CN111260992A - Simulation flight system and simulation flight method of rotor wing - Google Patents
Simulation flight system and simulation flight method of rotor wing Download PDFInfo
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- CN111260992A CN111260992A CN201811454408.0A CN201811454408A CN111260992A CN 111260992 A CN111260992 A CN 111260992A CN 201811454408 A CN201811454408 A CN 201811454408A CN 111260992 A CN111260992 A CN 111260992A
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- 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
- G09B9/46—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer the aircraft being a helicopter
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Abstract
The invention provides a rotor wing simulated flight system and a simulated flight method. The rotorcraft flight simulating system includes a rotorcraft, a universal platform and a computer. In this rotorcraft simulated flight method, a virtual environment and a virtual rotorcraft are first constructed. A gimbaled platform is then provided to sense the rotary motion of the rotorcraft in multiple degrees of freedom and output rotary information accordingly. The universal platform comprises a plurality of rotating supports and a plurality of rotating sensing modules. The rotation sensing module is used for sensing the rotation action of the rotating bracket and correspondingly outputting rotation information. Then, the flight attitude and the flight trajectory of the rotorcraft are calculated based on the motor information and the rotation information of the rotorcraft. The flight behavior of the virtual rotorcraft in the virtual environment is then controlled based on the flight trajectory and flight attitude of the rotorcraft. Therefore, flight actions of the real gyroplane and the virtual gyroplane can be integrated to achieve the effect of simulating flight.
Description
Technical Field
The present invention relates to a rotorcraft simulated flight system and a simulated flight method, and more particularly to a virtual-real integrated rotorcraft simulated flight system and a simulated flight method.
Background
An Unmanned Aerial Vehicle (Unmanned Aerial Vehicle) refers to a flying device without a driver inside, and mostly flies through external control. In recent years, unmanned aerial vehicles have been gaining attention and being widely used because they are suitable for various occasions such as aerial photography, search and rescue, exploration and delivery. Generally, unmanned aerial vehicles employ multi-axis rotorcraft. Flight control of a multi-axis rotorcraft generally requires high stability, and therefore an operator of the unmanned aerial vehicle needs various associated training before the unmanned aerial vehicle can be operated to perform various tasks.
However, when training, the unmanned aerial vehicle may be damaged due to inexperience or lack of operation of the operator, so that training time and cost of the operator are increased.
Disclosure of Invention
Therefore, an object of the present invention is to provide a rotorcraft flight simulation system and a flight simulation method, which integrate the flight actions of a real rotorcraft and a virtual rotorcraft by using a virtual-real integration technique to achieve the effect of flight simulation, thereby reducing the training time of an operator and increasing the cost.
One aspect of the present invention is to provide a rotorcraft flight simulator system, which includes a rotorcraft, a universal platform, and a computer device. The rotorcraft has at least one motor sensing module to provide motor information of the rotorcraft. The universal platform is used for supporting the gyroplane and limiting the flight action of the gyroplane in a preset space. The universal platform comprises a platform support, a first degree-of-freedom rotating support, a second degree-of-freedom rotating support, a third degree-of-freedom rotating support and a plurality of rotating sensing modules. The first degree of freedom rotation bracket is pivoted to the platform bracket. The second degree-of-freedom rotating bracket is pivoted to the first degree-of-freedom rotating bracket. The third degree-of-freedom rotating bracket is pivoted to the second degree-of-freedom rotating bracket, wherein the rotorcraft is fixedly arranged on the third degree-of-freedom rotating bracket. The rotation sensing module is arranged on the platform support, the first freedom degree rotation support and the second freedom degree rotation support to sense a plurality of rotation actions of the first freedom degree rotation support, the second freedom degree rotation support and the third freedom degree rotation support and correspondingly output a plurality of rotation information. The computer device is used for performing virtual-real integrated flight simulation operation. In the virtual-real integrated flight simulation operation, the flight attitude and the flight trajectory of the rotorcraft are first calculated according to the motor information and the rotation information of the rotorcraft. Then, a virtual environment and a virtual rotorcraft are constructed, and the flight action of the virtual rotorcraft in the virtual environment is controlled according to the flight track and the flight attitude of the rotorcraft.
