CN107909883A - Robinson's R44 helicopter multitask flight training devices - Google Patents
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- 238000012549 training Methods 0.000 title claims abstract description 43
- 238000004088 simulation Methods 0.000 claims abstract description 24
- 238000012360 testing method Methods 0.000 claims abstract description 6
- 230000006870 function Effects 0.000 claims description 15
- 238000013461 design Methods 0.000 claims description 11
- 238000013178 mathematical model Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000033228 biological regulation Effects 0.000 claims description 3
- 239000002775 capsule Substances 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 2
- 230000005484 gravity Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 210000000697 sensory organ Anatomy 0.000 claims description 2
- 238000013519 translation Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 7
- 230000000007 visual effect Effects 0.000 abstract description 7
- 238000011161 development Methods 0.000 description 5
- 230000018109 developmental process Effects 0.000 description 5
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- 238000006243 chemical reaction Methods 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 3
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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
- G09B9/28—Simulation of stick forces or the like
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Abstract
The invention discloses Robinson's R44 helicopter multitask flight training devices, it is mainly used for practicality fly simulation training.With reference to the standard requirement of 4 grades of the helicopter flight training aids certificates of CCAR 60, Robinson R44 helicopters are selected to develop helicopter flight training aids as masterplate.Helicopter cockpit and helicopter instrumentation system provide 1: 1 Robinson's R44 types helicopter cockpit simulation and state of flight is presented.Training aids mainly includes 10 main subsystems such as helicopter cockpit, helicopter instrumentation system, interface system, control stick power load system, flight dynamics emulation, Helicopter System emulation, visual system, instructor console, sound effect system, QTG test softwares.Fidelity of the present invention is high, has the function of trained pilot, can be promoted in Civil Aviation Industry.
Description
Technical field
Robinson R44 helicopters multitask flight training device of the present invention is related to flight simulator systems design area, specifically
It is related to Robinson's R44 helicopter multitask flight training devices.
Background technology
Robinson's R44 helicopter multitask flight training device developments are to be responsible for undertaking by Civil Aviation Flight College seminar
Develop, the purpose is to study the key technology of helicopter flight training aids, form entirely autonomous intellectual property.And reference
The standard requirement of CCAR-60 portions (141 command of general bureau) 4 grades of certificates of helicopter flight training aids, selects Robinson R44 helicopters to make
For masterplate, helicopter flight training aids is developed.
Helicopter be one kind using rotor as prevailing lift and propulsive force source, energy vertical rise and fall and fly around
Rotary wing aircraft.The maneuvering flight in energy low latitude, low speed, can be in the VTOL of small area place, " 5.12 " Wenchuan County in Sichuan violent earthquake
In, helicopter has played huge or even unique effect, receives significant attention, and Novel helicopter research and development, introduction speed are added
It hurry up.Helicopter is in short-distance transport, sightseeing tour, medical aid, disaster relief and rescue, emergency resuce, pipeline tour, offshore oil platform
Operation, hanging device, detect resource, fire extinguishing of protecting a forest, anti-smuggling drug law enforcement, fire-fighting, transit commercial, aerophotography etc. obtained extensively
General application.
Although the projects such as current Chinese Helicopter is gone sightseeing in the air, short distance chartered plane do not form scale and industry also, with
The national economic development, the announcement of China's low altitude airspace administrative reform opinion, the simplification of every examination and approval procedures, it is contemplated that at 10 years from now on
Between the country will gradually form more mature General Aviation market.Helicopter can be in spies such as small area place VTOL because of it
Point, development speed is significantly more than fixed-wing navigation aircraft.The development of General Aviation necessarily brings the increasing of General Aviation training market
It is long.
China's civil helicopter analog machine, training aids equipment rely on import at present, there is no independent research to pass through civil aviation authority etc.
The Helicopter Training device of level identification, has a small amount of engineering simulation machine for helicopter research and development, helicopter flight simulated training is not yet
Large area is carried out.
The content of the invention
This project is using Robinson R44 helicopters as source, with reference to 4 grades of flight training devices of civil aviation authority's CCAR-60 portions regulation
Standard is developed, final test flight evaluation entirely by reference to 4 grades of standards of flight training device as defined in CCAR-60 portions of civil aviation authority into
Row subjective testing fly and evaluation, flight simulation similarity evaluation using manually manipulate helicopter and flight airmanship carry out contrast as
It is accurate.
The flight training device possesses vertical 40 degree, and horizontal 180 degree multiple channel ball curtain visual system, Five-channel electric control are born
G system, simulator cockpit.Can carry out the distinctive more scenes of helicopter, multidisciplinary training, can true reappearance mountain area etc. intricately
The actual looks of shape；Helicopter crash detection based on geometric shape, can meet the more scenario simulation abilities of flight section purpose, improve
Pilot driver technology and disposing capacity in danger.
