CN115457836B - Helicopter simulated driving platform based on live-action control - Google Patents
Helicopter simulated driving platform based on live-action control Download PDFInfo
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- CN115457836B CN115457836B CN202211168102.5A CN202211168102A CN115457836B CN 115457836 B CN115457836 B CN 115457836B CN 202211168102 A CN202211168102 A CN 202211168102A CN 115457836 B CN115457836 B CN 115457836B
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- 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
- G09B9/46—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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- 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
- G09B9/16—Ambient or aircraft conditions simulated or indicated by instrument or alarm
- G09B9/20—Simulation or indication of aircraft attitude
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Abstract
The invention relates to a helicopter simulated driving platform based on live-action control, which comprises a simulated driving cabin, a movable platform, a rotary turntable, an unmanned helicopter, a steel wire rope, a winch motor and a rope tidying device, wherein the simulated driving cabin is connected with the movable platform through a spherical hinge pair, the unmanned helicopter can transmit flight pose and visual information to the simulated driving cabin in real time during flight, the movable platform is arranged on the rotary turntable, an output shaft of the winch motor is connected with a rotating shaft of the rope tidying device, a first end of the steel wire rope is connected with a pull ring, and a second end of the steel wire rope penetrates through a pulley body to be connected with a coil spring in the rope tidying device. According to the invention, the unmanned helicopter can acquire real flight information of the helicopter, and further, the real flight scene can be reproduced from the aspects of somatosensory, visual and operation, so that the simulated driving effect is more real, and meanwhile, the longitudinal hydraulic column and the steel wire rope are driven to move, so that six-degree-of-freedom movement of the simulated cockpit can be realized, and the unmanned helicopter has the advantages of small volume and low power consumption.
Description
Technical Field
The invention belongs to the technical field of simulated flight, and particularly relates to a helicopter simulated driving platform based on live-action control.
Background
With the rapid development of aviation industry in China, helicopters have irreplaceable positions in military and civil machines by unique flight characteristics and maneuvering advantages, and particularly low-altitude airspace in China is formally opened. Thus, daily training and flight training for helicopter pilots is becoming particularly urgent. On the other hand, with the development of simulation technology, the combination of simulation hardware and simulation software of simulation technology has been widely used in various fields with its unique features. The helicopter flight simulator is one of the most successful fields applied to simulation technology, and has become an indispensable important link in helicopter research and development and driver training due to the advantages of safety, economy, energy conservation, high efficiency, high simulation and the like.
The existing helicopter simulation driving platform is large in size, complex in structure and large in power consumption, and adopts a heavy parallel hydraulic mechanism to simulate the pose transformation of the helicopter; the virtual scene is simulated when driving by adopting the multi-screen virtual scene, and the virtual scene manufactured by animation simulation software such as units 3D and the like has a certain gap from the real scene, so that the driving scene of the helicopter cannot be truly restored. The chinese patent document CN106530892a proposes a flight simulator for simulating a six-degree-of-freedom sensor of a three-dimensional scene, which includes a six-degree-of-freedom driving platform, a three-dimensional scene motion system, a sound system, and an interactive interface, and can construct a virtual scene and a flight simulation state pose. The Chinese patent document CN105608952A proposes a flight simulation system based on unmanned aerial vehicle in the technical field of simulated flight, comprising: the unmanned aerial vehicle is provided with an instrument simulation module, an operation module, a view module and a ground driving platform of a ground communication module, an airborne communication module, a view acquisition module, a flight data acquisition module and an airborne flight control module, and the unmanned aerial vehicle is adopted to shoot a flight live-action and transmit the flight live-action to the simulation driving platform, so that the scene is more real. Although the prior art can carry out flight simulation driving to a certain extent, the degree of restoration of the real flight condition is low, the real aircraft driving experience cannot be restored from three aspects of somatosensory, visual and operation, and the adopted somatosensory platform is heavy and has high power consumption. The current simulated aircraft has the following defects: (1) The movable platform of the helicopter simulated driving platform adopts a parallel hydraulic mechanism, and has large volume and large power consumption; (2) The helicopter simulated driving platform cannot restore the real helicopter driving experience from three aspects of somatosensory, visual and operation, so that the simulated driving effect is not real enough.
