CN110444078A - A kind of control load system of simulated flight device - Google Patents
A kind of control load system of simulated flight device Download PDFInfo
- Publication number
- CN110444078A CN110444078A CN201910792103.9A CN201910792103A CN110444078A CN 110444078 A CN110444078 A CN 110444078A CN 201910792103 A CN201910792103 A CN 201910792103A CN 110444078 A CN110444078 A CN 110444078A
- Authority
- CN
- China
- Prior art keywords
- servo
- main control
- control computer
- control
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/28—Simulation of stick forces or the like
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of control load systems of simulated flight device, are related to simulated flight device technical field, including operating mechanism, force servo executing agency, servo-driver, main control computer and secondary control system；Operating mechanism includes control stick, engine power control arm and several sensors；Control stick and pedal are connected in force servo executing agency by transmission mechanism, and sensor is connected on transmission mechanism；Servo-driver attachment force servo actuator；Sensor, servo-driver connect main control computer with secondary control system.When trainer manipulates operating mechanism or secondary control system, sensor acquisition operation information is simultaneously transmitted to main control computer, main control computer, which calculate by power sense model, obtains force servo executing agency action parameter, it forms control instruction and is sent to servo-driver, servo driver drives force servo executing agency makes corresponding actions according to control instruction, impression when trainer being enabled to know from experience true driving aircraft.
Description
Technical field
The present invention relates to simulated flight device technical field more particularly to a kind of control load systems of simulated flight device.
Background technique
Currently, the training of simulated flight device has been important link indispensable in pilot training's assessment now, for
The requirement of simulated training emulator is also increasingly stringenter, and operating system is as the important hardware knot in the training of pilot's analog machine
Structure, directly influences the training effect of pilot, and a set of analog machine operating system true to nature is for the importance of flight training
It is self-evident, manipulate soul of the load model as steerable system, directly influence analog machine and the aircraft simulated it
Between manipulation similarity degree, to influence the level of training of the pilot on the analog machine.To the mould true to nature of current steering force sense
It is quasi- that driver can be made accurately to experience current flight situation, to effectively improve the training effectiveness of driver；And mistake is lost
Genuine steering force sense can make driver form the operating habit of mistake, even fail so that flight training efficiency be made to reduce.
Therefore, how providing a kind of high fidelity, simulated effect, good simulated flight device control load system is this field
The problem of technical staff's urgent need to resolve.
Summary of the invention
In view of this, being digital manipulation load system the present invention provides a kind of control load system of simulated flight device
System, using signals such as sensor measurement power, displacement, the angles of rotation installed on operating mechanism, and is transmitted to main control computer, passes through
Power sense simulation model in main control computer calculates sensor acquisition signal, obtains and is added in force servo executing agency
Control instruction, main control computer send control instruction to servo driver drives force servo executing agency and generate corresponding power load
Onto operating mechanism, to enable trainer obtain the actual experience sense of driving aircraft, and the invention also includes assisted controls
System, including Nose Wheel Steering emulation manipulation device and braking simulation manipulation device etc. manipulate simulator, and analog aircraft flies
Various truths when row.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of control load system of simulated flight device, comprising: operating mechanism, force servo executing agency, servo-driver, master control
Computer and secondary control system；The operating mechanism includes rudder and engine power control arm；The rudder passes through transmission
Mechanism is connected in the force servo executing agency, is connected with sensor on the transmission mechanism；The servo-driver connection
The force servo executing agency；The sensor, the servo-driver, the engine power control arm and the assisted control system
System connects the main control computer.
Preferably, the sensor acquisition is applied to the power on the rudder and the displacement of generation, angle of rotation, and transmits
To the main control computer.
Preferably, the main control computer receives the force information, institute's displacement information and institute of the sensor transmissions
Rotation angle information is stated, and is calculated according to the power sense model in the main control computer, acceleration, speed and heading device are obtained
Breath, and generate control signal and be transmitted to the servo-driver.
