CN114383879A - Test method of second order differential loop in flight simulator identification test guidance system - Google Patents
Test method of second order differential loop in flight simulator identification test guidance system Download PDFInfo
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Abstract
The invention belongs to the technical field of flight simulator identification test, and particularly relates to a test method of a second-order differential loop in a flight simulator identification test guideline system, which comprises the following steps that 1, a pilot carries out operation and control actions on the flight simulator and dynamically adjusts the operation and control actions, so that a simulation system for the pilot to operate and control in an QTG system loop is realized; step 2, abstracting the processes of pilot operation and control actions and dynamic regulation operation and control actions in the flight simulator into a second-order differential loop; step 3, adjusting parameters of each second-order differential loop to enable the second-order differential loop to be suitable for a corresponding flight simulator; and 4, testing the second-order differential loop in QTG system, controlling each system state by using the verification data as input, and dynamically adjusting each system by using the second-order differential loop according to each system state. According to the test of the second-order differential loop in the QTG system, the test of each system of the flight simulator in the QTG system is realized, and the D-level standard test and verification capability is provided for the flight simulator.
Description
Technical Field
The invention belongs to the technical field of flight simulator identification and testing, and particularly relates to a testing method of a second-order differential loop in a flight simulator identification and testing guideline system.
Background
At present, a full-automatic flight simulator identification Test Guide (QTG) system is researched and developed domestically, and a development space is provided for testing and verifying the D-level standard of the flight simulator. However, the use and implementation process of the test flight/verification data in the identification test guidance system of the full-motion flight simulator is not systematically described and implemented, and the research and development personnel of the flight simulator need to independently design and develop to implement the identification test of the flight simulator. In addition, most of the existing QTG systems and researches only simply describe the processing and conversion processes of the test flight/verification data, and no processing process or implementation method is provided for how to realize verification by using the verification data and the test flight data and ensure that the flight simulator dynamically responds to the test flight/verification data in real time.
Disclosure of Invention
The invention mainly aims to solve the problems in the prior art and provides a test method of a second-order differential loop in a flight simulator identification test guide system, which takes verification data as input to control the states of all systems of the flight simulator, and dynamically adjusts all systems of the flight simulator by using the second-order differential loop according to the states of all systems of the flight simulator, so that the flight simulator dynamically responds to the verification data in real time, and the test of all systems of the flight simulator in the QTG system is realized.
The technical problem solved by the invention is realized by adopting the following technical scheme: the test method of the second order differential loop in the flight simulator appraisal test guidance system, step 1, the pilot controls the movements through the control system in the flight simulator, the flight dynamics model of the said flight simulator responds to and controls the movements, and output each system state of the flight simulator through controlling the load system, instrumentation system, vision system, movement system, sound system, the pilot regulates and controls the movements according to each system state dynamic state of the flight simulator, realize the pilot in QTG systematic simulation system controlled in the loop;
step 2, abstracting the processes of pilot operation and control actions and dynamic regulation operation and control actions in the flight simulator into a second-order differential loop, when a QTG system is debugged according to the second-order differential loop, verifying data in a QTG system is adopted as input data of the second-order differential loop, and the verifying data is sent to the processes of a first second-order differential loop, a second-order differential loop, a third second-order differential loop, a fourth second-order differential loop, a fifth second-order differential loop and a sixth second-order differential loop, so that the pilot is simulated to perform operation and control actions through an operation system in the flight simulator; the verification data is sent to a process of a second-order differential negative feedback loop, and a pilot is simulated to dynamically adjust and control actions according to the states of all systems of the flight simulator;
step 3, when the QTG system is debugged, adjusting parameters of a first second order differential loop, a second order differential loop, a third second order differential loop, a fourth second order differential loop, a fifth second order differential loop and a sixth second order differential loop to enable the second order differential loop to be suitable for the corresponding flight simulator;
step 4, testing in QTG system according to a second-order differential loop, wherein input data of the second-order differential loop adopts QTG system verification data, the verification data are sent to a first-order differential loop, a second-order differential loop, a third-order differential loop, a fourth-order differential loop, a fifth-order differential loop and a sixth-order differential loop to become control data, the control data are input to a control load system, an instrument system, a visual system, a motion system and a sound system, and each system of the flight simulator respectively responds to the control data and outputs each system state; and according to the states of the systems of the flight simulator, the verification data is sent to a second-order differential negative feedback loop to form dynamic control data, the dynamic control data is input to the systems of the flight simulator, and the systems of the flight simulator respectively respond to the dynamic control data and dynamically adjust the systems, so that the second-order differential loop tests the systems of the flight simulator in a QTG system.
