CN108648560A - The flight control simulator that stroke and stick force and maneuverability pattern adaptively adjust - Google Patents
The flight control simulator that stroke and stick force and maneuverability pattern adaptively adjust Download PDFInfo
- Publication number
- CN108648560A CN108648560A CN201810641993.9A CN201810641993A CN108648560A CN 108648560 A CN108648560 A CN 108648560A CN 201810641993 A CN201810641993 A CN 201810641993A CN 108648560 A CN108648560 A CN 108648560A
- Authority
- CN
- China
- Prior art keywords
- pedal
- stick
- stick force
- stroke
- force
- 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.)
- Granted
Links
Classifications
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Control Devices (AREA)
Abstract
The invention discloses the flight control simulators that a kind of stroke and stick force and maneuverability pattern adaptively adjust comprising control stick simulation unit and pedal simulation unit；Wherein, which forms by handle, the body of rod, pole socket and with somoothing board；The handle is connected to the top of the body of rod by aviation plug and ready-packaged joint, which is connected on pole socket, is arranged below the pole socket with somoothing board.The pedal simulation unit includes foot pedal component, rocker arm assembly, pedal pedestal and adjustment/shifting system；The pedal assembly is mounted on by rocker arm assembly on pedal pedestal；Adjustment/shifting system is used to adjust the position of pedal stroke and pedal simulation unit.The present invention can adaptively adjust control stick and pedal stroke, control stick stick force and control stick maneuverability pattern, therefore present invention can be suitably applied to the control stick to Multiple Type aircraft, pedal progress analog simulation；And the present invention has the characteristics that occupy little space, easy to assembly, easy maintenance.
Description
Technical field
The present invention relates to flight simulator driver training, science popularization air training technical field more particularly to a kind of strokes
The flight control simulator that can be adaptively adjusted with stick force and maneuverability pattern.
Background technology
In flight control system, control stick and rudder foot pedal are a most key parts；Will have a direct impact on makes
The operating experience of user and impression, and the control response of these components and stick force feature etc. will have a direct impact on the journey true to nature of simulation
Degree.Therefore reduction actual airplane control stick, the handling characteristic of pedal and stick force feature become the crucial ring in simulator research and development
Section.
And current flight simulator is usually present problems with：
1, simulator stick force feature cannot reach the behaviour consistent or close with the stick force in really manipulation for operator
The control stick construction of vertical impression, simple simulation system is simple and crude, can only achieve most basic manipulation demand, active strokes, stick force
Feature is completely inconsistent with truth, cannot reach true and manipulate experience.It is used for mould even with aircraft primitive part
It is quasi-, the FORCE FEEDBACK variation under different flight state to control stick and the variation of handling quality can not be reached；
2, various model control sticks, pedal can not compatible exchange, control stick, pedal currently used for plane simulation are all one
One bar of type, one bar of a machine, the control stick of a certain model aircraft are only used for the simulation of the type simulator.Traditional bar rudder can not be real
The existing same framework is compatible with various types of functions；
3, traditional control stick, the associated components volume of pedal be big, structure disperses, is not easy to modularization and independently dismounts and tie up
Shield, is unsuitable for using on multipurpose small platform.Some simulators use true control stick, pedal parts on aircraft, are
The installation requirement for adapting to these components, can only be made big, therefore can occupy much room by simulator volume.
Invention content
Place in view of the above-mentioned deficiencies in the prior art, a kind of stroke of present invention offer and stick force and maneuverability pattern are certainly
The flight control simulator for adapting to adjustment, for adaptively with group formula flight Simulation System, the trip and stick force and a manipulation side
The flight control simulator that formula adaptively adjusts includes control stick simulation unit and pedal simulation unit；
The control stick simulation unit includes handle, the body of rod, pole socket and matches somoothing board；Wherein, the body of rod includes outer
Shell, the enclosure is installed with high-order roll channel shaft, two wrist bar stick force generate spring assembly and pattern switching
Motor；Wrist bar rocking arm is connected to the body of rod top by high-order roll channel shaft, and passes through boat with the handle
Blind plug is connected with ready-packaged joint；Described two wrist bar stick force generate spring assembly and interlock in the bottom of the wrist bar rocking arm
Distribution；Two wrist bar stick force are compressed respectively when the wrist bar rocking arm rotation generates spring assembly；The pattern switching motor
It is connect with lock pin, the bayonet to match with the lock pin is provided on the wrist bar rocking arm；The bottom of the lock pin and shift
Connecting rod connects, and control stick stroke limit sliding block, connector and engaging lug are disposed with from top to bottom on the shift connecting rod；
The pole socket includes that control stick stroke limit groove seat and cross are set a roof beam in place, and is arranged in the control stick stroke limit groove seat
There is turn away a visitor with some excuse to sail throw of lever limiting slot more, the cross set a roof beam in place on gimbal structure, the bottom end of the body of rod and described ten thousand are installed
It is connected to section structure, is connected with roll channel output shaft and pitch channel output shaft on the connector, the roll channel is defeated
Shaft and the pitch channel output shaft penetrate the control stick limit groove seat setting respectively；Connect respectively on each engaging lug