Therefore, aiming at the problems, a helicopter simulated driving platform based on live-action control is provided, and the body feeling, the vision and the operation steps when the helicopter is driven can be restored to the maximum extent, so that the necessity is very high.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a helicopter simulated driving platform based on live-action control, which can acquire information of real flight parameters, gestures, views and the like of a helicopter through an unmanned helicopter, further restore the real flight scenes to the greatest extent from aspects of motion feeling, views, operation and the like, further enable the simulated driving effect to be more real, simultaneously enable the simulated driving cabin to be connected with a movable platform through a spherical hinge pair, enable the movable platform to realize six-degree-of-freedom motion of the simulated driving cabin by adopting single hydraulic column driving and four steel wire rope pulling, and have the advantages of simple structure, small volume, low power consumption and the like.
The technical scheme adopted by the invention is that the helicopter simulated cockpit comprises a simulated cockpit, a movable platform, a rotary turntable, an unmanned helicopter, a steel wire rope, a winch motor and a rope tidying device, wherein the simulated cockpit is connected with the movable platform through a spherical hinge pair, an intrabay component required by the helicopter simulated cockpit is arranged in the simulated cockpit, the unmanned helicopter can transmit flight pose and visual information to the simulated cockpit in real time during flight, an extrabay component is arranged outside the simulated cockpit, the extrabay component comprises a cabin body, a cabin door, a latch and a pull ring, the cabin body is in a spherical structure, the bottom of the cabin body is provided with a bilge weight, a cabin top receiving and transmitting antenna is arranged right above the cabin body, a spherical hinge groove is arranged right below the cabin body, the cabin door is arranged on one side of the cabin body, the bottom of the cabin door is rotationally connected with the cabin body, the cabin door is arranged on two sides of the cabin body, the cabin door is arranged around the cabin body, and the cabin door is arranged between two adjacent waist parts at an equal interval of 90 degrees; the movable platform is arranged on the rotary turntable and comprises a base platform, a longitudinal hydraulic column, a spherical hinge convex ball, a fixed pulley frame and a pulley body, wherein the longitudinal hydraulic column is arranged in the middle of the base platform, the spherical hinge convex ball is arranged at the upper end of an extending rod in the longitudinal hydraulic column, the bottom of the cabin body is arranged in a spherical groove of the longitudinal hydraulic column, the spherical hinge convex ball is arranged in the spherical hinge groove, the fixed pulley frame is uniformly distributed and encircling at the edge of the base platform, the fixed pulley frame is correspondingly arranged with the pull ring, and the pulley body is arranged on the fixed pulley frame; the winch motor and the rope arranging device are both arranged on the rotary turntable, an output shaft of the winch motor is connected with a rotating shaft of the rope arranging device through a coupler, a first end of the steel wire rope is connected with the pull ring, a second end of the steel wire rope penetrates through the pulley body and is connected with a coil spring in the rope arranging device, and the rotation energy of the winch motor drives the simulated cockpit to change the posture of the simulated cockpit.
Further, the rope tidying device comprises a roller, a rotating shaft and a coil spring, wherein the roller is arranged on the rotating shaft through a bearing, an accommodating cavity is formed in the inner side of the roller, a coil spring outlet is formed in the accommodating cavity, the coil spring is arranged in the accommodating cavity, a first end of the coil spring is connected with the inner side wall of the accommodating cavity, and a second end of the coil spring penetrates through the coil spring outlet and is connected with a second end of the steel wire rope.
Preferably, the unmanned helicopter comprises a body, a top transceiver antenna, a front view camera and a top view camera, wherein the top transceiver antenna is arranged right above the body, the front window of the body is provided with the front view camera, and the top view camera is arranged on the bottom window of the body.
The invention has the characteristics and beneficial effects that:
1. according to the helicopter simulation driving platform based on live-action control, the information of real flight parameters, gestures, views and the like of the helicopter can be acquired through the unmanned helicopter and wirelessly transmitted to the simulation driving cabin, the simulation driving cabin can further reproduce the corresponding gestures and the real flight views according to the gesture information transmitted by the unmanned helicopter under the assistance of the moving platform, the real flight scenes can be restored to the greatest extent, and meanwhile, a pilot can control the unmanned helicopter in real time in the simulation driving cabin to complete adjustment of the corresponding gestures and complete real-time closed-loop control.
