阅读说明：本技术 一种电机驱动的燃气舵伺服控制机构试验装置 (Motor-driven gas rudder servo control mechanism testing device ) 是由 杨国策 陈雄 刘静怡 于 2021-08-26 设计创作，主要内容包括：本发明提供了一种电机驱动的伺服控制机构试验装置,包括电动舵机固定架、角度传感器、传感器支架、外壳套筒、舵轴安装架和传动组件,本发明具有如下优点：对舵机结构布局进行了优化,实现了电机轴与弹体轴的平行,有效节省了弹体横截面积。实现了角度传感器与舵片轴直连,更精确的采集舵片偏转角度并进行反馈控制。传感器支架与锥齿轮板之间引入了限位关系,使得舵片只能在预设角度内活动。传感器支架与舵轴安放台分体设计,便于角度传感器和锥齿轮板的安装。整个试验装置结构简单,安全可靠,便于日常操作和维护。(The invention provides a motor-driven servo control mechanism test device, which comprises an electric steering engine fixing frame, an angle sensor, a sensor support, a shell sleeve, a rudder shaft mounting frame and a transmission assembly, and has the following advantages: the layout of the steering engine structure is optimized, the motor shaft and the missile shaft are parallel, and the cross section area of the missile body is effectively saved. The angle sensor is directly connected with the rudder blade shaft, so that the deflection angle of the rudder blade can be more accurately acquired and feedback control can be performed. A limit relation is introduced between the sensor bracket and the bevel gear plate, so that the rudder piece can only move within a preset angle. The sensor support and the rudder shaft placing table are designed in a split mode, and installation of the angle sensor and the bevel gear plate is facilitated. The whole testing device is simple in structure, safe, reliable and convenient to operate and maintain daily.)

1. The utility model provides a motor drive's gas vane servo control mechanism test device which characterized in that: the steering engine comprises an electric steering engine fixing frame (1), an angle sensor (2), a sensor support (3), a shell sleeve (4), a rudder shaft mounting frame (6) and a transmission assembly; an electric steering engine fixing frame (1) is fixed on the outer side wall of a shell sleeve (4), a motor (10) is fixed on the electric steering engine fixing frame (1), a spray pipe is fixed in the shell sleeve (4), the central shaft of the spray pipe is parallel to the rotating shaft of the motor (10) and is in a horizontal state, a steering shaft mounting frame (6) is fixedly connected with the tail end of the shell sleeve (4), the rear end of a steering sheet shaft (5) sequentially penetrates through a transmission assembly and the steering shaft mounting frame (6) and then is connected with a steering sheet (9), the steering sheet shaft (5) is rotatably connected with the steering shaft mounting frame (6), and the steering sheet (9) is fixed at the rear end of the steering sheet shaft (5); the sensor support (3) is L-shaped, one end of the sensor support is fixed at the tail end of the rudder shaft mounting frame (6), the other end of the sensor support (3) is fixedly connected with the angle sensor (2), and a rotating shaft of the angle sensor (2) is fixedly connected with the front end of the rudder blade shaft (5); the motor (10) drives the rudder piece shaft (5) to rotate through the transmission component.

2. The motor-driven rudder servo control mechanism test device according to claim 1, wherein: the transmission assembly comprises a bevel gear (7) and a bevel gear piece (8), the bevel gear piece (8) comprises a bevel gear plate and an installation cylinder, one side edge of the bevel gear plate is arc-shaped and is provided with bevel teeth, the installation cylinder is arranged on the bottom surface of the bevel gear plate, the bevel gear piece (8) is located on the top surface of a rudder shaft mounting frame (6) and is located between an electric steering engine mounting frame (1) and a sensor support (3), the bevel gear (7) is fixed on an output shaft of a motor (10), the bevel teeth of the bevel gear (7) and the bevel gear plate are meshed, the rear end of a rudder shaft (5) penetrates through the bevel gear piece (8) and then extends out the rudder shaft mounting frame (6), and the rudder shaft (5) is fixedly connected with the installation cylinder through a pin.

3. The motor-driven rudder servo control mechanism test device according to claim 1, wherein: the rudder blade shaft (5) is perpendicular to the rotating shaft of the motor (10).

