CN105632271B - A kind of low-speed wind tunnel model flight tests ground simulation training system - Google Patents
A kind of low-speed wind tunnel model flight tests ground simulation training system Download PDFInfo
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Abstract
Ground simulation training system is tested the invention discloses a kind of low-speed wind tunnel model flight, including mixing console, air control center, computer real-time resolving system, visual system and sound system, the mixing console and visual system are connected to Ethernet, the Ethernet is connected with air control center and real-time resolving system, the real-time resolving system is the distributed real time computation system of multiprocessor interconnected by Reflective memory network, and the visual system connects the sound system.Simulated training system proposed by the invention realistically simulation model in interior experiment scene of the six degree of freedom without constrained flight of low-speed wind tunnel test section, can solve multiple pilots and carry out collaboration manipulation training problem simultaneously.
Description
Technical field
The invention belongs to flight simulation field, more particularly to a kind of low-speed wind tunnel model flight experiment ground surface simulated training
System.
Background technology
In large-sized low-speed wind tunnel model flight experiment, the manipulation and response of the model of an airplane have following feature：（1）
Due to using dynamic similarity scale model, compared with full-scale prototype flies, model dynamic response speed and prototype during experiment
Compared to greatly speeding up；（2）Six degree of freedom flight is carried out in wind tunnel experiment section, extremely limited space requires pilot's energy
The position of rapid Controlling model；（3）Motion due to pilot between observing and controlling by remote control prototypes, lacks and aircraft is transported
The perception of dynamic acceleration, this exacerbates pilot's lags in response to a certain extent；（4）Pilot not only wants the fortune of Controlling model
It is dynamic, also the stability and control under different control law structure and parameters is estimated.
These factors dictates pilot will have the reaction speed being exceedingly fast, and considerably increase flight control difficulty.Although flight
Manipulation task is broken down into 3 parts such as pitch control, driftage/roll guidance and thrust manipulation, is completed by 3 pilots' cooperations
The burden of flight manipulation can be reduced, the manipulation coordination problem between 3 people is still suffered from, with great challenge.
Therefore, before wind tunnel model flight experiment is carried out, it is necessary to carry out sufficient pilot training.Currently, this model
In flight experiment, because model flight manipulation characteristic and true aircraft gap are huge, the pilot of specialty can not be typically used, but
Manipulation tasks are completed with the flight control person of aeromodelling airplane.And for the training of this kind of flight control person, it is general to be existed using model plane
Aerial to carry out flight control training, not only risk is high for this method, and cost is high, and time is long, and manipulates environment, manipulates sense
Feel not consistent with wind tunnel model flight experiment scene, manipulation and the response characteristic and the model of experiment to be carried out of model plane are responded
Also it is inconsistent, it is impossible to which that realization is realistically trained；And flight simulator general at present, it is the simulation of single pilot driver
Device, it is impossible to realize the hormany operating training of 3 pilots, moreover, visual display is also single visual angle, it is impossible to simulate wind tunnel model
The different visual angles that different pilots are seen during flight test.
The content of the invention
In order to solve the above problems, the present invention proposes a kind of low-speed wind tunnel model flight experiment ground simulation training system,
Realistically in interior experiment scene of the six degree of freedom without constrained flight of low-speed wind tunnel test section, multiple flights can be solved by simulation model
Member carries out collaboration and manipulates training problem simultaneously.
