CN104332081A - Method for evaluating flight simulator stick force simulation fidelity - Google Patents

Abstract

The invention provides a method for evaluating the flight simulator stick force simulation fidelity. According to the method for evaluating the flight simulator stick force simulation fidelity, flight simulator stick force simulation fidelity results are obtained through a built comprehensive evaluation index model (please see the specification for the formula), wherein the flight simulator stick force simulation fidelity results comprise error indicators of stick force tracking numerical values and weighted averages of the stick forced direction error indicator; the comprehensive evaluation index model is built and stored in a computer; stick force data are determined; an airplane kinetic model is determined; a steering control strategy model is determined; more than four sets of simulated flight tasks are taken, and a simulator control load system stick force displacement curve is obtained through a device for evaluating the flight simulator stick force simulation fidelity; and the correlation coefficient R<xy> of evaluation results and aviator subjective evaluation results is equal to 0.867, and the coincidence of subjective evaluation and objective evaluation is obtained. It is proved that the method is reasonable and reliable. The evaluating method can be further used for evaluating the automobile driving simulator steering wheel control force simulation fidelity.

Description

The evaluation method of flight simulator stick force fidelity of simulation

Technical field

The present invention relates to flight simulation field, flight simulator stick force fidelity of simulation evaluation method, for evaluating the fidelity of Control Loading System of Flight Simulator stick force simulation, solves the stick force fidelity of simulation subjective assessment of Control Loading System of Flight Simulator and the inconsistent difficult problem of objective evaluation.

Background technology

Control load system is one of system on the important machine of aircraft, and it determines possibility and the flight safety of aircraft utilization to a great extent.During state of flight change, the change of control load system stick force than bar change in displacement more easily experience by pilot, therefore, stick force fidelity of simulation is one of key factor affecting flight simulator practicality, directly affects simulator training effect.

Because the stick force fidelity of simulation of flight simulator is by various factors, make it study and evaluate intricate, so, also do not find out the good method of generally acknowledged objective quantitative stick force fidelity of simulation up to now, the subjective assessment of operator occupies an important position in the research of simulator stick force fidelity of simulation always, and as checking the ultimate criterion of simulator stick force fidelity of simulation.At present, from the domestic and foreign literature that sci-tech novelty-search retrieves, mainly study the control design case of control load system stick force and variation characteristic thereof, and not to the method that stick force fidelity of simulation is evaluated.In practical application, the subjective assessment of operator occupies critical role in the stick force fidelity of simulation evaluation of simulator always, and be exactly by testing the performance index amount of simulator control load system about simulator stick force fidelity of simulation method for objectively evaluating, be a kind of quantitatively objective appraisal.But standard is different with simulator control load system is different.Due to subjective assessment be simulator operator handle according to certain task time, to the evaluation of the stick force that simulator control load system provides.At this moment evaluate and not only depend on simulator control load system itself, also depend on the behavioural characteristic of operator, requirement etc. to task; And objective evaluation does not have the participation of operator, so often there is main, that objective evaluation is inconsistent phenomenon.In fact, simulator stick force fidelity of simulation is included in the interaction of people-simulator, and operator plays considerable effect in simulator is handled.

Summary of the invention

In order to solve the inconsistent problem of flight simulator stick force fidelity of simulation master, objective evaluation, the invention provides the evaluation method of flight simulator stick force fidelity of simulation.

The present invention, by setting up comprehensive evaluation index, utilizes people-simulator Control loop model equipment quantitative objective evaluation stick force fidelity of simulation, for Simulation device control load system stick force fidelity of simulation provides a kind of effectively evaluating method.

