66 results about "Viscous friction" patented technology

The invention discloses a method for identifying mechanical parameters of a robot joint servo system, which comprises the following steps of: modeling the robot joint servo system as a whole, carrying out equivalent conversion on torque and rotational inertia of a joint output side by considering the influence of a transmission element represented by a harmonic reducer on motion and moment of force; a new integrated joint model is established on the joint servo motor side; an expansion sliding mode observer is designed according to the integrated joint model, the rotational inertia, the load torque and the viscous friction parameters of the system are expanded into new state variables, simultaneous identification of three mechanical parameters can be achieved through one observer, and the coulomb friction component of the system can be identified in the no-load state. In addition, a sliding mode gain self-correction coefficient based on an observed quantity change rate is designed, and higher identification precision can be obtained while the convergence speed of the algorithm is increased.

The invention is suitable for the field of tracking rotary tables, and provides a tracking rotary table follow-up adjustment control system and method based on dynamic identification, and the method comprises the steps: building a discretization mathematical model of a tracking rotary table servo system; running a recursive least square algorithm with a variable forgetting factor by using the collected running state data; the equivalent rotational inertia and the total viscous friction coefficient are obtained based on identification; adjusting the gain of a feedback controller in real time according to the equivalent rotational inertia obtained by identification and a preset system closed-loop bandwidth index; carrying out superposition synthesis on the feedforward compensation torque and the feedback control torque, and carrying out parameter validity verification and amplitude safety verification on the synthesized control quantity to generate a motor driving signal for driving a tracking turntable to eliminate tracking errors; by means of variable forgetting factor identification and a composite control strategy, the problems of load time varying and nonlinear interference are solved, bandwidth constant keeping and zero phase lag tracking are achieved, and dynamic response and steady state precision are remarkably improved.

The invention relates to the technical field of intelligent inspection of rail transit, and discloses a compensation method for joint friction force of a mechanical arm of a metro underbody inspection robot, which comprises the following steps of: acquiring angular velocity, angular position and temperature data in real time through a joint angle and temperature sensor, and establishing an improved LuGre friction force dynamic model; a temperature correction term is introduced to accurately characterize coulomb friction, viscous friction and a Stribeck effect. A recursive least square algorithm is adopted to realize online identification of model parameters, a predicted friction force compensation item is introduced into a servo control loop, and unmodeled disturbance correction is realized in combination with PID control, sliding mode control and an extended Kalman filter. And in the low-speed interval, a gain coefficient is adopted to enhance friction compensation and inhibit joint crawling. According to the method, trajectory tracking errors can be remarkably reduced in a complex environment, and the operation stability and detection precision of the inspection robot are improved.

The invention discloses a self-adaptive identification and compensation method for friction nonlinear characteristics of a feeding system of a numerical control machine tool. According to the method, parameters of a LuGre friction model are initialized by collecting an actual position signal, an actual speed signal, an actual current signal and an instruction position signal of a feeding system; friction parameter self-adaptive identification is carried out based on motion state segments, coulomb friction parameters and viscous friction parameters are updated by adopting a least square method in a constant speed stage, and bristle rigidity parameters, bristle damping parameters and Stribeck speed parameters are updated by adopting an extended Kalman filter in an acceleration stage and a deceleration stage; generating a friction force estimation value according to the identified friction parameter, converting the friction force estimation value into a compensation current signal, and adding the compensation current signal to a servo driver current instruction after phase lead compensation. According to the method, the friction characteristic change can be adaptively identified on line, tracking errors and vibration caused by friction nonlinearity are effectively inhibited, and the machining precision and stability of the numerical control machine tool are improved.

