CN107290978A - A kind of helicopter flight simulation method and system - Google Patents
A kind of helicopter flight simulation method and system Download PDFInfo
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- CN107290978A CN107290978A CN201710458986.0A CN201710458986A CN107290978A CN 107290978 A CN107290978 A CN 107290978A CN 201710458986 A CN201710458986 A CN 201710458986A CN 107290978 A CN107290978 A CN 107290978A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Abstract
The invention provides a kind of helicopter flight simulation method and system, it can use code Generation, the C++ prototype code programs of the constructed full machine digital simulation model of helicopter before generation；And the C++ prototype codes program of above-mentioned generation and the helicopter write in advance simulated flight control command capture program and real time graph output program can be encapsulated to form core interface module, and make the input of the core interface module be used to receive each corresponding helicopter flight simulation control command inputted during helicopter flight simulation and the output end of the core interface module is shown for exporting helicopter flight simulation status data curve to corresponding display unit.The present invention is applicable the full machine digital simulation model of arbitrary helicopter based on different control methods, improves the versatility to helicopter flight simulation and flexibility, also shortens the R＆D cycle and reduce testing cost.
Description
Technical field
The present invention relates to helicopter flight simulation field, specifically a kind of helicopter flight simulation method and system.
Background technology
Microcomputer modelling and emulation technology, have been widely used in aerocraft system research and development, pilot's ground training, engineering
The fields such as training.
At present, computer flight simulation technology, control method main from quick reproduction aircraft prototype system, realizes machine
In terms of the reconfigurable inexpensive real-time simulation environment of type, the rapidity of raising computational methods and convergence, to improve flight
Novelty, versatility, real-time and the robustness of emulation platform.Such as conventional desktop flight simulation product.
But above-mentioned desktop flight simulation product, is limited to the fixation framework of existing commercial aviation simulation softward mostly, it is difficult to
The different Flight Control Algorithm of configuration, it is impossible to embody the handling characteristic and kinetic characteristic of aerocraft real, versatility is not strong.
In addition, the aircraft that existing business software is supported, mostly Fixed Wing AirVehicle, model are very limited, can
Realize that the platform of helicopter flight simulation is relative to lack, also can not be general even if obtaining the modeling data of certain type aircraft
Business software on quickly generate can real-time simulation code platform, R＆D cycle length, testing cost are also higher.
This is the deficiencies in the prior art part.
The content of the invention
The technical problems to be solved by the invention are that there is provided a kind of helicopter flight simulation in view of the shortcomings of the prior art
Method and system, for improving versatility and flexibility to helicopter flight simulation, are additionally operable to shorten R＆D cycle, reduction survey
Try cost.
In order to solve the above technical problems, the invention provides a kind of helicopter flight simulation method, specifically including following step
Suddenly：
A, according to the explicit model-following flight control system of helicopter, execution system, rotor aerodynamics system, tail-rotor power
System and helicopter body system, build the full machine digital simulation model of helicopter；
B, with code Generation, the C++ prototypes of the constructed full machine digital simulation model of helicopter in generation step A
Program in machine code；
C, C++ Engineering Simulation platforms are created, and write the C++ prototype codes program that is generated in step B and in advance
Helicopter simulated flight control command capture program and real time graph output program are added to the C++ Engineering Simulation platforms；Wherein,
Described helicopter simulated flight control command capture program is used to gathering input during helicopter flight simulation each corresponding
Helicopter flight simulation control command, the helicopter flight that described real time graph output program is used to be currently received is imitated
True status data generates corresponding helicopter flight simulation status data curve in real time；
D, the C++ prototype codes program described in step C and described helicopter simulated flight control command are gathered
Program and described real time graph output program carry out real time implementation configuration, make the input of above-mentioned C++ prototype codes program with it is upper
The output end for stating helicopter simulated flight control command capture program is connected and makes the output end of above-mentioned C++ prototype codes program
It is connected with the input of above-mentioned real time graph output program, the C++ prototype codes program postponed is matched somebody with somebody into the real time implementation afterwards, gone straight up to
Machine simulated flight control command capture program and real time graph output program are encapsulated as core interface module；
E, the input of core interface module to encapsulating formation in step D and output end carry out matching setting, make the core
The input of heart interface module inputs list to the default corresponding control command for being used to input helicopter simulated flight control command
The output end of member is connected and makes the output end of the core interface module be used to show helicopter flight simulation status number with default
Input according to the respective display unit of curve is connected；
F, the above-mentioned default corresponding control command input block of access and respective display unit, by the phase for manipulating the access
Control command input block is answered, the flight to helicopter is emulated.
