A servo mechanism comprehensive load simulation device based on electromagnetic friction damping loading

Abstract

This invention discloses a comprehensive load simulation device for servo mechanisms based on electromagnetic friction damping loading, belonging to the field of servo mechanism testing technology. It addresses the problems of small-angle torque dead zone, unstable loading, and difficulty in simulating multiple loads in existing friction loading methods. Its structure includes a base, on which a transmission shaft assembly converts linear motion into rotational motion. Friction, inertia, and elastic load loading components are sequentially connected to the transmission shaft assembly. The friction load loading component includes a conductive rotating arm that rotates synchronously with the transmission shaft assembly and a magnet fixed to the base. The end of the conductive rotating arm extends into the uniform magnetic field generated by the magnet and is electrically connected to an external power supply circuit. This invention generates equivalent friction damping based on the Ampere force principle, eliminating the dead zone established by small-angle torque, ensuring stable and controllable friction torque, and enabling independent or combined loading of three types of loads. It has the advantages of high precision, flexible adjustment, and reliable structure.

Description

Technical Field

[0001] This invention relates to the field of servo mechanism testing technology, and in particular to a comprehensive load simulation device for servo mechanisms based on electromagnetic friction damping loading. Background Technology

[0002] The load simulation device is a core hardware-in-the-loop simulation equipment for servo mechanism performance testing. Its core function is to reproduce the load torque experienced by the servo mechanism in actual space working scenarios under a ground laboratory environment, thereby testing various technical indicators of the servo mechanism and verifying its performance in advance. This device has the advantages of repeatable testing, strong controllability, and low testing cost, making it an indispensable testing equipment in the research and development and mass production stages of spacecraft servo mechanisms.

[0003] Currently, the loads simulated for ground testing of servo mechanisms are mainly divided into three categories: elastic loads, inertial loads, and frictional loads. The mainstream load loading methods include electro-hydraulic servo loading, motor loading, and mechanical loading. Among these, electro-hydraulic servo loading, with hydraulic cylinders as the core actuator, while offering high output torque, suffers from drawbacks such as large system size, high operating noise, high energy loss, and high maintenance costs, making it difficult to adapt to the testing requirements of high-precision, miniaturized servo mechanisms. Motor loading, on the other hand, requires real-time calculation and output of reverse torque based on the servo mechanism's movement speed and the mechanical characteristics of the load; its supporting control system is complex and difficult to debug.

[0004] Therefore, current simulation tests for the three types of load torques on servo mechanisms mostly employ mechanical loading schemes. Mechanical loading is a passive, follow-up loading method that can generate passive torque following the movement of the servo mechanism. It has advantages such as reliable operation, simple structure, and high loading accuracy, and can accurately complete the simulation test of the dynamic and static balance of the servo mechanism. However, existing mechanical loading schemes still have the following technical shortcomings in the friction load simulation stage: First, when using a friction disk-friction plate combined friction loading structure, as the servo mechanism runs longer, the two contact surfaces will experience continuous wear. At the same time, the frictional heating will further change the friction coefficient of the contact surfaces, ultimately leading to poor stability of the frictional torque loading, rapid accuracy decay, and inability to stably simulate constant frictional loads for a long time.

[0005] Second, when using magnetic particle brakes to simulate frictional loads, the torque generation depends on the shear deformation of the magnetic particle chain. Engineering practice shows that the rotation angle required for torque generation in such devices typically needs to reach 5° or even higher. When the servo mechanism is operating at a small angle, the magnetic particle brake cannot generate the target torque, resulting in a significant torque generation dead zone, making it impossible to reproduce the actual frictional load during small-angle movement of the servo mechanism.