Preferably, the sensor is connected to the main control computer by signal processing circuit；The signal processing electricity
Road includes A/D circuit, D/A circuit and output conditioning circuit, the force information of sensor acquisition, institute's displacement information and
The rotation angle information passes sequentially through the A/D circuit, the D/A circuit and the output conditioning circuit and is transmitted to the master control
Computer.
Preferably, the auxiliary operation system includes that Nose Wheel Steering emulates manipulation device and braking simulation manipulation device,
It is connected to the main control computer by the sensor, turn information is sent respectively and deceleration to the master control calculates
Machine influences the calculating of the power sense model；The Nose Wheel Steering emulation manipulation device is connected with the braking simulation manipulation device
The force servo executing agency.
Preferably, the engine power control arm includes pedal, bracing wire, electric cylinders and microswitch, is connected by the bracing wire
The electric cylinders and the pedal；The microswitch is arranged in the bracing wire and connect with the electric cylinders；The sensor is set
It sets in the bracing wire；The sensor connects the main control computer with the electric cylinders.
Preferably, the force servo executing agency is permanent magnetic brushless servomotor；The rudder, the engine throttle
Bar, Nose Wheel Steering emulation manipulation device and the braking simulation manipulation device are all connected with the permanent magnet brushless servo electricity
Machine；The permanent magnetic brushless servomotor is connected to the main control computer by digital control circuit, is calculated by the master control
Machine control action parameter.
Preferably, the servo-driver further includes electric current ring assemblies, and the electric current ring assemblies connect the master control and calculate
Machine, the main control computer control size of current in the servo-driver by the electric current ring assemblies.
Preferably, it is additionally provided with redundant force compensator in the main control computer, is counted by the power sense model
Force compensating is carried out at last, eliminates or reduce the Surplus Moment in the force servo executing agency.
It can be seen via above technical scheme that compared with prior art, the present disclosure provides a kind of simulated flight devices
Control load system, including operating mechanism, force servo executing agency, servo-driver, main control computer and secondary control system,
Operating mechanism main trained steering device when being simulated flight, including rudder and engine power control arm, engine power control arm
For override type structure, secondary control system includes Nose Wheel Steering emulation manipulation device and braking simulation manipulation device etc., and training flies
Row device Nose Wheel Steering and brake etc., are mounted on sensor, sensor is connected to master in operating mechanism and auxiliary operation device
Computer is controlled, the control force/displacement of acquisition, angle of rotation, turn information, deceleration etc. are sent to main control computer, master control
It is additionally provided with redundant force compensator in computer, is carrying out carrying out force compensating when simulation calculates using power sense model, power is overcome to watch
Take the Surplus Moment in executing agency.And servo-driver packet includes electric current ring assemblies, and servo-driver connects master control and calculates
Machine, the control instruction that structure main control computer is calculated according to power sense model, and control force servo actuator is connected, wherein
Electric current ring assemblies can enable the size of electric current in main control computer control servo-driver.The present invention enables analog result truer,
Identical active force sense when executing with true drive of control force servo actuator.
Detailed description of the invention
Fig. 1 is simulated flight device control load system material object schematic diagram provided by the invention；Fig. 2 is behaviour provided by the invention
Vertical load system structural schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a kind of control load systems of simulated flight device, comprising: operating mechanism, force servo are held
Row mechanism, servo-driver, main control computer 1 and secondary control system；Operating mechanism includes rudder 2 and engine power control arm
3；Rudder 2 is connected in force servo executing agency by transmission mechanism, and sensor is connected on transmission mechanism；Servo-driver
Attachment force servo actuator；Sensor, servo-driver, engine power control arm 3 connect master control calculating with secondary control system
Machine 1.
In order to further optimize the above technical scheme, sensor acquisition be applied to the power on rudder 2 and the displacement of generation,
Angle of rotation, and it is transmitted to main control computer 1.
In order to further optimize the above technical scheme, force information, the displacement information of 1 receiving sensor of main control computer transmission
It with rotation angle information, and is calculated according to the power sense model in main control computer 1, obtains acceleration, speed and course information,
And it generates control signal and is transmitted to servo-driver.