Further, in step 2, the processes of pilot operation and control action and dynamic regulation operation and control action in the flight simulator are abstracted into a second order differential loop, further comprising,
because the output voltage and the current value of the motor in the flight simulator have hysteresis after closed-loop regulation, the change of the rotating speed of the motor in unit time is large, a differential part in PID control is introduced as an advanced regulating quantity to ensure the stability of the rotating speed when the load of the motor changes, and the processes of pilot operation and control action and dynamic regulation operation and control action in the flight simulator are abstracted into a second-order differential loop.
Further, the QTG system verification data includes manipulated variable and output quantity, the manipulated variable includes a steering column back-and-forth movement position, a steering wheel spiral angle, a pedal position, a slat position and a landing gear position; the output quantity comprises height, speed, pitch angle speed, pitch angle acceleration, yaw angle, spoiler angle, elevator angle, slat angle, landing gear and time information.
Further, in step 4, the QTG system is tested according to the second order differential loop, the input data of the second order differential loop adopts the verification data in QTG system, and further comprises,
according to the QTG system test, the input data of the second order differential loop adopts QTG system verification data and the verification data is converted standard format data.
Further, in step 3, when the QTG system is debugged, parameters of a first second order differential loop, a second order differential loop, a third second order differential loop, a fourth second order differential loop, a fifth second order differential loop and a sixth second order differential loop are adjusted to make the second order differential loop suitable for the corresponding flight simulator, further comprising,
when the QTG system is debugged, because the system, hardware equipment and software response of different types of flight simulators have differences, parameters of a first second order differential loop, a second order differential loop, a third second order differential loop, a fourth second order differential loop, a fifth second order differential loop and a sixth second order differential loop are adjusted, so that the second order differential loops are suitable for the corresponding flight simulators.
Further, in step 4, each system of the flight simulator respectively responds to the dynamic control data and dynamically adjusts each system, so as to realize that the second order differential loop tests each system of the flight simulator in QTG systems, further comprising,
and each system of the flight simulator responds to the dynamic control data and dynamically adjusts each system, and input data of the second-order differential loop and response change of the system of the flight simulator are plotted to display QTG system test results, so that the second-order differential loop tests each system of the flight simulator in the QTG system.
The invention has the beneficial effects that:
according to the invention, a QTG system test is carried out according to a second-order differential loop, the input data of the second-order differential loop adopts verification data in a QTG system, the verification data is sent to a first-order differential loop, a second-order differential loop, a third-order differential loop, a fourth-order differential loop, a fifth-order differential loop and a sixth-order differential loop to become control data, the control data is input to a control load system, an instrument system, a visual system, a motion system and a sound system, and each system of a flight simulator respectively responds to the control data and outputs the state of each system; and according to the states of all systems of the flight simulator, sending the verification data to a second-order differential negative feedback loop to form dynamic control data, inputting the dynamic control data to all systems of the flight simulator, and enabling all systems of the flight simulator to respond to the dynamic control data and dynamically adjust all systems. Therefore, the invention takes the verification data as input to control the states of all systems of the flight simulator, and utilizes the second-order differential loop to dynamically adjust all systems of the flight simulator according to the states of all systems of the flight simulator, so that the flight simulator dynamically responds to the verification data in real time, the corresponding relation between the verification data and the pilot operation input quantity is found, a method for dynamically debugging the states of all systems is provided, the test of all systems of the flight simulator in the QTG system is realized, and the D-level standard test and verification capability is provided for the flight simulator.