Invention software module is developed under Windows7 operating systems using Visual Studio2012 development environments
Complete.
Helicopter flight training aids mainly includes helicopter cockpit, helicopter instrumentation system, interface system, manipulation stick force
Load system, flight dynamics emulation, Helicopter System emulation, visual system, instructor console, sound effect system, QTG tests are soft
10 main subsystems such as part.
Helicopter cockpit and helicopter instrumentation system provide 1: 1 the simulation of Robinson's R44 types helicopter cockpit and
State of flight is presented；Computer interface system undertakes the information exchange and level change between computer and helicopter capsule equipment
Change, data acquisition and control drives the function of execution unit；Control stick power load system provides the control stick of simulation for driver
Power, there is provided control feel；Flight dynamics emulation realizes helicopter in sky by resolving helicopter six-freedom motion equation
In, the simulation of the various normal and improper state of flight in ground, be flight training device data source, be flight training device core
Whether one of center system, and flight training device meet the important step of level identification requirement；Helicopter System emulation is completed
The emulation of Helicopter System and its logic, mainly including navigation system, communication system, power-supply system, signal light system, start
Machine startup, test run, logic of cut-offfing etc.；Visual system provides virtual machine farm environment for pilot；Instructor console is used to complete to instruct
Practice the control of device power supply, helicopter condition monitoring and setting, airport and the setting of helicopter position, environmental Kuznets Curves, Helicopter System event
Barrier sets, freezes and relocate etc. multiple functions, pilotinstructorpiston can complete course offered as defined in regulation by instructor console.
Sound effect system by pilot control act caused by important training aids cockpit acoustic response, with same case in helicopter
On the sound heard it is consistent.QTG software systems be used for test flight training aids characteristic, for flight measured data ratio
Compared with, be flight training device objective evaluation main platform.
These subsystems are managed and are dispatched by Real-Time Scheduling management software by computer interface, network, complete son
The communication of system and data exchange.
Wherein flight dynamics emulation, Helicopter System emulation, visual system, instructor console, sound effect system emulation are several
A part is pure software system, and remainder is the analogue system that combination of hardware software is realized.The relation of each subsystem is shown in Fig. 1.
Communicated between subsystem by interface system and network and data exchange.
Whole system uses Distributed Design, can be made of 6 high-performance desktops, these function modules are according to work(
It can combine, be distributed in different computers, present invention employs following distribution design：Flight dynamics emulation, Helicopter System
Emulation, sound effect system are concentrated in a computer, and the function such as helicopter instrumentation system, interface system input and output concentrates on one
Completed in platform computer, ball curtain visual system is made of a computer, is manipulated load calculating machine and is completed by a computer, is taught
Member's console is completed by a computer.Pass through network exchange data between computer.
Brief description of the drawings
Fig. 1 is each subsystem graph of a relation figure of flight training device
Fig. 2 is the chief component structure diagram of control load system
Specific embodiment
1 aircraft cockpit
The simulator cockpit of Robinson's R44 helicopter flight training aids devises complete instrument, switch, button, instruction
The components such as lamp, display, distribution system and communication navigation form.The airborne equipments such as analog capsule cabin, instrument board, console use
Real R44 airborne equipments, are used for analog machine, and their function and appearance characteristics is emulated by main control computer after modified.
What comes into a driver's, sound equipment, steerable system and control load system are controlled by computer at the same time, and vision, the sense of hearing, power are provided to user
The human body sensories such as load, realize simulation true to nature.
The flight deck of this helicopter flight simulation trainer, mainly with the airplane component of standard and autonomous Design
The mode that non-standard machine components are combined is formed, and reduces the cockpit appearances of Robinson's R44 helicopters, interior trim, equipment work(
Energy and maneuverability pattern.All kinds of electronic sensors are driven by controlling to manipulate, mechanical signal are changed into electronic signal, and pass to
Main control computer, carries out the feedback on sense organ by computer, realizes flight simulation.
2 aircraft cockpits
Robinson R44 helicopter flight training aids instrument systems provide the various status informations of helicopter to pilot, and
Receive pilot operator.The simulation instrument of design should be highly similar to emulation helicopter cockpit instrumentation.This project uses 3
Kind mode emulates R44 helicopter instrumentations, Garmin GNS430, navigation communication panel, BRKR Breaker panel etc.：Graphically
The semi physical instrument of emulation；Garmin GNS430 simulation hardwares；True helicopter boat material part changes the engine instruments used, cunning
Oil pressure table and BRKR Breaker panel.