[0006] In summary, the existing servo mechanism load simulation devices cannot simultaneously solve the problems of unstable friction load loading and torque dead zones under small-angle working conditions, and their structural designs are difficult to balance the independent and composite loading of the three loads, unable to meet the ground test requirements of high-precision servo mechanisms of spacecrafts under all working conditions and with high reliability. Summary of the Invention

[0007] The object of the present invention is to provide a servo mechanism comprehensive load simulation device based on electromagnetic friction damping loading, which can fundamentally eliminate the torque establishment dead zone under small-angle operation conditions, achieve long-term stable output of frictional torque, and at the same time integrate the independent and composite loading functions of friction, inertia, and elasticity loads to meet the ground test requirements of spacecraft servo mechanisms under all working conditions with high precision and high reliability.

[0008] The technical solution of the present invention to solve the above technical problems is: a servo mechanism comprehensive load simulation device based on electromagnetic friction damping loading, including a base, and a drive shaft system component for converting the linear motion of the measured servo mechanism into rotational motion is provided on the base; a friction load loading component, an inertia load loading component, and an elastic load loading component are sequentially connected in transmission along the extension direction of the rotation axis of the drive shaft system component. The friction load loading component includes a conductive rotating arm that rotates synchronously with the drive shaft system component, and a magnet fixed on the base for generating a uniform magnetic field; the end of the conductive rotating arm extends into the uniform magnetic field, and the rotation plane of the conductive rotating arm is perpendicular to the magnetic induction line direction of the uniform magnetic field, and the conductive rotating arm is electrically connected to an external power supply circuit.

[0009] As a further improvement of the present invention, the drive shaft system component includes a drive shaft system component mounting seat fixed on the base, a bearing mounting seat is provided on the top of the drive shaft system component mounting seat, and a transmission main shaft that can rotate axially is horizontally installed on the bearing mounting seat through a main shaft support bearing. One end of the transmission main shaft is connected with an angle sensor, and the angle sensor is fixed on the bearing mounting seat through an angle sensor mounting seat; a torque sensor is connected in series on the shaft body of the transmission main shaft. Above the transmission main shaft, there is also a servo actuator mounting seat with a "冂" - shaped structure, and the lower end of the servo actuator mounting seat is connected to the drive shaft system component mounting seat. A servo actuator is provided on the top of the servo actuator mounting seat; the actuator rod of the servo actuator passes downward through the servo actuator mounting seat and is hinged to one end of a connecting rod through a locking pin; the other end of the connecting rod is hinged to one end of a rocker arm through a locking pin, and the other end of the rocker arm is fixedly connected to the transmission main shaft through a spline.

[0010] As a further improvement of the present invention, the magnets are configured as two pairs, each with its N pole facing its S pole. The two pairs of magnets are symmetrically arranged on both sides of the transmission main shaft, and each pair of magnets is fixed to the base by a magnet mounting seat. The middle part of the conductive rotating arm is fixedly connected to the transmission main shaft by a spline, and the two ends of the conductive rotating arm extend into the uniform magnetic field generated by the two pairs of magnets.

[0011] As a further improvement of the present invention, the conductive rotating arm is a composite structure, wherein the part in which it is connected to the transmission main shaft is a non-metallic insulating part, and its two ends are metallic conductive parts.

[0012] As a further improvement of the present invention, a cooling system for the metal conductive part facing the conductive rotating arm is also provided next to the base.

[0013] As a further improvement of the present invention, the inertia load loading assembly includes an inertia body component that is fixedly connected to the other end of the transmission spindle via a spline; the inertia body component is provided with two mounting positions symmetrically arranged on both sides of the transmission spindle, and each mounting position is provided with a counterweight block that can move radially along the cross section of the transmission spindle and can be fixed by a locking block; a steel plate clamping block is fixed on the side of the inertia body component away from the transmission spindle.

[0014] As a further improvement of the present invention, the elastic load loading component includes a spring steel plate with one end fixedly connected to the inertia body component via a steel plate clamping block, and the other end of the spring steel plate is clamped and fixed to the elastic load loading component mounting base via a steel plate clamping moving component. The elastic load loading component mounting base is fixed on the base, and a scale is fixed on the elastic load loading component mounting base through a scale mounting base. The scale is arranged along the length direction of the spring steel plate.