According to an embodiment of the present invention, the third-degree-of-freedom rotating bracket includes a first supporting rod, a first engaging structure, a second supporting rod, and a second engaging structure. The first support rod is provided with a first end and a second end opposite to the first end, wherein the first end is pivoted to the second-degree-of-freedom rotating bracket. The first engagement structure is used for fixedly arranging the second end of the first supporting rod on the gyroplane. The second support rod is provided with a third end and a fourth end opposite to the third end, wherein the third end is pivoted on the second freedom degree rotating bracket. The second meshing structure is used for fixedly arranging the fourth end of the second supporting rod on the gyroplane.
According to an embodiment of the present invention, the first engaging structure includes two first clamping plates and a plurality of first screws. The first clamping plate clamps the second end of the first support rod and the first end of the rotorcraft. The first screw penetrates through the first clamping plate to fix the first clamping plate.
According to an embodiment of the present invention, the second engaging structure includes two second clamping plates and a plurality of second screws. The second clamping plate clamps the fourth end of the second support rod and a second end of the rotorcraft. The second screw is arranged in the second clamping plate in a penetrating way so as to fix the second clamping plate.
According to an embodiment of the invention, the second end of the rotorcraft is opposite the first end of the rotorcraft.
According to an embodiment of the present invention, the rotation sensing module includes a first degree-of-freedom sensing module, a second degree-of-freedom sensing module and a third degree-of-freedom sensing module. The first degree-of-freedom sensing module is arranged at the pin joint of the first degree-of-freedom rotating bracket and the platform bracket. The second degree-of-freedom sensing module is arranged at the pin joint of the second degree-of-freedom rotating bracket and the first degree-of-freedom rotating bracket. The third degree-of-freedom sensing module is arranged at the pivot joint of the third degree-of-freedom rotating bracket and the second degree-of-freedom rotating bracket.
According to an embodiment of the present invention, the first-degree-of-freedom sensing module is configured to sense a rotation angle of the first-degree-of-freedom rotating arm. The second degree-of-freedom sensing module is used for sensing the rotation angle of the second degree-of-freedom rotating branch. The third degree-of-freedom sensing module is used for sensing the rotation angle of the third degree-of-freedom rotating support.
According to an embodiment of the present invention, the first-degree-of-freedom sensing module is further configured to sense a rotational speed of the first-degree-of-freedom rotating arm. The second degree of freedom sensing module is further used for sensing the rotation speed of the second degree of freedom rotating branch. The third degree-of-freedom sensing module is used for sensing the rotation speed of the third degree-of-freedom rotating support.
According to an embodiment of the present invention, the first-degree-of-freedom rotation bracket and the second-degree-of-freedom rotation bracket are ring-shaped.
Another aspect of the present invention is to provide a method of simulating flight for a rotorcraft. In the method for simulating the flight by the rotorcraft, a virtual environment and a virtual rotorcraft are firstly constructed. A gimbaled platform is then provided to sense the rotary motion of the rotorcraft in multiple degrees of freedom and output multiple rotational information accordingly. Then, the flight attitude and the flight trajectory of the rotorcraft are calculated based on the motor information and the rotation information of the rotorcraft. The flight behavior of the virtual rotorcraft in the virtual environment is then controlled based on the flight trajectory and flight attitude of the rotorcraft.
Drawings
In order to make the aforementioned and other objects, features, and advantages of the invention, as well as others which will become apparent, reference should be made to the following detailed description of the preferred embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram illustrating a structure of a rotorcraft simulated flight system according to an embodiment of the present invention;
figure 2 is a schematic diagram showing a simple structure of a rotorcraft according to an embodiment of the present invention;
FIG. 3 is an exploded view of a gimbal platform according to an embodiment of the present invention; and
fig. 4 is a schematic flow chart showing a method of simulating flight by a rotorcraft according to an embodiment of the present invention.
Detailed Description
As used herein, "first," "second," …, etc., do not denote any order or sequence, but rather are used to distinguish one element or operation from another element or operation described in the same technical language.
Referring to fig. 1, a schematic structural diagram of a rotorcraft simulated flight system 100 according to an embodiment of the invention is shown. Rotorcraft simulated flight system 100 includes a rotorcraft 110, a gimbal platform 120, and a computing device 130. The gyroglider 110 has a plurality of motor sensing modules (not shown) for providing motor information of the gyroglider to the computer device 130. In the present embodiment, the motor sensing module is used for sensing the motor speed of the rotorcraft, and transmitting the information of the motor speed to the computer device 130 through a wireless transmission technology (e.g., WiFi). However, embodiments of the invention are not so limited. Gimbaled platform 120 is configured to support rotorcraft 110 and confine the flight of rotorcraft 110 within a predetermined space. In the present embodiment, the gimbal platform 120 senses the rotation of the rotorcraft 110 in three degrees of freedom, and transmits the rotation information of the rotorcraft to the computer device 130 through the wireless transmission module. The computer device 130 is used to construct a virtual environment and a virtual gyroplane, and displays the virtual environment and the virtual gyroplane on a screen. After the computer device 130 receives the motor information of the gyroplane 110 and the gyroplane rotation information provided by the gimbaled platform 120, the computer device 130 controls the flight of the virtual gyroplane in the virtual environment accordingly. Thus, the flight operations of the physical rotorcraft 110 are integrated into the virtual rotorcraft of the computer device 130, so as to achieve the effect of virtual-real integration.