Technical Field

The invention belongs to the spacecraft control technology, and particularly relates to a motor-driven gas rudder servo control mechanism test device.

Background

The gas rudder can quickly adjust the posture of the missile body to rotate at the initial stage of the missile body, and is widely applied to guided rocket weapons such as various warship-resistant missiles, air-to-air missiles and the like. The gas rudder realizes thrust vector control of the projectile body solid rocket engine through a rudder deflection servo system. The rudder deflection servo system consists of a steering engine, a transmission device, a gas rudder sheet, a feedback device and an upward-bouncing solid rocket engine. Wherein the steering wheel can divide into according to using energy classification as gas rudder servo control system's core mechanism: the pneumatic steering engine and the hydraulic steering engine have the disadvantages of complex structure, high technical difficulty and the like, so that the trend is formed by adopting the electric steering engine as a control machine in the aerospace field.

The existing electric steering engine mostly adopts a matching mode that an electric steering engine shaft is perpendicular to an elastic body, the size of the elastic body is limited, the volume of the steering engine needs to be controlled, and the corresponding torque and the volume of a gearbox of a speed changer can be compressed, so that the angle control precision is influenced to a certain degree.

Disclosure of Invention

The invention aims to provide a motor-driven gas rudder servo control mechanism test device, which optimizes the structural layout of an electric steering engine and realizes closed-loop feedback control of a rudder piece deflection angle through an angle sensor at the tail end of a rudder piece shaft.

The technical solution for realizing the purpose of the invention is as follows: a motor-driven gas rudder servo control mechanism test device comprises an electric steering engine fixing frame, an angle sensor, a sensor support, a shell sleeve, a rudder shaft mounting frame and a transmission assembly, wherein the electric steering engine fixing frame is fixed on the outer side wall of the shell sleeve; the sensor support is L-shaped, one end of the sensor support is fixed at the tail end of the rudder shaft mounting frame, the other end of the sensor support is fixedly connected with an angle sensor, and a rotating shaft of the angle sensor is fixedly connected with the front end of the rudder piece shaft; the motor drives the rudder blade shaft to rotate through the transmission assembly.

Compared with the prior art, the invention has the remarkable advantages that:

(1) the structure layout of the steering engine is optimized, the parallel of the shaft and the spraying pipe shaft of the electric steering engine is realized, and the cross sectional area of the elastomer is effectively saved.

(2) The angle sensor is directly connected with the rudder blade shaft, so that the deflection angle precision of the rudder blade is more accurately acquired and feedback control is performed.

(3) The inner lining of the spray pipe adopts a replaceable structure, so that subsequent replacement is facilitated.

(4) A limit relation is introduced between the sensor bracket and the bevel gear plate, so that the rudder piece can only move within a preset angle.

(5) The sensor bracket and the rudder shaft placing table are designed in a split mode, and installation of an angle sensor and a bevel gear is facilitated.

(6) The whole testing device is simple in structure, safe, reliable and convenient to operate and maintain daily.

Drawings

Fig. 1 is a schematic structural diagram of a motor-driven gas rudder servo control mechanism testing device of the present invention.

FIG. 2 is a nozzle assembly view.

FIG. 3 is a diagram of a limit relationship between the sensor bracket and the bevel gear plate.

Detailed Description

The present invention is described in further detail below with reference to the attached drawing figures.

With reference to fig. 1, the motor-driven gas rudder servo control mechanism test device optimizes the structural layout of an electric steering engine in a projectile body, and realizes closed-loop feedback control of a rudder piece deflection angle through an angle sensor at the shaft tail end of the rudder piece; meanwhile, the moment of the projectile body can be measured and estimated by matching with a six-component test bed.