[0015] As a further improvement of the present invention, the steel plate clamping moving member can slide and lock along the length direction of the spring steel plate.

[0016] As a further improvement of the present invention, an angle limiting block is fixed on the base, and the angle limiting block is located at the end of the rotation stroke of the inertia main body.

[0017] As a further improvement of the present invention, an electrical cabinet is provided inside the base, and the friction load loading component, the inertia load loading component and the elastic load loading component are electrically connected to the electrical cabinet respectively.

[0018] Beneficial effects Compared with the prior art, the advantages of the servo mechanism integrated load simulation device based on electromagnetic friction damping loading of the present invention are as follows: 1. This invention employs an electromagnetic friction damping loading scheme, generating equivalent friction damping based on the Ampere force principle. When the conductive rotating arm is energized, any minute rotation along with the transmission shaft instantly generates the corresponding equivalent Ampere force for friction damping. This mechanism fundamentally solves the inherent defect of traditional magnetic powder brakes, which require a rotation angle of more than 5° to establish torque due to the shear deformation of the magnetic powder chain. It can accurately simulate the real friction load of the servo mechanism throughout its entire stroke, especially under small-angle start-up and micro-vibration conditions. 2. The magnitude of the frictional torque generated by this invention is determined solely by the magnetic induction intensity of the uniform magnetic field, the current flowing through the conductive rotating arm, and the structural dimensions, and is independent of mechanical contact, wear, or temperature rise. Once the parameters are set, a long-term stable frictional torque output can be achieved, completely overcoming the problems of reduced loading accuracy and poor stability caused by wear on the contact surface and fluctuations in the friction coefficient in traditional friction disc-friction plate structures. 3. This invention integrates three loading components—friction load, inertia load, and elastic load—sequentially along the transmission shaft, resulting in a rational layout and compact structure. These three components can work collaboratively to achieve multi-load composite loading, realistically simulating the comprehensive stress conditions of a servo mechanism in actual operation; alternatively, they can be modularly disassembled or electrically controlled to achieve independent loading of a single type of load, adapting to the testing needs of different models and test parameters of servo mechanisms, significantly improving the versatility and testing efficiency of the device. 4. The magnitude of all three loads in this invention can be continuously and flexibly adjusted. The friction load is steplessly controlled by adjusting the energizing current or magnetic field strength; the inertial load is precisely adjusted by changing the mass of the counterweight or the installation radius; and the elastic load's stiffness is adjusted by changing the effective clamping length of the spring steel plate through the sliding steel plate clamping moving part. The adjustment method is simple and intuitive, and can quickly adapt to the testing requirements of different specifications of servo mechanisms.

[0019] 5. This invention is based on a passive mechanical loading architecture, which does not require a complex real-time control system and high-power drive components. Compared with electro-hydraulic servo loading and motor loading schemes, it has the advantages of simpler structure, lower operating noise, less energy loss and higher reliability, which significantly reduces the manufacturing and maintenance costs of the device.

[0020] The invention will become clearer from the following description, taken in conjunction with the accompanying drawings, which are used to explain embodiments of the invention. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced 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.

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a perspective view of the transmission shaft assembly of the present invention; Figure 3 This is a front view of the transmission shaft assembly of the present invention; Figure 4 This is a schematic diagram of the structure of the friction load loading component of the present invention; Figure 5 This is a schematic diagram of the inertia load loading component of the present invention; Figure 6 This is a schematic diagram of the structure of the elastic load loading component of the present invention.

