CN105632271A - Ground simulation training system for low-speed wind tunnel model flight experiment - Google Patents
Ground simulation training system for low-speed wind tunnel model flight experiment Download PDFInfo
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Abstract
The invention discloses a ground simulation training system for a low-speed wind tunnel model flight experiment, which comprises an integrated console, a flight control console, a computer real-time computing system, a scene system and a sound system, wherein both the integrated console and the scene system are connected onto the Ethernet; the Ethernet is connected with the flight control console and the real-time computing system; the real-time computing system is a multi-processor distributed real-time computing system through a reflective memory network, and the multiple processors are mutually connected; and the scene system is connected with the sound system. The simulation training system disclosed by the invention can vividly simulate the experiment scene of the model for a six-degree of freedom unconstrained flight in the low-speed wind tunnel experiment section, and the problem of cooperative control training simultaneously by multiple pilots can be solved.
Description
Technical field
The invention belongs to flight simulation field, particularly relate to a kind of low speed wind-tunnel model flight experiment ground surface simulated training system.
Background technology
In large-sized low-speed wind-tunnel model flight is tested, the manipulation of the model of an airplane and response have following feature: (1) compares model owing to using dynamic similarity contracting, compared with the flight of full-scale true machine, during experiment, model dynamic response speed is greatly accelerated compared with true machine; (2) testing in section at wind-tunnel and carry out six degree of freedom flights, extremely limited motion space requires that pilot can the position of Controlling model rapidly; (3) owing to pilot is positioned between observing and controlling by the motion of remote control prototypes, lacking the perception to airplane motion acceleration, this exacerbates pilot to a certain extent and reacts sluggish; (4) pilot not only wants the motion of Controlling model, also to be assessed by the stability and control under different control law structure and parameter.
These factors dictate pilot to be had extremely fast speed of response, considerably increases flight and handles difficulty. Although flight manipulation task is broken down into 3 parts such as pitching manipulation, driftage/rolling manipulation and thrust manipulation, having cooperated by 3 pilots to reduce the burden of flight manipulation, still faces the manipulation between 3 people and coordinates problem, has very big challenge.
Therefore, before carrying out wind-tunnel model flight and testing, it is necessary to carry out sufficient pilot's training. Currently, during this kind of model flight is tested, owing to model flight manipulation characteristic and true aircraft gap are huge, generally can not use the pilot of specialty, but complete manipulation tasks with the flight oper of aeromodelling airplane. And the training for this kind of flight oper, general use model plane are carried out flight aloft and are handled training, this kind of method not only risk height, cost height, setup time is long, and handle environment, handle sensation with wind-tunnel model flight experiment scene and inconsistent, the manipulation of model plane and response characteristic, with to wait to carry out the model response tested also inconsistent, cannot realize training true to naturely; And flight simulation device general at present, the simulator being single pilot driver, cannot realize the hormany operating training of 3 pilots, and, visual display is also single visual angle, cannot simulate the different visual angles that when wind-tunnel model flight is tested, different pilot sees.
Summary of the invention
In order to solve the problem, the present invention proposes a kind of low speed wind-tunnel model flight experiment ground surface simulated training system, simulation model true to nature six degree of freedom in low-speed wind tunnel test section without the experiment scene of constrained flight, multiple pilot can be solved and carries out collaborative manipulation training problem simultaneously.
