic in the aerospace field. The main components for rocket recovery include reusable engines, grid fins, and servo mechanisms responsible for attitude control during the recovery phase. These servo mechanisms adjust the engine's deflection angle to ensure the recovered rocket lands smoothly on a predetermined trajectory. Therefore, the performance of the servo mechanism is closely related to the success of rocket recovery. Installing servo mechanisms on the rocket engine nozzle allows for nozzle oscillation control. Generally, two servo mechanisms are installed on the engine nozzle, arranged perpendicularly to each other on the side of the engine, enabling the nozzle to oscillate in a full circumference, thus achieving thrust vector control of the rocket's automatic control system. It is evident that the performance of the servo mechanism system largely determines the rocket's flight attitude. During flight, the loads overcome by the servo mechanism driving the engine oscillation mainly include inertial loads, elastic torque loads, frictional torque loads, and aerodynamic composite torque loads. The frictional torque is the torque generated by the friction between the engine and the constant-pressure seat on the frame during the oscillation process.

[0003] Existing technologies, such as the high-thrust double-pendulum engine thrust simulation test device disclosed in publication number CN105388014A, such as Figure 1 As shown, the system includes two load-bearing lugs 2, an engine frame 3, a base 5, a swing cross shaft 6, a constant level seat 7, two steel wire ropes 10, a connecting block 11, a first pin 14, a first joint bolt 15, an adjusting rod 17, a second joint bolt 18, a second pin 20, a third pin 21, a lever 22, and a loading hydraulic cylinder 23. The steel wire ropes are threaded at both ends; the upper end of the steel wire rope is threaded to the load-bearing lug, and the lower end is threaded to the connecting block. The two steel wire ropes, the connecting block, and the engine form a flexible four-bar linkage, which, together with the adjusting rod, forms the loading mechanism. Existing systems use two threaded steel wire ropes to connect the engine body to the loading connecting block, utilizing the deformation of the steel wire ropes to adapt to the engine's bidirectional swing. Existing systems also employ a lever mechanism to achieve constant thrust loading, achieving a 70T thrust load with relatively low hydraulic pressure; the structure is simple and reliable.

[0004] In existing technologies, thrust simulation loading mechanisms consist of a flexible four-bar linkage composed of two steel wire ropes and an engine. While transmitting axial loads, the two steel wires also adapt to the engine's bidirectional oscillations through their flexibility. However, there are several drawbacks: 1. During engine oscillation, the deflection of the steel wire ropes themselves introduces positional torque interference to the engine, affecting loading accuracy; 2. Due to the low axial stiffness of the steel wire ropes, the dynamic response to axial loading is poor, making it difficult to adapt to highly dynamic loading conditions; 3. Because the entire loading system is an open-loop system, it cannot adapt to variable thrust loading following the load spectrum under hardware-in-the-loop simulation conditions. Summary of the Invention

[0005] The summary of this application introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] According to a first aspect of this application, a reusable rocket variable thrust simulation system is provided, the reusable rocket variable thrust simulation system comprising:

[0007] A drive assembly, the drive assembly including a movable member, the movable member being movable along the axial direction of the nozzle, the direction of the driving force output by the drive assembly passing through the pivot of the nozzle;

[0008] Linkage mechanism, the linkage mechanism comprising:

[0009] A first link, which is connected to the moving member;

[0010] A connecting beam, which is hinged to the first connecting rod; and

[0011] The second link has one end hinged to the connecting beam and the other end directly hinged to the nozzle;

[0012] The driving force output by the drive assembly is used to simulate the variable thrust generated by a rocket engine, and the driving force is transmitted to the nozzle via the linkage mechanism.

[0013] According to the reusable rocket variable thrust simulation system of this application, the system includes a drive assembly and a linkage mechanism. The drive assembly includes a movable component that can move along the axial direction of the nozzle. The direction of the driving force output by the drive assembly passes through the pendulum of the nozzle. The linkage mechanism includes a first link, a connecting beam, and a second link. The first link is connected to the movable component, the connecting beam is hinged to the first link, one end of the second link is hinged to the connecting beam, and the other end of the second link is directly hinged to the nozzle. The driving force output by the drive assembly is used to simulate the variable thrust generated by the rocket engine, and the driving force is transmitted to the nozzle via the linkage mechanism. Thus, the driving force output by the drive assembly of the reusable rocket variable thrust simulation system can simulate the variable thrust generated by the rocket engine, and the driving force is transmitted to the nozzle via the linkage mechanism. Because the thrust generated by fuel combustion in the engine passes through the pendulum in actual operation, the loading force of the drive assembly passes through the pendulum and does not generate additional torque.

[0014] Optionally, one end of the first connecting rod is connected to the moving member, and the other end of the first connecting rod is hinged to the connecting beam, with the hinge axis of the first connecting rod perpendicular to the axial direction of the nozzle.

[0015] Optionally, one end of the second connecting rod can swing around a first swing axis, and the other end of the second connecting rod can swing around a second swing axis. The first swing axis is perpendicular to the axial direction of the nozzle, and the second swing axis is perpendicular to the first swing axis.

[0016] Optionally, the linkage mechanism includes at least two second links, which are arranged at intervals along a second swing axis. One end of each of the at least two second links is hinged to the connecting beam, and the other end of each of the at least two second links is directly hinged to the nozzle. The second swing axis is perpendicular to the axial direction of the nozzle.

[0017] Optionally, the first link is located between the two second links along the second swing axis.

[0018] Optionally, the other ends of both second links are connected to the nozzle, and the centers of the other ends of the two second links are connected to form a second swing axis, with the swing center of the nozzle located on the second swing axis.

[0019] Optionally, the connecting beam includes at least two receiving cavities, each containing a hinge shaft. The first connecting rod is hinged to the hinge shaft in one of the receiving cavities, and the second connecting rod is hinged to the hinge shaft in the other receiving cavity.

[0020] Optionally, the connecting beam swings between a balanced position and an inclined position, and the connecting beam includes a first receiving cavity.

[0021] The wall of the first receiving cavity of the connecting beam, located in the equilibrium position, is spaced apart from the first connecting rod.