[0023] Wherein: 1-Transmission shaft assembly; 101-Servo actuator; 102-Servo actuator mounting base; 103-Connecting rod; 104-Rocker arm; 105-Transmission spindle; 106-Spindle support bearing; 107-Bearing mounting base; 108-Angle sensor; 109-Angle sensor mounting base; 110-Torque sensor; 111-Transmission shaft assembly mounting base; 2-Friction load loading assembly; 201-Conductive rotating arm; 202 - Magnet; 203 Magnet mounting base; 3 Inertia load loading assembly; 301 Inertia main body; 302 Counterweight; 303 Steel plate clamping block; 304 Locking block; 4 Elastic load loading assembly; 401 Spring steel plate; 402 Scale; 403 Scale mounting base; 404 Steel plate clamping moving part; 405 Elastic load loading assembly mounting base; 5 Cooling system; 6 Base; 7 Angle limit block; 8 Electrical cabinet. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; of course, they can also refer to a mechanical connection or an electrical connection; furthermore, they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] Embodiments of the present invention will now be described with reference to the accompanying drawings.

[0027] Example: Specific embodiments of the present invention are as follows: Figure 1-6 As shown, a comprehensive load simulation device for a servo mechanism based on electromagnetic friction damping loading includes a base 6 of an integral welded steel structure. The base 6 is equipped with a transmission shaft assembly 1 for converting the linear motion of the servo mechanism under test into rotational motion. Along the extension direction of its rotation axis, the transmission shaft assembly 1 is sequentially connected to a friction load loading assembly 2, an inertia load loading assembly 3, and an elastic load loading assembly 4. The three sets of assemblies are arranged coaxially to ensure concentricity of torque transmission and loading accuracy.

[0028] Among them, such as Figure 2 , 3 As shown, the transmission shaft assembly 1 includes a transmission shaft assembly mounting base 111 fixed to the base 6. The top of this mounting base has two sequentially arranged bearing mounting seats 107, and a transmission main shaft 105 capable of axial rotation is horizontally mounted on the bearing mounting seats 107 via a main shaft support bearing 106. One end of the transmission main shaft 105 is connected to an angle sensor 108, which is fixed to one of the bearing mounting seats 107 via an angle sensor mounting seat 109, for real-time acquisition of the rotation angle signal of the transmission main shaft 105. Simultaneously, a torque sensor 110 is also connected in series on the shaft of the transmission main shaft 105 for real-time acquisition of the load torque signal.

[0029] In this embodiment, above the transmission main shaft 105, there is a servo actuator mounting seat 102 with a "冂"-shaped structure, and its lower end is fixedly connected to the transmission shaft system component mounting seat 111. At the top of the servo actuator mounting seat 102, the measured servo mechanism - servo actuator 101 is fixed. The actuator rod of the servo actuator 101 passes downward through the top plate of the servo actuator mounting seat 102 and is hinged to one end of the connecting rod 103 through a locking pin. The other end of the connecting rod 103 is hinged to one end of the rocker arm 104 through a locking pin, and centripetal spherical bearings are arranged at both hinge points to eliminate additional bending moments. The other end of the rocker arm 104 is fixedly connected to the transmission main shaft 105 through a spline and is locked with a dowel pin. During operation, the actuator rod of the servo actuator 101 outputs a linear reciprocating motion, which is converted into a reciprocating rotational swing of the transmission main shaft 105 through the connecting rod 103 and the rocker arm 104, and then synchronously drives the friction load loading component 2, the inertia load loading component 3, and the elastic load loading component 4 to rotate, realizing load application.

[0030] Regarding the friction load loading component 2, as Figure 4 shown, it is the core for the device to achieve high-precision and dead-zone-free friction simulation. This component includes a conductive rotating arm 201 that rotates synchronously with the transmission shaft system component 1, and a magnet 202 fixed on the base 6 for generating a uniform magnetic field. The end of the conductive rotating arm 201 extends into the uniform magnetic field, and the rotation plane of the conductive rotating arm 201 is perpendicular to the magnetic induction line direction of the uniform magnetic field. The conductive rotating arm 201 is electrically connected to an external power supply circuit. Specifically: Two pairs of magnets 202 are arranged, and in each pair of magnets 202, the N pole and the S pole are arranged opposite to each other to form a uniform and stable uniform magnetic field in the air gap between the two magnets; the two pairs of magnets 202 are symmetrically arranged on the left and right sides of the transmission main shaft 105 and are respectively fixed on the base 6 through magnet mounting seats 203. The middle part of the conductive rotating arm 201 is fixedly connected to the transmission main shaft 105 through a spline, and its two ends respectively extend horizontally into the uniform magnetic fields generated by the left and right pairs of magnets 202.

