CN101976522B - Aircraft steering wheel force feedback system - Google Patents
Aircraft steering wheel force feedback system Download PDFInfo
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- CN101976522B CN101976522B CN 201010292220 CN201010292220A CN101976522B CN 101976522 B CN101976522 B CN 101976522B CN 201010292220 CN201010292220 CN 201010292220 CN 201010292220 A CN201010292220 A CN 201010292220A CN 101976522 B CN101976522 B CN 101976522B
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Abstract
The invention discloses an aircraft steering wheel force feedback system for simulating the drag force sensed by both hands of a pilot in aircraft flight, belonging to the field of force sense interactive devices. The system has two degrees of freedom, i.e. the left and right rotation of a steering wheel and the front and back movement of a control lever. The rolling and the pitching of an aircraft are respectively controlled in a virtual environment, and the movements in the two degrees of freedom are not coupled. The device mainly comprises a steering wheel, a control lever, two coders, four reels, four steel wire ropes, four tension springs, four transmission shafts, two AC servo motors, two speed reducers and a pedestal. When the steering wheel is rotated or the control lever is pushed and pulled by hands, the corresponding coder acquires the position signal of the steering wheel or the control lever, an upper computer calculates the shaft angle of the corresponding motor in real time, the motor is controlled to carry out position servo to drive the steel wire rope to drag the spring to complete certain deformation, and the force moment produced by the spring deformation is transferred to the steering wheel or the control level so that people can sense feedback force. The invention has the advantages of reliable operation and high precision, and meanwhile, the magnitude ofthe feedback force can be freely adjusted according to user demands; and the system can be applied to pilot flight training and other types of aircraft simulated flights.
Description
Technical field
The present invention relates to a kind of aircraft steering wheel force feedback system, the simulation resistance that pilot's both hands are experienced in the aircraft handling process is a kind of binary force sense interactive device, belongs to the human-computer interaction device field.
Background technology
Virtual reality (Virtual Reality, VR) be as core take computer technology, in conjunction with the related science technology, generate the approximate digitized environment of the aspect such as within the specific limits vision, hearing, touch feel and true environment height, the user carries out reciprocation, influences each other by equipment and the object in the digitized environment of necessity, can produce the impression and the experience that are equal to true environment.
Being used for operation simulation and skill training is the important development direction of virtual reality technology, and in recent years, the virtual reality simulated training system is widely used in industrial design, military affairs, medical treatment, education, physical culture and amusement every field.
Present comparatively ripe commercial force sense interactive device all concentrates on universal, although range of application is wider, be difficult to obtain good mutual effect under some specific application backgrounds, and cost is higher.
The diversity of dynamic sensing interexchanging task has proposed different requirements to the design of dynamic sensing interexchanging apparatus, and the dynamic sensing interexchanging apparatus of domestic and international various degree of freedom has research and development, and different application scenarioss requires so that the principle of work of device is mutually far short of what is expected with structure.How according to specific requirement, realizing to greatest extent its advantage, compensate its defect as far as possible, is the emphasis of design and researchp.
In recent years because the development of aircraft industry both at home and abroad, the demand of training pilot's aircraft flying training simulator is increased, and the equal dependence on import of aircraft flying training simulator product of present China civil aircraft, mainly monopolized by offshore company, so that import Aircraft Simulator technology is limited by foreign vendor, price and costliness thereof, particularly after sale service and spare part expense are expensive surprising especially, and be imperative to the production domesticization research of airline carriers of passengers Aircraft Simulator product.The research of airline carriers of passengers flight training simulator, significant to the sound development and the technical progress that promote China civil aviaton cause.
The present invention is exactly a kind of novel force sense interactive device for the specific requirement design of airline carriers of passengers drive simulating, the simulation resistance that pilot's both hands are experienced in the aircraft handling process.The present invention is simple in structure, and cost is low, and the large I of feedback force adjusts easily according to user's request, can be used for carrying out the drive simulating of different model aircraft.
Summary of the invention
The object of the present invention is to provide a kind of aircraft steering wheel force feedback system, is a kind of novel force sense interactive device for the specific requirement design of aircraft handling.The pilot instrument of the present invention's simulation is the central jociey stick of aircraft, and profile is similar to Boeing series passenger plane jociey stick.The present invention's simulation resistance that pilot's both hands are experienced in the aircraft handling process, it has two degree of freedom, i.e. and lift-over and the pitching of aircraft are controlled respectively in the front and back push-and-pull of the left rotation and right rotation of bearing circle and operating rod in virtual environment.The present invention can be used for aircraft flight person's driving training or other forms of aircraft drive simulating.
A kind of aircraft steering wheel force feedback system of the present invention comprises a bearing circle, operating rod, a pedestal, bearing circle resistance system and an operating rod resistance system, and concrete structure is as follows:
Bearing circle is installed on the bearing circle resistance system main drive shaft;
Wherein, the symmetria bilateralis position of described bearing circle is equipped with two identical stop screws.
Operating rod is installed on the operating rod resistance system main drive shaft;
Pedestal is a framework, fixes other assemblies in order to support, is provided with mounting hole on it;
This pedestal can further include two pedestal baffle plates, is installed on pedestal upper surface, in order to block the hole that stays on the pedestal upper surface after each part installation on the operating rod resistance system main drive shaft.