Drawings
FIG. 1 is a flow chart of a testing method of a second order differential loop in a flight simulator qualification test guidance system according to the present invention.
FIG. 2 is a block diagram of a simulation system operated by the pilot of the present invention in the QTG system loop.
Fig. 3 is a block diagram of a second order differential loop of the present invention.
Fig. 4 is a diagram of a second order differential loop structure for QTG system debugging using validation data in accordance with the present invention.
Fig. 5(a) -5(f) are graphs comparing input data and system response changes in the second order differential loop of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 4, in the test method of the second order differential loop in the identification test guidance system of the flight simulator provided by the present invention, in step 1, a pilot performs a control action through a control system in the flight simulator, a flight dynamics model of the flight simulator responds to the control action, states of each system of the flight simulator are output through a control load system, an instrument system, a vision system, a motion system and a sound system, and the pilot dynamically adjusts the control action according to the states of each system of the flight simulator, so as to realize a simulation system controlled by the pilot in a QTG system loop.
The flight simulation equipment belongs to a simulation system for human in-loop simulation, namely a simulation system for a pilot to operate in a system loop according to the classification of continuous system simulation in the engineering application field. The system must run in real time and has strict technical index requirements on the confidence and the precision of dynamic characteristics, static characteristics and time delay.
Step 2, abstracting the processes of pilot operation and control actions and dynamic regulation operation and control actions in the flight simulator into a second-order differential loop, when a QTG system is debugged according to the second-order differential loop, verifying data in a QTG system is adopted as input data of the second-order differential loop, and the verifying data is sent to processes of a first second-order differential loop, a second-order differential loop, a third second-order differential loop, a fourth second-order differential loop, a fifth second-order differential loop and a sixth second-order differential loop, so that the pilot is simulated to perform operation and control actions through an operation system in the flight simulator; verifying the process of sending the data to a second-order differential negative feedback loop, and simulating the dynamic regulation and control action of a pilot according to the state of each system of the flight simulator;
3, when the QTG system is debugged, adjusting parameters of a first second order differential loop, a second order differential loop, a third second order differential loop, a fourth second order differential loop, a fifth second order differential loop and a sixth second order differential loop to enable the second order differential loop to be suitable for a corresponding flight simulator;
step 4, according to the test of a second-order differential loop in a QTG system, the input data of the second-order differential loop adopts QTG system verification data, the verification data are sent to a first-order differential loop, a second-order differential loop, a third-order differential loop, a fourth-order differential loop, a fifth-order differential loop and a sixth-order differential loop to become control data, the control data are input to a control load system, an instrument system, a visual system, a motion system and a sound system, and each system of the flight simulator respectively responds to the control data and outputs the state of each system; and according to the states of the systems of the flight simulator, the verification data is sent to a second-order differential negative feedback loop to form dynamic control data, the dynamic control data is input to the systems of the flight simulator, and the systems of the flight simulator respectively respond to the dynamic control data and dynamically adjust the systems, so that the second-order differential loop tests the systems of the flight simulator in a QTG system.
Further, in step 2, the processes of pilot operation and control action and dynamic regulation operation and control action in the flight simulator are abstracted into a second order differential loop, further comprising,
because the output voltage and the current value of the motor in the flight simulator have hysteresis after closed-loop regulation, the change of the rotating speed of the motor in unit time is large, a differential part in PID control is introduced as an advanced regulating quantity to ensure the stability of the rotating speed when the load of the motor changes, and the processes of pilot operation and control action and dynamic regulation operation and control action in the flight simulator are abstracted into a second-order differential loop.