In order to further optimize the above technical scheme, sensor is connected to main control computer 1 by signal processing circuit；Letter
Number processing circuit includes A/D circuit, D/A circuit and output conditioning circuit, force information, displacement information and the rotation of sensor acquisition
Angle information passes sequentially through A/D circuit, D/A circuit and output conditioning circuit and is transmitted to main control computer 1.
In order to further optimize the above technical scheme, auxiliary operation system includes Nose Wheel Steering emulation manipulation device and brake
Manipulation device is emulated, main control computer 1 is connected to by sensor, sends turn information and deceleration respectively to master control meter
Calculation machine 1 is calculated according to power sense model, obtains speed, acceleration and course information of present day analog aircraft etc.；Preceding rotation
Curved emulation manipulation device and braking simulation manipulation device attachment force servo actuator.
In order to further optimize the above technical scheme, engine power control arm 3 includes pedal, bracing wire, microswitch and cylinder, is led to
Cross bracing wire connection electric cylinders and pedal；Microswitch is arranged in bracing wire and connect with electric cylinders；Sensor connects master control meter with electric cylinders
Calculation machine 1；Sensor is arranged in bracing wire.By pushes pedals, enabling bracing wire be straightened, stress is tight, and the mobile triggering of bracing wire is miniature is opened
It closes, microswitch controls electric cylinders movement, imitates engine throttle opening operation, while signal is fed back to main control computer by electric cylinders
1, the active force that the electric cylinders that main control computer 1 receives electric cylinders current working status and sensor transmissions are subject to by bracing wire is big
It is small, and main control computer 1 can control electric cylinders movement by sending control control instruction.
In order to further optimize the above technical scheme, force servo executing agency is permanent magnetic brushless servomotor；Rudder 2,
Engine power control arm 3, Nose Wheel Steering emulation manipulation device and braking simulation manipulation device are all connected with a permanent magnet brushless servo electricity
Machine；Permanent magnetic brushless servomotor is connected to main control computer 1 by digital control circuit, passes through 1 control action of main control computer
Parameter.
In order to further optimize the above technical scheme, servo-driver further includes electric current ring assemblies, the connection of electric current ring assemblies
Main control computer 1, main control computer 1 control size of current in servo-driver by electric current ring assemblies.
In order to further optimize the above technical scheme, it is additionally provided with redundant force compensator in main control computer 1, is passing through power
It is to carry out force compensating that sense model, which calculate, eliminates or reduce the Surplus Moment in force servo executing agency.
In order to further optimize the above technical scheme, control load system further includes display module, and main control computer 1 connects
Display module is simulated after calculating the manipulation obtained by the information of sensor acquisition and by power sense model and redundant force compensator
The information such as the speed, acceleration and course angle of aircraft are shown on display module, convenient for supervision and observation.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (9)
1. a kind of control load system of simulated flight device characterized by comprising operating mechanism, is watched force servo executing agency
Take driver, main control computer (1) and secondary control system；The operating mechanism includes rudder (2) and engine power control arm
(3)；The rudder (2) is connected in the force servo executing agency by transmission mechanism, is connected on the transmission mechanism
Sensor；The servo-driver connects the force servo executing agency；The sensor, the servo-driver, the hair
Motivation throttle lever (3) connects the main control computer (1) with the secondary control system.
2. a kind of control load system of simulated flight device according to claim 1, which is characterized in that the sensor is adopted
Collection is applied to the power of the rudder (2) and displacement, the angle of rotation of generation, and is transmitted to the main control computer (1).
3. a kind of control load system of simulated flight device according to claim 2, which is characterized in that the master control calculates
Machine (1) receives the force information, institute's displacement information and the rotation angle information of the sensor transmissions, and according to the master
Power sense model in control computer (1) is calculated, and acceleration, speed and course information are obtained, and generates control signal transmission
To the servo-driver.
4. a kind of control load system of simulated flight device according to claim 1, which is characterized in that the sensor is logical
It crosses signal processing circuit and is connected to the main control computer (1)；The signal processing circuit includes A/D circuit, D/A circuit and defeated
Conditioning circuit out, the force information, institute's displacement information and the rotation angle information of the sensor acquisition pass sequentially through institute
It states A/D circuit, the D/A circuit and the output conditioning circuit and is transmitted to the main control computer (1).
