Precision servo transmission device ground test system capable of simulating inertia of large spacecraft

Abstract

The invention discloses a precision servo transmission device ground test system capable of simulating inertia of a large spacecraft, and particularly relates to the field of spacecraft ground test. Comprising a base; the stand column is fixed to the base. The precision maintaining rod is connected to the stand column. The driving motors are arranged on the outer sides of the four stand columns; the ball screw is connected between the driving motor and the base; the axial positioning plate is connected to the stand column in a sliding mode, and the servo motor is connected to the axial positioning plate through bolts. The circular grating is arranged on an output shaft of the servo motor; the torque sensor is connected with the circular grating, the simulation load mechanism is arranged on the stand column, the simulation load mechanism is used for simulating the motion condition of a load, and the simulation load mechanism is connected with the torque sensor; the position compensation mechanism can control the height of the axial positioning plate and is used for adjusting the levelness precision of the axial positioning plate. By adopting the technical scheme of the invention, the problems of high equipment cost and poor reusability of the existing equipment are solved, and the accuracy of the test structure is improved.

Description

Technical Field

[0001] This invention relates to the field of spacecraft ground testing, and in particular to a ground testing system for a precision servo drive device capable of simulating the inertia of large spacecraft. Background Technology

[0002] With the development of aerospace technology, the forms and sizes of various spacecraft mechanisms are becoming increasingly diverse, thus placing new demands on ground testing equipment for spacecraft mechanisms. For large-scale, high-deflection maneuverable structures such as space trusses and solar arrays, methods such as suspension or air buoyancy are required to balance their gravity. However, the enormous size of large trusses and solar array structures makes achieving high-precision gravity compensation extremely difficult and costly. In actual product development, the development of large-scale structures such as solar arrays and the development of test benches are usually carried out simultaneously. To verify the performance of the test bench when there is no actual product, semi-physical simulation is often used to replace the physical product for performance verification experiments. Specific semi-physical simulation experimental methods include:

[0003] 1. The torque of the coupling effect between the drive mechanism and the load is generated in real time through simulation calculation. The principle is to simulate the dynamic change process of the drive mechanism driving the load under various working modes.

[0004] 2. The fundamental frequency of the load is calculated through modal simulation. Taking advantage of the large proportion of first-order modal mass, the dynamic performance of the load is simulated using long plates, long rods, disks, and other forms.

[0005] When selecting experimental schemes, it is necessary to conduct comparative experiments on different types of drive structures. In addition, different experimental loads require the design of multiple experimental platforms due to their different forms, resulting in significant resource consumption. At the same time, due to objectively existing processing and equipment installation errors, disassembling and assembling the drive mechanism in different experimental platforms can easily lead to inconsistent connection accuracy, making it impossible to ensure the consistency of experimental variables, and thus affecting the reliability of test results.

[0006] A search revealed a Chinese patent (patent application number CN201610553012.6) disclosing a ground-based semi-physical testing system for the driving performance of the space station's α sun-orientation device. This system uses a cast iron platform for its fixed structure, simplifies the number of components, and achieves high overall structural rigidity. However, during actual use and debugging, due to inherent manufacturing and assembly errors, coaxiality errors exist in various parts of the system's transmission chain. During operation, the unstable motion of the drive motor and the spindle of the tested object affects the accuracy of sensor measurements. This technical solution lacks a compensation and adjustment structure to mitigate the impact of coaxiality errors on the measuring sensors, resulting in the angle sensors in this solution failing to achieve high-precision real-time measurements. Furthermore, the experimental setup designed for this technical solution is bulky and requires a specific model of servo drive device for testing, leading to high equipment costs and poor reusability.

[0007] In summary, there is a need to develop a ground testing system for a precision servo drive device that can simulate the inertia of a large spacecraft. This testing system will serve as the driving mechanism to test the load-bearing capacity and drive control performance of a simulated large spacecraft. It will also have the capability to test the drive control performance under normal temperature conditions. This system will be used for the development, acceptance, and qualification testing of servo drive devices for use in spacecraft. Summary of the Invention

[0008] The present invention aims to provide a ground testing system for a precision servo transmission device that can simulate the inertia of large spacecraft, which solves the problems of high equipment cost and poor reusability of existing equipment.