For achieving the above object, the technical solution used in the present invention is:
A kind of low speed wind-tunnel model flight experiment ground surface simulated training system, comprise Comprehensive Control platform, flight operation desk, computer real-time resolving system, what comes into a driver's system and sound system, described Comprehensive Control platform and what comes into a driver's system are all connected to Ethernet, described Ethernet is connected with flight operation desk and real-time resolving system, described real-time resolving system is that described what comes into a driver's system connects described sound system by the distributed real time computation system of multi-processor that Reflective memory network is interconnected;
Described Comprehensive Control platform is the operation control center of ground surface simulated training system, is mainly used in arranging the original state of system, working process control with monitoring and data record and playback, has the highest control authority in systems in which;
Described flight operation desk is the input unit of ground surface simulated training system, for carrying out the human-computer interactive control of aircraft operation, comprises at least one operation desk;
Described real-time resolving system, it it is the nucleus equipment of ground surface simulated training system, be the platform of Flight Control Law, aircraft mathematical Model Development and operation, be mainly used in that maneuvering and control Signal reception, aircraft control law and aircraft mathematical model are resolved, Systematical control and display driver;
Described what comes into a driver's system, it is the display translation equipment of ground surface simulated training system, the visual environment data provided by real-time resolving system and Comprehensive Control platform are provided and generate and specify viewpoint or specify the Real-time windows target image within the scope of visual field, the wind-tunnel scene of different visual angles can be shown simultaneously;
Described sound system is the audio output apparatus of ground surface simulated training system, the various sound effects of real time modelling aircraft.
Further, described flight operation desk comprises pitching operation desk, rolling driftage operation desk and thrust operation desk.
Further, described pitching operation desk comprises pitching display panel, pitching jociey stick and pitching operation knob; Described pitching display panel carries out the real-time display of steering order, the angle of attack and angle of pitch velocity curve and instrument; Described pitching jociey stick and pitching operation knob are for carrying out pitch control to aircraft; Described pitching operation desk for pitching oper, for carrying out the longitudinal human-computer interactive control of aircraft.
Further, described driftage rolling operation desk comprises driftage rolling display panel, driftage rolling jociey stick and trim knob; Described driftage rolling display panel is mainly used in showing the information of the horizontal attitude of reflection aircraft; Described driftage rolling jociey stick and trim knob are used for aircraft carries out driftage roll unloads; Go off course rolling operation desk for rolling driftage oper, for carrying out the horizontal human-computer interactive control of aircraft.
Further, described thrust operation desk comprises thrust display panel, throttle lever and Thrust Control mode selector switch; Described thrust display panel is mainly used in display wind speed and thrust; Described throttle lever and Thrust Control mode selector switch are for carrying out thrust manipulation to aircraft; Thrust operation desk arch thrust oper uses, for carrying out thrust human-computer interactive control.
Further, described real-time resolving system comprises flight control computer and flight replicating machine, and real-time resolving system is the distributed computing fabric of multi-processor, interconnected by Reflective memory network; Described flight control computer comprises upper computer and target machine, and as designing and developing, platform realizes man-machine interaction to described upper computer, and described target machine is for running real-time code, and described real-time resolving system adopts computer simulation technique.
Further is, described what comes into a driver's system comprises graphics workstation, fused controlling device, projector and half cylinder curtain, described graphics workstation receives real-time resolving system and the View Actuation data of Comprehensive Control platform offer, generate the image of specified view angle in real time, the image of generation is sent to fused controlling device, by fused controlling device, the image generated is distributed and is displayed on half cylinder curtain by projector by picture; Described what comes into a driver's system utilizes virtual reality technology;
Wherein, described half cylinder curtain is divided into 3 parts, described 3 parts show the wind-tunnel scene of different visual angles respectively, it is wherein side-view faced by pitching oper and thrust oper, faced by rolling driftage oper is rear view, and the vision effect can experienced with wind-tunnel experimental field pilot is completely the same.
Further, in described wind-tunnel scene, Flight Safety Region territory is identified.
Further, described sound system comprises power amplifier, audio amplifier and sound source equipment, and described power amplifier receives described graphics workstation and the data of sound source equipment transmission, and described data are sent to audio amplifier after power amplifier processes, and sound by audio amplifier;
Wherein, noise when the various sound effects of described aircraft comprise aircraft running of an engine, the sound of aircraft folding and unfolding landing gear, airborne equipment work sound and warning sound.
Further, described ground surface simulated training system also comprises wireless intercom system, carries out real time phone call to ensure between each manipulation personnel.
