CN111047946A - Full-function flight simulator - Google Patents
Full-function flight simulator Download PDFInfo
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- CN111047946A CN111047946A CN202010039148.1A CN202010039148A CN111047946A CN 111047946 A CN111047946 A CN 111047946A CN 202010039148 A CN202010039148 A CN 202010039148A CN 111047946 A CN111047946 A CN 111047946A
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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
- G09B9/12—Motion systems for aircraft simulators
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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
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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
- G09B9/30—Simulation of view from aircraft
- G09B9/301—Simulation of view from aircraft by computer-processed or -generated image
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Abstract
The invention relates to a full-functional flight simulator, which comprises a main simulation computer, a control load system, a visual system, a sound system, a motion system, a teacher's station and a cockpit simulation system; the main simulation computer is connected with each system; the master simulation computer receives signals output by the instructor platform, the control load system and the cockpit simulation system; the control load system receives the flight state output by the main simulation computer; the motion system receives signals output by the main simulation computer to simulate the change of the flight speed and the attitude; the vision system receives the signal output by the main simulation computer to simulate the external scene of the cockpit; the sound system receives the signal output by the main simulation computer to simulate the sound during flight; the master simulation computer outputs state parameters to the instructor station and the cockpit simulation system; the flight simulator can reproduce the nearly real flight environment and flight motion state of the aircraft under various flight conditions in real time, and the simulation precision of the flight simulation process is higher.
Description
Technical Field
The invention relates to the technical field of simulation, in particular to a full-function flight simulator.
Background
With the development of computer systems and software technologies, the performance of flight simulators is continuously improved, and the flight simulators become indispensable important training equipment for guaranteeing flight safety, greatly improving the skills of flight personnel and flight crew, shortening the training period of the flight personnel, reducing the training cost and improving the training efficiency. The flight simulator is used for training pilots, and the flight simulator has the outstanding advantages of energy conservation, economy, safety, no limitation of field and climatic conditions, short training period, high training efficiency and the like. Training of various complex flight environments, flight failure states, military missile evasion technologies and the like can be carried out on the flight simulator; the training by using the simulator is an indispensable link for training general aviation pilots and special operating personnel, and is also an important source for transporting aviation and military aviation professionals.
In the prior art, the simulation process of the flight simulator is not vivid enough and the flight state cannot be simulated really; the flight simulator operating load system provides a real flight operating force sense for a pilot, and the following two force sense simulation schemes are generally adopted:
spring loading: the springs are connected with the control mechanism, the springs with various rigidity are combined to realize aerodynamic force with the rate of change similar to that of aerodynamic force, the simulated force sense is irrelevant to the flight state, and trimming can not be realized. The mode adopts a real airplane to operate the load mechanism, and the universality is poor. The change rule of the operating force is adjusted by replacing the spring, the flexibility is poor, and the device can only be used for a simple flight trainer
Loading of a load mechanism: the load mechanism of a real airplane is modified, and the arm length is adjusted by driving the power arm adjuster by the analog electric signal, so that the load transmission ratio is changed, the continuous change of the operating force is realized, and the balancing function can be realized. The method cannot comprehensively simulate the performance of the control system, such as fault simulation and the like; the force sense simulation method can only be used for simulating a flight simulator with simple function;
how to ensure that the simulation precision of the flight simulation process is higher, and the real-time reproduction of the nearly real flight environment and the flight motion state of the aircraft under various flight conditions becomes a problem which needs to be solved urgently by practitioners.
Disclosure of Invention
The invention aims to provide a full-function flight simulator which can more accurately simulate the flight environment and the flight state and solve the technical problem of poor fidelity of flight simulation in the related technology.
In order to solve the technical problem, the full-function flight simulator comprises a main simulation computer, a control load system, a visual system, a sound system, a motion system, a teacher's station and a cockpit simulation system;
the main simulation computer is connected with the control load system, the visual system, the sound system, the motion system, the instructor platform and the cabin simulation system;
the master simulation computer receives the instruction signal output by the instructor station, the control signal output by the control load system and the control signal output by the cockpit simulation system;
the control load system receives the flight state output by the main simulation computer;
the motion system receives signals output by the main simulation computer to simulate the change of the flight speed and the attitude;
the vision system receives the signal output by the main simulation computer to simulate the external scene of the cockpit;
the sound system receives the signal output by the main simulation computer to simulate the sound in flight; the sound comprises sound emitted by the device and sound of the external environment;
the master simulation computer outputs state parameters to the instructor station and the cockpit simulation system.