Described bearing circle resistance system mainly comprises:
One bearing circle resistance system main drive shaft is installed in an end of operating rod by bearing,
One bearing circle resistance system driving wheel is installed on the bearing circle resistance system main drive shaft,
One bearing circle resistance system scrambler is installed on the operating rod by an encoder mounting rack, and axle and the bearing circle resistance system main drive shaft of bearing circle resistance system scrambler are connected simultaneously;
One bearing circle resistance system driven shaft is installed on the bearing circle resistance system motor cabinet by bearing,
One bearing circle resistance system engaged wheel is installed on the bearing circle resistance system driven shaft,
Two bearing circle resistance system wire rope are installed in respectively on bearing circle resistance system driving wheel and the engaged wheel;
Two bearing circle resistance system springs are connected with two bearing circle resistance system wire rope;
Wherein, on the described operating rod, correspondence direction dish resistance system spring part is equipped with the spring protection cover.
One bearing circle resistance system motor is installed on the bearing circle resistance system speed reduction unit; This bearing circle resistance system speed reduction unit further is installed on the bearing circle resistance system motor cabinet, and its output shaft links to each other with bearing circle resistance system driven shaft by a bearing circle resistance system shaft coupling;
Wherein, on the described bearing circle resistance system engaged wheel stop screw is installed.
Wherein, be symmetrically installed with limit switch on the described bearing circle resistance system motor cabinet.
Wherein, described bearing circle resistance system further includes distance collar, lays respectively between bearing and the bearing circle resistance system driving wheel, between bearing and the bearing circle resistance system engaged wheel.
Described operating rod resistance system mainly comprises:
One operating rod resistance system main drive shaft is installed in by bearing in the mounting hole of pedestal;
One operating rod resistance system driving wheel is installed on the operating rod resistance system main drive shaft,
One operating rod resistance system scrambler is installed on the pedestal by an encoder mounting rack, and axle and the operating rod resistance system main drive shaft of operating rod resistance system scrambler are connected simultaneously;
Wherein, on the described operating rod resistance system driving wheel, stop screw is installed further.
One operating rod resistance system driven shaft is installed on the operating rod resistance system motor cabinet by bearing, and this operating rod resistance system motor cabinet is installed on the pedestal;
One operating rod resistance system engaged wheel is installed on the operating rod resistance system driven shaft;
Wherein, described operating rod resistance system further includes distance collar, lay respectively at bearing between the operating rod, bearing is between operating rod resistance system engaged wheel.
Two one control lever resistance system wire rope are installed in respectively on operating rod resistance system driving wheel and the engaged wheel;
Two one control lever resistance system springs are connected with two one control lever resistance system wire rope;
One operating rod resistance system motor is installed on the operating rod resistance system speed reduction unit; This operating rod resistance system speed reduction unit further is installed on the operating rod resistance system motor cabinet, and its output shaft links to each other with operating rod resistance system driven shaft by an operating rod resistance system shaft coupling.
Wherein, on the described operating rod resistance system engaged wheel, be symmetrically installed with two stop screws.
Wherein, on the described operating rod resistance system motor cabinet, be symmetrically installed with limit switch.
A kind of aircraft steering wheel force feedback system of the present invention, its method of operating: during hand left rotation and right rotation bearing circle, bearing circle resistance system driving wheel is followed the bearing circle rotation, under the traction of bearing circle resistance system the first wire rope, bearing circle resistance system the first spring, bearing circle resistance system the second spring deform; Simultaneously, the angular signal that bearing circle resistance system scrambler gathers bearing circle sends to external control card, control card sends to a host computer with signal, host computer calculates in real time the corner of bearing circle resistance system motor shaft and controls it and do position servo, drives the rotation of bearing circle resistance system engaged wheel; Under the common traction of bearing circle resistance system the first wire rope and bearing circle resistance system the second wire rope, bearing circle resistance system the first spring, bearing circle resistance system the second spring are finished certain deformation, acting on the bearing circle resistance system driving wheel by bearing circle resistance system the first wire rope with joint efforts of two springs, thereby make bearing circle resistance system driving wheel be subject to certain torque, this transmission of torque is experienced feedback force when making staff rotation bearing circle to bearing circle.
During hand front and back push-and-pull operating rod, operating rod resistance system driving wheel is followed the operating rod rotation, under the traction of operating rod resistance system the first wire rope, and operating rod resistance system the first spring, the second spring generation deformation of operating rod resistance system; Simultaneously, the angular signal that operating rod resistance system scrambler gathers operating rod sends to external control card, control card sends to a host computer with signal, host computer calculates the corner of operating rod resistance system motor shaft and controls it and do position servo, drive the rotation of operating rod resistance system engaged wheel, under the common traction of operating rod resistance system the first wire rope and operating rod resistance system the second wire rope, operating rod resistance system the first spring, operating rod resistance system the second spring is finished certain deformation, acting on the operating rod resistance system driving wheel by operating rod resistance system the first wire rope with joint efforts of two springs, thereby make operating rod resistance system driving wheel be subject to certain moment of torsion, this moment of torsion is delivered on the bearing circle by operating rod, experiences accurately feedback force when making staff push-and-pull operating rod.
The feedback force size of two degree of freedom of bearing circle resistance system and operating rod resistance system is adjustable: the size of the feedback force that each resistance system produces is by changing the control algolithm of motor, and then changes that the sports coupling of driving wheel and engaged wheel concerns to realize.