[0031] In this embodiment, the conductive rotating arm 201 is a composite structure. The part connected to the transmission main shaft 105 in the middle is a non-metallic insulating part, such as high-strength engineering plastic; the parts extending into the magnetic field at both ends are metal conductive parts with high conductivity, such as copper.

[0032] This design ensures that the current only flows through the metal parts at both ends and does not cause a short circuit through the transmission main shaft 105. The metal conductive parts at both ends of the conductive rotating arm 201 are electrically connected to an external power supply circuit to form a closed current-carrying conductor loop, and the rotation plane of the conductive rotating arm 201 is set to be perpendicular to the magnetic induction line direction of the uniform magnetic field. Based on Ampere's law, the magnitude of the Ampere force on a current-carrying conductor in a uniform magnetic field is: F = BILsinα.

[0033] In this embodiment, since the current direction is perpendicular to the magnetic field direction, α = 90°, sinα = 1, and the Ampere force is simplified to: F=BIL; Where F is the Ampere force, in Newtons; B is the magnetic induction intensity of the uniform magnetic field, in Tesla; I is the current flowing through the conductive metal part of the conductive rotating arm 201, in Amperes; and L is the effective length of the conductive metal part in the magnetic field, in meters.

[0034] The direction of the Ampere force is determined by the left-hand rule. By rationally designing the directions of the current and magnetic field, the Ampere force is always opposite to the tangent direction of the circular motion of the conductive rotating arm 201. That is, the Ampere force always does negative work on the motion, forming an equivalent frictional damping that opposes the rotation of the transmission main shaft 105. The magnitude of the resulting frictional torque is: M f =F·r=BILr; Where M f The equivalent frictional torque is expressed in Newton-meters (N·m); r is the effective lever arm length of the conductive rotating arm 201, which is the vertical distance from the axis of the transmission main shaft 105 to the point of application of the Ampere force, expressed in meters (m).

[0035] This mechanism fundamentally eliminates the torque build-up dead zone of traditional magnetic particle brakes: magnetic particle brakes require sufficient shear deformation of the magnetic particle chain, typically corresponding to a rotation angle of more than 5°, to establish torque. In contrast, the Ampere force in this device acts directly on the conductor. As long as the conductive rotating arm 201 remains energized and produces any minute angular rotation, such as 0.1° or even smaller, the corresponding Ampere force and frictional torque can be generated instantaneously and synchronously. Therefore, it can accurately simulate the real frictional load under conditions such as small-angle start-up and micro-vibration of a servo mechanism. Simultaneously, M... f =BILr indicates that the magnitude of the frictional torque is determined only by the magnetic induction intensity B, the current I, the effective length of the conductor L, and the lever arm r. It is independent of time-varying factors such as mechanical wear and temperature rise of the contact surface. Once B and I are set, the output can be stable for a long time, which completely overcomes the problem of load accuracy decay caused by wear and friction coefficient fluctuation in the traditional friction disc-friction plate structure.

[0036] In this embodiment, in order to ensure thermal stability under high current conditions, a cooling system 5, such as an air cooler, is provided next to the base 6 for the metal conductive part facing the conductive rotating arm 201. This system is used to remove Joule heat in a timely manner to prevent temperature rise from affecting magnetic field strength or conductivity, thereby ensuring loading stability.

[0037] Regarding inertia load loading component 3, such as Figure 5As shown, it includes an inertia body component 301 fixedly connected to the other end of the transmission spindle 105 via a spline. The inertia body component 301 has an "I"-shaped structure and two symmetrically arranged mounting positions on both sides of the transmission spindle 105. Each mounting position contains a counterweight block 302 that can move radially along the cross-section of the transmission spindle 105 and is fixed by a locking block 304. A steel plate clamping block 303 is fixed to the side of the inertia body component 301 away from the transmission spindle 105 for connecting the elastic load loading assembly 4.