2. According to the helicopter simulated driving platform based on live-action control, the simulated driving cabin is connected with the movable platform through the spherical hinge pair, the movable platform is driven by a single hydraulic column and pulled by four steel wire ropes, six-degree-of-freedom motion of the simulated driving cabin can be achieved, and the helicopter simulated driving platform based on live-action control has the advantages of being simple in structure, small in size, low in power consumption and the like.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a helicopter simulated cockpit platform based on live-action control of the present invention;
FIG. 2 is a schematic illustration of the off-board components of the simulated cockpit of the present invention;
FIG. 3 is a side view of an off-board assembly of the simulated cockpit of the present invention;
FIG. 4 is a schematic view of the in-cabin components of the simulated cockpit of the present invention;
FIG. 5 is a schematic view of the structure of the movable platform of the present invention;
FIG. 6 is a front view of the motion platform of the present invention;
FIG. 7 is a schematic view of the structure of the drum of the present invention;
FIG. 8 is a half cross-sectional view of the drum of the present invention;
FIG. 9 is a schematic view of the structure of a coil spring of the present invention;
fig. 10 is a schematic structural view of the unmanned helicopter of the present invention.
The main reference numerals:
a simulated cockpit 1; an off-board assembly 11; a cabin 111; a hatch 112; a latch 113; a roof transceiver antenna 114; a pull ring 115; bilge weight 116; a spherical hinge groove 117; an inboard assembly 12; a seat 121; a joystick 122; a foot control lever 123; a console 124; a foreground display 125; a nodding-scene display 126; a support frame 127; a movable platform 2; a base platform 21; a longitudinal hydraulic column 22; spherical hinge convex ball 23; a fixed pulley frame 24; rotating the turntable 25; an unmanned helicopter 3; a body 31; a set-top transceiver antenna 32; a forward view camera 33; a nodding-scene camera 34; a wire rope 4; a winch motor 5; a rope tidying device 6; a drum 61; a receiving cavity 611; a coil spring outlet 612; a coil spring 62.
Detailed Description
In order to make the technical content, the structural features, the achieved objects and the effects of the present invention more detailed, the following description will be taken in conjunction with the accompanying drawings.
The invention provides a helicopter simulation cockpit platform based on live-action control, as shown in fig. 1, the helicopter simulation cockpit platform comprises a simulation cockpit 1, a moving platform 2, a rotary turntable 25, an unmanned helicopter 3, a steel wire rope 4, a winch motor 5 and a rope arranging device 6, wherein the simulation cockpit 1 and the moving platform 2 are connected through a spherical hinge pair, an intrabay component 12 required by helicopter simulation cockpit is arranged in the simulation cockpit 1, the unmanned helicopter 3 can transmit flight pose and visual information to the simulation cockpit 1 in real time during flight, so that the simulation cockpit 1 synchronously reproduces the real flight pose and visual, meanwhile, operation control information of personnel in the simulation cockpit 1 can be transmitted to the unmanned helicopter 3 in real time, the unmanned helicopter 3 responds to corresponding flight actions according to the operation information, the moving platform 2 is arranged on the rotary turntable 25, the winch motor 5 and the rope arranging device 6 are both arranged on the rotary turntable 25, an output shaft of the winch motor 5 is connected with a rotating shaft of the rope arranging device 6 through a coupler, a first end of the steel wire rope 4 is connected with 115, a second end of the steel wire rope 4 passes through a coil spring 62 in the winch 6, and the rolling direction of the winch motor is changed through a rolling drum body 22 and the rolling direction of the winch 6, and the composite motion of a six-bar is realized, and the movement of a rolling direction of a helicopter is realized.
In a preferred mode, a start switch and a socket are arranged on the rotary turntable 25 for connecting with a power supply, the rotary turntable 25 can realize clockwise and anticlockwise 360-degree rotation and can control the rotation angle and speed, so that the whole movable platform 2 and the simulated cockpit 1 are driven to correspondingly rotate, and further the operations of in-situ 180-degree rotation and the like of the simulated helicopter 3 are simulated.
