Full-state load simulation system for recoverable rocket

Abstract

The invention discloses a full-state load simulation system for a recoverable rocket. The recoverable rocket full-state load simulation system performs load simulation on tested equipment, the tested equipment comprises a servo mechanism, an engine, a gimbal seat and a rack, the engine comprises a spray pipe, the servo mechanism pushes the spray pipe to swing, and the recoverable rocket full-state load simulation system comprises an axial loading system and a lateral loading system. The servo mechanism pushes the spray pipe to swing, the spray pipe swings relative to the gimbal seat, and the axial loading system applies a first acting force to simulate the friction torque borne by the engine; and the lateral loading system applies a second acting force to the spray pipe so as to simulate the pneumatic composite torque borne by the engine. According to the full-state load simulation system for the recoverable rocket, the inertia moment, the friction moment and the pneumatic composite moment borne by the servo mechanism in the process of pushing the engine to swing can be simulated, and therefore the flight working condition of the rocket engine jet pipe servo mechanism in the air is simulated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rockets, in particular to a full-state load simulation system of a recoverable rocket. BACKGROUND

[0002] A carrier rocket generally includes multiple-stage engines. In order to reduce launch costs and improve the reuse rate of liquid rocket engines, the recoverable technology of liquid rockets has become a hot research topic in the field of aerospace. The main factors affecting the recovery of rockets include the engine that can be re-ignited, the grid fin, and the servo mechanism responsible for attitude control in the recovery phase. The servo mechanism can adjust the deflection angle of the engine to enable the recovery main body to land smoothly on the ground according to the established orbit, so the performance of the servo mechanism is closely related to whether the rocket can be recovered. The servo mechanism installed on the engine nozzle can control the swing of the engine nozzle. Generally, two servo mechanisms are needed to be installed on the engine nozzle, and the two servo mechanisms are arranged vertically on the side of the engine, so that the nozzle can realize full-circle swing and thus realize the thrust vector control of the self-control system of the rocket. It can be seen that the performance of the servo mechanism system determines the flight attitude of the rocket to a great extent. During the flight of the rocket in the air, the load against which the servo mechanism pushes the engine to swing mainly includes inertial load, elastic torque load, friction torque load, and aerodynamic combined torque load, wherein the friction torque is the torque generated by the friction between the engine and the gimbals on the frame during the swing of the engine. The existing technology generally adopts a mechanical passive simulation mode, that is, the servo mechanism drives the loading shaft to rotate, and the inertial disc, friction torque simulation device, etc. on the loading shaft passively apply force to the servo mechanism. This simulation mode cannot truly simulate the various forces against which the engine swings. SUMMARY

[0003] A series of simplified concepts are introduced in the summary section of the application, which will be further described in detail in the detailed description section. The summary section of the present application does not mean to attempt to limit the key features and necessary technical features of the claimed technical solutions, nor to determine the protection scope of the claimed technical solutions.

[0004] According to a first aspect of the present application, a full-state load simulation system of a recoverable rocket is provided for load simulation of a measured device, the measured device including a servo mechanism, an engine, a gimbal, and a frame, the engine including a nozzle, the nozzle being connected to the frame through the gimbal, the servo mechanism pushing the nozzle to swing, the full-state load simulation system of the recoverable rocket comprising:

[0005] an axial loading system connected to the end face, the axial loading system applying a first acting force to the nozzle for simulating the thrust received by the engine; and

[0006] a lateral loading system connected to the side surface, the lateral loading system applying a second force to the nozzle for simulating the aerodynamic resultant moment to which the engine is subjected;

[0007] The servo mechanism drives the nozzle to swing, the nozzle swings relative to the gimbal, the axial loading system applies a first force to simulate the friction moment to which the engine is subjected, and the lateral loading system applies a second force to the nozzle to simulate the aerodynamic resultant moment to which the engine is subjected.

[0008] According to the full-state load simulation system of the recoverable rocket, load simulation is performed on the measured device, the measured device includes a servo mechanism, an engine, a gimbal and a rack, the engine includes a nozzle, the nozzle is connected to the rack through the gimbal, the servo mechanism drives the nozzle to swing, the full-state load simulation system of the recoverable rocket includes an axial loading system and a lateral loading system, the axial loading system is connected to the end surface, the axial loading system applies a first force to the nozzle for simulating the thrust to which the engine is subjected, the lateral loading system is connected to the side surface, the lateral loading system applies a second force to the nozzle for simulating the aerodynamic resultant moment to which the engine is subjected; the servo mechanism drives the nozzle to swing, the nozzle swings relative to the gimbal, the axial loading system applies a first force to simulate the friction moment to which the engine is subjected, and the lateral loading system applies a second force to the nozzle to simulate the aerodynamic resultant moment to which the engine is subjected. In this way, the full-state load simulation system of the recoverable rocket can simulate the inertia moment, the friction moment and the aerodynamic resultant moment to which the servo mechanism drives the engine to swing, adopts a semi-physical load simulation mode, the engine, the servo mechanism, the gimbal and the rack are actual objects during launch of the recoverable rocket, the axial loading system and the lateral loading system apply forces to the nozzle to simulate the friction moment and the aerodynamic resultant moment in an active loading mode, so as to simulate the flight working condition of the rocket engine nozzle servo mechanism in the air.

