CN111899598A - 2DOF flight simulator and control method thereof - Google Patents
2DOF flight simulator and control method thereof Download PDFInfo
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- CN111899598A CN111899598A CN201910779335.0A CN201910779335A CN111899598A CN 111899598 A CN111899598 A CN 111899598A CN 201910779335 A CN201910779335 A CN 201910779335A CN 111899598 A CN111899598 A CN 111899598A
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- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/12—Motion systems for aircraft simulators
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Abstract
The invention discloses a 2DOF flight simulator and a control method thereof, wherein the flight simulator comprises a bracket, a simulator cockpit, a first bearing element which can be rotationally arranged around a first rotation axis relative to the bracket; a second carrier element rotatably arranged relative to the first carrier element about a second axis of rotation, the first and second axes of rotation being arranged substantially orthogonal to each other; a third carrier element rotatably arranged relative to the second carrier element about a third axis of rotation, wherein the third and second axes of rotation are arranged substantially orthogonal to each other, the third carrier element comprising a simulator cabin; 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. This application can realize the accurate simulation to flight simulator flight attitude control.
Description
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
The structure of the existing flight simulator is disclosed in known CN 201210297245.6: the multi-axis flight simulator comprises an outer ring, a center ring and an inner ring which are connected in a nested manner, wherein the outer ring is fixedly arranged on a base, the outer ring, the center ring and the inner ring are respectively driven by independent servo motors, and the center ring is inwards connected with a simulator cockpit. Three-dimensional rotation is realized by adopting a connection mode of orthogonal nesting of three groups of rotating shafts, the structure is similar to a gyroscope structure, and a structural schematic diagram is shown in figure 1.
The existing flight simulator has the following problems: for the controlled object in the innermost cockpit, the rotation axis is an absolute static coordinate system, not the coordinate system of the controlled object, and the built-in coordinate system cannot be used due to the structural complexity and principle of the controlled object. This results in the three axial rotations not being completely independent, and when the rotation sequence is different, different rotation effects are obtained, and the result is often not in accordance with the actual requirement.
Taking fig. 1 as an example, when the ring 2 rotates around the shaft 2, the aircraft completes pitching action, at this time, the ring 1 rotates around the shaft 1, the aircraft completes left and right (with the fuselage as the shaft) steering operation, and the motion situation accords with the actual motion state; if the sequence is reversed, namely after the ring 1 rotates around the shaft 1 for a certain angle, the control ring 2 rotates around the shaft 2, the aircraft cannot realize pitching operation (the rotating track of the fuselage is a cone at this time). In an extreme case, when the ring 1 is rotated 90 degrees so that the axes 1 and 2 are parallel, the rotating axis 2 will control the aircraft to perform a roll operation instead of pitch. The rotary control logic of the aircraft and the original design have great access, so the structure has great limitation in use. After the inner cabin rotates for a certain angle, deviation exists between coordinate systems, and the control effect cannot be achieved without resetting. After the rotation of each dimension is completed, resetting is needed to realize the rotation of the other dimension, otherwise, the obtained result is wrong. This is a drawback that results from the structural design of the existing flight simulator itself.
Therefore, the prior art cannot realize accurate simulation of the flight attitude control of the flight simulator.
Disclosure of Invention
To solve the above problems, the present invention provides a flight simulator 2DOF cockpit,
comprises a bracket, a simulator cockpit and a simulator,
a first carrier element which is rotatably arranged relative to the carrier 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 and second axes of rotation are arranged substantially orthogonal to each other;
characterized in that it further 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 third carrier element comprising a simulator cabin;
when the simulator cockpit is in the initial position: the third axis of rotation coincides with the first axis of rotation and the first axis of rotation, the second axis of rotation, and an imaginary vertical axis are all arranged orthogonally to one another.
Further, the 2DOF flight simulator is further provided with at least one drive for driving the first, second and third carrier elements in rotation about their respective axes of rotation.
Further, the 2DOF flight simulator further comprises at least one control unit, the actuators being controllable 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.
Furthermore, the first bearing element is connected with the bracket in a manner of rotating around a first rotation axis at two positions which are symmetrically distributed by taking the simulator cab as a center;
the second bearing element is connected with the first bearing element in a manner of rotating around a second rotating axis at two positions which are symmetrically distributed by taking the simulator cockpit as the center;
the third bearing element is connected to the second bearing element at two points symmetrically distributed about the simulator cabin, and can rotate around a third rotation axis.
