CN104330976B - Flight simulator rod force simulation fidelity evaluation device design method - Google Patents

Abstract

The invention provides a flight simulator rod force simulation fidelity evaluation device design method. A flight simulator rod force simulation fidelity evaluation device obtained through the design method of the invention can quantitatively evaluate simulation manipulation load system rod force simulation fidelity of a flight simulator according to a comprehensive evaluation index module used in the evaluation method of the simulator rod force simulation fidelity. Through data obtained by a test, correlation coefficient rxy=0.91 of evaluation result of the evaluation device obtained through the design method and aviator subjective evaluation result achieves very good consistency. Therefore, the method is reasonable and reliable. The model parameters of the design method are easy to modify. Therefore, the device obtained with the method can be applied to comprehensive evaluation of the steering wheel control force simulation fidelity of an automobile driving simulator, and can also applied to design of a steering wheel control force simulation fidelity comprehensive evaluation device of the automobile driving simulator.

Description

Flight simulator stick force fidelity of simulation evaluating apparatus method for designing

Technical field

The invention belongs to flight simulation field, it is related to flight simulator stick force fidelity of simulation evaluating apparatus method for designing.

Background technology

Control load system is one of system on the important machine of aircraft, and what it determined aircraft utilization to a great extent can Can property and flight safety.During state of flight change, the change of control load system stick force is more easy to by pilot than bar change in displacement Experienced, therefore, stick force fidelity of simulation is one of key factor of impact flight simulator practicality, directly affects simulator Training effect.

Due to the stick force fidelity of simulation of flight simulator affected by many factors so as to research and evaluate intricate, So, also do not find out the good method of generally acknowledged objective quantitative stick force fidelity of simulation, the subjectivity of operator so far Evaluate and occupy an important position always in the research of simulator stick force fidelity of simulation, and as inspection simulator stick force simulation The ultimate criterion of fidelity.At present, from the domestic and foreign literature that sci-tech novelty-search retrieves, mainly study control load system Stick force and its control design case of variation characteristic, the method without evaluating to stick force fidelity of simulation.In practical application, manipulate people The subjective assessment of member occupies critical role in the stick force fidelity of simulation evaluation of simulator always, and with regard to simulator stick force mould Intending fidelity method for objectively evaluating is exactly by testing to the performance indications amount of simulator control load system, is a kind of fixed Amount objective appraisal.But, with simulator control load system difference, standard is different.Because subjective assessment is that simulator manipulates Evaluation when personnel manipulate according to certain task, to the stick force that simulator control load system provides.At this moment evaluate and not only take Certainly in simulator control load system itself, additionally depend on the behavioural characteristic of operator, the requirement to task etc.；And objective comment Valency does not have the participation of operator again, and phenomenon main, that objective evaluation inconsistent so often occurs.It is true that simulator bar Power fidelity of simulation is included in the interaction of people-simulator, and operator has risen quite important in simulator manipulation Effect.

Content of the invention

Inconsistent in order to solve the problems, such as flight simulator stick force fidelity of simulation master, objective evaluation, the invention provides Flight simulator stick force fidelity of simulation evaluating apparatus method for designing.

A kind of people-simulator that the present invention devises quantitative objective evaluation stick force fidelity of simulation controls closed loop model dress Put, provide a kind of effective method for Simulation device control load system stick force fidelity of simulation.

The step of flight simulator stick force fidelity of simulation evaluating apparatus method for designing of the present invention and condition are as follows：

Ith, the flight simulator stick force fidelity of simulation evaluating apparatus of design；

IIth, the flight simulator stick force fidelity of simulation evaluating apparatus based on design, set up a kind of flight simulator stick force Fidelity of simulation evaluation method use comprehensive evaluation index model, storage in a computer, including：

1. consider that stick force follows the tracks of the error criterion of quality；2. consider stick force deflection error index；3. overall error index；

4. comprehensive evaluation index:

$J_T=[1+{\left(\frac{T_{\mathrm{cp}}}{{\hat{T}}_{\mathrm{cp}}}\right)}^2+{\left(\frac{T_{\mathrm{cr}}}{{\hat{T}}_{\mathrm{cr}}}\right)}^2+{\left(\frac{T_{\mathrm{cy}}}{{\hat{T}}_{\mathrm{cy}}}\right)}^2]J_E$