In the flight simulation system, certain rotating speeds have large change in unit time, such as a pitch angle and a moment of inertia. Because the motor is a biased inductive load, the output voltage and current have hysteresis after closed-loop regulation. In order to meet the requirements of the flight simulator on real-time performance, position accuracy of a control surface and the like, the advanced adjustment quantity is introduced to meet the stability of the rotating speed when the load of the motor changes. Therefore, a Differential part in PID (Proportional, Integral, Differential) control is introduced to play a role in advance regulation.
Furthermore, the QTG system verification data comprises manipulated variable and output variable, wherein the manipulated variable comprises a front-back movement position of a steering column, a steering wheel circling angle, a pedal position, a slat position and a landing gear position; the output quantity comprises height, speed, pitch angle speed, pitch angle acceleration, yaw angle, spoiler angle, elevator angle, slat angle, landing gear and time information.
Further, in step 4, according to the second order differential loop pair QTG system test, the input data of the second order differential loop adopts QTG system verification data, further comprising,
according to the QTG system test of the second-order differential loop pair, the input data of the second-order differential loop adopts QTG system verification data, and the verification data are converted standard format data.
Furthermore, when the system is debugged in the step 3 and the step QTG, parameters of a first second order differential loop, a second order differential loop, a third second order differential loop, a fourth second order differential loop, a fifth second order differential loop and a sixth second order differential loop are adjusted to make the second order differential loop suitable for the corresponding flight simulator,
QTG when the system is debugged, because there is difference in the system, hardware equipment and software response of different kinds of flight simulators, the parameters of the first second order differential loop, the second order differential loop, the third second order differential loop, the fourth second order differential loop, the fifth second order differential loop and the sixth second order differential loop are adjusted, so that the second order differential loop is suitable for the corresponding flight simulator.
The natural frequency and the response characteristic of each flight simulator are different due to differences of systems, hardware equipment, software response and the like. Therefore, parameters of each second-order differential loop are adjusted in the debugging process of QTG so as to adapt to each flight simulator, namely, a generalized method of the second-order differential loop applied to the identification test system of the full-motion flight simulator is realized.
Further, in step 4, each system of the flight simulator responds to the dynamic control data and dynamically adjusts each system, so as to realize that the second order differential loop tests each system of the flight simulator in QTG systems, further comprising,
and each system of the flight simulator responds to the dynamic control data and dynamically adjusts each system, and input data of the second-order differential loop and response change of the system of the flight simulator are plotted to display QTG system test results, so that the second-order differential loop tests each system of the flight simulator in the QTG system.
Examples
As shown in fig. 1-4, the system test procedure at QTG according to the second order differential loop is as follows:
step 1, a pilot operates and controls the system through an operation system in the flight simulator, a flight dynamics model of the flight simulator responds to the operation and control action, states of all systems of the flight simulator are output through an operation load system, an instrument system, a vision system, a motion system and a sound system, the pilot dynamically adjusts the operation and control action according to the states of all systems of the flight simulator, and a simulation system for the pilot to operate and control in an QTG system loop is realized as shown in fig. 2.
Step 2, abstracting the processes of pilot operation and control actions and dynamic regulation operation and control actions in the flight simulator into a second-order differential loop, when a QTG system is debugged according to the second-order differential loop, verifying data in a QTG system is adopted as input data of the second-order differential loop, and the verifying data is sent to processes of a first second-order differential loop, a second-order differential loop, a third second-order differential loop, a fourth second-order differential loop, a fifth second-order differential loop and a sixth second-order differential loop, so that the pilot is simulated to perform operation and control actions through an operation system in the flight simulator; and the process of sending the verification data to a second-order differential negative feedback loop simulates the pilot to dynamically adjust and control actions according to the states of all systems of the flight simulator.
