CN106652650A - Helicopter control loading simulator having touch guidance - Google Patents
Helicopter control loading simulator having touch guidance Download PDFInfo
- Publication number
- CN106652650A CN106652650A CN201710086713.8A CN201710086713A CN106652650A CN 106652650 A CN106652650 A CN 106652650A CN 201710086713 A CN201710086713 A CN 201710086713A CN 106652650 A CN106652650 A CN 106652650A
- Authority
- CN
- China
- Prior art keywords
- deck plate
- fixedly connected
- helicopter
- base
- stick
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/28—Simulation of stick forces or the like
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/46—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer the aircraft being a helicopter
Abstract
The invention relates to a helicopter control loading simulator having touch guidance. The helicopter control loading simulator is characterized in that a table board base is composed of a lower bottom board of the table board base and a table board of the table board base, wherein the top surface of the lower bottom board of the table board base is fixedly connected with the table board of the table board base, a fixed base is fixedly connected to the top surface of the table board of the table board base, a transverse motion servo motor is fixedly connected with the table board of the table board base though the fixed base, a transverse motion plate-type reducer is arranged at the front end of the transverse motion servo motor, an outer lug of the transverse motion plate-type reducer is connected with the fixed base, a rotating bracket is of a right-angle-shaped structure, the bottom surface of the rotating bracket is fixedly connected with a flange face of the transverse motion plate-type reducer, and the helicopter control loading simulator can accurately provide touch guide force in real time according to a helicopter kinetic model and an operating lever model, so that the high-fidelity immediate force sense is simulated. Meanwhile, aiming at different helicopter types, the programming method can be adopted for simulating the small differences of the helicopter types in the aspect of force sense, and thus the helicopter control loading simulator has good adaptation and universality.
Description
Technical field
The present invention relates to a kind of helicopter simulation with tactile guiding manipulates load simulation device, belong to robot man-machine
Interaction field, is to manipulate load simulation device based on the simulator that tactile is guided.
Background technology
On true helicopter, control load system is the on-line equipment of aircraft.Due to flying for helicopter
Row environment is complicated, and state of flight change is more, and the change of the flight parameter such as the angle of pitch, roll angle, angle of rudder reflection and flight speed is fast, loading
Aerodynamic force on stick, pedal changes fast, and pilot to be relied on the change of steering force to judge rapidly and perform corresponding
Operation.For this training to helicopter student pilot, the safety of prototype training and economic benefit are all excessively poor, therefore need
There is special simulated training device to simulate the steering force sense of true helicopter.
Load device is manipulated as the important interface of helicopter man-machine interaction, its Main Function is to provide the manipulation of helicopter
The steering force sense of interface and feedback pilot driver helicopter.In order to effectively improve the training effectiveness of helicopter student pilot,
The static state and dynamic force sense simulated by manipulation load simulation device must have high fidelity with respect to the sense of prototype steering force.
At present, the power sense of Helicopter Simulator is simulated by the way of or adopts spring loads, by various rigidity
Spring assembly realizes the simulation of steering force；Or hydraulic servo control load system is adopted, realize the power sense compared with high fidelity
Loading.But, the form that spring loads are fixed due to which, it is impossible to which the dynamic force sense to different flight state carries out realistic simulation,
And hydraulic servo control load system is affected due to hydraulic pipeline leakage, frictional resistance etc., the power sense effect in trickle slow operation
Really unstable, both control load systems are difficult to set up accurately manipulating load model, and fidelity differs greatly with actually.
In addition, general Helicopter Simulator manipulates load device does not consider that flying cadet and the power feel of device are handed over
Mutually, device fed back helicopter flight state generation aerodynamic model power, but directly and quickly cannot detect flying cadet according to
Manipulate the staff operating physical force applied after rod model power is judged.This is quickly frequently being easily caused reflection in manipulation process
Model power to stick is conflicted with the operating physical force of flying cadet, produces pause and transition in rhythm or melody power sense, while cannot also realize under teaching pattern
Tactile guiding, and then have impact on the telepresenc of simulation training and final training effect.
The content of the invention
It is an object of the invention to provide a kind of helicopter simulation with tactile guiding manipulates load simulation device, which can root
Tactile directed force, the high critical field force sense true to nature of simulation are provided precisely in real time according to Helicopter Dynamic Model and manipulation rod model.
Meanwhile, for different helicopter types, nuance of each type in power sense can be simulated by the way of programming, be had
Well adapting to property and versatility.