The application discloses a kind of industrial robot dynamics identification method with nonlinear viscous friction, it is related to robot dynamics modeling and control field.The method is considered in robot modeling, nonlinear term of viscous friction, different from traditional coulomb viscous friction model, its content includes robot friction model construction, excitation trajectory model selection, parameter optimization and dynamics parameter solving.In excitation trajectory selection optimization, the trajectory model of five order Fourier series and five polynomials is selected, and the genetic algorithm with penalty function is used to optimize the parameters of excitation trajectory;In solving process, based on interior point method, iteration fitting is carried out, and complete dynamics parameters of robot are obtained.The friction model considered in the application has higher modeling accuracy, and the problem of system jitter at start and end position is overcome, the efficiency and accuracy of robot dynamics parameter identification are improved, and can be used in robot mobile handling, polishing and polishing and heavy load hydraulic industrial scene.

The invention discloses a guide vane design method based on a U-shaped flow channel and an improved guide vane wheel structure. The method specifically comprises the following steps that based on the structural characteristics of the U-shaped flow channel, a guide vane is subjected to multi-section structural design, and a guide vane preliminary structure is obtained; establishing an energy loss model, and calculating the energy loss of the fluid in the flowing process in the U-shaped flow channel, including friction loss generated by viscous friction between the fluid and the inner wall surface of the U-shaped flow channel, and flow separation loss and turbulence loss caused by curvature change of the U-shaped flow channel; guide vane geometric parameters forming the structural characteristics of the U-shaped flow channel are extracted, a mapping relation between the guide vane geometric parameters and fluid flowing performance is established, and an explicit relation between the guide vane geometric parameters and energy loss is established based on key guide vane geometric parameters influencing fluid flowing; constructing a guide vane design target equation associated with the geometric parameters of the guide vane based on the display relationship between the geometric parameters of the guide vane and the energy loss; and performing iterative calculation based on the guide vane geometric parameter design equation to obtain a guide vane structure design target value.

This invention relates to the field of bearings, specifically to a noise-reducing bearing with an integrated micro-perforated plate sound-absorbing structure. Rolling elements are disposed between the inner and outer rings of the bearing, and these rolling elements are positioned at intervals by a cage. A sealing ring is disposed on one side of the outer ring. The sealing ring has a mounting structure for installing the micro-perforated plate. The micro-perforated plate is annular and installed at the sealing ring, with a uniform array of micropores. An air cavity is formed between the micro-perforated plate and the sealing ring, constituting the back cavity of the sound-absorbing structure. In this invention, by setting a micro-perforated plate sound-absorbing structure at the bearing's sealing structure, the bearing maintains its original sealing function while possessing active sound absorption capability. When noise generated during bearing operation propagates to the micro-perforated plate, sound waves enter the micropores, generating viscous friction and heat exchange between the air and the pore walls within the micropore channels, thereby converting some of the sound energy into heat energy and dissipating it.

The invention provides a motor rotational inertia identification method and device, electronic equipment and a storage medium, and relates to the technical field of automobiles. The method comprises the steps that a motor is driven to rotate according to a preset sine rotating speed instruction, and the motor output torque and the actual rotating speed of the motor are obtained; acquiring a motor output torque and a motor actual rotating speed; obtaining a differential signal of the actual rotating speed of the motor according to the actual rotating speed of the motor and a preset tracking function; and obtaining the rotational inertia of the motor according to the differential signals of the motor output torque and the actual rotating speed of the motor and the motor motion equation. According to the method, the load torque and the viscous friction torque in the motor motion equation are eliminated by utilizing the periodicity characteristic of the sine rotating speed instruction, the fundamental wave characteristic of the sine rotating speed instruction is tracked by utilizing the preset tracking function, and the effective signal of the actual rotating speed of the motor is extracted, so that the identification accuracy and stability of the rotational inertia of the motor are improved.

The application discloses a robot friction parameter identification method and device, a terminal and a medium. The method comprises the following steps: acquiring a dynamic speed threshold of a robot joint; identifying a static friction coefficient, a coulomb friction coefficient and a critical speed in a low-speed section where the speed of the robot joint is lower than the dynamic speed threshold; and identifying a viscous friction coefficient in a medium-high speed section where the speed of the robot joint is higher than the dynamic speed threshold, in combination with the obtained static friction coefficient, the coulomb friction coefficient and the critical speed. The application has the advantage that higher-precision robot friction parameters can be obtained, thereby facilitating the construction of a high-precision robot friction model.