To reach above-mentioned purpose, the technical solution adopted by the present invention is：
A kind of low-speed wind tunnel model flight tests ground simulation training system, including mixing console, air control center, meter
Calculation machine real-time resolving system, visual system and sound system, the mixing console and visual system are connected to Ethernet, institute
State Ethernet and be connected with air control center and real-time resolving system, the real-time resolving system is interconnected by Reflective memory network
Multiprocessor distribution real time computation system, the visual system connects the sound system；
The mixing console, is the operation control centre of ground surface simulated training system, is mainly used in the first of setting system
Beginning state, course of work control and monitoring and data record and playback, possess highest control authority in systems；
The air control center, is the input equipment of ground surface simulated training system, the man-machine friendship for carrying out aircraft operation
Mutually control, including at least one console；
The real-time resolving system, is the nucleus equipment of ground surface simulated training system, is Flight Control Law, aircraft mathematical modulo
Type develop and operation platform, be mainly used in completing manipulating that control signal is received, aircraft control law and aircraft mathematical modeling are resolved,
System is controlled and display driving；
The visual system, is the display output equipment of ground surface simulated training system, and processing is by real-time resolving system and comprehensive
The visual environment data of console offer are provided and the Real-time windows target image specified in viewpoint or specified field range is generated, can be simultaneously
Show the wind-tunnel scene of different visual angles；
The sound system, is the audio output apparatus of ground surface simulated training system, the various sound of real-time Simulation aircraft
Effect.
It is further that the air control center includes pitch control platform, rolling yaw control platform and thrust console.
It is further that the pitch control platform includes pitching display panel, pitching control stick and pitching operation knob；Institute
State the real-time display that pitching display panel is controlled instruction, the angle of attack and rate of pitch curve and instrument；The pitching is driven
Sailing bar and pitching operation knob is used to carry out pitch control to aircraft；The pitch control platform is used for pitch control person, is used for
Carry out the longitudinal human-computer interactive control of aircraft.
It is further that the driftage roll guidance platform includes driftage rolling display panel, driftage rolling control stick and matched somebody with somebody
Flat knob；The driftage rolling display panel is mainly used in the information of display reflection aircraft lateral attitude；The driftage rolling is driven
Sailing bar and trim knob is used to carry out aircraft driftage rolling control；Driftage roll guidance platform is used for rolling yaw control person,
For carrying out the horizontal human-computer interactive control of aircraft.
It is further that the thrust console is opened including thrust display panel, throttle lever and thrust control mode switch
Close；The thrust display panel is mainly used in display wind speed and thrust；The throttle lever and thrust control mode switch switch are used
In to aircraft progress thrust manipulation；Thrust console arch thrust operator uses, for carrying out thrust human-computer interactive control.
It is further that the real-time resolving system includes flight control computer and flight simulation machine, real-time resolving system is
The distributed computing fabric of multiprocessor, is interconnected by Reflective memory network；The flight control computer includes host computer and target machine,
The host computer realizes man-machine interaction as platform is designed and developed, and the target machine is used to run real-time code, the real-time solution
Calculation system uses computer simulation technique.
It is further that the visual system includes graphics workstation, fused controlling device, projector and semicolumn curtain, institute
State graphics workstation and receive the View Actuation data that real-time resolving system and mixing console are provided, the specified view angle of generation in real time
Image, the image of generation is sent to fused controlling device, the image of generation is allocated by fused controlling device and by projector
Picture is included on semicolumn curtain；The visual system utilizes virtual reality technology；
Wherein, the semicolumn curtain is divided into 3 parts, and 3 parts show the wind-tunnel scene of different visual angles respectively,
What wherein pitch control person and thrust operator faced is side view, and what rolling yaw control person faced is rearview, with wind-tunnel
The visual effect that experimental field pilot can experience is completely the same.
It is further to identify safe flight region in the wind-tunnel scene.
It is further that the sound system includes power amplifier, audio amplifier and audiogenic device, the power amplifier receives the figure work
Make the data that station and audiogenic device are sent, the data are sent to audio amplifier after being handled through power amplifier, and sound is sent by audio amplifier；
Wherein, the various sound effects of the aircraft include noise, the aircraft operation of landing gear when aircraft engine is operated
Sound, airborne equipment work sound and alarm.
It is further that the ground surface simulated training system also includes wireless intercom system, to ensure each operator
Between carry out real time phone call.
Using the beneficial effect of the technical program：
The present invention utilizes virtual reality and computer simulation technique, carries out ground training, flies with air model plane
Row training is compared, and training risk is low, in the absence of potential risks such as air crash, damage models；Train cost low, efficiency high, Ke Yikai
The flight training of length time；Experiment is protected from weather influences；
It is of the invention compared with general flight simulator, can carry out multiple pilots and meanwhile carry out collaboration manipulate flight instruction
Practice；Scene is more life-like, completely the vision at simulation wind tunnel experiment scene, the sense of hearing and manipulation sense；
The present invention realizes various visual angles simultaneous display scheme, mould true to nature using semicolumn curtain and to semicolumn curtain zoning
The true visual angle of different pilots is intended, with high fidelity and visual immersion；
The present invention is modular mode using hardware and software, adds the versatility of training system, available for opening
Open up the fly simulation training of different model aircraft, the extensive engineering application value with important.
Brief description of the drawings
Fig. 1 tests the structure schematic diagram of ground simulation training system for a kind of low-speed wind tunnel model flight of the present invention；
Fig. 2 is a kind of structure of low-speed wind tunnel model flight experiment ground simulation training system in embodiments of the invention
Layout；
Fig. 3 is the structural representation of visual system in the embodiment of the present invention；
Fig. 4 is the schematic diagram of semicolumn curtain in the embodiment of the present invention；
Fig. 5 is model training result and actual experimental results comparison diagram in the embodiment of the present invention；
Wherein, 1 is mixing console, 2 is pitch control platform, 3 is rolling yaw control platform, 4 be thrust console, and 5 are
Semicolumn curtain, 6 be audio amplifier, and 7 be projector, and 8 be safe flight region.
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, the present invention is made into one below in conjunction with the accompanying drawings
Step is illustrated.
In the present embodiment, referring to shown in Fig. 1 and Fig. 2, a kind of low-speed wind tunnel model flight tests ground surface simulated training system
System, including mixing console 1, air control center, computer real-time resolving system, visual system and sound system, the synthesis
Console 1 and visual system are connected to Ethernet, and the Ethernet is connected with air control center and real-time resolving system, described
Real-time resolving system is the distributed real time computation system of multiprocessor interconnected by Reflective memory network, the visual system connection
The sound system.
1. described in mixing console 1, be the operation control centre of ground surface simulated training system, be mainly used in setting system
Original state, course of work control and monitoring and data record and playback, possess highest control authority in systems.
1.1 setting system initial states include：The Initialize installation of complete machine, the switching of simulator working method are digital imitative
The parameter settings such as very/HWIL simulation, aircraft initial position, meteorological condition are set, what comes into a driver's and cockpit instrument subsystem show and set
Put.
The control of 1.2 courses of work includes with monitoring：Beginning/stopping, in that context it may be convenient to controlling the operation and stopping of simulator；
Reset, simulator is returned to a certain setting state；System is freezed/thawed, with interruption and continuation for being emulated etc.；Monitoring
Information includes system mode and configuring condition, flight is controlled and response condition, any viewing point are imaged etc..
1.3 realize the record of data and playback：The information such as record-setting flight manipulation, aspect and track, and realize what comes into a driver's
And the playback of correlation curve.
Mixing console 1 possesses manipulation signal calibration function, and periodically the manipulation signals such as control stick, throttle lever can be carried out
Calibration.
2. described in air control center, be the input equipment of ground surface simulated training system, for carrying out the man-machine of aircraft operation
Interactive controlling, including at least one console.
The air control center includes pitch control platform 2, rolling yaw control platform 3 and thrust console 4.
Pitch control platform 2 described in 2.1 includes pitching display panel, pitching control stick and pitching operation knob；The pitching
Display panel is controlled the real-time display of instruction, the angle of attack and rate of pitch curve and instrument；The pitching control stick and
Pitching operation knob is used to carry out pitch control to aircraft；The pitch control platform 2 is used for pitch control person, for being flown
Machine longitudinal direction human-computer interactive control.
Roll guidance platform of being gone off course described in 2.2 includes driftage rolling display panel, driftage rolling control stick and trim knob；
The driftage rolling display panel is mainly used in the information of display reflection aircraft lateral attitude；The driftage and is matched somebody with somebody at rolling control stick
Flat knob is used to carry out aircraft driftage rolling control；Driftage roll guidance platform is used for rolling yaw control person, for carrying out
Aircraft transverse direction human-computer interactive control.
Thrust console 4 described in 2.3 includes thrust display panel, throttle lever and thrust control mode switch switch；It is described
Thrust display panel is mainly used in display wind speed and thrust；The throttle lever and thrust control mode switch are switched for aircraft
Carry out thrust manipulation；The arch thrust operator of thrust console 4 uses, for carrying out thrust human-computer interactive control.
3. described in real-time resolving system, be the nucleus equipment of ground surface simulated training system, be Flight Control Law, aircraft mathematics
Model development and the platform of operation, make use of Computer Simulation technology；It is mainly used in completing to manipulate control signal reception, flies
Row control law and aircraft mathematical modeling are resolved, system control and display drive.
The real-time resolving system possesses the interfaces such as Ethernet, fiber reflection memory network, serial ports, A/D and D/A.
The real-time resolving system includes flight control computer and flight simulation machine；The flight control computer include host computer and
Target machine, the host computer realizes man-machine interaction as platform is designed and developed, and the target machine is used to run real-time code.
Real-time resolving system makes full use of the real-time development environment RTW's (Real-Time Workshop) of Matlab offers
Real time workshop function；" host computer-target machine " pattern is taken in structure：Host computer is ordinary PC, as designing and developing
Platform realizes man-machine interaction；Target machine is the real-time software and hardware system based on Vxworks, runs real-time code.The system is used
The rapid control prototyping thinking, realizes the seamless connection with design environment simulink.
4. described in visual system, as shown in figure 3, be the display output equipment of ground surface simulated training system, handle by real-time
Regarding in real time in the View Actuation data and the specified viewpoint of generation or specified field range that resolving system and mixing console 1 are provided
Scape image, the wind-tunnel scene of different visual angles can be shown simultaneously.
Visual system makes full use of virtual reality technology, is developed using Vega Prime, according to flight simulation machine and synthesis
The information such as aspect, position, angle of rudder reflection degree and ambient parameter, position of eye point that console 1 is provided, handle visual environment number
According to, generate it is true to nature, stably, in real time specify viewpoint, specify field range in scenery picture.
The visual system includes graphics workstation, fused controlling device, projector 7 and semicolumn curtain 5, the graphical Work
The image of the View Actuation data that reception real-time resolving system of standing and mixing console 1 are provided, in real time generation specified view angle, by life
Into image send to fused controlling device, image is allocated by fused controlling device and included picture half by projector 7
On cylinder curtain 5.
Wherein, as shown in figure 4, semicolumn curtain 5 is divided into 3 parts, 3 parts show different visual angles respectively
Wind-tunnel scene, what wherein pitch control person and thrust operator faced is side view, after what rolling yaw control person faced is
View, the visual effect that can be experienced with wind tunnel experiment local flight person is completely the same.
Preferably, safe flight region 8 is identified in the wind-tunnel scene.
Visual system can easily replace the model aircraft in what comes into a driver's, can be each according to control surface deflection angular data real-time Simulation
Individual control surface deflection situation；, should when detecting the machine with being collided in any physical features of visual environment emphasis with collision detection capabilities
There is provided to flight simulation software and ruin machine marking signal, scenery picture is transitioned into machine and ruins picture.
5. described in sound system, as shown in figure 3, being the audio output apparatus of ground surface simulated training system, for real-time mould
Intend the various sound effects of aircraft.
The sound system includes power amplifier, audio amplifier 6 and audiogenic device, and the power amplifier receives the graphics workstation and source of sound
The data that equipment is sent, the data are sent after being handled through power amplifier to audio amplifier 6, and sound is sent by audio amplifier 6.
The various sound effects of the aircraft include noise, the sound of aircraft operation of landing gear when aircraft engine is operated
Sound, airborne equipment work sound and alarm.During wind-tunnel scene, wind-tunnel sound during different wind speed, true mould specially recorded
Intend wind-tunnel to blow sound.
6. described in ground surface simulated training system also include wireless intercom system, it is real-time to ensure to carry out between each operator
Call.