[0022] The wall of the first receiving cavity of the connecting beam, which is located in an inclined position, can abut against the first connecting rod.

[0023] Optionally, the second link swings between an upright position and a swinging position, and the connecting beam includes a second receiving cavity.

[0024] The second connecting rod, located in the upright position, is spaced apart from the cavity wall of the second receiving cavity.

[0025] The second connecting rod, located in the swing position, abuts against the wall of the second receiving cavity.

[0026] Optionally, the reusable rocket variable thrust simulation system further includes a force sensor, and the drive assembly is connected to the linkage mechanism via the force sensor.

[0027] Optionally, the reusable rocket variable thrust simulation system further includes a lever assembly, the drive assembly being connected to the linkage mechanism via the lever assembly, the lever assembly including a support and a lever, the lever being hinged to the support, and both the drive assembly and the linkage mechanism being connected to the lever.

[0028] Optionally, the lever includes:

[0029] The first hinge end is hinged to the support;

[0030] The free end, the moving member applies a force to the free end; and

[0031] The second hinge end is located between the first hinge end and the free end, and the first connecting rod is hinged to the second hinge end.

[0032] Optionally, the reusable rocket variable thrust simulation system further includes a force sensor. The first connecting rod includes a first adapter rod and a second adapter rod. The force sensor is disposed between the first adapter rod and the second adapter rod. The first adapter rod is hinged to the second hinge end, and the second adapter rod is hinged to the connecting beam. Attached Figure Description

[0033] The following figures are included as part of this application for understanding the application. The figures illustrate embodiments of the application and their descriptions, explaining the apparatus and principles of the application. In the figures,

[0034] Figure 1 A schematic diagram of the existing high-thrust dual-pendulum engine thrust simulation test device;

[0035] Figure 2 This is a partial three-dimensional schematic diagram of a reusable rocket variable thrust simulation system according to a preferred embodiment of this application;

[0036] Figure 3 for Figure 2 Another three-dimensional schematic diagram of a partial part of the reusable rocket variable thrust simulation system shown;

[0037] Figure 4 for Figure 2 A partial front view schematic diagram of a reusable rocket variable thrust simulation system;

[0038] Figure 5 for Figure 2 A partial top view of a simulated system for a reusable rocket with variable thrust, as shown.

[0039] Figure 6 This is a partial perspective view of a reusable rocket variable thrust simulation system according to another preferred embodiment of this application;

[0040] Figure 7 for Figure 6 Another three-dimensional schematic diagram of a partial part of the reusable rocket variable thrust simulation system shown;

[0041] Figure 8 for Figure 6 A partial side view of a simulated system for a reusable rocket with variable thrust, as shown.

[0042] Figure 9 for Figure 6 A partial top view of a simulated system for a reusable rocket with variable thrust, as shown.

[0043] Figure 10 for Figure 6 The diagram shows a partial force diagram of a simulated system for a reusable rocket with variable thrust.

[0044] Figure 11 This is a front view schematic diagram of a reusable rocket variable thrust simulation system according to a preferred embodiment of this application;

[0045] Figure 12 for Figure 11 The diagram shows the right view of the second link; and

[0046] Figure 13 This is a front view schematic diagram of a reusable rocket variable thrust simulation system according to a preferred embodiment of this application, wherein the nozzle is oscillating.

[0047] Explanation of reference numerals in the attached figures:

[0048] 100: Reusable rocket variable thrust simulation system 101: Nozzle

[0049] 102: Thrust chamber; 103: First axial loading system

[0050] 104: Second axial loading system; 110: Drive assembly

[0051] 111: Moving component; 120: Linkage mechanism

[0052] 121: First link 122: Second link

[0053] 123: Connecting beam; 124: One end of the second connecting rod

[0054] 125: The other end of the second link; 126: One end of the first link.

[0055] 127: The other end of the first connecting rod; 128: The first receiving cavity.

[0056] 129: Second cavity; 130: Third cavity

[0057] 131: First adapter rod; 132: Second adapter rod

[0058] 141: First joint bearing; 142: Second joint bearing

[0059] 143: Third joint bearing; 144: Fourth joint bearing

[0060] 145: Fifth joint bearing; 146: Sixth joint bearing

[0061] 147: First hinge axis; 148: Second hinge axis

[0062] 149: Third hinge axis; 150: Force sensor

[0063] 151: Flange; 160: Lever assembly

[0064] 161: Support 162: Lever

[0065] 163: First hinge end; 164: Second hinge end

[0066] 165: Free End Detailed Implementation

[0067] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0068] To fully understand this application, detailed descriptions will be provided below to illustrate it. Obviously, implementation of this application is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of this application are described in detail below; however, other embodiments may exist besides these detailed descriptions and should not be construed as being limited to the embodiments set forth herein.

[0069] It should be understood that the terminology used herein is intended only to describe particular embodiments and is not intended to limit the scope of this application. The singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. When the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof. The terms “upper,” “lower,” “front,” “rear,” “left,” “right,” and similar expressions used in this application are for illustrative purposes only and are not intended to be limiting.

[0070] The ordinal numbers such as "first" and "second" used in this application are merely identifiers and have no other meaning, such as a specific order. In this application, unless otherwise expressly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of a second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of a second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0071] The specific embodiments of this application will be described in more detail below with reference to the accompanying drawings, which illustrate representative embodiments of this application and are not intended to limit this application.

[0072] Figure 11This application illustrates a preferred embodiment of a reusable rocket variable thrust simulation system 100, capable of simulating the actual operation of a rocket engine nozzle 101 during oscillation. The reusable rocket variable thrust simulation system 100 includes an engine with a nozzle 101 located at the engine's end for releasing gas. The system also includes a frame and a leveling seat connected to the frame. The frame primarily provides a basic experimental platform for the engine and supports it. The leveling seat is connected to the nozzle 101. The nozzle 101 is movably connected to the frame via the leveling seat. The system also includes a thrust chamber 102 located between the nozzle 101 and the leveling seat. In this application, the structure of the leveling seat is similar to existing leveling seat structures, and will not be described in detail in this embodiment.

