CN107731041A - A kind of flight simulator electro-servo control load system - Google Patents
A kind of flight simulator electro-servo control load system Download PDFInfo
- Publication number
- CN107731041A CN107731041A CN201710896203.7A CN201710896203A CN107731041A CN 107731041 A CN107731041 A CN 107731041A CN 201710896203 A CN201710896203 A CN 201710896203A CN 107731041 A CN107731041 A CN 107731041A
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- electro
- module
- load system
- control
- control load
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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
- G09B9/10—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer with simulated flight- or engine-generated force being applied to aircraft occupant
Abstract
The invention discloses a kind of flight simulator electro-servo control load system, is mainly used in practicality flight simulator, training aids electro-servo control load system.By analyzing existing hydraulic pressure and electric control load system, according to its technical characterstic, electro-servo control load system model machine, including Design of Mechanical Structure, circuit design, inside and outside control logic design etc. are studied.Fidelity of the present invention is high, and processing speed is fast, and modularization standardization is easy to promote.
Description
Technical field
The present invention relates to flight simulator steerable system design field, and in particular to flight simulator electric control load system
System.
Background technology
At present, domestic control load system stays in theoretical research and principle prototype stage more, and required manipulation is born
G system relies primarily on import, the serious development for restricting domestic flight training aids, reduces the competitiveness of product.
Traditional electro-servo control load system checks change in displacement, using generator inspection rotating speed using analog quantity,
Analog quantity saltus step and drift phenomenon be present, and traditional electronics or digital filtering can increase the delay of system, systematic function and
Stability is affected.And electro-servo control load system is as a kind of new control load system, according to civil aviaton's regulation
Technical requirements, make its production domesticization imperative.Therefore, the flight simulator electro-servo control for possessing independent intellectual property right is developed
Load system, to reducing production cost and maintenance cost, improving maintenance efficiency has certain positive role.
The content of the invention
In order to make up above-mentioned deficiency, the present invention develops a kind of practicality flight simulation with independent intellectual property right
The electro-servo control load system of machine, training aids, displacement and rotating speed are checked using high-resolution incremental encoder.
The technical scheme is that, there is provided a kind of electro-servo control load system, including control computer module 10,
Controlling organization module 20 and drive mechanism module 30 are performed, structural representation is as shown in Figure 1.According to system function design and technology
It is required that modularized design will be carried out to total system.
Control computer module 10, as shown in Fig. 2 mainly by flying simulation model 101 and operating mechanism power simulation model
102 are formed.Operating mechanism power simulation model 102 in control computer module 10 is by obtaining phase in flying simulation model 101
The mathematical operation that flight status parameter 103 emulate the stick force characteristic and angle of rudder reflection characteristic of steerable system is closed, and with holding
The arm processor control panel 203 of row controlling organization module 20 exchanges information, including the stick force spy that control computer module 10 emulates
Property and angle of rudder reflection characterisitic parameter, perform the information such as the actual measured value of position, power and speed that controlling organization module 20 obtains.
Wherein, the state of flight information that flight simulation module 101 is established according to particular flight model；Operating mechanism power emulates 102 moulds
Block, as shown in figure 3, by operating mechanism stress model 1021 and rudder face displacement model 1022, operating mechanism stress model 1021 is led
Receive the data of the control force actually measured, displacement and speed, analog-driven rudder face displacement model, and rudder face displacement model
1022 produce the data of expected force, displacement and speed, and reaction is returned and manipulates stress model 1021, so as to bring Error Excitation
Signal；The major function of rudder face displacement model 1022 is to complete the steady-error coefficient and dynamic response of steerable system load, by winged
Machine model, hardware chaining structure (such as cable wire, connecting shaft) and rudder face control mode, and combine the mould to rudder face atm difference environment
Intend, establish flexible model.With reference to above two model, the simulation of the control response to aircraft under different conditions is completed.
Perform controlling organization module 20 and be based on PC architectures, by arm processor control panel 203, interface card 202
And motor servo amplifier 201 forms, as shown in Figure 4.The major function for performing controlling organization module 20 be complete servo force and
The real-time calculating of dynamic characteristic.The module is based on PC architectures, using high speed arm processor control panel 203, with high iteration speed
Rate gathers the data of actual forces, displacement and speed, farthest measured data true to nature, improves the stable flatness of data；ARM
Driving interface circuit board 202 gathers power, displacement and the velocity information of operating mechanism 303 to processor control panel 203 in real time at a high speed,
And with interface message exchange correlation data message, utilize interface card 202, controlled motor servo amplifier 201 drive servo
Motor 302, reach the realistic simulation to steering force.