[0009] Optionally, the full-state load simulation system of the recoverable rocket further includes an elastic member, one end of the elastic member is connected to the end surface or the side surface of the nozzle, and the other end of the elastic member is connected to the rack.

[0010] The servo mechanism drives the nozzle to swing, and the nozzle drives the elastic member to deform to simulate the elastic moment to which the engine is subjected.

[0011] Optionally, the lateral loading system is arranged opposite to the servo mechanism in the radial direction of the nozzle.

[0012] Optionally, the measured device includes at least two servo mechanisms, and the full-state load simulation system of the recoverable rocket includes at least two lateral loading systems,

[0013] At least two servo mechanisms correspond to at least two of the said lateral loading systems along the radial direction of the nozzle, and / or

[0014] The two servo mechanisms are arranged vertically.

[0015] Optionally, the reusable rocket full-state load simulation system further includes a frame, and the lateral loading system includes:

[0016] A first support and a second support, the first support being connected to the side surface, and the second support being connected to the frame; and

[0017] A power mechanism is located between the first support and the second support, and the power mechanism outputs power to the first support.

[0018] Optionally, the lateral loading system further includes a force sensor located between the first support and the power mechanism.

[0019] Optionally, the reusable rocket full-state load simulation system further includes a detection component, which includes a displacement sensor and / or an acceleration sensor, and the detection component is disposed on the side.

[0020] Optionally, the axial loading system includes a drive assembly and a linkage mechanism. The drive assembly includes a movable member that is movable along the axial direction of the nozzle, and the linkage mechanism is connected to the end face of the nozzle.

[0021] Optionally, the linkage mechanism includes:

[0022] A first link, which is connected to the moving member;

[0023] A connecting beam, which is hinged to the first connecting rod; and

[0024] The second link has one end hinged to the connecting beam and the other end directly hinged to the nozzle.

[0025] 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 swing axis, which passes through the swing center of the nozzle. Attached Figure Description

[0026] 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,

[0027] Figure 1 A schematic diagram of the existing high-thrust dual-pendulum engine thrust simulation test device;

[0028] Figure 2 This is a three-dimensional schematic diagram of a reusable rocket full-state load simulation system according to a preferred embodiment of this application;

[0029] Figure 3 This is a three-dimensional schematic diagram of a reusable rocket full-state load simulation system according to a preferred embodiment of this application;

[0030] Figure 4 for Figure 2 A schematic diagram of the lateral loading system of the full-state load simulation system for a reusable rocket is shown.

[0031] Figure 5 for Figure 2 A three-dimensional schematic diagram of the first axial loading system of the full-state load simulation system for a reusable rocket is shown.

[0032] Figure 6 for Figure 5 Another three-dimensional schematic diagram of the first axial loading system shown;

[0033] Figure 7 for Figure 5 The diagram shows a front view of the first axial loading system.

[0034] Figure 8 for Figure 5 The diagram shows a top view of the first axial loading system.

[0035] Figure 9 for Figure 2 A three-dimensional schematic diagram of the second axial loading system of the full-state load simulation system for a reusable rocket is shown.

[0036] Figure 10 for Figure 9 Another three-dimensional schematic diagram of the second axial loading system shown;

[0037] Figure 11 for Figure 9 The diagram shows a side view of the second axial loading system.

[0038] Figure 12 for Figure 9 The diagram shows a top view of the second axial loading system.

[0039] Figure 13 for Figure 9 The force diagram of the second axial loading system is shown below;

[0040] Figure 14 This is a partial front view schematic diagram of a reusable rocket full-state load simulation system according to a preferred embodiment of this application; and

[0041] Figure 15 This is a partial front view schematic diagram of a reusable rocket full-state load simulation system according to a preferred embodiment of this application, wherein the nozzle is oscillating.

[0042] Explanation of reference numerals in the attached figures:

[0043] 100: Reusable Rocket Full-State Load Simulation System 101: Nozzle

[0044] 102: Thrust chamber; 103: First axial loading system

[0045] 104: Second axial loading system; 105: End face of the nozzle.

[0046] 106: Side of the nozzle 107: Frame

[0047] 108: Regular Seat 109: Engine

[0048] 110: Drive component; 111: Moving component

[0049] 120: Linkage Mechanism 121: First Link

[0050] 122: Second connecting rod; 123: Connecting beam

[0051] 124: One end of the second link; 125: The other end of the second link.