[0009] To achieve the above objectives, the technical solution of the present invention is as follows: A ground testing system for a precision servo transmission device capable of simulating the inertia of a large spacecraft, comprising:

[0010] The base is made of a flat steel plate;

[0011] Four pillars, and the four pillars array is fixed on the base;

[0012] Four precision retaining rods, each of which is connected between two adjacent columns;

[0013] Two drive motors are symmetrically arranged on the outside of the four columns;

[0014] Two ball screws, each of which is connected between the drive motor and the base, and the ball screw is rotatably connected to the base;

[0015] Two lead screw sliders are provided on corresponding ball screws;

[0016] An axial positioning plate is slidably connected between four columns and is disposed between two lead screw sliders.

[0017] A servo motor is bolted to an axial positioning plate, and the output shaft of the servo motor passes through the axial positioning plate.

[0018] A circular grating is mounted on the output shaft of the servo motor;

[0019] A torque sensor, one end of which is connected to a circular grating;

[0020] A simulated load mechanism is provided, which is mounted on top of four columns and is used to simulate the movement of a load. The simulated load mechanism is connected to a torque sensor.

[0021] A position compensation mechanism is provided, which can adjust the position of the axial positioning plate to adjust the levelness accuracy of the axial positioning plate.

[0022] Furthermore, the position compensation mechanism includes two fixed frames, which are respectively fixedly mounted on corresponding lead screw sliders. The two fixed frames are used to support the axial positioning plate, and each fixed frame is embedded with a pressure sensor that abuts against the axial positioning plate.

[0023] Furthermore, the compensation method of the position compensation mechanism is as follows:

[0024] The pressure sensors arranged symmetrically collect the pressure F1 and F2 in real time. When the force difference ΔF = |F1-F2| > F0 is detected, the axial positioning plate is moved by the drive motor, ball screw and fixed frame. The displacement difference between the two sides of the axial positioning plate driven by the two drive motors is: Δx = K•ΔF.

[0025] Furthermore, the axial positioning plate is provided with a connecting plate, and each of the four corners of the connecting plate is provided with an indentation that cooperates with the column. The center of the axial positioning plate and the connecting plate is provided with a through hole for the output shaft of the servo motor to pass through.

[0026] Furthermore, the side wall of the axial positioning plate is provided with a plurality of symmetrically distributed stress-relieving positioning pins, and the side wall of the column is provided with a plurality of arrayed support holes, which can be engaged with the stress-relieving positioning pins.

[0027] Furthermore, each of the columns is provided with an axial positioning guide rail, and each of the axial positioning plates is provided with a guide hole for the column and the axial positioning guide rail to pass through. The axial positioning plate is also provided with four axial positioning sliders, and each axial positioning slider is slidably connected to the corresponding axial positioning guide rail.

[0028] Furthermore, each of the columns is made of a high-rigidity material.

[0029] Furthermore, the simulated load mechanism includes a support plate, a rotating shaft is rotatably connected to the center of the support plate, one end of the rotating shaft is connected to a torque sensor, a long rod is provided on the rotating shaft, and mass sliders are provided at both ends of the long rod.

[0030] Furthermore, the simulated load mechanism includes a support plate, on which a torque motor is mounted, and a rotating shaft is mounted on the output shaft of the torque motor, one end of which is connected to a torque sensor.

[0031] Compared with existing technologies, the beneficial effects of this solution are:

[0032] 1. This solution provides a ground testing system for a precision servo drive device that can simulate the inertia of a large spacecraft. The servo drive device can be translated vertically with the axial positioning plate, which facilitates the use of common measurement methods between the multi-parameter measurement system and the servo drive device to measure coaxiality deviation. If the deviation does not meet the standard, the installation position can be finely adjusted.

[0033] 2. This solution utilizes the pressure difference measured by two symmetrically arranged pressure sensors embedded in the circuit, and uses a lead screw motor to compensate for the displacement of the lead screw and slider. This prevents excessive stress between the axial positioning slider and the axial positioning guide rail due to asynchronous displacement of the lead screw and slider. Ensuring synchronous displacement of the lead screw and slider ensures that the servo motor connecting plate maintains a high degree of horizontality at all positions in the vertical direction.

[0034] 3. By adjusting the vertical height of the servo motor connection plate and changing the servo motor interface, this invention can be used to test different models of servo transmission devices with an axial length of less than 650mm and a maximum outer diameter of less than 300mm.

