CN114005327A

CN114005327A - Human sensing system for driving simulator

Info

Publication number: CN114005327A
Application number: CN202111643704.7A
Authority: CN
Inventors: 叶江; 李吉磊
Original assignee: Jiangsu Puxu Technology Co ltd
Current assignee: Jiangsu Puxu Technology Co ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2022-02-01
Anticipated expiration: 2041-12-30
Also published as: CN114005327B

Abstract

The invention discloses a human sensing system for a driving simulator, which can give a driving trainer realistic force sense feedback, measures signals such as force, position, speed and the like applied on an operating lever or a pedal by the driving trainer through a sensor, calculates the force magnitude which should be applied on an actuating mechanism at present based on the collected signals, generates a corresponding motor driving signal, drives a servo motor of a corresponding channel to generate a corresponding moment, transmits the moment to a steering wheel, the operating lever, the pedal and an accelerator through a link mechanism, and feeds the moment back to a hand holding end of the operation, thereby simulating the operation sense in real flying driving to achieve the simulation of the force sense.

Description

Human sensing system for driving simulator

Technical Field

The invention relates to the technical field of driving simulators, in particular to a human sensing system for a driving simulator.

Background

The driving simulator is a complex simulation system with human participation, can simulate and reproduce driving and operating states in a specific environment, is widely applied to driving simulation training of armored vehicles, tanks, airplanes and the like, and has the functions and the purposes of providing sensing of operating scenes, processes, force feeling and the like to training personnel to the extent of being as real as possible under the condition that the driving simulators do not actually enter the cockpit of the armored vehicles, tanks, airplanes and the like for actual driving and operating. The simulator is designed especially for force sensing system, i.e. human sensing system, and aims to provide vivid force sense, simulate training for training personnel, know and adapt to control scene and possible driving and flying states in advance, and make timely and accurate judgment and send correct control instruction. Therefore, the performance of the human sensing system design directly determines the force simulation effect of the driving simulator.

The human sensing system design of the existing driving simulator is usually based on a hydraulic human sensing system or an electrically driven human sensing system, and with the development of a motor and a motor driving technology, the electrically driven human sensing system is the main mode at present. Taking a main joystick force sense simulation system for a piloting simulator of an aircraft as an example, the main design comprises: the force sense simulation method comprises the steps of detecting a rotation signal generated when a trainer operates a main control lever, inputting the rotation signal to a force sense simulation model after signal processing, outputting a force to be simulated (namely the force applied to the main control lever) by the model, driving a servo motor to rotate according to the force signal, applying a torque output by the motor to the main control lever through a loading mechanism, and providing force sense feedback for the driver training.

In some improved schemes, a closed-loop control simulation mode based on loading force feedback is also provided, namely the actually applied force of a driver training person is detected at the output end of a loading mechanism, the actually applied force is compared with the force output by a force sense simulation model, and a driving control signal for driving a servo motor is generated based on the comparison result so as to compensate and inhibit redundant force and improve the reality of force sense simulation.

In addition, the redundant force is compensated and suppressed in other ways in the prior art, such as suppression and compensation from the structural design based on a buffer spring, and suppression based on a disturbance observer, a neural network model and an adaptive control system model. These approaches, while enabling the overall design of the basic force sensing feedback system and the suppression of common redundant force problems from software or hardware, do not simulate the complete force system loop for the connection between the front end system and the back end system and the force sensing feedback as a major problem with the manipulation of the main joystick.

Prior art documents:

patent document 1: CN110827620A a digital control load system;

patent document 2: CN110444078A a system for simulating the steering load of an airplane;

patent document 3: CN110706550A an electric control load system for simulating airplane;

patent document 4: CN111063235A a simulation system for training control load of flight simulator.

Disclosure of Invention

The invention aims to provide a human feeling system for a driving simulator, which is particularly suitable for a human feeling system of a flight simulator, and provides an operating load system capable of providing realistic force feeling feedback for a driving training person.