[0038] The moment of inertia J of a system of particles about a certain axis is equal to the sum of the products of the masses of each particle and the square of the perpendicular distance from the particle to the axis of rotation, as shown in the following formula: J=∑m i r i 2 ; Where J is the total moment of inertia of the system about its axis of rotation, in kilograms per square meter (m). i r represents the mass of the i-th particle, in kilograms. i The unit for the perpendicular distance from the particle to the axis of rotation is meters.

[0039] In this device, the counterweight 302 can be considered as a concentrated mass. By replacing the counterweight 302 with different masses, the mass m can be changed. i Or move the counterweight 302 radially to change its installation radius r i This allows for continuous and precise adjustment of the overall rotational inertia J.

[0040] When the transmission spindle 105 drives the inertia body 301 to rotate with an angular acceleration of ε (in radians per square second), the resulting inertial torque, i.e., the inertial load, is M. j =J·ε, thus enabling the simulation of inertial loads of different sizes.

[0041] Additionally, regarding elastic load loading component 4, such as Figure 6 As shown, it includes a spring steel plate 401, one end of which is fixedly connected to the inertia body 301 via a steel plate clamping block 303. The spring steel plate 401 is a rectangular cross-section high-elasticity alloy steel plate. The other end of the spring steel plate 401 is clamped and fixed to the elastic load loading assembly mounting base 405 via a steel plate clamping moving part 404. The elastic load loading assembly mounting base 405 is fixed to the base 6, and a scale 402 is fixed on the mounting base via a scale mounting base 403. The scale 402 is arranged parallel to the length direction of the spring steel plate 401. The steel plate clamping moving part 404 can slide and lock along the length direction of the spring steel plate 401, thereby changing the effective clamping length L between the clamping points at both ends of the spring steel plate 401. eff , Unit: meter.

[0042] When the transmission spindle 105 drives the spring steel plate 401 to twist by an angle θ, the spring steel plate 401 undergoes torsional deformation. According to the theory of torsional elasticity in mechanics of materials, the resulting elastic restoring torque M δ The unit is Newton-meter (N·m), and it has a linear relationship with the angle of twist θ, that is: M δ =K·θ; Where K is the torsional stiffness coefficient of spring steel plate 401, in Newton-meter per degree.

[0043] For a spring steel plate 401 with a rectangular cross-section, the formula for calculating its torsional stiffness coefficient K is: K=K0·a 3 b / L eff ; Where K0 is a stiffness constant related to the material's elastic modulus and Poisson's ratio, in Pascals (the reciprocal of the value) or a dimensionless combination thereof, depending on the section shape factor; a is the long side dimension of the rectangular section of spring steel plate 401, in meters; b is the short side dimension of the rectangular section, in meters; L eff The effective clamping length between the two clamping points is expressed in meters.

[0044] As can be seen from this formula, when the material and cross-sectional dimensions are determined, the torsional stiffness coefficient K is related to the effective clamping length L. eff Inversely proportional. Therefore, by clamping the moving part 404 with the sliding steel plate, L is shortened. eff This increases K, thus increasing the elastic restoring torque M generated per unit torsional angle θ. δ Increase; conversely, increase L eff This reduces the elastic torque. Scale 402 is used for quantization reading of L. eff The numerical values ​​provide an intuitive quantitative reference for the precise adjustment of elastic loads, ensuring the repeatability of adjustments and the accuracy of testing.

[0045] The three load loading components of this device adopt a modular design, which can realize independent loading of a single load or compound loading of multiple loads through structural disassembly and electrical on / off control. During compound loading, all components are installed normally, the conductive rotating arm 201 is energized, and three types of loads—friction, inertia, and elasticity—are simulated simultaneously.

[0046] When loading inertia alone, keep the conductive rotating arm 201 de-energized, remove the elastic load loading component 4, and only the inertia main body 301 and the counterweight 302 provide the inertia load.