Adopt the useful effect of the technical program:
The present invention utilizes virtual reality and computer simulation technique, carries out ground simulation flight training, flies with air model plane compared with training, and training risk is low, there is not the potential risk such as air crash, damage model; Training cost is low, efficiency height, it is possible to carry out flying for long time training; Experiment is not by weather effect;
The present invention is compared with general flight simulation device, it is possible to carries out multiple pilot and carries out collaborative manipulation flight training simultaneously; Scene is more true to nature, completely the vision of simulation wind-tunnel experimental field, the sense of hearing and manipulation sense;
The present invention adopts half cylinder curtain and double cylinder curtain divides region, it is achieved various visual angles simultaneous display scheme, and the realistic simulation true visual angle of different pilot, has high fidelity and visual immersion;
The present invention adopts hardware and software to be the mode of modularization, adds the versatility of training system, can be used for carrying out the fly simulation training of different model aircraft, have important and widely engineer applied be worth.
Accompanying drawing explanation
Fig. 1 is the structure simplified schematic diagram of a kind of low speed wind-tunnel model flight experiment ground surface simulated training system of the present invention;
Fig. 2 is the structure layout of a kind of low speed wind-tunnel model flight experiment ground surface simulated training system in embodiments of the invention;
Fig. 3 is the structural representation of what comes into a driver's system in the embodiment of the present invention;
Fig. 4 is the schematic diagram of half cylinder curtain in the embodiment of the present invention;
Fig. 5 is model training result and actual experimental results comparison diagram in the embodiment of the present invention;
Wherein, 1 is Comprehensive Control platform, and 2 is pitching operation desk, 3 is rolling driftage operation desk, and 4 is thrust operation desk, and 5 is half cylinder curtain, and 6 is audio amplifier, and 7 is projector, and 8 is Flight Safety Region territory.
Embodiment
In order to make the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is further elaborated.
In the present embodiment, shown in Fig. 1 and Fig. 2, a kind of low speed wind-tunnel model flight experiment ground surface simulated training system, comprise Comprehensive Control platform 1, flight operation desk, computer real-time resolving system, what comes into a driver's system and sound system, described Comprehensive Control platform 1 and what comes into a driver's system are all connected to Ethernet, described Ethernet is connected with flight operation desk and real-time resolving system, described real-time resolving system is that described what comes into a driver's system connects described sound system by the distributed real time computation system of multi-processor that Reflective memory network is interconnected.
1. Comprehensive Control platform 1 described in is the operation control center of ground surface simulated training system, is mainly used in arranging the original state of system, working process control with monitoring and data record and playback, has the highest control authority in systems in which.
1.1 arrange system initial state comprises: the Initialize installation of complete machine, simulator mode of operation switch the optimum configurations such as full digital trigger technique/HWIL simulation, aircraft starting position, meteorological conditions setting, what comes into a driver's and the display of cockpit instrument subsystem and arrange.
1.2 working process controls comprise with supervision: start/stop, it is possible to the operation of control simulation device easily and stopping; Again arrange, simulator is returned a certain state is set; System freeze/unfreeze, to carry out the interruption and continuation etc. that emulate; Monitor information system state and configuring condition, flight controlling and response condition, arbitrarily viewing point imaging etc.
1.3 realize the record and review of data: the information such as record flight manipulation, aircraft attitude and track, and realize the playback of what comes into a driver's and correlation curve.
Comprehensive Control platform 1 possesses control signal calibration function, it is possible to regularly the control signal such as jociey stick, throttle lever calibrated.
2. fly described in operation desk, is the input unit of ground surface simulated training system, for carrying out the human-computer interactive control of aircraft operation, comprises at least one operation desk.
Described flight operation desk comprises pitching operation desk 2, rolling driftage operation desk 3 and thrust operation desk 4.
Pitching operation desk 2 described in 2.1 comprises pitching display panel, pitching jociey stick and pitching operation knob; Described pitching display panel carries out the real-time display of steering order, the angle of attack and angle of pitch velocity curve and instrument; Described pitching jociey stick and pitching operation knob are for carrying out pitch control to aircraft; Described pitching operation desk 2 for pitching oper, for carrying out the longitudinal human-computer interactive control of aircraft.