In one embodiment, the manipulation load system includes a manipulation load computer, a manipulation mechanism, an electric power servo mechanism, a servo driver, a reducer, and an auxiliary manipulation mechanism;
the control mechanism comprises a rudder and an engine throttle lever; the rudder is connected to the force servo actuator through a transmission mechanism, and the transmission mechanism is connected with a sensor; the servo driver is connected with the force servo actuating mechanism, and the force servo actuating mechanism is connected with the speed reducer;
the sensor, the servo driver, the engine throttle lever and the auxiliary operating mechanism are connected with the operating load computer.
In one embodiment, the sensor includes an optical electrical encoder sensor and a torque sensor; the photoelectric coding sensor and the moment sensor collect the force applied to the rudder and the displacement generated and transmit the force and the displacement to the control load computer.
In one embodiment, the auxiliary operating mechanism comprises a front wheel turning simulation operating device and a braking simulation operating device which are connected to the operating load computer through the sensors and respectively send turning information and deceleration information to the operating load computer; the front wheel steering simulation operating device and the brake simulation operating device are connected with the force servo executing mechanism.
In one embodiment, the content displayed by the display module includes an electronic flight instrument system EFIS, a multifunction display MFD, and a back-up graphics instrument;
the electronic flight instrument system EFIS comprises a main flight display picture, an electronic countermeasure picture, a navigation display picture and a self-checking picture; the MFD comprises navigation, flight parameters, radar working state and weapon store-out management; the backup graphic instrument comprises an altimeter, a speedometer, a lifting speedometer and an emergency horizon instrument.
In one embodiment the control panel is composed of three parts, namely a front instrument panel, a left console and a right console, wherein the left console and the right console are symmetrically arranged relative to the front instrument panel, and various control boxes, instruments and indicator lamps are arranged on the front instrument panel, the left console and the right console.
The full-function flight simulator has the advantages that the real-time updating of the flight state and the external environment is realized by connecting each subsystem with the main simulation computer, the electric servo is used for loading, the size is small, the movement is flexible, the control is convenient, the loading torque of the motor is large, the delay is small, the simulation precision of the force sense simulation method is high, the full-function flight simulator is suitable for large-scale complex flight simulators, and the nearly real flight environment and flight motion state of an aircraft under various flight conditions are realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a fully functional flight simulator according to an embodiment of the present invention;
FIG. 2 illustrates the operation of the load handling system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a graphical meter display system provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of a control panel provided by an embodiment of the present invention;
fig. 5 is an overall structure diagram of a system in a simulated cabin according to an embodiment of the present invention.
In the drawings: 1-main simulation computer, 2-control load system, 3-visual system, 4-sound system, 5-motion system, 6-instructor station and 7-cockpit simulation system.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides a full-function flight simulator, which is characterized by comprising: the system comprises a main simulation computer 1, a control load system 2, a visual system 3, a sound system 4, a motion system 5, an instructor platform 6 and a cockpit simulation system 7;
the main simulation computer 1 is connected with a control load system 2, a visual system 3, a sound system 4, a motion system 5, an instructor platform 6 and a cabin simulation system 7; the main simulation computer 1 receives a command signal output by an instructor station 6, an operation signal output by an operation load system 2 and a control signal output by a cabin simulation system 7; the control load system 2 receives the flight state output by the main simulation computer 1; the motion system 5 receives the signals output by the main simulation computer 1 to simulate the change of the flight speed and the attitude; the vision system 3 receives the signal output by the main simulation computer 1 to simulate the outside vision of the cockpit; the sound system 4 receives the signal output by the main simulation computer 1 to simulate the sound during flight; the sound comprises the sound emitted by the equipment and the sound of the external environment; the master simulation computer 1 outputs the state parameters to the instructor station 6 and the cabin simulation system 7.
In the present embodiment, the master simulation computer 1 system; the computer system is equivalent to the brain of the helicopter simulator, is in absolute leadership in the whole system, controls the operation of other systems, undertakes real-time calculation of other systems, and solves the mathematical model of each system.