As shown in fig. 2 and 3, the outside of the simulated cockpit 1 is provided with an extravehicular component 11, and the extravehicular component comprises a cabin body 111, a cabin door 112, a latch 113 and a pull ring 115, wherein the cabin body 111 is in a spherical structure, is a main body shell of the whole simulated cockpit 1, wraps the whole intravehicular component 12 to form a closed space, the bottom of the cabin body 111 is provided with a bilge weight 116, the bilge weight 116 can lower the center of gravity of the simulated cockpit 1, and is in a tumbler principle, so that the simulated cockpit 1 is more stable, a cabin top transceiving antenna 114 is arranged right above the cabin body 111 and can be in wireless communication with the unmanned helicopter 3, a spherical hinge groove 117 is arranged right below the cabin body 111 and is used for being matched with a spherical hinge convex ball 23 of the movable platform 2, the spherical hinge pair is further matched and connected with the movable platform 2, the cabin door 112 is arranged on one side of the cabin body 111, the bottom of the cabin door 112 is in rotary connection with the cabin body 111, the latch 113 is in a conventional electronic door lock structure, the latch 113 is arranged on two sides of the cabin door 112 and is used for tightly fixing the cabin door 112 and opening 112, the pull ring 115 is arranged around the cabin body 111, and two adjacent cabin doors 115 are arranged at a 90-degree interval for being connected with a steel wire rope 4.
As shown in fig. 4, the cabin interior component 12 includes a seat 121, a joystick 122, a foot control lever 123, a console 124, a foreground display 125 and a nodding display 126, the seat 121 is disposed in the cabin 111, and the seat 121 includes a safety belt and a seat adjusting mechanism, etc. for a driver to sit in, the front of the seat 121 is provided with the foreground display 125, the nodding display 126 and the console 124, and the top and bottom of the console 124 are respectively provided with the foreground display 125 and the nodding display 126, wherein the console 124 includes an instrument panel and a control button for displaying various parameter states and button control of the helicopter, the foreground display 125 is disposed right in front of the driver, corresponding to the front window position of the real helicopter cockpit, for playing the real picture captured by the foreground camera 33 of the unmanned helicopter 3, the nodding display 126 is disposed right below the driver, corresponding to the bottom window position of the real helicopter cockpit, for playing the real picture captured by the nodding head 34 of the unmanned helicopter 3, and the support frame 127 is used for reinforcing the cabin 111, and the foot control lever 122 is disposed on the foot control lever 121, and the foot control lever 122 is disposed in front of the cabin of the foot control lever 121.
As shown in fig. 5 and 6, the moving platform includes a base platform 21, a longitudinal hydraulic column 22, a spherical hinge convex ball 23, a fixed pulley frame 24 and a pulley body, the base platform 21 is a frame of the moving platform 2 and is used for bearing other parts and simulating the cockpit 1, the longitudinal hydraulic column 22 is arranged in the middle of the base platform 21, the longitudinal hydraulic column 22 can longitudinally stretch out and draw back, the spherical hinge convex ball 23 is arranged at the upper end of a stretching rod in the longitudinal hydraulic column 22, the bottom of the cabin 111 is arranged in a spherical groove of the longitudinal hydraulic column 22, the spherical hinge convex ball 23 is arranged in the spherical hinge groove 117 to form a spherical hinge pair connection, the stretching of the longitudinal hydraulic column 22 can drive the simulating cockpit 1 to move in the up-down direction and can reproduce the up-down bumpy body feeling, the fixed pulley frame 24 is uniformly and circumferentially arranged at the edge of the base platform 21, the fixed pulley frame 24 is correspondingly arranged with the pull ring 115, and the fixed pulley frame 24 is provided with a pulley body for guiding the steel wire rope 4.
As shown in fig. 7 to 9, the rope organizer 6 includes a drum 61, a rotation shaft and a coil spring 62, the drum 61 is provided on the rotation shaft by a bearing, and the drum 61 is provided inside with a housing cavity 611, and the housing cavity 611 is provided with a coil spring outlet 612, the coil spring 62 is provided in the housing cavity 611, and a first end of the coil spring 62 is connected with an inner side wall of the housing cavity 611, and a second end of the coil spring 62 is connected with a second end of the wire rope 4 through the coil spring outlet 612.
