CN115148069B - Large aircraft driving column simulation device and method based on dynamic balance - Google Patents

Abstract

The invention discloses a large aircraft driving column simulation device and method based on dynamic balance. The device includes a torque motor, a reducer, a first diaphragm coupling, a torque sensor and a second diaphragm coupling that are coaxially connected in sequence. The torque motor is synchronized with the rotating shaft through the second diaphragm coupling. connection, so that the torque motor generates a back torque that hinders the rotation of the rotating shaft through the second diaphragm coupling; it also includes a bearing seat, a rotating shaft, an electromagnetic clutch, a left-hand driving mechanism and a right-hand driving mechanism; the rotating shaft passes through the base in sequence The bearing seat support arrangement is arranged on the vehicle; the electromagnetic clutch is coaxially installed in the middle of the rotating shaft and is synchronously connected with the rotating shaft. The left-hand driving mechanism and the right-hand driving mechanism are installed symmetrically at both ends of the rotating shaft with the electromagnetic clutch as the center. By adjusting the control signal of the control computer, the torque motor and electromagnetic clutch are closed-loop controlled to achieve dynamic control of the balance state of the driving column.

Description

Large aircraft driving column simulation device and method based on dynamic balance

Technical field

The invention relates to a large aircraft driving column simulation device and method in the field of aircraft driving simulation technology, and in particular to a large aircraft driving column simulation device and method based on dynamic balance.

Background technique

The large aircraft driving simulation device is used to simulate the flight of an aircraft and provides a device that approximates the real operating environment, real control mechanism, operating load and movement. It can provide a large aircraft simulation environment for scientific research, personnel training, etc., saving money and improving training. efficiency and other purposes. The steering column is the main component of the cockpit control mechanism of a large aircraft. The operator can push and pull the left and right steering columns forward and backward to control the elevator to raise and lower the aircraft. When the operator releases the steering column, the steering column will return to the neutral position; when the left or right driving position pushes and pulls the driving column respectively, the driving column of the other driver's position will move synchronously. The aircraft driving column simulation devices currently on the market have a fixed loading method. They generally use a spring mass damping system to simulate the operating force when the driving column is pushed or pulled. Although the cost is low and the structure is simple, the loading form is single, and its backing moment and pushing angle are It is a fixed linear proportional relationship and cannot simulate the feeling of force when the aircraft's wings are difficult to open due to strong external airflow. It is not suitable for scenarios where the steering column loading curve needs to be changed to study the push-pull performance. Therefore, a method that can A large aircraft driving column simulation device with adjustable load size, high control accuracy and simple structure. At present, professional driving simulation devices have increasingly higher requirements for force feedback, especially military vehicle and aircraft driver training simulators, which can simulate various complex environments for driver training. These simulators require realistic simulation effects, large feedback torque, and a loading force of 200N·m for the aircraft steering column. In order to more realistically simulate the force feeling of the driving column, servo motors whose speed and torque can be proportionally controlled are often used. However, during the process of pushing the driving column, the motor is often required to be in a stalled or forced reverse state. When the feedback torque is large, When the motor is running, the power and current of the motor will increase, so it is easy to heat up and burn out.

Contents of the invention

In view of the current situation and needs of large aircraft driving column simulation devices, especially the requirement for precise control of the driving column force feeling under specific airflow conditions outside the aircraft, a driving column simulation using a torque motor and an electromagnetic clutch to provide resistance torque was designed and invented. This simulation device can achieve synchronous movement of the left and right driving columns. The electromagnetic clutch and torque motor are dynamically controlled by adjusting the input voltage of the control computer, thereby simulating a more realistic driving column force feeling. Compared with the traditional driving column loading mechanism, the loading is flexible and the control is convenient.