3 interface systems
This research, as data port, just has transmission delay to be less than 1mS, data stabilization, transmission using multiple network nodes
The features such as efficient.To simplify circuit, each node uses a RISC microcontroller, and carries out digital-to-analogue conversion using PWM mode,
Traditional D/A conversion circuits are eliminated, reduce circuit complicated process；At the same time using the GPIO of definable, carried using chip
Pull-up resistor carry out digital input amount level pull-up function, select a step to simplify circuit design, realized with software maximized
Functional simulation, reduces fault probability.
4 control load systems
Helicopter flight training aids configures 4 passage electro-servo control load systems, is respectively used to bowing for cyclic
Face upward, roll passage, collective-pitch lever passage, rudder passage.Flight control system is to transmit control command, driving rotor and other machines
Structure is to control the system of helicopter flight attitude.Control load system is to provide the system for manipulating esthesis in real time to pilot,
That is the function of simulated flight steerable system.The displacement of the main control stick conversion of measurement in real time and speed, according to state of flight characteristic
And simulation algorithm, calculate to be loaded on control stick in real time, the power size for experiencing pilot, and is loaded by controling power
System exerts a force to control stick.The system includes Design of Mechanical Structure, circuit design, the design of inside and outside control logic, uses standard
Industrial motor and servo amplifier can provide work steady in a long-term.
The main function of control load system be to provide with live flying steering force sense, physically dividing
To simulate force function, displacement, handle structure and electronic force loading system.Wherein, handle structure includes control stick and mechanical linkages；
Force loading system is made of manipulation load calculating machine, motor etc..According to above-mentioned analysis, the chief component of control load system
As shown in Figure 2.
When directly operating the joystick, the data message of collection is sent to behaviour by position, velocity sensor by capture card
Vertical load calculating machine, according to the signal such as power stress model and power, displacement, speed, manipulates load calculating machine and is calculated through simulated program
Go out to be loaded into drive and control of electric machine signal, to drive decelerating motor to rotate, changed by connecting rod, the feedback force that simulation rotor produces
Power, is directly added on control stick by effect, so as to provide real force feedback impression to driver, completes to grasp helicopter pitching
The simulation of vertical system.
Flight characteristics parameter and Parameters in Mathematical Model need to be obtained from master computer by wherein manipulating load calculating machine, and in reality
In the simulation process of border, relevant parameter acquisition modes will be simplified, directly by application definition into emulation, ignore main control computer pair
The influence of control load system.
5 R44 helicopter flight simulation mathematical modelings
It is the premise and key for realizing system emulation to establish a set of perfect and rational helicopter simulation mathematical model, directly
Influence the confidence level of helicopter flight training aids.Helicopter mathematical model includes kinetics equation, each component (rotor, tail-rotor, hair
Motivation/transmission system, fuselage, horizontal tail, vertical fin, undercarriage) mathematical model, Gravity Models and atmospheric environment model etc., each mould
Block is inherently made of various complicated mathematic(al) representations.In addition, not it is completely independent between each module, with reference to each component mechanism
And its mathematic(al) representation, and take into full account coupling/aerodynamic interference between component, establish the total system of a set of suitable real-time simulation
The helicopter nonlinear kinetics mathematical model of coupling.
6 aircraft systems emulate
Aircraft system emulates communication system, navigation system, wing flap, undercarriage, power supply, manipulation, the engine for including aircraft
Etc. the emulation of system, in baby plane training aids, some system emulations are completed in a certain particular dummy module, for example are started
Machine emulation is completed in flight dynamics emulation.
7 instructor consoles
Instructor station is the management position of flight training device, to meet CCAR60 portions regulatory requirement, the instructor station of design have with
Lower function：
The function of completing is needed more than, instructor station's basic function page is devised, is configured using double-display screen, also may be used
To be configured using single display.Configured for dual screen, the interface of left and right two may be selected to be shown in the different pages, increase display letter
Breath amount.
It is last it is to be noted that：Embodiment of above is only to illustrate technical scheme, rather than its limitations.This
The technical staff of industry is not it should be appreciated that the present invention is departing from spirit and scope of the invention from the limitation of the embodiment above
On the premise of various changes and modifications of the present invention are possible, these changes and improvements both fall within scope of the claimed invention
It is interior.The claimed scope of the invention is defined by appended claims and its equivalent.
Claims (5)
1. the cockpit and helicopter instrumentation system of Robinson's R44 helicopter flight training aids use 1: 1 Robinson's R44 types
Helicopter cockpit is simulated and state of flight is presented；Computer interface system is undertaken between computer and helicopter capsule equipment
Information exchange and level translation, data acquisition and control drive the function of execution unit；Control stick power load system is driving
Member provides the control force of simulation, there is provided control feel；Flight dynamics is emulated by resolving helicopter six-freedom motion side
Journey, realize helicopter in the air, the simulation of the various normal and improper state of flight in ground, be flight training device core subsystem
One of system；Helicopter System emulation mainly includes navigation system, communication system, power-supply system, signal light system, engine and opens
Dynamic, test run, logic of cut-offfing etc.；Instructor console is used to complete the control of training aids power supply, helicopter condition monitoring and setting, airport
And the setting of helicopter position, environmental Kuznets Curves, Helicopter System failure set, freeze and relocate etc. multiple functions, pilotinstructorpiston
Course offered as defined in regulation can be completed by instructor console.