[0052] 126: One end of the first link 127: The other end of the first link

[0053] 128: First receiving cavity; 129: Second receiving cavity

[0054] 130: Third receiving cavity; 131: First adapter rod

[0055] 132: Second adapter rod; 141: First joint bearing

[0056] 142: Second joint bearing; 143: Third joint bearing

[0057] 144: Fourth joint bearing; 145: Fifth joint bearing

[0058] 146: Sixth joint bearing; 147: First hinge shaft

[0059] 148: Second hinge axis; 149: Third hinge axis

[0060] 150: Axial force sensor 151: Flange

[0061] 160: Lever assembly 161: Support

[0062] 162: Lever 163: First hinge end

[0063] 164: Second hinged end; 165: Free end

[0064] 170: Servo mechanism; 180: Lateral loading system

[0065] 181: First support 182: Second support

[0066] 183: Power mechanism; 184: Servo cylinder

[0067] 185: Servo valve; 186: Lateral force sensor

[0068] 187: Elastic component; 188: Displacement sensor

[0069] 189: Accelerometer sensor; 190: Passively loaded component Detailed Implementation

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] Figure 2 This application illustrates a preferred embodiment of a reusable rocket full-state load simulation system 100, capable of simulating the actual operation of the nozzle 101 of a rocket engine 109 during oscillation. The reusable rocket full-state load simulation system 100 performs load simulation on the device under test. The device under test includes an engine 109, which includes a nozzle 101 located at the end of the engine 109 to release gas. The device under test also includes a frame 107 and a leveling seat 108, with the leveling seat 108 connected to the frame 107. The frame 107 primarily provides a basic experimental platform for the engine 109. The frame 107 supports the engine 109. The leveling seat 108 is connected to the nozzle 101. The nozzle 101 is connected to the frame 107 via the leveling seat 108. The nozzle 101 is movably connected to the frame 107 via the leveling seat 108. The reusable rocket full-state load simulation system 100 also includes a thrust chamber 102, which is located between the nozzle 101 and the constant-pressure seat 108. In this application, the structure of the constant-pressure seat 108 is similar to that of existing constant-pressure seats, and will not be described in detail in this embodiment.

[0076] The nozzle 101 includes an end face 105 and a side face 106, which are connected. The end face 105 is located at one end of the nozzle 101 along its axial direction. The end face 105 faces outwards from the nozzle 101 along its axial direction and is approximately perpendicular to the axial direction of the nozzle 101. The side face 106 faces outwards from the nozzle 101 along its radial direction. An angle is formed between the end face 105 and the side face 106. The angle between the end face 105 and the side face 106 can be a right angle or an obtuse angle. Figure 2In the embodiment shown, the side surface 106 can be configured as an inclined surface, and the included angle between the end face 105 and the side surface 106 is an obtuse angle. The side surface 106 can be an outer peripheral surface, which faces the outside of the nozzle 101 along the radial direction of the nozzle 101.

[0077] To enable the nozzle 101 to swing in a realistic manner, the device under test also includes a servo mechanism 170. The servo mechanism 170 is connected to the nozzle 101 and can drive the nozzle 101 to swing to a predetermined position. The servo mechanism 170 is connected to the side 106 of the nozzle 101. The servo mechanism 170 includes an output component that outputs power. The output component is connected to the side 106 of the nozzle 101. The power output by the output component acts on the side 106 of the nozzle 101, enabling the nozzle 101 to move radially. Specifically, it enables the nozzle 101 to swing radially, thereby causing the lugs to swing radially as well. The servo mechanism 170 can push the nozzle 101 to swing to a predetermined position, achieving position control and ensuring that the nozzle can accurately swing to a predetermined angle or position. This simulates the movement of the nozzle 101 of a reusable rocket under actual conditions.

[0078] To simulate the impact of structures such as the frame 107 on the nozzle 101 during actual movement, the reusable rocket full-state load simulation system 100 also includes an axial loading system and a lateral loading system 180. The axial loading system applies load to the nozzle 101 along its axial direction, while the lateral loading system 180 pushes the nozzle 101 to swing along its radial direction, simulating the frictional torque and aerodynamic combined torque experienced by the nozzle. The reusable rocket full-state load simulation system 100 can simulate different types of loads experienced by the rocket during launch, flight, atmospheric reentry, and landing. These loads include inertial loads, frictional torque loads, and aerodynamic combined torque loads. The frictional torque is the torque generated by friction between the engine and the constant-pressure seat on the frame during the engine's swing. When the nozzle 101 swings, it has mass and inertia, thus creating an inertial load on the engine.

[0079] Specifically, such as Figures 5 to 8 As shown, the reusable rocket full-state load simulation system 100 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 to the nozzle 101, thereby simulating the axial force on the nozzle 101 under real conditions.

[0080] The lateral loading system 180 pushes the engine 109 to swing, simulating the aerodynamic composite torque experienced by the engine 109 during the swing. Specifically, under the action of the first axial loading system 103, the engine 109 can swing radially along the nozzle 101. The engine 109 is connected to the frame 107 through the constant level seat 108. When the engine 109 swings, a frictional torque is generated at the connection between the engine 109 and the constant level seat 108, thus reproducing the loading of the frictional torque. During the swing, the engine 109 is also subjected to forces such as lift, drag, and / or lateral force, which can together form an aerodynamic composite force. Under the action of the lateral loading system 180, the engine 109 can swing radially along the nozzle 101, and the loading of the nozzle 101 under the combined aerodynamic composite torque formed by lift, drag, and / or lateral force can also be reproduced.