To achieve the above object, a first aspect of the present invention provides a human sensing system for a driving simulator, comprising:

a first sensor group for detecting a pitch steering state of the main joystick and a sensor group for detecting an actually applied force (F) of the main joystick being steered_x1) The first force sensor of (1);

a second sensor group for detecting the roll steering state of the steering wheel and a sensor group for detecting the force (F) actually applied by the steering wheel being steered_x2) A second force sensor of (2);

a third sensor group for detecting the yaw manipulation state of the yaw foothold and a third sensor group for detecting the actually applied force (F) exerted by the yaw foothold being manipulated_x3) A third force sensor of (2);

a fourth sensor group for detecting the accelerator operating state of the accelerator pedal and a fourth sensor group for detecting the force (F) actually applied when the accelerator is operated_x4) A fourth force sensor of (1);

a force sense simulation master control system for receiving a pitch steering state, a yaw steering state, a roll steering state, a throttle steering state and a detected actually applied force (F)_x1;F_x2;F_x3;F_x4) Generating driving signals for driving servo motors corresponding to the pitching channel, the rolling channel, the yawing channel and the accelerator channel;

the first loading mechanism is arranged in the pitching channel and positioned between the first servo motor and the main control lever, and is driven by the first servo motor to provide a moment applied to the main control lever;

the second loading mechanism is arranged in the rolling channel and positioned between the second servo motor and the steering wheel, and is driven by the second servo motor to provide torque applied to the steering wheel; and

the third loading mechanism is arranged in the yaw channel and positioned between the third servo motor and the yaw pedal, and is driven by the third servo motor to provide a moment applied to the yaw pedal;

the fourth loading mechanism is arranged in the accelerator channel and positioned between the fourth servo motor and the yaw pedal, and is driven by the fourth servo motor to provide a moment applied to the accelerator pedal;

the first loading mechanism, the second loading mechanism and the third loading mechanism are all provided with a first connecting rod and a first rocker arm structure which are hinged in a universal mode, the first rocker arm structure is driven to swing in a reciprocating mode so as to synchronously drive the first connecting rod to move towards a reset mode, and therefore moments applied to a main control lever, a steering wheel and a yaw pedal are provided, and force feeling simulation is achieved;

the fourth loading mechanism comprises an accelerator connecting rod, a steel cable, a pulley and a pulley rocker arm, the pulley is used for fixing the transmission steel cable, the transmission steel cable is wound and fixed in a groove of the pulley, the tail end of the steel cable is connected to an accelerator pedal, one end of the accelerator connecting rod is hinged to the pulley rocker arm, the other end of the accelerator connecting rod is connected with a second rocker arm structure in an accelerator channel, the second rocker arm structure is driven to swing in a reciprocating mode to synchronously drive the accelerator connecting rod to move in a reciprocating mode, force sense simulation of the accelerator channel is provided, and the steel cable is set to have preset pretightening force.

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

1. the human sensing system for the driving simulator provided by the invention adopts the direct-drive permanent magnet synchronous torque motor and the direct-drive connecting rod transmission force sense feedback, the inertia of the motor rotor is smaller, the transmission efficiency can be increased by adopting a direct-drive mode, the speed reducer type mechanical gap is eliminated, the linearity of an output force curve is higher, the dynamic response is better, the smoothness of the whole force sense simulation feedback is excellent, and the vivid cockpit control sense is provided for flight training;

2. the design of the control connecting rod provided by the invention can be designed according to the displacement transmission 1:1, namely, the deflection angle of the output shaft end of the motor is equal to the deflection angle of the control hand-held point, so that the stroke utilization of the servo motor is maximized; meanwhile, the universal hinge and the adjustable design of the control connecting rod can meet the application and adjustment requirements of each channel through unified design; meanwhile, the length of the connecting rod can be determined and adjusted adaptively according to the distance between the servo motor and the control device body and the installation position, so that the transmission efficiency and the maintenance convenience are ensured;

3. in the human sensing system for the driving simulator, the mechanical structure is reasonably designed, so that the front end control displacement and the rear end actuating mechanism displacement are in a simple linear relation, the force cannot be obviously attenuated under the condition of high-fidelity connection between a control load servo motor and a control device, and the loading force and 50-75% of stroke of the servo motor are maximally used;

4. in the process of force sense simulation, the force actually input to the control object by the driving training personnel and the compensation control based on the nearest control, which are obtained by actual measurement, are introduced at the same time, so that the reality and the fidelity of force sense feedback are improved, accurate control force sense is provided, the accurate real-time control force sense can help to judge the flight state of airplane driving control, and therefore judgment can be made according to the flight state and correct control instructions can be made.