The technical scheme is that what is be achieved in that：A kind of helicopter simulation with tactile guiding manipulates load simulation
Device, by control crank, 6 dimension force sensors, stick, deck plate base, transverse movement servomotor, transverse movement disc type
Decelerator, firm banking, lengthwise movement disc type decelerator, stick base, lengthwise movement servomotor, runing rest, table top
Plate base deck plate, deck plate base lower shoe composition, it is characterised in that：Deck plate base is by deck plate base lower shoe and platform
Panel base deck plate is constituted, and deck plate base plate top surface of going to the bottom is fixedly connected deck plate base deck plate, and firm banking is fixed
The top surface of deck plate base deck plate is connected to, transverse movement servomotor is solid with deck plate base deck plate by firm banking
Fixed to connect, there is a transverse movement disc type decelerator transverse movement servomotor front end, the external ear of transverse movement disc type decelerator with it is solid
Determine base connection, the rectangular structure of runing rest, the bottom surface of runing rest are fixed with the flange face of transverse movement disc type decelerator
The flange face of the lengthwise movement disc type decelerator of connection, another vertical face of runing rest and lengthwise movement servomotor front end
It is fixedly connected, the external ear of lengthwise movement disc type decelerator is fixedly connected with stick base, stick lower end and stick base
Top connection, there are 6 dimension force sensors control crank lower end are fixedly connected with stick upper end；
The TT＆C system module of analog includes the system control module of PC host computers, motor servo control module and power/power
Square detection module, and supporting communication module --- lead to including the communication of EntherNet ICP/IP protocols and CANOpen agreements
Letter；Wherein, power/moment inspecting module is connected with PC host computers by USB interface, and motor servo control module is connect by Ethernet
Mouthful（EntherNet ICP/IP protocols）Or CAN EPA interface（CANOpen agreements）It is connected with PC host computers.
Described control lever movement angular range is not less than longitudinal direction, laterally, and true helicopter cyclic stick
Movement angle area requirement is for longitudinally, laterally.
The positive effect of the present invention is its relative other frame for movement, employs motor servo drive system, fore-and-aft control
Mechanism is hung in lateral control mechanism by runing rest, and both are series relationship, reduce structure complexity.The present invention
In, the power sense produced in helicopter flight is directly provided by servomotor, is entered according to the Helicopter Dynamic Model of model program
Row is calculated and is simulated, solve not enough and hydraulic operation load device that spring loads simulates to dynamic force sense to it is trickle slowly
The nextport hardware component NextPorts such as steering force simulation deficiency affect the shortcoming of critical field force sense, improve the navigability of device.
Description of the drawings
Fig. 1 is the structure chart of the present invention.
Fig. 2 is manipulation load device transverse motion mechanism and longitudinal motion mechanism axonometric drawing.
Fig. 3 is manipulation load device transverse motion mechanism and longitudinal motion mechanism top view.
Fig. 4 is the system hardware circuit structure figure for manipulating load device.
Fig. 5 is the System Working Principle block diagram for manipulating load device.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings：As Figure 1-4, a kind of helicopter with tactile guiding
Simulation manipulates load simulation device, by the dimension force sensor 2 of control crank 1,6, stick 3, deck plate base 4, transverse movement
Servomotor 5, transverse movement disc type decelerator 6, firm banking 7, lengthwise movement disc type decelerator 8, stick base 9, longitudinal direction
Motion servo motor 10, runing rest 11, deck plate base deck plate 12, deck plate base lower shoe 13 are constituted, and its feature exists
In：Deck plate base 4 is made up of deck plate base lower shoe 13 and deck plate base deck plate 12, deck plate base lower shoe 13
Top surface is fixedly connected deck plate base deck plate 12, and firm banking 7 is fixedly connected on the top surface of deck plate base deck plate 12, horizontal
It is fixedly connected with deck plate base deck plate 12 to motion servo motor 5 by firm banking 7, before transverse movement servomotor 5
The external ear that there is transverse movement disc type decelerator 6, transverse movement disc type decelerator 6 at end is connected with firm banking, and runing rest 11 is in
Right-angle structure, the bottom surface of runing rest 11 are fixedly connected with the flange face of transverse movement disc type decelerator 6, and runing rest 11 is vertical
Another face be fixedly connected with the flange face of the lengthwise movement disc type decelerator 8 of 10 front end of lengthwise movement servomotor, longitudinal direction
The external ear of motion disc type decelerator 8 is fixedly connected with stick base 9, and 3 lower end of stick is connected with the top of stick base 9,
There are 6 dimension force sensors 21 lower end of control crank are fixedly connected with 3 upper end of stick；
The TT＆C system module of analog includes the system control module of PC host computers, motor servo control module and power/power
Square detection module, and supporting communication module --- lead to including the communication of EntherNet ICP/IP protocols and CANOpen agreements
Letter；Wherein, power/moment inspecting module is connected with PC host computers by USB interface, and motor servo control module is connect by Ethernet
Mouthful（EntherNet ICP/IP protocols）Or CAN EPA interface（CANOpen agreements）It is connected with PC host computers.