[0081] The end face 105 faces the first axial loading system 103 along the axial direction Z of the nozzle 101. The engine 109 also includes a lug connected to the nozzle. The lug extends 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. Preferably, the thrust chamber 102 is connected to the end face 105. The thrust chamber 102 and the end face 105 are connected together by welding or threaded connection. Movement of the nozzle 101 can drive the thrust chamber 102 to move. The lug is connected to the thrust chamber 102. The lug extends from the thrust chamber 102 along the axial direction of the nozzle 101. The lug extends along the axial direction of the nozzle 101 toward the first axial loading system 103. The first axial loading system 103 is connected to the lug. The first axial loading system 103 is connected to the end face 105 through the thrust chamber 102 and the lug. The first axial loading system 103 applies a first force to the nozzle 101. The direction of the first force is parallel to the axial direction of the nozzle. Preferably, the direction of the first force is parallel to the vertical direction. The first force also passes through the oscillator of the nozzle. This allows for the simulation of the thrust experienced by the engine. When the engine operates in a real-world scenario, fuel combustion within the engine exerts a force on the nozzle 101. During actual fuel combustion, the generated gases are discharged from the larger portion of the nozzle. For example, in… Figure 2 In the embodiment shown, the direction of the thrust is vertically upward on the page. Of course, the direction of the thrust can also be adjusted according to the position of the nozzle 101. The direction of the thrust is parallel to the axial direction of the nozzle 101, and the thrust is directed towards the larger part of the nozzle 101.

[0082] To simulate the influence of structures such as the frame 107 on the nozzle 101 during actual movement, a lateral loading system 180 is connected to the side 106 of the nozzle 101. The lateral loading system 180 enables torque control. A servo mechanism 170 drives the nozzle 101 to oscillate, and the lateral loading system 180 follows the oscillation of the nozzle 101 and applies a second force to it. This second force drives the nozzle 101 to oscillate. The second force drives the nozzle 101 to oscillate radially. The second force acts on the side 106 of the nozzle 101, allowing the nozzle 101 to move in another radial direction. Specifically, it allows the nozzle 101 to oscillate in another radial direction. This second force, which drives the nozzle 101 to oscillate radially, also simulates the aerodynamic combined torque experienced by the engine. Preferably, the direction of the second force is the radial direction of the nozzle, which refers to the direction of outward radiation along the central axis of the nozzle, that is, the second force can drive the nozzle 101 to swing in any direction around its pivot point.

[0083] When the servo mechanism 170 pushes the engine 109 to swing to a predetermined position, inertial load and elastic torque load are generated accordingly; this loading method is a passive loading method. The servo mechanism 170 pushes the nozzle 101 to swing, and the nozzle 101 swings relative to the level seat 108. Simultaneously, the axial loading system applies a first force to simulate the frictional torque experienced by the engine; the lateral loading system applies a second force to the nozzle 101 to simulate the aerodynamic composite torque load experienced by the engine; this loading method is an active loading method. The passive and active loading methods are used to simulate the flight conditions of the rocket engine 109's nozzle 101 and servo mechanism 170 in the air.

[0084] The frame 107, leveling seat 108, engine 109, and servo mechanism 170 of the device under test are actual components used during rocket launch. The nozzle 101 is connected to the axial loading system via the thrust chamber 102, and also to the leveling seat 108 via the thrust chamber 102. The axial loading system pulls the engine 109 to simulate the frictional torque load experienced by the nozzle 101 during its oscillation. Simultaneously, the lateral loading system is used to simulate the combined aerodynamic torque load.

[0085] The control system is pre-designed to measure the rotation angle, acceleration, and load on the servo mechanism 170 at any position during the rocket's flight from takeoff to landing. When the rocket reaches a certain position in space, the control system sends a command signal, which the servo mechanism 170 receives. The servo mechanism 170 then rotates the nozzle 101 by the corresponding angle. Simultaneously, the control system sends a load command signal. The axial loading system and the lateral loading system respond to the load command signal, outputting the load force required by the servo mechanism 170 at the current position to simulate the dynamic load characteristics of the servo mechanism 170 under real-world conditions.

[0086] According to the reusable rocket full-state load simulation system 100 of this application, load simulation is performed on the device under test. The device under test includes a servo mechanism 170, an engine 109, a leveling seat 108, and a frame 107. The engine 109 includes a nozzle, which is connected to the frame 107 via the leveling seat 108. The servo mechanism 170 drives the nozzle to swing. The reusable rocket full-state load simulation system 100 includes an axial loading system and a lateral loading system 180. The axial loading system is connected to the end face and applies a first load to the nozzle. A first force is applied to simulate the thrust of the engine 109. A lateral loading system 180 is connected to the side and applies a second force to the nozzle to simulate the aerodynamic composite torque of the engine 109. A servo mechanism 170 pushes the nozzle to swing relative to the normal level seat 108. An axial loading system applies a first force to simulate the frictional torque of the engine 109. A lateral loading system 180 applies a second force to the nozzle to simulate the aerodynamic composite torque of the engine 109. In this way, the reusable rocket full-state load simulation system 100 can simulate the inertial torque, frictional torque, and aerodynamic composite torque experienced by the servo mechanism 170 during the swing of the engine 109. Using a semi-physical loading simulation method, the engine 109, servo mechanism 170, constant level seat 108, and frame 107 are physical objects of the reusable rocket during launch. The axial loading system and the lateral loading system 180 apply forces to the nozzle 101 to simulate the frictional torque and aerodynamic composite torque in an active loading manner, thereby simulating the flight conditions of the rocket engine nozzle servo mechanism 170 in the air.