The shock absorption structure of the submersible pump for the coal mine machine comprises a base, the top of the base is fixedly connected with a pump body, and the outer portion of the pump body is fixedly connected with a connecting base; the damping assembly comprises two damping rods, and the two damping rods are both fixedly connected to the bottom of the base; and the protection assembly comprises a steel mesh. When the device is used, the device is firstly mounted at a proper position, and the two damping rods are utilized based on the physical effect of damping. When an object is subjected to external force, vibration energy can be gradually converted into heat energy due to factors such as viscosity, friction and deformation of a medium, the vibration amplitude can be reduced in cooperation with a buffer spring, in the daily use process after installation, broken stones falling from the outside can be prevented from directly hitting the pump body through the protection frame, and the overall protection effect on the pump body is improved; and the durability and the stability of the whole device in the using process are improved.

The utility model provides a composite sound absorption structure and a vehicle provided with the composite sound absorption structure, the composite sound absorption structure comprises a perforated plate, a sound absorption part and a support part; a gap exists between the sound absorption part and the perforated plate, a square containing cavity is defined by the micro-perforated plate in the sound absorption part, and the honeycomb filler is arranged in the square containing cavity; the perforated plate is provided with a plurality of through holes to form a sound transmission channel in the compartment body, so that noise reaches the sound absorption component connected with the perforated plate through the through holes, the micro-perforated plate of the sound absorption component is a direct reflection surface of the noise, and sound waves consume energy due to a viscous friction effect when passing through micropores of the micro-perforated plate. Cavities and micropores in the honeycomb filler form resonance sound absorption; and compared with a single-layer micro-perforated plate which can only cover low and medium frequency sound, the micro-perforated plates encircle to form the square accommodating cavity to form three groups of double-layer micro-perforated plate structures, namely an up-down double-layer micro-perforated plate structure, a left-right double-layer micro-perforated plate structure and a front-back double-layer micro-perforated plate structure, so that the sound absorption frequency band can be expanded to

The application discloses a kind of power transformer internal inspection robot fault diagnosis and monitoring method, it is related to motor control field, comprising: collecting motor ambient temperature, shell temperature, three-phase stator current and power consumption parameters, extract negative sequence intrinsic current component and construct heat dissipation barrier factor, generate negative sequence suppression attenuation coefficient to correct original negative sequence compensation voltage instruction, inhibit abnormal heating, for torque drop, based on the coefficient and static viscous friction threshold value calculation static friction torque gap, calculate negative direct-axis field-weakening current component to carry out thrust compensation, utilize extended back electromotive force online observation flux linkage amplitude, and generate dynamic limiting amplitude extreme value in combination with safety threshold to clamp direct-axis field-weakening current, based on presequence calculation parameter generation fault diagnosis and health monitoring data.The application realizes the collaborative balance of heat accumulation inhibition, thrust maintenance and permanent magnet demagnetization protection, guarantees the continuous safe operation of robot under fault state.

The utility model discloses a high vacuum solenoid valve which comprises a valve body and an electromagnetic control device, the valve body is provided with a flow channel, the electromagnetic control device is internally provided with a static iron core and a movable iron core which movably blocks the flow channel, the movable iron core is sleeved with a guide pipe, the end portion opposite to the static iron core is provided with a spiral groove, and the end, facing the valve body, of the movable iron core is provided with a rivet ring. The rivet ring is internally provided with an anti-leakage gasket which abuts against the end portion of the movable iron core. According to the high-vacuum electromagnetic valve, the structural framework arrangement is optimized, assembling is facilitated, the sealing performance is improved, the guide pipe is arranged on the outer side of the movable iron core, the QPQ processing technology is conducted on the guide pipe, outer surface processing is conducted on the guide pipe, the abrasion resistance is improved, the starting performance is better, the spring abuts against the end of the movable iron core, and the spiral groove is formed. The spiral dimpled grains enhance electromagnetic force through the edge magnetic field concentration effect in the initial stage of movement, viscous friction is reduced, the response speed is increased, and the electromagnetic iron core responds faster.