Described 3 movement angle scope of stick is not less than longitudinally, laterally, and the motion of true helicopter cyclic stick
Angular range is required as longitudinally, laterally.
The present invention whole work process be：6 dimension force sensors measure the operating physical force of helicopter student pilot, when going straight up to
When the model power of machine, Route guiding power and staff operating physical force collective effect, by Helicopter Dynamics system model and weighting power
Convergence strategy produces fusion power, obtains horizontal, lengthwise movement angle of the stick in the case where force action is melted by position forecaster,
By driver control motor action, final guiding stick action.
When fusion power makes stick 3 do periodic movement, its motion can be decoupled as lengthwise movement and transverse movement.Laterally transport
The disc type decelerator 6 of motivation structure drives longitudinal motion mechanism to rotate around its center axis by runing rest 11, and reflection is to manipulation
It is to do horizontal periodic movement on bar；Meanwhile, the flange face of the disc type decelerator 8 of longitudinal motion mechanism due to runing rest
Joint face is fixedly connected, and which is rotated around the central axis of itself, reflects on stick to be to do longitudinal periodic movement.Two kinds all
The resultant motion of phase motion ultimately forms the special exercise track of stick.Additionally, can control to manipulate load dress by program
Put so as to self-aligning and can be adapted to when different Helicopter Dynamic Models are loaded different straight when needed
Rise machine type.
In the present invention, the movement angle scope of stick is filled not less than helicopter control load longitudinally, laterally, is fully met
Put stick movement angle area requirement longitudinally, laterally.
The function of the motor servo control system of the invention is：6 dimension force sensors detect operator to stick
Power/the torque signals of applying, are input in the control program of host computer by the USB interface with host computer；On the other hand, adding
After the fusion power that power convergence strategy is generated makes stick be located at specific actuated position, servomotor 5 and servomotor 10
Absolute optical encoder can obtain positional information and rotary speed information of the stick on horizontal and vertical component motion respectively,
It is input in the control program of host computer by feedback interface of the motor servo driver with host computer.Institute's measurement information is in host computer
Control program in participate in model emulation and calculate as the input of Helicopter System model, and obtain the fusion power of subsequent time,
The fusion power finally gives the rotational angle and rotary speed information of servomotor subsequent time through the position prediction model of stick.
PWM controls are carried out to servomotor according to rotary speed information, while the rotating speed of absolute optical encoder real-time detection servomotor,
And this feedback of the information is returned into motor servo driver, closed loop control of the driver to which is realized, stick is fed back
Specific power sense simultaneously reaches the actuated position specified at a given speed.The hardware circuit figure of system is as shown in Figure 4.
Motor servo control system includes power/moment inspecting module, motor servo drive control module, 6 dimension force sensings
The power of device/moment inspecting module is connected with host computer communication ends and data transmission terminal by USB interface, in order to realize stick
Position detection and closed loop control, need the turned position to servomotor and rotating speed to detect, AKD-P00306-NBCN-
There is the input interface of encoder in 0000 motor servo driver, absolute optical encoder is connected with driver, and lead to
Overdrive the setting of device inner parameter, it is possible to achieve the data acquisition and closed loop control to motor.Driver is used with host computer
Ethernet or CAN connection, are communicated using ICP/IP protocol or CANOpen agreements.
Claims (2)
1. it is a kind of with tactile guiding helicopter simulation manipulate load simulation device, by control crank, 6 dimension force sensors,
Stick, deck plate base, transverse movement servomotor, transverse movement disc type decelerator, firm banking, lengthwise movement disc type subtract
Fast device, stick base, lengthwise movement servomotor, runing rest, deck plate base deck plate, deck plate base lower shoe group
Into, it is characterised in that：Deck plate base is made up of deck plate base lower shoe and deck plate base deck plate, under deck plate base
Plate top surface is fixedly connected deck plate base deck plate, and firm banking is fixedly connected on the top surface of deck plate base deck plate, horizontal
It is fixedly connected with deck plate base deck plate to motion servo motor by firm banking, there is horizontal stroke transverse movement servomotor front end
To motion disc type decelerator, the external ear of transverse movement disc type decelerator is connected with firm banking, the rectangular structure of runing rest, rotation
The bottom surface for turning support is fixedly connected with the flange face of transverse movement disc type decelerator, another vertical face of runing rest and longitudinal direction
The flange face of the lengthwise movement disc type decelerator of motion servo motor front end is fixedly connected, the external ear of lengthwise movement disc type decelerator
It is fixedly connected with stick base, stick lower end is connected with stick base top, control crank lower end there are 6 dimension force sensings
Device is simultaneously fixedly connected with stick upper end；
TT＆C system module in analog include the system control module of PC host computers, motor servo control module and power/
Moment inspecting module, and supporting communication module, wherein, power/moment inspecting module is connected with PC host computers by USB interface
Connect, motor servo control module passes through Ethernet interface EntherNet ICP/IP protocols or CAN EPA interface
CANOpen agreements are connected with PC host computers.