[0073] like Figures 2 to 5 As shown, the reusable rocket variable thrust simulation system 100 also includes a first axial loading system 103. The first axial loading system 103 can apply a force along the axial direction Z of the nozzle 101, thereby simulating the axial force on the nozzle 101 under real-world conditions. When the engine operates in real-world conditions, fuel combustion in the engine can apply a force to the nozzle 101. During actual fuel combustion, the generated gas is discharged from the larger portion of the nozzle. For example, in... Figure 11 In the embodiment shown, the direction of the variable thrust is vertically upward on the page. Of course, the direction of the variable thrust can also be adjusted according to the position of the nozzle 101. The direction of the variable thrust is parallel to the axial direction of the nozzle 101, and the variable thrust is directed towards the larger part of the nozzle 101.

[0074] The first axial loading system 103 includes a drive assembly 110 and a linkage mechanism 120. The drive assembly 110 is connected to the nozzle 101 via the linkage mechanism 120. The drive assembly 110 outputs driving force, which is transmitted to the nozzle 101 through the linkage mechanism 120. Since the energy generated by the fuel during actual combustion varies, the force exerted by the fuel on the nozzle 101 is variable. The magnitude of the driving force output by the drive assembly 110 is also variable. For example, the drive assembly may have a servo loading channel capable of outputting a variable driving force.

[0075] The nozzle 101 includes an axial end located at the end of the nozzle 101 in the axial direction Z. The axial end faces the first axial loading system 103 along the axial direction Z of the nozzle 101. The axial end includes a lug extending along the axial direction Z of the nozzle 101. The length direction of the lug is parallel to the axial direction Z of the nozzle 101.

[0076] To enable the nozzle 101 to swing in a realistic manner, the reusable rocket variable thrust simulation system 100 requires a servo mechanism and a loading channel (not shown in the figure). The servo mechanism is connected to the nozzle 101 and drives the nozzle 101 to swing to a predetermined position, controlling its position. The loading channel outputs a loading force to push the nozzle 101 to swing, controlling its torque. The nozzle 101 includes an outer peripheral surface facing outwards. The outer peripheral surface faces outwards along the radial direction of the nozzle 101. The servo mechanism is connected to the outer peripheral surface of the nozzle 101. The servo mechanism includes an output component capable of outputting a driving force. The output component is connected to the outer peripheral surface of the nozzle 101. The driving force output by the output component acts on the outer peripheral surface of the nozzle 101, enabling the nozzle 101 to move along its radial direction. In particular, it enables the nozzle 101 to swing along its radial direction, thereby causing the lugs to swing along the radial direction of the nozzle 101. In this way, the movement of the nozzle 101 of a reusable rocket under actual conditions can be simulated.

[0077] To simulate the influence of other structures (such as the frame) on the nozzle 101 during actual movement, the reusable rocket variable thrust simulation system 100 also includes a drive assembly 110 capable of outputting driving force. The drive assembly 110 is constructed as a servo cylinder. The servo cylinder has a servo loading channel. The drive assembly 110 includes a moving member capable of moving along the axial direction Z of the nozzle 101. The moving member is disposed inside the cylinder of the servo cylinder. The moving member is constructed as a piston rod. The drive assembly 110 also includes a base connected to the frame. The base is connected to the frame via a connector. The base is fixed to the frame.

[0078] The drive assembly 110 is capable of applying a force along the axial direction Z of the nozzle 101 to the nozzle 101. Preferably, the drive assembly 110 is capable of applying a tensile force along the axial direction Z of the nozzle 101 to the connecting beam 123. The moving member is connected to the nozzle 101 via a linkage mechanism 120. The moving member is capable of applying a tensile force along the axial direction Z of the nozzle 101 to the connecting beam 123. The lug is connected to the linkage mechanism 120. The drive assembly 110 is connected to the lug via the linkage mechanism 120. The moving member is connected to the lug via the linkage mechanism 120. Movement of the moving member can apply a force to the lug via the linkage mechanism 120, thereby applying a force to the nozzle 101.

[0079] The linkage mechanism 120 includes a first link 121, a second link 122, and a connecting beam 123. The first link 121 is connected to the second link 122 via the connecting beam 123. The first link 121 is constructed as a rod. The second link 122 is constructed as a rod. The connecting beam 123 is constructed as a cuboid. The first link 121 is hinged to the connecting beam 123. The second link 122 is hinged to the connecting beam 123. The first link 121 is closer to the drive assembly 110 than the second link 122 along the axial direction Z of the nozzle 101. The first link 121 is connected to the drive assembly 110. The first link 121 is connected to a moving member. The axial direction of the first link 121 is parallel to the axial direction Z of the nozzle 101. One end of the first link 121 along the axial direction Z of the nozzle 101 is connected to the moving member. The moving member can apply a force to the first link 121.

[0080] The connecting beam 123 is connected to the other end 127 of the first connecting rod 121. The connecting beam 123 is connected to the other end 127 of the first connecting rod 121 along the axial direction Z of the nozzle 101. The connecting beam 123 is hinged to the other end 127 of the first connecting rod 121. The first connecting rod 121 can transmit force to the connecting beam 123. The connecting beam 123 and the first connecting rod 121 are movably connected. The connecting beam 123 and the first connecting rod 121 have good degrees of freedom, allowing the connecting beam 123 to swing flexibly.

[0081] The first connecting rod 121 and the second connecting rod 122 are located on opposite sides of the connecting beam 123 along the axial direction Z of the nozzle 101. One end 124 of the second connecting rod 122 is hinged to the connecting beam 123. Movement of the second connecting rod 122 can move the connecting beam 123. The connecting beam 123 and the second connecting rod 122 are movably connected. The connecting beam 123 and the second connecting rod 122 have good degrees of freedom, allowing for flexible swinging.

[0082] The other end 125 of the second connecting rod 122 is hinged to the nozzle 101. The other end of the second connecting rod 122 along the axial direction Z of the nozzle 101 is also hinged to the nozzle 101. Movement of the nozzle 101 can drive movement of the second connecting rod 122. The nozzle 101 and the second connecting rod 122 are movably connected. The nozzle 101 and the second connecting rod 122 have good degrees of freedom, allowing for flexible swinging.