A kind of low-speed wind tunnel model flight experiment ground simulation training system embodiment of the present invention：Utilize this hair
When bright system carries out wind tunnel model flight experiment ground surface simulated training, the Flight Control Law used in experiment is loaded into real-time solution
In the flight control computer of calculation system, the six degree of freedom flight simulation mathematical modeling of experiment aircraft used is loaded into real-time resolving system
Flight simulation machine in, the three-dimensional profile model of aircraft is loaded into visual system software, you can carry out corresponding flight control
Member's coorinated training, training process is quick and safe, it is possible to carry out prolonged flight training.
The result of implementation of the present invention, as shown in figure 5, carrying out before wind tunnel model flight experiment, is simulated using the ground flying
Training system has carried out sufficient pilot's coorinated training, and follow-up carry out is completed after wind tunnel model flight experiment, three pilots
Reflection, method of operating, control feel, the visual sense feeling suitable one in simulated training system upper-pilot and true wind tunnel experiment
Cause.Manipulation and response curve contrast when simulated flight and live flying experiment is as shown in Figure 5.It can be seen that, in this embodiment, two
Person coincide well, and it is accurate to illustrate correlation modeling, and it is feasible and effective to carry out pre research using fly simulation training platform
, there is great importance to carrying out wind-tunnel flight test, it is ensured that the success of flight experiment.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of this reality invention by appended claims and
Its equivalent thereof.
Claims (9)
1. a kind of low-speed wind tunnel model flight tests ground simulation training system, it is characterised in that including mixing console, flight
Console, computer real-time resolving system, visual system and sound system, the mixing console and visual system are connected to
Ethernet, the Ethernet is connected with air control center and real-time resolving system, and the real-time resolving system is by reflection
The distributed real time computation system of multiprocessor of net interconnection is deposited, the visual system connects the sound system；
The mixing console, is the operation control centre of ground surface simulated training system, is mainly used in the initial shape of setting system
State, course of work control and monitoring and data record and playback, possess highest control authority in systems；
The air control center, is the input equipment of ground surface simulated training system, the man-machine interaction control for carrying out aircraft operation
System, including at least one console；
The real-time resolving system, is the nucleus equipment of ground surface simulated training system, is that Flight Control Law, aircraft mathematical modeling are opened
The platform sent out and run, is mainly used in completing to manipulate control signal reception, Flight Control Law and the resolving of aircraft mathematical modeling, system
Control and display driving；
The visual system, is the display output equipment of ground surface simulated training system, and processing is by real-time resolving system and comprehensive control
Visual environment data and generation that platform processed is provided specify the Real-time windows target image in viewpoint or specified field range, can show simultaneously
The wind-tunnel scene of different visual angles；
The sound system, is the audio output apparatus of ground surface simulated training system, the various sound effects of real-time Simulation aircraft；
The air control center includes pitch control platform, rolling yaw control platform and thrust console.
2. a kind of low-speed wind tunnel model flight experiment ground simulation training system according to claim 1, it is characterised in that
The pitch control platform includes pitching display panel, pitching control stick and pitching operation knob；The pitching display panel is carried out
The real-time display of control instruction, the angle of attack and rate of pitch curve and instrument；The pitching control stick and pitching operation knob
For carrying out pitch control to aircraft；The pitch control platform is used for pitch control person, for carrying out aircraft longitudinally man-machine friendship
Mutually control.
3. a kind of low-speed wind tunnel model flight experiment ground simulation training system according to claim 2, it is characterised in that
The driftage roll guidance platform includes driftage rolling display panel, driftage rolling control stick and trim knob；The driftage rolling
Display panel is mainly used in the information of display reflection aircraft lateral attitude；It is described driftage rolling control stick and trim knob be used for pair
Aircraft carries out driftage rolling control；Driftage roll guidance platform is used for rolling yaw control person, laterally man-machine for carrying out aircraft
Interactive controlling.
4. a kind of low-speed wind tunnel model flight experiment ground simulation training system according to claim 3, it is characterised in that
The thrust console includes thrust display panel, throttle lever and thrust control mode switch switch；The thrust display panel
It is mainly used in display wind speed and thrust；The throttle lever and thrust control mode switch switch, for carrying out thrust behaviour to aircraft
It is vertical；Thrust console arch thrust operator uses, for carrying out thrust human-computer interactive control.