It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.

The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.

Drawings

Fig. 1 is a schematic diagram of a human motion sensing system for a driving simulator according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a force sense simulation main control system of a driving simulation human sensing system according to an embodiment of the present invention.

Fig. 3 is a force sense simulation diagram of a driving simulation human sensing system according to an embodiment of the invention.

Fig. 4 is a schematic diagram of a pitch channel force sensing simulation according to an embodiment of the invention.

Fig. 5A-5B are schematic views of a link structure according to an embodiment of the present invention, in which fig. 5A is a schematic view of the entire structure and fig. 5B is a sectional view.

FIG. 6 is a force sense simulation diagram of a yaw channel according to an embodiment of the invention.

FIG. 7 is a model curve diagram of a simulated spring model according to an embodiment of the invention.

Detailed Description

In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.

In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily intended to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.

The human sensing system for the driving simulator is combined with a figure, and aims to realize the force sensing simulation and feedback control of a pitching channel, a yawing channel, a rolling channel and an accelerator channel in the flying driving simulator, measure signals such as force, position and speed applied on a control lever or a pedal by a driving trainer through a sensor, calculate the force required to be applied on an actuating mechanism at present based on the collected signals, generate corresponding motor driving signals, drive a servo motor of the corresponding channel to generate corresponding torque, transmit the torque to a steering wheel, the control lever, the pedal and an accelerator pedal (namely an accelerator platform) through a connecting rod mechanism, and feed the torque back to a hand holding end of the control, so that the control feel in real flying driving is simulated, and the simulation of the force sensing is realized.

The components of the human motion sensing system for driving simulator and the exemplary implementation process of each part will be described in more detail with reference to the examples shown in the drawings.

With reference to fig. 1-3, the human motion sensing system for driving simulator provided by the present invention detects the force applied by the driver training person on the joystick or the foot pedal and the position, speed, acceleration and other signals generated by manipulating the objects through a plurality of sensors, and is used for representing the pitch manipulation state of the main joystick, the roll manipulation state of the steering wheel, the yaw manipulation state of the yaw pedal and the accelerator manipulation state of the accelerator pedal, such as displacement, acceleration and/or rotation angle generated by being manipulated.

It will be appreciated that in a driving simulator, a primary and secondary two position manipulator is typically included. In particular, multiple throttle channels may be provided, rather than being limited to only one throttle channel, for example, in embodiments of the invention, four throttle channels may be provided.

The human motion sensing system for a driving simulator in connection with the example of fig. 1 comprises: first sensor group for detecting pitch steering state of main steering rod and method for detecting that main steering rod is controlled by first sensor groupManipulating the actual applied force (F)_x1) The first force sensor of (1); a second sensor group for detecting the roll steering state of the steering wheel and a sensor group for detecting the force (F) actually applied by the steering wheel being steered_x2) A second force sensor of (2); a third sensor group for detecting the yaw manipulation state of the yaw foothold and a third sensor group for detecting the actually applied force (F) exerted by the yaw foothold being manipulated_x3) A third force sensor of (2); a fourth sensor group for detecting the accelerator operating state of the accelerator pedal and a fourth sensor group for detecting the force (F) actually applied when the accelerator is operated_x4) The fourth force sensor of (1).

In an alternative embodiment, multiple sensor groups are arranged in the same sensor model arrangement, including, for example, accelerometers, displacement sensors, and angle sensors of the same model and high accuracy.

In an alternative embodiment, the force sensor is of an integrated design and can be integrated in the manipulator.

As shown in connection with FIG. 1, the force sense simulation master control system is configured to receive a pitch maneuver state, a yaw maneuver state, a roll maneuver state, a throttle maneuver state, and a detected actual applied force (F)_x1;F_x2;F_x3;F_x4) And generating motor driving control signals for driving the servo motors corresponding to the pitching channel, the rolling channel, the yawing channel and the accelerator channel, driving the servo motors to move to output torque, and actually feeding the torque to corresponding manipulators through loading mechanisms of the respective channels to form force feedback.