A vision system 3; the vision system 3 can provide the flight trainer with a visual picture of the external environmental conditions in flight, and through the information, the pilot can make a correct operation decision.
Operating the load system 2; the system can simulate the dynamic and static response of a real helicopter in flight realistically, and provides the pilot with the operating force sense of a real helicopter.
A teacher command console; as a monitoring center of the helicopter simulator, a teacher monitors the work of each part of the flight simulator in real time through the system, whether an emergency situation occurs or not is monitored in real time, the control of the teacher on the system is improved, and the safety of the whole system is guaranteed.
A cabin simulation system 7; the simulation cockpit is equal to the cabin of the helicopter, provides various instruments for the pilot, and the mechanism in the simulation cockpit is consistent with the real aircraft cabin, so that the flight trainees can be effectively trained, and the fidelity of the simulator can be improved.
A motion system 5; the system can simulate various actions of a real airplane in flight, so that a pilot feels as if he is on the scene, and the effect of flight training is improved.
The instructor sends command signals to the main simulation computer 1 while monitoring the flight status parameters. The pilot operates the pilot mechanism and operates the switch in the simulation cockpit, provide rudder deflection angle and control signal for the main simulation computer 1, the main simulation computer 1 calculates the simulation model in real time according to the above-mentioned signal received, and transmit the aircraft state parameter to each subsystem in order to realize flight simulation, control the load system and provide the control power and feel, the visual system 3 simulates the external scene, the sound system 4 provides the sound, the motion system 5 provides the sensation of movement, the instrument system shows the flight state. Each subsystem provides the sense and flight status for the pilot, and constitutes a complete human-in-the-loop system.
In one embodiment, the manipulation load system 2 includes a manipulation load computer, a manipulation mechanism, an electric power servo mechanism, a servo driver, a reducer, and an auxiliary manipulation mechanism;
the control mechanism comprises a rudder and an engine throttle lever; the rudder is connected to the force servo actuator through a transmission mechanism, and the transmission mechanism is connected with a sensor; the servo driver is connected with the force servo actuating mechanism, and the force servo actuating mechanism is connected with the speed reducer; the sensor, the servo driver, the engine throttle lever and the auxiliary control mechanism are connected with a control load computer.
In the present embodiment, as shown in fig. 2, when the pilot operates the joystick, the position of the end of the joystick changes accordingly, and the real-time position signal and force signal are entered into the operation load computer by the photoelectric coding sensor and the six-dimensional force/torque sensor inside the motor. The control load computer can calculate the control force applied to the electric power servo system executing mechanism according to the real-time position signal according to the rod force displacement model established by the real helicopter. The operating load system 2 compares the calculated force with the measured force obtained by the six-dimensional force/torque sensor to obtain a deviation signal of the two. And designing a controller to process the force deviation signal to obtain a driver control signal. The driver controls the servo motor according to the signal to realize the force sense simulation of the control mechanism.
In one embodiment, the auxiliary operating mechanism comprises a front wheel turning simulation operating device and a braking simulation operating device which are connected to the operating load computer through sensors and respectively send turning information and deceleration information to the operating load computer; the front wheel turning simulation operating device and the brake simulation operating device are connected with a force servo executing mechanism.
In one embodiment, the simulated cockpit includes a graphical instrument display system, a control panel, and a virtual cockpit control computer; the graphic instrument display system and the control panel are connected with the virtual cockpit control computer.
In the present embodiment, the sensor is connected to the steering load computer through a signal processing circuit; the signal processing circuit comprises an A/D circuit and a D/A circuit, and force information and displacement information acquired by the sensor are transmitted to the control load computer through the A/D circuit and the D/A circuit in sequence.
In one embodiment, the cabin simulation system 7 comprises a graphical instrument display system and control panel and a virtual cabin control computer; the graphic instrument display system and the control panel are both connected with the virtual cockpit control computer.
As shown in fig. 3, in one embodiment, the graphic instrument display system includes a display module and a drawing graphics card, the display module being connected to the virtual cockpit control computer via the drawing graphics card.