As shown in fig. 10, the unmanned helicopter 3 includes a body 31, a top transceiver antenna 32, a front view camera 33 and a top view camera 34, the body 31 includes a power module and a control module necessary for the unmanned helicopter 3, the top transceiver antenna 32 is disposed right above the body 31, the top transceiver antenna 32 can wirelessly transmit flight parameters, pose information and view information of the unmanned helicopter 3 to the simulated cockpit 1, and receive operation control information transmitted from the simulated cockpit 1, and according to the control information, the control module in the body 31 changes various flight parameters and poses of the unmanned helicopter 3, and the front window of the body 31 is provided with the front view camera 33, so that the view of the position of the front window of the real helicopter can be acquired, and the top view camera 34 is disposed on the bottom window of the body 31, so that the view of the position of the bottom window of the real helicopter can be acquired.
The specific operation steps of the invention are as follows:
the invention provides a helicopter simulated driving platform based on live-action control, as shown in fig. 1-10, in a specific use process, a winch motor 5 is driven to rotate so as to pull a simulated driving cabin 1 to tilt in the direction, when four pull rings 115 in the four directions are under the tension of a steel wire rope 4, according to force synthesis and decomposition, the four pull rings in the orthogonal directions can synthesize resultant force in any direction, so that the simulated driving cabin 1 can complete the change of pitching, rolling and yawing postures under the stress of the four pull rings 115, and meanwhile, the longitudinal hydraulic column 22 stretches and contracts to drive the simulated driving cabin 1 to move in the up-down direction, so that the up-down bumpy body feeling can be reproduced, and further six-degree-of-freedom movement of the simulated driving cabin can be realized. In addition, the unmanned helicopter 3 can transmit flight pose and visual information to the simulated cockpit 1 in real time during flight, the simulated cockpit can further reproduce corresponding pose and real flight visual according to pose information transmitted by the unmanned helicopter, the real flight scene can be restored to the greatest extent, and meanwhile, a pilot can control the unmanned helicopter in real time in the simulated cockpit to complete adjustment of the corresponding pose, so that real-time closed-loop control is completed.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (2)
1. A helicopter simulated driving platform based on live-action control is characterized by comprising a simulated cockpit, a movable platform, a rotary turntable, an unmanned helicopter, a steel wire rope, a winch motor and a rope tidying device,
the simulated cockpit is connected with the movable platform through a spherical hinge pair, an intrabay component required by helicopter simulated cockpit is arranged in the simulated cockpit, the unmanned helicopter can transmit flight pose and view information to the simulated cockpit in real time during flight, an extrabay component is arranged on the outer side of the simulated cockpit, the extrabay component comprises a cabin body, a cabin door, a latch and pull rings, the cabin body is in a spherical structure, the bottom of the cabin body is provided with a bilge weight, a cabin top receiving and transmitting antenna is arranged right above the cabin body, a spherical hinge groove is arranged right below the cabin body, the cabin door is arranged on one side of the cabin body, the bottom of the cabin door is rotationally connected with the cabin body, the latch is arranged on two sides of the cabin door, the pull rings are uniformly distributed around the waist of the cabin body, and the interval between two adjacent pull rings is 90 degrees; the cabin inner assembly comprises a seat, a control rod, a pedal control rod, a control console, a positive scene display and a depression display, wherein the seat is arranged in the cabin, the positive scene display, the depression display and the control console are arranged in front of the seat, the positive scene display and the depression display are respectively arranged above and below the control console, and the control console comprises an instrument panel and control buttons and is used for displaying various parameter states and button control of the helicopter;