Drive mechanism module 30, as shown in figure 5, including servomotor 302, operating mechanism 303 and power, displacement and speed
Sensor 301, the driving mechanical attachment structure of servomotor 302.Power, displacement and velocity sensor 301 calculate operating mechanism 303
Power, displacement and speed data, with interface card 202, operating mechanism 303 is connected.The major function of drive mechanism module 30
It is that the power impression of simulation is fed back into driver, so as to complete the overall emulation of control load system.
High the beneficial effects of the present invention are emulator, processing speed is fast, economical and practical, system modular, standardization,
It is easy to safeguard, reduces production cost and maintenance cost, and global design designs for blocking autonomous channel, it is practical and suitable
It is extensive with type, there is good autgmentability.
Brief description of the drawings
Fig. 1 is the overall structure block diagram of electro-servo control system
Fig. 2 is the structural representation of control computer module
Fig. 3 is operating mechanism power simulation model schematic diagram
Fig. 4 is the structural representation for performing controlling organization module
Fig. 5 is the structural representation of drive mechanism module
Specific embodiment
1. after the operating mechanisms such as pilot control control stick 1021, power, displacement and the velocity pick-up of drive mechanism module 30
Device 301 produces power, displacement and rate signal；
2. the interface card 202 for performing controlling organization module 20 is gathered by data-signal caused by sensor 301, and in fact
When be uploaded to arm processor control panel 203, the data that arm processor control panel 203 will obtain, pass to control computer mould
Block 10；
3. the operating mechanism power emulation module 102 of control computer module 10, according to the flight simulation module 101 of foundation,
Using aircraft flight dynamic parameter 103, with reference to the power of actual measurement, displacement and speed data, corresponding operating mechanism stress mould is calculated
Type 1021 and rudder face displacement model 1022.
4. the data that control computer module 10 is obtained, arm processor control panel 203 is passed to, by arm processor
Control panel 203 calculates servo force and dynamic characteristic in real time.
5.ARM processors control panel 203 is converted to the real-time characteristic calculated the control of motor servo amplifier 201
Signal, and control signal is passed to by motor servo amplifier 201, motor servo amplifier by interface card 202
201 operations；
6. according to control signal, motor servo amplifier 201 drives servomotor 302 to run, and controls the shape of servomotor 302
State, servomotor 302 drive the operating mechanisms 1021 such as control stick to move, the steering force of simulation are fed back into driver.
7. whole electro-servo control load system running is repeated continuously 1-6 steps, until driver terminates to grasp
The operating mechanisms such as vertical control stick.
It is last it is to be noted that：Embodiment of above is only to illustrate technical scheme, rather than its limitations.This
The technical staff of industry is not departing from spirit and scope of the invention it should be appreciated that the present invention is not limited by the embodiment above
On the premise of various changes and modifications of the present invention are possible, these changes and improvements both fall within scope of the claimed invention
It is interior.The claimed scope of the invention is defined by appended claims and its equivalent.
Claims (7)
1. a kind of flight simulator electro-servo control load system, including control computer module, execution controlling organization module
With drive mechanism module, it is characterised in that：Control computer module is connected with performing controlling organization module by 100M networks, held
Row controlling organization module is connected with drive mechanism module；
The control computer module, include flight simulation bag and operating mechanism power simulation model, it is characterised in that pass through acquisition
Flight status parameter completes the stick force characteristic of steerable system in flight simulation bag and angle of rudder reflection characteristic mathematics simulation value calculates；
The execution controlling organization module, including arm processor control panel, interface card and motor servo amplifier, it is special
Sign is to use high speed arm processor control panel, exchanges information with control computer, gather in real time with calculating data, driving electricity
Dynamic servo amplifier；
The drive mechanism module, including servomotor, operating mechanism, for obtain position, speed high score ratio increment compile
Code device, force snesor, it is characterised in that the emulation of servomotor completion operating mechanism is driven by electric servo amplifier.