2. the helicopter simulation for having tactile guiding according to the kind described in claim 1 manipulates load simulation device, its feature
It is that described control lever movement angular range is not less than longitudinal direction, laterally, and the motion of true helicopter cyclic stick
Angular range is required as longitudinally, laterally。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710086713.8A CN106652650B (en) | 2017-02-17 | 2017-02-17 | A kind of helicopter control load simulation device with tactile guiding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710086713.8A CN106652650B (en) | 2017-02-17 | 2017-02-17 | A kind of helicopter control load simulation device with tactile guiding |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106652650A true CN106652650A (en) | 2017-05-10 |
| CN106652650B CN106652650B (en) | 2018-05-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710086713.8A Expired - Fee Related CN106652650B (en) | 2017-02-17 | 2017-02-17 | A kind of helicopter control load simulation device with tactile guiding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106652650B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108154749A (en) * | 2017-12-27 | 2018-06-12 | 天津津航神舟科技有限公司 | A kind of power induction device that steering force sense is provided for Helicopter Simulator emulation control stick |
| CN108922310A (en) * | 2018-08-31 | 2018-11-30 | 珠海高斯科技有限公司 | Rocking bar manipulates load device and rocking bar simulator |
| CN109147467A (en) * | 2017-08-22 | 2019-01-04 | 南京乐飞航空技术有限公司 | Helicopter control load system and Simulation Methods based on actual load control linkage |
| CN110706550A (en) * | 2019-11-29 | 2020-01-17 | 中仿智能科技（上海）股份有限公司 | Electric control load system of simulated aircraft |
Citations (2)
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| CN202855112U (en) * | 2012-10-15 | 2013-04-03 | 昆山航理机载设备有限公司 | Motor-human sense simulation control system motor of helicopter |
| CN206210171U (en) * | 2016-10-12 | 2017-05-31 | 天津飞联科技有限公司 | A kind of new flight control system manipulates load device |
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2017
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202855112U (en) * | 2012-10-15 | 2013-04-03 | 昆山航理机载设备有限公司 | Motor-human sense simulation control system motor of helicopter |
| CN206210171U (en) * | 2016-10-12 | 2017-05-31 | 天津飞联科技有限公司 | A kind of new flight control system manipulates load device |
Non-Patent Citations (1)
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109147467A (en) * | 2017-08-22 | 2019-01-04 | 南京乐飞航空技术有限公司 | Helicopter control load system and Simulation Methods based on actual load control linkage |
| CN108154749A (en) * | 2017-12-27 | 2018-06-12 | 天津津航神舟科技有限公司 | A kind of power induction device that steering force sense is provided for Helicopter Simulator emulation control stick |
| CN108154749B (en) * | 2017-12-27 | 2023-08-22 | 天津津航神舟科技有限公司 | Force sensing device for providing control force sense for helicopter simulator simulation control lever |
| CN108922310A (en) * | 2018-08-31 | 2018-11-30 | 珠海高斯科技有限公司 | Rocking bar manipulates load device and rocking bar simulator |
| CN110706550A (en) * | 2019-11-29 | 2020-01-17 | 中仿智能科技（上海）股份有限公司 | Electric control load system of simulated aircraft |
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| Publication number | Publication date |
|---|---|
| CN106652650B (en) | 2018-05-15 |
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| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xu Chunbo Inventor after: Li Yanan Inventor after: Chang Yuqing Inventor after: Zhang Hongyan Inventor after: Ni Tao Inventor after: Shu Lizhi Inventor after: Zhao Miaomiao Inventor after: Chen Xiangxian Inventor after: Li Rui Inventor after: Yang Yanliang Inventor after: Zhao Yongjia Inventor before: Zhang Hongyan Inventor before: Chang Yuqing Inventor before: Ni Tao Inventor before: Shu Lizhi Inventor before: Zhao Miaomiao Inventor before: Chen Xiangxian Inventor before: Li Rui Inventor before: Yang Yanliang Inventor before: Zhao Yongjia Inventor before: Li Yanan |
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