CN111710210A

CN111710210A - Aircraft attitude control simulation training device

Info

Publication number: CN111710210A
Application number: CN202010552842.3A
Authority: CN
Inventors: 赵汝岩; 王丽婷; 王斌; 董可海; 李金飞
Original assignee: Coastal Defense College Of Naval Aviation University Of Chinese Pla
Current assignee: Coastal Defense College Of Naval Aviation University Of Chinese Pla
Priority date: 2020-06-12
Filing date: 2020-06-12
Publication date: 2020-09-25

Abstract

The invention designs an aircraft attitude control simulation training device for demonstrating the attitude adjustment of an aircraft, realizes the three-degree-of-freedom adjustment of the attitude of the aircraft in pitching, yawing and rolling, and works the corresponding relation between a spray pipe and a deviation attitude in real time so as to meet the requirements of simulation demonstration and training of the attitude control of the aircraft. The device comprises a base, a walking device, an electric cabinet, an electric control system, an operation control panel, an upper swing platform, a motion state display panel, a space orthogonal motion mechanism, a rolling motion mechanism, a bearing support and a protective enclosure. The base is a bearing structure of the whole aircraft attitude control simulation training device. The space orthogonal motion mechanism is a motion mechanism for executing the simulation of the pitching attitude and the yawing attitude of the aircraft, and the rolling motion mechanism is a motion mechanism for executing the rolling attitude of the aircraft.

Description

Aircraft attitude control simulation training device

Technical Field

The invention relates to the field of aircraft attitude control, in particular to an aircraft attitude control simulation training device with three degrees of freedom.

Background

With the rapid development of aircraft equipment, higher requirements are put on the accuracy and complexity of an attitude control system in the flight process of an aircraft. The types of the attitude deviation of the aircraft comprise positive and negative pitching, positive and negative yawing, positive and negative rolling and comprehensive deviation, and usually, the pitching, yawing and rolling attitude control of the aircraft is finished by the cooperation of a plurality of spray pipes and a plurality of paths of control signals in the flying process of the aircraft. Because the deviation types, deviation combinations, the working spray pipes and the control signals are varied in a large number and are combined in a complex way, in order to accurately demonstrate and express the complex actuation relation in teaching and training, an aircraft attitude control simulation training device needs to be developed, and the aim of specifically and clearly expressing the working relation among the deviation signals, the working spray pipes and the deviation attitude is achieved.

Disclosure of Invention

The invention aims to demonstrate the attitude adjustment process of an aircraft, and realizes three-degree-of-freedom adjustment of the attitude of the aircraft by designing an aircraft attitude control simulation training device, and represents the corresponding relation between a working spray pipe and a deviation attitude in real time so as to meet the requirements of simulation demonstration and training of the attitude control of the aircraft.

The invention relates to an aircraft attitude control simulation training device which comprises a base 1, a walking device 2, an electric cabinet 3, an electric control system 4, an operation control panel 5, an upper swing platform 6, a motion state display panel 7, a space orthogonal motion mechanism 8, a rolling motion mechanism, a bearing support 11 and a protective enclosure 13.

The base 1 is a bearing structure of the whole aircraft attitude control simulation training device. 4 ~ 6 running gear 2 are installed to the lower part at base 1, play the effect of support and the facilitate of carrying out. The electric cabinet 3 and the protective enclosure 13 are welded on the base 1, and the inner part is respectively a control system and a posture simulation actuating mechanism of the aircraft posture control simulation training device.

The upper surface of the electric cabinet 3 is provided with an operation control panel 5 for external control of the aircraft attitude control simulation training device; an electric control system 4 is arranged in the electric cabinet 3 and used for providing electric power for each device in the aircraft attitude control simulation training device, processing various logic relations, and executing and feeding back control signals.

Inside the protective enclosure 13, the bearing support 11 is fixedly mounted on the base 1 for supporting the spatial orthogonal movement mechanism 8 and the rolling movement mechanism mounted thereon. The space orthogonal movement mechanism 8 is a movement mechanism that performs simulation of the pitch attitude and yaw attitude of the aircraft, and the roll movement mechanism is a movement mechanism that performs the roll attitude of the aircraft.

The lower surface of the upper swing platform 6 is connected with a space orthogonal movement mechanism 8 through 3 ball bearings, and the upper surface of the upper swing platform 6 is coaxially provided with a movement state display panel 7. The motion state display panel 7 is provided with a spray pipe state indicator lamp according to the layout of spray pipes on the actual aircraft, and is used for displaying the working state of the spray pipes in different postures.

The rotating shaft of the rolling mechanism is coaxial with the centers of the upper swing platform 6 and the motion state display panel 7.

1. Rolling motion mechanism

The rolling motion mechanism consists of a bottom slewing bearing 9, a rolling motor 10 and a speed reduction steering mechanism 12 and is arranged at the upper part and the lower part of a bearing bracket 11.

The upper part of the bearing bracket 11 is provided with a bottom rotary support 9, the lower part of the bearing bracket 11 is provided with a rolling motor 10 and a speed reduction steering mechanism 12, the middle part of the bearing bracket 11 is provided with a hole, and the speed reduction steering mechanism 12 is connected with the bottom rotary support 9 through the hole. The upper part of the bottom slewing bearing 9 is connected with the orthogonal movement mechanism 8. When the rolling motor 10 outputs rotation, after speed reduction and steering, the bottom rotary support 9 and the spatial orthogonal movement mechanism 8 at the upper part of the bottom rotary support can be driven to rotate together to simulate the rolling attitude of the aircraft.

The rotation central axes of the deceleration steering mechanism 12 and the bottom slewing bearing 9 are coaxial with the centers of the upper swing platform 6 and the motion state display panel 7.

2. Space orthogonal movement mechanism

The bottom of the space orthogonal movement mechanism 8 is a bottom rotating platform 813 which is fixedly connected with a bottom slewing bearing 9. The bottom rotary platform 813 is provided with a structure of one-axis three-point four sliding tables. The "one axis" of the spatial orthogonal movement mechanism 8 is a central axis structure composed of the central ejector 804 and the ball bearing C803, and the axis thereof is coaxial with the bottom rotary platform and also indicates the axis position of the aircraft attitude. The center of the ball head bearing C803 is coaxial with the center of the upper swing platform 6; the upper part of the central ejector rod 804 is connected with the upper swing platform through a ball bearing C, and the lower part of the central ejector rod is fixedly connected with the center of the circle on the upper surface of the bottom rotating platform 813, so that the upper swing platform and the bottom rotating platform are coaxial.

The three points of the spatial orthogonal movement mechanism 8 are connected with the lower surface of the upper swing platform 6 through 3 bearings, namely a ball bearing A801, a ball bearing B802 and a ball bearing C803, and the 3 ball bearings are positioned on the same plane; the ball head bearing A is arranged in a slide rail A815, the slide rail A is fixedly connected to the lower surface of the upper swing platform 6, the direction is the positive direction (+ x) of the transverse axis, and the initial position of the ball head bearing A is the position L away from the ball head bearing C, namely the circle center of the upper swing platform 6; the ball head bearing B is arranged in a slide rail B817, the slide rail B is fixedly connected to the lower surface of the upper swing platform 6, the direction is the positive direction (+ y) of the longitudinal axis, and the initial position of the ball head bearing B is L away from the ball head bearing C, namely the circle center of the upper swing platform 6; and the ball bearing C is arranged at the center of the lower surface of the upper swing platform.

The "four-slide table" of the spatial orthogonal movement mechanism 8 is a screw sliding structure composed of 4 groups of mechanisms, namely, a stepping reduction motor a805 and a screw slide table a806, a stepping reduction motor B807 and a screw slide table B808, a stepping reduction motor C809 and a screw slide table C810, and a stepping reduction motor D811 and a screw slide table D812. The stepping speed reducing motor A is connected with a lead screw of the lead screw sliding table A, and is fixed on the upper surface of the bottom rotating platform 813 along the positive direction (+ x) of the transverse axis, and when the stepping speed reducing motor A receives a signal of the electric control system 4 to start working, the stepping speed reducing motor A drives the lead screw sliding table A to move back and forth along the transverse axis. The stepping speed reducing motor B is vertically fixed on the sliding table of the lead screw sliding table A, the stepping speed reducing motor B is connected with a lead screw of the lead screw sliding table B, and when the stepping speed reducing motor B receives a signal of the electric control system 4 to start working, the stepping speed reducing motor B drives the lead screw sliding table B to move up and down along the vertical direction; and a connecting rod A814 is installed on the screw rod sliding table B and is connected with the ball head bearing A801 through the connecting rod. When the lead screw sliding table A is at an initial position, the ball head bearing A is positioned at a position L away from the circle center of the upper swing platform 6; when the screw sliding table a moves in the lateral axis direction, the ball bearing a also slides in the sliding rail a815 in the lateral axis direction. Thus, the stepping reduction motor a805 and the screw slide table a806, the stepping reduction motor B807 and the screw slide table B808, and the connecting rod a814 together constitute a forward and backward movement mechanism of the spatial orthogonal movement mechanism 8 in the positive direction (+ x) along the lateral axis.

Similarly, the stepping speed reduction motor C is connected with a lead screw of the lead screw sliding table C, and is fixed on the upper surface of the bottom rotating platform 813 along the positive direction (+ y) of the longitudinal axis, and when the stepping speed reduction motor C receives a signal of the electric control system 4 to start working, the stepping speed reduction motor C drives the lead screw sliding table C to move back and forth along the longitudinal axis. The stepping speed reducing motor D is vertically fixed on the sliding table of the lead screw sliding table C and is connected with a lead screw of the lead screw sliding table D, and when the stepping speed reducing motor D receives a signal of the electric control system 4 to start working, the stepping speed reducing motor D drives the lead screw sliding table D to move up and down along the vertical direction; and a connecting rod B816 is arranged on the lead screw sliding table D and is connected with the ball head bearing B802 through the connecting rod. When the screw rod sliding table C is at an initial position, the ball head bearing B is positioned at a position L away from the circle center of the upper swing platform 6; when the screw slide C moves in the longitudinal axis direction, the ball bearing B also slides in the longitudinal axis direction within the slide rail B817. Thus, the stepping reduction motor C809 and the screw slide table C810, the stepping reduction motor D811 and the screw slide table D812, and the connecting rod B816 together constitute a front-rear movement mechanism of the spatial orthogonal movement mechanism 8 in the positive direction (+ y) along the longitudinal axis.

3. Motion state display panel

And a motion state display panel 7 of the aircraft attitude control simulation training device is arranged on the upper surface of the upper swing platform 6, is coaxial with the upper surface and has the same size as the upper swing platform. 12 spray pipe indicating lamps are distributed on the motion state display panel 7, the number, the distribution mode, the specific orientation and the working time of the spray pipe indicating lamps are all consistent with those of the attitude control engine of the actual aircraft attitude control system, and the spray pipe indicating lamps are used for visually representing and simulating the working state of the attitude control engine.

On the motion state display panel 7, along the positive direction (+ x) of the horizontal axis, near the edge of the panel, are arranged spray pipe indicator lamps (I), (II) and (III), wherein the spray pipe indicator lamp (I) is positioned on the horizontal axis, the spray pipe is horizontally outward, which means that when the corresponding spray pipe works, the thrust vector direction is the negative direction (-x) of the horizontal axis, and the spray pipe indicator lamps (II) and (III) are perpendicular to the horizontal axis, are distributed on two sides of the spray pipe indicator lamp (I), and the spray pipe direction is outward, which means that when the corresponding spray pipe works, the thrust vector direction is the longitudinal axis direction (+/-y). The spray pipe indicator light comprises a horizontal axis, a vertical axis, a horizontal direction and a vertical axis, wherein the horizontal axis is arranged on the horizontal axis, the vertical axis is perpendicular to the horizontal axis, the vertical axis is distributed on two sides of the vertical axis, and the direction of the spray pipe is outward.

On the motion state display panel 7, spray

pipe indicator lights

④, ⑤ and ⑤ 0 are arranged near the edge of the panel along the positive direction (+ y) of the longitudinal axis, the spray pipe indicator light ④ is arranged on the longitudinal axis, the spray pipe is horizontally outward, which means that when the corresponding spray pipe works, the thrust vector direction is the negative direction (-y) of the longitudinal axis, the spray

pipe indicator lights

⑤ and ⑥ are symmetrically distributed at the two sides of the spray pipe indicator light ④, the included angle between the spray pipe indicator light ④ and the spray pipe indicator light ④ is 75 degrees, the spray pipe direction is outward, which means that when the corresponding spray pipe works, one part of the thrust vector is the longitudinal axis direction (+/-y), and the other part is the transverse axis direction (+/-x), and the symmetric positions of the spray

pipe indicator lights

④, ⑤ and ⑥, namely ⑤ 1 is arranged near the edge of,

The spray pipe indicator light No. ⑩ is positioned on the longitudinal axis, the spray pipe is horizontally outward,

no. spray tube pilot lamp symmetric distribution is at No. ⑩ spray tube pilot lamp both sides, and is 75 with the contained angle between it, and the spray tube direction is outwards.

The power supply and the signal of the motion state display panel 7 are provided by the electronic control system 4. When the corresponding spray pipe works, the spray pipe indicating lamp is on, and when the spray pipe does not work, the spray pipe indicating lamp is turned off.

4. Operation control panel

The operation control panel 5 of the aircraft attitude control simulation training device is an input terminal and a control instruction signal feedback terminal for carrying out simulation training.

The operation control panel 5 can be divided into 3 areas. The central regions of the panels are arranged side by side with a pitch angle

A yaw angle (ψ) adjustment region, and a roll angle (γ) adjustment region. The 3 adjusting areas are all provided with 4 rotatable deviation angle selection switches which respectively correspond to the pitching angles

The yaw angle (psi) and the roll angle (gamma) are adjusted and controlled within four deviation ranges of +0 to +15 degrees, +16 degrees to +30 degrees, -0 to-15 degrees, -16 degrees to-30 degrees. When the device works, the deviation angle selection switches in the same adjustment area can only select 1 from 4, and a plurality of switches cannot be operated simultaneously; the deviation angle selection switches of different adjustment areas can be simultaneously combined for use, namely, the pitching deviation angle, the yawing deviation angle and the rolling deviation angle can be independently operated, and can also be combined in pairs or three simultaneously.

One side of the upper area of the operation control panel 5 is a control instruction display screen which displays a corresponding control instruction code when the aircraft performs attitude adjustment.

The other side of the upper region of the operation control panel 5 is provided with 1 selection switch and 4 buttons. The selection switch corresponds to different modes of the aircraft attitude control simulation training device, one mode is a teaching demonstration mode, and the other mode is a simulation training mode. The 4 buttons are arranged next to the selector switch in sequence. Wherein, 1 is an actuating key, the aircraft posture starts to be adjusted after the aircraft is pressed down, and the action is finished when the aircraft bounces; 1 cancel key, cancel the attitude deviation adjustment command that has already been outputted after pressing; 1 reset key, after the space orthogonal movement mechanism 8 and the bottom slewing bearing 9 are pressed down, the initial position is restored, and the upper swing platform 6 is restored to the horizontal initial position; 1 emergency brake key is pressed down in case of emergency, and the posture adjustment can be stopped.

5. Electric control system

The power consumption, the action control signal and the display control signal of the equipment of the aircraft attitude simulation training device are all provided by an electric control system 4, and the core of the aircraft attitude simulation training device is a logic control circuit based on a PLC.

The motion control PLC is the core of the logic control of the electric control system 4, receives instruction input from the operation control panel 5, namely an engine spray pipe attitude deviation adjustment instruction signal, and realizes the position control of the corresponding screw sliding table by controlling the corresponding stepping speed reducing motors A-D and the rolling motor, so that the upper swing platform 6 moves to a specified position. Meanwhile, the motion control PLC outputs signals to the motion state display panel 7 to control the spray pipe indicating lamp on the motion state display panel to be turned on or turned off to indicate that the corresponding spray pipe starts to work. The encoders A to E acquire the state information of 5 stepping motors in real time, the state information is communicated with the motion control PLC after signal processing, when the specified deviation is reached through calculation, the stepping motors stop actuating, and the spray pipe indicator lamps on the motion state display panel 7 are completely turned off.

After the posture change is finished, if the reset signal key is activated, the motion control PLC controls the corresponding stepping motor to drive the corresponding screw rod sliding table to move, so that the upper swing platform 6 is restored to the initial position.

In the operation process, if the emergency stop key is activated, the motion control PLC controls all the stepping motors to stop working, the screw rod sliding table stops moving, and all the spray pipe indicating lamps on the motion state display panel 7 flicker.

The motion control PLC transmits the current control state to the control command field of the operation control panel 5 in the format of the control command code according to the preset code rule.

6. Mode for simulating aircraft attitude

The attitude of the aircraft refers to the motion attitude in the pitch, yaw and roll 3 axes of the aircraft during the flight process. The + z-axis direction is the flight direction of the central axis of the aircraft, the azimuth included angle gamma of the z-axis is adjusted, namely the rolling attitude of the aircraft is adjusted, if gamma is positive, clockwise rolling (positive rolling) is performed, and if gamma is negative, anticlockwise rolling (negative rolling) is performed. And the + x axis is the positive direction of the transverse axis of the aircraft, the azimuth included angle psi of the x axis is adjusted, namely the adjustment of the deflection attitude of the aircraft is realized, if psi is negative, the aircraft deflects leftwards (negative deflection), and if psi is positive, the aircraft deflects rightwards (positive deflection). The + y axis is the positive direction of the longitudinal axis of the aircraft, and the included angle of the direction of the y axis is adjusted

Namely to realize an aircraftThe adjustment of the pitching attitude is carried out,

if the negative pitch is taken, the aircraft dives downwards (negative pitch),

taking positive, the aircraft is pitching upwards (positive pitch).

The simulation of the pitch attitude and the yaw attitude in the invention are basically consistent. Taking yaw attitude simulation as an example, when the motion control PLC receives a command to request the x-axis of the upper swing platform 6 to deflect leftward by an angle of- ψ, the motion control PLC sends actuation signals to the stepping reduction motor a805 and the stepping reduction gear B807. As shown in fig. 6, the stepping reduction motor B drives the screw sliding table B808 to move upward by Lsin ψ within a specified time, drives the connecting rod a814 to jack up the upper swing platform by Lsin ψ, and realizes that the upper swing platform 6 deflects leftward by- ψ angle with the connecting line of the ball bearing B802 and the ball bearing C803 as the axis (y axis), generating a negative yaw motion leftward; the stepping speed reducing motor A drives the screw rod sliding table A806 to synchronously drive the stepping speed reducing motor B and the screw rod sliding table B to move L (1-cos psi) towards the direction of the central mandril, so that the ball head bearing A801 slides L (1-cos psi) in the sliding rail A, and the stress of the screw rod sliding table B in the yaw motion process of the upper swing platform is eliminated. The pitching attitude simulation is similar to the yawing attitude simulation, the motion control PLC controls the step speed reduction motor C809 and the step speed reducer D811 to actuate in the actuation process, the connecting rod B816 is driven to displace in the vertical direction, meanwhile, the ball bearing B802 slides in the sliding rail B817, the stress of the lead screw sliding table D812 is eliminated, the upper swing platform 6 is enabled to deflect up and down by taking the connecting line of the ball bearing A801 and the ball bearing C803 as an axis (x axis), and pitching motion is generated.

According to the invention, the rolling attitude is simulated, when the motion control PLC receives a rolling instruction, an actuating signal is sent to the rolling motor 10, the rolling motor 10 outputs rotation, and after passing through the speed reduction steering mechanism 12, the load bearing in the bottom slewing bearing 9 is driven to drive the bottom rotating platform 813, the central ejector rod 804, the upper swinging platform 6 and the motion state display panel 7 to rotate by taking the central ejector rod as an axis.

Therefore, the aircraft attitude control simulation training device provided by the invention realizes the simulation of the adjustment and control of the attitude of three degrees of freedom of pitching, yawing and rolling of the aircraft through the special electromechanical structural design and the research and development of functional modules, clearly expresses the working relation among the deviation signal, the working spray pipe and the deviation attitude, and can play an important role in equipment teaching and culture through the development of the control panel operation and training functions.

Drawings

Fig. 1 is a schematic structural diagram of an aircraft attitude control simulation training device. The system comprises a base 1, a walking device 2, an electric cabinet 3, an electric control system 4, an operation control panel 5, an upper swing platform 6, a motion state display panel 7, a space orthogonal motion mechanism 8, a bottom slewing bearing 9, a rolling motor 10, a bearing support 11, a speed reduction steering mechanism 12 and a protective enclosure 13.

Fig. 2 is a schematic structural diagram of the spatial orthogonal motion mechanism and the rolling mechanism. The device comprises 801-ball head bearings A, 802-ball head bearings B, 803-ball head bearings C, 804-central ejector rods, 805-stepping speed reduction motors A, 806-lead screw sliding tables A, 807-stepping speed reduction motors B, 808-lead screw sliding tables B, 814-connecting rods A, 815-sliding rails A, 809-stepping speed reduction motors C, 810-lead screw sliding tables C, 811-stepping speed reduction motors D, 812-lead screw sliding tables D, 816-connecting rods B, 817-sliding rails B, 813-bottom rotating platforms, 9-bottom rotating supports, 10-rolling motors, 11-bearing supports and 12-speed reduction steering mechanisms.

Fig. 3 is a schematic top view of the display panel in motion state. Wherein the content of the first and second substances,

numbering the spray tube indicator lights.

Fig. 4 is a schematic view of the operation control panel.

Fig. 5 is a logic diagram of the motion control of the electric control system.

Fig. 6 is a schematic view of the pitch and yaw actuation principle.

Fig. 7 is a response flow diagram for an aircraft attitude control demonstration mode.

FIG. 8 is a flow chart of a response of the aircraft attitude control training mode.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

1. Structural composition of aircraft attitude control simulation training device

(1) Integral structure

As shown in fig. 1, the three-degree-of-freedom aircraft attitude control simulation training device is built in the embodiment, and includes a base 1, a traveling device 2, an electric cabinet 3, an electric control system 4, an operation control panel 5, an upper swing platform 6, a motion state display panel 7, a spatial orthogonal motion mechanism 8, a bottom slewing bearing 9, a bearing support 11, a rolling motor 10, a speed reduction steering mechanism 12 and a protective enclosure 13.

Wherein, 5 running gear 2 total, along base 1 lower surface periphery installation, play the effect of support and being convenient for carry out. Electric cabinet 3 encloses fender 13 with the protection and welds on the base side by side, and 3 internally mounted electrical system 4 of electric cabinet enclose fender 13 internally mounted gesture simulation with the protection and actuate the mechanism. The operation control panel 5 is installed on the upper part of the electric cabinet 3.

At the central position in the protective enclosure 13, there are 1 load-bearing support 11 fixedly mounted on the base 1 for supporting the attitude simulation actuating mechanism mounted on the upper portion. The upper part of the bearing support 11 is provided with a bottom slewing bearing 9, the upper part of the bottom slewing bearing 9 is fixedly connected with a space orthogonal movement mechanism 8, and the space orthogonal movement mechanism 8 is used for simulating the pitching attitude and the yawing attitude of the aircraft. The lower part of the bearing support 11 is provided with a rolling motor 10 and a speed reduction steering mechanism 12, the middle of the bearing support 11 is provided with a hole, the speed reduction steering mechanism 12 is connected with the bottom rotary support 9 through the hole, and the rotation output by the rolling motor 10 drives the bottom rotary support 9 and the space orthogonal movement mechanism 8 on the upper part of the bottom rotary support to rotate together after speed reduction and steering so as to simulate the rolling posture of the aircraft.

The lower surface of the upper swing platform 6 is connected with a space orthogonal movement mechanism 8 through 3 bearings of a ball bearing A, a ball bearing B and a ball bearing C, and a movement state display panel 7 is coaxially installed on the upper surface of the upper swing platform 6. The motion state display panel 7 is provided with 12 spray pipe state indicator lamps according to the layout of spray pipes on the actual aircraft, and the 12 spray pipe state indicator lamps are used for displaying the working states of the spray pipes in different postures.

The deceleration steering mechanism 12, the bottom slewing bearing 9, the upper swing platform 6 and the motion state display panel 7 are all coaxial in center.

(2) Space orthogonal movement mechanism

As shown in fig. 2, the spatial orthogonal movement mechanism 8 is fixedly connected with the bottom slewing bearing 9 through a bottom rotary platform 813. The space orthogonal movement mechanism 8 realizes the simulation of the pitching and deflection postures of the aircraft through an one-axis three-point four-sliding table structure. The "one axis" refers to a central axis structure formed by the central ejector rod 804 and the ball bearing C803, and the axis of the central axis structure is coaxial with the bottom rotating platform and also represents the axis position of the aircraft attitude. The center of the ball head bearing C803 is coaxial with the center of the upper swing platform 6; the upper part of the central ejector rod 804 is connected with the upper swing platform through a ball bearing C, and the lower part of the central ejector rod is fixedly connected with the center of the circle on the upper surface of the bottom rotating platform 813, so that the upper swing platform and the bottom rotating platform are coaxial.

The three points of the spatial orthogonal movement mechanism 8 mean that a ball head bearing A801, a ball head bearing B802 and a ball head bearing C803, and 3 ball head bearings are in the same plane; the ball head bearing A is arranged in a slide rail A815, the slide rail A is fixedly connected to the lower surface of the upper swing platform 6, the direction is the positive direction (+ x) of the transverse axis, and the initial position of the ball head bearing A is the position L away from the ball head bearing C, namely the circle center of the upper swing platform 6; the ball head bearing B is arranged in a slide rail B817, the slide rail B is fixedly connected to the lower surface of the upper swing platform 6, the direction is the positive direction (+ y) of the longitudinal axis, and the initial position of the ball head bearing B is L away from the ball head bearing C, namely the circle center of the upper swing platform 6; and the ball bearing C is arranged at the center of the lower surface of the upper swing platform.

(3) Motion state display panel

As shown in fig. 3, the motion state display panel 7 in the present embodiment is mounted on the upper surface of the upper swing platform 6, is coaxial therewith, and has the same size as the upper swing platform. 12 spray pipe indicating lamps are distributed on the motion state display panel 7, the number, the distribution mode, the specific orientation and the working time of the spray pipe indicating lamps are all consistent with those of the attitude control engine of the actual aircraft attitude control system, and the spray pipe indicating lamps are used for visually representing and simulating the working state of the attitude control engine.

On the motion state display panel 7, spray pipe indicator lamps ④, ⑤ and ⑤ 0 are arranged near the edge of the panel along the positive direction (+ y) of the longitudinal axis, the spray pipe indicator lamp ④ is located on the longitudinal axis, the spray pipes face outwards horizontally, which means that when the corresponding spray pipes work, the thrust vector direction is the negative direction (-y) of the longitudinal axis, the spray pipe indicator lamps ⑤ and ⑥ are symmetrically distributed on two sides of the spray pipe indicator lamp ④, the included angle between the spray pipe indicator lamps ④ is 75 degrees, the spray pipe directions face outwards, which means that when the corresponding spray pipes work, one part of the thrust vector is the longitudinal axis direction (+/-y), and the other part is the transverse axis direction (+/-x), and in the spray pipes ④, ⑤ and ⑥The symmetrical position of the indicator light, namely the position ⑩ which is arranged near the edge of the panel in the negative direction (-y) of the longitudinal axis,

TABLE 1 working nozzles with different attitude adjustments

(4) Operation control panel

As shown in fig. 4, the operation control panel 5 of the present embodiment is an input terminal for performing simulation training and a control command signal feedback terminal.

The yaw angle (psi) and the roll angle (gamma) are adjusted and controlled within four deviation ranges of +0 to +15 degrees, +16 degrees to +30 degrees, -0 to-15 degrees, -16 degrees to-30 degrees. When the device works, the deviation angle selection switches in the same adjustment area can only select 1 from 4, and a plurality of switches cannot be operated simultaneously; the deviation angle selection switches of different adjustment areas can be combined simultaneouslyThe use, pitch deviation angle, yaw deviation angle, roll deviation angle can operate independently, also can two combinations or three combinations simultaneously.

The left side of the upper area of the operation control panel 5 is a control instruction display screen which displays a corresponding control instruction code when the aircraft performs attitude adjustment.

The right side of the upper area of the operation control panel 5 is provided with 1 selection switch and 4 buttons. The selection switch corresponds to different modes of the aircraft attitude control simulation training device, one mode is a teaching demonstration mode, and the other mode is a simulation training mode. The 4 buttons are arranged next to the selector switch in sequence. Wherein, 1 is an actuating key, the aircraft posture starts to be adjusted after the aircraft is pressed down, and the action is finished when the aircraft bounces; 1 cancel key, cancel the attitude deviation adjustment command that has already been outputted after pressing; 1 reset key, after the space orthogonal movement mechanism 8 and the bottom slewing bearing 9 are pressed down, the initial position is restored, and the upper swing platform 6 is restored to the horizontal initial position; 1 emergency brake key is pressed down in case of emergency, and the posture adjustment can be stopped.

(5) Logical relationship of electric control system

Fig. 5 depicts the logical relationship of the electronic control system 4 of the present embodiment. The power consumption, the action control signal and the display control signal of the equipment of the aircraft attitude simulation training device are all provided by an electric control system 4, and the core of the aircraft attitude simulation training device is a logic control circuit based on a PLC.

The motion control PLC is the core of the logic control of the electric control system 4, receives instruction input from the operation control panel 5, namely an engine spray pipe attitude deviation adjustment instruction signal, and realizes the position control of the corresponding screw sliding table by controlling the corresponding stepping speed reducing motors A-D and the rolling motor, so that the upper swing platform 6 moves to a specified position. Meanwhile, the motion control PLC outputs signals to the motion state display panel 7 to control the spray pipe indicating lamp on the motion state display panel to be turned on or turned off to indicate that the corresponding spray pipe starts to work. The encoders A to E acquire state information of 5 stepping motors in real time, the state information is communicated with the motion control PLC after signal processing, and the stepping motors are stopped when the specified deviation is reached through calculation.

After the posture change is finished, if the reset signal key is activated, the motion control PLC controls the corresponding stepping motor to drive the corresponding screw sliding table to move, so that the upper swing platform 6 is restored to the initial position, and the spray pipe indicator lamp on the motion state display panel 7 is completely turned off.

2. Aircraft attitude control simulation training method

The invention develops two modes for realizing the simulation and training of the attitude control of the aircraft.

(1) Aircraft attitude control demonstration mode

This mode corresponds to the "demo" option of operating the mode selection switch on the control panel 5.

When in this mode, the operator can adjust the pitch angle of the operation panel 5 at will

A deviation angle selection switch in the adjustment region, the yaw angle (ψ) adjustment region, and the roll angle (γ) adjustment region, and then the actuation button is pressed. The motion control PLC sends actuating signals to the relevant actuating mechanism according to instructions input by an operator, executes specified posture adjustment actions, simultaneously feeds back position signals, and corresponding spray pipe indicating lamps on the motion state display panel 7 are turned on to indicate that the spray pipes start to work. Meanwhile, a control instruction display screen on the operation panel 5 displays a control instruction code corresponding to the gesture control action. When the posture adjusting action is executed in place, the spray pipe indicating lamp is turned off, and the posture of the upper swing platform 6 is kept still. After the demonstration is finished, the reset key is manually pressed, each actuating mechanism resets, and the training is finished. Response flow for aircraft attitude control demonstration modeThe process is shown in FIG. 7.

It should be noted that in selecting the pitch angle

When the yaw angle psi and the roll angle gamma are measured, the deviation angle selection switches of different adjusting areas can be simultaneously combined for use, namely, the pitch deviation angle, the yaw deviation angle and the roll deviation angle can be independently operated, and can also be combined in pairs or three simultaneously, but the deviation angle selection switches in the same adjusting area can only select 1 from 4, and can not simultaneously operate a plurality of angles, otherwise, the actuation key automatically jumps up, and the control instruction display screen can also flash EEEE to report errors.

(2) Aircraft attitude control training mode

This mode corresponds to the "training" option of operating the mode selection switch on the control panel 5.

When in this mode, the electronic control system 4 randomly generates an attitude control command and sends it to the control command display screen. After the trainee sees the instruction code on the display screen, according to the requirement of this instruction, adjust the angle of pitch on the operation panel 5

A deviation angle selection switch in the adjustment region, the yaw angle (ψ) adjustment region, and the roll angle (γ) adjustment region, and then the actuation button is pressed. If the angle value input by the selection switch does not accord with the rule of '1 selected by the deviation angle selection switch 4 in the same adjustment area', the actuation key automatically bounces, the control instruction display screen flickers 'EEEE' to report errors, the electric control system jumps back to the initial state again, the control instruction is randomly generated, and a new round of training is started. If the angle value input by the selection switch accords with the rule, the motion control PLC sends an actuating signal to the related actuating mechanism according to the angle input by the training personnel to complete the posture adjustment action of the corresponding angle value, and simultaneously feeds back a position signal, and a corresponding spray pipe indicator light on the motion state display panel 7 is turned on to indicate that the spray pipe starts to work. After the posture is adjusted in place, the electric control system judges whether the adjustment is controlled according to the position feedback signalAnd if the command is required to be completed, controlling the command display screen to display 'AAAA', indicating that the operation is correct, pressing a reset key by a trainer, resetting the attitude control mechanism, and turning off the spray pipe indicator light, if the electronic control system judges that the attitude adjustment is wrong, frequently flashing the control command on the control command display screen to prompt the error, and enabling the trainer to operate the deviation angle selection switch again until the attitude control action corresponding to the control command code is correctly completed.

The response flow of the aircraft attitude control training mode is shown in fig. 8.

3. Aircraft attitude control simulation training example operation and actuation process

In certain teaching, the adjustment process of the attitude of the aircraft is simulated and demonstrated, and the small positive pitching deviation is realized

And simulating the attitude with positive yaw large deviation psi being +30 degrees and positive roll small deviation gamma being +15 degrees.

(1) Mode selection

According to the teaching intent, after the system is powered up, the "demo" option to operate the mode selection switch on the control panel 5 should be selected.

(2) Selecting a deviation angle

Sequentially adjusting the deviation angle selection switch and the pitch angle on the operation panel 5

The +15 switch on the positive pitch small deviation knob is selected in the adjusting area, the +30 switch on the positive deviation large deviation knob is selected in the yaw angle (psi) adjusting area, and the +15 switch on the positive roll small deviation knob is selected in the roll angle (gamma) adjusting area.

(3) Attitude adjustment simulation

The actuation button is pressed. The electric control system firstly judges whether the current input signal meets the rule, namely the deviation angle selection switch in the same adjustment area can only select 1 from 4, and a plurality of input signals cannot be simultaneously operated, if the current input signal does not meet the rule, the actuation key automatically jumps, and the control instruction display screen flickers to 'EEEE' to report errors; if the input meets the rule, the operation process is started, and meanwhile, the control instruction display screen displays '0010' and displays the control code of the posture control at this time.

And (6) adjusting the pitching attitude. The motion control PLC controls a stepping speed reducing motor D811 to drive a lead screw sliding table D812 to move Lsin15 downwards within a specified time, a stepping speed reducing motor C809 drives a lead screw sliding table C810 to synchronously drive the stepping speed reducing motor D811 and the lead screw sliding table D812 to move to the direction of a central ejector rod 804 by minus L (1-cos15 degrees), and therefore the upper swing platform 6 can generate positive pitching 15-degree motion by taking a connecting line of a ball head bearing A801 and the ball head bearing C803 as an axis.

And adjusting the yaw attitude. The motion control PLC synchronously controls the stepping speed reducing motor B807 to drive the lead screw sliding table B808 to move Lsin30 downwards, the stepping speed reducing motor A805 drives the lead screw sliding table A806 to synchronously drive the stepping speed reducing motor B807 and the lead screw sliding table B807 to move to the direction of the central ejector rod 804 by minus L (1-cos30 degrees), and the upper swing platform 6 can generate positive yaw 30 degrees motion by taking a connecting line of the ball head bearing B802 and the ball head bearing C803 as a shaft.

And thirdly, rolling attitude adjustment. The motion control PLC synchronously controls the rolling motor 10 to drive the bottom slewing bearing 9 to drive the space orthogonal motion mechanism 8, the upper swing platform 6 and the motion state display panel 7 to rotate 15 degrees clockwise.

④ display of motion state, the motion control PLC controls ⑩ nozzle indicator light, ⑦⑥ in the motion state display panel 7 in the process of controlling the corresponding mechanism to act

No. nozzle indicator light, No. ②⑨ nozzle indicator light turn on, No. ⑩ nozzle indicator light represents that positive pitching 15 degrees motion is being executed, ⑦⑥

Nozzle light on indicates that a positive yaw 30 motion is being performed and nozzle light on ②⑨ indicates that a roll 15 motion is being performed.

And fifthly, completing the actuation. In the process that the motion control PLC controls the corresponding motor to actuate, the encoder acquires the state information of the stepping speed reduction motor A805, the stepping speed reduction motor B807, the stepping speed reduction motor C809, the stepping speed reduction motor D811 and the rolling motor 10 in real time, the encoder is communicated with the motion control PLC after signal processing, and the motor stops actuating when the specified deviation is achieved through calculation; while the lighted nozzle indicator light on the motion status display panel 7 is turned off.

(4) System reset

The reset key of the operation control panel 5 is pressed, the motion control PLC controls the stepping speed reduction motor A805, the stepping speed reduction motor B807, the stepping speed reduction motor C809, the stepping speed reduction motor D811 and the rolling motor 10 to reversely move, the screw sliding table A806, the screw sliding table B808, the screw sliding table C810 and the screw sliding table D812 are driven to restore to the initial positions, and the postures of the upper swing platform 5 and the motion state display panel 7 are restored to the initial horizontal state.

The process of the aircraft attitude control simulation demonstration is illustrated above. In this way, the process of the aircraft attitude control simulation training is similar to that of the aircraft attitude control simulation training, the main difference is the process of judging the extra control instruction codes and judging whether the attitude adjustment is completed according to the instructions by the system, and the execution process can be seen in a flow chart 8.

Through the description of the embodiment, the aircraft attitude control simulation training device provided by the invention realizes the simulation of the attitude of three degrees of freedom of pitching, yawing and rolling of the aircraft, and further aims at teaching demonstration and control training, and realizes the functions of specific aircraft attitude adjustment and control demonstration, control instruction and control action simulation training and the like.

The above contents described in the present embodiment are only illustrations of the present invention. Various modifications, additions and substitutions for the specific embodiments described may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.

Claims

1. An aircraft attitude control simulation training device is characterized by comprising a base (1), a walking device (2), an electric cabinet (3), an electric control system (4), an operation control panel (5), an upper swing platform (6), a motion state display panel (7), a space orthogonal motion mechanism (8), a rolling motion mechanism, a bearing support (11) and a protective enclosure (13);

wherein, the lower part of the base (1) is provided with 4-6 walking devices (2), and the upper part is provided with an electric cabinet (3) and a protective enclosure (13); an operation control panel (5) is arranged on the upper surface of the electric cabinet (3), and an electric control system (4) is arranged in the electric cabinet;

in the protective enclosure (13), a bearing support (11) is fixedly arranged on a base (1) and is used for supporting a space orthogonal movement mechanism (8) and a rolling movement mechanism which are arranged on the base, wherein the space orthogonal movement mechanism (8) is a movement mechanism for executing the simulation of the pitching attitude and the yawing attitude of the aircraft, and the rolling movement mechanism is a movement mechanism for executing the rolling attitude of the aircraft; the rolling motion mechanism consists of a bottom slewing bearing (9), a rolling motor (10) and a speed reduction steering mechanism (12), the bottom slewing bearing (9) is installed on the upper portion of a bearing support (11), the rolling motor (10) and the speed reduction steering mechanism (12) are installed on the lower portion of the bearing support (11), the speed reduction steering mechanism (12) is connected with the bottom slewing bearing (9) through an opening in the middle of the bearing support (11), and the upper portion of the bottom slewing bearing (9) is connected with the orthogonal motion mechanism (8), so that when the rolling motor (10) outputs rotation, the bottom slewing bearing (9) and the spatial orthogonal motion mechanism (8) on the upper portion of the bottom slewing bearing can be driven to rotate together after speed reduction and steering, and the rolling posture of an aircraft can be simulated;

the lower surface of the upper swing platform (6) is connected with a space orthogonal movement mechanism (8) through 3 ball bearings, and the upper surface of the upper swing platform is coaxially provided with a movement state display panel (7); the motion state display panel (7) is provided with a spray pipe state indicator lamp according to the layout of spray pipes on the actual aircraft and is used for displaying the working state of the spray pipes in different postures; the rotation central shafts of the speed reduction steering mechanism (12) and the bottom slewing bearing (9) are coaxial with the center of the display panel (7) of the motion state of the upper swing platform (6).

2. The aircraft attitude control simulation training device according to claim 1, characterized in that the bottom of the space orthogonal motion mechanism (8) is provided with a bottom rotating platform (813) which is fixedly connected with a bottom slewing bearing (9); an 'one-axis three-point four-sliding table' structure is arranged on the bottom rotary platform (813):

(1) the structure of one shaft: the central ejector rod (804) is arranged at the central position of the bottom rotating platform and is connected with the central position of the upper swinging platform (6) through a ball bearing C (803), and the central shaft structure formed by the ejector rod and the upper swinging platform has the shaft center coaxial with the bottom rotating platform and the upper swinging platform (6) and also represents the shaft center position of the attitude of the aircraft;

(2) the three-point structure: the three points of the spatial orthogonal motion mechanism (8) mean that three ball bearings connected with the lower surface of the upper swing platform (6) are respectively a ball bearing A (801), a ball bearing B (802) and a ball bearing C (803), and 3 are in the same plane; the ball head bearing A is arranged in a slide rail A (815), the slide rail A is fixedly connected to the lower surface of the upper swing platform (6), the direction is the positive direction (+ x) of the transverse axis, and the initial position of the ball head bearing A is L away from the ball head bearing C, namely the circle center of the upper swing platform (6); the ball head bearing B is arranged in a slide rail B (817), the slide rail B is fixedly connected to the lower surface of the upper swing platform (6), the direction is the positive direction (+ y) of the longitudinal axis, and the initial position of the ball head bearing B is L away from the ball head bearing C, namely the circle center of the upper swing platform (6); the ball bearing C is arranged at the center of the lower surface of the upper swing platform; the spatial orthogonal movement mechanism (8) realizes the adjustment of pitching and deflecting postures by controlling the relative position between the three points;

(3) the structure of the 'four sliding tables': the four sliding tables of the spatial orthogonal movement mechanism (8) are lead screw sliding structures formed by 4 groups of mechanisms including a stepping speed reducing motor A (805) and a lead screw sliding table A (806), a stepping speed reducing motor B (807) and a lead screw sliding table B (808), a stepping speed reducing motor C (809) and a lead screw sliding table C (810), and a stepping speed reducing motor D (811) and a lead screw sliding table D (812), and are specific actuating mechanisms for adjusting and simulating pitching and deflecting postures of the aircraft;

the stepping speed reducing motor A is connected with a lead screw of the lead screw sliding table A, and is fixed on a bottom rotating platform (813) along the positive direction (+ x) of the transverse axis, and when the stepping speed reducing motor A receives a signal of an electric control system (4) to start working, the stepping speed reducing motor A drives the lead screw sliding table A to move back and forth along the transverse axis; the stepping speed reducing motor B is vertically fixed on the sliding table of the lead screw sliding table A, the stepping speed reducing motor B is connected with a lead screw of the lead screw sliding table B, and when the stepping speed reducing motor B receives a signal of the electric control system (4) to start working, the stepping speed reducing motor B drives the lead screw sliding table B to move up and down along the vertical direction; a connecting rod A (814) is mounted on the screw rod sliding table B and is connected with a ball head bearing A (801) through the connecting rod; when the screw rod sliding table A is at an initial position, the ball head bearing A is positioned at a position L away from the circle center of the upper swing platform (6); when the screw rod sliding table A moves along the direction of the transverse axis, the ball head bearing A also slides in the sliding rail A (815) along the direction of the transverse axis; therefore, a front-back movement mechanism of the space orthogonal movement mechanism (8) in the positive direction (+ x) along the transverse axis is formed, and the simulation of the attitude deflection control of the aircraft can be realized;

similarly, the stepping speed reducing motor C is connected with a lead screw of the lead screw sliding table C and is fixed on the upper surface of the bottom rotating platform (813) along the positive direction (+ y) of the longitudinal axis, and when the stepping speed reducing motor C receives a signal of the electric control system (4) to start working, the stepping speed reducing motor C drives the lead screw sliding table C to move back and forth along the longitudinal axis; the stepping speed reducing motor D is vertically fixed on the sliding table of the lead screw sliding table C and is connected with a lead screw of the lead screw sliding table D, and when the stepping speed reducing motor D receives a signal of the electric control system (4) to start working, the stepping speed reducing motor D drives the lead screw sliding table D to move up and down along the vertical direction; a connecting rod B (816) is arranged on the lead screw sliding table D and is connected with a ball head bearing B (802) through the connecting rod; when the screw rod sliding table C is at the initial position, the ball head bearing B is positioned at a position L away from the circle center of the upper swing platform (6); when the screw rod sliding table C moves along the direction of the longitudinal axis, the ball head bearing B also slides in the sliding rail B (817) along the direction of the longitudinal axis; therefore, a front-back movement mechanism of the space orthogonal movement mechanism 8 in the positive direction (+ y) along the longitudinal axis is formed, and the simulation of the attitude pitch control of the aircraft can be realized.

3. Aircraft attitude control simulation training device according to claim 1 or 2, characterized in that the motion state display panel (7) is mounted on the upper surface of the upper swing platform (6) and is coaxial therewith and of the same size as the upper swing platform; 12 spray pipe indicating lamps are distributed on the panel, the number, the distribution mode, the specific orientation and the working time of the spray pipe indicating lamps are all consistent with those of an attitude control engine of an actual aircraft attitude control system, when the corresponding spray pipe works, the spray pipe indicating lamps are on, and when the spray pipe does not work, the spray pipe indicating lamps are off; the spray pipe indicator lamp is specifically distributed as follows:

on the motion state display panel (7), spray pipe indicator lamps of No. I, No. II and No. III are arranged near the edge of the panel along the positive direction (+ x) of the transverse axis, the spray pipe indicator lamps of No. I are positioned on the transverse axis, the spray pipes are horizontally outward, the direction of a thrust vector is the negative direction (-x) of the transverse axis when the corresponding spray pipes work, the spray pipe indicator lamps of No. II and No. III are perpendicular to the transverse axis and are distributed on two sides of the spray pipe indicator lamps of No. I, the direction of the spray pipes is outward, and the direction of the thrust vector is the direction of the longitudinal axis (+/-y) when the corresponding spray pipes work; the spray pipe indicator lamps are arranged at the symmetrical positions of the spray pipe indicator lamps, namely the negative direction (-x) of the transverse axis is close to the edge of the panel, the spray pipe indicator lamps are positioned on the transverse axis, the spray pipes face outwards horizontally, the spray pipe indicator lamps are vertical to the transverse axis and distributed on two sides of the spray pipe indicator lamps, and the spray pipes face outwards;

on the motion state display panel (7), spray pipe indicator lights ④, ⑤ and ⑤ 0 are arranged near the edge of the panel along the positive direction (+ y) of the longitudinal axis, the spray pipe indicator light ④ is positioned on the longitudinal axis, the spray pipe is horizontally outward, which means that when the corresponding spray pipe works, the thrust vector direction is the negative direction (-y) of the longitudinal axis, the spray pipe indicator lights ⑤ and ⑥ are symmetrically distributed at the two sides of the spray pipe indicator light ④, the included angle between the spray pipe indicator light ④ is 75 degrees, the spray pipe direction is outward, which means that when the corresponding spray pipe works, one part of the thrust vector is the longitudinal axis direction (+/-y) and the other part is the transverse axis direction (+/-x), and ⑤ 1, 3932 and the like are arranged near the edge of the panel along the symmetrical positions of the spray pipe indicator lights ④, ⑤ and ⑥,

the spray pipe indicating lamps are symmetrically distributed at two sides of the spray pipe indicating lamp ⑩, the included angle between the spray pipe indicating lamps is 75 degrees, and the spray pipe is in the direction ofAnd (3) outside.

4. Aircraft attitude control simulation training device according to claim 1 or 2, characterised in that the operating control panel (5) is an input terminal for carrying out simulation training and a control command signal feedback terminal, and is divided into 3 zones:

the central regions of the panels are arranged side by side with a pitch angle

An adjustment region, a yaw angle (ψ) adjustment region, and a roll angle (γ) adjustment region; the 3 adjusting areas are all provided with 4 rotatable deviation angle selection switches which respectively correspond to the pitching angles

The yaw angle (psi) and the roll angle (gamma) are adjusted and controlled within four deviation ranges of +0 to +15 degrees, +16 degrees to +30 degrees, -0 to-15 degrees, -16 degrees to-30 degrees; when the device works, the deviation angle selection switches in the same adjustment area can only select 1 from 4, and a plurality of switches cannot be operated simultaneously; the deviation angle selection switches of different adjustment areas can be combined at the same time, namely, the pitching deviation angle, the yawing deviation angle and the rolling deviation angle can be operated independently, and can be combined in pairs or three simultaneously;

one side of the upper area of the operation control panel (5) is a control instruction display screen which displays a corresponding control instruction code when the aircraft performs attitude adjustment;

the other side of the upper area of the operation control panel (5) is provided with 1 selection switch and 4 buttons; the selection switch corresponds to different modes of the aircraft attitude control simulation training device, one mode is a teaching demonstration mode, and the other mode is a simulation training mode; 4 buttons are sequentially arranged beside the selector switch, wherein 1 button is an actuation button, the aircraft attitude starts to be adjusted after being pressed, the action is finished when the aircraft is bounced, 1 button is cancelled, the output attitude deviation adjustment instruction is cancelled after being pressed, 1 button is reset, the spatial orthogonal movement mechanism (8) and the bottom slewing bearing (9) recover to the initial position after being pressed, the upper swing platform (6) recovers to the horizontal initial position, and the attitude adjustment can be terminated when the aircraft is pressed in an emergency situation by 1 emergency brake button.

5. Aircraft attitude control simulation training device according to claim 1 or 2, characterised in that the spatial orthogonal kinematics (8) effects the pitch angle of the upper swing platform (6) by a change in the position of the respective actuator

And yaw angle psi adjustment to simulate aircraft attitude pitch and yaw; the specific simulation mode is as follows:

(1) when adjusting the pitch angle

When the system is used, a stepping speed reducing motor D (811) of the space orthogonal movement mechanism (8) drives a screw rod sliding table D (812) to move up and down

The stepping speed reducing motor C (809) drives the screw rod sliding table C (810) to synchronously drive the stepping speed reducing motor D (811) and the screw rod sliding table D (812) to move left and right towards the direction of the central mandril (804)

(2) When the deflection angle psi is adjusted, a stepping speed reducing motor B (807) of the space orthogonal movement mechanism (8) drives a screw rod sliding table B (808) to move up and down Lsin psi, and a stepping speed reducing motor A (805) drives a screw rod sliding table A (806) to synchronously drive the stepping speed reducing motor B (807) and the screw rod sliding table B (807) to move left and right L (1-cos psi) towards the direction of a central mandril (804).

6. The aircraft attitude control simulation training device as claimed in claim 1 or 2, wherein the rolling motion mechanism realizes the adjustment of the rolling angle γ of the upper swing platform (6) through output rotation, so as to simulate the rolling of the aircraft attitude, and the specific operation process is that the rolling motor (10) outputs rotation, and after passing through the speed reduction steering mechanism (12), drives the load bearing inside the bottom slewing bearing (9) to drive the bottom rotation platform (813), the central mandril (804), the upper swing platform (6) and the motion state display panel (7) to rotate by taking the central mandril as the axis.

7. The aircraft attitude control simulation training method is characterized by comprising two modes of aircraft attitude control demonstration and aircraft attitude control training:

(1) an aircraft attitude control demonstration mode corresponding to a demonstration option of a mode selection switch on an operation control panel (5) of the aircraft attitude control simulation training device; when in this mode, the operator can adjust the pitch angle

Controlling an aircraft attitude control simulation training device to execute an actuating task by the deviation angle of a yaw angle (psi) and a roll angle (gamma), simultaneously lighting a corresponding nozzle indicating lamp on a motion state display panel (7) to indicate that the nozzle starts to work, and displaying a control instruction code corresponding to the current attitude control action by a control instruction display screen on an operation panel (5); when the posture adjusting action is executed in place, the spray pipe indicating lamp is turned off; after the demonstration is completed, an operator manually resets the system;

(2) an aircraft attitude control training mode corresponding to a 'training' option of a mode selection switch on an operation control panel (5) of the aircraft attitude control simulation training device; when the aircraft attitude control simulation training device is in the mode, the electric control system (4) of the aircraft attitude control simulation training device randomly generates an attitude control instruction and sends the attitude control instruction to the control instruction display screen, and after a trainer sees an instruction code on the display screen, the trainer adjusts the pitching angle according to the requirement of the instruction

The deviation angle of the yaw angle (psi) and the roll angle (gamma) is used for driving the aircraft attitude control simulation training device to execute an actuation task after an actuation key is pressed; the electric control system (4) judges whether the adjustment is carried out according to the control instructionAnd if the judgment is finished, controlling the instruction display screen to display an instruction corresponding to the correct operation, pressing a reset key by a trainer to reset the system, and if the electronic control system judges that the posture adjustment is wrong at this time, controlling the instruction on the instruction display screen to flash frequently to prompt the error, and enabling the trainer to operate the deviation angle selection switch again until the posture control action corresponding to the control instruction code is finished correctly.