The invention relates to the technical field of computers, in particular to a variable damping control method and device based on a continuous friction model. The method comprises the following steps: acquiring construction parameter data of a continuous friction model; wherein the constructed parameter data comprises a nonlinear dynamic coefficient, coulomb friction, maximum static friction, turning speed, a viscous friction coefficient and an actual rotating speed of the motor; constructing a continuous friction model based on the construction parameter data; based on a continuous friction model, determining a differential function of friction torque to speed; determining a variable damping coefficient based on the differential function of the friction torque to the speed and a preset adjustment principle of an additional damping coefficient; determining the voltage of a permanent magnet synchronous motor of the space optical pointing servo system based on the variable damping coefficient; and controlling the permanent magnet synchronous motor of the space optical pointing servo system based on the voltage of the permanent magnet synchronous motor. Through the configuration mode, the control precision of the space optical pointing servo system can be improved.

A viscous friction clutch (100, 00) includes a rotor (106, 206), a housing (112, 212) rotatable relative to the rotor, a working chamber (115, 215) between the rotor and the housing such that a volume of shear fluid can be selectively introduced into the working chamber to contact both the rotor and the housing, an electromagnetic coil (101, 201), a valve assembly (107, 207) that controls the volume of shear fluid present in the working chamber, and a flux path (A, A') that magnetically joins the electromagnetic coil with the valve assembly. The flux path passes through a flux guide portion (105, 105', 205) made of a ferromagnetic material that extends through the rotor in the interior of the viscous friction clutch and across a flux gap (B) that traverses both an air gap and a non-ferromagnetic portion (112b-1, 212b-1) of the housing.

The present invention discloses a method for identifying mechanical parameters of a robot joint servo system. The method models the robot joint servo system as a whole, considers the influence of transmission elements represented by harmonic reducers on motion and torque, performs equivalent conversion on the torque and moment of inertia on the output side of the joint, and establishes a new integrated joint model on the side of the joint servo motor; an expanded sliding mode observer is designed according to the integrated joint model, and the moment of inertia, load torque and viscous friction parameters of the system are expanded into new state variables. The three mechanical parameters can be identified simultaneously through an observer, and the Coulomb friction component of the system can be identified when unloaded. In addition, the present invention designs a sliding mode gain self-correction coefficient based on the rate of change of the observed quantity, which can increase the convergence speed of the algorithm while obtaining higher identification accuracy.

The application discloses a shield machine main drive sealing performance prediction method and device under actual complex service conditions, and relates to the field of mixed lubrication. The method takes a rotary lip seal as a research object, is based on a two-dimensional axisymmetric finite element model of a shield machine main drive rotary lip seal, and combines solid mechanics, lubricating oil film fluid mechanics, sealing lip surface micro-convex body contact mechanics, sealing lip surface normal and tangential elastic deformation, and thermodynamic analysis to quantitatively analyze data representing sealing performance of the shield machine main drive seal under actual complex service conditions, such as viscous friction and friction torque under different pressure differentials. The application can predict the sealing performance of the shield machine main drive seal under actual complex service conditions.

A method for calculating the joint motion parameters of a quasi-hyperbolic manipulator using a nonlinear mixed friction model relates to the field of joint mechanics calculation in robotics. Although the traditional calculation model can describe the relationship between friction force and relative motion speed or contact surface positive pressure to a certain extent, it ignores the nonlinear characteristics of friction force, resulting in large errors in motion parameters and unable to meet the current design requirements for high-precision manipulators with the rapid development of industrial automation technology. Therefore, in order to improve the accuracy of the calculation of the joint motion parameters of the manipulator, the present invention proposes a method for calculating the joint motion parameters of a quasi-hyperbolic manipulator using a nonlinear mixed friction model. The friction model is based on the Gauss friction model and combines the Coulomb friction model, the viscous friction model and the Stribeck friction model to provide a more accurate pre-calculation method for the subsequent structural design of the manipulator, the manufacturing of rods and fuselage, and the trajectory control of the end effector.

