CN112199828B - Helicopter simulator control system data packet development method - Google Patents
Helicopter simulator control system data packet development method Download PDFInfo
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Abstract
The invention belongs to the technical field of flight simulation, and discloses a method for developing a data packet of a helicopter simulator control system. The method comprises the following steps: s1, modeling data required by the helicopter simulator control system to obtain a data packet model, wherein the data packet model comprises six types of data packets; s2, respectively extracting the data of the six types of data packets to obtain a perfect data packet model; and S3, simulating the helicopter simulator control system according to the perfect data packet model, providing a data packet development technology for the modeling of the irreversible hydraulic power-assisted mechanical control system additionally provided with the autopilot on the helicopter simulator, and developing a complete data packet required by the modeling of the control system through the technology.
Description
Technical Field
The invention belongs to the technical field of flight simulation, and particularly relates to a data packet development method for a helicopter simulator control system.
Background
The development of modern high and new technology promotes the continuous progress and updating of flight training means, and the helicopter simulator is widely applied to the civil and military fields due to the advantages of low cost, good safety and the like.
The operating system is an important component of a helicopter simulator and mainly simulates the dynamic and static characteristics of the helicopter operating system, including the static operating lever force, stroke simulation and dynamic characteristic simulation under the normal/fault states of four channels such as a periodic variable pitch lever, a total pitch lever, a pedal and the like. As a system in the helicopter simulator, which has a direct interactive relation with a pilot, the simulation effect of the control system directly influences the flight training of the pilot and the evaluation of the flight quality of the simulator, if the control feeling is vivid, the pilot can accumulate correct flight experience and correctly evaluate the flight quality when finishing flight subjects in the training, otherwise, the pilot can obtain a negative training effect or even an incorrect conclusion during the training.
The helicopter control system is structurally divided into a mechanical control system, a fly-by-wire control system and an optical control system, and the mechanical control system is the most widely applied in China. Early helicopter control systems were "purely mechanical" in that the pilot relied solely on physical effort to drive the control surfaces through the cockpit controls and mechanical transmissions; with the increase of the flying speed and the flying weight, the pneumatic load on the flying control surface is increased sharply and the nonlinearity degree is large, which is unacceptable for a driver, so that a booster, namely mechanical boosting control, is introduced into the control system from 50 years, and the control system is divided into a reversible type and an irreversible type according to the action of the booster; along with the improvement of the performance and the use requirement of an aircraft, an automatic flight control system formed by adding a stability augmentation system or an autopilot in a mechanical power-assisted control system is developed, the stability of the helicopter can be greatly improved through the stability augmentation system and the autopilot, and an execution element is an electric or hydraulic steering engine. The operating system that this patent relates adopts the fluid pressure type steering wheel to realize for installing the irreversible formula mechanical control system of autopilot additional.
At present, a modeling data packet of a domestic helicopter simulator control system does not have a unified standard, due to the lack or incompleteness of the modeling data packet, the subjective evaluation of a driver is mainly used during the development of the simulator control system, and sufficient data support is lacked, so that the method seriously restricts the modeling effect of the domestic helicopter simulator control system, and is mainly embodied in the following aspects:
firstly, the influence of subjective factors of drivers is large. The personal skills and the expression abilities of drivers are different, so that the loss of functions or performances is often caused, and the feeling of force of the drivers on the simulator is inconsistent with the mounting because the simulator and the mounting driving environment are different;
the second is increased cost. In order to improve modeling fidelity, multiple batches of drivers are often required to participate, and economic cost and time cost are greatly increased;
thirdly, the difficulty of technical identification is increased. For a high-grade helicopter simulator, objective tests are required during technical identification, the problem of inconsistent data may exist, and sufficient data support is lacked under the condition that the opinions of pilots are inconsistent during subjective tests.
Disclosure of Invention
The purpose of the invention is: the method aims to provide a data packet development technology for the modeling of the irreversible hydraulic power-assisted mechanical control system additionally provided with the autopilot in a helicopter simulator, and can develop a complete data packet required by the modeling of the control system through the technology.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme.
A helicopter simulator control system data packet development method, the method comprising:
s1, modeling data required by the helicopter simulator control system to obtain a data packet model, wherein the data packet model comprises six types of data packets;
s2, respectively extracting the data of the six types of data packets to obtain a perfect data packet model;
and S3, simulating the helicopter simulator operating system according to the complete data packet model.