[0087] Furthermore, to facilitate precise control of the nozzle 101 by the servo mechanism 170 and to apply the required load via the lateral loading system 180, while avoiding interference between the servo mechanism 170 and the lateral loading system 180, the lateral loading system 180 is positioned opposite the servo mechanism 170 along the radial direction of the nozzle 101. Of course, the position of the lateral loading system 180 can be adjusted according to actual conditions; the lateral loading system 180 can also be positioned to the side of the servo mechanism 170. For example, a device can be provided on the opposite side of the lateral loading system 180 along the radial direction of the nozzle 101, with the lateral loading system 180 arranged perpendicularly to the servo mechanism 170, or the angle between the lateral loading system 180 and the servo mechanism 170 can be an acute angle.

[0088] To simulate a more realistic scenario, the reusable rocket full-state load simulation system 100 includes at least two lateral loading systems 180, and the device under test includes at least two servo mechanisms 170. Both lateral loading systems 180 and servo mechanisms 170 are connected to the side surface 106 of the nozzle 101. Adjacent lateral loading systems 180 form an angle. Preferably, the angle between adjacent lateral loading systems 180 is a right angle. Similarly, adjacent servo mechanisms 170 form an angle. Preferably, the angle between adjacent servo mechanisms 170 is a right angle.

[0089] At least two servo mechanisms 170 correspond to at least two lateral loading systems 180 along the radial direction of the nozzle 101. For example, one servo mechanism 170 corresponds to one lateral loading system 180 along a first radial direction of the nozzle 101. One servo mechanism 170 applies a force along the first radial direction of the nozzle 101. Another servo mechanism 170 corresponds to another lateral loading system 180 along a second radial direction of the nozzle 101. The other servo mechanism 170 applies a force along the second radial direction of the nozzle 101. The first and second radial directions are perpendicular. The resultant force of the two servo mechanisms 170 can be a force in any direction within the plane formed by the first and second radial directions. The two servo mechanisms 170 are arranged vertically, and the resultant force of the two servo mechanisms 170 can cause the nozzle 101 to swing to any position around its pivot point to achieve position control. The two lateral loading systems 180 are arranged vertically. Therefore, the two lateral loading systems 180 can more comprehensively simulate the force situation of the nozzle 101 in the radial direction of the nozzle 101 when it swings, so as to achieve torque control.

[0090] like Figure 4As shown, the lateral loading system 180 includes a first support 181, a second support 182, and a power mechanism 183, which is located between the first support 181 and the second support 182. The first support 181 is connected to the side 106 of the nozzle 101 via a connector. The second support 182 is connected to the frame 107. The second support 182 is connected to the side 106 of the nozzle 101 via a connector. The connector can be a bolt, screw, etc.

[0091] The power mechanism 183 outputs power to the first support 181. The power mechanism 183 includes a servo cylinder 184, inside which a piston rod is disposed. The piston rod is connected to the first support 181. The piston rod is movable in the radial direction of the nozzle 101 to apply a force to the first support 181 in the radial direction of the nozzle 101. Preferably, the piston rod and the first support 181 are hinged together. This allows for flexible adjustment of the direction of the force, and consequently, flexible adjustment of the direction of the second force. The cylinder body of the servo cylinder 184 is connected to the second support 182. The cylinder body and the second support 182 are hinged together. This allows for flexible adjustment of the position of the power mechanism 183, and consequently, flexible adjustment of the application point of the second force.

[0092] Furthermore, the lateral loading system 180 also includes a force sensor (i.e., a lateral force sensor 186), which is located between the first support 181 and the power mechanism 183. The piston rod of the power mechanism 183 generates a force due to the pressure difference between the two chambers inside the servo cylinder 184. This force is measured by the lateral force sensor 186 and transmitted to the first support 181, and then to the nozzle 101. The lateral loading system 180 achieves loading by fixing the piston rod of the servo cylinder 184 to the first support 181, using a closed-loop system formed between the lateral force sensor 186 and the piston rod to control the pressure in the high-pressure chamber of the servo cylinder 184, thereby controlling the second force output by the power mechanism 183, and ultimately loading the nozzle 101 of the engine 109.