Robinson's R44 helicopter flight training aids described in 2., it is characterised in that：Mainly with the airplane component of standard and independently
The mode that is combined of non-standard machine components of design is formed, reduce the cockpit appearances of Robinson's R44 helicopters, interior trim,
Functions of the equipments and maneuverability pattern, drive all kinds of electronic sensors by controlling to manipulate, mechanical signal are changed into electronic signal, and
Main control computer is passed to, the feedback on sense organ is carried out by computer, realizes flight simulation.
Robinson's R44 helicopter flight training aids described in 3., it is characterised in that：Manipulating load calculating machine need to be from master computer
Flight characteristics parameter and Parameters in Mathematical Model are obtained, and during actual emulation, directly by application definition into emulation, neglect
Slightly influence of the main control computer to control load system.
Robinson's R44 helicopter flight training aids described in 4., it is characterised in that：Helicopter mathematical model includes dynamics side
Journey, each component (rotor, tail-rotor, engine/transmission system, fuselage, horizontal tail, vertical fin, undercarriage) mathematical model, Gravity Models with
And atmospheric environment model etc., each module are inherently made of various complicated mathematic(al) representations；
Not it is completely independent between each module, with reference to each component mechanism and its mathematic(al) representation, and takes into full account the coupling between component
Conjunction/aerodynamic interference, establishes the helicopter nonlinear kinetics mathematical model of the total system coupling of suitable real-time simulation.
Robinson's R44 helicopter flight training aids described in 5., it is characterised in that：Aircraft system emulates the communication system for including aircraft
The emulation of the systems such as system, navigation system, wing flap, undercarriage, power supply, manipulation, engine, in baby plane training aids, some
System emulation is completed in a certain particular dummy module, and engine emulation is completed in flight dynamics emulation.
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| CN201711075312.9A CN107909883A (en) | 2017-11-03 | 2017-11-03 | Robinson's R44 helicopter multitask flight training devices |
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| CN201711075312.9A CN107909883A (en) | 2017-11-03 | 2017-11-03 | Robinson's R44 helicopter multitask flight training devices |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108447338A (en) * | 2018-04-24 | 2018-08-24 | 中航大（天津）模拟机工程技术有限公司 | IPT flight simulation system with motion system |
| CN109243243A (en) * | 2018-10-08 | 2019-01-18 | 卓尔飞机制造（武汉）有限公司 | Flight simulation simulation training system and its Training Methodology |
| CN110703631A (en) * | 2019-11-29 | 2020-01-17 | 中仿智能科技（上海）股份有限公司 | Helicopter simulator navigation simulation system |
| CN110928201A (en) * | 2019-12-26 | 2020-03-27 | 上海科梁信息工程股份有限公司 | Semi-physical test method and system for airplane avionics system |
| CN110956869A (en) * | 2019-11-26 | 2020-04-03 | 福建泉城特种装备科技有限公司 | Road navigation flight training system |
| CN111506959A (en) * | 2020-03-06 | 2020-08-07 | 青岛山景虚拟现实研究院 | Universal flight control system and method for flight simulation training |
| CN113706969A (en) * | 2021-08-23 | 2021-11-26 | 天津津航计算技术研究所 | Virtual-real combined helicopter cabin system |
| CN113870650A (en) * | 2021-08-12 | 2021-12-31 | 中国人民解放军陆军航空兵学院 | Aerial navigation simulation training system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108447338A (en) * | 2018-04-24 | 2018-08-24 | 中航大（天津）模拟机工程技术有限公司 | IPT flight simulation system with motion system |
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| CN110928201A (en) * | 2019-12-26 | 2020-03-27 | 上海科梁信息工程股份有限公司 | Semi-physical test method and system for airplane avionics system |
| CN111506959A (en) * | 2020-03-06 | 2020-08-07 | 青岛山景虚拟现实研究院 | Universal flight control system and method for flight simulation training |
| CN113870650A (en) * | 2021-08-12 | 2021-12-31 | 中国人民解放军陆军航空兵学院 | Aerial navigation simulation training system |
| CN113706969A (en) * | 2021-08-23 | 2021-11-26 | 天津津航计算技术研究所 | Virtual-real combined helicopter cabin system |
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Application publication date: 20180413 |