The advantage of a kind of aircraft steering wheel force feedback system of the present invention: (1) profile and size are similar to Boeing series passenger plane jociey stick, and structural principle is simple, and cost is low, reliable operation; (2) this force sense interactive device can obtain more accurately feedback force; (3) this aircraft steering wheel force feedback system virtual rigidity is adjustable, and namely the large I of feedback force is adjusted flexibly, can simulate feedback force output in a big way, is applicable to the drive simulating of Multiple Type aircraft.
Description of drawings
Fig. 1 is aircraft steering wheel force feedback system one-piece construction synoptic diagram of the present invention.
Fig. 2 is aircraft steering wheel force feedback system front view of the present invention.
Fig. 3 is aircraft steering wheel force feedback system left view of the present invention.
Fig. 4 is the wiring layout of bearing circle resistance system main drive shaft part.
Fig. 5 is that the A of bearing circle among Fig. 4 is to view.
Fig. 6 is the wiring layout of bearing circle resistance system driven shaft part.
Fig. 7 is that the B of bearing circle resistance system motor cabinet part among Fig. 6 is to view.
Fig. 8 is the wiring layout of operating rod resistance system main drive shaft part.
Fig. 9 is the cut-open view of operating rod and operating rod resistance system main drive shaft cross section C-C, D-D among Fig. 8.
Figure 10 is the wiring layout of operating rod resistance system driven shaft part.
Figure 11 is that the E of operating rod resistance system motor cabinet part among Figure 10 is to view.
Figure 12 is the scheme of installation of operating rod resistance system driving wheel and wire rope.
Figure 13 is the structural representation of pedestal and pedestal baffle plate.
Among the figure:
1. bearing circle 1A. bearing circle the first stop screw
1B. bearing circle the second stop screw 2. operating rods
3. bearing circle resistance system driving wheel 31. bearing circle resistance systems the first wire rope
32. the first pin on the bearing circle resistance system main drive shaft 321. bearing circle resistance system driving wheels
322. pin on the second pin 323. bearing circle on the bearing circle resistance system driving wheel
324. the second bearing on the clutch shaft bearing 325. bearing circle resistance system main drive shafts on the bearing circle resistance system main drive shaft
326. the second distance collar on the first distance collar 327. bearing circle resistance system main drive shafts on the bearing circle resistance system main drive shaft
33. bearing circle resistance system scrambler 34. bearing circle resistance system encoder mounting racks
35. bearing circle resistance system drive shaft bearing end cap 4. bearing circle resistance system engaged wheels
41. bearing circle resistance system the second wire rope 42. bearing circle resistance system driven shafts
421. the second pin on the first pin 422. bearing circle resistance system driven shafts on the bearing circle resistance system driven shaft
423. the second bearing on the clutch shaft bearing 424. bearing circle resistance system driven shafts on the bearing circle resistance system driven shaft
425. the first distance collar on the bearing circle resistance system driven shaft
426. the second distance collar on the bearing circle resistance system driven shaft
43. bearing circle resistance system driven shaft bearing (ball) cover 44. bearing circle resistance system engaged wheel upper limit screws
5. operating rod resistance system driving wheel 51. operating rod resistance systems the first wire rope
52. the first pin on operating rod resistance system main drive shaft 521. operating rods
522. the first pin on the second pin 523. operating rod resistance system driving wheels on the operating rod
524. the first distance collar on the second pin 525. operating rod resistance system main drive shafts on the operating rod resistance system driving wheel
526. clutch shaft bearing on the second distance collar 527. operating rod resistance system main drive shafts on the operating rod resistance system main drive shaft
528. the 3rd bearing on the second bearing 529. operating rod resistance system main drive shafts on the operating rod resistance system main drive shaft
5210. the 4th bearing 53. operating rod resistance system scramblers on the operating rod resistance system main drive shaft
54. operating rod resistance system encoder mounting rack 55. operating rod resistance system drive shaft bearing end caps
56. the first stop screw on the operating rod resistance system driving wheel
57. the second stop screw on the operating rod resistance system driving wheel
58. the second screw on the first screw 59. operating rod resistance system driving wheels on the operating rod resistance system driving wheel
510. wire casing on the 3rd screw 5A. operating rod resistance system driving wheel on the operating rod resistance system driving wheel
5B. wire rope mounting hole on the operating rod resistance system driving wheel
5C. the second threaded hole on the first threaded hole 5D. operating rod resistance system driving wheel on the operating rod resistance system driving wheel
5E. the 3rd threaded hole 6. operating rod resistance system engaged wheels on the operating rod resistance system driving wheel
61. operating rod resistance system the second wire rope 62. operating rod resistance system driven shafts
621. the second pin on the first pin 622. operating rod resistance system engaged wheels on the operating rod resistance system engaged wheel
623. the second bearing on the clutch shaft bearing 624. operating rod resistance system engaged wheels on the operating rod resistance system engaged wheel
625. the first distance collar on the operating rod resistance system driven shaft
626. the second distance collar on the operating rod resistance system driven shaft
63. operating rod resistance system driven shaft bearing (ball) cover 64. operating rod resistance system engaged wheels the first stop screw
65. operating rod resistance system engaged wheel the second stop screw 71. bearing circle resistance systems the first spring
72. bearing circle resistance system the second spring 81. operating rod resistance systems the first spring
82. operating rod resistance system the second spring 9. pedestals
91. the first pedestal baffle plate 92. second pedestal baffle plates
9A. operating rod resistance system main drive shaft the first mounting hole 9B. operating rod resistance system main drive shaft the second mounting hole
9C. counter sink on the pedestal upper aperture 9D. pedestal
10. bearing circle resistance system motor 101. bearing circle resistance system speed reduction units
102. bearing circle resistance system shaft coupling 103. bearing circle resistance system motor cabinets
104. bearing circle resistance system the first limit switch 105. bearing circle resistance systems the second limit switch
11. operating rod resistance system motor 111. operating rod resistance system speed reduction units
112. operating rod resistance system shaft coupling 113. operating rod resistance system motor cabinets
114. operating rod resistance system the first limit switch 115. operating rod resistance systems the second limit switch
121. the first spring protection cover 122. second spring protection covers
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
A kind of aircraft steering wheel force feedback system of the present invention is a kind of aircraft handling analogue means, the resistance that pilot's both hands are experienced in the simulated aircraft driving procedure.This device has two degree of freedom, and namely bearing circle 1 is around the rotation around the axis of operating rod resistance system main drive shaft 52 of the rotation of the axis of bearing circle resistance system main drive shaft 32 and operating rod 2.In virtual environment, two degree of freedom are controlled respectively the left and right sides lift-over of aircraft and two degree of freedom of pitching up and down.
