CN113703340A - Helicopter semi-physical simulation test system based on computer - Google Patents
Helicopter semi-physical simulation test system based on computer Download PDFInfo
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- CN113703340A CN113703340A CN202110990648.8A CN202110990648A CN113703340A CN 113703340 A CN113703340 A CN 113703340A CN 202110990648 A CN202110990648 A CN 202110990648A CN 113703340 A CN113703340 A CN 113703340A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention belongs to the technical field of fly-by-wire flight control systems, and discloses a computer-based semi-physical simulation test system for a helicopter, wherein a navigation system is directly connected with an avionic simulation system and a helicopter test bed; the main simulation management system comprises a main simulation computer and a signal acquisition part; the signal acquisition part comprises an A/D module; the simulation test is carried out on the flight control test bed; the sensor is mainly used for transmitting the information of the actuating mechanism to the main simulation management system module; the avionic simulation system sends the parameter signals of the helicopter calculated by the main simulation computer to the helicopter test bed through the bus, and participates in the cyclic operation in the helicopter test bed. The invention truly reflects the flight attitude, completely tests the dynamic characteristics of the helicopter, tests the precision of the navigation system by using the three-axis turntable, and eliminates the flight safety hidden danger caused by insufficient precision of the navigation system.
Description
Technical Field
The invention belongs to the technical field of fly-by-wire flight control systems, and particularly relates to a computer-based semi-physical and physical simulation test system for a helicopter.
Background
At present: the flight control test bed is indispensable equipment for modern helicopter control, and the development of a high-performance flight control test bed with complete functions is an important step for helicopter development. Before the flight control test bed is applied to a helicopter, a relatively comprehensive simulation test needs to be carried out on the flight control test bed. Various parameters of the helicopter in the flight process can be simulated through a semi-physical simulation experiment, which is very important.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) in the prior art, when simulation is carried out through a semi-physical simulation experiment, a mathematical method is adopted for simulation, but the simulation method is mainly a linear simulation method, a helicopter is nonlinear in an actual flight process, and an obtained final simulation result is inaccurate and distorted.
(2) In the prior art, the method is incomplete during testing, and a plurality of holes exist, so that the result has one-sidedness.
(3) The imperfection of the prior art causes that the helicopter cannot be carried out according to the simulation experiment result in the actual flying process.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a helicopter semi-physical simulation test system based on a computer.
The invention is realized in such a way that a helicopter semi-physical simulation test system based on a computer,
the helicopter semi-physical simulation test system based on the computer comprises:
the main simulation management system is directly connected with the vision system, the navigation system and the cockpit instrument system, and the navigation system connected with the avionic simulation system and the helicopter test bed;
the main simulation management system comprises a main simulation computer and a signal acquisition part, wherein the signal acquisition part comprises an A/D module;
the vision system is used for simulating the air and ground scenes outside the cabin seen by a driver, when the driver operates in the simulated cabin, the operation signal of the driver is calculated by the simulator main computer, information such as the position and the posture of relative motion equipment is transmitted to the image processing computer, the image processing computer processes the information, relevant image information is taken out from the image database and is transmitted to the television projector through the image generation equipment to form a real-time changing image, and the driver observes the scenes in motion from the screen;
the navigation system is used for determining the position of the helicopter, guiding the helicopter to fly according to a preset air route, and positioning and guiding the helicopter by utilizing the ground radio navigation station and the airborne radio navigation equipment;
the A/D module converts the acquired analog signals into digital signals which can be read by a computer;
the helicopter test bed comprises a sensor, an actuating mechanism, a servo amplifier and a flight control computer;
the sensor is mainly used for transmitting the information of the actuating mechanism to the main simulation management system module, obtaining the measured information, and converting the information into an electric signal or other signals in a required form according to a certain rule for transmission;
the avionic simulation system comprises a three-axis turntable and signal conversion, and is mainly characterized in that helicopter parameter signals obtained by calculation of a main simulation computer are converted into real attitude signals through the three-axis turntable, and various signals are sent to a helicopter test bed through a bus to participate in cyclic operation in the helicopter test bed.