[0035] 4. This invention, through its compact structural design, raises the first-order natural frequency of the entire machine to over 20 Hz, effectively avoiding resonance problems that may occur during coupled vibration experiments. Simultaneously, by using common components, it supports physical load experiments, semi-physical simulation experiments, and equivalent inertia load substitution experiments on the servo drive system without disassembling other components, greatly shortening the experimental cycle and reducing the construction cost of experimental equipment. Attached Figure Description

[0036] Figure 1 This is an isometric view of a ground test system for a precision servo drive device capable of simulating the inertia of a large spacecraft, as described in Embodiment 1.

[0037] Figure 2This is a top view of a ground test system for a precision servo drive device capable of simulating the inertia of a large spacecraft, as described in Embodiment 1.

[0038] Figure 3 This is a front view of a ground test system for a precision servo drive device capable of simulating the inertia of a large spacecraft, as described in Embodiment 1.

[0039] Figure 4 This is a cross-sectional view of AA in Example 1;

[0040] Figure 5 This is a schematic diagram of the working method of the position compensation mechanism in Embodiment 1;

[0041] Figure 6 This is an isometric view of a ground test system for a precision servo drive device capable of simulating the inertia of a large spacecraft, as described in Embodiment 2.

[0042] Figure 7 This is a front view of a ground test system for a precision servo drive device capable of simulating the inertia of a large spacecraft, as described in Embodiment 2.

[0043] Figure 8 This is an isometric view of a ground test system for a precision servo drive device capable of simulating the inertia of a large spacecraft, as described in Example 3.

[0044] Figure 9 This is a front view of a ground test system for a precision servo drive device capable of simulating the inertia of a large spacecraft, as described in Example 3.

[0045] The reference numerals in the accompanying drawings include: base 1, column 2, axial positioning guide rail 3, precision holding rod 4, drive motor 5, support frame 6, ball screw 7, screw slider 8, axial positioning plate 9, axial positioning slider 10, support seat 11, coupling 12, connecting plate 13, unloading positioning pin 14, support hole 15, servo motor 16, circular grating 17, torque sensor 18, support plate 19, rotating shaft 20, long rod 21, mass slider 22, fixed frame 23, torque motor 24. Detailed Implementation

[0046] The present invention will be further described in detail below through specific embodiments:

[0047] Example 1

[0048] like Figures 1 to 5 As shown, a ground testing system for a precision servo drive device capable of simulating the inertia of large spacecraft includes:

[0049] Base 1 is made of a flat steel plate, and a through hole is opened in the center of base 1.

[0050] Four uprights 2, each made of high-rigidity material, are bolted to the base 1 in an array. Simultaneously, an axial positioning guide rail 3 is fixedly connected to the side wall of each upright 2.

[0051] Four precision retaining rods 4 are bolted between two adjacent columns 2 and located on the lower side of the columns 2. The stability and precision of the column 2 are maintained by the four precision retaining rods 4.

[0052] Two drive motors 5 are symmetrically arranged on the outside of the four columns 2; each drive motor 5 is fixedly connected to a support frame 6, and the bottom of the support frame 6 is fixedly set on the base 1.

[0053] Two ball screws 7 are connected between the drive motor 5 and the base 1, and the ball screw 7 is rotatably connected to the base 1. Each ball screw 7 is located in the corresponding support frame 6.

[0054] Two lead screw sliders 8 are set on corresponding ball screws 7.

[0055] The axial positioning plate 9 has four guide holes for the column 2 and the axial positioning guide rail 3 to pass through. The axial positioning plate 9 also has four axial positioning sliders 10 located next to the guide holes, each slider 10 being slidably connected to its corresponding axial positioning guide rail 3. Each slider 10 is bolted to a support base 11, which is bolted to the axial positioning plate 9. The bottom of the left and right sides of the axial positioning plate 9 rests on the fixing frame 23 and abuts against the pressure sensor.

[0056] In this embodiment, connecting plates 13 are provided on the left and right sides of the upper surface of the axial positioning plate 9. Each of the four corners of the connecting plate is provided with a recessed portion. The recessed portion is located outside the axial positioning slider and surrounds the axial positioning slider. The center of the axial positioning plate 9 and the connecting plate 13 is provided with a through hole for the output shaft of the servo motor 16 to pass through.