As shown in fig. 3, the inputs of the first second order differential loop, the second order differential loop, the third second order differential loop, the fourth second order differential loop, the fifth second order differential loop, the sixth second order differential loop and the second order differential negative feedback loop can be obtained from the QTG system verification data, and are acted on the flight simulator after loop control, so as to realize the second order differential loop control process.
And 3, when the system is debugged in the step 3 and the step QTG, adjusting parameters of the first second order differential loop, the second order differential loop, the third second order differential loop, the fourth second order differential loop, the fifth second order differential loop and the sixth second order differential loop to enable the second order differential loop to be suitable for the corresponding flight simulator.
The QTG debugging process shown in fig. 4 is described below by taking a pitch angle as an example (the pitch angle can be adjusted), and verification data in a standard format is extracted through data conversion software, wherein the verification data comprises: time, steering column, pitch angle rate of change, pitch angle change acceleration, and the like.
The inputs acting on the flight simulation equipment are:
u1(t)＝a*x(t)+b*h(t)+c*g(t)+d*k(t)
＝a*x(t)+b*h(t)+c*k1*h'(t)+d*k2*h"(t)
wherein u is1(t) is a resultant control quantity 1 acting on the control surface 1; x (t) is verification data (input of steering column); h (t) is the control surface angle, namely the pitch angle, of the airplane simulation equipment; g (t) is the control surface change rate, namely the pitch angle change rate; and k (t) is control surface change acceleration, namely pitch angle change acceleration. a. b, c and d are adjustment coefficients of each input quantity in the second-order differential loop in the QTG debugging process. The relationships between h (t), g (t) and k (t) are as follows: g (t), k (t), g' (t), h "(t).
As shown in fig. 5(a) -5(f), the coefficient of the input amount and the system response change in the dynamic adjustment second order differential loop are described by taking the pitch angle as an example, the input amount is the steering column displacement, the output amount is the pitch angle, the first order adjustment amount is the pitch angle change rate, and the second order adjustment amount is the pitch angle acceleration. Adjusting the second order differential loop parameters to (here, only an application example, specific values are adjusted according to the system): the parameter a is 1, the parameter b is 0.0001, the first order differential coefficient c × k1 is 0.02, and the second order differential coefficient d × k2 is 0.00005. At this time, the change in the displacement of the steering column is as shown in fig. 5(a), the solid line indicates the change in the displacement of the steering column, and the broken line indicates the change in the response of the system; the change in pitch angle is shown in fig. 5(c), with the solid line representing the change in pitch angle and the dashed line representing the change in system response; the pitch rate is shown in fig. 5(e), the solid line indicates the change in pitch rate, and the broken line indicates the change in system response.
To highlight the effect of adjusting the second order loop parameters, the second order differential loop parameters are adjusted to: the parameter a is 1, the parameter b is 0.0001, the first order differential coefficient c × k1 is 0.022, the second order differential coefficient d × k2 is 0.0005, and after adjustment, the system convergence and response characteristics change compared with the former case, at this time, the change in the steering column displacement is shown in fig. 5(b), the solid line shows the change in the steering column displacement, and the broken line (the solid line in the broken line shows the affected segment curve) shows the change in the system response; the change in pitch angle is shown in fig. 5(d), the solid line represents the change in pitch angle, and the dashed line (the solid line in the dashed line represents the affected segment curve) represents the change in system response; the pitch rate is shown in fig. 5(f), with the solid line representing the change in pitch rate and the dashed line (the solid line in the dashed line representing the affected segment curve) representing the change in system response.
Two different response curve characteristics before and after the adjustment of the displacement parameter of the steering column shown in fig. 5(a) and 5(b), two different response curve characteristics before and after the adjustment of the pitch angle parameter shown in fig. 5(c) and 5(d), and two different response curve characteristics before and after the adjustment of the change rate parameter of the pitch angle shown in fig. 5(e) and 5(f) can reflect the influence of the second order differential loop parameter on the QTG test, namely the influence of the dynamic adjustment and control action of the pilot on the aircraft system.
