CN1204824A - Improved motion simulator - Google Patents
Improved motion simulator Download PDFInfo
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- CN1204824A CN1204824A CN 97111938 CN97111938A CN1204824A CN 1204824 A CN1204824 A CN 1204824A CN 97111938 CN97111938 CN 97111938 CN 97111938 A CN97111938 A CN 97111938A CN 1204824 A CN1204824 A CN 1204824A
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Abstract
A flight simulator wherein the pitch,roll and yaw axes separated from the trainee to provide a more realistic simulated flight experience in that the trainee feels a translation as well as a rotation of his body as the performs a simulated climb or roll.
Description
The present invention relates to a kind of flight simulator, relate in particular to a kind of acting force about simulator motion provides a kind of impression more true to nature to the people who handles flight controller flight simulator.
Flight simulator has improved security and has reduced the cost of practical flight training.Deconditioned people is instructed flight or instructs experienced pilot to make in the process that adapts to new aircraft or new airport situation and is improved aspect the security.The pilot keeps the skill of business flying or the cost of the exercise of fight or performance operation to reduce (by using simulator rather than practical flight circumstances) having avoided fuel cost, landing fee with and maintenance cost.
The general characteristic of simulator is the front that the people that will be trained is placed in the controller and the instrument of the true aircraft that duplicates.Around trainee's canopy may be empty or it have a screen on it image be the further simulation that is designed to the controller motion response.Trainee's seat also produces mobile with his control action response.
The problem of existing simulator is that the people's that trained center of gravity is to be positioned at according to pitching (to the people that trained up and down), roll (around the axis of travel rotation), and the intersection point of the axis of simulator flight attitude is determined in driftage (to the left side of direct of travel or right).The result is that mobile controller produces when climbing, and his head rotates the trainee backward thereby rotation is rotated his pin forward around his center of gravity (his pelvis).
The pilot is not the center of gravity that is positioned at aircraft in practical flight, but is usually located at its front.When pilot's mobile controller was made flare maneuver, he felt a kind of acceleration that makes his translation simultaneously and rotation with the seat.This double action to the trainee all is not provided in the field of flight simulator.
For example, the flight passenger cabin that Wa Kesi Mut's etc. United States Patent (USP) is disclosed for the 4th, 710, No. 128 is fixed on three separately on the axle of control with universal joint, i.e. on pitching, rolling and the yaw axis, they all center on planetary axle and rotate.By a bar make passenger cabin center on planetary axle rotation in case the order of 2g ＇ s apply centripetal force to the pilot.The pilot controls each gimbal-mounted axle with airborne computer, stands simultaneously, by the power of fixing computer-controlled loss direction.
People's such as Nelson United States Patent (USP) the 4th, 856, disclose a kind of video simulation device equipment for No. 771 and had a kind of sphere passenger cabin that in any guides, can revolve three-sixth turn, therefore when the people in the passenger cabin controls operating rod, can simulate being synchronized with the movement of pitching, rolling and driftage.When his pull-up operating rod was got back to the simulation pole-climbing, his health was rotated down.The discrete lifting control device that is described as tooth bar and ratch moves the stabilizing base that supports spinning ball, and it be in the passenger cabin button or by a computer control.The stroke of this lifting gear and its speed are confined.
No. the 4th, 710,129, people's such as Newman United States Patent (USP) has disclosed a kind of aircraft cockpit that is fixed between the steering pitman arm, and operating rod can be determined transverse axis (pitching), and operating rod is installed on the stabilizing base round Z-axis (driftage) in proportion.On pedestal, especially can provide limited translation motion in vertical direction.
In people's such as cut United States Patent (USP) disclosed a kind of g-power training airplane for the 5th, 051, No. 094, the pilot is in airtight ball chamber therein, this chamber is round vertical axle rotation by a pole.For the end that is equilibrated at pole of power is installed a counterbalance weight, the ball chamber of supporting by pole is along with the raising of speed rotates freely around an axis of rolling in pilot's the visual field.
Therefore, also need flight simulator can more properly duplicate the actual motion that the pilot experiences during operating aircraft aloft, especially be proportional to pilot's power a kind of vertical and side direction itself and pilot to the degree of the manipulation of controller, in puting together of being provided by other flight simulator, these power are affixed in the rotation.