Fig. 2 is a schematic diagram showing a simplified structure of a rotorcraft 110 according to an embodiment of the present invention. In this embodiment, rotorcraft 110 is an X-type quad rotorcraft. A quad-axial rotorcraft is an under-actuated system with six degrees of freedom changes, including three degrees of freedom of movement (fore-and-aft, left-and-right, and up-and-down) and three degrees of freedom of rotation (roll, pitch, and yaw). A user may control the motors of the four propellers 112, 114, 116, 118 to operate the rotorcraft 110 to cause the rotorcraft 110 to perform various flight maneuvers. With respect to the three degrees of freedom, the computer device 130 can obtain the movement information of the rotorcraft 110 in three degrees of freedom, i.e., front-back, left-right, and up-down, through the motor information transmitted by the rotorcraft 110. For the three rotational degrees of freedom, the gimbal platform 120 can sense the rotation of the rotorcraft 110 in the three rotational degrees of freedom, and accordingly provide the rotation information of the rotorcraft 110 to the computer device 130. After the computer device 130 obtains the information of the gyroplane 110 in three degrees of freedom of movement and three degrees of freedom of rotation, the virtual gyroplane can be controlled to perform the same flight action as the physical gyroplane 110.
Referring back to fig. 1, the gimbal table 120 includes a table support 121, a first-degree-of-freedom rotation support 122, a second-degree-of-freedom rotation support 123, a third-degree-of-freedom rotation support 124, and a plurality of rotation sensing modules 125-127. The first-degree-of-freedom rotation bracket 122 is pivotally connected to the platform bracket 121 to rotate according to the pivot structure P1. The second-degree-of-freedom rotating bracket 123 is pivoted to the first-degree-of-freedom rotating bracket 122 to rotate according to the pivoting structure P2. The third-degree-of-freedom rotating bracket 124 is pivoted to the second-degree-of-freedom rotating bracket 123 to rotate according to the pivoting structure P3. The gyroplane 110 is fixed to the third-degree-of-freedom rotating bracket 124, and when the gyroplane 110 exhibits flight motions in three rotational degrees of freedom, the first-degree-of-freedom rotating bracket 122, the second-degree-of-freedom rotating bracket 123, and the third-degree-of-freedom rotating bracket 124 are driven by the gyroplane 110 to rotate accordingly. The rotation sensing modules 125-127 are respectively disposed corresponding to the first-degree-of-freedom rotation bracket 122, the second-degree-of-freedom rotation bracket 123 and the third-degree-of-freedom rotation bracket 124 to sense the rotation of the first-degree-of-freedom rotation bracket 122, the second-degree-of-freedom rotation bracket 123 and the third-degree-of-freedom rotation bracket 124. For example, the rotation sensing module 125 is disposed at a pivot joint of the first-degree-of-freedom rotation bracket 122 and the platform bracket 121 to sense the rotation of the first-degree-of-freedom rotation bracket 122. For another example, the rotation sensing module 126 is disposed at the pivot of the second-degree-of-freedom rotating bracket 123 and the first-degree-of-freedom rotating bracket 122 to sense the rotation of the second-degree-of-freedom rotating bracket 123. For another example, the rotation sensing module 127 is disposed at the pivot of the third-degree-of-freedom rotating bracket 124 and the second-degree-of-freedom rotating bracket 123 to sense the rotation of the third-degree-of-freedom rotating bracket 124.