Step 4, according to the test of a second-order differential loop in a QTG system, the input data of the second-order differential loop adopts QTG system verification data, the verification data are sent to a first-order differential loop, a second-order differential loop, a third-order differential loop, a fourth-order differential loop, a fifth-order differential loop and a sixth-order differential loop to become control data, the control data are input to a control load system, an instrument system, a visual system, a motion system and a sound system, and each system of the flight simulator respectively responds to the control data and outputs the state of each system; according to the states of all systems of the flight simulator, verification data are sent to a second-order differential negative feedback loop to form dynamic control data, the dynamic control data are input to all systems of the flight simulator, all systems of the flight simulator respectively respond to the dynamic control data and dynamically adjust all systems, input data of a second-order differential loop and response changes of the system of the flight simulator are subjected to drawing and displaying QTG system test results, and the fact that the second-order differential loop tests all systems of the flight simulator in a QTG system is achieved.
As shown in fig. 4, the feedback mechanism includes a pitch angle, a yaw angle, and a roll angle, the controlled object is a flight simulator, r (t) is verification data, y (t) is an output quantity angle (a pitch angle, a yaw angle, and a roll angle), x (t) is a manipulated variable (a joystick, a foot pedal, and the like), h (t) is a control surface angle, g (t) is a control surface change rate, k (t) is an acceleration, u (t) is an acceleration, and u (t) is a flight control angle1(t) is the resultant manipulated variable 1, u acting on the controlled surface 1n(t) is a synthesized manipulated variable n (n is 1,2,3, … …) acting on the controlled surface n, and u (t) is a synthesized manipulated variable acting on the controlled object.
In QTG system test, the verification data in standard format is extracted by data conversion software, the verification data is used as the input data of a second order differential loop, the verification data is sent to a first order differential loop, a second order differential loop, a third order differential loop, a fourth order differential loop, a fifth order differential loop and a sixth order differential loop to become control data, and the control data is input to a control load system, an instrument system, a view system, a motion system and a sound system, the process simulates the control action of a pilot, and the control data is u in fig. 41(t) to un-1(t), each system of the flight simulator responds to the control data respectively and outputs the state of each system; according to the state of each system of the flight simulator, the verification data is sent to a second-order differential negative feedback loop to become dynamic control data, the dynamic control data is input to each system of the flight simulator, the dynamic regulation control action of a pilot is simulated in the process, and the dynamic control data is u in the figure 4nAnd (t) each system of the flight simulator responds to the dynamic control data and dynamically adjusts each system, input data of the second-order differential loop and response changes of the system of the flight simulator are plotted and displayed for QTG system test results, and the second-order differential loop tests each system of the flight simulator in the QTG system. As shown in fig. 5(a) -5(f), the input data of the second order differential loop and the flight simulator system response variation plot are illustrated by taking the pitch angle as an example to show QTG the system test results.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The test method of the second order differential loop in the flight simulator identification test guidance system is characterized in that:
step 1, a pilot operates and controls a system through an operation and control system in a flight simulator, a flight dynamics model of the flight simulator responds to the operation and control action, states of all systems of the flight simulator are output through an operation and control load system, an instrument system, a vision system, a motion system and a sound system, and the pilot dynamically adjusts the operation and control action according to the states of all systems of the flight simulator, so that a simulation system for the pilot to operate and control in an QTG system loop is realized;
step 2, abstracting the processes of pilot operation and control actions and dynamic regulation operation and control actions in the flight simulator into a second-order differential loop, when a QTG system is debugged according to the second-order differential loop, verifying data in a QTG system is adopted as input data of the second-order differential loop, and the verifying data is sent to the processes of a first second-order differential loop, a second-order differential loop, a third second-order differential loop, a fourth second-order differential loop, a fifth second-order differential loop and a sixth second-order differential loop, so that the pilot is simulated to perform operation and control actions through an operation system in the flight simulator; the verification data is sent to a process of a second-order differential negative feedback loop, and a pilot is simulated to dynamically adjust and control actions according to the states of all systems of the flight simulator;
