火箭发动机喷管伺服机构负载模拟系统设计与实验

针对火箭发动机喷管伺服机构的半物理仿真需要，设计一种可对惯性负载、摩擦力矩负载、弹性力矩负载、伺服机构安装刚度进行模拟的电液负载模拟系统。依据伺服机构负载特点，由机械的方式实现惯性负载、摩擦负载以及安装刚度的模拟，由阀控伺服马达实现弹性力矩的模拟；分别建立伺服机构系统和马达加载系统的数学模型，并为马达加载系统设计基于速度前馈补偿和力矩前馈的控制系统；进行负载模拟器的现场实验，实验结果表明，各种加载负载满足精度要求，验证了负载模拟器设计的合理性和实用性，以及控制策略的有效性。

Design and Experiment of Load Simulation System for Servo Mechanism of Rocket Engine Nozzle

A new electro-hydraulic torque load simulator is proposed for the semi-physical simulation of the servo mechanism in launch vehicle, which could simulate the inertia load, friction and elastic torques, and servo mechanism mounting rigidity. On the basis of load characteristics of servo mechanism, the inertia , friction, and servo mechanism mounting rigidity are simulated for the mechanical structures, and the elastic load is simulated for the servomotor. The complete mathematical models of the motor loading system and the servo mechanism system are constructed. A control system of the servo mechanism is designed based on speed compensation and torque feed-forward. Some field tests of load simulation device were made. The test results show that the various loads meet accuracy requirements. The proposed design is reasonable and practicable, and the control system is effective.