A self-redundant multi-actuator system for a semi-flexible wall nozzle section in a wind tunnel

Abstract

This invention relates to the field of wind tunnel technology, and in particular to a self-redundant multi-actuator system for a semi-flexible wall nozzle section in a wind tunnel. The system includes multiple sets of self-redundant actuators arranged laterally side-by-side on a single-sided profile wall of the semi-flexible wall nozzle section in a transonic wind tunnel. A hydraulic control unit is connected to the self-redundant actuators to adjust their maximum output power and achieve hydraulic self-locking. It can also selectively activate or deactivate the redundancy capability of the actuators according to operational requirements. A constant-pressure oil source unit is connected to the hydraulic control unit to supply oil to the self-redundant actuators and provide power compensation. This invention features high energy efficiency, strong anti-pollution capability, high power density, heterogeneous self-redundancy capability, and high reliability. It also combines the precision positioning characteristics of electromechanical actuators with the load adaptability of a hydraulic system, enabling direct and precise shaping of large-size semi-flexible wall nozzle profiles.

Description

Technical Field

[0001] This invention relates to the field of wind tunnel technology, and in particular to a self-redundant multi-actuator system for a semi-flexible wall nozzle section of a wind tunnel. Background Technology

[0002] Wind tunnel nozzles are used to accelerate airflow to the target velocity, and their internal profiles need to be adjusted according to the test conditions. Existing nozzles mainly include three types of structures: solid-walled, fully flexible-walled, and semi-flexible-walled. The semi-flexible-walled nozzle consists of vertically adjustable profiled panels and horizontally fixed panels, with the upper and lower profiled panels symmetrically arranged along the wind tunnel axis. Depending on the wind tunnel specifications, several support points are set on each profiled panel, and each support point is driven by a set of actuators symmetrically arranged side-by-side along the wind tunnel axis.

[0003] In semi-flexible wall nozzles, actuators are used to directly adjust the position of support points to change the local shape of the nozzle profile. The actuators must be able to extend and retract freely in the vertical plane and swing at small angles around their hinge points to adapt to changes in the nozzle's attitude during deformation. By controlling the extension or retraction of multiple actuators, the support points move collaboratively in the vertical plane, thereby achieving continuous adjustable deformation of the nozzle profile and meeting the profile requirements of tests at different speed ranges.

[0004] Currently, there are three main driving methods for the support points of semi-flexible wall nozzles: electromechanical actuator drive, valve-controlled servo hydraulic cylinder drive, and electro-hydraulic (electromechanical actuator and valve-controlled servo hydraulic cylinder) hybrid parallel drive.

[0005] However, valve-controlled servo hydraulic cylinder systems are energy-intensive, require oil tanks and pump stations, are bulky, and have limited layout. Furthermore, oil consumption creates an environmental burden. The servo valves are sensitive to oil cleanliness and have a high failure rate, resulting in insufficient overall reliability. While electromechanical actuators are relatively energy-efficient, they have low power density, are bulky, and each actuator requires an independent motor, leading to a significant increase in total installed power with the number of actuators. Additionally, their layout flexibility is limited by installation space constraints. Electro-hydraulic hybrid parallel drives compensate for some of the shortcomings of both systems, but due to the different response characteristics of electric and hydraulic drives, coordinated control is difficult. They also require high symmetry in actuator installation positions, which can easily lead to uneven stress distribution. Moreover, their multi-branch structure is detrimental to reliability; failure in any branch will affect overall performance, limiting system redundancy.

[0006] Therefore, existing drive methods still have significant shortcomings in terms of energy consumption, layout space, equipment reliability, and redundancy, making it difficult to simultaneously meet the requirements of semi-flexible wall nozzles for high precision, high torque, compact layout, and long-term stable operation. In view of these problems, it is necessary to propose a new drive scheme to improve the performance of the drive system and enhance the overall adjustability of the semi-flexible wall nozzle. Summary of the Invention

[0007] The purpose of this invention is to provide a self-redundant multi-actuator system for semi-flexible wall nozzle sections in wind tunnels, in order to solve the problems existing in the prior art.

