WO1998058357A1 - Flight simulator - Google Patents

Flight simulator Download PDF

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Publication number
WO1998058357A1
WO1998058357A1 PCT/BE1998/000089 BE9800089W WO9858357A1 WO 1998058357 A1 WO1998058357 A1 WO 1998058357A1 BE 9800089 W BE9800089 W BE 9800089W WO 9858357 A1 WO9858357 A1 WO 9858357A1
Authority
WO
WIPO (PCT)
Prior art keywords
flight simulator
cabin
simulator according
screen
flight
Prior art date
Application number
PCT/BE1998/000089
Other languages
French (fr)
Inventor
Gilbert Burny
Original Assignee
SOFTWINGS Société Anonyme
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SOFTWINGS Société Anonyme filed Critical SOFTWINGS Société Anonyme
Priority to AU77530/98A priority Critical patent/AU7753098A/en
Priority to EP98925345A priority patent/EP0988626A1/en
Priority to CA002293798A priority patent/CA2293798A1/en
Priority to BR9809545-5A priority patent/BR9809545A/en
Publication of WO1998058357A1 publication Critical patent/WO1998058357A1/en

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Classifications

    • 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
    • G09B9/165—Condition of cabin, cockpit or pilot's accessories
    • 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
    • G09B9/14—Motion systems for aircraft simulators controlled by fluid actuated piston or cylinder ram
    • 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
    • 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
    • G09B9/32—Simulation of view from aircraft by projected image