5. a kind of low-speed wind tunnel model flight experiment ground simulation training system according to claim 1, it is characterised in that
The real-time resolving system includes flight control computer and flight simulation machine, and real-time resolving system is the Distributed Calculation of multiprocessor
Structure, is interconnected by Reflective memory network；The flight control computer includes host computer and target machine, and the host computer is opened as design
Hair platform realizes man-machine interaction, and the target machine is used to run real-time code；The real-time resolving system uses Computer Simulation
Technology.
6. a kind of low-speed wind tunnel model flight experiment ground simulation training system according to claim 1, it is characterised in that
The visual system includes graphics workstation, fused controlling device, projector and semicolumn curtain, and the graphics workstation receives real-time
The image of the View Actuation data that resolving system and mixing console are provided, in real time generation specified view angle, the image of generation is sent out
Fused controlling device is delivered to, the image of generation is allocated by fused controlling device and included picture in semicolumn curtain by projector
On；The visual system utilizes virtual reality technology；
Wherein, the semicolumn curtain is divided into 3 parts, and 3 parts show the wind-tunnel scene of different visual angles respectively, wherein
What pitch control person and thrust operator faced is side view, and what rolling yaw control person faced is rearview.
7. a kind of low-speed wind tunnel model flight experiment ground simulation training system according to claim 6, it is characterised in that
Safe flight region is identified in the wind-tunnel scene.
8. a kind of low-speed wind tunnel model flight experiment ground simulation training system according to claim 7, it is characterised in that
The sound system includes power amplifier, audio amplifier and audiogenic device, and the power amplifier receives the graphics workstation and audiogenic device is sent
Data, the data are sent to audio amplifier after being handled through power amplifier, and sound is sent by audio amplifier；
Wherein, the various sound effects of the aircraft include noise, the sound of aircraft operation of landing gear when aircraft engine is operated
Sound, airborne equipment work sound and alarm.
9. a kind of low-speed wind tunnel model flight experiment ground simulation training system according to claim 1, it is characterised in that
The ground surface simulated training system also includes wireless intercom system, to ensure to carry out real time phone call between each operator.
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| CN107357175A (en) * | 2017-07-26 | 2017-11-17 | 中国航空工业集团公司西安飞机设计研究所 | A kind of plane nose physical prototyping demonstration and verification platform |
| WO2019037103A1 (en) * | 2017-08-25 | 2019-02-28 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle flight simulation system, method and device, and machine readable storage medium |
| CN109637290B (en) * | 2019-02-20 | 2024-06-11 | 中国人民武装警察部队后勤学院 | Unmanned aerial vehicle testing arrangement and test system thereof |
| CN113252289A (en) * | 2021-07-19 | 2021-08-13 | 中国空气动力研究与发展中心高速空气动力研究所 | Two-degree-of-freedom wind tunnel virtual flight test method |
| CN114373361B (en) * | 2022-01-11 | 2023-11-10 | 安胜（天津）飞行模拟系统有限公司 | Method for simulating bird strike and volcanic ash scene on flight simulator |
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| CN101251959B (en) * | 2008-02-04 | 2010-12-29 | 于辉 | General-purpose aviation simulator based on virtual operation |
| CN101794523B (en) * | 2009-12-15 | 2011-11-16 | 中国民航大学 | Aircraft hardware-in-the-loop simulation device |
| CN102163059B (en) * | 2011-04-27 | 2012-11-28 | 南京航空航天大学 | Attitude control system and attitude control method of variable thrust unmanned aerial vehicle |
| CN102566441A (en) * | 2011-12-29 | 2012-07-11 | 成都飞机工业（集团）有限责任公司 | Visual simulation test system for unmanned aerial vehicle (UAV) |
| CN103473966A (en) * | 2013-08-29 | 2013-12-25 | 南京航空航天大学 | Semi-physical digital simulation control platform of aircraft cockpit |
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