[0008] To achieve the above objectives, the present invention provides the following solution: The present invention provides a self-redundant multi-actuator system for a semi-flexible wall nozzle section in a wind tunnel, comprising:

[0009] Multiple sets of self-redundant actuators are arranged laterally side by side on one side of the semi-flexible wall nozzle section of the transonic wind tunnel and are hinged to the semi-flexible wall nozzle section for transmission; and are hinged to the actuator of the semi-flexible wall nozzle section of the transonic wind tunnel for transmission.

[0010] An auxiliary unit, which is connected to the self-redundant actuator, is used to monitor the operating data of the self-redundant actuator;

[0011] A hydraulic control unit, which is connected to the self-redundant actuator, is used to adjust the maximum output power of the self-redundant actuator and maintain the hydraulic self-locking of the self-redundant actuator. At the same time, it can control the participation level of the hydraulic subsystem according to the working requirements to selectively enable or disable the redundancy capability of the actuator.

[0012] A constant pressure oil source unit is connected to the hydraulic control unit of the self-redundant actuator, and is used to supply oil to the self-redundant actuator and provide power compensation.

[0013] Preferably, the self-redundant actuator includes a servo motor, which is driven by a trapezoidal lead screw. The trapezoidal lead screw has positive and negative conical grooves distributed on it. The trapezoidal lead screw extends into the hollow piston rod cavity and is driven by the piston rod. The electromechanical driving force and the hydraulic driving force work together to drive the piston rod to move linearly within the cylinder of the self-redundant actuator through the trapezoidal lead screw.

[0014] Preferably, the end of the piston rod is provided with a spherical piston nut pair, the piston nut pair has a circular pit microtexture distributed on its tooth profile, the piston nut pair is sealed and slides in the cylinder cavity of the self-redundant actuator, the piston nut pair divides the cylinder of the self-redundant actuator into two independent chambers: a first rodless chamber and a first rod chamber, the first rod chamber and the first rodless chamber are respectively connected to the auxiliary unit.

[0015] Preferably, the auxiliary unit includes an inverter, a first pressure sensor, and a second pressure sensor. The servo motor is connected to the DC bus through the inverter. The first pressure sensor is connected to the first rodless cavity, and the second pressure sensor is connected to the first rod cavity.

[0016] Preferably, the constant pressure oil source unit includes a variable pump, the oil outlet of the variable pump is connected to a long connecting pipe and a switching valve through a constant pressure module, the long connecting pipe is connected to a second accumulator group, and the switching valve is connected to a first accumulator group.

[0017] Preferably, the constant pressure module includes a constant pressure valve and a variable piston cylinder. The valve core of the constant pressure valve moves under the pressure of the variable pump outlet. Two working ports at one end of the constant pressure valve are respectively connected to the outlet of the variable pump and the oil tank, and the other working port is connected to the second rodless chamber of the variable piston cylinder. The second rod chamber of the variable piston cylinder is connected to the outlet of the variable pump.

[0018] Preferably, the outlet of the variable pump is connected to the long connecting pipe via a one-way valve and a filter arranged in sequence.

[0019] Preferably, the hydraulic control unit includes a three-position four-way proportional valve connected to the long connecting pipe. The three-position four-way proportional valve is provided with a working port A and a working port B. When the three-position four-way proportional valve is in the neutral position, the working port A and the working port B are connected. The working port A and the working port B, which are arranged in parallel, are respectively connected to the oil inlet of the first locking valve and the second locking valve. The oil outlet of the first locking valve and the second locking valve are respectively connected to the first rod chamber and the first rodless chamber.

[0020] Preferably, the working oil port A is connected to the oil outlet of the first replenishing check valve and the oil inlet of the first overflow valve, respectively, and the working oil port B is connected to the oil outlet of the second replenishing check valve and the oil inlet of the second overflow valve, respectively.

[0021] This invention also discloses a control method for a self-redundant multi-actuator system for a semi-flexible wall nozzle section in a wind tunnel, comprising the following steps:

[0022] Based on the pressure information collected by the pressure sensor group, the active / passive self-redundant actuator is determined;

[0023] Given the initial servo motor speed control signal for the active / slave self-redundant actuator;

[0024] The hydraulic control unit is activated, and the constant pressure oil source unit performs power compensation for the self-redundant actuator.

[0025] The hydraulic control unit dynamically manages the participation status of the hydraulic subsystem based on a set pressure threshold;

[0026] Based on the displacement difference between the active and passive servo motors, adjust the passive self-redundant actuator until the active and passive self-redundant actuators are synchronized;

[0027] The hydraulic control unit is turned off, and the servo motor is set to the de-enabled brake state.