Further, the first rotation axis, the second rotation axis and the third rotation axis extend to intersect at a point.
Further, the first rotation axis is a first pitch axis of the simulator cabin, and the third rotation axis is a second pitch axis of the simulator cabin; the second axis of rotation is a rollover axis of the simulator cockpit.
Further, the second rotation axis is a pitch axis of the simulator cabin, the first rotation axis is a first roll axis of the simulator cabin, and the third rotation axis is a second roll axis of the simulator cabin.
The invention also provides a control method of the 2DOF flight simulator, which comprises the following steps,
when the simulator cockpit needs pitching and then rolling over: controlling the first carrier element to rotate around the first rotation axis for a first time period to enable the simulator cockpit to complete pitching; controlling the second bearing element to rotate around the second rotation axis in a second time period to enable the simulator cockpit to complete rollover;
when the simulator cockpit needs to turn over firstly and then pitch: controlling the second bearing element to rotate around the second rotation axis for a first time period to enable the simulator cockpit to complete rollover; the third carrier element is then controlled to rotate about the third axis of rotation for a second period of time to complete the pitch of the simulator cab 30.
The invention also provides a control method of the 2DOF flight simulator, which comprises the following steps,
when the simulator cockpit needs pitching first and then turns on one's side: controlling the second carrier element to rotate about the second axis of rotation for a first period of time to complete the pitching of the simulator cabin; controlling the third bearing element to rotate around the third rotation axis in a second time period to enable the simulator cockpit to complete rollover;
when the simulator cockpit needs to turn over firstly and then pitch: controlling the first bearing element to rotate around the first rotation axis for completing the rollover in a first time period, so that the simulator cockpit completes the rollover; and controlling the second bearing element to rotate around the second rotation axis for a second time period to enable the simulator cockpit to complete pitching.
Compared with the prior art, the invention has the following beneficial effects:
the 2DOF flight simulator can accurately simulate the flight attitude control of pitching and side turning of a cockpit of the simulator. The rotation of the simulator cockpit is based on an inner cabin coordinate system, but not based on an absolute static coordinate system, so that the two-axis free rotation is realized. And the hardware cost is greatly reduced.
Drawings
FIG. 1 is a schematic diagram of a flight simulator according to the prior art;
FIG. 2 is a first perspective view of a 2DOF flight simulator in accordance with a first embodiment of the present invention;
FIG. 3 is a second perspective view of a 2DOF flight simulator in accordance with a first embodiment of the present invention;
FIG. 4 is a front view of a 2DOF flight simulator in accordance with a first embodiment of the present invention;
FIG. 5 is a schematic illustration of a first load bearing element of a 2DOF flight simulator rotated through an angle about a first axis of rotation for a first period of time in accordance with a first embodiment of the present invention;
FIG. 5 is a schematic illustration of a first load bearing element of a 2DOF flight simulator rotated through an angle about a first axis of rotation for a first period of time in accordance with a first embodiment of the present invention;
FIG. 6 is a schematic illustration of a second load bearing element of a 2DOF flight simulator rotated through an angle about a second axis of rotation for a first period of time in accordance with a first embodiment of the present invention;
FIG. 7 is another perspective schematic view of a 2DOF flight simulator shown in FIG. 6;
fig. 8 is a schematic structural diagram of a 2DOF flight simulator according to the second embodiment of the present invention.
Reference numerals
10-first carrier element, 20-second carrier element, 30-simulator cockpit, 21-second ring, 22-third ring, 31-fuselage head, 40-cradle, 51-first axis of rotation, 52-second axis of rotation, 53-third axis of rotation, 54-vertical axis of orientation.
Detailed Description
The structure and operation of the present invention will be further explained with reference to the accompanying drawings and examples:
the first embodiment is as follows:
as shown in fig. 2 to 7, the present embodiment provides a 2DOF flight simulator, which includes a support 40, a first carriage element 10, a second carriage element 20, and a third carriage element.
A support 40 as a support element for a 2DOF flight simulator.
A first carriage element 10 supported by a bracket 40; relative to the support 40, it can rotate about a first rotation axis 51; the first axis of rotation 51 is fixed in position relative to the support 40.