The invention realizes the virtual cockpit instrument display by using computer graphics simulation; when a flight simulator or flight training is researched, the method has the advantages of reducing the cost of the simulation instrument and being convenient to maintain and use. Therefore, the driving mode of the virtual cockpit display part is determined as the connection structure relationship between the computer real-time graphic display virtual cockpit system software module and the upper computer resolving software module;
after the real-time flight simulation system is started, firstly, a virtual cockpit software module of a virtual cockpit control computer is initialized, the software module analyzes and calculates graphic information generated by GLstudio and transmits the graphic information to a drawing display card, the drawing display card converts the graphic information into a control signal and a video signal which need to be displayed on a touch screen, and at the moment, a static picture under an initial condition is displayed on the screen; a resolving module of the main simulation computer 1 encapsulates data information required by the graphic instrument into a data structure; during real-time flight, the data resolving module sends a data structure to a receiving port of the virtual cockpit control computer in real time through a UDP protocol, a software module of the virtual cockpit control computer transmits control parameters to a graphic instrument system through a self-written driving function inside the software module to generate real-time dynamic digital signals, the graphic display card enables the touch screen to display logic changes and dynamic pictures of the instrument in real time, and signs and symbols are dynamically displayed according to conditions.
As shown in fig. 4, in the designed virtual cockpit of the flight simulator, there is no real hardware operating device, and the control panel is completely simulated by adopting the function of a computer touch screen; therefore, knobs, indicator lights and the like on the control panel are virtually simulated, no circuits and sensors are arranged on the devices to provide information signals for the devices, and the functions of the devices are completed by the touch screen. When the executable program of the virtual cockpit is operated, keys and switch equipment on the touch screen are operated and controlled, a cockpit signal acquisition module of a virtual cockpit control computer responds to a touch screen operation event and converts the event into a control signal, the virtual cockpit control computer processes and packages the signal and then transmits the signal to the main simulation computer 1 by using a network, a resolving module of the main simulation computer 1 calculates and logically analyzes data, then corresponding indicating lamps and instrument calculation results are output to the virtual cockpit control computer, and status display of instruments and indicating lamps on a control panel is driven in real time;
in one embodiment, the content displayed by the display module includes an electronic flight instrument system EFIS, a multifunction display MFD, and a back-up graphic instrument;
the electronic flight instrument system EFIS comprises a main flight display picture, an electronic countermeasure picture, a navigation display picture and a self-checking picture; the MFD comprises navigation, flight parameters, radar working state and weapon external hanging management; the backup graphic instrument comprises an altimeter, a speedometer, a lifting speedometer and an emergency horizon instrument.
In one embodiment, the control panel is composed of three parts, namely a front instrument panel, a left console and a right console, wherein the left console and the right console are symmetrically arranged relative to the front instrument panel, and various control boxes, instruments and indicator lamps are arranged on the front instrument panel, the left console and the right console.
As shown in fig. 5, the graphic instruments include an electronic flight instrument system, a multifunction display, and a back-up graphic instrument. The EFIS comprises a main flight display picture, an electronic countermeasure picture, a navigation display picture, a self-checking picture and the like; the MFD displays relevant information including navigation, flight parameters, radar working state, weapon store-in management and the like; the backup instruments comprise an altimeter, a speedometer, a lifting speedometer, an emergency horizon instrument and the like. The control panel is composed of a front instrument panel, a left control console and a right control console. The front instrument panel comprises a far platform control box, a near platform control box, a digital combined fuel gauge, an undercarriage retracting handle and a front control panel; the left control device comprises a platform flap control box, a landing sliding lamp, an emergency switch and an oxygen regulator; the right control console comprises an avionic starting board, a communication control box, a combined receiving control box and an empty pipe responder control box.
The invention provides a full-functional flight simulator, which realizes real-time updating of a flight state and an external environment by connecting each subsystem with a main simulation computer, is loaded by using an electric servo, has small volume, flexible movement, convenient control, large loading moment of a motor, small time delay and high simulation precision of a force sense simulation method, is suitable for a large-scale complex flight simulator, and realizes the nearly real flight environment and flight movement state of an aircraft under various flight conditions.