[0057] Four symmetrically distributed stress-relieving positioning pins 14 are provided on the left and right side walls of the axial positioning plate 9. Multiple longitudinally arrayed support holes 15 are provided on the side wall of the column 2, and the support holes 15 can engage with the stress-relieving positioning pins 14. When the experimental platform is not used, the stress-relieving positioning pins 14 are used to connect the axial positioning plate 9 and the high-rigidity column 2, thereby unloading the force applied to the lead screw slider 8 and preventing the positioning accuracy of the lead screw slider 8 from decreasing due to prolonged force loading.

[0058] In this embodiment, the servo motor 16 is a magnetically isolated motor. The servo motor 16 is bolted to the axial positioning plate 9, and the output shaft of the servo motor 16 passes through the axial positioning plate 9.

[0059] The circular grating 17 is connected to the output shaft of the servo motor 16 via a coupling 12.

[0060] Torque sensor 18 is bolted to a sensor mounting plate, which is screwed between four posts 2. One end of torque sensor 18 is connected to the output shaft of circular grating 17.

[0061] A simulated load mechanism is mounted on top of four columns 2 and is used to simulate the motion of the load. The simulated load mechanism is connected to a torque sensor 18. In this embodiment, the simulated load mechanism includes a support plate 19, which is bolted to the top of the four columns 2. A rotating shaft 20 is rotatably connected to the center of the support plate 19. One end of the rotating shaft 20 is connected to the torque sensor 18, and a long rod 21 is bolted to the rotating shaft 20. Both ends of the long rod 21 are equipped with mass sliders 22. Thus, by placing mass sliders 22 at both ends of the long rod 21 with a certain stiffness, the rotational inertia and rotational stiffness of the actual load are simulated. The implementation principle of the long rod 21 is as follows: referring to parameters such as the first-order natural frequency of the actual load calculated through finite element simulation, a long rod 21 of suitable material and cross-section is selected and combined with a mass slider 22 of suitable mass size to simulate the dynamic characteristics of the actual load. The load simulation motor directly provides the simulated torsional load and is connected to the load-bearing frame through the support plate 19, while also using the same rotating shaft 20 to connect to the data acquisition component. When the load needs to be switched, simply remove the support plate 19 to remove the load and switch to another type of load. This allows for the switching between Embodiments 1 and 3. The entire process can be completed in just 10 minutes, achieving the modular design and rapid disassembly / reassembly requirements of the load.

[0062] A position compensation mechanism is included to adjust the position of the axial positioning plate 9, thereby adjusting its horizontal accuracy. In this embodiment, the position compensation mechanism includes two fixed frames 23, which are bolted to corresponding lead screw sliders 8. The two fixed frames 23 support the axial positioning plate 9, and a pressure sensor is embedded at the end of each fixed frame 23. The compensation method of the position compensation mechanism is as follows:

[0063] The pressures F1 and F2 are collected in real time by symmetrically arranged pressure sensors. When a force difference ΔF = |F1 - F2| > F0 is detected, the axial positioning plate 9 is moved by the drive motor 5, ball screw 7, and fixed frame 23. In the formula, F0 is the initial pressure value of the axial positioning plate 9 placed on the pressure sensor. The moving distance of the axial positioning plate 9 is: Δx = K•ΔF. Here, F0 is set according to the accuracy of the pressure sensor and is the activation threshold that guides when the position compensation mechanism is activated. For example, assuming the accuracy of the pressure sensor is ±1N, the pressure sensors on both sides of the position compensation mechanism measure 297N and 302N respectively. In this case, the actual force on the two sensors will be between 296-298N and 301-303N. The actual load on the two pressure sensors will definitely be inconsistent after considering the measurement error. At this time, the position compensation mechanism can be activated to adjust the axial positioning plate 9. By adjusting the axial positioning plate 9 so that the readings of the two pressure sensors reach 298N and 300N respectively, the actual force on the two pressure sensors may fall between 297-299N and 299-301N. In this case, the two pressure sensors may experience the same force, 299N. At this point, position compensation can be discontinued, and the two drive mechanisms of the axial positioning plate 9 can be allowed to move with the same displacement. Even if the actual force on the two sensors is not the same (not 299N), the difference in actual force can be guaranteed to be small, meaning the height difference on both sides of the axial positioning plate 9 is small. Therefore, position compensation is not enabled. In this example, F0 can be set to 2N. When the force difference is greater than 2N, position compensation is activated; when the force difference is less than 2N, position compensation is not activated, and the two drive motors 5 move with the same displacement.