In formula,It is control load system pitching, inclination, three channel position steps of driftage respectively Response rise time and its threshold value；

IIIth, determine the stick force data mated with simulator control load system, actual stick force data is by flight mould Intend what the force snesor in the nominal stick force displacement unit of device stick force fidelity of simulation evaluating apparatus obtained；Tested manipulation is born The input displacement of G system unit is the output of pilot guidance control strategy model unit；

IVth, determine the kinetic model of aircraft in flight simulator stick force fidelity of simulation evaluating apparatus；

Vth, determine the manipulation control strategy model mating with simulator control load system；

VIth, choose more than four groups different simulated flight tasks, be simulated the input of device control load system stick force respectively Output data, obtains the stick force displacement curve of actual load aircraft；

VIIth, input related data, a kind of evaluation method of the simulator stick force fidelity of simulation set up according to step II makes Comprehensive evaluation index：

$J_T=[1+{\left(\frac{T_{\mathrm{cp}}}{{\hat{T}}_{\mathrm{cp}}}\right)}^2+{\left(\frac{T_{\mathrm{cr}}}{{\hat{T}}_{\mathrm{cr}}}\right)}^2+{\left(\frac{T_{\mathrm{cy}}}{{\hat{T}}_{\mathrm{cy}}}\right)}^2]J_E$

Obtain simulator control load system stick force fidelity of simulation result；

VIIIth, the flight simulator stick force fidelity of simulation evaluating apparatus of present invention design and simulator stick force used are utilized The evaluation result of the evaluation method of fidelity of simulation, with pilot's subjective assessment as two groups of sampled datas correlation coefficient r_xy, Come to evaluate the present invention design evaluating apparatus and simulator stick force fidelity of simulation used evaluation method reasonability and can By property, described correlation coefficient r_xyComputing formula is：

$r_{\mathrm{xy}}=l_{\mathrm{xy}}/\sqrt{l_{\mathrm{xx}}{l}_{\mathrm{yy}}}$

Wherein,

$l_{\mathrm{xy}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}(x_i-\stackrel{\‾}{x})(y_i-\stackrel{\‾}{y});$

$l_{\mathrm{xx}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{(x_i-\stackrel{\‾}{x})}^2;$

$l_{\mathrm{yy}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{(y_i-\stackrel{\‾}{y})}^2$

$\stackrel{\‾}{x}=\frac{1}{n}\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{x}_i$

$\stackrel{\‾}{y}=\frac{1}{n}\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{y}_i$

x_i, y_iIt is two groups of sampled datas respectively；

,It is the mean value of corresponding two groups of sampled datas respectively；

r_xy=0 is completely uncorrelated；Work as r_xyMore related closer to 1, two group of data；r_xy=1 is perfectly correlated.

Beneficial effect：The invention provides flight simulator stick force fidelity of simulation evaluating apparatus method for designing.This design The flight simulator stick force fidelity of simulation evaluating apparatus that method obtains, can be with quantitative assessment airborne simulation control load system Stick force fidelity of simulation.By the data that 14 groups of tests are obtained, use correlation coefficient r_xyComputing formula calculate, obtain this The bright evaluation result of flight simulator stick force fidelity of simulation evaluation method and the correlation coefficient r of pilot's subjective assessment_xy= 0.91, and draw correlation curve.From the point of view of result of the test, the flight simulator stick force fidelity of simulation evaluating apparatus of the present invention set The device that meter method obtains is used for flight simulator stick force fidelity of simulation evaluation and the subjective assessment of pilot achieves quite Good uniformity is it was demonstrated that the flight simulator stick force fidelity of simulation evaluating apparatus method for designing of the present invention is reasonability and reliability 's.The model parameter of the method is easy to change.The device that therefore this method for designing obtains, is also applied to automobile driving simulator The overall merit of steering wheel operating power fidelity of simulation.

Brief description

Fig. 1 is the schematic block of flight simulator stick force fidelity of simulation evaluating apparatus that obtains of method for designing of the present invention Figure.

Fig. 2 is certain type helicopter stick force displacement curve in the present invention.