In connection with fig. 1, the force sense simulation master control system receives information of the manipulation state and the actually applied force via the communication bus system.

Preferably, the communication bus system adopts an EtherCAT field bus system, has the characteristics of high bandwidth, high response speed, high reliability, low time delay and the like, and can maximally meet the control of 128 servo axes and adapt to later-stage integration multiple channels. In an embodiment of the present invention, the communication bus system includes a standard ethernet interface provided for the force sensing simulation master control system and a Cat5e ethernet cable between the force sensing simulation master control system and the first servo driver, and the other drivers are connected in a serial bus manner from the first servo driver to the last servo driver through a Cat5e ethernet cable in a daisy chain manner.

The force-sensing simulation master control system can adopt an industrial high-real-time controller, can be equipped with 256 control load channels (EtherCAT cycle 4 ms) to the maximum extent, and can be configured with 36 force-sensing simulation channels (EtherCAT cycle 500 us). The performance indexes of the force sense simulation master control system are as follows: a processor: the kernel execution cycle is 200us at the fastest speed and within 40us of jitter; operating the system: a high real-time operating system; power supply: 24VDC, maximum power consumption of 48W. The communication interface comprises 1 path of EtherNet and is used for communicating and interacting with an upper system. The controller adopts an EtherCat bus and supports control according to a driver bus mode.

As shown in fig. 2, the force sense simulation master control system includes a signal interface module, a signal processing module, and a force sense simulation calculating module. As previously mentioned, the signal interface component may employ the standard ethernet port described above for receiving data information.

The signal processing assembly comprises an analog-digital conversion circuit and a signal amplifying circuit, and the existing circuit design can be adopted.

The force sense simulation calculation component is arranged for generating driving force of each corresponding channel based on a calculation model stored in a high-speed memory of the force sense simulation main control system and performing calculation processing through a high-speed processor, namely the driving force which is supposed to be applied to the manipulator is calculated by the model.

Referring to fig. 3, in the pitch channel, the first sensor group detects the pitch control state of the main control lever, obtains the stroke, the acceleration and the rotation angle of the main control lever, and inputs the stroke, the acceleration and the rotation angle into the force sensing simulation main control system to obtain the driving force of the pitch channel based on a preset force sensing simulation calculation model.

In the roll channel, a second sensor group detects the roll control state of the steering wheel, obtains the acceleration and the rotation angle of the steering wheel, inputs the acceleration and the rotation angle into a force sensing simulation main control system, and obtains the driving force of the roll channel based on a preset force sensing simulation calculation model.

In the yaw channel, a third sensor group detects the yaw control state of the yaw pedal, the stroke, the acceleration and the rotation angle of the yaw pedal are obtained, and the driving force of the yaw channel is obtained in a force sensing simulation main control system based on a preset force sensing simulation calculation model.

In the accelerator channel, a fourth sensor group detects the accelerator operation state of an accelerator pedal, obtains the stroke, the acceleration and the rotation angle of the accelerator pedal, and inputs the stroke, the acceleration and the rotation angle into a force sensing simulation main control system to obtain the driving force of the accelerator channel based on a preset force sensing simulation resolving model.

In one embodiment, the processor of the force sense simulation master control system is further configured to perform feedback control with the detected actually applied force respectively in response to the roll channel driving force, the yaw channel driving force, and the throttle channel driving force, and generate a motor drive control signal for driving the servo motor of the corresponding channel based on the relative magnitude of the two and the magnitude of the difference.

In a more preferred embodiment, the processor of the force sense simulation master control system is further configured to perform feedback control with the detected actually applied force in response to the roll channel driving force, the yaw channel driving force, and the throttle channel driving force, respectively, generate the driving force based on the magnitude of the opposite and the magnitude of the difference, and generate the actual motor drive control signal for driving the servo motor of the corresponding channel in accordance with the compensation control based on the closest manipulation, to obtain a more realistic force sense.