Definitions

  • the present invention relates to a flight simulator intended for learning to pilot light aircraft.
  • document US-A-3718949 describes a flight training simulator having a spherically shaped screen.
  • the first drawback of such a simulator lies in the fact that the visual window is in some cases too small, and that in addition, poor resolution, especially lateral, is obtained when projecting images.
  • the screens have a particularly large diameter.
  • Document FR-2680017 presents a visual system intended for a flight simulator. Again, this system is composed 'of a fixed projector ensuring the projection of a bottom wide-field image and a mobile projector controlled by the gaze direction of the observer, which increases the complexity and cost of making such a simulator. In this case, again, the projection screen consists of three quarters of a sphere.
  • Document US-A-3880509 describes a simulator presenting a wide angle projection system on a screen which appears to be cylindrical.
  • Document BE-09000739 describes a flight simulator comprising a control system with manual control, which comprises at least one electric motor with moving coil controlled by an on-board computer which makes it possible to transmit a thrust or traction force to the minus one of the manual controls.
  • manual control which comprises at least one electric motor with moving coil controlled by an on-board computer which makes it possible to transmit a thrust or traction force to the minus one of the manual controls.
  • the sensations of effort compared to the controls do not completely correspond to reality, this mainly due to the non-linearity of the system composed by a proposed electric motor. These sensations relatively far away from the sensations encountered in real flight conditions.
  • AIMS OF THE INVENTION The present invention aims to propose a device which would first of all allow perfect reproduction of the sensations linked to the handling of the controls under real flight conditions.
  • a second object of the present invention aims to propose a flight simulator having a movement device intended to simulate the sensations of movement or acceleration of the aircraft.
  • the present invention also aims to propose a flight simulator which is of relatively simple design and of reduced bulk, this at a cost not too high.
  • the present invention further aims to provide a simulator whose access is easy.
  • the present invention relates first of all to a flight simulator intended for learning to pilot light aircraft, comprising at least one cabin to which a screen is fixedly connected, a projector intended to project an image onto the screen, a dashboard possibly equipped with a projection system, as well as a control surface control device, characterized in that the control surface control device is controlled by a linear magnetic motor provided with an armature in which the value of current injected by a power supply defines the value of the force felt in the control. More particularly, the value of the current injected by the power supply is controlled by software executed by a microcomputer.
  • the flight simulator has a device for moving the cabin, which is formed from three electric jacks allowing it to move according to three degrees of freedom in order to simulate the pitch, the roll and the yaw of an airplane.
  • This device also comprises means which balances the * weight of the cabin nose-up position, and which is preferably constituted by a constant-pressure balloon.
  • the screen intended to receive the image is in the form of a quarter sphere in which the cabin is located at the lowest point and in which a projector of images is arranged in the center of this sphere.
  • the particular position of the projector in the screen makes it possible to obtain a field of 180 degrees in azimuth and 90 degrees in elevation.
  • Figure 1 shows a side sectional view of a flight simulator according to a preferred embodiment of the present invention.
  • FIG. 2 represents a view from above of the simulator shown in FIG. 1.
  • FIG. 3 represents a view from the front of the simulator represented in FIG. 1.
  • FIG. 4 represents several views of dashboards which can be projected in a single embodiment of flight simulator according to the present invention.
  • FIG. 5 represents the operating diagram of the flight control system.
  • Figures 6, 7 and 8 show several preferred embodiments of the magnetic motor used in flight controls according to the present invention.
  • Figure 9 shows a side sectional view of a cabin displacement device in a flight simulator according to the present invention.
  • Figures 10 and 11 show side sectional views and front sectional view in several positions of the flight simulator of the present invention.
  • FIGS 1, 2 and 3 show, in various sectional views, a flight simulator according to a particularly preferred embodiment of the present invention, which essentially consists of a quarter of screen sphere 2 with a diameter 3.5 meters, connected by fixed manner to the structure of an element which constitutes a cabin 9. This cabin is arranged at the lowest point of the quarter sphere 2.
  • a screen roof 7 connected to the cabin and covering this screen.
  • the cabin is preferably a two-seater side-by-side cabin which allows the instructor to sit in place of the co-pilot or which allows the training of a crew of two student pilots. Access to the cabin is lateral, and is done simply through the presence of a footrest 4 without the need to provide a more complex access system.
  • this projector 5 On screen 2 an image is projected using a single projector 5; this image must correspond essentially to the image that a pilot could actually see through the windows of his cabin.
  • this projector 5 is fixed on a support placed at the rear and above the student pilot (s). This position corresponds to the center of sphere 2.
  • This spotlight makes it possible to give a field of 180 degrees in azimuth and 90 degrees in elevation. In this case, we obtain a detailed image of an environment with a resolution of 6000 pixels in azimuth and 2000 pixels in elevation. It offers the pilot both a front and side view with the same resolution.
  • a device for moving the cabin is proposed.
  • This device has a pivot point in the form of patella near the lowest point of the quarter sphere. This device will be described in detail below. If the cabin is made mobile by this device, the screen, integral with the cabin, also undergoes the same movement.
  • An instructor station 6 is provided at the rear of the flight simulator in order to control the various flight parameters and the actions of the student as well as to allow the introduction of parameter changes or to cause breakdowns using software provided for this purpose.
  • dashboard 3 In front of the student pilots is a dashboard 3 which is in the form of a translucent screen which receives the dynamic images of the on-board instruments corresponding to a specific type of aircraft. These images are obtained using a projection system 11 (not shown).
  • This translucent dashboard allows both the representation of the instruments obtained by optical projection of their fixed and mobile elements. Examples are given in Figure 4, which can be projected using the same projection system.
  • a control system is provided in an easily accessible housing 10, which makes it possible to give a muscular sensation on the flight controls. This device is described in more detail in Figure 5.
  • the flight control device is essentially characterized by the fact that it is constituted by a linear electromagnetic motor, itself controlled by a microcomputer which makes it possible to simulate with realism the muscular sensation.
  • This device also makes it possible to simulate the action of shifting the effort zero ("Trim") using calculations carried out by the software, making it possible to define the place where zero current is sent to the armature.
  • the control 101 has an axis of rotation 102, which by means of a sector 103, transforms the rotation of the control 101 into a linear development.
  • This development is carried out using an alignment pulley 104 which aligns a transmission cable 107 on a return pulley 106.
  • the deflection roller 106 returns the transmission cable 107 to the sector 103.
  • the transmission cable 107 transme 't so the movement of the control 101 to the armature 108 of the motor 105. Therefore, the linear magnetic motor 105 s opposes the movement printed by the control 101 and makes it possible to give in a particularly advantageous manner a realistic muscular sensation of an effort obtained in the event of theft.
  • the armature 108 there is a value of the current which is injected by the supply 111 and which defines the value of the force.
  • a tensioner 112 regulates the tension in the transmission cable 107.
  • cable cover devices 113 and 114 are provided in order to avoid derailment of the transmission cable 107 on the corresponding pulleys 104 and 106.
  • the 105 engine includes two permanent magnets Al and A2 as well as a disc D consisting of a single copper wire wound flat.
  • This disk D has two of its folded sides at right angles as shown in FIG. 7 in order to produce two half-ellipses which make it possible to maintain the rigidity of the disk remaining under the magnets. Between the two magnets there is an elliptical opening defined in the center of the disc.
  • FIG. 8 represents the operation of such a motor, in which the magnets Al and A2 as well as two complementary elements Cl and C2 are fixed while the disc supported by bearings slides under the two magnets Al and A2.
  • Figures 9, 10 and 11 represent an embodiment of a device allowing the movement of the flight simulator cabin as described above according to the three degrees of freedom which make it possible to simulate the sensations of movement and acceleration of the aircraft.
  • This device makes it possible to reproduce the movement of the cabin in the forward turned position, in the stung position or in the horizontal position.
  • This device must make it possible to obtain the three movements of pitch, roll and yaw, which one could obtain in real flight.
  • this device comprises three electric cylinders 204 arranged in a triangle at the base of the cabin.
  • Their essential characteristic is to be practically horizontal at rest, which makes it possible to obtain a very low device and to allow easy access to the cabin.
  • This system is characterized by a point of pivoting in the form of a ball joint 202 disposed near the lowest point of the quarter sphere.
  • a pneumatic balloon 205 which makes it possible to balance the pressure of the weight of the loaded cabin, in particular in the nose-up position, thus avoiding excessive efforts to be supplied by the electric cylinders 204.
  • This balloon 205 can of course be replaced by any equivalent means at constant pressure.
  • the ball joint 202 is the pivot of the three movements (pitch, roll or yaw), and supports the rear part of the cabin, while the pivot 203 supports the cabin towards the ball joint 202.
  • the flight simulator as described above comprises several microcomputers which carry out the simulation of the following systems: atmosphere, flight dynamics, engines and propellers, aircraft systems, radiocommunications, radionavigation, noises, etc. these microcomputers are managed by software which makes it possible to transmit the necessary information to the various peripherals.