Rolling operation desk of going off course described in 2.2 comprises driftage rolling display panel, driftage rolling jociey stick and trim knob; Described driftage rolling display panel is mainly used in showing the information of the horizontal attitude of reflection aircraft; Described driftage rolling jociey stick and trim knob are used for aircraft carries out driftage roll unloads; Go off course rolling operation desk for rolling driftage oper, for carrying out the horizontal human-computer interactive control of aircraft.
Thrust operation desk 4 described in 2.3 comprises thrust display panel, throttle lever and Thrust Control mode selector switch; Described thrust display panel is mainly used in display wind speed and thrust; Described throttle lever and Thrust Control mode selector switch are for carrying out thrust manipulation to aircraft; Thrust operation desk 4 arch thrust oper uses, for carrying out thrust human-computer interactive control.
3. real-time resolving system described in is the nucleus equipment of ground surface simulated training system, is the platform of Flight Control Law, aircraft mathematical Model Development and operation, make use of Computer Simulation technology; Be mainly used in that maneuvering and control Signal reception, Flight Control Law and aircraft mathematical model are resolved, Systematical control and display driver.
Described real-time resolving system possesses the interfaces such as Ethernet, fiber reflection memory network, serial ports, A/D and D/A.
Described real-time resolving system comprises flight control computer and flight replicating machine; Described flight control computer comprises upper computer and target machine, and as designing and developing, platform realizes man-machine interaction to described upper computer, and described target machine is for running real-time code.
Real-time resolving system makes full use of the real time workshop function of the real-time development environment RTW (Real-TimeWorkshop) that Matlab provides; Structure is taked " upper computer-target machine " pattern: upper computer and ordinary PC, realize man-machine interaction as designing and developing platform; Namely target machine based on the real-time software and hardware system of Vxworks, runs real-time code. Native system adopts this rapid control prototyping thinking, it is achieved that with the seamless connection of design environment simulink.
4. described what comes into a driver's system, as shown in Figure 3, it is the display translation equipment of ground surface simulated training system, the View Actuation data that process is provided by real-time resolving system and Comprehensive Control platform 1 also generate and specify viewpoint or specify the Real-time windows target image within the scope of visual field, can show the wind-tunnel scene of different visual angles simultaneously.
What comes into a driver's system makes full use of virtual reality technology, adopt VegaPrime exploitation, according to aircraft attitude, position, rudder inclination angle and the information such as environmental parameter, eyespot position that flight replicating machine and Comprehensive Control platform 1 provide, process visual environment data, generate true to nature, stable, real-time appointment viewpoint, specify the scenery picture within the scope of visual field.
Described what comes into a driver's system comprises graphics workstation, fused controlling device, projector 7 and half cylinder curtain 5, described graphics workstation receives real-time resolving system and the View Actuation data of Comprehensive Control platform 1 offer, generate the image of specified view angle in real time, the image of generation is sent to fused controlling device, by fused controlling device, image is distributed and by projector 7, picture is displayed on half cylinder curtain 5.
Wherein, as shown in Figure 4, described half cylinder curtain 5 is divided into 3 parts, described 3 parts show the wind-tunnel scene of different visual angles respectively, it is wherein side-view faced by pitching oper and thrust oper, faced by rolling driftage oper is rear view, and the vision effect can experienced with wind-tunnel experimental field pilot is completely the same.
Preferably, in described wind-tunnel scene, Flight Safety Region territory 8 is identified.
What comes into a driver's system can conveniently replace the model aircraft in what comes into a driver's, it is possible to according to each control surface deflection situation of control surface deflection angular data real time modelling; Having collision detection capabilities, when detecting out the machine and when colliding in any physical features of visual environment emphasis, should provide to flight simulation software and ruin machine marking signal, scenery picture is transitioned into machine and ruins picture.
5. sound system described in as shown in Figure 3, is the audio output apparatus of ground surface simulated training system, is used for the various sound effects of real time modelling aircraft.
Described sound system comprises power amplifier, audio amplifier 6 and sound source equipment, and described power amplifier receives described graphics workstation and the data of sound source equipment transmission, and described data are sent to audio amplifier 6 after power amplifier processes, and sound by audio amplifier 6.