In some embodiments, the human perception system may also perform supplemental control, adjust and alter the analog feedback of force perception based on the most proximate manipulations. In an alternative embodiment, the force sensing simulation master control system is provided with a motor drive controller corresponding to each channel which increases the output torque, e.g. controls the adjustment coefficient, in response to the speed or acceleration of the simulated object exceeding a set threshold valueδ(four channels correspond to each other asδ _1、 δ _2、 δ _3、 δ ₄) In [1,1.5 ]]Adjusting to improve the feeling of adjusting force simulation feeling.

For example, the force sense simulation feel is adjusted based on the flight speed of a simulated object, such as an aircraft, and/or acceleration, such as pitch, roll, yaw acceleration. In some embodiments, taking the flying speed as an example, when the flying speed V of the aircraft exceeds a comparatively high speed threshold V, the adjustment coefficient is determined in (V/V) and its maximum value is defined to be 1.5, so that compensation and adjustment should not be performed too high. Thus, the force sense simulation feeling is adjusted based on the actual speed to make the driver feel a state where the speed of the flight is high, thereby providing the steering sense feedback more closely.

In the embodiment of the invention, especially the force sense simulation of the main joystick is taken as the main point, and a simulation spring model is constructed between the joystick displacement of the human sensing system and the force actually applied to the main joystick, namely:

F=k*Δx

f is the actually applied force for overcoming the spring force of the simulated spring model, k is the elastic coefficient of the simulated spring model of the human perception system, and Δ x is the joystick displacement of the human perception system.

In combination with the model curve diagram of the simulated spring model shown in fig. 7, the spring force is loaded in a piecewise linear spring force loading manner, and the simulated spring model has a rear-end system limit position and a front-end system limit position, wherein in the force sense simulation system of the main joystick, the rear-end system refers to the control surface of the fixed-wing aircraft, and the front-end system refers to the part of the loading mechanism to the main joystick. The connection tension of the link is the difference between the front end position and the rear end position, and the connection force is the product of the connection tension and the connection rigidity. In the starting force dead zone interval, the connecting force is zero.

As shown in fig. 7, the location of the origin of coordinates O indicates that the elevator yaw angle is zero. And the interval from the point O to the point E/B, namely the interval between OB and OE is a spring force loading interval of the simulated spring model, after the E/B point is reached, the rear end system moves to the limit position, and the two intervals BA and EF are limit buffer intervals. At this point, the main lever may continue to move for some displacement due to the rigidity of the linkage system. When moving to the F/A point, the main operating lever reaches the front end limit position.

Therefore, in the actual simulation process, the force sense feedback at the two points is very large by increasing the spring force gradient of the F/A point, so that the purpose of simulating the travel limit of the main control lever is achieved, and the main control lever can not move any more in the simulation process.

It should be appreciated that in alternative embodiments, the foregoing adjustment coefficients are based on controlδIn the force sense feedback simulation process, the compensation control in the spring force loading range is performed in the force sense simulation process of the main control lever, and the compensation control is not performed in the limit buffer range.

Referring to fig. 1, the loading mechanism is disposed between the servo motor and the manipulator of the corresponding channel, and is configured to apply the output torque of the servo motor to the manipulator and feed the output torque back to the hand-held end of the manipulator, so as to simulate the manipulation feeling during real flight driving, thereby achieving simulation of force feeling.

The human motion system combined with the examples shown in fig. 1 and 3 includes multiple channels of loading mechanisms independent from each other, specifically:

and the fourth loading mechanism is arranged in the accelerator channel and positioned between the fourth servo motor and the yaw pedal, and is driven by the fourth servo motor to provide a moment applied to the accelerator pedal.

As described above, in the aircraft driving simulator, four independent throttle channels are provided.

The first loading mechanism, the second loading mechanism and the third loading mechanism are all provided with a first connecting rod 13 and a first rocker arm structure 14 which are hinged in a universal mode, the first rocker arm structure 14 is driven to swing in a reciprocating mode to synchronously drive the first connecting rod to reset, so that moments applied to a main control lever, a steering wheel and a yaw pedal are provided, and force feeling simulation is formed.