The technical scheme of the invention has the characteristics and further improvements that:
(1) in S1, the six major data packets are respectively: interface type data packets, structure type data packets, static characteristic data packets, dynamic characteristic data packets, flight control function data packets and objective test data packets.
(2) The interface data packet is used for researching an external system and a data type which have an interactive relation with a helicopter simulator control system;
the structure type data packet is used for researching mechanical structure type data required by modeling of the control system, and at least comprises four-channel transmission ratio, mechanical clearance and stroke data;
the static characteristic data packet is used for researching the static force sensing characteristics of four channels and at least comprises friction force, damping force, starting force, gradient force and gap data;
the dynamic characteristic data packet is used for researching the dynamic force sensing characteristics of the four channels and at least comprises dynamic characteristic curve data of the four-channel rod head in a half-stroke state and a full-stroke state;
the flight control function data packet is used for researching the flight control function which needs to be added in the operation load model for realizing the advanced flight control function, and at least comprises minimum height security, high-pitch elastic limit, four-channel back-drive speed, anchoring and unloading, transition, height maintenance and more common balancing data;
the objective test data packet is used for researching identification data, QTG back-driving data and matching proof data required by objective test.
(3) The external system which has an interactive relation with the helicopter simulator control system at least comprises a management system, an instructor platform system, a flight control system, an avionic system and a flight system;
the management system interaction data is used for monitoring the model state; the teacher platform system interaction data is used for model control and parameter monitoring; the flight control system interaction data is used for realizing flight control advanced functions of flight control backdriving, transition and high security; avionic system interaction data is used for equipment acquisition; flight system interaction data is used for model initial state control.
(4) In S2, when extracting the interface packet:
the flight control back-driving interface of the flight control system is implemented as a voltage value, a simulator is changed into a back-driving speed value according to the requirements of a control model, wherein the maximum back-driving speed value is selected to be a value which can be corresponding to the simulator according to the maximum travel back-driving time of different channels as a reference;
and the management system, the instructor platform system and the flight system extract simulation modeling data, and values which can be selected on the simulator are selected.
(5) In S2, when extracting the static characteristic packet:
the method is characterized in that firstly, on-board test flight data are selected, test flight data of different models and models are selected, models consistent with design data are selected, the same model is selected, and influence factors of unbalanced force on friction force are eliminated when available friction force data are selected.
(6) In S2, when extracting the flight control function packet:
the flight control function changes the reference value in real time, compares a deviation signal between the attitude angle of the helicopter and the reference value, and transmits the deviation signal to the actuating mechanism to change the flight state of the helicopter;
the unloading, anchoring and flight control backdriving principles are realized by changing a reference value, and when the size data of the flight control backdriving speed is selected, the size data needs to be compared through multiple tests and the influence of hydraulic power-assisted factors is considered, so that numerical values suitable for a simulator are selected.
(7) In S2, when extracting the objective test data packet:
extracting test flight data suitable for a simulator from the test flight data in the actual-installed training subject data; selecting data with the same platform model for replacing subjects without proper data; and for other data, acquiring by adopting a method of supplementing test flight.
The technical scheme of the invention provides a data packet development technology for modeling a helicopter simulator control system based on an irreversible hydraulic power-assisted mechanical control system additionally provided with an autopilot on the basis of the development technology of a certain helicopter flight training simulator and a certain carrier-borne training helicopter flight training simulator, and can develop and support a complete data packet required by modeling of a high-grade helicopter simulator control system, thereby saving the research and development cost and improving the simulation effect of the simulator.
Detailed Description
The invention provides a data packet development method for the modeling of an irreversible hydraulic power-assisted mechanical control system additionally provided with an autopilot in a helicopter simulator, and a complete data packet required by the modeling of the control system can be obtained by the method.
The modeling data packet development of the irreversible hydraulic power-assisted mechanical control system with the automatic pilot is divided into six categories, namely interface data packet development, structure data packet development, static characteristic data packet development, dynamic characteristic data packet development, flight control function data packet development and objective test data packet development.
The interface type data packet development is mainly responsible for researching external systems and data types which have interactive relations with a helicopter simulator control system, and comprises a management system, an instructor platform system, a flight control system, an avionic system, a flight system and the like.
The management system interaction data is mainly used for monitoring the model state; the teacher platform system interaction data is mainly used for model control and parameter monitoring; the flight control system interactive data is mainly used for realizing high-level flight control functions such as flight control back-driving, transition, high security and the like; the avionics system interaction data is mainly used for equipment acquisition; the flight system interaction data is mainly used for model initial state control and the like.