This system's chief component has a bearing circle, an operating rod, two scramblers, two encoder mounting racks, four reels, four extension springs, four wire rope, four transmission shafts, two AC servo motor, two speed reduction units, two shaft couplings, two motor cabinets, a pedestal.
The general structure three-dimensional plot of equipment as shown in Figure 1, front view as shown in Figure 2, left view is as shown in Figure 3.A bearing circle refers to bearing circle 1; An operating rod refers to operating rod 2; Two scramblers refer to bearing circle resistance system scrambler 33, operating rod resistance system scrambler 53; Two encoder mounting racks refer to bearing circle resistance system encoder mounting rack 34, operating rod resistance system encoder mounting rack 54; Four reels refer to bearing circle resistance system driving wheel 3, bearing circle resistance system engaged wheel 4, operating rod resistance system driving wheel 5, operating rod resistance system engaged wheel 6; Four extension springs refer to bearing circle resistance system the first spring 71, bearing circle resistance system the second spring 72, operating rod resistance system the first spring 81, operating rod resistance system the second spring 82; Article four, wire rope refers to bearing circle resistance system the first wire rope 31, bearing circle resistance system the second wire rope 41, operating rod resistance system the first wire rope 51, operating rod resistance system the second wire rope 61; Four transmission shafts refer to bearing circle resistance system main drive shaft 32, bearing circle resistance system driven shaft 42, operating rod resistance system main drive shaft 52, operating rod resistance system driven shaft 62; Two AC servo motor refer to bearing circle resistance system motor 10, operating rod resistance system motor 11; Two speed reduction units refer to bearing circle resistance system speed reduction unit 101, operating rod resistance system speed reduction unit 111; Two shaft couplings refer to bearing circle resistance system shaft coupling 102, operating rod resistance system shaft coupling 112; Two motor cabinets refer to bearing circle resistance system motor cabinet 103, operating rod resistance system motor cabinet 113; A pedestal refers to pedestal 9.
The wiring layout of bearing circle resistance system main drive shaft part as shown in Figure 4.Bearing circle 1 is installed on the bearing circle resistance system main drive shaft 32 by pin 323, and bearing circle resistance system driving wheel 3 is installed on the bearing circle resistance system main drive shaft 32 by pin 321,322.Bearing circle resistance system main drive shaft 32 is installed on the operating rod 2 by bearing 324,325, and two bearings adopt each the unidirectional fixed form configuration of two fulcrums.Bearing circle resistance system scrambler 33 is installed on the bearing circle resistance system encoder mounting rack 34, and encoder mounting rack 34 is installed on the operating rod 2, and the outer ring of bearing 324 contacts with encoder mounting rack 34.The opposite side of operating rod 2 is equipped with bearing (ball) cover 35, and the outer ring of bearing 325 contacts with bearing (ball) cover 35.Bearing 324,325 and bearing circle resistance system driving wheel 3 between be separately installed with distance collar 326,327, thereby realized the location of two bearing inner races.The shaft extension of scrambler 33 is installed in the hole of bearing circle resistance system main drive shaft 32 1 ends, and is linked together with screw and bearing circle resistance system main drive shaft, and relative sliding does not radially occur for the two.The shaft extension of bearing circle resistance system main drive shaft 32, bearing circle resistance system driving wheel 3 and bearing circle resistance system scrambler 33 is all followed bearing circle 1 and is rotated, and scrambler 33 can be measured the angle position of bearing circle 1 in real time.
The A of bearing circle to view as shown in Figure 5 among Fig. 4.Two identical stop screw 1A, 1B are installed in the symmetria bilateralis position of bearing circle 1; when bearing circle 1 turns over certain angle; stop screw 1A, 1B will be respectively contact with the spring protection cover 121,122 installed on the operating rod 2; thereby the maximum angle of restriction bearing circle 1 rotation; on the one hand equipment is shielded; prevent that spring from having excessive distortion; the equipment of preventing is damaged; the rotational angle of bearing circle is within the specific limits during aircraft handling on the other hand, and this design conforms to actual conditions.