Further, above-mentioned steps A builds helicopter total system Digital Simulation mould under Simulink graphical simulation environment
Type.
In step C and step E, described helicopter flight simulation status data includes helicopter flight simulation mistake respectively
The angle of pitch of corresponding helicopter flight, roll angle, yawrate and vertical lift speed in journey.
Each corresponding helicopter flight simulation control command described in step C, includes the pitching behaviour of helicopter flight simulation
Vertical instruction, roll control command, directional control are instructed and always away from control command.
The four-way that the full machine digital simulation model of described helicopter includes helicopter shows the digital mould of model, PID controller
Type and actuator mathematical model, booster mathematical model, rotor aerodynamics mathematical model, tail rotor dynamics mathematical model and straight
Rise machine body model.
Described C++ Engineering Simulations platform uses Qt object-orienteds interface Simulation Engineering platform.
Present invention also offers a kind of helicopter flight simulation system, including：
Helicopter flight simulation control command input block, is used to control the manipulation of helicopter flight simulation to refer to for inputting
Order；
Display unit, for showing each helicopter flight simulation status number formed during helicopter flight simulation in real time
According to curve；
Modeling unit, for setting up the full machine digital simulation model of helicopter；
Prototype code Program Generating unit, for based on code Generation, generating what is set up by above-mentioned modeling unit
The C++ prototype code programs of the full machine digital simulation model of helicopter, the C++ prototype codes program is used to receive and simulation process is led to
The control command of above-mentioned helicopter flight simulation control command input block input is crossed, to obtain helicopter flight simulation status number
According to；
Helicopter flight simulation unit, the C++ prototype codes for encapsulating above-mentioned prototype code Program Generating unit generation
Program and the helicopter simulated flight control command capture program and real time graph output program write in advance, form core
Interface module；The input of the core interface module of the formation is defeated with the helicopter flight simulation control command input block
Go out to hold connected, output end with the input of the display unit to be connected；Wherein：
Described helicopter simulated flight control command capture program, refers to for gathering above-mentioned helicopter flight simulation and manipulating
The control command for making input block input, and sent in real time to core interface module for each control command collected
C++ prototype code programs；
Described C++ prototype code programs, for handling in real time the control command received by it, generation is gone straight up to
Machine flight simulation status data；
Described real time graph output program, the helicopter for the above-mentioned C++ prototype codes Program Generating of real-time reception flies
Row simulation status data, and generation is gone straight up to accordingly in real time for the helicopter flight simulation status data that is currently received
Machine flight simulation status data curve, each corresponding helicopter flight simulation status data curve for being additionally operable to be generated is sent
Shown to described display unit.
Wherein, described helicopter flight simulation unit is realized based on the Qt Engineering Simulation platforms being pre-created.
Wherein, the full machine digital simulation model of described helicopter includes four-way aobvious model, the PID controller number of helicopter
Word model and actuator mathematical model, booster mathematical model, rotor aerodynamics mathematical model, tail rotor dynamics mathematical model
With helicopter body model.
Described helicopter flight simulation control command input block, is flown using the helicopter with four-way control command
Row emulation control stick, the described four-way control command includes the pitch steering command of helicopter flight simulation, roll and manipulated
Instruction, directional control are instructed and always away from control command.
Compared with prior art, the advantage of the invention is that：
The present invention is applicable the full machine digital simulation model of arbitrary helicopter based on different control methods, embodies the present invention
Great versatility and flexibility；In addition, the present invention improves the efficiency of the practice from modeling to real-time simulation, helicopter is reduced
The R＆D cycle of flight control system and testing cost, with good engineering application value.
As can be seen here, compared with prior art, with prominent substantive distinguishing features and significant progress, it is implemented the present invention
Beneficial effect be also obvious.
Brief description of the drawings
Fig. 1 is the method flow schematic diagram of helicopter flight simulation method of the present invention.
Fig. 2 is the structure function block diagram representation of helicopter flight simulation system of the present invention.
Fig. 3 is helicopter flight state real time simulation results under floating state.
Embodiment
To make technical scheme and advantage clearer, below in conjunction with accompanying drawing, to technical scheme
It is clearly and completely described.
Firstly the need of explanation, in the present invention, involved each corresponding helicopter flight simulation control command is adopted
With commercially available flying games rocking bar (calling in the following text " helicopter flight simulation control stick "), such as Lai Shida flights rocking bar, Sai Taike fly
Rocking bar etc. is inputted.Specifically, bowed by the elevating control axle simulation data helicopter on helicopter flight simulation control stick
Face upward control command, referred to by the left and right directions control shaft simulation data helicopter roll manipulation on helicopter flight simulation control stick
Make, instructed, by the left-right rotary rotating shaft simulation data helicopter directional control on helicopter flight simulation control stick by going straight up to
Throttle sliding block simulation data helicopter on machine flight simulation control stick is always away from control command.
Embodiment 1：
As shown in figure 1, a kind of helicopter flight simulation method of the present invention, specifically includes following steps A-F.
Step A, according to the explicit model-following flight control system of helicopter, execution system, rotor aerodynamics system, tail-rotor
Dynamic system and helicopter body system, build the full machine digital simulation model of helicopter.
In the present embodiment, first according to certain type helicopter ACAH (attitude command-posture is kept) model of flight, definition
The pitching of helicopter flight simulation control stick, roll, course, always away from control command it is mode input amount, defines helicopter flight
The angle of pitch, roll angle, vertical lift speed, yawrate are model output, and based on the aobvious mould of certain above-mentioned type helicopter
Type tracks flight control system, defines the aobvious model transfer function of four-way corresponding with the helicopter flight mode as follows：
Vertical passage：
Interconnection：
Course passage：
Always away from passage：
The PID controller mathematical model of above-mentioned each passage is redesigned afterwards, shows model output for adjusting above-mentioned four-way
The formed error signal of instruction；And utilization linearizes helicopter body model(A is linearisation state square to model
Battle array, B for control matrix, for describing helicopter body dynamics) calculate control input matrix B generalized inverse matrix B-1=
(BT·B)-1·BT.Afterwards by four-way control signal and B from PID control system-1It is multiplied, its result of calculation is through start
The Dynamic modes such as device, booster are ultimately applied to linearize helicopter body modelRealize above-mentioned four-way
Between control decoupling.
In addition, the dynamics based on helicopter, sets up helicopter actuator, booster, rotor aerodynamics, tail respectively
The dynamic (dynamical) mathematical model of oar, and set the actuator, booster, rotor aerodynamics, the mathematical model of tail rotor dynamics
Corresponding transmission function is as follows：
Actuator：
Booster：
Pitch channel rotor aerodynamics：
Roll passage rotor aerodynamics：
Always away from passage rotor aerodynamics：
Tail rotor dynamics：
Finally, under Simulink Digital Simulation environment, by each aobvious model of above-mentioned foundation, (i.e. above-mentioned four-way shows model
Transmission function), PID controller mathematical model, and decoupling matrices (the generalized inverse square of i.e. above-mentioned matrix B obtained by above-mentioned calculating
Battle array), and the helicopter actuator of above-mentioned foundation, booster, rotor aerodynamics, the mathematical model of tail rotor dynamics cascaded,
State of flight export with control instruction formation negative-feedback regu- lation signal so that realize to the aobvious model of helicopter flight simulation with
Track, that is, complete the foundation of the full machine digital simulation model of the helicopter.
Step B, with code Generation, the C++ of the constructed full machine digital simulation model of helicopter in generation step A
Prototype code program.
Specifically, into Simulink model parameter allocation windows, and following configuration is completed：In Code Generation
The System target file selection ert.tlc create visual C/C++solution file for of option
Embedded coder, speech selection C++；In Solver options, Type is selected as fixed step size as, step value is set to
0.02, continuous time are chosen in Interface；Code Generation options are returned to, Generate is clicked on
The C++ prototype code programs of the constructed full machine digital simulation model of helicopter in Code generation above-mentioned steps A.
Step C, create C++ Engineering Simulation platforms, and by the C++ prototype codes program generated in step B and in advance compile
The helicopter simulated flight control command capture program and real time graph output program write are added to the C++ Engineering Simulation platforms.
Wherein, described helicopter simulated flight control command capture program is used for during gathering helicopter flight simulation
Each corresponding helicopter flight simulation control command of input, described real time graph output program is used for what is be currently received
Helicopter flight simulation status data generates corresponding helicopter flight simulation status data curve in real time.
Specifically, Qt object-orienteds interface Simulation Engineering platform is primarily based on, Qt object-orienteds interface Simulation Engineering is created,
All texts beyond removing principal function file ert_main.cpp in the C++ prototype code programs generated in above-mentioned steps B
Header file rtw_continuous.h, rtw_solver.h under part, source file, and Matlab installation directories,
Tmwtypes.h is added to the Qt object-orienteds interface Simulation Engineering in the lump, and by the C++ prototype generations generated in above-mentioned steps B
In coded program class name SimulinkModelName+ModelClass, object name SimulinkModelName+_Obj
SimulinkModelName is changed to Simulink_Helicopter, and enhancing code is readable.
Above-mentioned default helicopter simulated flight control command capture program, including indicate that its is currently received for correspondence
Position instruction class occurs for the control command of the generation position for each corresponding helicopter flight simulation control command arrived
posindicator.h、posindicator.cpp；Above-mentioned default real time graph output program includes being used to control corresponding
Drawing classes Widget.h, Widget.cpp drawn on display unit.
Step D, to the C++ prototype codes program described in step C and described helicopter simulated flight control command
Capture program and described real time graph output program, carry out real time implementation configuration, core interface module are encapsulated as afterwards.
When it is implemented, first by the driving class method of above-mentioned helicopter flight simulation control stick be added to above-mentioned Qt towards
Object interface Simulation Engineering.Wherein, the driving class method of the helicopter flight simulation control stick includes two data links
Library file dinput8.lib and dxguid.lib.In addition, in described Qt object-orienteds interface Simulation Engineering, according to above-mentioned
The driving class method of helicopter flight simulation control stick, definition structure volume data type header file dinput.h and joystick
Class.
Add and refer to for sending current helicopter flight simulation in real time and manipulating in joystick classes defined above afterwards
The signal function of the generation position data of order, receives end slot function for position signalling to be sent into drawing classes, makes joystick
Operation/pause of thread can be controlled in main thread, realize the parallel deployment of the thread and drawing thread.
Wherein, in the header file of the C++ prototype code programs generated in above-mentioned steps B, RT_MODEL_ModelName_
TModelName_M defines the contents such as the step-length and calculation times of model class, P_ModelName_TModelName_P and defined
Each adjustable parameter of model class, it is public to reset the attribute both it.
In addition, in the present embodiment, ExtU_ModelName_TModelName_U and ExtY_ in public member
ModelName_TModelName_Y defines outside input and output respectively.Therefore it is another to define ModelName_Y knots when implementing
Structure body, to obtain the output valve of the C++ prototype code programs generated in above-mentioned steps B.
In addition, control command described in above-mentioned steps C occur position instruction class posindicator.h,
Correspondence addition is corresponding in posindicator.cpp is used to receive the groove function of data and for received data
The generating date unit handled in real time；In above-mentioned drawing classes Widget.h, Widget.cpp, correspondence addition is corresponding
The groove function and generating date list for being handled in real time received data that are used to receive data
Member and curve self-adapting regulation forms, curve real-time rendering unit etc., for configuring control output window interfaces size, sitting
The contents such as parameter, Curve, display background.