[0083] The linkage mechanism 120 is hinged to the nozzle 101, and the second linkage 122 swings with the nozzle 101. The force exerted by the moving component along the axial direction Z of the nozzle 101 is transmitted to the nozzle 101 through the linkage mechanism 120, thereby realizing the loading of simulated engine thrust and replicating the real effect of the engine nozzle 101 swing on the simulation device.

[0084] According to the reusable rocket variable thrust simulation system 100 of this application, the reusable rocket variable thrust simulation system 100 includes a drive assembly 110 and a linkage mechanism 120. The drive assembly 110 includes a movable member that can move along the axial direction of the nozzle 101. The linkage mechanism 120 includes a first link 121, a connecting beam 123 and a second link 122. The first link 121 is connected to the movable member. The connecting beam 123 is hinged to the first link 121. One end of the second link 122 is hinged to the connecting beam 123 and the other end of the second link 122 is directly hinged to the nozzle 101. The driving force output by the drive assembly 110 is used to simulate the variable thrust generated by the rocket engine. The driving force is transmitted to the nozzle 101 through the linkage mechanism 120. In this way, the direction of the driving force output by the drive component 110 of the reusable rocket variable thrust simulation system 100 passes through the pivot of the nozzle 101. The pivot of the nozzle 101 is the intersection of the nozzle axis and the rotation axis. Since the thrust generated by fuel combustion in the engine passes through the pivot in actual operation, the driving force output by the drive component 110 passes through the pivot and will not generate additional torque.

[0085] More specifically, the first link 121 and the second link 122 are made of steel. When steel is used in the loading system, it does not directly generate excess torque, and its effect is significantly better than that of steel wire rope.

[0086] More specifically, one end 126 of the first link 121 is connected to the drive assembly 110. For example... Figures 2 to 5In the illustrated embodiment, one end 126 of the first connecting rod 121 can be connected to the moving member via a connector. One end 126 of the first connecting rod 121 is rigidly connected to the moving member. Preferably, the axial direction of the first connecting rod 121 is parallel to the axial direction of the moving member. The axial direction of the first connecting rod 121 is parallel to the axial direction Z of the nozzle 101. The other end 127 of the first connecting rod 121 is connected to the connecting beam 123. The other end 127 of the first connecting rod 121 is hinged to the connecting beam 123. The hinge axis of the first connecting rod 121 is perpendicular to the axial direction Z of the nozzle 101. Preferably, the hinge axis of the first connecting rod 121 is perpendicular to the axial direction Z of the nozzle 101. The connecting beam 123 swings relative to the first connecting rod 121. In this embodiment, "perpendicular" includes not only perpendicular relationships on the same plane but also perpendicular relationships in space. For example, the hinge axis of the first link 121 and the axial direction Z of the nozzle 101 are located on different planes, and the projected line of the hinge axis of the first link 121 is perpendicular to the projected line of the axial direction Z of the nozzle 101.

[0087] More specifically, such as Figure 11 As shown, the first connecting rod 121 includes a first spherical bearing 141, located at the other end 127 of the first connecting rod 121. The axial direction of the first spherical bearing 141 is parallel to the hinge axis of the first connecting rod 121. The first spherical bearing 141 is hinged to the connecting beam 123. Preferably, the first spherical bearing 141 is centrally hinged to the connecting beam 123. This allows the connecting beam 123 to swing relative to the first spherical bearing 141, while the first spherical bearing 141 does not swing relative to the moving member, thus avoiding causing the moving member to swing. The moving member can move along the axial direction Z of the nozzle 101, thereby causing the first spherical bearing 141 to apply a force along the axial direction Z of the nozzle 101 to the connecting beam 123. Preferably, the first spherical bearing 141 can apply a tensile force along the axial direction Z of the nozzle 101 to the connecting beam 123.

[0088] The two ends of the second connecting rod 122 are hinged to the connecting beam 123 and the nozzle 101, respectively. The second connecting rod 122 swings as the nozzle 101 swings. The second connecting rod 122 can also drive the connecting beam 123 to swing. Specifically, one end 124 of the second connecting rod 122 can swing around the first swing axis X. The first swing axis X is parallel to the hinge axis of the first connecting rod 121. The first swing axis X is perpendicular to the axial direction Z of the nozzle 101. The first swing axis X is parallel to the first radial direction of the nozzle 101.

[0089] The other end 125 of the second link 122 can swing around the second swing axis Y. The second swing axis Y is perpendicular to the first swing axis X. The second swing axis Y is perpendicular to the hinge axis of the first link 121. The second swing axis Y is parallel to the second radial direction of the nozzle 101. Preferably, the second swing axis Y is perpendicular to the first swing axis X. The second swing axis Y is perpendicular to the hinge axis of the first link 121. The second swing axis Y is perpendicular to the axial direction Z of the nozzle 101. In this way, the second link 122 can swing around both the first swing axis X and the second swing axis Y. For example, the second link 122 can swing both in the left-right direction and in the front-back direction.

[0090] To balance the forces, the linkage mechanism 120 includes at least two second links 122, which are spaced apart along the first swing axis X. One end of each of the at least two second links 122 is hinged to the connecting beam 123. The other end of each of the at least two second links 122 is directly hinged to the nozzle 101. Thus, the swing of the nozzle 101 can be transmitted to the connecting beam 123 through the at least two second links 122, thereby causing the connecting beam 123 to swing.

[0091] exist Figures 2 to 5 In the illustrated embodiment, the linkage 120 includes two second links 122, which are spaced apart along the second swing axis Y. Of course, in embodiments not shown, the linkage 120 may also include a greater number of second links 122, such as three, four, or more, which are spaced apart along the first swing axis X. Preferably, the number of second links 122 can be even, thereby balancing the forces.

[0092] The first link 121 is located between the two second links 122 along the second swing axis Y. The other end 127 of the first link 121 is located between one end 124 of each of the two second links 122 along the second swing axis Y. This ensures that the first link 121 has good parallelism and stability. Preferably, the first link 121 is located in the middle of the two second links 122 along the second swing axis Y. The distance between the first link 121 and each of the two second links 122 along the second swing axis Y is equal.