The wiring layout of bearing circle resistance system driven shaft part as shown in Figure 6.Bearing circle resistance system engaged wheel 4 connects with bearing circle resistance system driven shaft 42 by pin 421,422, bearing circle resistance system driven shaft 42 is installed on the bearing circle resistance system motor cabinet 103 by bearing 423,424, and motor cabinet 103 is installed on the pedestal 9.Bearing (ball) cover 43 is installed on the motor cabinet 103, in order to the location of bearing 423 outer rings.Bearing 424 is installed in the macropore of shoulder hole of motor cabinet 103, the side of outer ring near motor cabinet 103 to realize the location.Two bearings 423,424 and bearing circle resistance system engaged wheel 4 between be separately installed with distance collar 425,426, to realize the location of two bearings inner ring.Bearing circle resistance system motor 10 is installed on the bearing circle resistance system speed reduction unit 101, bearing circle resistance system speed reduction unit 101 is installed on the motor cabinet 103, and output shaft links to each other with bearing circle resistance system driven shaft 42 by bearing circle resistance system shaft coupling 102.Motor 10 output shafts rotarily drive bearing circle resistance system engaged wheel 4 rotation, and motor 10 carries scrambler, indirectly the angle position of direction of measurement dish resistance system engaged wheel 4.On the bearing circle resistance system engaged wheel stop screw 44 is installed.
The B of bearing circle resistance system motor cabinet part to view as shown in Figure 7 among Fig. 6.Be symmetrically installed with limit switch 104,105 at bearing circle resistance system motor cabinet 103; when bearing circle resistance system motor 10 drivings or other situations occurring and cause bearing circle resistance system engaged wheel 4 corners excessive; stop screw 44 triggers limit switch 104 or 105; make motor stalling by circuit this moment; protection operator's safety, the equipment that prevents is damaged.
Fig. 8 is the wiring layout of operating rod resistance system main drive shaft part.As shown in the figure, operating rod 2 connects with operating rod resistance system main drive shaft 52 by pin 521,522, operating rod resistance system driving wheel 5 connects with operating rod resistance system main drive shaft 52 by pin 523,524, operating rod resistance system scrambler 53 is installed on the operating rod resistance system encoder mounting rack 54, encoder mounting rack 54 is installed on the pedestal 9, the shaft extension of scrambler 53 is installed in the hole of operating rod resistance system main drive shaft 52 1 ends, and be linked together by screw and this operating rod resistance system main drive shaft 52, relative sliding does not radially occur in the two.Operating rod resistance system main drive shaft 52 is installed in the mounting hole on the pedestal 9 by bearing 527,528,529,5210.The outer ring of bearing 527 contacts with operating rod resistance system bearing (ball) cover 55 on being installed in pedestal 9, bearing 527,528 nestles up installation, the inner ring of bearing 528 is with distance collar 525 contacts between the bearing 528, operating rod 2, thus realize bearing 527,528 fixing.The outer ring of bearing 5210 contacts with encoder mounting rack 54, and bearing 529,5210 nestles up installation, and the inner ring of bearing 529 is with distance collar 526 contacts between the bearing 529, operating rod resistance system driving wheel 5, thus realize bearing 529,5210 fixing.The shaft extension of operating rod resistance system main drive shaft 52, operating rod resistance system driving wheel 5 and operating rod resistance system scrambler 53 is all followed operating rod 1 and is rotated, and scrambler 53 can be measured the angle position of operating rod 2 in real time.
Such as Fig. 3 and shown in Figure 8; on the operating rod resistance system driving wheel 5 stop screw 56,57 is installed; when operating rod 2 turns over certain angle; stop screw 56,57 will contact with pedestal 9, thereby the maximum angle of restriction operating rod 2 rotations shields to equipment on the one hand; prevent that spring from having excessive distortion; the equipment of preventing is damaged, and the rotational angle of operating rod is within the specific limits during aircraft handling on the other hand, and this design conforms to actual conditions.
The wiring layout of operating rod resistance system driven shaft part as shown in figure 10.Operating rod resistance system engaged wheel 6 connects with operating rod resistance system driven shaft 62 by pin 621,622, operating rod resistance system driven shaft 62 is installed on the operating rod resistance system motor cabinet 113 by bearing 623,624, and motor cabinet 113 is installed on the pedestal 9.Bearing (ball) cover 63 is installed on the motor cabinet 113, in order to the location of bearing 624 outer rings.Bearing 623 is installed in the macropore of shoulder hole of motor cabinet 113, the side, outer ring near motor cabinet 113 to realize the location.Be separately installed with distance collar 625,626 between two bearings 623,624 inner ring and the operating rod resistance system engaged wheel 6, to realize the location of two bearings inner ring.Operating rod resistance system motor 11 is installed on the operating rod resistance system speed reduction unit 111, operating rod resistance system speed reduction unit 111 is installed on the motor cabinet 113, and output shaft links to each other with operating rod resistance system driven shaft 62 by operating rod resistance system shaft coupling 112.Motor 11 output shafts rotarily drive operating rod resistance system engaged wheel 6 rotation, and motor 11 carries scrambler, can indirectly measure the angle position of operating rod resistance system engaged wheel 6.
The E of operating rod resistance system motor cabinet part to view as shown in figure 11 among Figure 10.Be symmetrically installed with two stop screws 64,65 on the operating rod resistance system engaged wheel 6.Be symmetrically installed with limit switch 114,115 at operating rod resistance system motor cabinet 113; when operating rod resistance system motor 11 drivings or other situations occurring and cause operating rod resistance system engaged wheel 6 corners excessive; stop screw 64 triggers limit switch 114 or stop screw 65 triggers limit switch 115; make motor stalling by circuit this moment; protection operator's safety, the equipment that prevents is damaged.
Each wire rope two ends all connects with the hook of spring by steel wire clamp.Bearing circle resistance system spring 71,72 both sides are equipped with spring protection cover 121,122 on operating rod 2, are in order to prevent that the dop between spring and the wire rope lost efficacy, wire rope and the destroyed safety that endangers the operator of connecting of spring.
For guaranteeing that each spring all is in extended state in the operating process, certain prestretched amount is arranged during each spring fitting.Rigidity, structure, the prestretched amount of bearing circle resistance system the first spring 71 and bearing circle resistance system the second spring 72 are identical; Rigidity, structure, the prestretched amount of operating rod resistance system the first spring 81 and operating rod resistance system the second spring 82 are identical.
Each wire rope is installed on the corresponding reel, and fixed form is identical.The scheme of installation of operating rod resistance system driving wheel 5 and wire rope 51 as shown in figure 12.Have semicircular wire casing 5A and through hole 5B on the operating rod resistance system driving wheel 5.Through hole 5B two ends are all on wire casing 5A.Have simultaneously threaded hole 5C, 5D, 5E on wheel, the other end of three threaded holes is positioned on the hole wall of hole 5B (referring to Fig. 2).Wire rope 51 is passed through hole 5B, in wire casing 5A, be screwed into respectively among threaded hole 5C, 5D, the 5E with three screws 58,59,510, an end of screw tightly is squeezed in wire rope 51 on the hole wall of hole 5B, plays the fixedly effect of wire rope.
During staff left rotation and right rotation bearing circle 1, bearing circle resistance system driving wheel 3 is followed bearing circle 1 rotation, and under the traction of bearing circle resistance system wire rope 31, bearing circle resistance system spring 71,72 deforms.Simultaneously, the corner that bearing circle resistance system scrambler 33 is measured bearing circle 1 in real time sends to external control card, control card sends to host computer PC with signal, host computer calculates the corner of bearing circle resistance system motor 10 axles and controls it and do position servo, drives 4 rotations of bearing circle resistance system engaged wheel.Under the common traction of bearing circle resistance system wire rope 31,41, bearing circle resistance system spring 71,72 is finished certain deformation, the deformation quantity size of two springs is identical, opposite direction, acting on the bearing circle resistance system driving wheel 3 by wire rope 31 with joint efforts of its generation, thereby make bearing circle resistance system driving wheel 3 be subject to certain moment of torsion, this moment of torsion is delivered on the bearing circle 1, experiences feedback force when making staff rotation bearing circle.
During staff front and back push-and-pull operating rod 2, operating rod resistance system driving wheel 5 is followed operating rod 2 rotations, and under the traction of operating rod resistance system wire rope 51, operating rod resistance system spring 81,82 deforms.Simultaneously, the corner that operating rod resistance system scrambler 53 is measured operating rod 2 in real time sends to external control card, control card sends to host computer PC with signal, host computer calculates the corner of operating rod resistance system motor 11 axles and controls it and do position servo, drive 6 rotations of operating rod resistance system engaged wheel, at operating rod resistance system wire rope 51, under 61 the common traction, operating rod resistance system spring 81,82 finish certain deformation, acting on the operating rod resistance system driving wheel 52 by wire rope 51 with joint efforts of two springs, thereby make operating rod resistance system 52 be subject to certain moment of torsion, this moment of torsion is experienced feedback force by being delivered on the bearing circle 1 on the operating rod 2 when making people's push-and-pull operating rod.
The size of the feedback force of bearing circle resistance system and operating rod resistance system is adjustable.The size of the feedback force that two resistance systems produce is to be determined by separately driving wheel and the sports coupling relation of engaged wheel.Change the control algolithm of motor, can change the sports coupling relation of driving wheel and engaged wheel, adjust the size of feedback force.
In the equipment operating process, scrambler is used for the angle of direction of measurement dish or operating rod, and host computer is calculated the parameters such as the position, speed of current bearing circle or operating rod according to the angle gauge of bearing circle and operating rod, namely obtains the work at present state of equipment.PC control software calculates the corner of motor under the work at present state, and the corner size of motor has determined the feedback force size under the current state.Set the isoparametric funtcional relationship of corner, speed of corner and bearing circle or the operating rod of motor in the control software of host computer, the motor corner of work at present state is that host computer calculates according to this funtcional relationship, and sends to control card with the control electric machine rotation.If needs are adjusted the size of feedback force, only motor corner and bearing circle or operating rod corner, the isoparametric funtcional relationship of speed in the need change control software need not adjusted hardware, can adjust easily the size of feedback force.
The structural representation of pedestal and pedestal baffle plate as shown in figure 13.Pedestal 9 upper surfaces have square hole 9A, the two ends of operating rod resistance system main drive shaft 52 are installed in mounting hole 9B, the 9C of pedestal 9 both sides, each part on the axle is installed in the 9A of hole, pedestal baffle plate 91,92 is installed on the pedestal 9, in order to block the hole that pedestal 9 upper surfaces stay after each part installation on the operating rod resistance system main drive shaft 52.Be processed with some counter sink 9B on the pedestal 9, in order to aircraft steering wheel force feedback system installing and fixing in working environment.