[0028] The present invention discloses the following technical effects:

[0029] 1. The actuator possesses heterogeneous self-redundancy capability. As two subsystems of the same actuator, electromechanical drive and hydraulic drive can maintain basic driving capability even if one subsystem fails, thereby significantly improving the fault tolerance and reliability of the support point and nozzle system.

[0030] 2. The power-sharing configuration significantly reduces the power requirement of individual motors, resulting in a lower total installed power. Electromechanical and hydraulic drives share the output force, and their combined power is sufficient to meet maximum operating requirements; each component requires relatively little power, making the overall actuator structure more compact.

[0031] 3. The hydraulic system adopts a power-following control structure, eliminating the need for traditional servo valves. This solves the problems of servo valves being sensitive to oil cleanliness, having a high failure rate, and requiring extensive maintenance, thereby improving control reliability and anti-contamination capabilities.

[0032] 4. Improved energy efficiency and reduced oil consumption in hydraulic systems. Hydraulic systems no longer require the continuous energy consumption of high-pressure servo valves, resulting in a significant reduction in overall energy consumption. This also reduces oil demand and leakage risk, improving environmental friendliness.

[0033] 5. This invention combines the precision positioning characteristics of an electromechanical actuator with the load adaptability of a hydraulic system, effectively shortening the profile adjustment time, thereby fully realizing the rapid response, precise positioning, and reliable anti-interference adjustment of the semi-flexible wall nozzle for large-size variable curvature profiles under complex working conditions. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0035] Figure 1 This is a schematic diagram of the self-redundant multi-actuator system for a semi-flexible wall nozzle section in a wind tunnel according to the present invention;

[0036] Figure 2 This is an overall schematic diagram of the application of the self-redundant actuator of the present invention in a wind tunnel semi-flexible wall nozzle;

[0037] Figure 3 This is a schematic diagram of the end face of the single-set self-redundant actuator of the present invention applied at the support point of a semi-flexible wall nozzle in a wind tunnel.

[0038] Figure 4This is a flowchart of the self-redundant multi-actuator system control method of the present invention;

[0039] In the diagram: 1. First accumulator group; 2. Switch valve; 3. Filter; 4. Check valve; 5. Constant pressure valve; 6. Electric motor; 7. Variable pump; 8. Variable piston cylinder; 9. Third relief valve; 10. Three-position four-way proportional valve; 11. First replenishing check valve; 12. Second replenishing check valve; 13. First relief valve; 14. Second relief valve; 15. First locking valve; 16. Second locking valve; 17. First pressure sensor; 8. Second pressure sensor; 19. Self-redundant actuator; 20. Reducer; 21. Servo motor; 22. Piston nut pair; 23. Trapezoidal lead screw; 24. Piston rod; 25. Inverter; 26. Switch; 27. Rectifier; 28. Filter capacitor; 29. ​​Second accumulator group; 30. Third pressure sensor; 31. Adjustable contraction section; 32. Throat block section; 33. Flexible plate section; 34. Suspension beam; 35. Lower crossbeam. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] Reference Figures 1 to 4 As shown, this embodiment provides a self-redundant multi-actuator system for a semi-flexible wall nozzle section in a wind tunnel, comprising:

[0043] Multiple sets of self-redundant actuators 19 are arranged laterally side by side on one side of the semi-flexible wall section of the transonic wind tunnel and are hinged to the semi-flexible wall nozzle section for transmission; and are hinged to the actuator of the semi-flexible wall nozzle section of the transonic wind tunnel for transmission.

[0044] An auxiliary unit is connected to the self-redundant actuator 19 and is used to monitor the operating data of the self-redundant actuator 19.

[0045] The hydraulic control unit is connected to the self-redundant actuator 19 and is used to adjust the maximum output power of the self-redundant actuator 19 and maintain the hydraulic self-locking of the self-redundant actuator 19. At the same time, it can control the participation level of the hydraulic subsystem according to the working requirements to selectively open or close the redundancy capability of the actuator.

[0046] The constant pressure oil source unit is connected to the hydraulic control unit of the self-redundant actuator 19 and is used to supply oil to the self-redundant actuator 19 and provide power compensation.