Fig. 3 is the flight simulator stick force fidelity of simulation evaluating apparatus being obtained using the method for designing of the present invention to certain type Helicopter Simulator control load system carries out evaluation result and carries out subjective evaluation using pilot to control load system Result correlation curve.

Fig. 4 is the model H with regard to linear acceleration for the vestibular model unit (11)_vesThe schematic diagram of (s).

Fig. 5 is the schematic diagram with regard to the model of angular speed for the vestibular model unit (11).

Specific embodiment

Below in conjunction with the accompanying drawings, as a example subordinate list and certain type Helicopter Simulator, the invention will be further described.

Embodiment 1 flight simulator stick force fidelity of simulation evaluating apparatus method for designing, comprises the steps and condition：

Ith, flight simulator stick force fidelity of simulation evaluating apparatus are designed；

As shown in figure 1, the flight simulator stick force fidelity of simulation evaluating apparatus of design include：Manipulate control input unit 1st, tested control load system unit 2, computer 3, tester 4, simulated flight TU task unit 5, pilot guidance control strategy Model unit 6, nominal stick force displacement curve unit 7, aircraft dynamics model unit 8, visual experience model unit 9, aircraft are empty Between position units 10, vestibular model unit 11, movement velocity, acceleration unit 12 and wash out model unit 13；

Described manipulation control input unit 1, tested control load system unit 2, computer 3, tester 4 sequentially connect Connect；Simulated flight TU task unit 5, pilot guidance control strategy model unit 6, nominal stick force displacement unit 7, aircraft dynamics Model unit 8 is sequentially connected with, and pilot guidance control strategy model unit 6 is also connected with tested control load system unit 2；Fly Dynamics model unit 8 and aircraft space position units 10, wash out model unit 13 and be connected respectively；Aircraft space position units 10 are connected with visual experience model unit 9；Visual experience model unit 9 is also with pilot guidance control strategy model unit 6 even Connect；Wash out model unit 13 to be sequentially connected with vestibular model unit 11, movement velocity, acceleration unit 12；Vestibular model unit 11 are also connected with pilot guidance control strategy model unit 6；

After determining the aerial mission of simulated flight TU task unit 5, this aerial mission is as pilot guidance control strategy mould The input of type unit 6, resolves through pilot guidance control strategy model unit 6 and obtains steering force, export to nominal stick force displacement Unit 7, nominal stick force displacement unit 7 output manipulation is displaced to aircraft dynamics model unit 8, through aircraft dynamics model unit 8 calculate aircraft space position, are input to aircraft space position units 10 and export visual experience model unit 9 again；Aircraft moves Mechanical model unit 8 is by resolving the aircraft linear acceleration obtaining, the aircraft overload signal such as angular speed exports and washes out model unit 13, obtain simulator kinematic system linear acceleration and angular speed through washing out after model unit 13 resolves, result is given motion angle Speed, linear acceleration unit 12, export to vestibular model unit 11 through angular velocity of satellite motion, linear acceleration unit 12, pilot grasps Vertical control strategy model unit 6 is according in visual experience model unit 9, vestibular model unit 11, simulated flight TU task unit 5 Hold and carry out next step decision-making；

IIth, the flight simulator stick force fidelity of simulation evaluating apparatus based on design, set up a kind of flight simulator stick force The comprehensive evaluation index model that fidelity of simulation evaluation method uses, is stored in computer 3, including：

1. consider that stick force follows the tracks of the error criterion of quality：

$J_{e1}={\∫}_0^{t_n}{\left[\frac{f_p\left(t\right)-f_{\mathrm{pcl}}\left(t\right)}{E_{\mathrm{pf}}}\right]}^2+{\left[\frac{f_r\left(t\right)-f_{\mathrm{rcl}}\left(t\right)}{E_{\mathrm{rf}}}\right]}^2+{\left[\frac{f_y\left(t\right)-f_{\mathrm{ycl}}\left(t\right)}{E_{\mathrm{yf}}}\right]}^2\mathrm{dt}$