Noise when the various sound effects of described aircraft comprise aircraft running of an engine, the sound of aircraft folding and unfolding landing gear, airborne equipment work sound and warning sound. During wind-tunnel scene, recorded wind-tunnel sound during different wind speed specially, real simulation wind-tunnel blows sound.
6. described in, ground surface simulated training system also comprises wireless intercom system, carries out real time phone call to ensure between each manipulation personnel.
A kind of low speed wind-tunnel model flight experiment ground surface simulated training system embodiment of the present invention: when utilizing the system of the present invention to carry out wind-tunnel model flight experiment ground surface simulated training, experiment Flight Control Law used is loaded in the flight control computer of real-time resolving system, the six degree of freedom flight simulation mathematical models testing aircraft used are loaded in the flight replicating machine of real-time resolving system, the three-dimensional profile model of aircraft is loaded in what comes into a driver's system software, the corresponding collaborative training of flight oper can be carried out, training process is fast and safety, and long-time flight training can be carried out.
The result of implementation of the present invention, as shown in Figure 5, before carrying out the experiment of wind-tunnel model flight, this ground Flight Simulated Training System is utilized to carry out the collaborative training of sufficient pilot, follow-up carried out wind-tunnel model flight test after, three pilot's reflections, the method for operating in simulated training system upper-pilot is tested with true wind-tunnel, manipulation sensation, visual sense feeling are quite consistent. Manipulation and response curve when simulated flight and Live Flying are tested contrast as shown in Figure 5. Visible, in this embodiment, both coincide good, illustrate that correlation modeling is accurately, and it is feasible and effective for utilizing fly simulation training platform to carry out pre research, has great importance to carrying out wind-tunnel flight test, it is ensured that the success of flight experiment.
More than show and describe the ultimate principle of the present invention and the advantage of main characteristic sum the present invention. The technician of the industry should understand; the present invention is not restricted to the described embodiments; the principle that the present invention is just described described in above-described embodiment and specification sheets; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention. The claimed scope of this reality invention is defined by appending claims and equivalent thereof.
Claims (10)
1. a low speed wind-tunnel model flight experiment ground surface simulated training system, it is characterized in that, comprise Comprehensive Control platform, flight operation desk, computer real-time resolving system, what comes into a driver's system and sound system, described Comprehensive Control platform and what comes into a driver's system are all connected to Ethernet, described Ethernet is connected with flight operation desk and real-time resolving system, described real-time resolving system is that described what comes into a driver's system connects described sound system by the distributed real time computation system of multi-processor that Reflective memory network is interconnected;
Described Comprehensive Control platform is the operation control center of ground surface simulated training system, is mainly used in arranging the original state of system, working process control with monitoring and data record and playback, has the highest control authority in systems in which;
Described flight operation desk is the input unit of ground surface simulated training system, for carrying out the human-computer interactive control of aircraft operation, comprises at least one operation desk;
Described real-time resolving system, it it is the nucleus equipment of ground surface simulated training system, be the platform of Flight Control Law, aircraft mathematical Model Development and operation, be mainly used in that maneuvering and control Signal reception, Flight Control Law and aircraft mathematical model are resolved, Systematical control and display driver;
Described what comes into a driver's system, it is the display translation equipment of ground surface simulated training system, the visual environment data provided by real-time resolving system and Comprehensive Control platform are provided and generate and specify viewpoint or specify the Real-time windows target image within the scope of visual field, the wind-tunnel scene of different visual angles can be shown simultaneously;
Described sound system is the audio output apparatus of ground surface simulated training system, the various sound effects of real time modelling aircraft.
2. a kind of low speed wind-tunnel model flight experiment ground surface simulated training system according to claim 1, it is characterised in that, described flight operation desk comprises pitching operation desk, rolling driftage operation desk and thrust operation desk.
3. a kind of low speed wind-tunnel model flight experiment ground surface simulated training system according to claim 2, it is characterised in that, described pitching operation desk comprises pitching display panel, pitching jociey stick and pitching operation knob; Described pitching display panel carries out the real-time display of steering order, the angle of attack and angle of pitch velocity curve and instrument; Described pitching jociey stick and pitching operation knob are for carrying out pitch control to aircraft; Described pitching operation desk for pitching oper, for carrying out the longitudinal human-computer interactive control of aircraft.