[0093] Combination Figure 11 and Figure 12As shown, one second link 122 includes a second joint bearing 142 and a fourth joint bearing 144. The second joint bearing 142 is located at one end 124 of the second link 122, and the fourth joint bearing 144 is located at the other end 125 of the other second link 122. The other second link 122 includes a third joint bearing 143 and a fifth joint bearing 145. The third joint bearing 143 is located at one end 124 of the other second link 122, and the fifth joint bearing 145 is located at the other end 125 of the other second link 122.

[0094] The second joint bearing 142 is hinged to the connecting beam 123. The third joint bearing 143 is hinged to the connecting beam 123. The axial direction of the second joint bearing 142 is parallel to the axial direction of the third joint bearing 143. The hinge axis of the second joint bearing 142 is parallel to the hinge axis of the third joint bearing 143. The hinge axis of the second joint bearing 142 is parallel to the hinge axis of the first joint bearing 141. The hinge axis of the third joint bearing 143 is parallel to the hinge axis of the first joint bearing 141.

[0095] Combination Figure 13 As shown, the nozzle 101 is capable of swinging about a first swing axis X. A loading channel (not shown) applies a force to the nozzle 101 along a second swing axis Y. The second swing axis Y is perpendicular to the first swing axis X. The force acts on the outer peripheral surface of the nozzle 101, causing the nozzle 101 to swing about the first swing axis X. The nozzle 101 drives a second connecting rod 122 to swing. A lug of the nozzle 101 drives a second connecting rod 122 to swing. Thus, a second joint bearing 142 of the second connecting rod 122 can swing about the first swing axis X. This allows the second joint bearing 142 to swing relative to the connecting beam 123, thereby allowing the connecting beam 123 to swing relative to the first joint bearing 141. The first joint bearing 141 does not swing relative to the moving member, avoiding causing the moving member to swing. An inclined angle is formed between the second connecting rod 122 and the connecting beam 123.

[0096] Similarly, the nozzle 101 drives another second link 122 to swing. Another lug of the nozzle 101 drives another second link 122 to swing. Thus, the third joint bearing 143 of the other second link 122 can swing around the first swing axis X. This allows the third joint bearing 143 to swing relative to the connecting beam 123, thereby allowing the connecting beam 123 to swing relative to the first joint bearing 141. The first joint bearing 141 does not swing relative to the moving member, preventing the moving member from swinging. One end 124 of the two second links 122 is located at different heights along the axial direction Z of the nozzle 101. One end 124 of one second link 122 is higher than one end 124 of the other second link 122 along the axial direction Z of the nozzle 101.

[0097] The fourth joint bearing 144 is hinged to the nozzle 101. The fifth joint bearing 145 is hinged to the nozzle 101. The axial direction of the fourth joint bearing 144 is parallel to the axial direction of the fifth joint bearing 145. The hinge axis of the fourth joint bearing 144 is parallel to the hinge axis of the fifth joint bearing 145. The hinge axis of the fourth joint bearing 144 is perpendicular to the hinge axis of the first joint bearing 141. The hinge axis of the fifth joint bearing 145 is perpendicular to the hinge axis of the first joint bearing 141.

[0098] The nozzle 101 is also capable of oscillating about a second oscillating axis Y. A loading channel (not shown) applies a force to the nozzle 101 along a first oscillating axis X. The force acts on the outer peripheral surface of the nozzle 101, causing the nozzle 101 to oscillate about the second oscillating axis Y. The nozzle 101 drives a second connecting rod 122 to oscillate. A lug of the nozzle 101 drives a second connecting rod 122 to oscillate. Thus, a fourth joint bearing 144 of the second connecting rod 122 can oscillate about the second oscillating axis Y. This allows the fourth joint bearing 144 to oscillate relative to the nozzle 101, thereby allowing the nozzle 101 to oscillate relative to a first joint bearing 141, which does not oscillate relative to the moving member, thus avoiding causing the moving member to oscillate. An inclined angle is formed between the second connecting rod 122 and the lug.

[0099] Similarly, the nozzle 101 drives another second link 122 to swing. Another lug of the nozzle 101 drives another second link 122 to swing. In this way, the fifth joint bearing 145 of the other second link 122 can swing around the second swing axis Y. Thus, the fifth joint bearing 145 can swing relative to the nozzle 101, thereby allowing the nozzle 101 to swing relative to the first joint bearing 141, while the first joint bearing 141 does not swing relative to the moving member, thus avoiding driving the moving member to swing.

[0100] The other ends 125 of both second connecting rods 122 are connected to the nozzle 101. The centers of the other ends 125 of the two second connecting rods 122 are connected to form a second swing axis Y. Specifically, the centers of the fourth joint bearing 144 and the fifth joint bearing 145 are connected to form the second swing axis Y. The swing center O of the nozzle 101 is located on the second swing axis Y.

[0101] To prevent excessive swinging of the first link 121, the connecting beam 123 limits the swing amplitude of the first link 121. Specifically, the connecting beam 123 includes at least two receiving cavities, one of which accommodates the other end 127 of the first link 121. A hinge shaft is disposed in the receiving cavity. The axial direction of the hinge shaft is parallel to the first swing axis X. The first link 121 is hinged to the hinge shaft in one of the receiving cavities. One receiving cavity can limit the swing amplitude of the first link 121.

[0102] Specifically, such as Figure 3 As shown, the connecting beam 123 includes a first receiving cavity 128, which houses the other end 127 of the first connecting rod 121. The other end 127 of the first connecting rod 121 is located in the first receiving cavity 128. A first spherical bearing 141 is located in the first receiving cavity 128. The first receiving cavity 128 opens toward the first connecting rod 121. The first connecting rod 121 extends from the first receiving cavity 128 along the axial direction Z of the nozzle 101 toward the moving member. A first hinge shaft 147 is provided in the first receiving cavity 128. The axial direction of the first hinge shaft 147 is parallel to the first swing axis X. The first connecting rod 121 is hinged to the first hinge shaft 147. The first spherical bearing 141 is hinged to the first hinge shaft 147.