the movable platform is arranged on the rotary turntable and comprises a base platform, a longitudinal hydraulic column, a spherical hinge convex ball, a fixed pulley frame and a pulley body, wherein the longitudinal hydraulic column is arranged in the middle of the base platform, the spherical hinge convex ball is arranged at the upper end of an extending rod in the longitudinal hydraulic column, the bottom of the cabin body is arranged in a spherical groove of the longitudinal hydraulic column, the spherical hinge convex ball is arranged in the spherical hinge groove, the fixed pulley frame is uniformly distributed and encircling at the edge of the base platform, the fixed pulley frame is correspondingly arranged with the pull ring, and the pulley body is arranged on the fixed pulley frame;
the winch motor and the rope tidying device are both arranged on the rotary turntable, an output shaft of the winch motor is connected with a rotating shaft of the rope tidying device through a coupler, a first end of the steel wire rope is connected with the pull ring, a second end of the steel wire rope penetrates through the pulley body and is connected with a coil spring in the rope tidying device, the rope tidying device comprises a roller, a rotating shaft and a coil spring, the roller is arranged on the rotating shaft through a bearing, a containing cavity is formed in the inner side of the roller, a coil spring outlet is formed in the containing cavity, the coil spring is arranged in the containing cavity, the first end of the coil spring is connected with the inner side wall of the containing cavity, and the second end of the coil spring penetrates through the coil spring outlet and is connected with the second end of the steel wire rope; the simulated cockpit is driven by the rotation energy of the winch motor to change the posture of the simulated cockpit; the winch motor rotates and the longitudinal hydraulic column moves to drive the simulated cockpit to realize six-direction movement and compound movement, so that the change of pitching, rolling and yawing postures is completed;
the unmanned helicopter can transmit the flight pose and the visual information to the simulated cockpit in real time during flight, and the simulated cockpit reproduces the corresponding pose and the real flight visual according to the pose information transmitted by the unmanned helicopter, and the unmanned helicopter is controlled in real time to complete the adjustment of the corresponding pose and complete the real-time closed-loop control; the movable platform adopts a single hydraulic column to drive and four steel wire ropes to pull so as to realize six-degree-of-freedom motion of the simulated cockpit.
2. The helicopter simulated driving platform based on live-action control of claim 1, wherein the unmanned helicopter comprises a body, a top transceiver antenna, a front view camera and a top view camera, the top transceiver antenna is arranged right above the body, the front view camera is arranged on a front window of the body, and the top view camera is arranged on a bottom window of the body.
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| CN202211168102.5A CN115457836B (en) | 2022-09-23 | 2022-09-23 | Helicopter simulated driving platform based on live-action control |
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| CN202211168102.5A CN115457836B (en) | 2022-09-23 | 2022-09-23 | Helicopter simulated driving platform based on live-action control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101739129B (en) * | 2009-12-01 | 2011-09-28 | 北京航空航天大学 | Four freedom degrees flexible cable driven man-machine interaction device capable of feeding back grasping force |
| CN202420817U (en) * | 2012-01-18 | 2012-09-05 | 汪选要 | Parallel flexible cable traction mechanism applied to wind tunnel test on aircraft |
| CN103886782B (en) * | 2014-04-09 | 2016-06-01 | 陈京波 | A kind of 360 degree of omnidirectionals overload type of flight simulator |
| CN104690712B (en) * | 2015-01-20 | 2016-09-07 | 中国民航大学 | Four-freedom hybrid analog platform |
| CN105373137A (en) * | 2015-11-03 | 2016-03-02 | 上海酷睿网络科技股份有限公司 | Unmanned system |
| CN105608952B (en) * | 2016-03-24 | 2018-01-02 | 上海交通大学 | Flight Simulated Training System and its flight simulation method based on unmanned plane |
| CN107424473A (en) * | 2017-08-14 | 2017-12-01 | 徐舒青 | Single seat moves plane simulation steer entirely |
| CN108645425B (en) * | 2018-03-14 | 2022-03-08 | 东南大学 | Small-size rotor unmanned aerial vehicle gyroscope structure test system based on six-dimensional force sensor |
| CN108492667A (en) * | 2018-05-24 | 2018-09-04 | 山东科技大学 | A kind of multi-angle, multi-pose flight training simulator |
| CN208525799U (en) * | 2018-06-29 | 2019-02-22 | 广州牧童康体设备有限公司 | A kind of aircraft cockpit experience apparatus suitable for children |
| CN109615975A (en) * | 2019-01-29 | 2019-04-12 | 宁夏大学 | A kind of executing agency of aerolog |
| CN210091440U (en) * | 2019-06-06 | 2020-02-18 | 范敏毅 | Flight simulator simulation cockpit with controllable seat angle |
| CN112607639B (en) * | 2020-12-23 | 2021-11-05 | 中国科学院力学研究所 | Rope system driving device for nacelle deformation |
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