The present invention relates to a kind of motion simulator more true to nature, wherein the participant be not be positioned at pitching, rolling, yaw axis fulcrum near.
In one embodiment of the present of invention, the pitching cantilever is driven around pitch axis rotation and hinged cantilever along the axis of rolling vertical with pitch axis, supports a participant cabin.The participant cabin can be around axis of rolling rotation, and its center of gravity is that intersection point with the pitching and the axis of rolling separates.
In another embodiment of the present invention, the end corresponding with the participant cabin to pivot arm adds counterbalance weight.Sensor is determined non-equilibrium state after the participant enters with reference to the cabin, balance control system passes through control one drive motor with mobile balanced block according to the signal from sensor, the moment of torsion for pitch axis that the weight of all parts that will be supported by its causes reduces, to reach the static equilibrium of motion simulator.In motion simulation, repeat this process to obtain dynamic equilibrium.This process provides the identical response time to diving with the action of climbing, as will experiencing in the aircraft of reality.
In another embodiment of the present invention, by moving partially motor-driven platform supports motion simulator as described above, platform can round with front embodiment in and the inclined to one side moving axis that intersects of underriding and the axis of rolling rotate.Participant and this intersection point separately can be experienced the rotation of advancing of three directions and three directions along with the motion simulator response controller makes the participant.
In an alternative embodiment of the invention, motion simulator can raise and reduction so that the easier turnover motion simulator of participant.
In the above embodiment of the present invention, under the flithg rules system indication of the state of flight of the various aircraft of reproducible, control system operation fight or filter, or various aircraft landing and takeoff condition.Control system links to each other with the controller in aircraft cockpit (participant cabin), and and wherein can comprise indicator, the various display device of the display that display instrument dash board or the helmet are installed link to each other.
By together with the consideration of accompanying drawing, these and other performance and advantage will be understood better to the detailed description of following most preferred embodiment.
The concise and to the point description of figure
Figure 1A, B and 1C are the corresponding side views of one embodiment of the invention, front elevation and top view;
Fig. 2 is the side view of an alternative embodiment of the invention;
Fig. 3 is the side view of an alternative embodiment of the invention;
Fig. 4 is the side view of another one embodiment of the present invention.
Accompanying drawing is provided with in proportion.
The detailed description of most preferred embodiment
Use although the present invention is particularly suited for flight simulator, and will be described in detail according to this application, the method and apparatus of Jie Shiing can be used for other motion simulator here.This type games simulator can comprise simulated flight, dives, ride, and the rolling coasting, other amusement park is ridden and virtual actual environment.Simulator can be programmed in advance, and control mutually cooperatively interacts dynamically with the external environment condition that may comprise other motion simulator equally.
Refer now to Figure 1A, 1B and 1C, according to the device shown in one embodiment of the present of invention 100.In all following figure, similar components has same label.
The device that supports comprises bracing frame 102 and the bogie side frame 104 that is positioned over respectively on plate 106 and 108.Bracing frame and bogie side frame terminal in and supporting bracket 109.Support and their relevant bracing or strutting arrangement are placed apart and support two pitch axis bearings 110 successively, and bearing seat is to providing rotation to support along pitch axis to pitch lever 114.But one of support supporting pitch motor 112, it is centered on pitch axis in two-way driving pitch lever.Pitching motor can drive with any method known in this field electricity consumption or hydraulic pressure under craft or computer control.Clamping device (not showing) also can be connected in pitch lever and support, pitching motor, or between the bracing or strutting arrangement.Clamping device can be by artificial or computer control in this field as everyone knows and also.
One end, the 136 supporting cabin devices 160 of swingle.The cabin device can comprise: trainee's seat, input controller such as operating rod, control wheel, button, switch, pull bar and suchlike thing, show various flight situation such as cabin attitude, speed and acceleration, the deposit of fuel and ammunition, the instrument of flight control surface condition and be used for showing the device of the situation that the people that trained will see in practical flight.These displays can be TV screen, the display that the projection screen or the helmet are installed.The cabin device also contains communication device, comes the people's of self-training the energy, flight, information and control inquiry are transmitted between control system by it, control system can be in the cabin or fixing benchmark or both be.Communication device can comprise cable and collector ring, or telemetry system.Energy can provide or be stored in the battery in the cabin by collector ring.
In operation, understand when turning axle passes through the cabin, pitch axis is by being not very important.When input control need be climbed, remove pitch axis by the people that will be trained, the people who is trained will experience the impression that promotes, and also have the impression of rotation, and this has satisfied the needs in flight simulator field and has more properly duplicated the actual motion that the pilot experiences in the aircraft flight action.As long as pilot indication is climbed, the cabin device will turn clockwise in Figure 1A, and frame 109 is interval on plate 106 and 108, so cabin and swingle can rotate with simulation practical flight curve fully around pitch axis.
The position of the ratio input control of the simulation curve of finishing and the algorithm of storing in control system determine.The practical flight condition of the various aircraft of this algorithm reproducible, flight situation such as operational failure, fight, take off, landing and suchlike thing, the output of control system drives pitching and rolling motor and it and also drives all devices and display system in the cabin.Be used for training or performance, control system can write down the behavior and demonstration or the storage or the printing on screen of a trainee simulated flight.
When the people who is trained requires rotation, an input signal is admitted to control system, as described abovely according to algorithm it is handled, and causes electric rotating machine driving machine cabin device to do circular motion is got back to neutral gear until the input controller position around turning axle.Supporting tool is placed apart fully to allow the cabin device to rotate fully around the axis of rolling.
Refer now to Fig. 2, shown the device 200 according to an alternative embodiment of the invention among the figure, wherein the element beginning is identical for the element with in the device 100 of " 1 ", and operation in kind.
Refer now to Fig. 3, there is shown device 300 according to an alternative embodiment of the invention.
Dull and stereotyped 106 and 108 are positioned on the platform 302, platform can freely rotate freely with the axle that the pitching and the axis of rolling intersect round the center at fixed muffle 120, three axles form a sleeve of quadrature, be rotated in any attitude that pitching, rolling and yaw direction will be determined cabin 160 around it, as what will experience in the Live Flying situation.As in most of flight simulators, these intersection point is not to be positioned at the cabin device, but the back that is positioned at the trainee as real in-flight its pitch axis will be near the intersection of wing and fuselage.In this structure, because controller moves along with the angle position that is provided by other simulator rotates together, the people who is trained experiences the acceleration in pitching and driftage.304 basal planes supportings yaw motor 312, motor 312 drive platform 302 and rotate around yaw axis.The explanation of above pitching motor type, operation, control and braking is applicable to yaw motor here simultaneously.When the people who is trained needs rotation, input signal input to its control system of handling, causes yaw motor to drive the relative yaw axis circular motion of platform by rule, gets back to neutral position until the input controller.All other elements and their performance were described in front.
Referring now to Fig. 4, according to the device 400 of an other embodiment of the present invention, wherein substrate 407 is connected with terminal bracing frame 102 at lid 420 shown in the figure.Hydraulic punching head 440 is presented at lower position with supporting pitch bar 114, and successively, stationary cylinder 120, swingle 134 and cabin device 160, it has device 100 described functions.The purpose of hydraulic punching head 440 is to make the people who is trained be easier to enter cabin device 160.After the people who is trained sits down, hydraulic punching head is subjected to the control of guide rail 430 and promotes so that " B " demonstration (representing with point) in the position of pitch lever 114 and pitch bearing 110, in this position, the cabin device be to pitch axis fully rotatable and as device 100 or install described in 200 the discussion manipulation it.Hydraulic punching head is a most preferred embodiment, but finishes scissors configuration that its performance will be by allow reducing pitch lever or by any other lifting gear such as screwdriver, support and ratch, crank or a kind of electric driving device.
Pitching in most preferred embodiment, rolling and yaw motor are hydraulically powered and provided by hydraulic pressure company limited in Texas, the San Antonio, between cabin device and computing machine, connect the collector ring of the energy and signal by the continent, Pennsylvania, the company limited of surging in Spring city provides, and the computing machine outside the cabin can use the computing machine of the 486DX2-66 processor of the peculiar limit of the use English company that any sellers provide.Computing machine in the cabin uses a 486DX2-66 processor, and the make a fresh start Te Erli of Zezhou County's Allendale of two image generators is equipped with limit company, and simulator is of a size of each limit to be in 12 feet the cube and can to expand bigger size to.
By unsettled and rotatablely move 6 degree of freedom that this has satisfied the needs of present flight simulator to the trainee is provided.
In not departing from the scope of the present invention, can carry out changes and improvements to the embodiment of special description.Especially the device of Zhi Chenging can have support three turning axles intersect and allow and cabin that intersection point is separated at any structure of 3 directions rotations.
Claims (6)
1. motion simulator is characterized in that it comprises:
Bracing or strutting arrangement;
One pitch lever, it has a pitch axis, and pitch lever links to each other with bracing or strutting arrangement is rotatable;
One swingle, it has first end and second end, swingle extends along the turning axle vertical with pitch axis between said first end and said second end, wherein swingle and pitch lever be in the mode that can make swingle and rotate around pitch axis fully on a plane vertical with pitch axis and be rotatably connected, and wherein swingle can rotate round turning axle; And
Have the participant cabin that links to each other with first end said swingle a center of gravity, the center of gravity in participant cabin is separated with pitch axis here.
2. motion simulator is characterized in that it comprises:
Bracing or strutting arrangement;
One pitch lever, it has a pitch axis, the rotatable bracing or strutting arrangement that is connected in of pitch lever;
One swingle, it has first end and one second end, and swingle extends along the turning axle vertical with pitch axis between said first end and said second end, the rotatable pitch lever that is connected in of swingle;
Be used for selectively a pitching motor of the swingle that rotates around pitch axis, wherein on a height, this highly is so that swingle rotates fully around turning axle on the plane vertical with pitch axis to pitch lever by they sup-port;
Be used for to select a rotary electric machine of the swingle that rotates around rotation;
One participant cabin, it has a center of gravity, links to each other with first end of said swingle, and the participant cabin comprises participant's input instruction input controller; And
Be used to control a control system of turning axle and location, participant cabin, wherein control system is operated under the indication of an algorithm;
Here the center of gravity in participant cabin is separated with pitch axis.
3. flight simulator is characterized in that it comprises:
Bracing or strutting arrangement;
One has the pitch lever of pitch axis, its rotatable bracing or strutting arrangement that is connected in;
One swingle comprises and can have the turning axle vertical with pitch axis around first and the second portion that pitch axis rotates, the rotatable pitch lever that is connected in;
Slidably be connected in the counterbalance weight of second portion to move of swingle along it; And
Cabin device with center of gravity, its first by swingle supports;
Thereby the center of gravity of cabin device is separated with pitch axis.
4. flight simulator is characterized in that it comprises:
Bracing or strutting arrangement;
The rotatable bracing or strutting arrangement that is connected in of a pitch lever with a pitch axis;
One swingle includes and can have the turning axle vertical with pitch axis around first and the second portion that pitch axis rotates, the rotatable pitch lever that is connected in;
But slide block is connected in the counterbalance weight of second portion to move along it of turning axle;
Cabin device with a center of gravity is by first's support of swingle;
One counterbalance weight drive unit, its first is fixed in its second portion of pitch lever and is connected in counterbalance weight, is used to make counterbalance weight to move along the second portion of swingle;
One sensor, it links to each other with pitch lever and is used to measure the rotation of pitch axis and produces and this is rotated into the signal of direct ratio;
One balance control system is used for from the sensor picked up signal, and according to its operation, and indication counterbalance weight drive unit is around pitch axis balance flight simulator;
Make the pitching motor of swingle around the selectable rotation of pitch axis, wherein pitch lever is supported on the height by bracing or strutting arrangement, and this highly is enough to allow swingle to rotate around pitch lever on the plane vertical with pitch axis;
Make the electric rotating machine of swingle around the selectable rotation of turning axle; And
Be used to control a control system of the orientation of swingle and cabin device;
Thereby the center of gravity of cabin device is separated with pitch axis.