Further, the main simulation management system mainly embeds a helicopter model therein, and the hardware configuration of the main simulation management system mainly comprises an RTW host; the main simulation computer selects an embedded mainboard with 104 and 1541 CLDN; the bus-based acquisition card is used for A/D acquisition, the acquisition card is 12 for precision, and the output of the servo amplifier is permanently acquired; one LCD display; and a signal conditioning board for conditioning the acquired signal.
Furthermore, the three-axis turntable is a three-axis angular rate turntable, and the three-axis turntable further comprises a navigation system, wherein the navigation system is mainly used for sensing and testing the change of the flight attitude of the upgrading simulation object.
Further, the helicopter semi-physical simulation test system based on the computer further comprises a cockpit instrument system which is connected with the main simulation management system.
Further, the helicopter semi-physical object simulation test system based on the computer further comprises hydraulic simulation equipment, wherein the hydraulic simulation equipment is connected with the helicopter model object and used for providing power for a main propeller steering engine and a tail propeller steering engine in the helicopter model object.
Further, the three-axis turntable in the computer-based helicopter semi-physical simulation test system further comprises an exciter, wherein the exciter is respectively connected with the navigation system and the main simulation management system and used for transmitting the attitude signal transmitted by the main simulation management system to the navigation system.
By combining all the technical schemes, the invention has the advantages and positive effects that:
the helicopter semi-physical simulation test system based on the computer provided by the invention adds physical simulation in flight attitude simulation, more truly reflects the flight attitude, and completely tests the dynamic characteristics of the helicopter; the use of the three-axis turntable tests the precision of the navigation system, and eliminates the flight safety hidden danger caused by insufficient precision of the navigation system; meanwhile, the structure of the whole system, the hardware facility of the main system and the structure of the software of the whole main simulation management system are completely elaborated, and are vivid and concrete.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a computer-based helicopter semi-physical simulation test system according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of a hardware connection of a main simulation management system of a computer-based helicopter semi-physical simulation test system according to an embodiment of the present invention.
FIG. 3 is a block diagram of the overall software architecture of the main simulation management system of the computer-based helicopter semi-physical simulation test system according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a helicopter semi-physical and physical simulation test system based on a computer, and the invention is described in detail below with reference to the attached drawings.
The embodiment 1 of the invention provides a computer-based helicopter semi-physical simulation test system, which comprises a main simulation management system, a visual system, an avionic simulation system and a navigation system, and further comprises a sensor, a flight control test bed, a three-axis turntable, a displacement sensor and a test bed. The main simulation management system specifically comprises a flight control test bed, a servo amplifier, an A/D acquisition and main simulation computer part, and is a core part of the system and a main object of testing. The three-axis turntable is connected with the main simulation management system; the flight control test bed is respectively connected with the avionic simulator, the three-axis rotary table and the test bed frame, the flight control test bed and the servo amplifier are test objects, the displacement sensor is arranged on the test bed frame and is connected with the main simulation management system, all simulation tests are carried out on the flight control test bed, and the purpose is to verify the correctness of a control law embedded in the flight control test bed. The main simulation management system comprises a main simulation computer and a signal acquisition part. The avionic simulation system mainly converts helicopter parameter signals obtained by calculation of a main simulation computer into real attitude signals through a three-axis turntable, and sends various signals to the flight control test bed through a bus to participate in cyclic operation of the flight control test bed. And the test bench controls the movement of the actuating mechanism according to the real attitude signal and the control signal. The sensor is mainly used for transmitting the information of the execution mechanism to the main simulation management system module. The vision system is connected with the main simulation management system.
The embodiment 2 of the invention provides a computer-based helicopter semi-physical simulation test system, which comprises a main simulation management system, a visual system, an avionic simulation system, a cockpit instrument system, a helicopter test bed and a navigation system. The main simulation management system is directly connected with the vision system, the navigation system and the cockpit instrument system. The navigation system is directly connected with the avionic simulation system and the helicopter test bed. The main simulation management system comprises a main simulation computer and a signal acquisition part, wherein the signal acquisition part comprises an A/D module. The helicopter test bed comprises a sensor, an actuating mechanism, a servo amplifier and a flight control computer; all simulation tests are carried out aiming at the flight control test bed, and the purpose is to verify the correctness of the control law embedded in the flight control test bed; the sensor is mainly used for transmitting the information of the execution mechanism to the main simulation management system module. The avionic simulation system comprises a three-axis turntable and signal conversion, and is mainly characterized in that helicopter parameter signals obtained by calculation of a main simulation computer are converted into real attitude signals through the three-axis turntable, and various signals are sent to a helicopter test bed through a bus to participate in cyclic operation in the helicopter test bed.
In the embodiment of the invention, the master simulation management system is used for embedding the helicopter model therein, and the hardware configuration of the master simulation management system comprises an RTW host; the main simulation computer selects an embedded mainboard with 104 and 1541 CLDN; the bus-based acquisition card is used for A/D acquisition, the acquisition card is 12 for precision, and the output of the servo amplifier is permanently acquired; one LCD display; and a signal conditioning board for conditioning the acquired signal.
In the embodiment of the invention, the three-axis turntable is a three-axis angular rate turntable, and the three-axis turntable further comprises a navigation system, wherein the navigation system is mainly used for sensing and testing the flight attitude change of a simulation real object of the helicopter.
In an embodiment of the invention, the computer-based helicopter semi-physical and physical simulation test system further comprises a cockpit instrument system which is connected with a main simulation management system.
In the embodiment of the invention, the computer-based helicopter semi-physical simulation test system further comprises hydraulic simulation equipment which is physically connected with the helicopter model and used for providing power for a main rotor steering engine and a tail rotor steering engine in the helicopter model.
In the embodiment of the invention, the three-axis turntable in the computer-based helicopter semi-physical simulation test system further comprises an exciter, wherein the exciter is respectively connected with the navigation system and the main simulation management system and is used for transmitting the attitude signal transmitted by the main simulation management system to the navigation system.
The practical technical problem solved by the invention is as follows:
in the field of helicopters, semi-physical simulation tests are widely applied. Various parameters of the helicopter in the flight process can be simulated through a semi-physical simulation test, and particularly the parameters of the flight attitude are most important. In the existing semi-physical simulation test, linear simulation is often adopted, and the nonlinearity of the helicopter in the actual flight process is ignored. The system mainly overcomes the defect, and increases the authenticity, comprehensiveness and reliability of the simulation result.
The invention has the advantages and positive effects that:
the helicopter semi-physical simulation test system based on the computer increases physical simulation in flight attitude simulation, reflects the flight attitude more truly, and completely tests the dynamic characteristics of the helicopter; the use of the three-axis turntable tests the precision of the navigation system, and the condition that the precision of the navigation system is not enough to influence the flight safety is eliminated; meanwhile, the structure of the whole system, the hardware facility of the main system and the structure of the software of the whole main simulation management system are completely elaborated, and are vivid and concrete.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed herein, which is within the spirit and principle of the present invention, should be covered by the present invention.
Claims (10)
1. A helicopter semi-physical simulation test system based on a computer is characterized by comprising the following components:
the main simulation management system is directly connected with the vision system, the navigation system and the cockpit instrument system, and the navigation system connected with the avionic simulation system and the helicopter test bed;
the main simulation management system comprises a main simulation computer and a signal acquisition part, wherein the signal acquisition part comprises an A/D module;
the vision system is used for simulating the air and ground scenes outside the cabin seen by a driver, when the driver operates in the simulated cabin, an operation signal of the driver is calculated by the simulator main computer, information such as the position and the posture of relative motion equipment is transmitted to the image processing computer, the image processing computer processes the information, relevant image information is taken out from the image database and is transmitted to the television projector through the image generation equipment to form a real-time change image, so that the driver observes the scenes in motion from a screen;
the navigation system is used for determining the position of the helicopter and guiding the helicopter to fly according to a preset air route, and positioning and guiding the helicopter by utilizing the ground radio navigation station and the radio navigation equipment on the airborne radio navigation equipment;
the A/D module converts the acquired analog signals into digital signals which can be read by a computer;
the helicopter test bed comprises a sensor, an actuating mechanism, a servo amplifier and a flight control computer; the sensor is mainly used for transmitting information of the actuating mechanism to the main simulation management system module, obtaining measured information, and converting the information into electric signals or other signals in required forms for transmission.
2. The semi-physical simulation test system for helicopter based on computer as claimed in claim 1, said avionics simulation system comprises a three-axis turntable, signal conversion, mainly converts helicopter parameters obtained by the operation of the main simulation computer into real attitude signals through the three-axis turntable, and sends various signals to the helicopter test bed through the bus to participate in the cyclic operation inside the helicopter test bed.
3. The computer-based helicopter semi-physical simulation test system of claim 1, said master simulation management system for embedding a helicopter model therein, the hardware configuration of which includes an RTW host; the main simulation computer selects an embedded mainboard with 104 and 1541 CLDN; the bus-based acquisition card is used for A/D acquisition, the acquisition card is 12 for precision, and the output of the servo amplifier is permanently acquired; one LCD display; and a signal conditioning board for conditioning the acquired signal.
4. The semi-physical simulation test system for a computer-based helicopter of claim 1 wherein said three-axis turret is a three-axis angular rate turret and further comprising a navigation system for sensing and testing changes in the attitude of the simulated physical object being upgraded.
5. The semi-physical simulation test system for a computer-based helicopter of claim 1, wherein said overall system further comprises a cockpit instrumentation system connected to a master simulation management system.
6. The semi-physical and physical simulation test system for a helicopter based on a computer as claimed in claim 1, said system further comprising a hydraulic simulation device physically connected to said helicopter model for powering a main rotor steering engine and a tail rotor steering engine in said helicopter model physically.
7. The semi-physical simulation test system for a helicopter based on a computer as claimed in claim 1, said three-axis turret further comprising an exciter, said exciter is connected to said navigation system and said master simulation management system respectively, for transmitting said attitude signal transmitted from said master simulation management system to said navigation system.
8. The semi-physical and physical simulation test system for a helicopter based on a computer as claimed in claim 1, wherein all simulation tests are performed on a flight control test bed to verify the correctness of the control laws embedded therein.
9. The semi-physical and physical simulation test system for a helicopter based on a computer as claimed in claim 1, wherein the avionics simulation system is mainly used for converting helicopter parameter signals obtained by the operation of the main simulation computer into real attitude signals through a three-axis turntable, and sending various signals to the flight control test bed through a bus to participate in the cyclic operation of the flight control test bed.
10. The semi-physical and physical simulation test system for a helicopter based on a computer of claim 1, wherein the test bench controls the motion of the actuator according to the real attitude signal and the control signal; the sensor is mainly used for transmitting the information of the execution mechanism to the main simulation management system module; the vision system is connected with the main simulation management system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110990648.8A CN113703340A (en) | 2021-08-26 | 2021-08-26 | Helicopter semi-physical simulation test system based on computer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110990648.8A CN113703340A (en) | 2021-08-26 | 2021-08-26 | Helicopter semi-physical simulation test system based on computer |
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| Publication Number | Publication Date |
|---|---|
| CN113703340A true CN113703340A (en) | 2021-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110990648.8A Withdrawn CN113703340A (en) | 2021-08-26 | 2021-08-26 | Helicopter semi-physical simulation test system based on computer |
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| Country | Link |
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| CN (1) | CN113703340A (en) |
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2021
- 2021-08-26 CN CN202110990648.8A patent/CN113703340A/en not_active Withdrawn
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Application publication date: 20211126 |