Referring to FIG. 3, an exploded view of a gimbal table 120 according to an embodiment of the present invention is shown. The platform bracket 121 includes a plurality of sub-brackets 121a and a bottom fixing member 121 b. The sub-frame 121a is used to form a platform frame 121 having a square frame shape, and the bottom fixing element 121b is used to fix the platform frame 121 on the ground. The hinge structure P1 includes a first smooth element P1a and a hole-shaped hinge structure P1 b. The hole-shaped hinge structure P1b is disposed in the sub-frame 121a of the platform frame 121. One end of the first smooth element P1a is inserted through the hole-shaped pivot structure P1b, and the other end is connected to the first-degree-of-freedom rotation bracket 122, so that the first-degree-of-freedom rotation bracket 122 is pivoted to the platform bracket 121. The electronic module 310 is disposed on the pivot structure P1 through the fixing element 320 to sense the rotation angle of the first-degree-of-freedom rotation bracket 122 and transmit the rotation angle to the computer device 130. In the embodiment, the electronic module 310 includes the aforementioned rotation sensing module 125 and the wireless transmission module, but the embodiment of the invention is not limited thereto. In other embodiments of the present invention, the electronic module 310 may further include other electronic devices, such as a rotation speed sensor, to provide more sensing information to the computer device 130.
In addition, the rotation sensing module 125 of the present embodiment is a magnetic angle sensing module and has a magnet MA 1. Magnet MA1 is fixed to one end of the first smooth element P1 a. In this way, the rotation sensing module 125 can obtain the rotation angle of the first-degree-of-freedom rotating bracket 122 by measuring the variation of the magnetic field when the magnet MA1 rotates.
The pivot structure P2 includes a second smooth element P2a, and hole-shaped pivot structures P2b and P2 c. The hole hinge structure P2b is disposed in the first-degree-of-freedom rotating bracket 122, and the hole hinge structure P2c is disposed in the second-degree-of-freedom rotating bracket 123. One end of the second smooth element P2a is inserted through the hole-shaped pivot structure P2b, and the other end of the second smooth element P2a is inserted through the hole-shaped pivot structure P2c, so that the second-degree-of-freedom rotating bracket 123 is pivoted to the first-degree-of-freedom rotating bracket 122. The electronic module 330 is disposed on the pivot structure P2 through the fixing element 340 to sense the rotation angle of the second-degree-of-freedom rotation bracket 123 and transmit the rotation angle to the computer device 130. In the embodiment, the electronic module 330 includes the aforementioned rotation sensing module 126 and the wireless transmission module, but the embodiment of the invention is not limited thereto. In other embodiments of the present invention, the electronic module 330 may further include other electronic devices, such as a rotational speed sensor, to provide more sensing information to the computer device 130.
In addition, the rotation sensing module 126 of the present embodiment is a magnetic angle sensing module and has a magnet MA 2. Magnet MA2 is fixed to one end of second smoothing element P2 a. In this way, the rotation sensing module 126 can obtain the rotation angle of the second-degree-of-freedom rotating bracket 123 by measuring the variation of the magnetic field when the magnet MA2 rotates.
The pivot structure P3 includes a third smooth element P3a and a hole-shaped pivot structure P3 b. The hole-shaped hinge structure P3b is disposed in the second-degree-of-freedom rotating bracket 123. One end of the third smooth element P3a is inserted through the hole-shaped pivot structure P3b, and the other end is connected to the first supporting rod 124a and the second supporting rod 124b of the third-degree-of-freedom rotating bracket 124, so that the third-degree-of-freedom rotating bracket 124 is pivoted to the second-degree-of-freedom rotating bracket 123. In the present embodiment, the third-degree-of-freedom rotating bracket 124 includes the first supporting rod 124a and the second supporting rod 124b, and a first engaging structure and a second engaging structure for fixing the rotorcraft 110, wherein the first engaging structure includes two first clamping plates CLP1 and a plurality of locking elements; the second engaging structure includes two second clipping plates CLP2 and a plurality of locking elements.
One end of the first supporting rod 124a is fixed to the third smoothing element P3a, and the other end of the first supporting rod 124a is fixed to the rotorcraft 110 through the first engaging structure. Specifically, the first clamping plate CLP1 clamps one end of the first supporting rod 124a and one end of the rotorcraft 110, and the locking element is inserted into the first clamping plate CLP1 to lock the first clamping plate CLP1 to each other, so that the first supporting rod 124a is fixed on the rotorcraft 110.
One end of the second supporting rod 124b is fixed to the third smooth element P3a, and the other end of the first supporting rod 124a is fixed to the rotorcraft 110 through the second engaging structure. Specifically, the second clamping plate CLP2 clamps an end of the second supporting rod 124b and an end of the rotorcraft 110, and the locking element is disposed through the second clamping plate CLP2 to lock the second clamping plates CLP2 to each other, so that the second supporting rod 124b is fixed to the rotorcraft 110.