5. a kind of control load system of simulated flight device according to claim 3, which is characterized in that the auxiliary operation
System includes Nose Wheel Steering emulation manipulation device and braking simulation manipulation device, is connected to the master control by the sensor
Computer (1) sends turn information and deceleration to the main control computer (1) respectively, influences the meter of the power sense model
It calculates；The Nose Wheel Steering emulation manipulation device connects the force servo executing agency with the braking simulation manipulation device.
6. a kind of control load system of simulated flight device according to claim 1, which is characterized in that the engine oil
Door rod (3) includes pedal, bracing wire, electric cylinders and microswitch, connects the electric cylinders and the pedal by the bracing wire；It is described micro-
Type switch is arranged in the bracing wire and connect with the electric cylinders；The sensor is arranged in the bracing wire；The sensor
The main control computer (1) is connected with the electric cylinders.
7. a kind of control load system of simulated flight device according to claim 5, which is characterized in that the force servo is held
Row mechanism is permanent magnetic brushless servomotor；The rudder (2), the engine power control arm (3), Nose Wheel Steering emulation behaviour
Vertical device and the braking simulation manipulation device are all connected with the permanent magnetic brushless servomotor；The permanent magnet brushless servo electricity
Machine is connected to the main control computer (1) by digital control circuit, passes through the main control computer (1) control action parameter.
8. a kind of control load system of simulated flight device according to claim 1, which is characterized in that the servo-drive
Device further includes electric current ring assemblies, and the electric current ring assemblies connect the main control computer (1), and the main control computer (1) passes through
The electric current ring assemblies control size of current in the servo-driver.
9. a kind of control load system of simulated flight device according to claim 3, which is characterized in that the master control calculates
Machine is additionally provided with redundant force compensator in (1), is to carry out force compensating calculate by the power sense model, eliminates or reduces
Surplus Moment in the force servo executing agency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910792103.9A CN110444078A (en) | 2019-08-26 | 2019-08-26 | A kind of control load system of simulated flight device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910792103.9A CN110444078A (en) | 2019-08-26 | 2019-08-26 | A kind of control load system of simulated flight device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110444078A true CN110444078A (en) | 2019-11-12 |
Family
ID=68437735
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910792103.9A Pending CN110444078A (en) | 2019-08-26 | 2019-08-26 | A kind of control load system of simulated flight device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110444078A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110706550A (en) * | 2019-11-29 | 2020-01-17 | 中仿智能科技（上海）股份有限公司 | Electric control load system of simulated aircraft |
| CN110827620A (en) * | 2019-11-29 | 2020-02-21 | 中仿智能科技（上海）股份有限公司 | Digital control load system |
| CN110992767A (en) * | 2020-01-06 | 2020-04-10 | 中仿智能科技（上海）股份有限公司 | Simulated aircraft control system |
| CN111063235A (en) * | 2020-01-14 | 2020-04-24 | 中仿智能科技（上海）股份有限公司 | Flight simulator's control load training simulation system |
| CN114044125A (en) * | 2021-12-21 | 2022-02-15 | 中国商用飞机有限责任公司 | Aircraft control system and control method |
| CN114120755A (en) * | 2021-07-28 | 2022-03-01 | 上海华模科技有限公司 | Dynamic force sense nonlinear adjustment system suitable for high-grade flight simulator |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103594006A (en) * | 2013-11-15 | 2014-02-19 | 李宏图 | Aircraft simulation system and simulation method of aircraft simulation system |
| US20170193840A1 (en) * | 2016-01-06 | 2017-07-06 | The Boeing Company | Sound Generator for Virtual Switches in a Simulator |
| CN107195219A (en) * | 2017-05-27 | 2017-09-22 | 中国人民解放军95995部队 | A kind of method that electric control load system, aircraft flight simulation system and loading simulation manipulate resistance |