Finally, the C++ prototype codes program and described helicopter simulated flight above-mentioned process real time implementation configured is grasped
Vertical instruction acquisition program and described real time graph output program are encapsulated as core interface module.And in the core interface module
In, the input of its C++ prototype code program is connected with the output end of its helicopter simulated flight control command capture program, its
The output end of C++ prototype code programs is connected with the input of its real-time graphics drawing program.
Step E, the input of core interface module to encapsulating formation in step D and output end carry out matching setting, make
The input of the core interface module and the default corresponding control command for being used to input helicopter simulated flight control command are defeated
The output end for entering unit is connected and makes the output end of the core interface module be used to show helicopter flight simulation shape with default
The input of the respective display unit of state data and curves is connected.
Specifically, in the present embodiment, the input of the core interface module is grasped for above-mentioned helicopter simulated flight
The input of vertical instruction acquisition program, the output end of the core interface module is the output of above-mentioned real time graph output program
End, that is, have：Helicopter flight simulation control stick longitudinally, laterally, course and always corresponding to respectively away from control command be transferred to it is described
The helicopter simulated flight control command capture program of core interface module, helicopter simulated flight control command capture program will
Its each related manipulation collected instructs the C++ prototype code programs for being transferred to the core interface module, C++ prototype code journeys
Each related manipulation instruction of the ordered pair received by it carries out simulation process, each associated straight for afterwards obtaining its simulation process in real time
Real time graph output program of the machine flight simulation status data transfers to the core interface module is risen, afterwards by the core interface mould
The real time graph output program of block generates each related helicopter flight simulation status data curve in real time.
Step F, the above-mentioned default corresponding control command input block of access and respective display unit, by manipulating the access
Corresponding control command input block, the flight to helicopter emulates.
Above-mentioned default corresponding control command input block to be accessed and respective display unit, manipulate the phase currently accessed
Control command input block is answered, the display interface of above-mentioned accessed respective display unit is observed, you can seen in real time and intuitively
Survey the flight simulation situation of helicopter.Wherein, in the present embodiment, the described corresponding control command input block is
Described helicopter flight simulation control stick (using beautiful plus lion F.L.Y.5 flights rocking bar in present embodiment), described is corresponding
Display unit uses PC.
Wherein, Fig. 3 gives the state of flight real time simulation results of certain type helicopter under floating state, wherein：Fig. 3
(a) the real-time simulation curve of the helicopter angle of pitch is given；Fig. 3 (b) gives the real-time simulation curve of helicopter roll angle；Figure
3 (c) gives the real-time simulation curve of helicopter yawrate；Fig. 3 (d) gives the real-time of helicopter vertical lift speed
Simulation curve.
In addition, the present invention also provides a kind of helicopter flight simulation system, including：
Helicopter flight simulation control command input block, is used to control the manipulation of helicopter flight simulation to refer to for inputting
Order；
Display unit, for showing each helicopter flight simulation status number formed during helicopter flight simulation in real time
According to curve；
Modeling unit, for setting up the full machine digital simulation model of helicopter；
Prototype code Program Generating unit, for based on code Generation, generating what is set up by above-mentioned modeling unit
The C++ prototype code programs of the full machine digital simulation model of helicopter, the C++ prototype codes program is used to receive and simulation process is led to
The control command of above-mentioned helicopter flight simulation control command input block input is crossed, to obtain helicopter flight simulation status number
According to；
Helicopter flight simulation unit, the C++ prototype codes for encapsulating above-mentioned prototype code Program Generating unit generation
Program and the helicopter simulated flight control command capture program and real time graph output program write in advance, form core
Interface module；The input of the core interface module of the formation is defeated with the helicopter flight simulation control command input block
Go out to hold connected, output end with the input of the display unit to be connected；Wherein：
Described helicopter simulated flight control command capture program, refers to for gathering above-mentioned helicopter flight simulation and manipulating
The control command for making input block input, and sent in real time to core interface module for each control command collected
C++ prototype code programs；
Described C++ prototype code programs, for handling in real time the control command received by it, emulation generation
Helicopter flight simulation status data；
Described real time graph output program, for going straight up to for the above-mentioned C++ prototype codes procedure simulation generation of real-time reception
Machine flight simulation status data, and generated in real time accordingly for the helicopter flight simulation status data being currently received
Helicopter flight simulation status data curve, is additionally operable to each corresponding helicopter flight simulation status data curve generated
Send to described display unit and shown.