In the embodiment, the locking member is a screw, and the screw is inserted into the first clamping plate CLP1 and the second clamping plate CLP2, but the embodiment of the invention is not limited thereto. In addition, the first support rod 124a and the second support rod 124b are fixed to two opposite ends of the rotorcraft 110, so as to support the rotorcraft 110 and measure the rotation information of the rotorcraft 110.
The electronic module 350 is disposed on the pivot structure P3 through the fixing element 360 to sense the rotation angle of the third-degree-of-freedom rotating bracket 124 and transmit the rotation angle to the computer device 130. In the embodiment, the electronic module 310 includes the aforementioned rotation sensing module 127 and the wireless transmission module, but the embodiment of the invention is not limited thereto. In other embodiments of the present invention, the electronic module 350 may further include other electronic devices, such as a rotation speed sensor, to provide more sensing information to the computer device 130.
In addition, the rotation sensing module 127 of the present embodiment is a magnetic angle sensing module and has a magnet MA 3. Magnet MA3 is fixed to one end of the third smooth element P3 a. In this way, the rotation sensing module 127 can obtain the rotation angle of the third degree-of-freedom rotating bracket 124 by measuring the variation of the magnetic field when the magnet MA3 rotates.
Referring to fig. 4, a schematic flow chart of a method 400 for simulating a flight by a rotorcraft according to an embodiment of the present invention is shown. In the rotorcraft simulated flight method 400, a step 410 is first performed to construct a virtual environment and a virtual rotorcraft. In step 410, the computerized device 130 utilizes the Unity 3D simulation system to establish a virtual environment and a virtual gyroplane, but the embodiment of the invention is not limited thereto. In step 420, the universal platform 120 is provided to sense the rotational movement of the rotorcraft 110 in multiple degrees of freedom, and accordingly output multiple rotational information to the computer device 130. Specifically, when the user operates the rotorcraft 110 to fly, the rotation sensing modules 125-127 of the gimbal platform 120 can output the rotation information of the first-degree-of-freedom rotating bracket 122, the second-degree-of-freedom rotating bracket 123 and the third-degree-of-freedom rotating bracket 124 to the computer device 130, respectively. In addition, when the user operates the rotorcraft 110 to fly, the four motors of the rotorcraft 110 also output motor information to the computer device 130. In step 430, computer device 130 calculates the flight attitude and trajectory of the rotorcraft based on the motor information and the rotation information of rotorcraft 110. In step 440, computer device 130 controls the flight of the virtual rotorcraft in the virtual environment according to the flight trajectory and the flight attitude of the rotorcraft. Therefore, the user can know the flight status of the current gyroplane 110 through the virtual gyroplane on the computer screen.
As can be seen from the above description, the embodiment of the present invention utilizes the universal platform to limit the translational motion of the solid rotorcraft in three degrees of freedom of movement, the solid rotorcraft still retains the rotational motion in three complete degrees of freedom of rotation, and the three degrees of freedom of rotation are all designed with mechanisms (such as the aforementioned pivoting structures) with minimal friction, and then the magnetic angle sensing module is used to sense the rotation angle, so that the attitude change of the rotorcraft on the universal platform can be transmitted back to the computer device in a wireless manner, so that the virtual rotorcraft in the computer virtual environment projects the attitude identical to that of the solid rotorcraft, thereby achieving the effect of virtual-real integrated flight simulation operation.
While the present invention has been described with reference to the embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention, and therefore, the scope of the invention is to be determined by the appended claims.
Claims (10)
1. A rotorcraft simulated flight system, comprising:
a rotorcraft having a plurality of motor sensing modules for providing a motor information of the rotorcraft;
a gimbal platform for supporting the rotorcraft and limiting flight motions of the rotorcraft to a predetermined space, wherein the gimbal platform comprises:
a platform support;
a first degree of freedom rotating bracket pivoted to the platform bracket;
a second degree-of-freedom rotating bracket pivoted to the first degree-of-freedom rotating bracket; and
the third degree-of-freedom rotating bracket is pivoted to the second degree-of-freedom rotating bracket, and the gyroplane is fixedly arranged on the third degree-of-freedom rotating bracket;
a plurality of rotation sensing modules, which are arranged on the platform support, the first degree-of-freedom rotation support and the second degree-of-freedom rotation support, and are used for sensing a plurality of rotation actions of the first degree-of-freedom rotation support, the second degree-of-freedom rotation support and the third degree-of-freedom rotation support and correspondingly outputting a plurality of rotation information; and
a computer device for performing a virtual-real integrated flight simulation operation, wherein the virtual-real integrated flight simulation operation comprises:
calculating a flight attitude and a flight trajectory of the rotorcraft according to the motor information and the plurality of rotation information of the rotorcraft; and
constructing a virtual environment and a virtual gyroplane, and controlling the flight motion of the virtual gyroplane in the virtual environment according to the flight track and the flight attitude of the gyroplane.