5. balance flight simulator is characterized in that it comprises:
One pedestal;
One yaw motor, it has a support body, a transmission shaft and a yaw axis, support body is fixed in pedestal;
A platform links to each other with the yaw motor turning axle, can rotate around yaw axis; The bracing or strutting arrangement that is connected with platform;
Pitch lever with a pitch axis, the rotatable bracing or strutting arrangement that is connected in;
One pitching motor has a stake body and a transmission shaft, rotate around pitch axis thereby transmission shaft drives pitch lever, and support body links to each other with bracing or strutting arrangement;
One swingle comprises and can have the turning axle vertical with pitch axis around first and the second portion that pitch axis rotates, the rotatable pitch lever that is connected in;
One electric rotating machine has a support body and a transmission shaft, thereby transmission shaft driven in rotation bar rotates and support body is connected with pitch axis around turning axle;
One counterbalance weight slidably is connected in the moving along it of second portion of swingle; And
One control system, operation under the indication of flithg rules system is used for driving the directed motor of adjustment cabin device;
Thereby the center of the center of gravity of cabin device is to separate with intersection point between turning axle with pitch axis.
6. motion simulator is characterized in that it comprises:
Bracing or strutting arrangement;
Pitch lever with a pitch axis, the rotatable bracing or strutting arrangement that is connected in of pitch lever;
Swingle with first end and second end, described swingle extends along the turning axle vertical with said pitch axis between described first end and described second end, wherein said swingle so that described swingle with the vertical plane of described pitch axis on can rotatably be connected with described pitch lever around the mode that said pitch axis rotates fully;
Cabin device with center of gravity is connected with described first end of described swingle;
Be used for improving selectively and reducing an elevating gear of described pitch lever;
Thereby the center of gravity of cabin device is separated with said pitch axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 97111938 CN1204824A (en) | 1997-07-07 | 1997-07-07 | Improved motion simulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 97111938 CN1204824A (en) | 1997-07-07 | 1997-07-07 | Improved motion simulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1204824A true CN1204824A (en) | 1999-01-13 |
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ID=5171963
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 97111938 Pending CN1204824A (en) | 1997-07-07 | 1997-07-07 | Improved motion simulator |
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| Country | Link |
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| CN (1) | CN1204824A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101842822B (en) * | 2007-12-24 | 2012-10-10 | 罗伯特·奇尔德雷斯 | Motion platform video game racing and flight simulator |
| CN104616560A (en) * | 2014-12-28 | 2015-05-13 | 上海电机学院 | Suspension experience simulator |
| CN106614102A (en) * | 2017-01-24 | 2017-05-10 | 中国农业科学院蜜蜂研究所 | Experimental device for simulating influence of automobile transferring on bees |
| CN106663386A (en) * | 2014-07-29 | 2017-05-10 | 阿姆斯特－系统科技有限责任公司 | Device for spatial movement of at least one person |
| CN108744473A (en) * | 2018-05-28 | 2018-11-06 | 黄忠 | A kind of movement analog machine |
-
1997
- 1997-07-07 CN CN 97111938 patent/CN1204824A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101842822B (en) * | 2007-12-24 | 2012-10-10 | 罗伯特·奇尔德雷斯 | Motion platform video game racing and flight simulator |
| CN106663386A (en) * | 2014-07-29 | 2017-05-10 | 阿姆斯特－系统科技有限责任公司 | Device for spatial movement of at least one person |
| CN104616560A (en) * | 2014-12-28 | 2015-05-13 | 上海电机学院 | Suspension experience simulator |
| CN104616560B (en) * | 2014-12-28 | 2017-04-19 | 上海电机学院 | Suspension experience simulator |
| CN106614102A (en) * | 2017-01-24 | 2017-05-10 | 中国农业科学院蜜蜂研究所 | Experimental device for simulating influence of automobile transferring on bees |
| CN106614102B (en) * | 2017-01-24 | 2022-07-12 | 中国农业科学院蜜蜂研究所 | Experimental device for simulating influence of automobile transportation on bees |
| CN108744473A (en) * | 2018-05-28 | 2018-11-06 | 黄忠 | A kind of movement analog machine |
| CN108744473B (en) * | 2018-05-28 | 2021-03-30 | 黄忠 | Motion simulation equipment |
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| CI01 | Correction of invention patent gazette |
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