In formula, f_p(t),f_r(t),f_yT () is the expectation stick force of pitching, inclination, yaw direction respectively, f_pcl(t),f_rcl (t),f_yclT () is the pitching of control load system, inclination, the actual stick force of yaw direction, E during test respectively_pf,E_rf,E_yfPoint It is not the error criterion threshold value of pitching, inclination, yaw direction stick force, t_nTest period；

2. consider stick force deflection error index：

J_e2Value is 3,2,1,0；Expect the perceived amount that stick force direction and actual stick force direction are same or below people, direction Error J_e2Take zero, otherwise, take 1.This index comprises pitching, inclination, three passage stick force deflection errors of driftage；When pitching, inclination, Three expectation stick force of driftage and control load system corresponding actual stick force direction during test all unanimously when, J_e2=0；When two phases Hope stick force and control load system corresponding actual stick force direction during test all unanimously when, J_e2=1；When an expectation stick force and examination When testing, control load system is when actual stick force direction is all consistent accordingly, J_e2=2；When all differing, J_e2=3；

3. overall error index：

Take the weighted average of two error criterions, obtain overall error

$J_E=\sqrt{\frac{W_1{J}_{e1}+W_2{J}_{e2}}{W_1+W_2}}$

In formula, W_i, i=1,2；For weighted value；

4. comprehensive evaluation index model:

$J_T=[1+{\left(\frac{T_{\mathrm{cp}}}{{\hat{T}}_{\mathrm{cp}}}\right)}^2+{\left(\frac{T_{\mathrm{cr}}}{{\hat{T}}_{\mathrm{cr}}}\right)}^2+{\left(\frac{T_{\mathrm{cy}}}{{\hat{T}}_{\mathrm{cy}}}\right)}^2]J_E$

In formula,It is control load system pitching, inclination, three channel position steps of driftage respectively Response rise time and its threshold value；

IIIth, determine the stick force data mated with simulator control load system, actual stick force data is by flight mould Intend what the force snesor in the tested control load system unit 2 of device stick force fidelity of simulation evaluating apparatus obtained；Tested manipulation The input displacement of load system unit 2 is that pilot guidance control strategy model unit 6 exports；

IVth, the kinetic model of aircraft in flight simulator stick force fidelity of simulation evaluating apparatus, i.e. aircraft power are determined Learn model unit 8 in kinetic model be:

$\left[\begin{array}{c}\stackrel{\·}{p}\\ \stackrel{\·}{v}\\ \stackrel{\·}{\mathrm{\φ}}\\ \stackrel{\·}{r}\end{array}\right]=\left[\begin{array}{cccc}{L}_p& 0& 0& 0\\ 0& Y_v& g& 0\\ 1& 0& 0& 0\\ 0& 0& 0& N_r\end{array}\right]\left[\begin{array}{c}p\\ v\\ \mathrm{\φ}\\ r\end{array}\right]+\left[\begin{array}{cc}{L}_{\mathrm{\δc}}& 0\\ 0& 0\\ 0& 0\\ 0& N_{\mathrm{\δe}}\end{array}\right]\left[\begin{array}{c}{\mathrm{\δ}}_{\mathrm{lat}}\\ {\mathrm{\δ}}_r\end{array}\right]$

$\left[\begin{array}{c}\stackrel{\·}{u}\\ \stackrel{\·}{w}\\ \stackrel{\·}{\mathrm{\θ}}\\ \stackrel{\·}{q}\end{array}\right]=\left[\begin{array}{cccc}{X}_u& 0& 0& -g\\ 0& Z_w& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& M_q\end{array}\right]\left[\begin{array}{c}u\\ w\\ \mathrm{\θ}\\ q\end{array}\right]+\left[\begin{array}{cc}0& 0\\ Z_{\mathrm{\δc}}& 0\\ 0& 0\\ 0& M_{\mathrm{\δe}}\end{array}\right]\left[\begin{array}{c}{\mathrm{\δ}}_c\\ {\mathrm{\δ}}_{\mathrm{longi}}\end{array}\right]$

In above-mentioned model, the aircraft space position of aircraft dynamics model unit 8 output is aircraft space position units 10 input；Aircraft dynamics model unit 8 also exports the linear acceleration of the instantaneous overload of aircraft, and angular speed waits until to wash out model Unit 13；

Vth, determine the manipulation control strategy model mating with simulator control load system：