Abstract

Flight simulator for light plane pilot training, comprising at least a cabin (9) to which is connected a fixed screen (2), a projector (5) projecting an image on the screen, a flight instrument panel (3) optionally provided with a projection system and a rudder unit control device (10). The invention is characterised in that the rudder unit control device is controlled by a linear induction motor (105) equipped with an armature (108) wherein the value of the current injected by a power unit (111) defines the value of the force felt in the control (101).

Description

SIMULATEUR DE VOL FLIGHT SIMULATOR
Obiet de l'inventionObject of the invention
La présente invention se rapporte à un simulateur de vol destiné à l'apprentissage du pilotage d'avions légers.The present invention relates to a flight simulator intended for learning to pilot light aircraft.
Arrière-plan technologique à la base de l'inventionTechnological background underlying the invention
Afin de réduire les coûts d'apprentissage, depuis quelques années, on propose l'utilisation de simulateurs de vol qui permettent d'apprendre et de s'exercer au pilotage d'avions, et en particulier d'avions légers, dans des conditions qui ressemblent aux conditions réelles de vol.In order to reduce learning costs, for a few years now, the use of flight simulators has been proposed which makes it possible to learn and practice piloting airplanes, and in particular light airplanes, under conditions which resemble actual flight conditions.
En particulier, plusieurs systèmes ont été proposés. Ceux-ci se basent sur l'utilisation d'écrans sphériques sur lesquels sont projetées des images qui doivent correspondre à la vue que l'on pourrait avoir à partir du poste de pilotage d'un avion.In particular, several systems have been proposed. These are based on the use of spherical screens on which are projected images which must correspond to the view that one could have from the cockpit of an airplane.
En particulier, le document US-A-3718949 décrit un simulateur d'entraînement au vol présentant un écran de forme spherique. Le premier inconvénient d'un tel simulateur réside dans le fait que la fenêtre visuelle est dans certains cas trop petite, et qu'en outre, une mauvaise résolution, surtout latérale, est obtenue lors de la projection d'images. D'autre part, dans ce document, les écrans présentent un diamètre particulièrement élevé.In particular, document US-A-3718949 describes a flight training simulator having a spherically shaped screen. The first drawback of such a simulator lies in the fact that the visual window is in some cases too small, and that in addition, poor resolution, especially lateral, is obtained when projecting images. On the other hand, in this document, the screens have a particularly large diameter.
Dans le document FR-A-2706662 , on a proposé un simulateur présentant une sphère d'un diamètre relativement petit (inférieur à deux mètres) , pour laquelle plusieurs projecteurs sont nécessaires, comme un projecteur de viseur, un projecteur d'image de planche de bord et un projecteur de silhouette, en vue de représenter les scènes qu'un pilote pourrait voir du poste de pilotage d'un avion.In document FR-A-2706662, a simulator with a relatively small diameter sphere (less than two meters) has been proposed, for which several projectors are necessary, such as a viewfinder projector, a board image projector instrument panel and a silhouette projector, to represent the scenes that a pilot could see from the cockpit of an airplane.
Le document FR-2680017 présente un système visuel destiné à un simulateur de vol. A nouveau, ce système est constitué 'd'un projecteur fixe assurant la projection d'une image de fond à grand champ et d'un projecteur mobile asservi à la direction du regard de l'observateur, ce qui augmente la complexité et le coût de réalisation d'un tel simulateur. Dans ce cas, à nouveau, l'écran de projection est constitué par les trois quarts d'une sphère. Le document US-A-3880509 décrit un simulateur présentant un système de projection large angle sur un écran qui semble être cylindrique.Document FR-2680017 presents a visual system intended for a flight simulator. Again, this system is composed 'of a fixed projector ensuring the projection of a bottom wide-field image and a mobile projector controlled by the gaze direction of the observer, which increases the complexity and cost of making such a simulator. In this case, again, the projection screen consists of three quarters of a sphere. Document US-A-3880509 describes a simulator presenting a wide angle projection system on a screen which appears to be cylindrical.
Le document BE-09000739 décrit un simulateur de vol comprenant un système de commande de gouverne à commande manuelle, qui comprend au moins un moteur électrique à bobine mobile commandé par un calculateur de bord qui permet de transmettre un effort de poussée ou de traction à au moins une des commandes manuelles. Néanmoins, les sensations d'effort par rapport aux commandes ne correspondent pas totalement à la réalité, ceci essentiellement du fait de la non linéarité du système composé par un moteur électrique proposé. Ces sensations s'éloignent de manière relativement importante des sensations rencontrées dans des conditions réelles de vol.Document BE-09000739 describes a flight simulator comprising a control system with manual control, which comprises at least one electric motor with moving coil controlled by an on-board computer which makes it possible to transmit a thrust or traction force to the minus one of the manual controls. However, the sensations of effort compared to the controls do not completely correspond to reality, this mainly due to the non-linearity of the system composed by a proposed electric motor. These sensations relatively far away from the sensations encountered in real flight conditions.
Buts de l'invention La présente invention vise à proposer un dispositif qui permettrait tout d'abord de reproduire de manière parfaite les sensations liées à la manipulation des commandes dans des conditions réelles de vol.AIMS OF THE INVENTION The present invention aims to propose a device which would first of all allow perfect reproduction of the sensations linked to the handling of the controls under real flight conditions.
Un second but de la présente invention vise à proposer un simulateur de vol présentant un dispositif de mouvement destiné à simuler les sensations de déplacement ou d'accélération de l'avion.A second object of the present invention aims to propose a flight simulator having a movement device intended to simulate the sensations of movement or acceleration of the aircraft.
La présente invention vise également à proposer un simulateur de vol qui soit de conception relativement simple et d'un encombrement réduit, ceci pour un coût pas trop élevé.The present invention also aims to propose a flight simulator which is of relatively simple design and of reduced bulk, this at a cost not too high.
La présente invention vise en outre à proposer un simulateur dont l'accès est aisé.The present invention further aims to provide a simulator whose access is easy.
D'autres buts et avantages apparaîtront dans la description de formes d'exécution préférées de l'invention qui suit.Other objects and advantages will appear in the description of preferred embodiments of the invention which follows.
Eléments caractéristiques de la présente inventionCharacteristic elements of the present invention
La présente invention se rapporte tout d'abord à un simulateur de vol destiné à l'apprentissage du pilotage d'avions légers, comprenant au moins une cabine à laquelle est reliée un écran de manière fixe, un projecteur destiné à projeter une image sur l'écran, un tableau de bord éventuellement muni d'un système de projection, ainsi qu'un dispositif de commande de gouverne, caractérisé en ce que le dispositif de commande de gouverne est piloté par un moteur magnétique linéaire muni d'un induit dans lequel la valeur de courant injectée par une alimentation définit la valeur de l'effort ressenti dans la commande. Plus particulièrement, la valeur du courant injecté par l'alimentation est commandée par un logiciel exécuté par un micro-ordinateur.The present invention relates first of all to a flight simulator intended for learning to pilot light aircraft, comprising at least one cabin to which a screen is fixedly connected, a projector intended to project an image onto the screen, a dashboard possibly equipped with a projection system, as well as a control surface control device, characterized in that the control surface control device is controlled by a linear magnetic motor provided with an armature in which the value of current injected by a power supply defines the value of the force felt in the control. More particularly, the value of the current injected by the power supply is controlled by software executed by a microcomputer.
Selon un autre aspect de la présente invention, le simulateur de vol possède un dispositif de déplacement de la cabine, qui est constitué à partir de trois vérins électriques permettant à celle-ci de se mouvoir selon trois degrés de liberté afin de simuler le tangage, le roulis et le lacet d'un avion.According to another aspect of the present invention, the flight simulator has a device for moving the cabin, which is formed from three electric jacks allowing it to move according to three degrees of freedom in order to simulate the pitch, the roll and the yaw of an airplane.
Ce dispositif comprend également un moyen qui permet d'équilibrer le* poids de la cabine en position cabrée, et qui est de préférence constitué par un ballon à pression constante.This device also comprises means which balances the * weight of the cabin nose-up position, and which is preferably constituted by a constant-pressure balloon.
Une autre caractéristique importante du simulateur de vol se situe dans le fait que l'écran destiné à recevoir l'image se présente sous le forme d'un quart de sphère dans laquelle la cabine est située au point le plus bas et dans laquelle un projecteur d'images est disposé au centre de cette sphère. La position particulière du projecteur dans l'écran permet d'obtenir un champ de 180 degrés en azimut et de 90 degrés en élévation.Another important characteristic of the flight simulator is that the screen intended to receive the image is in the form of a quarter sphere in which the cabin is located at the lowest point and in which a projector of images is arranged in the center of this sphere. The particular position of the projector in the screen makes it possible to obtain a field of 180 degrees in azimuth and 90 degrees in elevation.
Tous les paramètres destinés à créer l'image, et également à reproduire les mouvements de la cabine, sont commandés par un logiciel exécuté par un micro-ordinateur.All the parameters intended to create the image, and also to reproduce the movements of the cabin, are controlled by software executed by a microcomputer.
Brève description des figuresBrief description of the figures
L'invention sera exposée ci-après plus en détails à l'aide des dessins se rapportant à une forme d'exécution préférée de la présente invention, dans lesquels : La figure 1 représente une vue en coupe latérale d'un simulateur de vol selon une forme d'exécution préférée de la présente invention. La figure 2 représente une vue par le dessus du simulateur représenté à la figure 1.The invention will be explained below in more detail with the aid of the drawings relating to a preferred embodiment of the present invention, in which: Figure 1 shows a side sectional view of a flight simulator according to a preferred embodiment of the present invention. FIG. 2 represents a view from above of the simulator shown in FIG. 1.
La figure 3 représente une vue par l'avant du simulateur représenté à la figure 1. La figure 4 représente plusieurs vues de tableaux de bord pouvant être projetés dans une seule forme d'exécution de simulateur de vol selon la présente invention. La figure 5 représente le schéma de fonctionnement du système des commandes de vol . Les figures 6, 7 et 8 représentent plusieurs formes d'exécution préférées du moteur magnétique utilisé dans les commandes de vol selon la présente invention. La figure 9 représente une vue en coupe latérale d'un dispositif de déplacement de la cabine dans un simulateur de vol selon la présente invention. Les figures 10 et 11 représentent des vues en coupe latérale et en coupe frontale selon plusieurs positions du simulateur de vol de la présente invention.FIG. 3 represents a view from the front of the simulator represented in FIG. 1. FIG. 4 represents several views of dashboards which can be projected in a single embodiment of flight simulator according to the present invention. FIG. 5 represents the operating diagram of the flight control system. Figures 6, 7 and 8 show several preferred embodiments of the magnetic motor used in flight controls according to the present invention. Figure 9 shows a side sectional view of a cabin displacement device in a flight simulator according to the present invention. Figures 10 and 11 show side sectional views and front sectional view in several positions of the flight simulator of the present invention.
Description d'une forme d'exécution préférée de l'inventionDescription of a preferred embodiment of the invention
Les figures 1, 2 et 3 représentent, selon diverses vues en coupe, un simulateur de vol selon une forme d'exécution particulièrement préférée de la présente invention, qui se compose essentiellement d'un quart de sphère d'écran 2 d'un diamètre de 3,5 mètres, relié de manière fixe à la structure d'un élément qui constitue une cabine 9. Cette cabine est disposée au point le plus bas du quart de sphère 2.Figures 1, 2 and 3 show, in various sectional views, a flight simulator according to a particularly preferred embodiment of the present invention, which essentially consists of a quarter of screen sphere 2 with a diameter 3.5 meters, connected by fixed manner to the structure of an element which constitutes a cabin 9. This cabin is arranged at the lowest point of the quarter sphere 2.
Eventuellement, au-dessus du quart de sphère 2 est disposé un toit d'écran 7 relié à la cabine et recouvrant cet écran.Optionally, above the quarter sphere 2 is disposed a screen roof 7 connected to the cabin and covering this screen.
La cabine est de préférence une cabine biplace côte à côte qui permet à l'instructeur de s'asseoir à la place du copilote ou qui permet la formation d'un équipage de deux élèves pilotes. L'accès à la cabine est latéral, et s'effectue simplement grâce à la présence d'un pose-pied 4 sans qu'il soit nécessaire de prévoir un système d'accès plus complexe.The cabin is preferably a two-seater side-by-side cabin which allows the instructor to sit in place of the co-pilot or which allows the training of a crew of two student pilots. Access to the cabin is lateral, and is done simply through the presence of a footrest 4 without the need to provide a more complex access system.
Sur l'écran 2 est projetée une image à l'aide d'un seul projecteur 5; cette image doit correspondre essentiellement à l'image qu'un pilote pourrait en réalité voir par les fenêtres de sa cabine. Avantageusement, ce projecteur 5 est fixé sur un support placé à l'arrière et au-dessus du ou des élèves pilotes. Cette position correspond au centre de la sphère 2. Ce projecteur permet de donner un champ de 180 degrés en azimut et de 90 degrés en élévation. Dans le cas présent, on obtient une image détaillée d'un environnement avec une résolution de 6000 pixels en azimut et de 2000 pixels en site. Il permet d'offrir au pilote aussi bien une vue frontale que latérale avec la même résolution.On screen 2 an image is projected using a single projector 5; this image must correspond essentially to the image that a pilot could actually see through the windows of his cabin. Advantageously, this projector 5 is fixed on a support placed at the rear and above the student pilot (s). This position corresponds to the center of sphere 2. This spotlight makes it possible to give a field of 180 degrees in azimuth and 90 degrees in elevation. In this case, we obtain a detailed image of an environment with a resolution of 6000 pixels in azimuth and 2000 pixels in elevation. It offers the pilot both a front and side view with the same resolution.
En outre, la position du projecteur permet d'éviter la présence d'ombres parasites dans l'image projetée sur l'écran. Selon une forme d'exécution préférée, un dispositif de déplacement de la cabine est proposé. Ce dispositif présente un point de pivotement sous forme de rotule près du point le plus bas du quart de sphère. Ce dispositif sera décrit en détails ci-dessous. Si la cabine est rendue mobile par ce dispositif, l'écran, solidaire de la cabine, subit également le même déplacement. Un poste instructeur 6 est prévu à l'arrière du simulateur de vol afin de contrôler les différents paramètres du vol et les actions de l'élève ainsi que permettre 1 ' introduction de changements de paramètres ou de provoquer des pannes à l'aide d'un logiciel prévu à cet effet.In addition, the position of the projector avoids the presence of extraneous shadows in the image projected on the screen. According to a preferred embodiment, a device for moving the cabin is proposed. This device has a pivot point in the form of patella near the lowest point of the quarter sphere. This device will be described in detail below. If the cabin is made mobile by this device, the screen, integral with the cabin, also undergoes the same movement. An instructor station 6 is provided at the rear of the flight simulator in order to control the various flight parameters and the actions of the student as well as to allow the introduction of parameter changes or to cause breakdowns using software provided for this purpose.
En face des élèves pilotes est disposé un tableau de bord 3 qui se présente sous la forme d'un écran translucide qui reçoit les images dynamiques des instruments de bord correspondant à un type d'avion précis. Ces images sont obtenues à l'aide d'un système de projection 11 (non représenté) . Ce tableau de bord translucide permet à la fois la représentation des instruments obtenue par projection optique de leurs éléments fixes et mobiles. Des exemples sont donnés à la figure 4, qui peuvent être projetés à l'aide du même système de projection.In front of the student pilots is a dashboard 3 which is in the form of a translucent screen which receives the dynamic images of the on-board instruments corresponding to a specific type of aircraft. These images are obtained using a projection system 11 (not shown). This translucent dashboard allows both the representation of the instruments obtained by optical projection of their fixed and mobile elements. Examples are given in Figure 4, which can be projected using the same projection system.
Enfin, un système de commande est prévu dans un logement 10 aisément accessible, qui permet de donner une sensation musculaire sur les commandes de vol. Ce dispositif est décrit plus en détails à la figure 5.Finally, a control system is provided in an easily accessible housing 10, which makes it possible to give a muscular sensation on the flight controls. This device is described in more detail in Figure 5.
Le dispositif de commandes de vol est essentiellement caractérisé par le fait qu'il est constitué par un moteur électromagnétique linéaire, lui-même piloté par un micro-ordinateur qui permet de simuler avec réalisme la sensation musculaire.The flight control device is essentially characterized by the fact that it is constituted by a linear electromagnetic motor, itself controlled by a microcomputer which makes it possible to simulate with realism the muscular sensation.
Ce dispositif permet également de simuler l'action de décalage du zéro d'effort ("Trim") grâce à des calculs effectués par le logiciel, permettant de définir 1 ' endroit où le courant zéro est envoyé dans 1 ' induit .This device also makes it possible to simulate the action of shifting the effort zero ("Trim") using calculations carried out by the software, making it possible to define the place where zero current is sent to the armature.
A la figure 5, on observe plus en détails ce dispositif, qui représente une des trois commandes. La commande 101 présente un axe de rotation 102, qui par l'intermédiaire d'un secteur 103, transforme la rotation de la commande 101 en un développement linéaire. Ce développement est réalisé à l'aide d'une poulie d'alignement 104 qui aligne un câble de transmission 107 sur une poulie de renvoi 106.In Figure 5, we observe in more detail this device, which represents one of the three commands. The control 101 has an axis of rotation 102, which by means of a sector 103, transforms the rotation of the control 101 into a linear development. This development is carried out using an alignment pulley 104 which aligns a transmission cable 107 on a return pulley 106.
La poulie de renvoi 106 retourne le câble de transmission 107 vers le secteur 103. Ce câble de transmission 107 transme't donc le mouvement de la commande 101 à l'induit 108 du moteur 105. De ce fait, le moteur magnétique linéaire 105 s'oppose au mouvement imprimé par la commande 101 et permet de donner de manière particulièrement avantageuse une sensation musculaire réaliste d'un effort obtenu en cas de vol. Dans l'induit 108, on a une valeur du courant qui est injecté par l'alimentation 111 et qui définit la valeur de l'effort.The deflection roller 106 returns the transmission cable 107 to the sector 103. The transmission cable 107 transme 't so the movement of the control 101 to the armature 108 of the motor 105. Therefore, the linear magnetic motor 105 s opposes the movement printed by the control 101 and makes it possible to give in a particularly advantageous manner a realistic muscular sensation of an effort obtained in the event of theft. In the armature 108, there is a value of the current which is injected by the supply 111 and which defines the value of the force.
Un logiciel qui s'exécute sur un microordinateur 109 permet de piloter cette alimentation 111 en fonction des différents paramètres de vol par l'intermédiaire d'un canal de transmission 110 qui lie le micro-ordinateur 109 à l'alimentation 111.Software which runs on a microcomputer 109 makes it possible to control this supply 111 as a function of the different flight parameters via a transmission channel 110 which links the microcomputer 109 to the supply 111.
Enfin, un tendeur 112 règle la tension dans le câble de transmission 107. Eventuellement, des dispositifs couvre-câble 113 et 114 sont prévus afin d'éviter le déraillement du câble de transmission 107 sur les poulies correspondantes 104 et 106.Finally, a tensioner 112 regulates the tension in the transmission cable 107. Optionally, cable cover devices 113 and 114 are provided in order to avoid derailment of the transmission cable 107 on the corresponding pulleys 104 and 106.
Les figures 6, 7 et 8 décrivent plus en détails ce moteur magnétique linéaire. Le moteur 105 comprend deux aimants permanents Al et A2 ainsi qu'un disque D constitué d'un seul fil de cuivre bobiné à plat. Ce disque D présente deux de ses flancs plies à angle droit comme représenté à la figure 7 en vue de réaliser deux demi -ellipses qui permettent de maintenir la rigidité du disque restant sous les aimants. Entre les deux aimants est prévue une ouverture elliptique définie au centre du disque. La figure 8 représente le fonctionnement d'un tel moteur, dans lequel les aimants Al et A2 ainsi que deux éléments complémentaires Cl et C2 sont fixes alors que le disque supporté par des roulements glisse sous les deux aimants Al et A2. La force qui meut ce disque D dépend des champs de Al et A2 ainsi que du courant électrique qui passe dans le fil de cuivre constituant le disque D. Les figures 9, 10 et 11 représentent une forme d'exécution d'un dispositif permettant le mouvement de la cabine du simulateur de vol tel que décrit précédemment selon les trois degrés de liberté qui permettent de simuler les sensations de déplacement et d'accélération de l'avion. Ce dispositif permet de reproduire le mouvement de la cabine en position braquée avant, en position piquée ou en position horizontale. Ce dispositif doit permettre d'obtenir les trois mouvements de tangage, de roulis et de lacet, que l'on pourrait obtenir en vol réel .Figures 6, 7 and 8 describe this linear magnetic motor in more detail. The 105 engine includes two permanent magnets Al and A2 as well as a disc D consisting of a single copper wire wound flat. This disk D has two of its folded sides at right angles as shown in FIG. 7 in order to produce two half-ellipses which make it possible to maintain the rigidity of the disk remaining under the magnets. Between the two magnets there is an elliptical opening defined in the center of the disc. FIG. 8 represents the operation of such a motor, in which the magnets Al and A2 as well as two complementary elements Cl and C2 are fixed while the disc supported by bearings slides under the two magnets Al and A2. The force which moves this disc D depends on the fields of Al and A2 as well as on the electric current which passes in the copper wire constituting the disc D. Figures 9, 10 and 11 represent an embodiment of a device allowing the movement of the flight simulator cabin as described above according to the three degrees of freedom which make it possible to simulate the sensations of movement and acceleration of the aircraft. This device makes it possible to reproduce the movement of the cabin in the forward turned position, in the stung position or in the horizontal position. This device must make it possible to obtain the three movements of pitch, roll and yaw, which one could obtain in real flight.
Selon la forme d'exécution décrite aux figures 9, 10 et 11, ce dispositif comprend trois vérins électriques 204 disposés en triangle à la base de la cabine. Leur caractéristique essentielle est d'être pratiquement horizontaux au repos, ce qui permet d'obtenir un dispositif très bas et d'autoriser un accès aisé à la cabine. Ce système est caractérisé par un point de pivotement se présentant sous forme d'une rotule 202 disposée près du point le plus bas du quart de sphère. En outre, on observe la présence d'un ballon pneumatique 205 qui permet d'équilibrer la pression du poids de la cabine chargée, en particulier en position cabrée, évitant ainsi des efforts excessifs à fournir par les vérins électriques 204. Ce ballon 205 peut bien entendu être remplacé par tout moyen équivalent à pression constante.According to the embodiment described in Figures 9, 10 and 11, this device comprises three electric cylinders 204 arranged in a triangle at the base of the cabin. Their essential characteristic is to be practically horizontal at rest, which makes it possible to obtain a very low device and to allow easy access to the cabin. This system is characterized by a point of pivoting in the form of a ball joint 202 disposed near the lowest point of the quarter sphere. In addition, there is the presence of a pneumatic balloon 205 which makes it possible to balance the pressure of the weight of the loaded cabin, in particular in the nose-up position, thus avoiding excessive efforts to be supplied by the electric cylinders 204. This balloon 205 can of course be replaced by any equivalent means at constant pressure.
La rotule 202 est le pivot des trois mouvements (tangage, roulis ou lacet) , et supporte la partie arrière de la cabine, tandis que le pivot 203 supporte la cabine vers la rotule 202.The ball joint 202 is the pivot of the three movements (pitch, roll or yaw), and supports the rear part of the cabin, while the pivot 203 supports the cabin towards the ball joint 202.
Le simulateur de vol tel que décrit ci-avant comprend plusieurs micro-ordinateurs qui réalisent la simulation des systèmes suivants : atmosphère, dynamique de vol, moteurs et hélices, systèmes de l'avion, radiocommunications, radionavigation, bruits, ... . ces micro-ordinateurs sont gérés par des logiciels qui permettent de transmettre les informations nécessaires aux différents périphériques. The flight simulator as described above comprises several microcomputers which carry out the simulation of the following systems: atmosphere, flight dynamics, engines and propellers, aircraft systems, radiocommunications, radionavigation, noises, etc. these microcomputers are managed by software which makes it possible to transmit the necessary information to the various peripherals.

Claims

REVENDICATIONS
1. Simulateur de vol destiné à l'apprentissage du pilotage d'avions légers, comprenant au moins une cabine (9) à laquelle est reliée un écran (2) de manière fixe, un projecteur (5) destiné à projeter une image sur l'écran, un tableau de bord (3) éventuellement muni d'un système de projection, ainsi qu'un dispositif de commande de gouverne (10) , caractérisé en ce que le dispositif de commande de gouverne est piloté par un moteur magnétique linéaire (105) muni d'un induit (108) dans lequel la valeur de courant injectée par une alimentation (111) définit la valeur de l'effort ressenti dans la commande (101) .1. Flight simulator intended for learning to pilot light aircraft, comprising at least one cabin (9) to which a screen (2) is fixedly connected, a projector (5) intended to project an image onto the screen, a dashboard (3) possibly fitted with a projection system, as well as a control surface control device (10), characterized in that the control surface control device is controlled by a linear magnetic motor ( 105) provided with an armature (108) in which the value of current injected by a power supply (111) defines the value of the force felt in the control (101).
2. Simulateur de vol selon la revendication 1, caractérisé en ce que la valeur de courant injecté par l'alimentation (111) est commandée par un logiciel exécuté par un micro-ordinateur (109) .2. Flight simulator according to claim 1, characterized in that the value of current injected by the power supply (111) is controlled by software executed by a microcomputer (109).
3. Simulateur de vol selon la revendication 1 ou 2, caractérisé en ce qu'il comprend un dispositif de déplacement de la cabine (20) .3. Flight simulator according to claim 1 or 2, characterized in that it comprises a device for moving the cabin (20).
4. Simulateur de vol selon la revendication '3, caractérisé en ce que le dispositif de déplacement de la cabine est constitué à partir de trois vérins électriques (204) permettant à celle-ci d'avoir trois degrés de liberté afin de simuler le tangage, le roulis et le lacet d'un avion.4. Flight simulator according to claim ' 3, characterized in that the cabin displacement device consists of three electric jacks (204) allowing the latter to have three degrees of freedom in order to simulate pitching , the roll and the yaw of an airplane.
5. Simulateur de vol selon la revendication5. Flight simulator according to claim
4, caractérisé en ce que le dispositif de déplacement de la cabine comprend également un moyen (203) qui permet d'équilibrer le poids de la cabine en position cabrée.4, characterized in that the cabin displacement device also comprises means (203) which makes it possible to balance the weight of the cabin in the nose up position.
6. Simulateur de vol selon la revendication6. Flight simulator according to claim
5, caractérisé en ce que le moyen est constitué par un ballon à pression constante.5, characterized in that the means consists of a constant pressure tank.
7. Simulateur de vol selon l'une quelconque des revendications précédentes, caractérisé en ce que l'écran (2) se présente sous la forme d'un quart de sphère, dans laquelle la cabine est située au point le plus bas.7. Flight simulator according to any one of the preceding claims, characterized in that the screen (2) is in the form of a quarter sphere, in which the cabin is located at the lowest point.
8. Simulateur de vol selon la revendication 7, caractérisé en ce que le projecteur d'images (5) est disposé au centre de la sphère destinée à réaliser l'écran.8. Flight simulator according to claim 7, characterized in that the image projector (5) is arranged in the center of the sphere intended to make the screen.
9. Simulateur de vol selon la revendication 8, caractérisé en que la position du projecteur sur l'écran permet d'obtenir un champ de 180 degrés en azimut et de 90 degrés en élévation.9. Flight simulator according to claim 8, characterized in that the position of the projector on the screen makes it possible to obtain a field of 180 degrees in azimuth and 90 degrees in elevation.
10. Simula"teur de vol selon l'une quelconque des revendications précédentes, caractérisé en ce que les différents paramètres permettant d'agir sur les commandes de vol et sur le déplacement de la cabine sont commandées par un logiciel exécuté par un micro-ordinateur. 10. Flight simulator according to any one of the preceding claims, characterized in that the various parameters making it possible to act on the flight controls and on the movement of the cabin are controlled by software executed by a microcomputer .
PCT/BE1998/000089 1997-06-13 1998-06-12 Flight simulator WO1998058357A1 (en)

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CA002293798A CA2293798A1 (en) 1997-06-13 1998-06-12 Flight simulator
BR9809545-5A BR9809545A (en) 1997-06-13 1998-06-12 Flight simulator

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FR9707332A FR2764723B3 (en) 1997-06-13 1997-06-13 FLIGHT SIMULATOR

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GB0213718D0 (en) * 2002-06-14 2002-07-24 Thales Plc Apparatus and method of electrical control loading
GB0314760D0 (en) * 2003-06-25 2003-07-30 Westland Helicopters Display system
FR2859810B1 (en) * 2003-09-16 2006-01-13 Univ Orleans DYNAMIC FLIGHT SIMULATOR WITH ANIMAL COCKPIT AND SIMULATION METHOD
CN100377756C (en) * 2004-04-19 2008-04-02 深圳华强智能技术有限公司 Virtual flight system and method thereof

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FR2764723B3 (en) 1999-08-06
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BR9809545A (en) 2000-06-20
EP0988626A1 (en) 2000-03-29
CA2293798A1 (en) 1998-12-23

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