Motor drive's gas rudder servo control mechanism test device includes electric steering engine mount 1, angle sensor 2, sensor support 3, shell sleeve 4, rudder axle mounting bracket 6 and drive assembly, and electric steering engine mount 1 is fixed on the lateral wall of shell sleeve 4, and motor 10 is fixed on electric steering engine mount 1, and the spray tube is fixed in shell sleeve 4, and the center pin of spray tube is parallel with motor 10's rotation axis, and is in the horizontality, has optimized the structural layout of electric steering engine in the projectile body, has effectively saved the projectile body cross-sectional area. The rudder shaft mounting frame 6 is fixedly connected with the tail end of the shell sleeve 4, the rear end of the rudder sheet shaft 5 penetrates through the rudder shaft mounting frame 6 and then is connected with a rudder sheet 9, meanwhile, the rudder sheet shaft 5 is rotatably connected with the rudder shaft mounting frame 6 through a bearing, the rudder sheet shaft 5 is perpendicular to a rotating shaft of the motor 10, and the rudder sheet 9 is fixed at the rear end of the rudder sheet shaft 5. Sensor support 3 is L shape, and the tail end at rudder axle mounting bracket 6 is fixed to one end, the installation of the angle sensor 2 and bevel gear of being convenient for, and the other end of sensor support 3 has linked firmly angle sensor 2, and angle sensor 2's rotation axis links firmly with the front end of rudder piece axle 5, directly links through angle sensor 2 and rudder piece axle 5, and the collection rudder piece 9's that can be more accurate deflection angle carries out feedback control. The transmission assembly comprises a bevel gear 7 and a bevel gear piece 8, the bevel gear piece 8 comprises a bevel gear plate and an installation cylinder, one side edge of the bevel gear plate is arc-shaped and is provided with bevel teeth, the installation cylinder is arranged on the bottom surface of the bevel gear plate, the bevel gear piece 8 is arranged on the top surface of the rudder shaft mounting frame 6 and is arranged between the electric steering engine mounting frame 1 and the sensor support 3, the bevel gear 7 is fixed on the output shaft of the motor 10, the bevel gear 7 is meshed with the bevel teeth of the bevel gear plate, the rear end of the rudder shaft 5 penetrates through the bevel gear piece 8 and then extends out of the rudder shaft mounting frame 6, and the rudder shaft 5 is fixedly connected with the installation cylinder through a pin.

Furthermore, a plane is turned on the outer side wall of the shell sleeve 4 and used for installing the electric steering engine fixing frame 1.

Further, the spray tube includes spray tube anterior segment 11, spray tube back end 12 and spray tube inside lining 13, is equipped with spacing boss in spray tube anterior segment 11 and the spray tube back end 12 respectively, and spray tube anterior segment 11 links firmly spray tube back end 12 through the screw thread and forms the casing, and spray tube inside lining 13 sets up in the casing, and is located between two spacing bosses. The front section 11 of the spray pipe is connected with a six-component test bed through threads, and the six-component test bed is used for measuring the torsional moment generated after the rudder sheet 9 deflects.

Further, a nitrogen pipe is connected to the six-component force test bed, nitrogen flows through the nozzle liner 13 through the nozzle front section 11, and the nozzle liner 13 is convenient to replace when the throat surface of the nozzle liner is damaged as shown in fig. 2.

Further, 45# steel is selected as the materials of the electric steering engine fixing frame 1, the sensor support 3, the shell sleeve 4, the rudder shaft mounting frame 6, the transmission assembly, the spray pipe and the rudder piece 9.

Further, there is a limit relationship between the sensor holder 3 and the bevel gear plate, as shown in fig. 3, the width of the bevel gear plate is greater than the width of the sensor holder 3, and the width of the sensor holder 3 is as wide asaThe distance between the center of the circle and the top end of the gear plate isbThe distance from the center of the circle to the top end of the rudder shaft placing platform iscThe following mathematical relationship exists among the three components: whereinβFor maximum deflection angle of rudder bladeβTypically 20 °):

the rudder blade deflection angle can only move within a limited degree under the constraint of the relation.

The motor 10 receives an instruction to start actuation, the angle sensor 2 collects the angle of the rudder piece 9, the angle is calculated to obtain an angle error, the output rotation angle of the motor 10 is controlled according to the angle error, and closed-loop feedback control is achieved.

When the angle value acquired by the angle sensor 2 is consistent with the preset deflection angle, the motor 10 is not regulated any more; when the angle value acquired by the angle sensor 2 is inconsistent with the preset deflection angle, the motor 10 is adjusted according to the deviation by calculating the deviation between the acquired angle value and the preset angle value, so that the actual deflection angle of the rudder piece 9 is consistent with the preset value.