This invention discloses a linear motor friction compensation method combining model feedforward and observer, belonging to the field of linear motor friction compensation. The invention addresses the problem of frictional abrupt changes in existing permanent magnet synchronous linear motors during positive and negative velocity crossings, where the Stribeck friction model leads to overcompensation. The method includes: calculating the current static frictional force F based on the current mover velocity v. f Take the current static friction force F f The friction force feedforward compensation is calculated as 0.5 times the current value. Simultaneously, an observer estimates the viscous friction force compensation as an auxiliary compensation for the current static friction force based on the q-axis current command and the current actual position of the mover. The friction force feedforward compensation and viscous friction force compensation are converted into a compensation current and then superimposed with the current control command output by the position loop controller to obtain a compensated current control command, which is then input to the current loop. This invention is used for friction force compensation in linear motors.

The invention discloses a truss manipulator zero-force dragging teaching method, which comprises the following steps of S1, building a truss manipulator kinetic model: obtaining parameters including gravity torque, static friction force and viscous friction coefficient by building a single-axis kinematics model of a truss manipulator; s2, designing an action process, and identifying each parameter of the kinetic model; and S3, compensating torque output required during mechanical movement according to the obtained identification parameters, and realizing zero-force dragging. The invention provides a zero-force dragging teaching method for a truss manipulator, which can enable an operator to enable the manipulator to move along an expected running track in a dragging manner, and after the dragging is finished, a system records the motion track during the dragging motion of the manipulator and reproduces the motion track during automatic running. Therefore, an operator only needs to understand the action technological process of the manipulator and does not need to have programming skills, application of the manipulator can be achieved, and the operation process is simplified.

This invention discloses a shock-resistant relay, relating to the field of relay technology. It includes a base body with an electromagnetic system assembly mounted on its top. In use, the shock-resistant pad isolates the electromagnetic system assembly and the shock-absorbing plate from the base body, absorbing some of the vibration energy. Vibration energy is dissipated through the viscous friction of a liquid magnetorheological fluid. The negative Poisson's ratio honeycomb panel has a negative Poisson's ratio honeycomb structure, with highly elastic silicone rubber filling the honeycomb cells to disperse the impact load transmitted by the base body. Through the tensile effect, it achieves three-dimensional vibration energy absorption. A piezoelectric ceramic sheet converts mechanical vibration into electrical energy to power the excitation coil, achieving "self-harvesting of vibration energy." After the excitation coil is energized, the magnetorheological fluid transforms into a near-solid-state damping layer, improving the shock resistance in complex vibration environments. Dynamic shock absorption is achieved through the switching between liquid and solid states of the magnetorheological fluid.

The utility model relates to the technical field of bearing machining, in particular to an efficient heat dissipation bearing lubricating device which comprises a workbench, a lubricating table is fixedly connected to one side of the workbench, a conveying sliding way is fixedly connected to the outer wall of the workbench through a supporting base, a sliding groove is formed in the conveying sliding way, and an L-shaped conveying belt is arranged in the sliding groove. And a plurality of bearings are placed in the L-shaped conveying belt. The micro heat pipe is arranged above the bearing seat, so that heat generated by viscous friction during bearing lubrication can be transferred out, the heat sequentially passes through the evaporation section, the heat insulation section and the condensation section of the micro heat pipe, and steam is condensed, refluxed and circularly radiated under the action of cold air of the cooling box and the radiating fins; compared with a traditional air cooling heat dissipation mode which is low in heat dissipation efficiency, complex in liquid cooling structure and prone to leakage, the heat dissipation mode is efficient and stable, the surface temperature of the bearing can be effectively kept stable, lubricating grease performance reduction caused by high temperature is avoided, and it is ensured that the lubricating effect is lasting and good.