A second carriage element 20 supported by the first carriage element 10; relative to the first carrier element 10, it can rotate about a second axis of rotation 52; the second axis of rotation 52 is fixed in position relative to the first carrier element 10. Wherein the first axis of rotation 51 is arranged at 90 degrees orthogonal to the second axis of rotation 52, or substantially orthogonal to each other.
The third load bearing element, comprising the simulator cabin 30, or alternatively, the third load bearing element, namely the simulator cabin 30. The simulator cockpit 30 is the controlled component. A third carriage element supported by the second carriage element 20; which is rotatable relative to the second carrier element 20 about a third axis of rotation 53. Wherein the third rotation axis 53 is arranged orthogonally to the second rotation axis 52 by 90 degrees or substantially orthogonally to each other.
Wherein the third bearing element, the second bearing element 20 and the first bearing element 10 are sequentially nested from inside to outside.
The simulator cabin 30 of the present embodiment is provided with a holding device for at least one person.
In the present embodiment, the first rotation axis 51 is a first pitch axis of the simulator cabin 30 and the third rotation axis 53 is a second pitch axis of the simulator cabin 30. The second axis of rotation 52 is the roll axis of the simulator cabin 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 the present embodiment, the vertical direction axis 54 that rotates the simulator cabin 30 in the left-right direction is not included.
As shown in fig. 3, the vertical axis 54 is assumed to be a virtual axis. Assuming that the vertical direction axis 54 is disposed in the Z-axis direction, the first rotation axis 51 and the third rotation axis 53 are disposed in the Y-axis direction, and the second rotation axis 52 is disposed in the X-axis direction. The first axis of rotation 51, the second axis of rotation 52, and an imaginary vertical axis 54 are all arranged orthogonally to one another. The head-to-tail direction of the flight simulator body is the X-axis direction, and the human face faces the head 31 direction of the flight simulator body.
When the first carrier element 10 is rotated along the first rotation axis 51, bringing the second carrier element 20 and the simulator cabin 30 to rotate together, a person can look down or up.
When the second carrier element 20 rotates along the second axis of rotation 52, bringing the simulator cabin 30 to rotate together, the person can realize a rollover.
When the third carrier element is rotated along the third rotation axis 53, only the simulator cabin 30 is rotated and the person can realize a top or bottom view.
The nested carrier elements can be connected at only one location at the connection location. Preferably, however, the first support element 10 is connected to the carrier 40 so as to be rotatable about a first axis of rotation 51 at two points symmetrically distributed about the simulator cabin 30, both points serving as support points for the first support element 10. Likewise, the second support element 20 is connected to the first support element 10 so as to be rotatable about a second axis of rotation 52 at two points symmetrically distributed about the simulator cabin 30, both points serving as support points for the second support element 20. The third support element is connected to the second support element 20 so as to be rotatable about a third axis of rotation 53 at two points symmetrically distributed about the simulator cabin 30, both points serving as support points for the third support element. The figure illustrates a structure of a first bearing element 10 and a second bearing element 20, wherein the first bearing element 10 is a first circular ring, and the second bearing element 20 is a second circular ring 21 and a third circular ring 22 which are orthogonally arranged and connected; wherein the second ring 21 is connected with the first ring and the third ring 22 is connected with the simulator cockpit 30. It is understood that the first carriage element 10 and the second carriage element 20 may be other types of structures.
The 2DOF flight simulator is further provided with at least one drive for driving the rotation of the first, second and third carrier elements 10, 20, respectively, about their respective axes of rotation.
Preferably, three drivers are provided to drive the rotation of the first carrier element 10, the second carrier element 20, and the third carrier element, respectively. The drive is optionally an electrical rotary drive, for example, an electric motor. At the location of the 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 toothed ring, the first bearing element 10 may be an orthogonal toothed ring, and the third bearing element may be a spherical shell inner layer, and the driver may drive the corresponding bearing element to rotate through a gear structure or directly, which is not described herein again.
The 2DOF flight simulator also includes at least one control unit. The operating 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. The input unit is, for example, a joystick, a lever, a steering wheel, a switch, a pedal, or the like. In the simulator cab 30, a person can transmit a corresponding command to the control unit through a joystick or the like, and then the control unit drives a corresponding driver to operate.
Regardless of the initial or operational state, the first rotation axis 51, the second rotation axis 52, and the third rotation axis 53 extend to intersect at a point located in the simulator cabin 30, preferably, at a central location of the simulator cabin 30.