An example of a first loading mechanism and a schematic of a pitch channel force sensing simulation are shown in connection with the example shown in fig. 4, in which the main operating lever 11 has an operating articulation point 12 about which the main operating lever 11 moves when operated. Reference numeral 10 denotes a motor shaft of the first servo motor, the first swing arm structure 14 has a T-shaped structure, one end of the first swing arm structure is connected to the motor shaft 10 of the first servo motor and can be driven by the first servo motor to reciprocate counterclockwise or clockwise, and the other end of the first swing arm structure is connected to the first link 13 to drive the first link 13 to synchronously move toward a direction approaching to the main operating lever or away from the main operating lever 11, so as to simulate a force sense to the main operating lever 11.

In the embodiment of the present invention, a structural design example of one of the steering column channels is exemplarily shown in fig. 4 in a manner that the mechanical structures of the steering column channels in the main-and-auxiliary driving positions are not linked.

As shown in fig. 5A and 5B, the first link 13 is composed of a forked head 13a, a link body 13-1 having a threaded hole, a first threaded joint 13-2, a second threaded joint 13-3, a ball joint 13B, and a roller bearing follower pin 15, the forked head 13a is integrally formed with the first threaded joint 13-2, and the second threaded joint 13-3 and the ball joint 13B are integrally formed, and all adopt rigid member components, and have the advantages of large contact surface, high bearing strength, and low wear resistance. The fork head 13a is connected to the first rocker arm structure 14 by means of a roller bearing follower with a pin 15, and the ball joint 13b is connected to the main operating lever 11 by means of an earring screw.

As shown in fig. 5B, the second and first screw joints are respectively screw-coupled to both end portions of the connecting rod body 13-1 and are configured to be screw-rotatably fitted to adjust the length of the first connecting rod.

It should be understood that in the rolling channel, the second servo motor is connected with the steering wheel through the first connecting rod of the rolling channel, and the second servo motor drives the first rocker structure to swing to drive the first connecting rod in the rolling channel to swing, so as to realize the force sense simulation of the steering wheel. Wherein, the mechanical structure of the steering wheel rolling channel at the main and auxiliary driving positions is not linked.

In the yawing channel, a third servo motor is connected with the yawing pedals through a first connecting rod of the yawing channel, and drives the first rocker arm structure to swing through the third servo motor so as to drive the first connecting rod in the yawing channel to swing, thereby realizing the force sense simulation of the yawing pedals. Wherein, the mechanical structure of the yaw channel of the yaw pedal at the main and auxiliary driving positions is not linked.

As shown in fig. 6, the fourth loading mechanism includes a throttle link (not shown), a pulley 31, and a cable 33 and a pulley rocker 32. The pulley 31 is used to fix a driving cable 33, the driving cable 33 is wound and fixed in a groove of the pulley, and an end of the cable is connected to the accelerator pedal. One end of the throttle connecting rod is hinged to the pulley rocker 32, and the other end is connected with a second rocker structure in the throttle channel. Therefore, the second rocker arm structure can be driven by the fourth servo motor to swing in a reciprocating mode so as to synchronously drive the accelerator connecting rod to move in a reciprocating mode and provide force sense simulation of the accelerator channel, wherein the steel cable is set to have preset pretightening force.

In an alternative embodiment, the first rocker arm structure and the second rocker arm structure are identical in structure, and the first connecting rod and the accelerator connecting rod are identical in structure.

Referring to fig. 6, an adjusting nut 34 is provided at one end of the steel cable, and the tightness of the steel cable is adjusted by rotating the adjusting nut, so as to adjust the pre-tightening force of the steel cable.

In the embodiment of the invention, in the process of adjusting the tightness degree of the steel cable, the pretightening force of the steel cable is measured in real time through the tensiometer so as to keep the pretightening force of the steel cable consistent with the pretightening force of the accelerator steel cable of a real machine (a real simulation object).

Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.

Claims

1. A human perception system for a driving simulator, comprising:

the fourth loading mechanism comprises an accelerator connecting rod, a steel cable, a pulley and a pulley rocker, the pulley is used for fixing the transmission steel cable, the transmission steel cable is wound and fixed in a groove of the pulley, the tail end of the steel cable is connected to an accelerator pedal, one end of the accelerator connecting rod is hinged to the pulley rocker of the pulley, the other end of the accelerator connecting rod is connected with a second rocker structure in an accelerator channel, the second rocker structure is driven to swing in a reciprocating mode to synchronously drive the accelerator connecting rod to move in a reciprocating mode, force sense simulation of the accelerator channel is provided, and the steel cable is set to have preset pretightening force.