step 3, when the QTG system is debugged, adjusting parameters of a first second order differential loop, a second order differential loop, a third second order differential loop, a fourth second order differential loop, a fifth second order differential loop and a sixth second order differential loop to enable the second order differential loop to be suitable for the corresponding flight simulator;
step 4, testing in QTG system according to a second-order differential loop, wherein input data of the second-order differential loop adopts QTG system verification data, the verification data are sent to a first-order differential loop, a second-order differential loop, a third-order differential loop, a fourth-order differential loop, a fifth-order differential loop and a sixth-order differential loop to become control data, the control data are input to a control load system, an instrument system, a visual system, a motion system and a sound system, and each system of the flight simulator respectively responds to the control data and outputs each system state; and according to the states of the systems of the flight simulator, the verification data is sent to a second-order differential negative feedback loop to form dynamic control data, the dynamic control data is input to the systems of the flight simulator, and the systems of the flight simulator respectively respond to the dynamic control data and dynamically adjust the systems, so that the second-order differential loop tests the systems of the flight simulator in a QTG system.
2. The method for testing the second order differential loop in the identification test guidance system of the flight simulator according to claim 1, wherein: in step 2, the processes of pilot operation and control actions and dynamic regulation operation and control actions in the flight simulator are abstracted into a second-order differential loop, and further comprise,
because the output voltage and the current value of the motor in the flight simulator have hysteresis after closed-loop regulation, the change of the rotating speed of the motor in unit time is large, a differential part in PID control is introduced as an advanced regulating quantity to ensure the stability of the rotating speed when the load of the motor changes, and the processes of pilot operation and control action and dynamic regulation operation and control action in the flight simulator are abstracted into a second-order differential loop.
3. The method for testing the second order differential loop in the identification test guidance system of the flight simulator according to claim 1, wherein: the QTG system verification data comprises manipulated variable and output variable, wherein the manipulated variable comprises a front-back movement position of a steering column, a circling angle of a steering wheel, a pedal position, a slat position and a landing gear position; the output quantity comprises height, speed, pitch angle speed, pitch angle acceleration, yaw angle, spoiler angle, elevator angle, slat angle, landing gear and time information.
4. The method for testing the second order differential loop in the identification test guidance system of the flight simulator according to claim 1, wherein: in step 4, the QTG system is tested according to the second order differential loop, the input data of the second order differential loop adopts verification data in QTG system, and further comprises,
according to the QTG system test, the input data of the second order differential loop adopts QTG system verification data and the verification data is converted standard format data.
5. The method for testing the second order differential loop in the identification test guidance system of the flight simulator according to claim 1, wherein: step 3, when the QTG system is debugged, adjusting parameters of a first second order differential loop, a second order differential loop, a third second order differential loop, a fourth second order differential loop, a fifth second order differential loop and a sixth second order differential loop to make the second order differential loop suitable for a corresponding flight simulator, further comprising,
when the QTG system is debugged, because the system, hardware equipment and software response of different types of flight simulators have differences, parameters of a first second order differential loop, a second order differential loop, a third second order differential loop, a fourth second order differential loop, a fifth second order differential loop and a sixth second order differential loop are adjusted, so that the second order differential loops are suitable for the corresponding flight simulators.
6. The method for testing the second order differential loop in the identification test guidance system of the flight simulator according to claim 1 or 3, wherein: in step 4, each system of the flight simulator responds to the dynamic control data and dynamically adjusts each system, so as to realize that the second order differential loop tests each system of the flight simulator in QTG system, further comprising,
and each system of the flight simulator responds to the dynamic control data and dynamically adjusts each system, and input data of the second-order differential loop and response change of the system of the flight simulator are plotted to display QTG system test results, so that the second-order differential loop tests each system of the flight simulator in the QTG system.
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