2. require a kind of described flight simulator electro-servo control load system according to right 1, it is characterised in that：It is described to hold
Row controlling organization is the structure design of the timely collection data based on arm processor control panel, possesses the imitative of high iteration rate
True control.
3. require a kind of described flight simulator electro-servo control load system according to right 1, it is characterised in that：The behaviour
Vertical mechanism power emulation module includes operating mechanism stress model and rudder face displacement model, operating mechanism stress model driving rudder face position
Shifting formwork type, rudder face displacement model react on operating mechanism stress model, and Error Excitation is produced with reference to two models.
4. require a kind of described flight simulator electro-servo control load system according to right 1, it is characterised in that：The behaviour
Vertical mechanism stress model be to actual measurement power, displacement, speed comprehensive simulating；The rudder face displacement model relies on model aircraft, flown
Machine link structure and rudder face control mode, with reference to atm difference environment, simulate the control response under different flight state.
5. require a kind of described flight simulator electro-servo control load system according to right 1, it is characterised in that：The rudder
Face displacement model relies on model aircraft, aircraft link structure and rudder face control mode, with reference to atm difference environment, simulates different fly
Control response under row state.
6. require a kind of described flight simulator electro-servo control load system according to right 1, it is characterised in that：Establish control
The 100M networks that computer module processed is connected with performing controlling organization module.
7. require a kind of described flight simulator electro-servo control load system according to right 1, it is characterised in that：Optimization electricity
Dynamic servocontrol system architecture, reduces system bulk, reduces system production cost.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710896203.7A CN107731041A (en) | 2017-09-20 | 2017-09-20 | A kind of flight simulator electro-servo control load system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710896203.7A CN107731041A (en) | 2017-09-20 | 2017-09-20 | A kind of flight simulator electro-servo control load system |
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| CN107731041A true CN107731041A (en) | 2018-02-23 |
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| CN201710896203.7A Pending CN107731041A (en) | 2017-09-20 | 2017-09-20 | A kind of flight simulator electro-servo control load system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114120755A (en) * | 2021-07-28 | 2022-03-01 | 上海华模科技有限公司 | Dynamic force sense nonlinear adjustment system suitable for high-grade flight simulator |
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|---|---|---|---|---|
| CN101794523A (en) * | 2009-12-15 | 2010-08-04 | 中国民航大学 | Aircraft hardware-in-the-loop simulation device |
| CN103473967A (en) * | 2013-08-29 | 2013-12-25 | 南京航空航天大学 | Airplane simulation manipulator with operating force feel |
| CN203573515U (en) * | 2013-11-20 | 2014-04-30 | 北京摩诘创新科技股份有限公司 | Airplane control load feedback system |
| CN103761902A (en) * | 2013-12-31 | 2014-04-30 | 中国人民解放军空军航空大学军事仿真技术研究所 | Method for simulating operating force feeling of helicopter by means of double force sources |
| KR101416824B1 (en) * | 2013-04-30 | 2014-08-06 | 한국항공우주산업 주식회사 | Method and apparatuse for flight simulation for optionally piloted vehicle |
-
2017
- 2017-09-20 CN CN201710896203.7A patent/CN107731041A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101794523A (en) * | 2009-12-15 | 2010-08-04 | 中国民航大学 | Aircraft hardware-in-the-loop simulation device |
| KR101416824B1 (en) * | 2013-04-30 | 2014-08-06 | 한국항공우주산업 주식회사 | Method and apparatuse for flight simulation for optionally piloted vehicle |
| CN103473967A (en) * | 2013-08-29 | 2013-12-25 | 南京航空航天大学 | Airplane simulation manipulator with operating force feel |
| CN203573515U (en) * | 2013-11-20 | 2014-04-30 | 北京摩诘创新科技股份有限公司 | Airplane control load feedback system |
| CN103761902A (en) * | 2013-12-31 | 2014-04-30 | 中国人民解放军空军航空大学军事仿真技术研究所 | Method for simulating operating force feeling of helicopter by means of double force sources |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114120755A (en) * | 2021-07-28 | 2022-03-01 | 上海华模科技有限公司 | Dynamic force sense nonlinear adjustment system suitable for high-grade flight simulator |
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