Using the kinetic model of aircraft and the aerial mission data of simulated flight TU task unit 5, carry out flight simulator The debugging that stick force fidelity of simulation evaluating apparatus are mated with simulator control load system, determines and simulator control load system The manipulation control strategy model of coupling；The operator that is stored with pilot guidance control strategy model unit 6 manipulates and controls plan Slightly Mathematical Modeling is as follows：

$H_{\mathrm{co}}=\frac{w_{\mathrm{visP}}{H}_{\mathrm{visP}}\left(s\right)+w_{\mathrm{visR}}{H}_{\mathrm{visR}}\left(s\right)}{1+w_{\mathrm{ves}}{H}_{\mathrm{ves}}\left(s\right)}{K}_1{e}^{-{\mathrm{\τ}}_{1}s}$

In formula, H_ves(s),H_visP(s),H_visRS () is vestibular model respectively, visual experience model, nervous centralis model； w_visP,w_visR,w_ves, it is corresponding weight coefficient respectively；It is neural decision system model；τ₁It is time delay；Wherein, vestibular Model unit 11 is with regard to the model H of linear acceleration (specific force)_ves(s), as shown in Figure 4；

Vestibular model unit 11 with regard to the model of angular speed, as shown in Figure 5；

Visual experience model unit 9 is：

$H_{\mathrm{visP}}\left(s\right)=\frac{s^3}{(s^2+0.32s+0.0225)(s+0.01)}{e}^{-0.01s}$

Nervous centralis model in pilot guidance control strategy model unit 6 is:

$H_{\mathrm{visP}}\left(s\right)=\frac{1}{s+0.732}$

Neural decision system model in pilot guidance control strategy model unit 6:

$K_1{e}^{-{\mathrm{\τ}}_{1}s}=e^{-0.02s}$

Corresponding weight coefficient w_visP=0.15, w_visR=0.35, w_ves=0.5；

The motion washing out in model unit 13 of moving washes out model and is：

$W\left(s\right)=\frac{0.7s^2}{s^2+0.8s+4.0}$

VIth, choose more than four groups different simulated flight tasks, be simulated device control load system stick force input and output number According to record, obtain actual load aircraft stick force displacement curve；

Three channel position step response rise time of Helicopter Simulator control load system and its threshold value are respectively For:0.92,0.93,0.8,1,1,1；

Stick force error criterion threshold value E_pf=0.1, E_rf=0.1, E_yf=0.1,

Test period t_n=600,

The weighting W of error criterion₁=0.3, W₂=0.7；

Table 1 simulated flight task list

Sequence number	Subject
		1	Traffic patter
2	Land in five sides
		3	Rolling start
4	Zigzag maneuvering flight
		5	Longitudinal acceleration and deceleration flight
6	Deceleration under vertical overload accelerates
		7	Shortest time turns
8	Spiral
		9	Helicopter hovers
10	From little speed to big speed
		11	The system failure

VIIth, input related data, a kind of evaluation method of the simulator stick force fidelity of simulation set up according to step II makes Comprehensive evaluation index：

$J_T=[1+{\left(\frac{T_{\mathrm{cp}}}{{\hat{T}}_{\mathrm{cp}}}\right)}^2+{\left(\frac{T_{\mathrm{cr}}}{{\hat{T}}_{\mathrm{cr}}}\right)}^2+{\left(\frac{T_{\mathrm{cy}}}{{\hat{T}}_{\mathrm{cy}}}\right)}^2]J_E$

Obtain simulating control load system stick force fidelity result.

VIIIth, the flight simulator stick force fidelity of simulation evaluating apparatus of present invention design and simulator stick force used are utilized The evaluation result of the evaluation method of fidelity of simulation, with pilot's subjective assessment as two groups of sampled datas correlation coefficient r_xy, Come to evaluate the present invention design evaluating apparatus and simulator stick force fidelity of simulation used evaluation method reasonability and can By property, correlation coefficient r_xyComputing formula is stored in computer 3, described correlation coefficient r_xyComputing formula is：