[0093] Optionally, the power mechanism 183 also includes a servo valve 185, which controls the pressure in the servo cylinder 184. The servo valve 185 receives control signals from the control system, thereby controlling the flow rate of hydraulic oil in the servo cylinder 184, and thus controlling the output torque of the servo cylinder 184. In this way, by controlling the pressure to control the movement of the piston rod, the magnitude of the second force is controlled, ultimately achieving the loading of the nozzle 101 of the engine 109, thereby simulating the pneumatic compound torque experienced by the servo mechanism.

[0094] The lateral force sensor 186 can collect the force applied to the first support 181 by the piston rod in real time. The tension feedback signal collected by the lateral force sensor 186 is processed by the control system to generate control commands for the piston rod. The control system adjusts the pressure difference between the two chambers inside the servo cylinder 184, thereby controlling the second force applied to the nozzle 101 by the power mechanism 183, completing the closed-loop control of the power mechanism 183.

[0095] Preferably, such as Figure 2 As shown, the reusable rocket full-state load simulation system 100 also includes an elastic member 187 capable of elastic deformation. One end of the elastic member 187 is connected to the nozzle 101. Specifically, one end of the elastic member 187 is connected to the side 106 of the nozzle 101. The other end of the elastic member 187 is connected to the frame 107. The elastic member 187 can apply a force to the nozzle 101. Specifically, the elastic member 187 can apply an elastic force to the nozzle 101 in the radial direction of the nozzle 101. The high-heat, high-pressure gas generated by the reaction of the liquid rocket propellant will reach the engine thrust chamber 102 through the gas hose on the engine 109. The stiffness of the gas hose is greatly increased under ram pressure. Under the swinging spray state of the engine 109, the gas hose will also deform accordingly, thereby generating an elastic load on the servo mechanism. The elastic member 187 is used to simulate the elastic load on the servo mechanism. A passive loading method is used to simulate elastic load. The servo mechanism 170 pushes the engine 109 to swing to a predetermined position, and the nozzle 101 causes the elastic component 187 to deform, so as to simulate the elastic torque on the engine 109. The reaction force of the elastic deformation generated by the elastic component 187 acts on the servo mechanism to simulate the elastic load on the servo mechanism.

[0096] As another alternative implementation, such as Figure 3 As shown, the reusable rocket full-state load simulation system 100 also includes a passive loading component 190, which includes an elastic component and a constant-pressure seat. The elastic component is integrally formed with the constant-pressure seat. One end of the elastic component can also be connected to the end face of the nozzle 101. The other end of the elastic component can also be connected to the frame. Thus, when the servo mechanism pushes the nozzle 101 to swing, the nozzle 101 swings relative to the elastic component and the constant-pressure seat, causing the elastic component at the end of the nozzle 101 to deform, thereby subjecting the engine 109 to an elastic torque.

[0097] As an optional implementation, the reusable rocket full-state load simulation system 100 also includes a detection component for detecting the state of the nozzle 101. The detection component includes a displacement sensor 188, which is disposed on the side 106 of the nozzle. The displacement sensor 188 is used to detect the movement displacement of the nozzle. The displacement sensor 188 can acquire the movement displacement of the nozzle 101 in real time, and then calculate the swing angle of the nozzle 101. The displacement feedback signal acquired by the displacement sensor 188 is processed by the control system to generate a control command for the piston rod. The control system adjusts the pressure difference between the two chambers inside the servo cylinder 184 of the power mechanism 183, thereby controlling the second force applied by the power mechanism 183 to the nozzle 101, completing the closed-loop control of the power mechanism 183.

[0098] The detection component includes an acceleration sensor 189, which is disposed on the side 106 of the nozzle. The acceleration sensor 189 is used to detect the acceleration of the nozzle. The acceleration sensor 189 can acquire the acceleration of the nozzle 101 in real time. The acceleration feedback signal acquired by the acceleration sensor 189 is processed by the control system to generate a control command for the piston rod. The control system adjusts the pressure difference between the two chambers inside the servo cylinder 184 of the power mechanism 183, thereby controlling the second force applied by the power mechanism 183 to the nozzle 101, completing the closed-loop control of the power mechanism 183.

[0099] Therefore, the lateral loading system can also simulate aerodynamic composite torque loads, with displacement and acceleration sensors measuring the nozzle's swing angle and acceleration, respectively.

[0100] The control system is pre-designed to measure the rotation angle, acceleration, and load on the servo mechanism 170 at any position during the rocket's flight from takeoff to landing. When the rocket reaches a certain position in space, the control system sends a command signal, which the servo mechanism 170 receives. The servo mechanism 170 then rotates the nozzle 101 by the corresponding angle. Simultaneously, the control system sends a load command signal. The axial loading system and the lateral loading system respond to the load command signal, outputting the load force required by the servo mechanism 170 at the current position to simulate the dynamic load characteristics of the servo mechanism 170 under real-world conditions.

[0101] To simulate the influence of the frame 107 and other structures on the nozzle 101 during actual movement, the first axial loading system further includes a drive assembly 110 and a linkage mechanism 120. The drive assembly 110 is 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 that can move 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 107. The base is connected to the frame 107 via a connector. The base is fixed to the frame 107.

[0102] 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.