Step and the condition of the evaluation method of flight simulator stick force fidelity of simulation of the present invention are as follows:

I, flight simulator stick force fidelity of simulation evaluating apparatus is set up; The device of preferred embodiment 1;

II, based on row simulator stick force fidelity of simulation evaluating apparatus, set up the comprehensive evaluation index model that a kind of flight simulator stick force fidelity of simulation evaluation method uses, store in a computer, comprising:

1. consider that stick force follows the tracks of the error criterion of quality; 2. stick force deflection error index is considered; 3. total 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, T _cp, T _cr, T _cy, control load system pitching, inclination, three channel position step response rise time of driftage and threshold value thereof respectively;

III, determine the stick force data of mating with simulator control load system, actual stick force data are obtained by the force snesor in the nominal stick force displacement unit of flight simulator stick force fidelity of simulation evaluating apparatus; The input displacement of tested manipulation control load system unit is the output of pilot guidance control strategy model unit;

IV, the kinetic model of aircraft in flight simulator stick force fidelity of simulation evaluating apparatus is determined;

V, the maneuvering and control Policy model mated with simulator control load system is determined;

VI, choose more than four groups different simulated flight tasks, carry out the inputoutput data of simulator control load system stick force respectively, obtain the stick force displacement curve of actual load aircraft;

VII, related data is inputted, the comprehensive evaluation index according to the evaluation method of a kind of simulator stick force fidelity of simulation of step II foundation uses:

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

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

VIII, utilize the evaluation result of the evaluation method of simulator stick force fidelity of simulation of the present invention and pilot's subjective assessment as the correlation coefficient r of two groups of sampled datas _xy, evaluate rationality and the reliability of the evaluation method of simulator stick force fidelity of simulation of the present invention, described correlation coefficient r _xycomputing formula is:

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

Wherein,

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

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

$l_{\mathrm{yy}}=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{(y_i-\stackrel{\&OverBar;}{y})}^2$

$\stackrel{\&OverBar;}{x}=\frac{1}{n}\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{x}_i$

$\stackrel{\&OverBar;}{y}=\frac{1}{n}\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{y}_i$

X _i, y _itwo groups of sampled datas respectively;

the mean value of two groups of corresponding sampled datas respectively;

R _xy=0 is completely uncorrelated; Work as r _xymore close to 1, two groups of data are more relevant; r _xy=1 is completely relevant.

Beneficial effect: the invention provides the evaluation method of flight simulator stick force fidelity of simulation and the device of use, can quantitative evaluation airborne simulation control load system stick force fidelity of simulation.By testing to 14 groups the data obtained, use correlation coefficient r _xycomputing formula calculates, the evaluation result of flight simulator stick force fidelity of simulation evaluation method of the present invention obtained and the correlation coefficient r of pilot's subjective assessment _xy=0.867, and draw correlation curve.From test findings, the evaluation result of flight simulator stick force fidelity of simulation evaluation method of the present invention and the subjective assessment of pilot achieve goodish consistance, prove that flight simulator stick force fidelity of simulation evaluation method of the present invention is that rationality is with reliably.

The present invention is applicable to the objective comprehensive evaluation of Control Loading System of Flight Simulator stick force fidelity of simulation, and the model parameter of the method is easy to amendment.Therefore also may be used on the comprehensive evaluation of automobile driving simulator steering wheel operating power fidelity of simulation.

Accompanying drawing explanation

Fig. 1 is the schematic block diagram of flight simulator stick force fidelity of simulation evaluating apparatus of the present invention.

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

Fig. 3 utilizes evaluation method in the present invention carry out evaluation result to certain type Helicopter Simulator control load system and utilize pilot to carry out subjective evaluation result correlation curve to control load system.

Fig. 4 is the model H of vestibular model unit (11) about linear acceleration _vesthe schematic diagram of (s).

Fig. 5 is the schematic diagram of vestibular model unit (11) about the model of angular velocity.

Embodiment

Be example below in conjunction with accompanying drawing, subordinate list and certain type Helicopter Simulator, the invention will be further described.