The invention relates to the technical field of aero-engine bearing cooling, in particular to a ball bearing with an S-shaped cooling structure and a bearing cooling and lubricating method. Comprising a bearing inner ring, a bearing outer ring, a retainer and a plurality of balls, the bearing inner ring, the bearing outer ring and the retainer are coaxially arranged in the bearing, the balls are circumferentially distributed on the retainer, a plurality of S-shaped cooling flow channels which are not communicated with one another are arranged in the bearing outer ring, and through the S-shaped cooling flow channels arranged in the bearing outer ring, independent cooling and heat exchange of the ball bearing outer ring can be achieved; the situation that the outer ring of the ball bearing is insufficiently cooled in a traditional cooling scheme is effectively improved, so that the consumption of sprayed cooling lubricating oil is remarkably reduced, the viscous friction loss of lubricating oil in a bearing cavity is reduced, efficient cooling of the interior of the bearing is achieved, and the service life of the bearing is further prolonged. And meanwhile, the multiple S-shaped cooling flow channels which are not communicated with one another can effectively reduce fluid pressure loss. According to the method, the temperature of the bearing structure can be effectively controlled, meanwhile, the viscous friction loss of the bearing fluid is reduced, and efficient cooling of the interior of the bearing is achieved.

The present application relates to the technical field of unmanned aerial vehicle flight control, and relates to an unmanned aerial vehicle wind resistance adaptive control method based on real-time environment sensing, which comprises issuing a desired rotating speed instruction to an electronic speed regulator according to an attitude control loop, synchronously acquiring actual quadrature axis current and absolute physical acquisition time; extracting a quadrature axis current sequence to identify and update rotor aerodynamic drag coefficients and motor viscous friction coefficients; combining the identified coefficients to calculate a desired quadrature axis current and construct a time domain reference sequence, deducing a synchronous desired quadrature axis current and subtracting the actual quadrature axis current, mapping actuating current residuals into single-rotor disturbance torque residuals; inverting a three-dimensional wind speed vector of the machine body and using a confidence decay coefficient to correct and generate an effective wind field vector; calculating a dynamic weighted feedforward control vector and fusing it with a feedback control vector to solve a desired angular velocity instruction and execute wind resistance control. The present method does not require a physical anemometer, and can realize environment wind field sensing and adaptive feedforward compensation only by online identification of underlying electrical data and parameters.

The invention relates to an ejection buffering device based on porous metal filled with fire-resistant hydraulic oil, and belongs to the technical field of ejection of ejection bodies. The ejection recoil force is reduced through plastic deformation in the porous metal crushing process and viscous friction of hydraulic oil passing through the damping holes, and the ejection buffering effect is achieved. The device is simple in structure, low in requirement for the ground, high in ground adaptability, capable of effectively buffering ejection loads and bearing high-temperature fuel gas and free of obvious influence on an ejected body and an ejection platform. And the rapid reaction capability of emission can be effectively improved, so that the survival capability is improved.

The invention relates to a permanent magnet synchronous motor control method based on a mechanical parameter self-identification technology, and the method comprises the following steps: 1, building a motor observation model under the condition of considering disturbance, and designing a linear expansion state observer and a linear active disturbance rejection controller according to the motor observation model; 2, according to a total disturbance observation formula obtained by the linear expansion state observer, calculating an identification algorithm of the viscous friction coefficient and the rotational inertia of the motor; step 3, suppressing medium-high frequency disturbance by adopting a quasi-resonance controller; and 4, substituting the parameters obtained by the identification algorithm into the linear active disturbance rejection controller. According to the method, on-line identification of the viscous friction coefficient and the rotational inertia of the motor is realized on the premise that the permanent magnet synchronous motor maintains constant-speed operation by using the disturbance observation characteristic of the linear expansion state observer; error values caused by periodic torque pulsation in an identification result are eliminated through the quasi-resonance controller and the linear active disturbance rejection controller, and the identification accuracy is improved.