The rotating shaft of aircraft steering wheel force feedback system bearing circle is held on the height of pedestal upper surface and the bearing circle a little with the distance of revolving shaft all according to the True Data design of certain model passenger plane of Boeing series.The present invention's simulation resistance that pilot's both hands are experienced in the aircraft handling process belongs to the force sense interactive device field.Reliable operation of the present invention, precision height, the large I of feedback force is adjusted flexibly according to user's request simultaneously.The present invention experiences for operating personnel provide the power of aircraft handling to feel, in operating process, the visual effect that shows in real time the aircraft drive simulating by display or Helmet Mounted Display for the operator, the interactive device that cooperates other, can for the operator provides the driving experience of flying comparatively really, can be used for pilot's aircraft handling training or other forms of aircraft drive simulating.
Claims (13)
1. aircraft steering wheel force feedback system, it is characterized in that: this system comprises a bearing circle (1), an operating rod (2), a pedestal (9), bearing circle resistance system and operating rod resistance system, and concrete structure is as follows:
Bearing circle (1) is installed on the bearing circle resistance system main drive shaft (32);
Operating rod (2) is installed on the operating rod resistance system main drive shaft (52);
Pedestal (9) is a framework, fixes other assemblies in order to support, is provided with mounting hole on it;
Described bearing circle resistance system mainly comprises:
One bearing circle resistance system main drive shaft (32) is installed in an end of operating rod (2) by bearing,
One bearing circle resistance system driving wheel (3) is installed on the bearing circle resistance system main drive shaft (32),
One bearing circle resistance system scrambler (33) is installed on the operating rod (2) by an encoder mounting rack, and axle and the bearing circle resistance system main drive shaft (32) of bearing circle resistance system scrambler (33) are connected simultaneously;
One bearing circle resistance system driven shaft (42) is installed on the bearing circle resistance system motor cabinet (103) by bearing,
One bearing circle resistance system engaged wheel (4) is installed on the bearing circle resistance system driven shaft (42),
Two bearing circle resistance system wire rope (31), (41) are installed in respectively on bearing circle resistance system driving wheel and the engaged wheel;
Two bearing circle resistance system springs (71), (72) are connected with two bearing circle resistance system wire rope (31), (41) respectively;
One bearing circle resistance system motor (10) is installed on the bearing circle resistance system speed reduction unit (101); This bearing circle resistance system speed reduction unit (101) further is installed on the bearing circle resistance system motor cabinet (103), and its output shaft links to each other with bearing circle resistance system driven shaft (42) by a bearing circle resistance system shaft coupling (102);
Described operating rod resistance system mainly comprises:
One operating rod resistance system main drive shaft (52) is installed in by bearing in the mounting hole of pedestal (9);
One operating rod resistance system driving wheel (5) is installed on the operating rod resistance system main drive shaft (52),
One operating rod resistance system scrambler (53) is installed on the pedestal (9) by an encoder mounting rack, and axle and the operating rod resistance system main drive shaft (52) of operating rod resistance system scrambler (53) are connected simultaneously;
One operating rod resistance system driven shaft (62) is installed on the operating rod resistance system motor cabinet (113) by bearing, and this operating rod resistance system motor cabinet (113) is installed on the pedestal (9);
One operating rod resistance system engaged wheel (6) is installed on the operating rod resistance system driven shaft (62);
Two one control lever resistance system wire rope (51), (61) are installed in respectively on operating rod resistance system driving wheel and the engaged wheel;
Two one control lever resistance system springs (81), (82) are connected with two one control lever resistance system wire rope (51), (61) respectively;
One operating rod resistance system motor (11) is installed on the operating rod resistance system speed reduction unit (111); This operating rod resistance system speed reduction unit (111) further is installed on the operating rod resistance system motor cabinet (113), and its output shaft links to each other with operating rod resistance system driven shaft (62) by an operating rod resistance system shaft coupling (112).
2. aircraft steering wheel force feedback system according to claim 1, it is characterized in that: the symmetria bilateralis position of described bearing circle (1) is equipped with two identical stop screws (1A), (1B).
3. aircraft steering wheel force feedback system according to claim 1, it is characterized in that: described pedestal (9) further includes two pedestal baffle plates (91), (92), be installed on pedestal upper surface, in order to block the hole that stays on the pedestal upper surface after each part installation on the operating rod resistance system main drive shaft (52).
4. aircraft steering wheel force feedback system according to claim 1, it is characterized in that: on the described operating rod (2), correspondence direction dish resistance system spring part further is equipped with spring protection cover (121), (122).
5. aircraft steering wheel force feedback system according to claim 1 is characterized in that: stop screw (44) is installed on the described bearing circle resistance system engaged wheel (4).
6. aircraft steering wheel force feedback system according to claim 1 is characterized in that: be symmetrically installed with limit switch (104), (105) on the described bearing circle resistance system motor cabinet (103).
7. aircraft steering wheel force feedback system according to claim 1, it is characterized in that: described bearing circle resistance system, further include distance collar, lay respectively between bearing and the bearing circle resistance system driving wheel (3), between bearing and the bearing circle resistance system engaged wheel (4).
8. aircraft steering wheel force feedback system according to claim 1 is characterized in that: on the described operating rod resistance system driving wheel (5), stop screw (56), (57) are installed further.
9. aircraft steering wheel force feedback system according to claim 1, it is characterized in that: described operating rod resistance system, further include distance collar, lay respectively between bearing and the operating rod (2), between bearing and the operating rod resistance system engaged wheel (6).
10. aircraft steering wheel force feedback system according to claim 1 is characterized in that: on the described operating rod resistance system engaged wheel (6), be symmetrically installed with two stop screws (64), (65).