Claims (8)
1. A full-function flight simulator, comprising: the system comprises a main simulation computer (1), a control load system (2), a visual system (3), a sound system (4), a motion system (5), an instructor platform (6) and a cockpit simulation system (7);
the main simulation computer (1) is connected with the control load system (2), the vision system (3), the sound system (4), the motion system (5), the instructor station (6) and the cabin simulation system (7);
the main simulation computer (1) receives the instruction signal output by the instructor station (6), the operation signal output by the operation load system (2) and the control signal output by the cockpit simulation system (7);
the operating load system (2) receives the flight state output by the main simulation computer (1);
the motion system (5) receives the signals output by the main simulation computer (1) to simulate the change of the flight speed and the attitude;
the vision system (3) receives the signal output by the main simulation computer (1) to simulate the outside scene of the cockpit;
the sound system (4) receives the signal output by the main simulation computer (1) to simulate the sound in flight; the sound comprises sound emitted by the device and sound of the external environment;
the master simulation computer (1) outputs state parameters to the instructor's station (6) and the cockpit simulation system (7).
2. A full-function flight simulator according to claim 1, characterized in that the maneuvering load system (2) comprises a maneuvering load computer, a maneuvering gear, an electrodynamic servomechanism, a servodrive, a retarder and an auxiliary maneuvering gear;
the control mechanism comprises a rudder and an engine throttle lever; the rudder is connected to the force servo actuator through a transmission mechanism, and the transmission mechanism is connected with a sensor; the servo driver is connected with the force servo actuating mechanism, and the force servo actuating mechanism is connected with the speed reducer;
the sensor, the servo driver, the engine throttle lever and the auxiliary operating mechanism are connected with the operating load computer.
3. A fully functional flight simulator according to claim 2, in which the sensors comprise photoelectric coded sensors and moment sensors; the photoelectric coding sensor and the moment sensor collect the force applied to the rudder and the displacement generated and transmit the force and the displacement to the control load computer.
4. A full function flight simulator according to claim 2, wherein the auxiliary operating mechanism comprises a front wheel turning simulation operator and a braking simulation operator, both connected to the steering load computer through the sensor, for sending turning information and deceleration information to the steering load computer, respectively; the front wheel steering simulation operating device and the brake simulation operating device are connected with the force servo executing mechanism.
5. A full-function flight simulator according to claim 1, characterized in that the cabin simulation system (7) comprises a graphic instrument display system and control panel and the virtual cabin control computer; and the graphic instrument display system and the control panel are both connected with the virtual cabin control computer.
6. The full-function flight simulator of claim 5, wherein the graphic instrument display system comprises a display module and a graphics display card, and the display module is connected with the virtual cockpit control computer through the graphics display card.
7. The full-function flight simulator of claim 6, wherein the display module displays content including an electronic flight instrument system EFIS, a multifunction display MFD and a back-up graphic instrument;
the electronic flight instrument system EFIS comprises a main flight display picture, an electronic countermeasure picture, a navigation display picture and a self-checking picture; the MFD comprises navigation parameters, flight parameters, radar working state and weapon store-out management; the backup graphic instrument comprises an altimeter, a speedometer, a lifting speedometer and an emergency horizon instrument.
8. The full-function flight simulator of claim 1, wherein the control panel comprises three parts, namely a front instrument panel, a left console and a right console, the left console and the right console are symmetrically arranged relative to the front instrument panel, and a plurality of control boxes, instruments and indicator lamps are arranged on the front instrument panel, the left console and the right console.
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| CN112164274A (en) * | 2020-10-14 | 2021-01-01 | 中国人民解放军海军航空大学 | Aircraft flight control simulation system |
| CN112287456A (en) * | 2020-10-29 | 2021-01-29 | 中国航空工业集团公司洛阳电光设备研究所 | Modularized configurable flight simulator for engineering |
| CN112542070A (en) * | 2020-11-30 | 2021-03-23 | 中国人民解放军海军航空大学青岛校区 | Light-weight dynamic flight simulation trainer based on high-definition head display |
| CN113496635A (en) * | 2021-05-18 | 2021-10-12 | 中国人民解放军95840部队 | Flight simulator and flight training simulation method |
| CN114120755A (en) * | 2021-07-28 | 2022-03-01 | 上海华模科技有限公司 | Dynamic force sense nonlinear adjustment system suitable for high-grade flight simulator |
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