The application discloses a kind of calculation methods of friction torque of planetary roller screw pair, comprising: establishing roller thread load distribution model;Solving the contact characteristic index of planetary roller screw pair;Calculate the elastic hysteresis friction torque caused by elastic deformation hysteresis before and after rigid body loading and unloading;Calculate the spin slip friction torque caused by the fact that the actual rotation axis of roller is not perpendicular to the common normal of contact surface;Calculate the differential slip friction caused by the relative sliding between screw, roller and nut;Calculate the lubricant viscous friction torque caused by the surface viscous force of lubricant;Iterate the above friction torque to obtain the friction torque of the whole planetary roller screw pair.The thread load distribution law and contact characteristics of the planetary roller screw pair can effectively and accurately derive each part friction torque, which can effectively improve the transmission efficiency of the planetary roller screw pair, and has guiding significance for the parameter design of the planetary roller screw pair.

The present invention discloses a zero-force control method for robot drag teaching with friction force self-adaptive compensation, which includes modeling the joint friction force of the robot using the Coulomb viscous friction model; collecting the torque feedback values when the joints move at a constant speed at different speed levels for fitting calculation of the joint friction force; constructing a starting torque compensation using the trapezoidal bidirectional alternating method; setting joint torque limits and joint speed limits, and combining the friction torque compensation value during robot movement and the constructed starting torque compensation to obtain the output torque for robot drag teaching zero-force control. The present invention performs friction force self-adaptive compensation according to the change of speed during joint movement, optimizes the problem of requiring a large drag torque during startup, and on this basis, limits the torque and speed during joint movement to ensure safety during the movement process.

The application discloses a gas-floating type turbine cylinder pawl structure suitable for deep peak regulation and relates to the technical field of turbines.The gas-floating type turbine cylinder pawl structure comprises a cylinder, a pawl fixed to the side wall of the cylinder and a supporting platform, and a gas-floating gasket assembly is arranged between the pawl and the supporting platform; the gas-floating gasket assembly comprises a gas-floating gasket body fixedly connected with the pawl, a solid cavity is formed in the gas-floating gasket body, and a porous disc is arranged at the bottom of the gas-floating gasket body. The gas-floating gasket assembly is arranged between the pawl and the supporting platform, high-pressure air is introduced into the solid cavity, the high-pressure air is uniformly discharged through the porous disc to form a micron-level air film, traditional dry friction is changed into gas viscous friction, the friction force is reduced by more than 95%, the overturning force of the bearing box caused by the friction jam when the cylinder is heat-expanded is eliminated, and the temperature rise of the bearing bush and the abnormal wear failure of the shaft seal are avoided from the root.

The present application provides a method and device for real-time monitoring of the health status of a hydraulic plunger pump, which belongs to the field of aviation hydraulics. The method includes: determining a first relationship between the total leakage of the hydraulic plunger pump and the operating parameters of the electrostatic actuator, and screening the follow-up parameters based on the dynamic change characteristics of the operating parameters with the working condition and health status of the hydraulic plunger pump; adjusting the first relationship of the total leakage of the plunger pump based on the follow-up parameters to obtain a second relationship; calculating the plunger pump torque based on the second relationship in combination with the law of conservation of energy; optimizing the plunger pump torque calculation formula based on the correlation between the viscous friction torque, the Coulomb friction torque and the follow-up parameters; monitoring the real-time operating parameters of the plunger pump, calculating the first coefficient and the second coefficient based on the real-time operating parameters, and inputting the first coefficient and the second coefficient into a neural network to construct a state monitoring model to evaluate the operating status of the plunger pump. The method and device provided by the present application can realize real-time monitoring of the operating status of the hydraulic plunger pump.