The simulator cab 30 is a hollow housing, and may have a spherical shape as shown in the drawing, or may have other shapes such as an elliptical shape and a square shape. The simulator cab 30 has an opening for the entrance and exit of the person, and a cover can be provided at the opening to fit the opening.
In the 2DOF flight simulator of the present embodiment, the control method includes,
when the pitching and the side turning are needed to be carried out firstly: controlling the first carrier element 10 to rotate about the first rotation axis 51 for a first period of time such that the simulator cabin 30 completes pitching; controlling the second bearing element 20 to rotate around the second rotation axis 52 for a second time period, so that the simulator cab 30 is completely overturned; in the above process, the third bearing element does not act. The simulator cockpit 30 is rotated with reference to the coordinate system of the cockpit itself, which rotates with the simulator cockpit 30, each rotation being based on the coordinate axis of the fuselage. After completing the pitch, the simulator cockpit 30 state is shown in fig. 5; by rotating the second carrying element 20 about the second axis of rotation 52, the person's rolling movement in the simulator cabin 30 is a standard rollover action, consistent with expectations and without deviation, with respect to the coordinate system of the simulator cabin 30 itself.
When the side turning is needed firstly and then the pitching is needed: controlling the second carrier element 20 to rotate about the second rotation axis 52 for a first period of time to complete the rollover of the simulator cab 30; the third bearing element is controlled to rotate around the third rotation axis 53 for a second time period, so that the simulator cockpit 30 is subjected to pitching; in the above process, the first carriage element 10 does not act. After the rollover is completed around the second rotation axis 52, the simulator cabin 30 is in the state shown in fig. 6 and 7; when the third load bearing element is rotated about the third axis of rotation 53, the respective rotational movements are based on the cabin coordinate axes of the simulator cabin 30 itself, and the rotation of the person in the simulator cabin 30 is a standard pitch and yaw movement, which is consistent with the expectation and is free from deviation, with respect to the coordinate system of the simulator cabin 30 itself.
In the above control methods, the rotation layer located at the outer layer is controlled to operate first, and the rotation layer located at 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-right direction), but can accurately simulate the attitude control of pitching and rolling of the simulator cabin 30. And the rotation of the simulator cockpit 30 is based on the inner cabin coordinate system, not on the absolute stationary coordinate system, so that the two-axis free rotation is realized. And the hardware cost is greatly reduced.
Example two
In contrast to the first embodiment, in the present embodiment, as shown in fig. 8,
the first rotation axis 51 and the third rotation axis 53 are arranged in the Y-axis direction, the head-to-tail direction of the body of the flight simulator is the Y-axis direction, and the face of the person faces the head direction of the body of the flight simulator. The second axis of rotation 52 is the pitch axis of the simulator cabin 30, the first axis of rotation 51 is the first roll axis of the simulator cabin 30 and the third axis of rotation 53 is the second roll axis of the simulator cabin 30.
When the first carrier element 10 is rotated along the first axis of rotation 51, bringing the second carrier element 20 and the simulator cabin 30 together into rotation, the person can realize a rollover.
When the second carrier element 20 is rotated along the second axis of rotation 52, bringing the simulator cabin 30 to rotate together, a person can look down or up.
When the third carrier element rotates along the third rotation axis 53, only the simulator cabin 30 rotates and the person can realize a rollover.
In the 2DOF flight simulator of the present embodiment, the control method includes,
when the pitching and the side turning are needed to be carried out firstly: controlling the second carrier element 20 to rotate about the second rotation axis 52 for a first period of time to complete the pitching of the simulator cabin 30; the third bearing element is controlled to rotate around the third rotation axis 53 in a second time period, so that the simulator cab 30 is completely overturned; in the above process, the first carriage element 10 does not act.
When the side turning is needed firstly and then the pitching is needed: controlling the first bearing element 10 to rotate around the first rotation axis 51 for a first period of time to complete the rollover of the simulator cab 30; the second carriage element 20 is then controlled to rotate about the second axis of rotation 52 for a second period of time to complete the pitch of the simulator cab 30. In the above process, the third bearing element does not act.