The structure type data packet development is mainly responsible for researching mechanical structure type data required by modeling of the control system, and the mechanical structure type data comprises data such as four-channel transmission ratio, mechanical clearance and stroke.
The static characteristic data packet development is mainly responsible for researching the static force sensing characteristics of the four channels, including data such as friction force, damping force, starting force, gradient force and clearance.
The dynamic characteristic data packet development is mainly responsible for researching four-channel dynamic force sensing characteristics, including four-channel rod head dynamic characteristic curve data in the states of half stroke, full stroke and the like.
The flight control function data packet development is mainly responsible for researching flight control functions which need to be added in the control load model and are used for realizing the advanced flight control functions, and the flight control functions comprise data such as minimum height security, high-pitch elastic limit, four-channel back-driving speed, anchoring and unloading, transition, height keeping, proportion general balance and the like.
The objective test data packet development is mainly responsible for researching appraisal data, QTG backdriving data, matching certification data and the like required by objective tests.
The helicopter simulator control system data packet development method provided by the embodiment of the invention can ensure all data required by modeling of the control system data packet. By modeling the six types of data, all data required by modeling of the data packet of the operating system can be covered, and major problems of function and performance loss and the like caused by subjective test limitation are avoided.
The extraction method of the six kinds of data comprises the following steps: the required data sources are generally helicopter manufacturers, the data types include configuration/design data, simulation modeling data, verification data, matching certification data and identification data, and for different types of data, different extraction methods are required according to engineering experience.
When the interface data packet is extracted, configuration/design data is mainly used for interface compilation of a flight control system and an avionic system, and adaptability improvement is carried out, for example, a flight control backdriving interface is installed as a voltage value and is changed into a backdriving speed value according to the requirement of an operation model in a simulator, wherein the maximum backdriving speed value can be selected according to the maximum travel backdriving time of different channels as reference, and an appropriate value which can be corresponding to the simulator is selected; the management system, the instructor platform system and the flight system data are based on simulation modeling data, and appropriate values which can be applied to the simulator are selected according to the experience of a corresponding interface of the engineering simulator.
When extracting the static characteristic data packet, firstly selecting on-board test flight data, selecting test flight data of different models, selecting models which are consistent with design data, selecting the same model as far as possible, and considering to eliminate influence factors of unbalanced force on friction force when selecting available friction force data.
The basic principle of extracting the dynamic characteristic data packet is consistent with the development of the static characteristic data packet, the difference is the problem of data source, no relevant test report is generally available on the model of the dynamic characteristic data applicable to the simulator, and the specific data needs to be obtained by repeated tests on the corresponding model.
When the structure data is extracted, firstly, identification data is selected, and a model selection method is consistent with the dynamic characteristic data, wherein the smaller the structure gap selection principle is, the better the structure gap selection principle is, and the mechanical shorthand on the model cannot be completely adopted; the stroke can be slightly larger than the actual installation stroke, and the limiting function is realized in a software and hardware mode; the transmission ratio is selected to be suitable for the simulator, the transmission ratio is consistent with the actual installation of the simulator with the devices such as an operating mechanism and the like consistent with the actual installation, and the transmission ratio is subject to the data after the optimization design of the simulator with the partial optimization design.
When the flight control function data packet is extracted, it is easy for most simulator manufacturers to complete basic dynamic and static force sense simulation, but in order to realize the fidelity of the high-level flight control function, the development and research of the flight control function data packet must be completed from the principle perspective. In the control system, the flight control function changes the flight state of the helicopter by changing the reference value in real time and comparing the deviation signal between the attitude angle of the helicopter and the reference value and transmitting the deviation signal to the executing mechanism. Therefore, the unloading, anchoring and flight control back-driving principle are realized by changing the reference value, and the numerical value suitable for the simulator is selected by comparing the data such as the flight control back-driving speed and the like through a plurality of tests and considering the influence of factors such as hydraulic power assistance and the like.
The objective test data packet development is mainly responsible for researching identification data, QTG backdriving data, matching certification data and the like required by objective tests. When the objective test data packet is extracted, considering that the simulator is different from the actual-installed training subjects, the test flight data suitable for the simulator is often extracted and selected from a large amount of test flight data in the actual-installed training subject data; for subjects without proper data, similar data of the same platform model can be selected for substitution; for other data, acquisition by a method such as a supplemental test flight method is considered.
The complete data packet of the simulator control system extracted by the method can be used for simulating, modeling and developing the control system. The method has already completed the development work of the data packet of the multi-model simulator control system and has supported and completed the modeling development work of the two-model simulator control system.