The evaluation method of embodiment 1 flight simulator stick force fidelity of simulation, comprises the steps and condition:

I, a kind of flight simulator stick force fidelity of simulation evaluating apparatus is set up

As shown in Figure 1, flight simulator stick force fidelity of simulation evaluating apparatus comprises: maneuvering and control input block 1, tested control load system unit 2, computing machine 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 space position units 10, vestibular model unit 11, movement velocity, acceleration unit 12 and wash out model unit 13;

Described maneuvering and control input block 1, tested control load system unit 2, computing machine 3, tester 4 connect in turn; Simulated flight TU task unit 5, pilot guidance control strategy model unit 6, nominal stick force displacement unit 7, aircraft dynamics model unit 8 connect in turn, and pilot guidance control strategy model unit 6 is also connected with tested control load system unit 2; Aircraft dynamics model unit 8 and aircraft space position units 10, wash out model unit 13 and be connected respectively; Aircraft space position units 10 is connected with visual experience model unit 9; Visual experience model unit 9 is also connected with pilot guidance control strategy model unit 6; Wash out model unit 13 to be connected in turn with vestibular model unit 11, movement velocity, acceleration unit 12; Vestibular model unit 11 is 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 the input of pilot guidance control strategy model unit 6, resolve through pilot guidance control strategy model unit 6 and obtain steering force, export nominal stick force displacement unit 7 to, nominal stick force displacement unit 7 exports manipulation and is displaced to aircraft dynamics model unit 8, calculate aircraft space position through aircraft dynamics model unit 8, be input to aircraft space position units 10 and output to visual experience model unit 9 again; Aircraft dynamics model unit 8 outputs to wash out model unit 13 by resolving the aircraft overload signal such as aircraft linear acceleration, angular velocity obtained, simulator kinematic system linear acceleration and angular velocity is obtained through washing out after model unit 13 resolves, result is given angular velocity of satellite motion, linear acceleration unit 12, export vestibular model unit 11 to through angular velocity of satellite motion, linear acceleration unit 12, pilot guidance control strategy model unit 6 carries out next step decision-making according to the content of visual experience model unit 9, vestibular model unit 11, simulated flight TU task unit 5;

II, based on row simulator stick force fidelity of simulation evaluating apparatus, set up the comprehensive evaluation index model that a kind of flight simulator stick force fidelity of simulation evaluation method uses, be stored in computing machine 3, comprise:

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

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

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 _yclthe actual stick force of the pitching of control load system when () is test respectively t, inclination, yaw direction, E _pf, E _rf, E _yfthe error criterion threshold value of pitching, inclination, yaw direction stick force respectively, t _ntest period;

2. stick force deflection error index is considered:

J _e2value is 3,2,1,0; Expect that stick force direction is identical with actual stick force direction or lower than the perceived amount of people, deflection error J _e2get zero, otherwise, get 1.This index comprises pitching, inclination, driftage three passage stick force deflection errors; When the actual stick force direction that control load system is corresponding when pitching, inclination, driftage three are expected stick force and test is all consistent, J _e2=0; When the actual stick force direction that control load system is corresponding when expecting stick force and test for two is all consistent, J _e2=1; When the actual stick force direction that control load system is corresponding when expecting stick force and test for is all consistent, J _e2=2; Time all not identical, J _e2=3;

3. total error index:

Get the weighted mean value of two error criterions, obtain total 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, T _cp, T _cr, T _cy, control load system pitching, inclination, three channel position step response rise time of driftage and threshold value thereof respectively;

III, determine the stick force data of mating with simulator control load system, actual stick force data are obtained by the force snesor in the tested control load system unit 2 of flight simulator stick force fidelity of simulation evaluating apparatus; The input displacement of tested control load system unit 2 is that pilot guidance control strategy model unit 6 exports;

IV, determine the kinetic model of aircraft in flight simulator stick force fidelity of simulation evaluating apparatus, the kinetic model namely in aircraft dynamics model unit 8 is:

$\left[\begin{array}{c}\stackrel{\&CenterDot;}{p}\\ \stackrel{\&CenterDot;}{v}\\ \stackrel{\&CenterDot;}{\mathrm{\&phi;}}\\ \stackrel{\&CenterDot;}{r}\end{array}\right]=\left[\begin{array}{cccc}{L}_p& 0& 0& 0\\ 0& Y_v& g& 0\\ 1& 0& 0& 0\\ 0& 0& 0& N_r\end{array}\right]\left[\begin{array}{c}p\\ v\\ \mathrm{\&phi;}\\ r\end{array}\right]+\left[\begin{array}{cc}{L}_{\mathrm{\&delta;c}}& 0\\ 0& 0\\ 0& 0\\ 0& N_{\mathrm{\&delta;e}}\end{array}\right]\left[\begin{array}{c}{\mathrm{\&delta;}}_{\mathrm{lat}}\\ {\mathrm{\&delta;}}_r\end{array}\right]$

$\left[\begin{array}{c}\stackrel{\&CenterDot;}{u}\\ \stackrel{\&CenterDot;}{w}\\ \stackrel{\&CenterDot;}{\mathrm{\&theta;}}\\ \stackrel{\&CenterDot;}{q}\end{array}\right]=\left[\begin{array}{cccc}{X}_u& 0& 0& -g\\ 0& Z_w& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& M_q\end{array}\right]\left[\begin{array}{c}u\\ w\\ \mathrm{\&theta;}\\ q\end{array}\right]+\left[\begin{array}{cc}0& 0\\ Z_{\mathrm{\&delta;c}}& 0\\ 0& 0\\ 0& M_{\mathrm{\&delta;e}}\end{array}\right]\left[\begin{array}{c}{\mathrm{\&delta;}}_c\\ {\mathrm{\&delta;}}_{\mathrm{longi}}\end{array}\right]$

In above-mentioned model, the aircraft space position that aircraft dynamics model unit 8 exports is the input of aircraft space position units 10; Aircraft dynamics model unit 8 also exports the linear acceleration of the instantaneous overload of aircraft, and angular velocity is waited until and washed out model unit 13;

V, the maneuvering and control Policy model mated with simulator control load system is determined:

Utilize the kinetic model of aircraft and the aerial mission data of simulated flight TU task unit 5, carry out the debugging that flight simulator stick force fidelity of simulation evaluating apparatus mates with simulator control load system, determine the maneuvering and control Policy model mated with simulator control load system; Operator's maneuvering and control strategy mathematical model is stored as follows in pilot guidance control strategy model unit 6:

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

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, be corresponding weighting coefficient respectively; it is neural decision system model; τ ₁it is time delay; Wherein, vestibular model unit 11 is about the model H of linear acceleration (specific force) _vess () is: as shown in Figure 4;

Vestibular model unit 11 about the model of angular velocity is: 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:

$K_1{e}^{-{\mathrm{\&tau;}}_{1}s}=e^{-0.02s}$

Corresponding weighting coefficient w _visP=0.15, w _visR=0.35, w _ves=0.5;

The motion motion washed out in model unit 13 washes out model and is:

$W\left(s\right)=\frac{0.7s^2}{s^2+2.8s+4.0}$

VI, choose more than four groups different simulated flight tasks, carry out simulator control load system stick force inputoutput data record, obtain actual load aircraft stick force displacement curve;

Three channel position step response rise time of Helicopter Simulator control load system and threshold value thereof are respectively: 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 criterion ₁=0.3, W ₂=0.7;

Table 1 simulated flight task list

Sequence number	Subject
		1	Traffic patter
2	Land in five limits
		3	Rolling start
4	Serrate maneuvering flight
		5	Longitudinal acceleration and deceleration flight
6	Deceleration under vertical overload is accelerated
		7	Shortest time turns
8	Spiral
		9	Helicopter in hover
10	From little speed to large speed
		11	The system failure

VII, related data is inputted, the comprehensive evaluation index according to the evaluation method of a kind of simulator stick force fidelity of simulation of step II foundation uses:

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

Obtain simulation control load system stick force fidelity result.