Compared with the prior art, the invention has the following beneficial effects:
the 2DOF flight simulator can accurately simulate the flight attitude control of pitching and side turning of a cockpit of the simulator. The rotation of the simulator cockpit is based on an inner cabin coordinate system, but not based on an absolute static coordinate system, so that the two-axis free rotation is realized. And the hardware cost is greatly reduced.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the embodiments of the present invention and not for limiting the same, and although the embodiments of the present invention are described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the embodiments of the present invention, and these modifications or equivalent substitutions cannot make the modified technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A2 DOF flight simulator comprising a support, a simulator cockpit, and,
a first carrier element which is rotatably arranged relative to the carrier 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 and second axes of rotation are arranged substantially orthogonal to each other;
characterized in that it further 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 third carrier element comprising a simulator cabin;
when the simulator cockpit is in the initial position: the third axis of rotation coincides with the first axis of rotation and the first axis of rotation, the second axis of rotation, and an imaginary vertical axis are all arranged orthogonally to one another.
2. A 2DOF flight simulator according to claim 1, further provided with at least one drive for driving the first, second and third carrier elements in rotation about their respective axes of rotation.
3. The 2DOF flight simulator of claim 4, further comprising at least one control unit, the actuators being controllable by the control unit; the simulator cockpit is provided with at least one input unit for influencing the control unit.
4. A 2DOF flight simulator according to claim 1, in which 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.
5. The 2DOF flight simulator of claim 1,
the first bearing element is connected with the bracket in a manner of rotating around a first rotating axis at two positions which are symmetrically distributed by taking the simulator cockpit as a center;
the second bearing element is connected with the first bearing element in a manner of rotating around a second rotating axis at two positions which are symmetrically distributed by taking the simulator cockpit as the center;
the third bearing element is connected to the second bearing element at two points symmetrically distributed about the simulator cabin, and can rotate around a third rotation axis.
6. The 2DOF flight simulator of claim 1, wherein the first, second, and third axes of rotation extend to intersect at a point.
7. The 2DOF flight simulator of any of claims 1 to 6, wherein the first axis of rotation is a first pitch axis of a simulator cockpit and the third axis of rotation is a second pitch axis of a simulator cockpit; the second axis of rotation is a rollover axis of the simulator cockpit.
8. The 2DOF flight simulator of any of claims 1 to 6, wherein the second axis of rotation is a pitch axis of the simulator cockpit, the first axis of rotation is a first roll axis of the simulator cockpit, and the third axis of rotation is a second roll axis of the simulator cockpit.
9. A method of controlling a 2DOF flight simulator, the 2DOF flight simulator being as claimed in claim 7, the method comprising,
when the simulator cockpit needs pitching and then rolling over: controlling the first carrier element to rotate around the first rotation axis for a first time period to enable the simulator cockpit to complete pitching; controlling the second bearing element to rotate around the second rotation axis in a second time period to enable the simulator cockpit to complete rollover;
when the simulator cockpit needs to turn over firstly and then pitch: controlling the second bearing element to rotate around the second rotation axis for a first time period to enable the simulator cockpit to complete rollover; the third carrier element is then controlled to rotate about the third axis of rotation for a second period of time to complete the pitch of the simulator cab 30.
10. A method of controlling a 2DOF flight simulator, the 2DOF flight simulator being as claimed in claim 8, the method comprising,
when the simulator cockpit needs pitching first and then turns on one's side: controlling the second carrier element to rotate about the second axis of rotation for a first period of time to complete the pitching of the simulator cabin; controlling the third bearing element to rotate around the third rotation axis in a second time period to enable the simulator cockpit to complete rollover;
when the simulator cockpit needs to turn over firstly and then pitch: controlling the first bearing element to rotate around the first rotation axis for completing the rollover in a first time period, so that the simulator cockpit completes the rollover; and controlling the second bearing element to rotate around the second rotation axis for a second time period to enable the simulator cockpit to complete pitching.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910779335.0A CN111899598A (en) | 2019-08-22 | 2019-08-22 | 2DOF flight simulator and control method thereof |
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| CN201910779335.0A CN111899598A (en) | 2019-08-22 | 2019-08-22 | 2DOF flight simulator and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114404938A (en) * | 2022-01-19 | 2022-04-29 | 北京海泰微纳科技发展有限公司 | Virtual driving gyro cabin, virtual driving system and virtual reality method |
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2019
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114404938A (en) * | 2022-01-19 | 2022-04-29 | 北京海泰微纳科技发展有限公司 | Virtual driving gyro cabin, virtual driving system and virtual reality method |
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