[0047] This invention discloses a self-redundant multi-actuator system for a semi-flexible wall nozzle section in a wind tunnel. It employs a collaborative drive architecture combining electromechanical and hydraulic drives. A servo motor 21 enables high-precision position control of the self-redundant actuator 19. A constant-pressure oil source unit provides dynamic power compensation to the actuators through a hydraulic control unit, achieving physical decoupling between the motion control loop and the power output loop. The electromechanical and hydraulic drives share the output force, effectively reducing the power of individual servo motors 21 in each actuator group of the semi-flexible wall nozzle. The actuators possess heterogeneous self-redundancy capabilities; if one subsystem of the electromechanical or hydraulic drive fails, the other subsystem can still maintain basic driving capability, significantly improving the reliability of the support points. The hydraulic subsystem adopts a power-following control structure, eliminating the need for traditional servo valves and solving problems such as sensitivity to oil cleanliness, high failure rate, and high maintenance requirements of servo valves. This improves control reliability and anti-contamination capabilities, reducing system investment and operating costs. Simultaneously, this invention employs a dual-redundant braking system of hydraulic circuit locking and electric brake to ensure the stability of the surface structure during wind tunnel operation. Furthermore, this invention combines the precision positioning characteristics of electromechanical actuators with the load adaptability of hydraulic systems, significantly shortening the profile adjustment time and controlling the adjustment accuracy within the required range. This enables the semi-flexible wall nozzle to achieve rapid response, precise positioning, and reliable anti-interference adjustment of large-size variable curvature profiles under complex working conditions.

[0048] In one embodiment of the present invention, the upper and lower surfaces of the transonic wind tunnel semi-flexible wall nozzle section can be divided into an adjustable contraction section 31, a throat block section 32, and a flexible plate section 33, wherein the executed components are specifically the adjustable contraction block, the throat block, and the flexible plate; the actuator is connected to the executed components by a hinge, and multiple sets of actuators are arranged on one side of the surface wall, the actuator being the self-redundant actuator disclosed in this application.

[0049] In one embodiment of the present invention, several support points are provided on a single-sided profiled wall, each support point being driven by a set of self-redundant actuators 19 arranged symmetrically side-by-side along the wind tunnel axis. The actuator group is structurally connected to the lower crossbeam 35 via a suspension beam 34, wherein the suspension beam is used for upper-end positioning and support of the actuators, and the lower crossbeam is used for lower-end limiting and constraint of the actuators, thereby keeping each group of actuators in the same horizontal plane and achieving overall stable arrangement.

[0050] In one embodiment of the present invention, the actuator system comprises two subsystems: an electromechanical drive subsystem, consisting of a DC power supply (DC grid) and a servo motor, reduction and transmission components, and motion conversion mechanism disposed within the actuator body, used to output controllable torque and achieve high-precision displacement / position control; and a hydraulic drive subsystem, consisting of a constant pressure oil source unit and a hydraulic control unit, connected to the hydraulic chamber inside the actuator body via oil supply lines, return lines, and corresponding oil ports. The hydraulic control unit is used to regulate the pressure / flow rate or power output entering the actuator's hydraulic chamber, enabling the hydraulic subsystem to provide the actuator with power compensation, peak load support, and pressure maintenance functions required for self-locking as needed.

[0051] Further optimization of the scheme: The self-redundant actuator 19 includes a servo motor 21, which is driven by a trapezoidal lead screw 23. The trapezoidal lead screw has positive and negative conical grooves. The trapezoidal lead screw 23 extends into the inner cavity of the hollow piston rod 24 and is driven by the piston rod 24. The electromechanical driving force and the hydraulic driving force work together to drive the piston rod 24 to move linearly within the cylinder of the self-redundant actuator 19 through the trapezoidal lead screw 23. The power of the servo motor 21 drives the trapezoidal lead screw 23 to rotate through the reducer 20 at its output end. The trapezoidal lead screw 23 is threadedly connected to the inner cavity of the hollow piston rod 24. Under the premise of improving the self-redundant actuator 19, it can drive the piston rod 24 to move within the self-redundant actuator 19, while simultaneously coupling the hydraulic drive to work together to drive the piston rod 24 to move linearly.