[0103] Linkage mechanism 120 is connected to end face 105. 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 in the axial direction Z of the nozzle 101 than the second link 122. 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 in 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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 the simulated engine 109 thrust and replicating the real effect of the engine 109 nozzle 101 swing on the simulation device.

[0108] More specifically, the first link 121 and the second link 122 are made of steel, and the steel material itself will not directly generate excess torque when used in the loading system.

[0109] More specifically, one end 126 of the first link 121 is connected to the drive assembly 110. For example... Figures 5 to 8In 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. 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 spatial perpendicular relationships. For example, the hinge axis of the first connecting rod 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 connecting rod 121 is perpendicular to the projected line of the axial direction Z of the nozzle 101.

[0110] More specifically, such as Figure 14 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.

[0111] 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.

[0112] 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 perpendicular to the axial direction Z of the nozzle 101. 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.

[0113] 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.

[0114] exist Figures 5 to 8 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.

[0115] 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.

[0116] Combination Figure 14 and Figure 15As 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.

[0117] 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.

[0118] Combination Figure 14 As shown, the nozzle 101 is capable of swinging about a first swing axis X. A lateral loading system 180 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 side 106 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 the second connecting rod 122 to swing. Thus, the 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, while the first joint bearing 141 does not swing relative to the moving member, preventing the moving member from swinging. An inclined angle is formed between the second connecting rod 122 and the connecting beam 123.

[0119] 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.

[0120] 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.

[0121] The nozzle 101 is also capable of swinging about a second swing axis Y. A lateral loading system 180 applies a force to the nozzle 101 along a first swing axis X. The force acts on the side 106 of the nozzle 101, causing the nozzle 101 to swing about the second swing axis Y. The nozzle 101 drives a second link 122 to swing. A lug of the nozzle 101 drives a second link 122 to swing. Thus, a fourth joint bearing 144 of the second link 122 can swing about the second swing axis Y. This allows the fourth joint bearing 144 to swing relative to the nozzle 101, thereby allowing the nozzle 101 to swing relative to a first joint bearing 141, which does not swing relative to the moving member, preventing the moving member from swinging. An inclined angle is formed between the second link 122 and the lug.

[0122] 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.

[0123] 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 second swing axis Y passes through the swing center O of the nozzle 101. The swing center O of the nozzle 101 can be the center of the constant level seat 108. The center of the constant level seat 108 is located on the cycloid.

[0124] 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.

[0125] Specifically, such as Figure 6 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.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] 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 7 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.

[0130] 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.

[0131] 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.

[0132] As an optional implementation, the reusable rocket full-state load simulation system 100 also includes an axial force sensor 150, through which the drive assembly 110 is connected to the linkage mechanism 120. Figures 5 to 8 In the illustrated embodiment, the moving member is connected to the first connecting rod 121 via an axial force sensor 150. The axial 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 axial force sensor 150 and the moving member are coaxially arranged. Thus, the axial 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 109. Preferably, the recoverable variable thrust simulation system further includes a flange 151 through which the axial force sensor 150 is connected to the moving member. This allows for accurate detection of the applied force.

[0133] An axial force sensor 150 is located between the linkage mechanism 120 and the servo loading channel. The piston rod of the servo loading channel is subjected to a pulling force due to the pressure difference between the two chambers inside the servo cylinder. The pulling force is measured by the axial force sensor 150 and transmitted to the 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 a flange 151. The pressure of the high-pressure chamber of the loading channel is controlled by a closed-loop system formed between the axial force sensor 150 and the moving component, thereby controlling the pulling force of the linkage mechanism 120 and ultimately loading the nozzle 101 of the engine 109. Optionally, the 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 pulling force of the linkage mechanism 120 and ultimately loading the nozzle 101 of the engine 109.

[0134] The axial force sensor 150 can acquire the tension applied to the linkage mechanism 120 by the servo loading channel in real time. The tension feedback signal acquired by the axial force sensor 150 is processed by the control system to generate control commands for the servo loading channel. The control system adjusts the pressure difference between the two chambers inside the servo loading channel, thereby controlling the tension of the servo loading channel on the linkage mechanism 120, and completing the closed-loop control of the servo loading channel.

[0135] Figures 9 to 14This application illustrates another preferred embodiment of a reusable rocket full-state load simulation system 100. The reusable rocket full-state load simulation system 100 includes a second axial loading system 104. The second axial loading system 104 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. 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.

[0136] The reusable rocket full-state load 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 107 and is connected to the frame 107. The support 161 is connected to the frame 107 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.

[0137] 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.

[0138] 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.

[0139] 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 109.

[0140] 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.

[0141] Furthermore, such as Figure 11 As shown, the first connecting rod 121 includes a first adapter rod 131 and a second adapter rod 132, with an axial 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.

[0142] The other end of the first adapter rod 131 is connected to the axial force sensor 150. The other end of the first adapter rod 131 is connected to the axial force sensor 150 via a connector. The axial 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 axial force sensor 150. One end of the second adapter rod 132 is connected to the axial 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 axial force sensor 150 via the second adapter rod 132. The adjusting screw is connected to the axial 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.