[0047] When subjected to frictional loading alone, the inertia load loading component 3 and the elastic load loading component 4 are removed, leaving only the conductive rotating arm 201 and energizing it to achieve pure frictional load simulation.

[0048] When subjected to elastic loading alone, the inertia load loading component 3 and the friction load loading component 2 are removed or simply de-energized, and the spring steel plate 401 is directly connected to the transmission spindle 105 via an adapter spline seat to achieve pure elastic load simulation.

[0049] In addition, an angle limiting block 7 is fixed on the base 6. This angle limiting block 7 is located at the end of the rotation stroke of the inertia main component 301 and is used to mechanically limit the rotation angle of the transmission main shaft 105 to ensure the safe operation of the device. At the same time, an electrical cabinet 8 is installed inside the base 6. The friction load loading component 2, the inertia load loading component 3, and the elastic load loading component 4 are electrically connected to the electrical cabinet 8 to centrally realize the electrical control, power supply management, and test data acquisition and storage of the device.

[0050] Take a composite load test as an example: First, based on the test parameters, adjust the current I of the conductive rotating arm 201 to set the friction load, and adjust the mass m of the counterweight 302. i and installation radius r i Set the inertia load, slide the steel plate to clamp the moving part 404 to a predetermined scale mark on the scale 402 to set the effective clamping length L. eff This allows us to determine the elastic stiffness.

[0051] After the servo actuator 101 is started, its actuator outputs linear reciprocating motion, which is converted into the rotational oscillation of the transmission spindle 105 through the transmission shaft assembly 1, synchronously driving the conductive rotating arm 201 to generate electromagnetic friction damping M. f =BILr, the inertial main component 301 generates an inertial torque M j =J·ε、Spring steel plate 401 generates elastic restoring torque M δ =K·θ. Angle sensor 108 and torque sensor 110 collect angle and torque data in real time and transmit them to electrical cabinet 8. By comparing the measured torque-angle curve with the design specifications, the performance of the tested servo mechanism can be evaluated to determine whether it meets the standards.

[0052] The entire loading process described above is based on a passive mechanical servo architecture, eliminating the need for a complex real-time torque feedback control system, as well as a high-power hydraulic source or motor drive unit. Compared to traditional electro-hydraulic servo loading and active motor loading solutions, this invention features a more compact structure, lower operating noise, lower energy loss, and higher long-term reliability, significantly reducing the manufacturing and maintenance costs of the device.

[0053] The present invention has been described above in conjunction with the preferred embodiments, but the present invention is not limited to the embodiments disclosed above, but should cover various modifications and equivalent combinations made in accordance with the essence of the present invention.

Claims

1. A servo mechanism integrated load simulation device based on electromagnetic friction damping loading, comprising a base (6), on which a drive shaft system assembly (1) for converting the linear motion of the measured servo mechanism into rotational motion is provided; along the extension direction of its rotation axis on the drive shaft system assembly (1), a friction load loading assembly (2), an inertia load loading assembly (3) and an elastic load loading assembly (4) are sequentially connected in transmission, and it is characterized in that the friction load loading assembly (2) includes a conductive rotating arm (201) synchronously rotating with the drive shaft system assembly (1), and a magnet (202) fixed on the base (6) for generating a uniform magnetic field; the end of the conductive rotating arm (201) extends into the uniform magnetic field and the rotation plane of the conductive rotating arm (201) is perpendicular to the direction of the magnetic induction lines of the uniform magnetic field, and the conductive rotating arm (201) is electrically connected to an external power supply circuit.