[0052] In a further optimized design, a spherical piston nut assembly 22 is provided at the end of the piston rod 24. The piston nut assembly 22 has a circular pit microtexture distributed on its tooth profile. The piston nut assembly 22 slides in a sealed manner within the cylinder cavity of the self-redundant actuator 19. The piston nut assembly 22 divides the cylinder of the self-redundant actuator 19 into two independent chambers: a first rodless chamber and a first rod chamber. The first rod chamber and the first rodless chamber are respectively connected to the auxiliary unit. The piston nut assembly 22 is located at the end of the piston rod 24 and is connected to the trapezoidal lead screw 23. When the trapezoidal lead screw 23 rotates under the drive of the servo motor 21, the piston nut assembly 22 is displaced on the trapezoidal lead screw 23, thereby driving the piston rod 24 to move. At the same time, the outer wall of the piston nut assembly 22 is provided with a sealing structure, which slides in a sealed manner with the inner wall of the cylinder of the self-redundant actuator 19, dividing the inner cavity of the cylinder of the self-redundant actuator 19 into two independent parts: a first rod chamber and a first rodless chamber. When the hydraulic oil pressures in the first rod chamber and the first rodless chamber are different, different pressures are generated on the piston nut assembly 22. At the same time, a wedge-shaped oil film is formed between the trapezoidal lead screw 23 and the piston nut assembly 22 to increase lubrication and reduce resistance, thereby driving the piston rod 24 to move.

[0053] Further optimization of the scheme, through reasonable design of the positive / inverted conical grooves and the micro-texture size of the circular pit, the trapezoidal lead screw 23 and the piston nut pair 22 have a dynamic and static pressure lubrication effect, which can generate an automatic centering force, effectively reduce frictional resistance and eliminate axial jamming force.

[0054] The design was further optimized by adopting a spherical nut structure for the piston nut pair 22, which allows for a certain amount of radial swing margin in the friction pair, thereby eliminating radial jamming force in the friction pair.

[0055] Further optimization of the scheme involves an auxiliary unit comprising an inverter 25, a first pressure sensor 17, and a second pressure sensor 18. The servo motor 21 is connected to the DC bus via the inverter 25. The first pressure sensor 17 is connected to the first rodless cavity, and the second pressure sensor 18 is connected to the first rod cavity. The inverter 25 of the auxiliary component connects the servo motor 21 to the DC bus, converting the DC power from the DC bus into AC power required for the servo motor 21 to operate, ensuring its normal operation. The first pressure sensor 17 and the second pressure sensor 18 are respectively connected to the first rodless cavity and the first rod cavity to detect the pressure information of the corresponding chambers. Based on the detected pressure information, the actuators that can withstand the maximum load force are selected, and the active and passive actuators of each group of actuators are determined for further implementation of the control method.

[0056] In one embodiment of the present invention, the servo motor 21 is a dual-shaft extension motor. The front end of the servo motor 21 is directly connected to the input end of the reducer 20 through a coupling. An electromagnetic brake is installed at the rear end of the servo motor 21. The electromagnetic brake and the reducer 20 are connected in series. When the electromagnetic brake is de-energized, the rear shaft extension and rotor of the motor are locked. The braking torque can be effectively amplified through the reducer 20.

[0057] Further optimizing the scheme, the constant pressure oil source unit includes a variable pump 7. The oil outlet of the variable pump 7 is connected to a long connecting pipe and a switching valve 2 through a constant pressure module. The long connecting pipe is connected to a second accumulator group 29, and the switching valve 2 is connected to a first accumulator group 1. The constant pressure module includes a constant pressure valve 5 and a variable piston cylinder 8. The valve core of the constant pressure valve 5 moves under the pressure of the oil outlet of the variable pump 7. Two working oil ports at one end of the constant pressure valve 5 are connected to the oil outlet of the variable pump 7 and the oil tank, respectively. The other working oil port is connected to the second rodless chamber of the variable piston cylinder 8. The second rod chamber of the variable piston cylinder 8 is connected to the oil outlet of the variable pump 7. The oil outlet of the variable pump 7 is connected to the long connecting pipe through a one-way valve 4 and a filter 3 arranged in sequence. The electric motor 6 drives the variable pump 7 to work. The constant pressure valve 5 detects the outlet pressure of the variable pump 7 and controls the movement of the valve core. The two working ports at one end of the constant pressure valve 5 are connected to the outlet of the variable pump 7 and the oil tank, respectively. The working port at the other end is connected to the second rodless chamber of the variable piston cylinder 8. The second rod chamber of the variable piston cylinder 8 is connected to the outlet of the variable pump 7. The constant pressure valve 5 and the variable piston cylinder 8 work together to adjust the swashplate angle of the variable pump 7 to ensure that the system always works under constant pressure. The inlets of the check valve 4 and the relief valve are connected in series with the outlet of the variable pump 7. The outlet of the check valve 4 is connected to the inlet of the filter 3. The outlet of the filter 3 is connected to the switch valve 2 and the long connecting pipe. The switch valve 2 is normally closed and is opened when the wind tunnel angle of attack mechanism returns to zero in an emergency. The outlet of the long connecting pipe is connected to the second accumulator group 29 using a hose.

