A three degree of freedom hardware in loop simulation system, comprising a support frame, a triaxial air-bearing turntable, a position limiting protection device, a test platform, an adapter plate, an automatic leveling system, and an attitude control system,
- the triaxial air-bearing turntable is installed on the support frame, the triaxial air-bearing turntable comprises an air bearing support seat and an air bearing hemisphere, the air bearing support seat provides high-pressure gas lubrication to make the air bearing hemisphere freely roll and rotate in a ball socket of the air bearing support seat,
- the attitude control system is installed on the test platform, and the test platform is placed on an adapter plate, the adapter plate is placed above the air bearing hemisphere,
- the position limiting protection device has a position limiting ring, the position limiting ring is located below the adapter plate and surrounds the air bearing hemisphere, a movement of the position limiting ring prevents the test platform from deviating beyond a set angle, and
- the automatic leveling system comprises an automatic leveling device and a leveling device control box, the automatic leveling device is located below a side of the test platform and the leveling device control box is installed on the test platform, the automatic leveling device controls a rotation of a servo motor by a motor controller and drives a weight on a slider to move, wherein a purpose of leveling is achieved, at the same time, there is an inclinometer inside the leveling device control box to detect an angle of swing of the test platform,
- wherein the support frame comprises supporting leg columns and a supporting flat plate, the supporting leg columns are installed below the supporting flat plate, and adjustable supporting leg columns are configured to adjust height of the support frame,
- the position limiting protection device is a pneumatic position limiting protection device, the position limiting ring with a circular convex ring is connected with four lifting support rods below, each of the four lifting support rods is guided up and down and slides on a linear bearing, the linear bearing is fixed on a support frame platform,
- wherein lower parts of first two lifting support rods are connected to a bearing seat, a transmission shaft passes through a needle roller bearing to fix an inner ring of the needle roller bearing with a bearing stopper, second two lifting support rods are suspended below,
- two sides of a cylinder support base plate of the position limiting protection device are connected and fixed on the support frame platform with cylinder base plate connection plates,
- a cylinder is fixed on the cylinder support base plate with two cylinder mounting brackets, one end of a cylinder extension rod is connected to a cam connecting rod, and two ends of the cam connecting rod are connected to a cam, and
- the cam is in a front high and back low shape, and two needle roller bearings connected by two lifting rods rolls on an irregular working surface of the cam.