4. a kind of low speed wind-tunnel model flight experiment ground surface simulated training system according to claim 3, it is characterised in that, described driftage rolling operation desk comprises driftage rolling display panel, driftage rolling jociey stick and trim knob; Described driftage rolling display panel is mainly used in showing the information of the horizontal attitude of reflection aircraft; Described driftage rolling jociey stick and trim knob are used for aircraft carries out driftage roll unloads; Go off course rolling operation desk for rolling driftage oper, for carrying out the horizontal human-computer interactive control of aircraft.
5. a kind of low speed wind-tunnel model flight experiment ground surface simulated training system according to claim 4, it is characterised in that, described thrust operation desk comprises thrust display panel, throttle lever and Thrust Control mode selector switch; Described thrust display panel is mainly used in display wind speed and thrust; Described throttle lever and Thrust Control mode selector switch, for carrying out thrust manipulation to aircraft; Thrust operation desk arch thrust oper uses, for carrying out thrust human-computer interactive control.
6. a kind of low speed wind-tunnel model flight experiment ground surface simulated training system according to claim 1, it is characterized in that, described real-time resolving system comprises flight control computer and flight replicating machine, and real-time resolving system is the distributed computing fabric of multi-processor, interconnected by Reflective memory network; Described flight control computer comprises upper computer and target machine, and as designing and developing, platform realizes man-machine interaction to described upper computer, and described target machine is for running real-time code; Described real-time resolving system adopts computer simulation technique.
7. a kind of low speed wind-tunnel model flight experiment ground surface simulated training system according to claim 1, it is characterized in that, described what comes into a driver's system comprises graphics workstation, fused controlling device, projector and half cylinder curtain, described graphics workstation receives real-time resolving system and the View Actuation data of Comprehensive Control platform offer, generate the image of specified view angle in real time, the image of generation is sent to fused controlling device, by fused controlling device, the image generated is distributed and is displayed on half cylinder curtain by projector by picture; Described what comes into a driver's system utilizes virtual reality technology;
Wherein, described half cylinder curtain is divided into 3 parts, and described 3 parts show the wind-tunnel scene of different visual angles respectively, faced by pitching oper and thrust oper is wherein side-view, and faced by rolling driftage oper is rear view.
8. a kind of low speed wind-tunnel model flight experiment ground surface simulated training system according to claim 7, it is characterised in that, in described wind-tunnel scene, identify Flight Safety Region territory.
9. a kind of low speed wind-tunnel model flight experiment ground surface simulated training system according to claim 7, it is characterized in that, described sound system comprises power amplifier, audio amplifier and sound source equipment, described power amplifier receives described graphics workstation and the data of sound source equipment transmission, described data are sent to audio amplifier after power amplifier processes, and sound by audio amplifier;
Wherein, noise when the various sound effects of described aircraft comprise aircraft running of an engine, the sound of aircraft folding and unfolding landing gear, airborne equipment work sound and warning sound.
10. a kind of low speed wind-tunnel model flight experiment ground surface simulated training system according to claim 1, it is characterised in that, described ground surface simulated training system also comprises wireless intercom system, carries out real time phone call to ensure between each manipulation personnel.
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| CN108496121A (en) * | 2017-08-25 | 2018-09-04 | 深圳市大疆创新科技有限公司 | Unmanned plane simulated flight system, method, equipment and machine readable storage medium |
| CN109637290A (en) * | 2019-02-20 | 2019-04-16 | 马刚 | A kind of unmanned apparatus test device and its test macro |
| CN113252289A (en) * | 2021-07-19 | 2021-08-13 | 中国空气动力研究与发展中心高速空气动力研究所 | Two-degree-of-freedom wind tunnel virtual flight test method |
| CN114373361A (en) * | 2022-01-11 | 2022-04-19 | 安胜（天津）飞行模拟系统有限公司 | Method for simulating bird strike and volcanic ash scenes on flight simulator |
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| CN105632271B (en) | 2017-11-07 |
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