[0058] In one embodiment of the present invention, the constant pressure oil source unit further includes a third overflow valve 9 for protecting pipelines and equipment. Its working principle and usage method are existing technologies and will not be described in detail here.

[0059] In one embodiment of the present invention, a third pressure sensor 30 is connected to the inlet of the second accumulator group 29 for detecting pressure information of the constant pressure oil source unit.

[0060] In one embodiment of the present invention, when applied to a wind tunnel, the number of constant pressure oil source units should meet the flow requirements under normal load speed, wherein the volume and number of the first accumulator group 1 should be determined according to the flow requirements of the wind tunnel angle of attack mechanism during emergency zero return.

[0061] In one embodiment of the present invention, the first accumulator group 1 and the second accumulator group 29 are both pneumatic accumulators. The first accumulator group 1 is mainly used for flow energy storage to meet the short-term high flow requirements of the self-redundant multi-actuator system. The second accumulator group 29 is used for pressure energy storage to improve the dynamic characteristics of the system, reduce the oil pressure fluctuation during the operation of the hydraulic system, and improve the stability of the system.

[0062] In one embodiment of the present invention, the initial charging pressure of the second accumulator group 29 should be increased as much as possible within the allowable range to ensure a stable oil source output pressure.

[0063] Further optimization of the scheme: The hydraulic control unit includes a three-position four-way proportional valve 10 connected to a long connecting pipeline. The three-position four-way proportional valve 10 is provided with working port A and working port B. When the three-position four-way proportional valve 10 is in the neutral position, working port A and working port B are connected. Working ports A and B, configured in parallel, are respectively connected to the inlets of the first locking valve 15 and the second locking valve 16. The outlets of the first locking valve 15 and the second locking valve 16 are respectively connected to the first rod chamber and the first rodless chamber. Working port A is connected to the outlet of the first replenishing check valve 11 and the inlet of the first relief valve 13. Working port B is connected to the outlet of the second replenishing check valve 12 and the inlet of the second relief valve 14. See appendix. Figure 1 As shown, the inlet P of the three-position four-way proportional valve 10 is connected to the outlet of the long connecting pipe, and the return port T leads to the oil tank. The inlets of the first locking valve 15 and the second locking valve 16 are connected to the working ports A and B of the three-position four-way proportional valve 10, respectively. The outlets of the first locking valve 15 and the second locking valve 16 are connected to the first rodless chamber and the first rod chamber of the redundant actuator 19, respectively, for supplying hydraulic oil at a set pressure to the first rod chamber and the first rodless chamber. Working port A is connected to the outlet of the first replenishing check valve 11 and the inlet of the first relief valve 13, respectively. The inlet of the first replenishing check valve 11 and the outlet of the first relief valve 13 are connected to the oil tank. Working port B is connected to the outlet of the second replenishing check valve 12 and the inlet of the second relief valve 14, respectively. The inlet of the second replenishing check valve 12 and the outlet of the second relief valve 14 are connected to the oil tank.

[0064] In one embodiment of the present invention, a power switch 26, a rectifier 27, and a filter capacitor 28 are connected to the DC bus. The arrangement of these components ensures that the current from the DC bus is stably supplied to the equipment for operation.

[0065] This invention also discloses a control method for a self-redundant multi-actuator system for a semi-flexible wall nozzle section in a wind tunnel, comprising the following steps:

[0066] Based on the pressure information collected by the pressure sensor group, the active / passive self-redundant actuator 19 is determined; based on the force conditions of each redundant actuator 19 during the commissioning process and the pressure information collected by the auxiliary unit, the active / passive self-redundant actuator 19 of the same group of actuators is determined.