Wherein, described helicopter flight simulation unit is carried out based on the Qt object-orienteds interface Simulation Engineering being pre-created
Realize.
Wherein, the full machine digital simulation model of described helicopter includes four-way aobvious model, the PID controller number of helicopter
Word model and actuator mathematical model, booster mathematical model, rotor aerodynamics mathematical model, tail rotor dynamics mathematical model
With helicopter body model.
Described helicopter flight simulation control command input block, is flown using the helicopter with four-way control command
Row emulation control stick (using beautiful plus lion F.L.Y.5 flights rocking bar in present embodiment), the described four-way control command bag
Pitch steering command, roll control command, the directional control for including helicopter flight simulation control stick are instructed and always away from control command.
Described respective display unit uses PC.
Described helicopter flight simulation status data includes corresponding helicopter flight during helicopter flight simulation
The angle of pitch, roll angle, yawrate and vertical lift speed.
When implementing, those skilled in the art can be according to the specific implementation used in above-mentioned helicopter flight simulation method
Method carries out the realization of corresponding module in the system, to simplify the structure of specification, will not be repeated here.
, wherein it is desired to explanation is some the content do not recorded in detail in description of the invention, it is prior art, this
Art personnel are readily able to realize, to simplify the structure of this specification, will not be repeated here according to prior art.
To sum up, the present invention is applicable the full machine mathematical model of helicopter set up based on different control methods, versatility with
Flexibility is strong.In addition, the present invention improves the efficiency of the practice from digital modeling to real-time simulation, Helicopter Flight Control System is reduced
R＆D cycle and testing cost, with good engineering application value.
Embodiment of above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although implementing with reference to foregoing
The present invention is described in detail mode, it will be understood by those within the art that：It still can be to foregoing each
Technical scheme described in embodiment is modified, or carries out equivalent substitution to which part technical characteristic；And these are repaiied
Change or replace, the essence of appropriate technical solution is departed from the scope of each embodiment technical scheme of the invention.
Claims (10)
1. a kind of helicopter flight simulation method, it is characterised in that specifically include following steps：
A, according to the explicit model-following flight control system of helicopter, execution system, rotor aerodynamics system, tail rotor dynamics system
System and helicopter body system, build the full machine digital simulation model of helicopter；
B, with code Generation, the C++ prototype codes of the constructed full machine digital simulation model of helicopter in generation step A
Program；
C, create C++ Engineering Simulation platforms, and by the C++ prototype codes program generated in step B and going straight up to of writing in advance
Machine simulated flight control command capture program and real time graph output program are added to the C++ Engineering Simulation platforms；Wherein, it is described
Helicopter simulated flight control command capture program be used to gathering input during helicopter flight simulation each and accordingly go straight up to
Machine flight simulation control command, described real time graph output program is used for the helicopter flight simulation shape being currently received
State data generate corresponding helicopter flight simulation status data curve in real time；
D, to the C++ prototype codes program described in step C and described helicopter simulated flight control command capture program
Carry out real time implementation configuration with described real time graph output program, make the input of above-mentioned C++ prototype codes program with it is above-mentioned straight
Rise machine simulated flight control command capture program output end be connected and make the output end of above-mentioned C++ prototype codes program with it is upper
The input for stating real time graph output program is connected, and the real time implementation is matched somebody with somebody into the C++ prototype codes program postponed, helicopter afterwards and imitated
True flight control instruction acquisition program and real time graph output program are encapsulated as core interface module；
E, the input of core interface module to encapsulating formation in step D and output end carry out matching setting, connect the core
The input of mouth mold block and the default corresponding control command input block for being used to input helicopter simulated flight control command
Output end is connected and makes the output end of the core interface module be used to show that helicopter flight simulation status data is bent with default
The input of the respective display unit of line is connected；
F, the above-mentioned default corresponding control command input block of access and respective display unit, by the corresponding behaviour for manipulating the access
Vertical instruction input unit, the flight to helicopter is emulated.