11. aircraft steering wheel force feedback system according to claim 1 is characterized in that: on the described operating rod resistance system motor cabinet (113), be symmetrically installed with limit switch (114), (115).
12. aircraft steering wheel force feedback system according to claim 1, it is characterized in that: during hand left rotation and right rotation bearing circle (1), bearing circle resistance system driving wheel (3) is followed bearing circle (1) rotation, under the traction of bearing circle resistance system the first wire rope (31), bearing circle resistance system the first spring (71), bearing circle resistance system the second spring (72) deform; Simultaneously, the angular signal that bearing circle resistance system scrambler (33) gathers bearing circle (1) sends to external control card, control card sends to a host computer with signal, host computer calculates in real time the corner of bearing circle resistance system motor (10) axle and controls it and do position servo, drives bearing circle resistance system engaged wheel (4) rotation; Under the common traction of bearing circle resistance system the first wire rope (31) and bearing circle resistance system the second wire rope (41), bearing circle resistance system the first spring (71), bearing circle resistance system the second spring (72) is finished certain deformation, acting on the bearing circle resistance system driving wheel (3) by bearing circle resistance system the first wire rope (31) with joint efforts of two springs, thereby make bearing circle resistance system driving wheel (3) be subject to certain torque, this transmission of torque is experienced feedback force when making staff rotation bearing circle to bearing circle (1).
13. aircraft steering wheel force feedback system according to claim 1, it is characterized in that: during hand front and back push-and-pull operating rods (2), operating rod resistance system driving wheel (5) is followed operating rod (2) rotation, under the traction of operating rod resistance system the first wire rope (51), deformation occurs in operating rod resistance system the first spring (81), operating rod resistance system the second spring (82); Simultaneously, the angular signal that operating rod resistance system scrambler (53) gathers operating rod (2) sends to external control card, control card sends to a host computer with signal, host computer calculates the corner of operating rod resistance system motor (11) axle and controls it and do position servo, drive operating rod resistance system engaged wheel (6) rotation, under the common traction of operating rod resistance system the first wire rope (51) and operating rod resistance system the second wire rope (61), operating rod resistance system the first spring (81), operating rod resistance system the second spring (82) is finished certain deformation, acting on the operating rod resistance system driving wheel (5) by operating rod resistance system the first wire rope (51) with joint efforts of two springs, thereby make operating rod resistance system driving wheel (5) be subject to certain moment of torsion, this moment of torsion is delivered on the bearing circle (1) by operating rod (2), experiences accurately feedback force when making staff push-and-pull operating rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010292220 CN101976522B (en) | 2010-09-26 | 2010-09-26 | Aircraft steering wheel force feedback system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010292220 CN101976522B (en) | 2010-09-26 | 2010-09-26 | Aircraft steering wheel force feedback system |
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| CN101976522A CN101976522A (en) | 2011-02-16 |
| CN101976522B true CN101976522B (en) | 2013-05-01 |
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| CN 201010292220 Expired - Fee Related CN101976522B (en) | 2010-09-26 | 2010-09-26 | Aircraft steering wheel force feedback system |
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| CN102157089B (en) * | 2011-04-01 | 2012-10-10 | 天津中天翔翼航空科技有限公司 | Simulation device for steering wheel of airplane flight simulator |
| CN102393763A (en) * | 2011-06-27 | 2012-03-28 | 北京航空航天大学 | Device and method for outputting adjustable feedback force |
| CN102622924B (en) * | 2012-03-27 | 2013-11-20 | 北京经纬恒润科技有限公司 | Driving simulator and steering wheel limiting device for same |
| EP3211511A1 (en) * | 2013-03-15 | 2017-08-30 | Immersion Corporation | Programmable haptic peripheral |
| CN103594006B (en) * | 2013-11-15 | 2016-12-07 | 李宏图 | A kind of aircraft simulation system and emulation mode thereof |
| CN103810917B (en) * | 2014-01-25 | 2016-04-20 | 中国人民解放军空军航空大学军事仿真技术研究所 | A kind of arm-type torque-feedback regulating device of change of schoolaeroplane |
| CN106205275B (en) * | 2016-07-12 | 2019-03-08 | 徐舒青 | The push-and-pull Force control system of flight simulator control lever |
| CN107316533B (en) * | 2017-08-22 | 2023-08-15 | 中仿智能科技（上海）股份有限公司 | Simulated aircraft pilot operating system |
| CN108182861B (en) * | 2017-12-27 | 2023-10-31 | 天津华翼蓝天科技股份有限公司 | Control coupling device for simulation period variable-pitch rod of helicopter simulator |
| CN108154748B (en) * | 2018-02-08 | 2023-12-08 | 哈尔滨莱特兄弟飞行技术有限公司 | Rocker device for simulating large aircraft |
| CN110877754B (en) * | 2019-12-19 | 2023-01-03 | 中国科学院沈阳自动化研究所 | Force feedback device of airplane accelerator simulation equipment |
| CN111210694B (en) * | 2020-03-03 | 2023-01-06 | 吉林省视米科技有限公司 | Airplane simulation method |
| CN111782044B (en) * | 2020-06-30 | 2023-03-10 | 瑞声新能源发展(常州)有限公司科教城分公司 | Dynamic tactile feedback implementation method of virtual rocker and electronic equipment |
| CN114020092A (en) * | 2021-09-15 | 2022-02-08 | 浙江钱塘机器人及智能装备研究有限公司 | Electric control pull rope control operating rod mechanism |
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