2. The rotorcraft simulated flight system of claim 1, wherein the third degree of freedom rotating bracket comprises:
a first supporting rod having a first end and a second end opposite to the first end, wherein the first end is pivotally connected to the second-degree-of-freedom rotating bracket;
the first occlusion structure is used for fixedly arranging the second end of the first supporting rod on the gyroplane;
a second supporting rod having a third end and a fourth end opposite to the third end, wherein the third end is pivotally connected to the second DOF rotating bracket; and
and the second meshing structure is used for fixedly arranging the fourth end of the second supporting rod on the gyroplane.
3. The simulated rotorcraft flight system of claim 2, wherein the first engagement structure includes two first clamping plates that clamp the second end of the first strut and a first end of the rotorcraft, and a plurality of first screws that pass through the two first clamping plates to secure the two first clamping plates.
4. The simulated rotorcraft flight system of claim 3, wherein the second engagement structure includes two second clamping plates and a plurality of second screws, the two second clamping plates clamping the fourth end of the second support rod and a second end of the rotorcraft, the plurality of second screws passing through the two second clamping plates to secure the two second clamping plates.
5. The rotorcraft simulated flight system of claim 4, wherein the second end of the rotorcraft is opposite the first end of the rotorcraft.
6. The rotorcraft simulated flight system of claim 1, wherein the plurality of rotation sensing modules comprises:
the first freedom degree sensing module is arranged at the pin joint of the first freedom degree rotating bracket and the platform bracket;
the second degree-of-freedom sensing module is arranged at the pin joint of the second degree-of-freedom rotating bracket and the first degree-of-freedom rotating bracket; and
and the third degree-of-freedom sensing module is arranged at the pin joint of the third degree-of-freedom rotating bracket and the second degree-of-freedom rotating bracket.
7. The rotorcraft simulated flight system of claim 6, wherein:
the first degree-of-freedom sensing module is used for sensing the rotation angle of the first degree-of-freedom rotating support;
the second degree of freedom sensing module is used for sensing the rotation angle of the second degree of freedom rotating branch;
the third degree-of-freedom sensing module is used for sensing the rotation angle of the third degree-of-freedom rotating support.
8. The rotorcraft simulated flight system of claim 6, wherein:
the first DOF sensing module is further configured to sense a rotational speed of the first DOF rotary shaft;
the second degree of freedom sensing module is further used for sensing the rotation speed of the second degree of freedom rotating branch;
the third degree-of-freedom sensing module is used for sensing the rotation speed of the third degree-of-freedom rotating support.
9. The rotorcraft simulated flight system of claim 1, wherein the first degree of freedom rotating mount and the second degree of freedom rotating mount are annular.
10. A rotorcraft simulated flight method, comprising:
constructing a virtual environment and a virtual gyroplane;
providing a universal platform for sensing the rotary motion of a rotorcraft in multiple degrees of freedom and correspondingly outputting multiple pieces of rotary information;
calculating a flight attitude and a flight trajectory of the rotorcraft according to motor information of the rotorcraft and the plurality of pieces of rotation information; and
controlling the flight action of the virtual rotorcraft in the virtual environment according to the flight track and the flight attitude of the rotorcraft.
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| CN105182770A (en) * | 2015-08-27 | 2015-12-23 | 北京控制工程研究所 | System and method for spacecraft semi-physical simulation experiment based on rotor craft |
| CN106123883A (en) * | 2016-08-31 | 2016-11-16 | 大连民族大学 | Spheroid rotor three-axis gyroscope |
| CN106325103A (en) * | 2016-10-31 | 2017-01-11 | 安徽理工大学 | Semi-physical simulation test system of four-rotor unmanned aerial vehicle flight control system |
| CN108645425A (en) * | 2018-03-14 | 2018-10-12 | 东南大学 | Small-sized rotor wing unmanned aerial vehicle gyroscope arrangement based on six-dimension force sensor tests system |
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