[0067] The initial active / passive self-redundant actuator 19 is given a speed control signal for the servo motor 21; when the self-redundant actuators 19 arranged laterally in the same group of actuators operate together, the initial active / passive self-redundant actuator 19 is given a speed control signal for the speed control signal.

[0068] The hydraulic control unit is activated, and the constant pressure oil source unit performs power compensation for the self-redundant actuator 19. The operating speed of the active / driven self-redundant actuator 19 is controlled by its servo motor 21. The three-position four-way proportional valve 10, the first locking valve 15, and the second locking valve 16 are opened, and the constant pressure oil source unit performs power compensation for the active / driven self-redundant actuator 19.

[0069] The hydraulic control unit dynamically manages the participation status of the hydraulic subsystem based on the set pressure threshold: the first locking valve 15 and the second locking valve 16 are kept open. When the actuator output pressure or load pressure reaches the preset upper limit threshold, the hydraulic subsystem automatically intervenes to provide additional power. When the pressure is in the normal operating range and below the lower limit threshold, the three-position four-way proportional valve 10 is in the neutral position, and the actuator is driven only by the servo motor 21. The hydraulic subsystem remains in standby to reduce energy consumption.

[0070] Based on the displacement difference between the active and passive servo motors 21, the passive self-redundant actuator 19 is adjusted until the active and passive self-redundant actuators 19 are synchronized. Based on the rotational speed of the servo motor 21, the displacement of the active and passive self-redundant actuators 19 is calculated in real time and compared. The displacement difference between the active and passive self-redundant actuators 19 is used as a control quantity and superimposed on the rotational speed control of the servo motor 21 of the passive self-redundant actuator 19. This process is repeated to ensure the synchronization accuracy of the movement of the active and passive self-redundant actuators 19.

[0071] Shut down the hydraulic control unit and set the servo motor 21 to the de-enabled brake state. After the profile is adjusted to the correct position, close the three-position four-way proportional valve 10, the first locking valve 15, and the second locking valve 16, and adjust the servo motor 21 to the de-enabled brake state to ensure profile stability.

[0072] In one embodiment of the present invention, the spring pressure of the constant pressure valve 5 can be set so that the outlet pressure of the constant pressure oil source unit is higher than the load pressure by a fixed value, thereby ensuring that the opening of the three-position four-way proportional valve 10 is maximized and completely eliminating throttling losses.

[0073] In one embodiment of the present invention, the constant pressure oil source unit can be implemented using a constant pressure pump to achieve constant pressure oil supply; further, the constant pressure oil source unit can also be composed of a fixed displacement pump driven by a servo motor, wherein the servo motor and the fixed displacement pump are coaxially connected, and the flow output of the fixed displacement pump is achieved by adjusting the speed of the servo motor. The constant pressure oil source unit is set with a high pressure setpoint and a low pressure setpoint, forming a two-point constant pressure power source: when the system pressure is lower than the low pressure setpoint, the servo motor is controlled to start and drive the fixed displacement pump to supply oil to the system, causing the pressure to rise; when the system pressure reaches the high pressure setpoint, the servo motor is controlled to stop or reduce speed, causing the fixed displacement pump to work intermittently, thereby causing the system pressure to fluctuate between the high pressure setpoint and the low pressure setpoint and maintain within the set range, thus achieving the constant pressure oil supply function.