[0064] The working process of this embodiment is as follows:

[0065] This solution utilizes the axial positioning plate 9 and the connecting plate 13 to support the servo motor 16, and adjusts its installation height via the drive motor 5, ball screw 7, and fixing bracket 23. The levelness of the servo motor 16's mounting surface is adjusted by measuring the force difference using a pressure sensor. The specific implementation process is as follows:

[0066] When the axial positioning plate 9 is moved upward, the drive motor 5 and the ball screw 7 drive the two fixed brackets 23 to move by displacements of X1 and X2 respectively, thereby pushing the axial positioning plate 9 to move upward. At this time, the pressure sensor collects the resistance F1 and F2 of the two fixed brackets 23 in real time, calculates the force difference ΔF, and determines whether the axial positioning mechanism is subjected to asymmetrical driving force, and thus determines whether there is an abnormal posture of the axial positioning plate 9.

[0067] If an abnormal posture occurs, the ball screws 7 on both sides are rotated at the next moment to correct the displacement of the fixed frame 23, and the next control cycle begins. The displacement of the two fixed frames 23 is controlled by the measured force difference. For example, if the resistance F1 on the fixed frame 23 is greater than the resistance F2 on the fixed frame 23, and |F1-F2|>F0, it means that the position height of the fixed frame 23 is higher than that of the fixed frame 23. Therefore, a displacement of X1-ΔX and a displacement of X2 are applied to the fixed frame 23 to reduce the height difference between the two fixed frames 23, thus reducing the abnormal posture of the axial positioning plate 9. If no abnormal posture occurs, the rotation angle of the drive motor 5 is not corrected at the next moment, and the next control cycle begins. When the cumulative displacement of the fixed frames 23 and the axial positioning plate 9 reaches the height required by the current servo motor 16, the displacement of the fixed frames 23 and the axial positioning plate 9 is stopped.

[0068] The above method avoids the mechanical lag problem inherent in traditional control methods. Using only an embedded force sensor, without position-dependent components, it eliminates the need for periodic calibration of position sensors such as grating rulers, as required in traditional methods. Then, a circular grating 17 is used to measure the angular displacement of the servo motor 16 in real time, and differential calculation is used to estimate the angular velocity and angular acceleration. A torque sensor 18 is used to measure the reaction torque exerted by the simulated load mechanism on the servo motor 16. The connection interface of the torque sensor 18 can be adapted to the spindles of the servo motor 16 with various shaft diameters.

[0069] Before experimental measurements are performed, the force loading on the ball screw 7 is unloaded by the cooperation of the four unloading positioning pins 14 and the support holes 15, so as to prevent the positioning accuracy of the ball screw 7 from decreasing due to long-term force loading.

[0070] Example 2

[0071] like Figure 6 and 7 As shown, the only difference between this embodiment and Embodiment 1 is that the servo motor 16 used in this embodiment is a certain model of control motor, and the servo motor 16 is connected to the circular grating through the coupling 12. As can be seen from Embodiments 1 and 2, by adjusting the vertical height of the servo motor 16 and changing the servo motor 16 interface, different models of servo transmission devices with an axial length less than 650mm and a maximum outer diameter less than 300mm can be used for testing experiments.

[0072] Example 3

[0073] like Figure 8 and 9As shown, the only difference between this embodiment and embodiment 1 is that the simulated load mechanism is different. The simulated load mechanism in this embodiment includes a support plate 19, a torque motor 24 is provided on the support plate 19, a rotating shaft 20 is provided on the output shaft of the torque motor 24, and one end of the rotating shaft 20 is connected to the torque sensor 18.

[0074] The only difference between the working process of this embodiment and that of embodiment 1 is that the load torque is directly provided by the torque motor 24 in this embodiment.