Correlation coefficient r_xyComputing formula is：

$r_{\mathrm{xy}}=l_{\mathrm{xy}}/\sqrt{l_{\mathrm{xx}}{l}_{\mathrm{yy}}}$

Wherein,

$l_{\mathrm{xy}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}(x_i-\stackrel{\‾}{x})(y_i-\stackrel{\‾}{y});$

$l_{\mathrm{xx}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{(x_i-\stackrel{\‾}{x})}^2;$

$l_{\mathrm{yy}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{(y_i-\stackrel{\‾}{y})}^2$

$\stackrel{\‾}{x}=\frac{1}{n}\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{x}_i$

$\stackrel{\‾}{y}=\frac{1}{n}\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{y}_i$

x_i, y_iIt is two groups of sampled datas respectively；

,It is the mean value of corresponding two groups of sampled datas respectively；

r_xyIt is two groups of data coefficient correlations.

r_xy=0 is completely uncorrelated；Work as r_xyMore related closer to 1, two group of data；r_xy=1 is perfectly correlated.

By the data that 14 groups of tests are obtained, use correlation coefficient r_xyComputing formula calculates, using the design of the present invention The flight simulator stick force fidelity of simulation evaluating apparatus evaluation result that method obtains and the coefficient correlation of pilot's subjective assessment r_xy=0.91, and draw correlation curve.From the point of view of result of the test, both achieve goodish uniformity it was demonstrated that the present invention Flight simulator stick force fidelity of simulation evaluating apparatus method for designing is reasonability and reliable.

Claims (1)

1. flight simulator stick force fidelity of simulation evaluating apparatus method for designing is it is characterised in that comprise the steps：

Ith, a kind of flight simulator stick force fidelity of simulation evaluating apparatus are designed：This device includes manipulating control input unit（1）、 Tested control load system unit（2）, computer（3）, tester（4）It is sequentially connected with；Simulated flight TU task unit（5）, flight Member manipulates control strategy model unit（6）, nominal stick force displacement unit（7）, aircraft dynamics model unit（8）It is sequentially connected with, Pilot guidance control strategy model unit（6）Also with tested control load system unit（2）Connect；Aircraft dynamics model list Unit（8）With aircraft space position units（10）, wash out model unit（13）Connect respectively；Aircraft space position units（10）With regard Feel and experience model unit（9）Connect；Visual experience model unit（9）Also with pilot guidance control strategy model unit（6）Even Connect；Wash out model unit（13）With vestibular model unit（11）, angular velocity of satellite motion, linear acceleration unit（12）It is sequentially connected with；Before Front yard model unit (11) is also connected with pilot guidance control strategy model unit (6)；

Determine simulated flight TU task unit（5）Aerial mission after, this aerial mission is as pilot guidance control strategy model Unit（6）Input, through pilot guidance control strategy model unit（6）Resolving obtains steering force, exports to nominal stick force position Move unit（7）, nominal stick force displacement unit（7）Output manipulation is displaced to aircraft dynamics model unit（8）, through aircraft dynamics Model unit（8）Calculate aircraft space position, be input to aircraft space position units（10）Export visual experience model again Unit（9）；Aircraft dynamics model unit（8）By resolving, the aircraft linear acceleration obtaining, angular speed export and wash out model list Unit（13）, through washing out model unit（13）Obtain simulator kinematic system linear acceleration and angular speed after resolving, result is given Angular velocity of satellite motion, linear acceleration unit（12）, through angular velocity of satellite motion, linear acceleration unit（12）Export to vestibular model unit （11）, pilot guidance control strategy model unit（6）According to visual experience model unit（9）, vestibular model unit（11）, mould Intend aerial mission unit（5）Carry out next step decision-making；Based on flight simulator stick force fidelity of simulation evaluating apparatus, set up a kind of The comprehensive evaluation index model that flight simulator stick force fidelity of simulation evaluation method uses, is stored in computer（3）In；

Comprehensive evaluation index model:

Formula（1）In,It is control load system pitching, inclination, three channel positions of driftage respectively Step response rise time and its threshold value；

IIth, set up a kind of comprehensive evaluation index model of flight simulator stick force fidelity of simulation evaluation method use to include：