[0103] To prevent excessive swinging of the second link 122, the connecting beam 123 also limits the swing amplitude of the second link 122. At least one of the two receiving cavities accommodates one end 124 of the second link 122. The second link 122 is hinged to a hinge shaft in the other receiving cavity. The other receiving cavity limits the swing amplitude of the second link 122. The number of receiving cavities in the connecting beam 123 can be adjusted according to the number of the first link 121 and the second link 122; the number of receiving cavities can be four, five, or more, and this embodiment is not limited to this.

[0104] Specifically, the connecting beam 123 includes a second receiving cavity 129, which houses the other end 125 of a second connecting rod 122. The other end 125 of the second connecting rod 122 is located within the second receiving cavity 129. A second spherical bearing 142 is located within the second receiving cavity 129. The second receiving cavity 129 opens toward the second connecting rod 122. The second connecting rod 122 extends from the second receiving cavity 129 along the axial direction Z of the nozzle 101 toward the nozzle 101. A second hinge shaft 148 is disposed within the second receiving cavity 129. The axial direction of the second hinge shaft 148 is parallel to the first swing axis X. The second connecting rod 122 is hinged to the second hinge shaft 148. The second spherical bearing 142 is hinged to the second hinge shaft 148.

[0105] The connecting beam 123 includes a third receiving cavity 130, which receives the other end 125 of another second connecting rod 122. The other end 125 of the other second connecting rod 122 is located within the third receiving cavity 130. A third joint bearing 143 is located within the third receiving cavity 130. The third receiving cavity 130 opens toward the other second connecting rod 122. The other second connecting rod 122 extends from the third receiving cavity 130 along the axial direction Z of the nozzle 101 toward the nozzle 101. A third hinge shaft 149 is disposed within the third receiving cavity 130. The axial direction of the third hinge shaft 149 is parallel to the first swing axis X. The other second connecting rod 122 is hinged to the third hinge shaft 149. The third joint bearing 143 is hinged to the third hinge shaft 149.

[0106] Furthermore, the connecting beam 123 swings between a balanced position and an inclined position. The connecting beam 123 in the balanced position can move to the inclined position. The connecting beam 123 in the inclined position can move to the balanced position. For example... Figure 4 As shown, the connecting beam 123, located at the equilibrium position, is arranged perpendicularly between itself and the first connecting rod 121. The cavity wall of the first receiving cavity 128 of the connecting beam 123, located at the equilibrium position, is spaced apart from the first connecting rod 121. In particular, the cavity wall of the first receiving cavity 128 of the connecting beam 123, located at the equilibrium position, is spaced apart from the first joint bearing 141.

[0107] The connecting beam 123, located at an inclined position, forms an inclined angle with the first connecting rod 121. The cavity wall of the first receiving cavity 128 of the connecting beam 123, located at an inclined position, can abut against the first connecting rod 121. In this way, the first connecting rod 121 can limit the swing amplitude of the connecting beam 123, preventing the connecting beam 123 from swinging excessively, thereby limiting the swing amplitude of the second connecting rod 122, and further limiting the swing amplitude of the nozzle 101.

[0108] The second link 122 swings between an upright position and a swinging position. The second link 122 swings about a first swing axis X between the upright and swinging positions. The second link 122 in the upright position can move to the swinging position. The second link 122 in the swinging position can move to the upright position. The second link 122 in the upright position is arranged perpendicularly to the connecting beam 123. The cavity wall of the second receiving cavity 129 of the second link 122 in the upright position is spaced apart from the second link 122. In particular, the cavity wall of the second receiving cavity 129 of the second link 122 in the upright position is spaced apart from the second joint bearing 142. The second link 122 in the swinging position forms an inclined angle with the connecting beam 123. The second link 122 in the swinging position abuts against the cavity wall of the second receiving cavity 129. Thus, the connecting beam 123 can limit the swing amplitude of the second link 122, preventing excessive swing of the second link 122, thereby limiting the swing amplitude of the nozzle 101.

[0109] As an optional implementation, the reusable rocket variable thrust simulation system 100 also includes a force sensor 150, through which the drive assembly 110 is connected to the linkage mechanism 120. Figures 2 to 5 In the illustrated embodiment, the moving member is connected to the first connecting rod 121 via a force sensor 150. The force sensor 150 is located between the moving member and the first connecting rod 121 along the axial direction Z of the nozzle 101. The force sensor 150 and the moving member are coaxially arranged. Thus, the force sensor 150 detects the force output by the servo cylinder in real time and transmits the force to the connecting rod mechanism 120 and the engine. Preferably, the recoverable variable thrust simulation system further includes a flange 151 through which the force sensor 150 is connected to the moving member. This allows for accurate detection of the applied force.

[0110] Force sensor 150 is located between linkage mechanism 120 and servo loading channel. The piston rod of the servo loading channel generates tension due to the pressure difference between the two chambers inside the servo cylinder. The tension is measured by force sensor 150 and transmitted to linkage mechanism 120. The loading of the first axial loading system 103 is achieved by fixing the moving component of the servo cylinder to the base via flange 151. The pressure of the high-pressure chamber of the loading channel is controlled by a closed-loop system formed between force sensor 150 and the moving component, thereby controlling the tension of linkage mechanism 120 and ultimately loading the engine nozzle 101. Optionally, drive assembly 110 also includes a servo valve, which is used to control the pressure of the loading channel in the servo cylinder. In this way, by controlling the pressure, the movement of the moving component is controlled, thereby controlling the tension of linkage mechanism 120 and ultimately loading the engine nozzle 101.

[0111] Force sensor 150 can collect the tension applied to linkage mechanism 120 by servo loading channel in real time. The tension feedback signal collected by force sensor 150 is processed by the control system to generate control commands for servo loading channel. The control system adjusts the pressure difference between the two chambers inside servo loading channel, thereby controlling the tension of servo loading channel on linkage mechanism 120, and completing closed-loop control of servo loading channel.

[0112] Figures 6 to 10Another preferred embodiment of the reusable rocket variable thrust simulation system 100 of this application is shown. The reusable rocket variable thrust simulation system 100 includes a second axial loading system 104, which can apply a force along the axial direction Z of the nozzle 101, thereby simulating the axial force on the nozzle 101 under real conditions. The structure of the second axial loading system 104 is similar to that of the first axial loading system 103, and the similarities will not be described again. The difference is that the second axial loading system 104 also includes a lever assembly 160, and the drive assembly 110 is connected to the linkage mechanism 120 through the lever assembly 160.