It is connected to stick force simulation spring assembly, the other end of the stick force simulation spring assembly is connected to the endpoint of the rood beam；
It is described to be formed with the electronic slide unit that somoothing board is stacked by two square crossings, wherein what is be located above is electronic
The bottom that the sliding block of slide unit is set a roof beam in place with the cross is fixed, the sliding block connection of the electronic slide unit of slide unit pedestal and lower section；
The pedal simulation unit includes foot pedal component, rocker arm assembly, pedal pedestal and adjustment/shifting system；Institute
It includes foot pedal, foot pedal pillar, sliding block and sliding rail to state pedal assembly；The foot pedal props up column articulated, institute with the foot pedal
It states sliding block to be fixed below the foot pedal pillar, the sliding rail is arranged on the pedal pedestal, the sliding block and the cunning
Rail is slidably connected；
The rocker arm assembly include the first fork-shaped rocking arm, the first fork-shaped rocking arm both ends respectively with two foot pedal components
Connection；And the first fork-shaped rocking arm is connected to by first rotating shaft on the pedal pedestal, setting above the first rotating shaft
There is first angle sensor；Two end side surfaces of the first fork-shaped rocking arm abut respectively has a pedal force to simulate spring assembly；
Adjustment/the shifting system includes pedal range controlling mechanism and pedal position adjusting mechanism；The pedal stroke
Control mechanism includes electronic worm screw, and pedal limit card block is connected on the electronic worm screw, is arranged in the pedal limit card block
There is limit card slot；The pedal position adjusting mechanism includes electric pushrod, and described electric pushrod one end and pedal emulation are single
Member connection, the other end connect on the operational platform, and the pedal simulation unit is slidably connected with the operating platform.
Further, the stick force is simulated spring assembly by the air spring of internal layer and is arranged on the outside of the air spring
Mechanical spring composition.
Further, the mechanical spring and the cross one end connecting of setting a roof beam in place are also associated with the first servo electric cylinders.
Further, roll channel output shaft is two, and two roll channel output shafts are on the connector
Relative distribution, one of roll channel output shaft are connected with third angle sensor, another roll channel exports axis connection
There is the first stick force adjusting part；
The pitch channel output shaft is two, and two pitch channel output shafts Relative distribution on the connector,
One of pitch channel output shaft is connected with fourth angle sensor, another pitch channel output shaft is connected with the second stick force
Adjusting part.
Further, the first stick force adjusting part and the second stick force adjusting part include：Second fork-shaped shakes
Arm, two stick force adjustment springs and stick force adjust electric cylinders；
The second fork-shaped rocking arm exports axis connection with the rolling channel output shaft or pitch channel, and two stick force adjust bullet
Spring is distributed in the both sides of the second fork-shaped rocking arm, and the stick force adjusts electric cylinders and is separately connected with two stick force adjustment springs.
Further, second angle sensor is installed in the shaft of the high-order roll channel.
Further, the bottom end of the handle is provided with fast-assembling nut, and the top of the wrist bar rocking arm is provided with fast-assembling
Screw socket；The handle is connected by the fast-assembling nut with the fast-assembling screw socket with the wrist bar rocking arm.
Further, two pedal force simulation spring assemblies are connected by link mechanism, and the link mechanism passes through
Second shaft is connected on the pedal pedestal, and the link mechanism is also associated with one second servo electric cylinders.
Further, foot-operated fixing flat spring assembly and the 5th angle sensor are respectively provided with inside each foot pedal pillar
Device.
Further, two pedal force simulation spring assemblies are using block form or the mounting means of staggered.
Control stick of the present invention, pedal can be switched according to the aircraft of various models control stick, pedal stroke, drive
Sail the stick force and channel pattern of bar；And relatively independent, compact-sized, the easy to disassemble maintenance of each unit module.Stroke Control is to make
The corresponding different trips range of different model aircraft is automatically switched by gearshift with the mode of mechanical position limitation.Stick force controls
Spring assembly in such a way that servo mechanism is combined, it can thus reach stepless, the unconfined bar in various models
Free switching between power.
The present invention has the following advantages compared with the existing technology：
1, flight control simulator of the invention can switch control stick, pedal stroke, control stick according to aircraft type
Stick force and operation mode；Therefore it can realize that same framework is suitble to the analog simulation of Multiple Type aircraft control stick, pedal, in conjunction with can
It replaces panel and corresponding simulation control software achieves that different model, the analog simulation of different type of machines；
2, be greatly decreased the buying expenses of analog machine, legacy analog device substantially just for a kind of model aircraft, and
The a set of basic platform of simulator of the present invention can correspond to various types of aircrafts, and adaptability is significantly larger than legacy analog device；
3, it takes up little area and saves space, the present invention uses modularization Integrated design, is suitble to use on various small-sized platforms, no
A large amount of complicated external equipments are needed to support；
4, easy maintenance, the unit of modularized design can easily realize the replacement of spare module entirety Quick Release ready-package, nothing
Need complicated Maintenance and Repair work.
Description of the drawings
Fig. 1 is the structural schematic diagram of control stick simulation unit provided in an embodiment of the present invention；
Fig. 2 is another structural schematic diagram of control stick simulation unit provided in an embodiment of the present invention；
Fig. 3 a, the structural schematic diagram that 3b, 3c, 3d are the body of rod provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of pole socket provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram provided in an embodiment of the present invention with somoothing board；
Fig. 6 is the scheme of installation that stick force adjusts electric cylinders；
Fig. 7 is the structural schematic diagram of stick force adjusting part；
Fig. 8 is to drive throw of lever gear Principles of Regulation figure；
Fig. 9 is the structural schematic diagram of pedal simulation unit provided in an embodiment of the present invention；
Figure 10 is the structural schematic diagram of foot pedal component provided in an embodiment of the present invention；
Figure 11 is the structural schematic diagram of rocker arm assembly provided in an embodiment of the present invention；
Figure 12 is the principle schematic that rocker arm assembly adjusts pedal force；
Figure 13 is the schematic view of the mounting position of pedal stroke shift control mechanism；
Figure 14 is the structural schematic diagram of pedal stroke provided in an embodiment of the present invention shift control mechanism；
Figure 15 is the schematic diagram of pedal position limiting slide block provided in an embodiment of the present invention；
Figure 16 is the structural schematic diagram of pedal position adjusting mechanism provided in an embodiment of the present invention.
Reference sign：
A：Handle, B：The body of rod, C：Pole socket, D：With somoothing board, 1：Wrist bar rocking arm,
2：High-order roll channel shaft, 3：Lock pin, 4：Wrist bar stick force generates spring assembly,
5：Pattern switching motor, 6：Control stick stroke limit sliding block, 7：Control stick stroke limit groove seat,
8：Stick force simulation spring assembly, 9：Shell, 10：Connector, 11：Engaging lug,
12：Second angle sensor, 13：Shift connecting rod, 14：Gimbal structure,
15：Roll channel output shaft, 16：Pitch channel output shaft, 17：Cross is set a roof beam in place,
18：Stick force simulation spring assembly, 19：Stick force secondary spring group, 20：Displacement sensor,
21：Sliding block, 22：Slide unit pedestal, 23：Driving motor, 24：First servo electric cylinders,
25：Stick force adjustment spring, 26：Second fork-shaped rocking arm, 27：Stick force adjusts electric cylinders；
E：Foot pedal component, F：Rocker arm assembly, G：Pedal pedestal, M：Adjustment/shifting system,
28：Foot pedal, 29：Foot pedal pillar, 30：Sliding block, 31：Sliding rail, 32：First fork-shaped rocking arm,
33：First rotating shaft, 34：First angle sensor, 35：Pedal force simulates spring assembly,
36：Link mechanism, 37：Second servo electric cylinders, 38：Second shaft,
39：Pedal range controlling mechanism, 40：Pedal limit card block, 41：Limit card slot,
42：Electric pushrod, 43：Operating platform, 44：Sliding block sliding rail.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work, shall fall within the protection scope of the present invention.
The present embodiment provides the flight control simulators that a kind of stroke and stick force and maneuverability pattern adaptively adjust, this flies
Row control simulation device includes control stick simulation unit and pedal simulation unit, and two units constitute basic flight control mould
Quasi- device.Specifically, it please refers to Fig.1 to Fig. 8, the control stick simulation unit in the present embodiment includes handle A, body of rod B, pole socket C
And match somoothing board D, as shown in Figure 1.
Wherein, above-mentioned body of rod B includes shell 9, and 2, two wrists of high-order roll channel shaft are fixedly provided in its shell 9
Bar stick force generates spring assembly 4 and pattern switching motor 5；Wrist bar rocking arm 1 is connected to bar by high-order roll channel shaft 2
The tops body B are equipped with second angle sensor 12 in the high position roll channel shaft 2.Wrist bar rocking arm 1 and handle A passes through boat
Blind plug is connected with ready-packaged joint；Specifically, the bottom end of handle A is provided with fast-assembling nut in the present embodiment, the wrist bar
The top of rocking arm 1 is provided with fast-assembling screw socket；Handle A is connected by fast-assembling nut with fast-assembling screw socket with wrist bar rocking arm 1.Namely hand
Handle A is i.e. plug-in unit, therefore according to the replaceable different handle A of different model aircraft；Two wrist bar stick force generate groups of springs
Part 4 is interspersed in the bottom of wrist bar rocking arm 1；Wrist bar rocking arm 1 compresses two wrist bar stick force and generates bullet respectively when rotating
Spring component 4 generates breakthrough power and stick force appropriate.
Above-mentioned pattern switching motor 5 is connect with lock pin 3, and the bayonet to match with lock pin 3 is provided on wrist bar rocking arm 1；
The bottom of lock pin 3 is connect (grey parts in Fig. 3 b) with shift connecting rod 13, is disposed with and is driven from top to bottom on connecting rod 13 of shifting gears
Sail throw of lever position limiting slide block 6, connector 10 and engaging lug 11；Above-mentioned pole socket C includes that cross sets a roof beam in place 17, which sets a roof beam in place on 17
Be provided with control stick stroke limit groove seat 7 and gimbal structure 14, be provided in the control stick stroke limit groove seat 7 it is replaceable not
Turn away a visitor with some excuse with pitch channel and roll channel corresponding to model sails throw of lever limiting slot more, the bottom end of above-mentioned body of rod B with it is universal
Section structure 14 connects, and the roll channel output shaft 15 of a pair of of Relative distribution and a pair of of phase are connected on the connector 10 of body of rod B
To the pitch channel output shaft 16 of distribution；The roll channel output shaft 15 and pitch channel output shaft 16 penetrate control stick limit respectively
Position groove seat 7 is arranged.
Above-mentioned gimbal structure 14 exports pitch channel parameter to angle by one of a pair of of pitch channel output shaft 16
Sensor, another pitch channel output shaft 16 are reserved, and input shaft is additionally loaded as control stick stick force.Similarly, above-mentioned ten thousand
Roll channel parameters are exported to angular transducer by one of a pair of of roll channel output shaft 15 to section structure 14, another is horizontal
Rolling channel output shaft 15 is reserved, and input shaft is additionally loaded as control stick stick force.
Control stick pattern switching is driven by pattern switching motor 5, when needing using wrist bar pattern, pattern switching motor
5 band pendulum lock pins 3 are run down so that lock pin 3 makes control stick stroke limit from the bayonet abjection on wrist bar rocking arm 1
The wrist bar pattern that sliding block 6 enters control stick stroke limit groove seat 7 limits shelves, at this point, high-order roll channel shaft 2 works, bar
Body B can only do pitch channel operation, and roll channel is blocked；When needing using integral stem pattern, pattern switching motor 5 drives
Lock pin 3 is run up so that lock pin 3 is inserted into the bayonet on wrist bar rocking arm 1, while make control stick stroke limit sliding block 6 into
Enter the integral stem pattern limit shelves of control stick stroke limit groove seat 7, at this point, high-order roll channel shaft 2 is blocked, handle A with
Body of rod B is linked together；At this point, pitch channel operation can be done, roll channel operation can be also done.
Control stick Stroke Control passes through the pitch channel corresponding to the different model that is arranged in control stick stroke limit groove seat 7
It is realized with roll channel control stick stroke limit slot, as shown in figure 8, driving the throw of lever when control stick stroke limit sliding block 6 is located at
When limiting the low level L of groove seat 7, the stroke of control stick is small stroke, and angular travel is ɑ 1, and is slided when control stick stroke limit
When block 6 is located at the high-order H of control stick stroke limit groove seat 7, the stroke of control stick is big stroke, and angular travel is ɑ 2.
Stick force simulation spring assembly 18 is connected on the engaging lug 11 of above-mentioned body of rod B, which simulates spring assembly 18
The other end by universal joint be connected to cross set a roof beam in place 17 endpoint；Stick force simulation spring assembly 18 can simulate aircraft control stick
Basic stick force and break through power, wherein stick force simulation is realized by outer layer mechanical spring, and it is real by inner air spring to break through power simulation
It is existing.For the stick force difference of different model can by 13 bottom end of shift connecting rod connect or disengage cross set a roof beam in place 17 bottoms stick force it is auxiliary
Groups of springs 19 is helped to compensate.When needing to adjust stick force, it can simulate spring assembly 18 and cross in stick force and set a roof beam in place and 17 connect
One end connect the first servo electric cylinders 24, by the first servo electric cylinders 24 according to control stick real-time status compress or unclamp stick force simulation
The outer layer spring of spring assembly 18 achievees the purpose that simulate different stick force in real time, as shown in Figure 6；
Or the control of variable stick force is realized by way of loading stick force adjusting part in pitching/roll channel output shaft
System, specifically, the stick force adjusting part include that 26, two stick force adjustment springs 25 of the second fork-shaped rocking arm and stick force adjust electric cylinders
27；The second fork-shaped rocking arm 26 is connect with roll channel output shaft 15 or pitch channel output shaft 16, two stick force adjustment springs
25 are distributed in the both sides of the second fork-shaped rocking arm 26, and stick force adjusts electric cylinders 27 and is separately connected with two stick force adjustment springs 25, such as Fig. 7
It is shown.
When needing to adjust stick force, stick force adjusts electric cylinders 27 and pushes one group of stick force being made of two stick force adjustment springs 25
Adjustment spring group and 26 counteragent of the second fork-shaped rocking arm, the stick force adjustment spring 25 for compressing side generate additional stick force, add
The size of stick force is adjusted the distance controlling that electric cylinders 27 push stick force adjustment spring group by stick force.Similarly, when control stick is to the other side
When movement, stick force adjusts electric cylinders 27 and stick force adjustment spring group is then pushed to be moved to negative direction, and the stick force for compressing the other side adjusts bullet
Spring 25.
It is above-mentioned to be formed with the electronic slide unit that somoothing board D is stacked by two square crossings, as shown in figure 5, wherein one
A slide unit executes pitching trim operation, another slide unit executes roll trim operation；Electronic slide unit is by being mounted on slide unit pedestal 22
On driving motor 23 drive, pass through ball-screw push sliding block 21 move；The sliding block for the electronic slide unit being wherein located above with
Set a roof beam in place 17 bottom of cross is fixed, the sliding block connection of the electronic slide unit of slide unit pedestal and lower section；The movement of two electronic slide units
Parameter is then acquired by respective displacement sensor 20 respectively.Servo electric cylinders are used with the driving motor 23 on somoothing board, except real
Existing trim function can also be achieved the real-time stick force of simulation and adjust and drive simulating bar stick shaker function.
In addition, please refer to Fig. 9 to Figure 16, the pedal simulation unit of the present embodiment include foot pedal component E, rocker arm assembly F,
Pedal pedestal G and adjustment/shifting system M, as shown in Figure 9；Pedal assembly E includes foot pedal 28, and foot pedal pillar 29 is slided
Block 30 and sliding rail 31, as shown in Figure 10；The foot pedal 28 is hinged with foot pedal pillar 29, pacifies respectively in each foot pedal pillar 29
Equipped with foot-operated fixing flat spring assembly and the 5th angular transducer；Sliding block 30 is fixed on 29 lower section of foot pedal pillar, and the setting of sliding rail 31 exists
On pedal pedestal G, sliding block 30 is slidably connected with sliding rail 31.
Above-mentioned rocker arm assembly F include the first fork-shaped rocking arm 32,32 both ends of the first fork-shaped rocking arm respectively with two foot pedals
Component E connections so that the two foot pedal component E in left and right can be moved symmetrically；And first fork-shaped rocking arm 32 connected by first rotating shaft 33
It is connected on pedal pedestal G, first angle sensor 34 is provided with above the first rotating shaft 33, the rudder angle number of degrees are pedaled for acquiring
According to；Two end side surfaces of the first fork-shaped rocking arm 32 abut respectively has a pedal force to simulate spring assembly 35；By being butted on the first fork
The pedal force simulation spring assembly 35 of shape rocking arm 32 is, it can be achieved that simulation to pedaling rudder power.Pedal force is simulated spring assembly 35 and is used
The mounting means of block form or staggered can be achieved with pedaling rudder power to difference and echelon pedal the simulation of rudder power, as shown in figure 11.
Also, in order to realize the electrodeless adjustment of pedal force, two pedal forces simulation spring assembly 35 in the present embodiment is logical
The connection of link mechanism 36 is crossed, which is connected to by the second shaft 38 on pedal pedestal G, which also connects
It is connected to one second servo electric cylinders 37.When the first fork-shaped rocking arm 32 deflects, the second servo electric cylinders 37 push link mechanism 36 to compress
The distance between the first fork-shaped rocking arm 32 and pedal force simulation spring assembly 35 are compressed, pedal force is increased.When the first fork-shaped rocking arm
When 32 reverse deflection, then 37 counteragent of the second servo electric cylinders, increases other side pedal force.In simulation rudder swing state
When, which does controllable reciprocating motion, controls foot pedal component E back-and-forth motions, as shown in figure 12.
Above-mentioned adjustment/shifting system M includes pedal range controlling mechanism 39 and pedal position adjusting mechanism；The pedal stroke
Control mechanism 39 includes electronic worm screw, is connected with pedal limit card block 40 on the electronic worm screw, is set in the pedal limit card block 40
It is equipped with limit card slot 41；The pedal limit card block 40 limits the first fork-shaped by the limit card slot 41 for the different angle being arranged thereon
The deflection angle of rocking arm 32, to realize the control of pedal stroke, as shown in Figure 14 and Figure 15.
Above-mentioned pedal position adjusting mechanism includes electric pushrod 42, which connects with pedal simulation unit
It connects, the other end is connected on operating platform 43, and pedal simulation unit is slidably connected with operating platform 43 by sliding block sliding rail 44.It is logical
It crosses electric pushrod 42 and pushes and pulls the back-and-forth motion of pedal simulation unit, most suitable pedal position can be provided for the long operating personnel of different legs
It sets, as shown in figure 16.
Control stick of the present invention, pedal can be switched according to the aircraft of various models control stick, pedal stroke, drive
Sail the stick force and channel pattern of bar；And relatively independent, compact-sized, the easy to disassemble maintenance of each unit module.Stroke Control is to make
The corresponding different trips range of different model aircraft is automatically switched by gearshift with the mode of mechanical position limitation.Stick force controls
Spring assembly in such a way that servo mechanism is combined, it can thus reach stepless, the unconfined bar in various models
Free switching between power.
The present invention has the following advantages compared with the existing technology：
1, flight control simulator of the invention can switch control stick, pedal stroke, control stick according to aircraft type
Stick force and operation mode；Therefore it can realize that same framework is suitble to the analog simulation of Multiple Type aircraft control stick, pedal, in conjunction with can
It replaces panel and corresponding simulation control software achieves that different model, the analog simulation of different type of machines；
2, be greatly decreased the buying expenses of analog machine, legacy analog device substantially just for a kind of model aircraft, and
The a set of basic platform of simulator of the present invention can correspond to various types of aircrafts, and adaptability is significantly larger than legacy analog device；
3, it takes up little area and saves space, the present invention uses modularization Integrated design, is suitble to use on various small-sized platforms, no
A large amount of complicated external equipments are needed to support；
4, easy maintenance, the unit of modularized design can easily realize the replacement of spare module entirety Quick Release ready-package, nothing
Need complicated Maintenance and Repair work.
It should be noted that in the embodiment of the present invention, the appearance of " first ", " second ", it is only for make differentiation technology
Noun and description are convenient, should not be construed as the restriction to the embodiment of the present invention.The terms "include", "comprise" or its any other
Variant is intended to non-exclusive inclusion, so that including process, method, article or the terminal device of a series of elements
Include not only those elements, but also include other elements that are not explicitly listed, or further includes for this process, side
Method, article or the intrinsic element of terminal device.In the absence of more restrictions, being limited by sentence "including a ..."
Fixed element, it is not excluded that there is also other identical in process, method, article or the terminal device including the element
Element.
It these are only the preferred embodiment of the present invention, be not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.Any modification made by all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. the flight control simulator that a kind of stroke and stick force and maneuverability pattern adaptively adjust, which is characterized in that the row
The flight control simulator that journey and stick force and maneuverability pattern adaptively adjust includes that control stick simulation unit and pedal emulation are single
Member；
The control stick simulation unit includes handle, the body of rod, pole socket and matches somoothing board；Wherein, the body of rod includes shell, institute
It states enclosure and is installed with high-order roll channel shaft, two wrist bar stick force generation spring assemblies and pattern switching motor；
Wrist bar rocking arm is connected to the body of rod top by high-order roll channel shaft, and passes through aviation plug with the handle
It is connected with ready-packaged joint；Described two wrist bar stick force generate spring assembly and are interspersed in the bottom of the wrist bar rocking arm；
Two wrist bar stick force are compressed respectively when the wrist bar rocking arm rotation generates spring assembly；The pattern switching motor and lock pin
It connects, the bayonet to match with the lock pin is provided on the wrist bar rocking arm；The bottom of the lock pin connects with shift connecting rod
It connects, control stick stroke limit sliding block, connector and engaging lug is disposed with from top to bottom on the shift connecting rod；
The pole socket includes that control stick stroke limit groove seat and cross are set a roof beam in place, and is provided in the control stick stroke limit groove seat more
Turn away a visitor with some excuse and sail throw of lever limiting slot, the cross set a roof beam in place on gimbal structure is installed, the bottom end of the body of rod and the universal joint
Structure connects, and roll channel output shaft and pitch channel output shaft, roll channel output shaft are connected on the connector
The control stick limit groove seat setting is penetrated respectively with the pitch channel output shaft；It is connected separately on each engaging lug
One stick force simulates spring assembly, and the other end of the stick force simulation spring assembly is connected to the endpoint of the rood beam；
It is described to be formed with the electronic slide unit that somoothing board is stacked by two square crossings, wherein the electronic slide unit being located above
The bottom set a roof beam in place with the cross of sliding block fix, the sliding block connection of the electronic slide unit of slide unit pedestal and lower section；
The pedal simulation unit includes foot pedal component, rocker arm assembly, pedal pedestal and adjustment/shifting system；It is described to step on
Board group part includes foot pedal, foot pedal pillar, sliding block and sliding rail；The foot pedal props up column articulated, the cunning with the foot pedal
Block is fixed below the foot pedal pillar, and the sliding rail is arranged on the pedal pedestal, and the sliding block is slided with the sliding rail
Dynamic connection；
The rocker arm assembly includes the first fork-shaped rocking arm, and the first fork-shaped rocking arm both ends connect with two foot pedal components respectively
It connects；And the first fork-shaped rocking arm is connected to by first rotating shaft on the pedal pedestal, is provided with above the first rotating shaft
First angle sensor；Two end side surfaces of the first fork-shaped rocking arm abut respectively has a pedal force to simulate spring assembly；
Adjustment/the shifting system includes pedal range controlling mechanism and pedal position adjusting mechanism；The pedal Stroke Control
Mechanism includes electronic worm screw, and pedal limit card block is connected on the electronic worm screw, is arranged in the pedal limit card block limited
Position card slot；The pedal position adjusting mechanism includes electric pushrod, and described electric pushrod one end connects with the pedal simulation unit
It connects, the other end connects on the operational platform, and the pedal simulation unit is slidably connected with the operating platform.
2. the flight control simulator that stroke as described in claim 1 and stick force and maneuverability pattern adaptively adjust, special
Sign is that the stick force simulates spring assembly by the air spring of internal layer and the mechanical spring being arranged on the outside of the air spring
Composition.
3. the flight control simulator that stroke as claimed in claim 2 and stick force and maneuverability pattern adaptively adjust, special
Sign is, the mechanical spring and the cross one end connecting of setting a roof beam in place are also associated with the first servo electric cylinders.
4. the flight control simulator that stroke as described in claim 1 and stick force and maneuverability pattern adaptively adjust, special
Sign is that roll channel output shaft is two, and two roll channel output shafts Relative distribution on the connector,
In a roll channel output shaft be connected with third angle sensor, another roll channel output shaft is connected with the first stick force tune
Save component；
The pitch channel output shaft is two, and two pitch channel output shafts Relative distribution on the connector, wherein
One pitch channel output shaft is connected with fourth angle sensor, another pitch channel output shaft is connected with the adjusting of the second stick force
Component.
5. the flight control simulator that stroke as claimed in claim 4 and stick force and maneuverability pattern adaptively adjust, special
Sign is that the first stick force adjusting part and the second stick force adjusting part include：Second fork-shaped rocking arm, two stick force
Adjustment spring and stick force adjust electric cylinders；
The second fork-shaped rocking arm exports axis connection, two stick force adjustment springs point with the rolling channel output shaft or pitch channel
Cloth adjusts electric cylinders and is separately connected with two stick force adjustment springs in the both sides of the second fork-shaped rocking arm, the stick force.
6. the flight control simulator that stroke as described in claim 1 and stick force and maneuverability pattern adaptively adjust, special
Sign is, second angle sensor is equipped in the shaft of the high position roll channel.
7. the flight control simulator that stroke as described in claim 1 and stick force and maneuverability pattern adaptively adjust, special
Sign is that the bottom end of the handle is provided with fast-assembling nut, and the top of the wrist bar rocking arm is provided with fast-assembling screw socket；The hand
Handle is connected by the fast-assembling nut with the fast-assembling screw socket with the wrist bar rocking arm.
8. the flight control simulator that stroke as described in claim 1 and stick force and maneuverability pattern adaptively adjust, special
Sign is that two pedal force simulation spring assemblies are connected by link mechanism, and the link mechanism is connected by the second shaft
It is connected on the pedal pedestal, the link mechanism is also associated with one second servo electric cylinders.
9. the flight control simulator that stroke as described in claim 1 and stick force and maneuverability pattern adaptively adjust, special
Sign is, foot-operated fixing flat spring assembly and the 5th angular transducer are respectively provided with inside each foot pedal pillar.
10. the flight control simulator that stroke as described in claim 1 and stick force and maneuverability pattern adaptively adjust, special
Sign is that two pedal force simulation spring assemblies are using block form or the mounting means of staggered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810641993.9A CN108648560B (en) | 2018-06-21 | 2018-06-21 | Flight control simulation device with stroke, rod force and control mode self-adaptive adjustment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810641993.9A CN108648560B (en) | 2018-06-21 | 2018-06-21 | Flight control simulation device with stroke, rod force and control mode self-adaptive adjustment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108648560A true CN108648560A (en) | 2018-10-12 |
| CN108648560B CN108648560B (en) | 2023-05-05 |
Family
ID=63753066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810641993.9A Active CN108648560B (en) | 2018-06-21 | 2018-06-21 | Flight control simulation device with stroke, rod force and control mode self-adaptive adjustment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108648560B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109637263A (en) * | 2018-12-20 | 2019-04-16 | 天津中天翔翼航空科技有限公司 | Flight simulator pedal controller |
| CN111210694A (en) * | 2020-03-03 | 2020-05-29 | 孙涛 | Aircraft simulator |
| CN111731491A (en) * | 2020-06-12 | 2020-10-02 | 陕西飞机工业（集团）有限公司 | Method for assembling airplane foot control mechanism |
| CN112201114A (en) * | 2020-10-12 | 2021-01-08 | 浙江大学 | Big aircraft pedal analogue means based on rack and pinion motion |
| CN114999268A (en) * | 2022-05-07 | 2022-09-02 | 北京领为军融科技有限公司 | Universal operating rod base for air combat confrontation simulation training system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080039216A1 (en) * | 2006-08-04 | 2008-02-14 | Motohiko Higashiguchi | Swing device and control method for a swing device |
| CA2570845A1 (en) * | 2006-12-08 | 2008-06-08 | George E. Holloway | Flight motion simulator |
| CN202887507U (en) * | 2012-11-14 | 2013-04-17 | 昆山航理机载设备有限公司 | Simulative operation device of aircraft |
| CN105700615A (en) * | 2016-02-25 | 2016-06-22 | 南京航空航天大学 | Airplane active side lever system |
| CN106585958A (en) * | 2016-11-30 | 2017-04-26 | 中国航空工业集团公司沈阳飞机设计研究所 | Self-balancing integrated central rod |
| CN107424473A (en) * | 2017-08-14 | 2017-12-01 | 徐舒青 | Single seat moves plane simulation steer entirely |
| CN209118545U (en) * | 2018-06-21 | 2019-07-16 | 北京瀚科瑞杰科技发展有限公司 | The flight control simulator that stroke and stick force and maneuverability pattern adaptively adjust |
-
2018
- 2018-06-21 CN CN201810641993.9A patent/CN108648560B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080039216A1 (en) * | 2006-08-04 | 2008-02-14 | Motohiko Higashiguchi | Swing device and control method for a swing device |
| CA2570845A1 (en) * | 2006-12-08 | 2008-06-08 | George E. Holloway | Flight motion simulator |
| CN202887507U (en) * | 2012-11-14 | 2013-04-17 | 昆山航理机载设备有限公司 | Simulative operation device of aircraft |
| CN105700615A (en) * | 2016-02-25 | 2016-06-22 | 南京航空航天大学 | Airplane active side lever system |
| CN106585958A (en) * | 2016-11-30 | 2017-04-26 | 中国航空工业集团公司沈阳飞机设计研究所 | Self-balancing integrated central rod |
| CN107424473A (en) * | 2017-08-14 | 2017-12-01 | 徐舒青 | Single seat moves plane simulation steer entirely |
| CN209118545U (en) * | 2018-06-21 | 2019-07-16 | 北京瀚科瑞杰科技发展有限公司 | The flight control simulator that stroke and stick force and maneuverability pattern adaptively adjust |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109637263A (en) * | 2018-12-20 | 2019-04-16 | 天津中天翔翼航空科技有限公司 | Flight simulator pedal controller |
| CN109637263B (en) * | 2018-12-20 | 2024-01-26 | 天津中天翔翼航空科技有限公司 | Pedal controller of flight simulator |
| CN111210694A (en) * | 2020-03-03 | 2020-05-29 | 孙涛 | Aircraft simulator |
| CN111731491A (en) * | 2020-06-12 | 2020-10-02 | 陕西飞机工业（集团）有限公司 | Method for assembling airplane foot control mechanism |
| CN112201114A (en) * | 2020-10-12 | 2021-01-08 | 浙江大学 | Big aircraft pedal analogue means based on rack and pinion motion |
| CN114999268A (en) * | 2022-05-07 | 2022-09-02 | 北京领为军融科技有限公司 | Universal operating rod base for air combat confrontation simulation training system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108648560B (en) | 2023-05-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108648560A (en) | The flight control simulator that stroke and stick force and maneuverability pattern adaptively adjust | |
| EP2443618B1 (en) | A motion platform system | |
| KR102039158B1 (en) | Multi-dof motion platform | |
| US20050277092A1 (en) | Motion platform device for spatial disorientation simulation | |
| US20070111170A1 (en) | Vehicle simulator | |
| US20070269771A1 (en) | Vehicle simulator with multiple degrees of freedom of motion | |
| CN209118545U (en) | The flight control simulator that stroke and stick force and maneuverability pattern adaptively adjust | |
| KR101228129B1 (en) | Multi―Axis Driving Motion System enabling Unlimited Rotation | |
| US20130001995A1 (en) | Motion seat | |
| CN107424473A (en) | Single seat moves plane simulation steer entirely | |
| US20010041326A1 (en) | Simulator for aircraft flight training | |
| JP2009116294A (en) | Motion base for virtual reality motion simulator | |
| CN105999695A (en) | Simulated driving game car somatosensory drive simulating system | |
| CN113628497A (en) | Vehicle driving simulator capable of realizing high-low frequency composite vibration | |
| CN108154746A (en) | A kind of drive simulation experiment porch | |
| CN207938219U (en) | A kind of Helicopter Simulator emulation operating mechanism | |
| CN2790551Y (en) | Electric toy helicopter | |
| CN102637374A (en) | Six-degree-of-freedom platform realized by virtue of link mechanisms | |
| CN108447338A (en) | IPT flight simulation system with motion system | |
| CN202650297U (en) | Six-freedom-degree platform autocrane simulation operation system realized by arranging connection rod mechanism | |
| CN209388516U (en) | Novel IPT flight simulation system with motion system | |
| CN108109470B (en) | Servo control rocker operating device for simulating small aircraft | |
| CN208488861U (en) | A kind of rocker actuator for simulating big aircraft | |
| CN207473883U (en) | Flight simulator | |
| CN206584580U (en) | Immersive VR outdoor scene driving directions system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 100000 No. 6 # - 9 # No. 6, No. 59 Banjing Road, Haidian District, Beijing Applicant after: Beijing Hanke Technology Group Co.,Ltd. Address before: 100000 No. 6 # - 9 # No. 6, No. 59 Banjing Road, Haidian District, Beijing Applicant before: BEIJING HANKE RUIJIE TECHNOLOGY DEVELOPMENT CO.,LTD. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230915 Address after: Room 1607, 16th Floor, South Building, Qidi Cluster Innovation Building, No. 118 Rongtong Road, Binhai Street Office, Huangdao District, Qingdao City, Shandong Province, 266404 Patentee after: Hanke Zhixiang (Qingdao) Technology Development Co.,Ltd. Address before: 100000 No. 6 # - 9 # No. 6, No. 59 Banjing Road, Haidian District, Beijing Patentee before: Beijing Hanke Technology Group Co.,Ltd. |