Stick force tracking error index：

Formula（2）In,It is the expectation stick force of pitching, inclination, yaw direction respectively,It is the pitching of control load system, inclination, the actual stick force of yaw direction during test respectively,It is the error criterion threshold value of pitching, inclination, yaw direction stick force respectively,Test period；

2. stick force deflection error index：

Value is 3,2,1,0；This stick force deflection error index comprises pitching, inclination, three passage stick force directions of driftage by mistake Difference；When pitching, inclination, three expectation stick force of driftage are respectively with test, the corresponding actual stick force direction of control load system is consistent When,=0；When two expectation stick force are respectively with test, the corresponding actual stick force direction of control load system is consistent,= 1；When an expectation stick force with when testing, the corresponding actual stick force direction of control load system is consistent when,=2；When pitching, incline Tiltedly, when three expectation stick force of driftage are all differed with control load system corresponding actual stick force direction during test,=3；

3. overall error index：

Take stick force tracking error index and the weighted average of stick force two error criterions of deflection error index, obtain overall error

Formula（3）In,For weighted value；

4. comprehensive evaluation index:

Formula（4）In,It is control load system pitching, inclination, three channel positions of driftage respectively Step response rise time and its threshold value；

IIIth, determine the stick force data mated with simulator control load system, actual stick force data is by flight simulator The tested control load system unit of stick force fidelity of simulation evaluating apparatus（2）In force snesor obtain；Tested manipulation is born G system unit（2）Input displacement be pilot guidance control strategy model unit（6）The displacement of output；

IVth, determine the dynamics in the aircraft dynamics model unit (8) of flight simulator stick force fidelity of simulation evaluating apparatus Model is:

The aircraft space position that aircraft dynamics model unit (8) exports is the input of aircraft space position units (10)；Aircraft Kinetic model unit (8) also exports aircraft linear acceleration, angular speed to washing out model unit (13)；

Vth, determine the manipulation control strategy model mating with simulator control load system：

Using the kinetic model of aircraft and the aerial mission data of simulated flight TU task unit (5), carry out flight simulator bar The debugging that power fidelity of simulation evaluating apparatus are mated with simulator control load system, determines and simulator control load system The manipulation control strategy model joined；The operator that is stored with pilot guidance control strategy model unit (6) manipulates and controls plan Slightly Mathematical ModelingFormula（5）：

Formula（5）In,,,It is vestibular model unit respectively, visual experience mould

Type unit, nervous centralis model unit；It is corresponding weight coefficient respectively；It is god Through decision system model；It is time delay；

Wherein, vestibular model unit (11) with regard to the model of linear acceleration is：

t_A,t_L,t_sIt is the time constant of linear acceleration model respectively；

d_THIt is the time delay of linear acceleration model；

Vestibular model unit (11) with regard to the model of angular speed is：

T_L,T_S,T_aIt is the time constant of angular speed model respectively；

e_THIt is the time delay of angular speed model；

Visual experience model unit (9) is formula（6）：

Nervous centralis model is formula（7）:

Neural decision system model is formula（8）:

Corresponding weight coefficient

It is formula that the motion washing out in model unit (13) of moving washes out model（9）：

VIth, choose traffic patter, landing in five sides, vertical transships that lower deceleration accelerates and longitudinal acceleration and deceleration are flown four groups and different simulated Aerial mission, is simulated device control load system stick force inputoutput data record, obtains actual load aircraft stick force displacement curve；

VIIth, input related data, a kind of evaluation method use of the simulator stick force fidelity of simulation set up according to step II Comprehensive evaluation index：

Obtain simulating control load system stick force fidelity result；

VIIIth, the evaluation result that flight simulator stick force fidelity of simulation evaluating apparatus obtain, with pilot's subjective assessment as two Group sampled data, using the coefficient correlation of this two groups of data, to evaluate reasonability and the reliability of the evaluating apparatus of design, related Coefficient formulas are stored in computer（3）In, the computing formula of coefficient correlation is formula（10）：

Wherein,

；

；

It is two groups of sampled datas respectively；

It is the sampled data that evaluating apparatus evaluation and pilot evaluate respectively；

, it is the mean value of corresponding two groups of sampled datas respectively；

=0, two groups of data are completely uncorrelated；WhenMore related closer to 1, two group of data；=1, the complete phase of two groups of data Close.