2. helicopter flight simulation method according to claim 1, it is characterised in that further, above-mentioned steps A exists
Helicopter total system digital simulation model is built under Simulink graphical simulation environment.
3. helicopter flight simulation method according to claim 1 or 2, it is characterised in that in step C and step E, institute
The helicopter flight simulation status data stated includes the pitching of corresponding helicopter flight during helicopter flight simulation respectively
Angle, roll angle, yawrate and vertical lift speed.
4. helicopter flight simulation method according to claim 1 or 2, it is characterised in that each corresponding described in step C
Helicopter flight simulation control command, includes pitch steering command, roll control command, the directional control of helicopter flight simulation
Instruct and always away from control command.
5. helicopter flight simulation method according to claim 1 or 2, it is characterised in that the full machine number of described helicopter
The four-way that word simulation model includes helicopter shows model, PID controller mathematical model and actuator mathematical model, booster
Mathematical model, rotor aerodynamics mathematical model, tail rotor dynamics mathematical model and helicopter body model.
6. helicopter flight simulation method according to claim 1 or 2, it is characterised in that described C++ Engineering Simulations are put down
Platform uses Qt object-orienteds interface Simulation Engineering platform.
7. a kind of helicopter flight simulation system, it is characterised in that including：
Helicopter flight simulation control command input block, for inputting the control command for being used for controlling helicopter flight simulation；
Display unit, for showing that each helicopter flight simulation status data formed during helicopter flight simulation is bent in real time
Line；
Modeling unit, for setting up the full machine digital simulation model of helicopter；
Prototype code Program Generating unit, for based on code Generation, generation to pass through going straight up to that above-mentioned modeling unit is set up
The C++ prototype code programs of the full machine digital simulation model of machine, the C++ prototype codes program be used for receive and simulation process by
The control command of helicopter flight simulation control command input block input is stated, to obtain helicopter flight simulation status data；
Helicopter flight simulation unit, for encapsulate the generation of above-mentioned prototype code Program Generating unit C++ prototype codes program,
And the helicopter simulated flight control command capture program and real time graph output program write in advance, form core interface mould
Block；The output end phase of the input of the core interface module of the formation and the helicopter flight simulation control command input block
Even, output end is connected with the input of the display unit；Wherein：
Described helicopter simulated flight control command capture program, it is defeated for gathering above-mentioned helicopter flight simulation control command
Enter the control command of unit input, and sent in real time to the C++ of core interface module for each control command collected
Prototype code program；
Described C++ prototype code programs, for handling in real time the control command received by it, generation helicopter flies
Row simulation status data；
Described real time graph output program, the helicopter flight for the above-mentioned C++ prototype codes Program Generating of real-time reception is imitated
True status data, and generate corresponding helicopter in real time for the helicopter flight simulation status data that is currently received and fly
Row simulation status data and curves, each corresponding helicopter flight simulation status data curve for being additionally operable to be generated is sent to institute
The display unit stated is shown.
8. helicopter flight simulation system according to claim 6, it is characterised in that described helicopter flight simulation list
Member is realized based on the Qt Engineering Simulation platforms being pre-created.
9. helicopter flight simulation system according to claim 6, it is characterised in that the full machine numeral of described helicopter is imitative
The four-way that true mode includes helicopter shows model, PID controller mathematical model and actuator mathematical model, booster numeral
Model, rotor aerodynamics mathematical model, tail rotor dynamics mathematical model and helicopter body model.
10. the helicopter flight simulation system according to claim 6 or 7, it is characterised in that described helicopter flight is imitated
True control command input block, using the helicopter flight simulation control stick with four-way control command, the described four-way
Pitch steering command, roll control command, the directional control that road control command includes helicopter flight simulation are instructed and always away from behaviour
Vertical instruction.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109213195A (en) * | 2018-08-31 | 2019-01-15 | 国网电力科学研究院武汉南瑞有限责任公司 | A kind of unmanned plane simulated flight control method based on Unity3d |
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