VIII, utilize the evaluation result of the evaluation method of simulator stick force fidelity of simulation of the present invention and pilot's subjective assessment as the correlation coefficient r of two groups of sampled datas _xy, evaluate rationality and the reliability of the evaluation method of simulator stick force fidelity of simulation of the present invention, correlation coefficient r _xycomputing formula is stored in computing machine 3, described

Correlation coefficient r _xycomputing formula is:

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

Wherein,

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

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

$l_{\mathrm{yy}}=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{(y_i-\stackrel{\&OverBar;}{y})}^2$

$\stackrel{\&OverBar;}{x}=\frac{1}{n}\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{x}_i$

$\stackrel{\&OverBar;}{y}=\frac{1}{n}\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{y}_i$

X _i, y _itwo groups of sampled datas respectively;

the mean value of two groups of corresponding sampled datas respectively;

R _xytwo groups of data related coefficients.

R _xy=0 is completely uncorrelated; Work as r _xymore close to 1, two groups of data are more relevant; r _xy=1 is completely relevant.

By testing to 14 groups the data obtained, use correlation coefficient r _xycomputing formula calculates, the evaluation result of flight simulator stick force fidelity of simulation evaluation method of the present invention obtained and the correlation coefficient r of pilot's subjective assessment _xy=0.867, and draw correlation curve.From test findings, the evaluation result of flight simulator stick force fidelity of simulation evaluation method of the present invention and the subjective assessment of pilot achieve goodish consistance, prove that flight simulator stick force fidelity of simulation evaluation method of the present invention is that rationality is with reliably.

Claims (1)

1. the evaluation method of flight simulator stick force fidelity of simulation, it is characterized in that, being constructed as follows of a kind of flight simulator stick force fidelity of simulation evaluating apparatus used: maneuvering and control input block (1), tested control load system unit (2), computing machine (3), tester (4) connect in turn; 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) connect in turn, and pilot guidance control strategy model unit (6) is also connected with tested control load system unit (2); Aircraft dynamics model unit (8) and aircraft space position units (10), wash out model unit (13) and be connected respectively; Aircraft space position units (10) is connected with visual experience model unit (9); Visual experience model unit (9) is also connected with pilot guidance control strategy model unit (6); Wash out model unit (13) to be connected in turn with vestibular model unit (11), movement velocity, acceleration unit (12); Vestibular model unit (11) is 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 the input of pilot guidance control strategy model unit (6), resolve through pilot guidance control strategy model unit (6) and obtain steering force, export nominal stick force displacement unit (7) to, nominal stick force displacement unit (7) exports manipulation and is displaced to aircraft dynamics model unit (8), aircraft space position is calculated through aircraft dynamics model unit (8), be input to aircraft space position units (10) and output to visual experience model unit (9) again, aircraft dynamics model unit (8) will resolve the aircraft linear acceleration obtained, the aircraft overload signals such as angular velocity output to and wash out model unit (13), simulator kinematic system linear acceleration and angular velocity is obtained through washing out after model unit (13) resolves, angular velocity of satellite motion is given by result, linear acceleration unit (12), through angular velocity of satellite motion, linear acceleration unit (12) exports vestibular model unit (11) to, pilot guidance control strategy model unit (6) is according to visual experience model unit (9), vestibular model unit (11), the content of simulated flight TU task unit (5) carries out next step decision-making, based on flight simulator stick force fidelity of simulation evaluating apparatus, set up the comprehensive evaluation index model that a kind of flight simulator stick force fidelity of simulation evaluation method uses, be stored in computing machine (3),

Comprehensive evaluation index:

In formula, T _cp, T _cr, T _cy, control load system pitching, inclination, three channel position step response rise time of driftage and threshold value thereof respectively;

Step and the condition of the evaluation method of simulator stick force fidelity of simulation are as follows:

I, a kind of flight simulator stick force fidelity of simulation evaluating apparatus described in foundation;

II, based on row simulator stick force fidelity of simulation evaluating apparatus, set up the comprehensive evaluation index model that a kind of flight simulator stick force fidelity of simulation evaluation method uses, be stored in computing machine (3), comprise:

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

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 _yclthe actual stick force of the pitching of control load system when () is test respectively t, inclination, yaw direction, E _pf, E _rf, E _yfthe error criterion threshold value of pitching, inclination, yaw direction stick force respectively, t _ntest period;