| CN209118544U (en) * | 2018-08-09 | 2019-07-16 | 安徽遨威钛克信息科技有限公司 | A kind of simulation operations device of aircraft |
-
2019
- 2019-08-26 CN CN201910792103.9A patent/CN110444078A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103594006A (en) * | 2013-11-15 | 2014-02-19 | 李宏图 | Aircraft simulation system and simulation method of aircraft simulation system |
| US20170193840A1 (en) * | 2016-01-06 | 2017-07-06 | The Boeing Company | Sound Generator for Virtual Switches in a Simulator |
| CN107195219A (en) * | 2017-05-27 | 2017-09-22 | 中国人民解放军95995部队 | A kind of method that electric control load system, aircraft flight simulation system and loading simulation manipulate resistance |
| CN209118544U (en) * | 2018-08-09 | 2019-07-16 | 安徽遨威钛克信息科技有限公司 | A kind of simulation operations device of aircraft |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110706550A (en) * | 2019-11-29 | 2020-01-17 | 中仿智能科技（上海）股份有限公司 | Electric control load system of simulated aircraft |
| CN110827620A (en) * | 2019-11-29 | 2020-02-21 | 中仿智能科技（上海）股份有限公司 | Digital control load system |
| CN110992767A (en) * | 2020-01-06 | 2020-04-10 | 中仿智能科技（上海）股份有限公司 | Simulated aircraft control system |
| CN111063235A (en) * | 2020-01-14 | 2020-04-24 | 中仿智能科技（上海）股份有限公司 | Flight simulator's control load training simulation system |
| CN114120755A (en) * | 2021-07-28 | 2022-03-01 | 上海华模科技有限公司 | Dynamic force sense nonlinear adjustment system suitable for high-grade flight simulator |
| CN114044125A (en) * | 2021-12-21 | 2022-02-15 | 中国商用飞机有限责任公司 | Aircraft control system and control method |
| CN114044125B (en) * | 2021-12-21 | 2024-05-14 | 中国商用飞机有限责任公司 | Aircraft manipulation control system and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110444078A (en) | A kind of control load system of simulated flight device | |
| CN103761902B (en) | Method for simulating operating force feeling of helicopter by means of double force sources | |
| CN104834776B (en) | Vehicular traffic modeling and simulating system and method in a kind of microscopic traffic simulation | |
| CN101989067B (en) | Flight environment simulation system | |
| CN108053714A (en) | Multi-rotor unmanned aerial vehicle based on polling transmission line makes an inspection tour operation simulation training system | |
| CN106970279A (en) | The pure electric automobile pilot system and its test method of a variety of driving cycles can be achieved | |
| CN108627350A (en) | Vehicle testing system and method | |
| CN109147467B (en) | Helicopter control load system based on actual-mounted control lever system and simulation implementation method | |
| CN109521748A (en) | The test method of automatic driving vehicle | |
| CN104035338B (en) | A kind of emulation mode of multiengined helicopter dynamical system Dynamic Matching | |
| CN109215436A (en) | A kind of teacher station system towards flight simulation training | |
| CN106373453A (en) | Intelligent immersive high-speed train virtual driving behavior evaluation method and simulation system | |
| CN113496635B (en) | Flight simulator and flight training simulation method | |
| CN108121217A (en) | Train Operation Control System Onboard function model machine emulation driving analog system based on inter-vehicle communication | |
| CN113156834A (en) | Development method of semi-physical simulation flight simulation system | |
| CN110992770A (en) | Flight simulator system | |
| CN209118544U (en) | A kind of simulation operations device of aircraft | |
| CN105788441B (en) | A kind of actual training device for Braking System for Multiple Units teaching | |
| CN108847086B (en) | Control loading system of driving operation system of flight simulator | |
| CN108257444A (en) | A kind of train operation simulation method | |
| CN110488631A (en) | A kind of rail transit automatic pilot control algolithm analogue system and emulation mode | |
| CN115494741B (en) | Operating load simulation method and device of flight simulation cabin and flight simulation cabin | |
| CN102645898B (en) | Controller simulating driver and automobile simulation system | |
| CN114005327B (en) | Human sensing system for driving simulator | |
| CN108447338A (en) | IPT flight simulation system with motion system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |