CN111899598A - A 2DOF flight simulator and its control method - Google Patents

Abstract

The invention discloses a 2DOF flight simulator and a control method thereof. The flight simulator comprises a bracket, a simulator cockpit, a first bearing element, which can be rotatably arranged relative to the bracket around a first rotation axis; the second bearing element, It is rotatably arranged relative to the first carrier element about a second axis of rotation, the first axis of rotation and the second axis of rotation being arranged approximately orthogonal to each other; Two bearing elements are rotatably arranged, wherein the third axis of rotation and the second axis of rotation are arranged substantially orthogonal to each other, the third bearing element comprises a simulator cockpit; when the simulator cockpit is in the initial position: The third rotation axis coincides with the first rotation axis, and the first rotation axis, the second rotation axis, and the virtual vertical axis are arranged orthogonally to each other. In the present application, accurate simulation of the flight attitude control of the flight simulator can be realized.

Description

A 2DOF flight simulator and its control method

technical field

The invention relates to the technical field of flight simulators, in particular to a 2DOF flight simulator and a control method thereof.

Background technique

The structure of the existing flight simulator, as disclosed in the known CN201210297245.6: a multi-axis flight simulator, including an outer ring, a center ring, and an inner ring that are nested and connected, the outer ring is fixed on the base, the outer ring, the center The ring and inner ring are driven by independent servo motors, and the center ring is connected to the simulator cockpit inward. Three-dimensional rotation is realized by adopting the connection mode of orthogonal nesting of three sets of rotation axes. The structure is similar to that of a gyroscope.

The existing flight simulator has the following problems: for the controlled object in the innermost cockpit, its rotation axis is an absolute stationary coordinate system, not the coordinate system of the controlled object itself, which is determined by its structural complexity and principle. It cannot use the built-in coordinate system. This results in that the rotations of the three axes are not completely independent. When the rotation sequence is different, different rotation effects will be obtained, and the result is often not in line with the actual needs.

Taking Figure 1 as an example, when the ring 2 rotates around the axis 2, the aircraft completes the pitching action, at this time the ring 1 rotates around the axis 1, and the aircraft completes the left and right (with the fuselage as the axis) steering operation, and the motion situation conforms to the actual motion state; If the order is reversed, that is, after ring 1 rotates around axis 1 by a certain angle, and then control ring 2 to rotate around axis 2, the aircraft will not be able to achieve the pitch operation (the rotation trajectory of the fuselage is a cone at this time). As an extreme example, when ring 1 is rotated 90 degrees so that axis 1 and axis 2 are parallel, rotating axis 2 will control the aircraft to complete the rollover operation instead of pitching. At this time, the rotation control logic of the aircraft will be very different from the original design, so there are great restrictions on the use of this structure. After the inner cabin rotates through a certain angle, there will be a deviation between the coordinate systems, and the desired control effect will not be achieved if it is not reset. After the rotation of each dimension is completed, it needs to be reset to realize the rotation of the other dimension, otherwise the result obtained will be wrong. This is a defect caused by the structural design of the existing flight simulator itself.

Therefore, the prior art cannot achieve accurate simulation of the flight attitude control of the flight simulator.

SUMMARY OF THE INVENTION

In order to solve the above problems, the present invention provides a flight simulator 2DOF cockpit,

Includes stand, simulator cockpit, and,

a first carrier element, which is rotatably arranged relative to the bracket about a first axis of rotation;

a second carrier element rotatably arranged relative to the first carrier element about a second axis of rotation, wherein the first axis of rotation and the second axis of rotation are arranged substantially orthogonal to each other;

It is characterized in that it also comprises a third carrier element, which is rotatably arranged relative to the second carrier element about a third axis of rotation, wherein the third axis of rotation and the second axis of rotation are arranged substantially orthogonal to each other, the The third load-bearing element includes the simulator cockpit;

When the simulator cockpit is in the initial position: the third rotation axis coincides with the first rotation axis, and the first rotation axis, the second rotation axis, and a virtual vertical axis are orthogonal to each other layout.

Further, the 2DOF flight simulator is further provided with at least one driver for driving the first carrier element, the second carrier element, and the third carrier element to rotate around their respective axes of rotation.

Further, the 2DOF flight simulator further includes at least one control unit, and the drive can be controlled by the control unit; the simulator cockpit is provided with at least one input unit for influencing the control unit.

Further, the simulator cockpit is provided with a holding device for at least one person; the simulator cockpit is a hollow shell and has an opening for the person to enter and exit.

Further, the first bearing element is connected to the bracket rotatably around a first rotation axis at two positions symmetrically distributed around the simulator cockpit;

The second bearing element is connected to the first bearing element rotatably around a second axis of rotation at two positions symmetrically distributed around the simulator cockpit;

The third bearing element is connected to the second bearing element rotatably around a third rotation axis at two positions symmetrically distributed around the simulator cockpit.

Further, the first rotation axis, the second rotation axis, and the third rotation axis extend and intersect at one point.

Further, the first rotation axis is the first pitch axis of the simulator cockpit, the third rotation axis is the second pitch axis of the simulator cockpit; the second rotation axis is the side of the simulator cockpit. Flip the axis.

Further, the second rotation axis is the pitch axis of the simulator cockpit, the first rotation axis is the first rollover axis of the simulator cockpit, and the third rotation axis is the second rotation axis of the simulator cockpit. Rollover axis.

The present invention also provides a control method for a 2DOF flight simulator, the control method comprising:

When the simulator cockpit needs to be pitched first and then rolled over: control the first bearing element to rotate around the first rotation axis in the first period of time, so that the simulator cockpit can complete the pitching and pitching; and then control the second bearing element to rotate at the first The second time period rotates around the second rotation axis to make the simulator cockpit roll over;

When the simulator cockpit needs to roll over first and then pitch: control the second bearing element to rotate around the second rotation axis in the first period of time, so that the simulator cockpit completes the rollover; and then control the third bearing element to rotate on the first The second time period rotates around the third rotation axis, so that the simulator cockpit 30 completes the pitching and pitching.

The present invention also provides a control method for a 2DOF flight simulator, the control method comprising:

When the simulator cockpit needs to be pitched first and then rolled over: control the second bearing element to rotate around the second rotation axis in the first period of time, so that the simulator cockpit can complete the pitch; and then control the third bearing element to rotate in the second The time period rotates around the third axis of rotation, so that the simulator cockpit rolls over;

When the simulator cockpit needs to roll over first and then pitch: control the first bearing element to rotate around the first rotation axis in the first time period to complete the rollover, so that the simulator cockpit completes the rollover; then control the second bearing element The element rotates about a second axis of rotation for a second period of time, causing the simulator cockpit to complete pitch and pitch.

Compared with the prior art, the present invention has the following beneficial effects:

A 2DOF flight simulator of the present application can accurately simulate the flight attitude control of the simulator cockpit pitch and rollover. The rotation of the simulator cockpit is based on the inner cabin coordinate system instead of the absolute static coordinate system, which realizes the free rotation of the two axes. And the hardware cost is greatly reduced.

Description of drawings

Fig. 1 is the structural principle diagram of a kind of flight simulator of the prior art;

2 is a first perspective schematic diagram of a 2DOF flight simulator according to Embodiment 1 of the present invention;

3 is a second schematic perspective view of a 2DOF flight simulator according to Embodiment 1 of the present invention;

4 is a front view of a 2DOF flight simulator according to Embodiment 1 of the present invention;

5 is a schematic diagram of a first bearing element of a 2DOF flight simulator according to Embodiment 1 of the present invention rotated by a certain angle around a first rotation axis in a first period of time;

5 is a schematic diagram of a first bearing element of a 2DOF flight simulator according to Embodiment 1 of the present invention rotated by a certain angle around a first rotation axis in a first period of time;

6 is a schematic diagram of the second bearing element of a 2DOF flight simulator according to Embodiment 1 of the present invention rotating at a certain angle around the second rotation axis in a first period of time;

Fig. 7 is another perspective schematic diagram of a kind of 2DOF flight simulator shown in Fig. 6;

FIG. 8 is a schematic structural diagram of a 2DOF flight simulator according to Embodiment 2 of the present invention.

reference number

10-first carrier element, 20-second carrier element, 30-simulator cockpit, 21-second ring, 22-third ring, 31-fuselage head, 40-bracket, 51-first Rotation axis, 52-second rotation axis, 53-third rotation axis, 54-vertical axis.

Detailed ways

Below in conjunction with accompanying drawing and embodiment, the structure and action principle of the present invention are further described:

Example 1:

As shown in FIGS. 2 to 7 , this specific embodiment provides a 2DOF flight simulator, which includes a bracket 40 , a first bearing element 10 , a second bearing element 20 , and a third bearing element.

Bracket 40, which acts as a support element for the 2DOF flight simulator.

The first bearing element 10 is supported by the bracket 40 ; relative to the bracket 40 , it can rotate around the first rotation axis 51 ; the position of the first rotation axis 51 relative to the bracket 40 is fixed.

The second carrier element 20 is supported by the first carrier element 10 ; relative to the first carrier element 10 , it can rotate about a second rotation axis 52 ; the position of the second rotation axis 52 relative to the first carrier element 10 is fixed. Wherein, the first rotation axis 51 and the second rotation axis 52 are arranged at 90 degrees orthogonal to each other, or are arranged substantially orthogonal to each other.

The third bearing element includes the simulator cockpit 30 , or the third bearing element is the simulator cockpit 30 . The simulator cockpit 30 is the controlled component. The third carrier element, supported by the second carrier element 20 ; it is rotatable about a third axis of rotation 53 relative to the second carrier element 20 . Wherein, the third rotation axis 53 and the second rotation axis 52 are arranged orthogonally at 90 degrees, or are arranged substantially orthogonal to each other.

Wherein, the third bearing element, the second bearing element 20, and the first bearing element 10 are nested in order from the inside to the outside of the three rotating layers.

The simulator cockpit 30 of the present embodiment is provided with a holding device for at least one person.

In this embodiment, the first rotation axis 51 is the first pitch axis of the simulator cockpit 30 , and the third rotation axis 53 is the second pitch axis of the simulator cockpit 30 . The second rotation axis 52 is the rollover axis of the simulator cockpit 30 . When the 2DOF flight simulator is in the initial position, the third axis of rotation 53 coincides with the first axis of rotation 51 . Unlike the prior art, in this embodiment, the vertical axis 54 for rotating the simulator cockpit 30 in the left-right direction is not included.

As shown in FIG. 3, it is assumed that the vertical axis 54 is an imaginary axis. It is assumed that the vertical axis 54 is arranged along the Z-axis direction, the first rotation axis 51 and the third rotation axis 53 are arranged along the Y-axis direction, and the second rotation axis 52 is arranged along the X-axis direction. The first rotation axis 51, the second rotation axis 52, and an imaginary vertical axis 54 are arranged orthogonal to each other. The head-tail direction of the fuselage of the flight simulator is the X-axis direction, and the face of the above-mentioned person faces the direction of the fuselage head 31 of the flight simulator.

When the first bearing element 10 rotates along the first rotation axis 51, the second bearing element 20 and the simulator cockpit 30 are driven to rotate together, and a person can look down or look up.

When the second bearing element 20 rotates along the second rotation axis 52, the simulator cockpit 30 is driven to rotate together, and the person can roll over.

When the third bearing element rotates along the third rotation axis 53, only the simulator cockpit 30 rotates, and a person can look down or look up.

The nested carrier elements, at the connection point, can be connected at only one point. But preferably, the first bearing element 10 is connected to the bracket 40 rotatably around the first rotation axis 51 at two positions symmetrically distributed with the simulator cockpit 30 as the center. A support point for the carrier element 10 . Similarly, the second bearing element 20 is rotatably connected to the first bearing element 10 around the second rotation axis 52 at two locations symmetrically distributed around the simulator cockpit 30 , and both locations are As a support point for the second carrier element 20 . The third bearing element is connected to the second bearing element 20 rotatably around the third rotation axis 53 at two positions symmetrically distributed with the simulator cockpit 30 as the center, both of which serve as the third bearing element The support point of the element. The figure shows a structure of the first bearing element 10 and the second bearing element 20, wherein the first bearing element 10 is a first circular ring, and the second bearing element 20 is a second bearing element that is orthogonal and connected to each other. The circular ring 21 and the third circular ring 22 ; wherein, the second circular ring 21 is connected to the first circular ring, and the third circular ring 22 is connected to the simulator cockpit 30 . However, it can be understood that the first bearing element 10 and the second bearing element 20 may also have other structures.

The 2DOF flight simulator is also provided with at least one drive for driving the rotation of the first carrier element 10, the second carrier element 20, and the third carrier element, respectively, about their respective axes of rotation.

Preferably, three drivers are respectively provided to drive the rotation of the first bearing element 10 , the second bearing element 20 and the third bearing element respectively. The drive is optionally an electrical rotary drive, eg a motor. At the point of connection of the first carrier element 10 to the bracket 40, a bearing may be provided. The first bearing element 10 may be a single gear ring, the first bearing element 10 may be an orthogonal gear ring, and the third bearing element may be an inner layer of a spherical shell. The driver may rotate through a gear structure or directly drive the corresponding bearing element. This will not be repeated.

The 2DOF flight simulator also includes at least one control unit. The working state of the drive can be controlled by the control unit. At the simulator cockpit 30 at least one input unit for influencing the control unit is provided. Input units, such as joysticks, control sticks, steering wheels, switches, pedals, etc. A person can transmit corresponding instructions to the control unit through the joystick or the like in the simulator cockpit 30, and then drive the corresponding driver to work through the control unit.

Regardless of the initial state or the working state, the first rotation axis 51, the second rotation axis 52, and the third rotation axis 53 extend and intersect at a point, and the intersection point is located in the simulator cockpit 30, preferably, the intersection point is located in the simulator driving The central position of the cabin 30 .

The simulator cockpit 30 is a hollow shell, and the shape may be the spherical structure shown in the figure, and may also be other shapes such as oval and square. The simulator cockpit 30 has an opening for the person to enter and exit, and a cover adapted to the opening can be provided at the opening.

The 2DOF flight simulator of the present embodiment, the control method includes,

When it is necessary to pitch first and then roll over: control the first bearing element 10 to rotate around the first rotation axis 51 in the first period of time, so that the simulator cockpit 30 can complete the pitching and pitching; and then control the second bearing element 20 to rotate at the first The second time period rotates around the second rotation axis 52, so that the simulator cockpit 30 completes the rollover; during the above process, the third bearing element does not move. The rotation of the simulator cockpit 30 is based on the coordinate system of the cockpit itself, and the coordinate system rotates together with the simulator cockpit 30 , and each rotation action is based on the fuselage coordinate axis. After the pitching and pitching is completed, the state of the simulator cockpit 30 is shown in FIG. 5 ; at this time, the second bearing element 20 is rotated around the second rotation axis 52, then relative to the coordinate system of the simulator cockpit 30, the human is in the The rotation of the simulator cockpit 30 is a standard rollover action, which is consistent with expectations and has no deviation.

When it is necessary to roll over and then pitch: control the second bearing element 20 to rotate around the second rotation axis 52 in the first period of time, so that the simulator cockpit 30 completes the roll over; and then control the third bearing element to rotate in the second The time period rotates around the third rotation axis 53, so that the simulator cockpit 30 completes the pitching and pitching; during the above process, the first bearing element 10 does not move. After the rollover is completed around the second rotation axis 52, the state of the simulator cockpit 30 is shown in Figures 6 and 7; at this time, the third bearing element is rotated around the third rotation axis 53, then relative to the simulation The coordinate system of the simulator cockpit 30 itself, each rotation action is based on the coordinate axis of the cockpit itself, and the rotation of the person in the simulator cockpit 30 is the standard pitching action, which is consistent with expectations and has no deviation.

In the above control methods, the rotation layer located in the outer layer is controlled to operate first, and the rotation layer of the inner layer (relatively speaking) is controlled to operate later.

A flight simulator of this embodiment abandons the action of horizontal steering (rotation in the left and right directions), but can accurately simulate the flight attitude control of the simulator cockpit 30 in pitch and rollover. In addition, the rotation of the simulator cockpit 30 is based on the inner cabin coordinate system instead of the absolute static coordinate system, which realizes the free rotation of the two axes. And the hardware cost is greatly reduced.

Embodiment 2

Different from Embodiment 1, in this embodiment, as shown in FIG. 8 ,

The first rotation axis 51 and the third rotation axis 53 are arranged along the Y-axis direction, the head-tail direction of the flight simulator is the Y-axis direction, and the face of the person faces the head direction of the flight simulator. The second rotation axis 52 is the pitch axis of the simulator cockpit 30 , the first rotation axis 51 is the first roll axis of the simulator cockpit 30 , and the third rotation axis 53 is the second roll axis of the simulator cockpit 30 .

When the first bearing element 10 rotates along the first rotation axis 51 , the second bearing element 20 and the simulator cockpit 30 are driven to rotate together, and a person can roll over.

When the second bearing element 20 rotates along the second rotation axis 52 , the simulator cockpit 30 is driven to rotate together, and a person can look down or look up.

When the third bearing element rotates along the third rotation axis 53, only the simulator cockpit 30 rotates and the person can roll over.

The 2DOF flight simulator of the present embodiment, the control method includes,

When it is necessary to pitch first and then roll over: control the second bearing element 20 to rotate around the second rotation axis 52 in the first time period, so that the simulator cockpit 30 completes the pitching; and then control the third bearing element to rotate at the second time The segment rotates around the third axis of rotation 53 to make the simulator cockpit 30 roll over; during the above process, the first bearing element 10 does not move.

When it is necessary to roll over and then pitch: control the first bearing element 10 to rotate around the first rotation axis 51 in the first time period to complete the roll over, so that the simulator cockpit 30 completes the roll over; and then control the second bearing element The 20 rotates about the second axis of rotation 52 for the second time period, causing the simulator cockpit 30 to complete the pitch. During the above process, the third bearing element does not act.

Compared with the prior art, the present invention has the following beneficial effects:

A 2DOF flight simulator of the present application can accurately simulate the flight attitude control of the simulator cockpit pitch and rollover. The rotation of the simulator cockpit is based on the inner cabin coordinate system instead of the absolute static coordinate system, which realizes the free rotation of the two axes. And the hardware cost is greatly reduced.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention and not to limit them. Although the embodiments of the present invention have been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should It should be understood that the technical solutions of the embodiments of the present invention can still be modified or equivalently replaced, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A 2DOF flight simulator comprising a stand, a simulator cockpit, and, a first carrier element, which is rotatably arranged relative to the bracket about a first axis of rotation; a second carrier element rotatably arranged relative to the first carrier element about a second axis of rotation, wherein the first axis of rotation and the second axis of rotation are arranged substantially orthogonal to each other; It is characterized in that it also comprises a third carrier element, which is rotatably arranged relative to the second carrier element about a third axis of rotation, wherein the third axis of rotation and the second axis of rotation are arranged substantially orthogonal to each other, the The third load-bearing element includes the simulator cockpit; When the simulator cockpit is in the initial position: the third rotation axis coincides with the first rotation axis, and the first rotation axis, the second rotation axis, and a virtual vertical axis are orthogonal to each other layout. 2. The 2DOF flight simulator according to claim 1, wherein the 2DOF flight simulator is further provided with a device for driving the first bearing element, the second bearing element, and the third bearing element around their respective axes of rotation Rotate at least one drive. 3. The 2DOF flight simulator according to claim 4, wherein the 2DOF flight simulator further comprises at least one control unit, and the driver can be controlled by the control unit; the simulator cockpit is provided with a At least one input unit that the control unit affects. 4. The 2DOF flight simulator according to claim 1, wherein the simulator cockpit is provided with a holding device for at least one person; the simulator cockpit is a hollow shell with The opening through which the person enters and exits. 5. 2DOF flight simulator as claimed in claim 1, is characterized in that, The first bearing element is connected to the bracket rotatably around a first rotation axis at two positions symmetrically distributed around the simulator cockpit; The second bearing element is connected to the first bearing element rotatably around a second axis of rotation at two positions symmetrically distributed around the simulator cockpit; The third bearing element is connected to the second bearing element rotatably around a third rotation axis at two positions symmetrically distributed around the simulator cockpit. 6 . The 2DOF flight simulator of claim 1 , wherein the first rotation axis, the second rotation axis, and the third rotation axis extend and intersect at a point. 7 . 7. The 2DOF flight simulator according to any one of claims 1 to 6, wherein the first rotation axis is the first pitch axis of the simulator cockpit, and the third rotation axis is the simulator driving the second pitch axis of the cabin; the second rotation axis is the rollover axis of the simulator cockpit. 8. The 2DOF flight simulator according to any one of claims 1 to 6, wherein the second axis of rotation is the pitch axis of the simulator cockpit, and the first axis of rotation is the axis of the simulator cockpit. The first rollover axis, and the third rotation axis is the second rollover axis of the simulator cockpit. 9. a control method of 2DOF flight simulator, described 2DOF flight simulator as shown in claim 7, is characterized in that, described control method comprises, When the simulator cockpit needs to be pitched first and then rolled over: control the first bearing element to rotate around the first rotation axis in the first period of time, so that the simulator cockpit can complete the pitching and pitching; and then control the second bearing element to rotate at the first The second time period rotates around the second rotation axis to make the simulator cockpit roll over; When the simulator cockpit needs to roll over first and then pitch: control the second bearing element to rotate around the second rotation axis in the first period of time, so that the simulator cockpit completes the rollover; and then control the third bearing element to rotate on the first The second time period rotates around the third rotation axis, so that the simulator cockpit 30 completes the pitching and pitching. 10. A control method for a 2DOF flight simulator, the 2DOF flight simulator as shown in claim 8, wherein the control method comprises: When the simulator cockpit needs to be pitched first and then rolled over: control the second bearing element to rotate around the second rotation axis in the first period of time, so that the simulator cockpit completes the pitch; and then control the third bearing element to rotate in the second The time period rotates around the third axis of rotation, so that the simulator cockpit rolls over; When the simulator cockpit needs to roll over first and then pitch: control the first bearing element to rotate around the first rotation axis in the first time period to complete the rollover, so that the simulator cockpit completes the rollover; then control the second bearing element The element rotates about a second axis of rotation for a second period of time, causing the simulator cockpit to complete pitch and pitch.

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