[0143] 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.

[0144] The device under test may include two servo mechanisms 170, both of which are connected to the nozzle 101. The two servo mechanisms 170 are arranged vertically. Both servo mechanisms 170 can apply a force to the nozzle 101, causing it to swing radially to a predetermined position. Thus, the engine 109 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.

[0145] 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.

[0146] like Figure 15 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 14As shown, when the second connecting rod 122 swings around the second swing axis Y, the line connecting the other ends 125 of the two second connecting rods 122 coincides with the second swing axis Y. The swing center of the nozzle 101 of the engine 109 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 swing motion of the engine 109, which improves the loading accuracy; the axial stiffness of the connecting rod 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 an axial force sensor 150, which can adapt to the variable thrust loading that follows the load spectrum under semi-physical simulation conditions.

[0147] The reusable rocket full-state load simulation system of this application has high simulation accuracy and can adapt to high dynamic loading conditions. It is also a full-state load simulation system that follows the load spectrum under semi-physical simulation conditions. The reusable rocket full-state load simulation system 100 can simulate the inertial torque, elastic torque, frictional torque, and aerodynamic composite torque experienced by the servo mechanism 170 during the swinging of the engine 109. It adopts a semi-physical loading simulation method, with the engine 109, servo mechanism 170, constant level seat 108, and frame 107 being physical objects used during the launch of the reusable rocket. Using a combination of active and passive loading, the servo mechanism 170 pushes the nozzle 101 to swing to a predetermined position, simulating the inertial torque and elastic torque through passive loading. At the same time, the axial loading system and the lateral loading system 180 apply forces to the nozzle 101, simulating the frictional torque and aerodynamic composite torque through active loading. Then, the servo mechanism 170 pushes the nozzle 101 to swing to another predetermined position, repeating the above loading operation to simulate the flight conditions of the rocket engine nozzle servo mechanism 170 in the air.

[0148] 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.

[0149] 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 full-state load simulation system for a reusable rocket, used to simulate the load on a device under test, the device under test including a servo mechanism, an engine, a constant-pressure mount, and a frame, the engine including a nozzle connected to the frame via the constant-pressure mount, the servo mechanism driving the nozzle to swing, characterized in that, The reusable rocket full-state load simulation system includes: An axial loading system, connected to the nozzle end face, applies a first force to the nozzle to simulate the thrust experienced by the engine; and A lateral loading system is connected to the side of the nozzle and applies a second force to the nozzle to simulate the aerodynamic composite torque experienced by the engine. The servo mechanism drives the nozzle to swing, and the nozzle swings relative to the normal level seat. The axial loading system applies a first force to simulate the frictional torque experienced by the engine. The lateral loading system applies a second force to the nozzle to simulate the aerodynamic combined torque experienced by the engine.

2. The reusable rocket full-state load simulation system according to claim 1, characterized in that, The reusable rocket full-state load simulation system also includes an elastic component, one end of which is connected to the end face or side of the nozzle, and the other end of which is connected to the frame. The servo mechanism drives the nozzle to swing, and the nozzle causes the elastic component to deform, so as to simulate the elastic torque experienced by the engine.

3. The reusable rocket full-state load simulation system according to claim 1, characterized in that, The lateral loading system is positioned opposite the servo mechanism along the radial direction of the nozzle.

4. The reusable rocket full-state load simulation system according to claim 1, characterized in that, The device under test includes at least two servo mechanisms, and the reusable rocket full-state load simulation system includes at least two of the aforementioned lateral loading systems. At least two servo mechanisms correspond to at least two of the said lateral loading systems along the radial direction of the nozzle, and / or The two servo mechanisms are arranged vertically.

5. The reusable rocket full-state load simulation system according to claim 1, characterized in that, The lateral loading system includes: A first support and a second support, the first support being connected to the side of the nozzle, and the second support being connected to the frame; and A power mechanism is located between the first support and the second support, and the power mechanism outputs power to the first support.

6. The reusable rocket full-state load simulation system according to claim 5, characterized in that, The lateral loading system also includes a force sensor located between the first support and the power mechanism.

7. The reusable rocket full-state load simulation system according to claim 1, characterized in that, The reusable rocket full-state load simulation system also includes a detection component, which includes a displacement sensor and / or an acceleration sensor, and the detection component is disposed on the side of the nozzle.

8. The reusable rocket full-state load simulation system according to claim 1, characterized in that, The axial loading system includes a drive assembly and a linkage mechanism. The drive assembly includes a movable member that can move along the axial direction of the nozzle. The linkage mechanism is connected to the end face of the nozzle.

9. The reusable rocket full-state load simulation system according to claim 8, characterized in that, The linkage mechanism includes: A first link, which is connected to the moving member; A connecting beam, which is hinged to the first connecting rod; and The second link has one end hinged to the connecting beam and the other end directly hinged to the nozzle.

10. The reusable rocket full-state load simulation system according to claim 9, characterized in that, 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 swing axis, which passes through the swing center of the nozzle.

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