The helicopter simulator control system data packet development method provided by the embodiment of the invention is born in a certain type of helicopter flight training simulator and is applied to a certain type of ship-based coach helicopter flight training simulator.
Claims (6)
1. A method for developing a helicopter simulator control system data packet, the method comprising:
s1, modeling data required by the helicopter simulator control system to obtain a data packet model, wherein the data packet model comprises six types of data packets; the six major data packets are respectively: the system comprises an interface type data packet, a structure type data packet, a static characteristic data packet, a dynamic characteristic data packet, a flight control function data packet and an objective test data packet;
the interface data packet is used for researching an external system and a data type which have an interactive relation with a helicopter simulator control system;
the structure type data packet is used for researching mechanical structure type data required by modeling of the control system and at least comprises four-channel transmission ratio, mechanical clearance and stroke data;
the static characteristic data packet is used for researching the static force sensing characteristics of four channels and at least comprises friction force, damping force, starting force, gradient force and gap data;
the dynamic characteristic data packet is used for researching the dynamic force sensing characteristics of the four channels and at least comprises dynamic characteristic curve data of the four-channel rod head in a half-stroke state and a full-stroke state;
the flight control function data packet is used for researching the flight control function which needs to be added in the operation load model for realizing the advanced flight control function, and at least comprises minimum height security, high-pitch elastic limit, four-channel back-drive speed, anchoring and unloading, transition, height maintenance and more common balancing data;
the objective test data packet is used for researching identification data, QTG back-driving data and matching proof data required by objective test;
s2, respectively extracting the data of the six types of data packets to obtain a perfect data packet model;
and S3, simulating the helicopter simulator operating system according to the complete data packet model.
2. The method of claim 1 wherein said external systems in interactive relationship with said helicopter simulator maneuvering system comprise at least a management system, an instructor station system, a flight control system, an avionics system, a flight system;
the management system interaction data is used for monitoring the model state; the teacher platform system interaction data is used for model control and parameter monitoring; the flight control system interaction data is used for realizing flight control advanced functions of flight control backdriving, transition and high security; avionic system interaction data is used for equipment acquisition; flight system interaction data is used for model initial state control.
3. The method for developing a helicopter simulator control system data packet according to claim 1, wherein in S2, when the interface type data packet is extracted:
the flight control back-driving interface of the flight control system is implemented as a voltage value, a simulator is changed into a back-driving speed value according to the requirements of a control model, wherein the maximum back-driving speed value is selected to be a value which can be corresponding to the simulator according to the maximum travel back-driving time of different channels as a reference;
and (4) extracting simulation modeling data from the management system, the instructor platform system and the flight system, and selecting values which can be on the simulator.
4. The method for developing a helicopter simulator control system data packet according to claim 1, wherein in S2, when the static characteristic data packet is extracted:
the method is characterized in that firstly, on-board test flight data are selected, test flight data of different models and models are selected, models consistent with design data are selected, the same model is selected, and influence factors of unbalanced force on friction force are eliminated when available friction force data are selected.
5. The method for developing the helicopter simulator control system data packet according to claim 1, wherein in S2, when the flight control function data packet is extracted:
the flight control function changes the reference value in real time, compares a deviation signal between the attitude angle of the helicopter and the reference value, and transmits the deviation signal to the actuating mechanism to change the flight state of the helicopter;
the unloading, anchoring and flight control backdriving principles are realized by changing a reference value, and when the size data of the flight control backdriving speed is selected, the size data needs to be compared through multiple tests and the influence of hydraulic power-assisted factors is considered, so that numerical values suitable for a simulator are selected.
6. The method for developing a helicopter simulator control system data packet according to claim 1, wherein in S2, when the objective test data packet is extracted:
extracting test flight data suitable for a simulator from the test flight data in the actual installation training subject data; selecting data with the same platform model for replacing subjects without proper data; and for other data, acquiring by adopting a supplementary test flight method.
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| CN113345297B (en) * | 2021-05-28 | 2023-03-14 | 中航通飞华南飞机工业有限公司 | Data construction method for simulating water take-off and landing of airplane |
| CN116991610B (en) * | 2023-09-28 | 2023-12-26 | 天津华翼蓝天科技股份有限公司 | Automatic control data output processing method for flight simulator |
| CN117576980B (en) * | 2024-01-19 | 2024-03-22 | 中国民用航空飞行学院 | Flight simulation cabin data complement method and system |
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