2. The human sensing system for the driving simulator according to claim 1, wherein an adjusting nut is provided at one end of the wire rope, and the tightness of the wire rope is adjusted by rotating the adjusting nut, so as to adjust the pre-tightening force of the wire rope.

3. The human sensing system for the driving simulator according to claim 2, wherein the pretightening force of the steel cable is measured in real time by a tensiometer during the process of adjusting the tightness degree of the steel cable, and the pretightening force of the steel cable is kept consistent with the pretightening force of an accelerator steel cable of a real machine.

4. The human motion sensing system for a driving simulator according to claim 1, wherein the first link is composed of a clevis, a pin for a roller bearing follower, a first screw joint, a link body having a screw hole, a second screw joint, and a ball joint, the clevis being integrally formed with the first screw joint, the second screw joint being integrally formed with the ball joint, the clevis being connected to the first rocker arm structure by the pin for the roller bearing follower, and the ball joint being connected to the main lever by an earring screw.

5. The human motion sensing system for the driving simulator according to claim 4, wherein the second threaded joint and the first threaded joint are respectively threadedly connected to both end portions of the link body and are configured to be rotatably engaged by threads to adjust the length of the first link.

6. The human motion detection system for a driving simulator according to claim 1, wherein the first rocker arm structure and the second rocker arm structure are identical in structure, and the first link and the throttle link are identical in structure.

7. The human motion detection system for the driving simulator according to any one of claims 1 to 6, wherein the first sensor group detects a pitch manipulation state of the main joystick, obtains a stroke, an acceleration and a rotation angle of the main joystick, and obtains a pitch channel driving force based on a preset force sense simulation calculation model when the pitch manipulation state is input into the force sense simulation main control system;

the second sensor group detects the roll control state of the steering wheel, obtains the acceleration and the rotation angle of the steering wheel, inputs the acceleration and the rotation angle into the force sense simulation main control system, and obtains the roll channel driving force based on a preset force sense simulation calculation model;

the third sensor group detects the yaw control state of the yaw pedal, obtains the stroke, the acceleration and the rotation angle of the yaw pedal, inputs the stroke, the acceleration and the rotation angle into the force sensing simulation master control system, and obtains the driving force of a yaw channel based on a preset force sensing simulation resolving model;

the fourth sensor group detects the accelerator operation state of the accelerator pedal, obtains the stroke, the acceleration and the rotation angle of the accelerator pedal, inputs the stroke, the acceleration and the rotation angle into the force sensing simulation master control system, and obtains the driving force of the accelerator channel based on a preset force sensing simulation calculation model;

and respectively carrying out feedback control with the detected actually applied force on the basis of the rolling channel driving force, the yaw channel driving force and the accelerator channel driving force to generate motor driving control signals for driving the servo motors of the corresponding channels.

8. The human motion detection system for the driving simulator according to any one of claims 1 to 6, wherein the first sensor group detects a pitch manipulation state of the main joystick, obtains a stroke, an acceleration and a rotation angle of the main joystick, and obtains a pitch channel driving force based on a preset force sense simulation calculation model when the pitch manipulation state is input into the force sense simulation main control system;

and performing feedback control with the detected actually applied force on the basis of the roll channel driving force, the yaw channel driving force and the accelerator channel driving force, and generating a motor drive control signal for driving the servo motor of the corresponding channel with compensation control based on the nearest manipulation.

9. Human perception system for driving simulators according to claim 8, characterized in that said compensation control of the nearest manoeuvre comprises: the force sense simulation sensation is adjusted based on the velocity/acceleration of the simulation subject.

10. The human motion perception system for driving simulator of claim 8, wherein said adjusting a force perception simulation sensation based on a speed/acceleration of a simulation object comprises:

the motor drive controller increases the output torque to improve the adjustment force feeling simulation feeling in response to the speed or acceleration of the simulation object exceeding a set threshold value.