2. The servo-hydraulic load simulator based on electromagnetic friction damping loading according to claim 1, characterized in that the drive shaft system assembly (1) includes a drive shaft system mounting seat (111) fixed on the base (6), a bearing mounting seat (107) is provided at the top of the drive shaft system mounting seat (111), and a transmission main shaft (105) capable of axially rotating is horizontally mounted on the bearing mounting seat (107) through a main shaft support bearing (106); one end of the transmission main shaft (105) is connected with an angle sensor (108), and the angle sensor (108) is fixed on the bearing mounting seat (107) through an angle sensor mounting seat (109); a torque sensor (110) is connected in series on the shaft body of the transmission main shaft (105); above the transmission main shaft (105), there is also a servo actuator mounting seat (102) with a "冂" - shaped structure and its lower end is connected to the drive shaft system mounting seat (111), a servo actuator (101) is provided at the top of the servo actuator mounting seat (102); the actuator rod of the servo actuator (101) passes downward through the servo actuator mounting seat (102) and is hinged to one end of a connecting rod (103) through a locking pin; the other end of the connecting rod (103) is hinged to one end of a rocker arm (104) through a locking pin, and the other end of the rocker arm (104) is fixedly connected to the transmission main shaft (105) through a spline.

3. The servo mechanism integrated load simulation device based on electromagnetic friction damping loading according to claim 2, characterized in that, the magnet (202) is provided in two pairs and the N - pole and S - pole are opposite to each other. The two pairs of magnets (202) are symmetrically arranged on both sides of the transmission main shaft (105), and each pair of magnets (202) is fixed on the base (6) through a magnet mounting seat (203); the middle part of the conductive rotating arm (201) is fixedly connected to the transmission main shaft (105) through a spline, and the two ends of the conductive rotating arm (201) respectively extend into the uniform magnetic fields generated by the two pairs of magnets (202).

4. The servo mechanism integrated load simulation device based on electromagnetic friction damping loading according to claim 3, characterized in that, the conductive rotating arm (201) is of a composite structure, the part connected to the transmission main shaft (105) in the middle is a non - metallic insulating part, and its two ends are metallic conductive parts.

5. The servo mechanism integrated load simulation device based on electromagnetic friction damping loading according to claim 4, characterized in that, beside the base (6), there is also a cooling system (5) facing the metallic conductive part of the conductive rotating arm (201).

6. The servo mechanism integrated load simulation device based on electromagnetic friction damping loading according to claim 2, characterized in that, The inertia load loading assembly (3) includes an inertia body component (301) that is fixedly connected to the other end of the transmission spindle (105) via a spline; the inertia body component (301) is provided with two mounting positions symmetrically arranged on both sides of the transmission spindle (105), and each mounting position is provided with a counterweight block (302) that can move radially along the cross section of the transmission spindle (105) and can be fixed by a locking block (304); a steel plate clamping block (303) is fixed on the side of the inertia body component (301) away from the transmission spindle (105).

7. The servo mechanism integrated load simulation device based on electromagnetic friction damping loading according to claim 6, characterized in that, The elastic load loading component (4) includes a spring steel plate (401) with one end fixedly connected to the inertia body component (301) via a steel plate clamping block (303), and the other end of the spring steel plate (401) is clamped and fixed on the elastic load loading component mounting base (405) via a steel plate clamping moving component (404). The elastic load loading component mounting base (405) is fixed on the base (6), and a scale (402) is fixed on the elastic load loading component mounting base (405) by a scale mounting base (403). The scale (402) is arranged along the length direction of the spring steel plate (401).

8. The servo mechanism integrated load simulation device based on electromagnetic friction damping loading according to claim 7, characterized in that, The steel plate clamping moving part (404) can slide and lock along the length direction of the spring steel plate (401).

9. The servo mechanism integrated load simulation device based on electromagnetic friction damping loading according to claim 6, characterized in that, An angle limiting block (7) is fixed on the base (6), and the angle limiting block (7) is located at the end of the rotation stroke of the inertia main body (301).

10. The servo mechanism integrated load simulation device based on electromagnetic friction damping loading according to claim 1, characterized in that, An electrical cabinet (8) is installed inside the base (6), and the friction load loading component (2), the inertia load loading component (3) and the elastic load loading component (4) are electrically connected to the electrical cabinet (8).

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