[0113] The reusable rocket variable thrust simulation system 100 also includes a lever assembly 160, through which the drive assembly 110 is connected to the linkage mechanism 120. The lever assembly 160 includes a support 161 and a lever 162, with the lever 162 hinged to the support 161. The support 161 is constructed as part of the frame and is connected to the frame. The support 161 is connected to the frame via a connector, such as a bolt. Both the drive assembly 110 and the linkage mechanism 120 are connected to the lever 162. The force output by the drive assembly 110 is transmitted to the linkage mechanism 120 via the lever 162, and then to the nozzle 101 via the linkage mechanism 120.

[0114] Specifically, lever 162 includes a first hinged end 163, a second hinged end 164, and a free end 165, with the second hinged end 164 located between the first hinged end 163 and the free end 165. The first hinged end 163 is hinged to a support 161. The first hinged end 163 is configured as a hinge axis. The axial direction of the first hinged end 163 is parallel to the second swing axis Y. The second hinged end 164 is also configured as a hinge axis. The axial direction of the second hinged end 164 is parallel to the second swing axis Y. The first hinged end 163 is rotatable relative to the support 161. The second hinged end 164 is hinged to a first connecting rod 121. The first connecting rod 121 is rotatable relative to lever 162. The drive assembly 110 also includes an earring connected to a moving member 111. The moving member 111 applies a force to the free end 165. The earring abuts against the surface of the free end 165. The moving member 111 applies a force to the free end 165 through the earring. The moving member 111 applies a force to the free end 165 in the axial direction Z of the nozzle 101, so that the free end 165 moves in the axial direction Z of the nozzle 101.

[0115] For example, the moving member 111 applies a force F1 to the free end 165 in a direction away from the nozzle 101. Under the action of the force F1, the free end 165 moves away from the nozzle 101 along the axial direction Z of the nozzle 101. The lever 162 applies a force F2 to the first connecting rod 121. The direction of the force F2 is parallel to the axial direction Z of the nozzle 101 and is away from the nozzle 101. Therefore, the first connecting rod 121 can apply a pulling force to the nozzle 101 in the axial direction Z of the nozzle 101.

[0116] The distance between the first hinge end 163 and the second hinge end 164 is L1, and the distance between the second hinge end 164 and the free end 165 is L2. The distance L2 between the second hinge end 164 and the free end 165 is greater than the distance L1 between the first hinge end 163 and the second hinge end 164. Therefore, the distance between the second hinge end 164 and the free end 165 is larger, and the force is transmitted to the second hinge end 164 through the larger lever arm of the lever 162. In this way, the drive assembly 110 can output a smaller driving force to meet the loading requirements applied to the engine.

[0117] Lever 162 moves downwards, pulling the linkage mechanism 120. The servo valve controls the high-pressure chamber pressure in the loading channel of the servo cylinder, thereby controlling the pulling force of the connecting rod mechanism and ultimately loading the nozzle 101. This reduces the requirements for the servo loading channel; a smaller loading force from the servo loading channel is sufficient.

[0118] Furthermore, such as Figure 8 As shown, the first connecting rod 121 includes a first adapter rod 131 and a second adapter rod 132, with a force sensor 150 disposed between the first adapter rod 131 and the second adapter rod 132. The first adapter rod 131 is hinged to a second hinge end 164. One end of the first adapter rod 131 is hinged to the second hinge end 164. The first adapter rod 131 includes a sixth joint bearing 146, located at one end of the first adapter rod 131. The axial direction of the sixth joint bearing 146 is parallel to the second swing axis Y. The lever 162 is rotatable relative to the first adapter rod 131 along the second swing axis Y. The lever 162 is also rotatable relative to the sixth joint bearing 146 along the second swing axis Y. The sixth joint bearing 146 can transmit force to the nozzle 101 to apply a pulling force to the nozzle 101 in the axial direction Z of the nozzle 101.

[0119] The other end of the first adapter rod 131 is connected to the force sensor 150. The other end of the first adapter rod 131 is connected to the force sensor 150 via a connector. The force sensor 150 can detect the force applied by the first adapter rod 131 and transmit the force to the second adapter rod 132. The second adapter rod 132 is hinged to the connecting beam 123. One end of the second adapter rod 132 is connected to the force sensor 150. One end of the second adapter rod 132 is connected to the force sensor 150 via a connector. The first connecting rod 121 also includes an adjusting screw located at one end of the second adapter rod 132. One end of the second adapter rod 132 is connected to the force sensor 150 via the second adapter rod 132. The adjusting screw is connected to the force sensor 150 via a flange 151. The adjusting screw is connected to the flange 151 via a connector. The dimension of the adjusting screw along the axial direction Z of the nozzle 101 can be adjusted. The other end of the second adapter rod 132 is provided with a first spherical bearing 141. The connecting beam 123 can swing relative to the second transition rod 132.

[0120] In this way, the second adapter rod 132 and the flange 151 can be connected by an adjusting screw, which facilitates the disassembly of the connecting rod mechanism. At the same time, the adjusting screw can adjust the distance between the second adapter rod 132 and the base. When under load, the end of the second adapter rod 132 deforms greatly. In order to avoid the deformation affecting the base, the distance between the second adapter rod 132 and the base needs to be increased.

[0121] like Figures 11 to 13 As shown, the reusable rocket variable thrust simulation system 100 requires two servo mechanisms, both connected to the nozzle 101. The two servo mechanisms are arranged vertically. Both servo mechanisms can apply a force to the nozzle 101, causing it to swing radially to a predetermined position. Thus, the engine has a double-pendulum structure with two degrees of freedom. The second connecting rod 122 can swing with the nozzle 101 at any angular position. The second connecting rod 122 can also drive the connecting beam 123 to swing.

[0122] Specifically, the second link 122 can swing around the first swing axis X, and the second link 122 can also swing around the second swing axis Y. The nozzle 101 at any angular position within the maximum swing angle range can be decomposed into the combination of two swing angles along the first swing axis X and the second swing axis Y.