2. stick force deflection error index is considered:

J _e2value is 3,2,1,0; Expect that stick force direction is identical with actual stick force direction or lower than the perceived amount of people, deflection error J _e2get zero, otherwise get 1, this index comprises pitching, inclination, driftage three passage stick force deflection errors; When the actual stick force direction that control load system is corresponding when pitching, inclination, driftage three are expected stick force and test is all consistent, J _e2=0; When the actual stick force direction that control load system is corresponding when expecting stick force and test for two is all consistent, J _e2=1; When the actual stick force direction that control load system is corresponding when expecting stick force and test for is all consistent, J _e2=2; Time all not identical, J _e2=3;

3. total error index:

Get the weighted mean value of two error criterions, obtain total error

In formula, W _i, i=1,2; For weighted value;

4. comprehensive evaluation index:

In formula, T _cp, T _cr, T _cy, control load system pitching, inclination, three channel position step response rise time of driftage and threshold value thereof respectively;

III, determine the stick force data of mating with simulator control load system, actual stick force data are obtained by the force snesor in the tested control load system unit (2) of flight simulator stick force fidelity of simulation evaluating apparatus; The input displacement of tested control load system unit (2) is that pilot guidance control strategy model unit (6) exports;

IV, determine the kinetic model of aircraft in flight simulator stick force fidelity of simulation evaluating apparatus, i.e. kinetic model in the aircraft dynamics model unit (8) of flight simulator stick force fidelity of simulation evaluating apparatus is:

In above-mentioned model, the aircraft space position that aircraft dynamics model unit (8) exports is the input of aircraft space position units (10); Aircraft dynamics model unit (8) also exports the linear acceleration of the instantaneous overload of aircraft, and angular velocity is waited until and washed out model unit (13);

V, the maneuvering and control Policy model mated with simulator control load system is determined:

Utilize the kinetic model of aircraft and the aerial mission data of simulated flight TU task unit (5), carry out the debugging that flight simulator stick force fidelity of simulation evaluating apparatus mates with simulator control load system, determine the maneuvering and control Policy model mated with simulator control load system; Operator's maneuvering and control strategy mathematical model is stored as follows in pilot guidance control strategy model unit (6):

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, be corresponding weighting coefficient respectively; it is neural decision system model; τ ₁it is time delay; Wherein, vestibular model unit 11 is about the model H of linear acceleration _vess () is: as shown in Figure 4;

Vestibular model unit 11 about the model of angular velocity is: as shown in Figure 5;

Visual experience model unit (9) is:

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

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

Corresponding weighting coefficient w _visP=0.15, w _visR=0.35, w _ves=0.5;

The motion motion washed out in model unit (13) washes out model and is:

VI, choose more than four groups different simulated flight tasks of table 1, carry out simulator control load system stick force inputoutput data record, obtain actual load aircraft stick force displacement curve;

Table 1 simulated flight task list

Sequence number Subject 1 Traffic patter 2 Land in five limits 3 Rolling start 4 Serrate maneuvering flight 5 Longitudinal acceleration and deceleration flight 6 Deceleration under vertical overload is accelerated 7 Shortest time turns 8 Spiral 9 Helicopter in hover 10 From little speed to large speed 11 The system failure

VII, related data is inputted, the comprehensive evaluation index according to the evaluation method of a kind of simulator stick force fidelity of simulation of step II foundation uses:

Obtain simulation control load system stick force fidelity result;

VIII, utilize the evaluation result of the evaluation method of flight simulator stick force fidelity of simulation and pilot's subjective assessment as the correlation coefficient r of two groups of sampled datas _xy, come rationality and the reliability of the evaluation method of Simulation device stick force fidelity of simulation, described correlation coefficient r _xycomputing formula is:

Wherein,

X _i, y _itwo groups of sampled datas respectively;

the mean value of two groups of corresponding sampled datas respectively;

R _xy=0 is completely uncorrelated; Work as r _xymore close to 1, two groups of data are more relevant; r _xy=1 is completely relevant.