[0075] The above are merely embodiments of the present invention, and common knowledge such as specific structures and / or characteristics in the solutions are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the structure of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A ground testing system for a precision servo transmission device capable of simulating the inertia of large spacecraft, characterized in that, include: The base (1) is made of a flat steel plate; Four pillars (2) are fixed in an array on the base (1); Four precision retaining rods (4), each of which is connected between two adjacent columns (2); Two drive motors (5) are symmetrically arranged on the outside of the four columns (2); Two ball screws (7), each of which is connected between the drive motor (5) and the base (1), and the ball screw (7) is rotatably connected to the base (1); Two lead screw sliders (8) are provided on corresponding ball screws (7); Axial positioning plate (9) is slidably connected between four columns (2) and is disposed between two lead screw sliders (8). Servo motor (16), the servo motor (16) is bolted to the axial positioning plate (9), and the output shaft of the servo motor (16) passes through the axial positioning plate (9). A circular grating (17) is disposed on the output shaft of a servo motor (16); A torque sensor (18), one end of which is connected to a circular grating (17); A simulated load mechanism is provided on the top of four columns (2) and is used to simulate the movement of a load. The simulated load mechanism is connected to a torque sensor (18). The position compensation mechanism can adjust the position of the axial positioning plate (9) to adjust the levelness accuracy of the axial positioning plate (9).

2. The ground testing system for a precision servo transmission device capable of simulating the inertia of a large spacecraft according to claim 1, characterized in that: The position compensation mechanism includes two fixed frames (23), which are respectively fixed on the corresponding lead screw slider (8). The two fixed frames (23) are used to support the axial positioning plate (9). Each fixed frame (23) is embedded with a pressure sensor that abuts against the axial positioning plate (9).

3. The ground testing system for a precision servo transmission device capable of simulating the inertia of a large spacecraft according to claim 2, characterized in that: The compensation method of the position compensation mechanism is as follows: The pressure F1 and F2 are collected in real time by the symmetrically arranged pressure sensors. When the force difference ΔF = |F1-F2| > F0 is detected, the axial positioning plate (9) is moved by the drive motor (5), ball screw (7) and fixed frame (23). The displacement difference between the two drive motors (5) moving the axial positioning plate (9) on both sides is: Δx = K•ΔF.

4. The ground testing system for a precision servo transmission device capable of simulating the inertia of a large spacecraft according to claim 1, characterized in that: The axial positioning plate (9) is provided with a connecting plate (13). The four corners of the connecting plate (13) are provided with recessed parts that cooperate with the column (2). The center of the axial positioning plate (9) and the connecting plate (13) are provided with a through hole for the output shaft of the servo motor (16) to pass through.

5. The ground testing system for a precision servo transmission device capable of simulating the inertia of a large spacecraft according to claim 1, characterized in that: The axial positioning plate (9) has multiple symmetrically distributed unloading positioning pins (14) on its side wall, and the column (2) has multiple arrayed support holes (15) on its side wall, which can engage with the unloading positioning pins (14).

6. The ground testing system for a precision servo transmission device capable of simulating the inertia of a large spacecraft according to claim 1, characterized in that: Each of the columns (2) is provided with an axial positioning guide rail (3), and each of the axial positioning plates (9) is provided with a guide hole for the column (2) and the axial positioning guide rail (3) to pass through. The axial positioning plate (9) is also provided with four axial positioning sliders (10), and each axial positioning slider (10) is slidably connected to the corresponding axial positioning guide rail (3).

7. A ground testing system for a precision servo drive device capable of simulating the inertia of a large spacecraft, as described in any one of claims 1-5, characterized in that: Each of the columns (2) is made of a high-rigidity material.

8. The ground testing system for a precision servo transmission device capable of simulating the inertia of a large spacecraft according to claim 7, characterized in that: The simulated load mechanism includes a support plate (19), a rotating shaft (20) is rotatably connected to the center of the support plate (19), one end of the rotating shaft (20) is connected to a torque sensor (18), a long rod (21) is provided on the rotating shaft (20), and mass sliders (22) are provided at both ends of the long rod (21).

9. A ground testing system for a precision servo transmission device capable of simulating the inertia of a large spacecraft, as described in claim 7, is characterized in that: The simulated load mechanism includes a support plate (19), on which a torque motor (24) is provided. A rotating shaft (20) is provided on the output shaft of the torque motor (24), and one end of the rotating shaft (20) is connected to a torque sensor (18).

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