[0074] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0075] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A self-redundant multi-actuator system for a semi-flexible wall nozzle section in a wind tunnel, characterized in that, include: Multiple sets of self-redundant actuators (19) are arranged side by side laterally on one side of the semi-flexible wall nozzle section of the transonic wind tunnel and are hinged to the semi-flexible wall nozzle section for transmission. An auxiliary unit is connected to the self-redundant actuator (19) and is used to monitor the operating data of the self-redundant actuator (19). The hydraulic control unit is connected to the self-redundant actuator (19) and is used to adjust the maximum output power of the self-redundant actuator (19) and maintain the hydraulic self-locking of the self-redundant actuator (19). At the same time, it can control the degree of participation of the hydraulic subsystem according to the work requirements, so as to selectively open or close the redundancy capability of the actuator. A constant pressure oil source unit is connected to the hydraulic control unit and is used to supply oil to the self-redundant actuator (19) and provide power compensation. The self-redundant actuator (19) includes a servo motor (21), which is connected to a trapezoidal lead screw (23). The trapezoidal lead screw has positive and negative conical grooves. The trapezoidal lead screw (23) extends into the inner cavity of the hollow piston rod (24) and is connected to the piston rod (24). The electromechanical driving force and the hydraulic driving force work together to drive the piston rod (24) to move linearly through the trapezoidal lead screw (23). The piston rod (24) is provided with a spherical piston nut pair (22) at its end. The piston nut pair (22) has a circular pit microtexture distributed on its tooth profile. The piston nut pair (22) is sealed and slides in the cylinder cavity of the self-redundant actuator (19). The piston nut pair (22) divides the cylinder of the self-redundant actuator (19) into two independent chambers: a first rodless chamber and a first rod chamber. The first rod chamber and the first rodless chamber are respectively connected to the auxiliary unit. The constant pressure oil source unit includes a variable pump (7). The outlet of the variable pump (7) is connected to a long connecting pipe and a switching valve (2) through a constant pressure module. The hydraulic control unit includes a three-position four-way proportional valve (10) connected to the long connecting pipe. The three-position four-way proportional valve (10) is provided with a working port A and a working port B. When the three-position four-way proportional valve (10) is in the middle position, the working port A and the working port B are connected. The working port A and the working port B, which are set in parallel, are respectively connected to the inlet of the first locking valve (15) and the second locking valve (16). The outlet of the first locking valve (15) and the second locking valve (16) are respectively connected to the first rodless chamber and the first rod chamber. The working oil port A is connected to the oil outlet of the first replenishing check valve (11) and the oil inlet of the first overflow valve (13), respectively. The working oil port B is connected to the oil outlet of the second replenishing check valve (12) and the oil inlet of the second overflow valve (14), respectively.

2. The self-redundant multi-actuator system for a semi-flexible wall nozzle section in a wind tunnel according to claim 1, characterized in that: The auxiliary unit includes an inverter (25), a first pressure sensor (17), and a second pressure sensor (18). The servo motor (21) is connected to the DC bus through the inverter (25). The first pressure sensor (17) is connected to the first rodless cavity, and the second pressure sensor (18) is connected to the first rod cavity.

3. The self-redundant multi-actuator system for a semi-flexible wall nozzle section in a wind tunnel according to claim 1, characterized in that: The long connecting pipe is connected to the second accumulator group (29), and the switch valve (2) is connected to the first accumulator group (1).

4. The self-redundant multi-actuator system for a semi-flexible wall nozzle section in a wind tunnel according to claim 3, characterized in that: The constant pressure module includes a constant pressure valve (5) and a variable piston cylinder (8). The valve core of the constant pressure valve (5) moves under the pressure of the oil outlet of the variable pump (7). The two working oil ports at one end of the constant pressure valve (5) are respectively connected to the oil outlet of the variable pump (7) and the oil tank. The working oil port at the other end is connected to the second rodless chamber of the variable piston cylinder (8). The second rod chamber of the variable piston cylinder (8) is connected to the oil outlet of the variable pump (7).

5. The self-redundant multi-actuator system for a semi-flexible wall nozzle section in a wind tunnel according to claim 3, characterized in that: The outlet of the variable pump (7) is connected to the long connecting pipe through a one-way valve (4) and a filter (3) arranged in sequence.

6. A control method for a self-redundant multi-actuator system for a semi-flexible wall nozzle section in a wind tunnel, based on the self-redundant multi-actuator system for a semi-flexible wall nozzle section in a wind tunnel as described in any one of claims 1-5, characterized in that, Includes the following steps: Based on the pressure information collected by the pressure sensor group, determine the active / passive self-redundant actuator (19). Given the initial active / slave self-redundant actuator (19) speed control signal for the servo motor (21); Start the hydraulic control unit, and the constant pressure oil source unit performs power compensation for the self-redundant actuator (19); The hydraulic control unit dynamically manages the participation status of the hydraulic subsystem based on a set pressure threshold. Adjust the driven self-redundant actuator (19) until the active / driven self-redundant actuator (19) is synchronized; The hydraulic control unit is turned off, and the servo motor (21) is set to the de-enabled brake state.

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