[0123] like Figure 13 As shown, when the second link 122 swings around the first swing axis X, the first axial loading system 103 utilizes four spherical bearings, forming a parallelogram structure. The direction of the loading force passes through the pendulum center, and any swing around the first swing axis X does not generate additional torque. Figure 11 and Figure 12As shown, when the second link 122 swings around the second swing axis Y, the line connecting the other ends 125 of the two second links 122 coincides with the second swing axis Y. The swing center of the engine nozzle 101 is located at the second swing axis Y, and the direction of the loading force passes through the swing center. In this way, the nozzle 101 will not generate additional torque when swinging around the second swing axis Y. Therefore, the axial loading force is not disturbed by the engine swing motion, which improves the loading accuracy; the axial stiffness of the link mechanism 120 or the connecting rod mechanism is relatively high compared with the wire rope, and the dynamic response effect of axial loading is good, which can adapt to some high dynamic loading conditions; the entire loading system is equipped with a force sensor 150, which can adapt to the variable thrust loading that follows the load spectrum under semi-physical simulation conditions.

[0124] The reusable rocket variable thrust simulation system 100 of this application has high simulation accuracy and can adapt to highly dynamic loading conditions. It is a variable thrust simulation system that follows the load spectrum under semi-physical simulation conditions. The reusable rocket variable thrust simulation system 100 can simulate the variable thrust generated by the engine. The driving force is transmitted to the nozzle through the linkage mechanism. Because the thrust generated by fuel combustion in the engine passes through the pendulum in actual operation, the loading force of the drive component passes through the pendulum and will not generate additional torque.

[0125] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Terms such as “part” or “component” appearing herein can refer to a single part or a combination of multiple parts. Terms such as “installation” or “installation” appearing herein can refer to one component being directly attached to another component or one component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0126] This application has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Furthermore, those skilled in the art will understand that this application is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this application, all of which fall within the scope of protection claimed in this application. The scope of protection of this application is defined by the appended claims and their equivalents.

Claims

1. A reusable rocket variable thrust simulation system, characterized in that, The reusable rocket variable thrust simulation system includes: A drive assembly, the drive assembly including a movable member, the movable member being movable along the axial direction of the nozzle, the direction of the driving force output by the drive assembly passing through the pivot of the nozzle; Linkage mechanism, the linkage mechanism comprising: A first link, which is connected to the moving member; A connecting beam, which is hinged to the first connecting rod; and The second connecting rod has one end hinged to the connecting beam and the other end directly hinged to the nozzle. One end of the second connecting rod is capable of swinging about a first swing axis, and the other end is capable of swinging about a second swing axis. The first swing axis is perpendicular to the axial direction of the nozzle, and the second swing axis is perpendicular to the first swing axis and also perpendicular to the hinge axis of the first connecting rod. The other ends of the two second links are connected to the nozzle, and the centers of the other ends of the two second links are connected to form a second swing axis, and the swing center of the nozzle is located on the second swing axis; The driving force output by the drive assembly is used to simulate the variable thrust generated by a rocket engine, and the driving force is transmitted to the nozzle via the linkage mechanism.

2. The reusable rocket variable thrust simulation system according to claim 1, characterized in that, One end of the first connecting rod is connected to the moving component, and the other end of the first connecting rod is hinged to the connecting beam. The hinge axis of the first connecting rod is perpendicular to the axial direction of the nozzle.

3. The reusable rocket variable thrust simulation system according to claim 1, characterized in that, The linkage mechanism includes at least two second links, which are arranged at intervals along a second swing axis. One end of each of the at least two second links is hinged to the connecting beam, and the other end of each of the at least two second links is directly hinged to the nozzle. The second swing axis is perpendicular to the axial direction of the nozzle.

4. The reusable rocket variable thrust simulation system according to claim 3, characterized in that, The first link is located between the two second links along the second swing axis.

5. The reusable rocket variable thrust simulation system according to claim 1, characterized in that, The connecting beam includes at least two receiving cavities, each containing a hinge shaft. The first connecting rod is hinged to the hinge shaft in one of the receiving cavities, and the second connecting rod is hinged to the hinge shaft in the other receiving cavity.

6. The reusable rocket variable thrust simulation system according to claim 5, characterized in that, The connecting beam oscillates between a balanced position and an inclined position, and the connecting beam includes a first receiving cavity. The wall of the first receiving cavity of the connecting beam, located in the equilibrium position, is spaced apart from the first connecting rod. The wall of the first receiving cavity of the connecting beam, which is located in an inclined position, can abut against the first connecting rod.

7. The reusable rocket variable thrust simulation system according to claim 5, characterized in that, The second connecting rod swings between an upright position and a swinging position, and the connecting beam includes a second receiving cavity. The second connecting rod, located in the upright position, is spaced apart from the cavity wall of the second receiving cavity. The second connecting rod, located in the swing position, abuts against the wall of the second receiving cavity.

8. The reusable rocket variable thrust simulation system according to claim 1, characterized in that, The reusable rocket variable thrust simulation system also includes a force sensor, and the drive assembly is connected to the linkage mechanism via the force sensor.

9. The reusable rocket variable thrust simulation system according to claim 1, characterized in that, The reusable rocket variable thrust simulation system also includes a lever assembly. The drive assembly is connected to the linkage mechanism through the lever assembly. The lever assembly includes a support and a lever. The lever is hinged to the support. Both the drive assembly and the linkage mechanism are connected to the lever.

10. The reusable rocket variable thrust simulation system according to claim 9, characterized in that, The lever includes: The first hinge end is hinged to the support; The free end, the moving member applies a force to the free end; and The second hinge end is located between the first hinge end and the free end, and the first connecting rod is hinged to the second hinge end.

11. The reusable rocket variable thrust simulation system according to claim 10, characterized in that, The reusable rocket variable thrust simulation system also includes a force sensor. The first connecting rod includes a first adapter rod and a second adapter rod. The force sensor is disposed between the first adapter rod and the second adapter rod. The first adapter rod is hinged to the second hinge end, and the second adapter rod is hinged to the connecting beam.

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