The technical solution adopted by the present invention is:

1. Large aircraft driving column simulation device based on dynamic balance:

It includes power equipment, load equipment and a base; the power equipment and load equipment are synchronously connected and fixedly installed on the base in sequence; the power equipment includes a torque motor, a reducer, a first diaphragm coupling, a torque sensor and a third Two diaphragm couplings, and the torque motor, reducer, first diaphragm coupling, torque sensor and second diaphragm coupling are connected coaxially and synchronously in sequence, and the torque motor is connected through the second diaphragm coupling. The shaft device is synchronously connected to the rotating shaft in the load equipment, so that the torque motor generates a back torque that hinders the rotation of the rotating shaft through the second diaphragm coupling; the load equipment includes a bearing seat, a rotating shaft, an electromagnetic clutch, a left-hand drive mechanism and a right-side driving mechanism; a plurality of bearing seats are arranged at intervals on the side of the base close to the load equipment, and the rotating shaft passes through the bearing seats on the base in turn; the electromagnetic clutch is coaxially mounted on the rotating shaft The left driving mechanism and the right driving mechanism have the same structure and are symmetrically installed on the rotating shaft with the electromagnetic clutch as the center. Both ends, and the left driving mechanism and the right driving mechanism are respectively located between adjacent bearing seats.

The electromagnetic clutch is mainly composed of a left magnetic track, an armature plate and a right rotor. The armature plate is synchronously connected to the rotating shaft through the right rotor, and the left magnetic track is mounted on the rotating shaft. The outer circumference of the shaft and the left magnetic track are not in contact with the rotating shaft. An electromagnetic clutch fixing seat is provided at the bottom of the left magnetic track. The left magnetic track is fixedly installed on the base through the electromagnetic clutch fixing seat, so that the electromagnetic clutch generates electricity when the electromagnetic clutch is energized. The resistance moment that hinders the rotation of the rotating shaft.

The left driving mechanism includes a fixing piece, a driving column fixing seat, a driving column and a steering wheel; the top of the driving column is hinged with a steering wheel, and the bottom end of the driving column is fixed with a driving column fixing seat and a fixing piece in turn. The fixing piece is set on the rotating shaft and is synchronously connected with the rotating shaft, so that the steering wheel controls the rotation of the rotating shaft through the steering column.

The simulation device also includes a photoelectric encoder and a control computer. The photoelectric encoder is arranged at one end of the rotating shaft away from the power equipment. The photoelectric encoder, torque sensor, torque motor and electromagnetic clutch are all electrically connected to the control computer.

2. Large aircraft driving column simulation method:

The method includes the following process: when the simulation device is turned on, the photoelectric encoder sets the current position of the driving column to zero. First, the left-hand driving mechanism or the right-hand driving mechanism applies a fixed power torque to the rotating shaft through the driving column, and the rotating shaft rotates. ;

Then the photoelectric encoder and torque sensor transmit the collected rotation angle signal and torque signal of the rotation shaft to the control computer respectively; the control computer determines the total resistance of the rotation shaft in combination with the external state parameters of the large aircraft and the rotation angle signal and torque signal of the rotation shaft. moment;

The following judgment is made based on the total resistance torque of the rotating shaft: If the total resistance torque of the rotating shaft is less than or equal to the maximum backing torque of the torque motor, the torque motor is controlled by the control computer to provide the same feedback torque as the total resistance torque of the rotating shaft. moment;

If the total resistance torque of the rotating shaft is greater than the maximum backing torque of the torque motor, the torque motor is controlled by the control computer to provide the maximum backing torque, and the electromagnetic clutch is controlled by the control computer to provide resistance torque that hinders the rotation of the rotating shaft, and the maximum backing torque is The sum of the resistance moment and the resistance moment is equal to the total resistance moment of the rotating axis, so that the driving column is in a dynamic equilibrium state under the action of the power moment and the total resistance moment;

When the driving column is back to the right position, the power torque of the rotating shaft is removed, and the electromagnetic clutch is controlled by the control computer to cut off the power, so that the resistance torque is zero. At this time, the driving column is back to the zero position under the action of the backing torque provided by the torque motor. Complete the simulation of the steering column driving state of a large aircraft.

The backing torque provided by the torque motor is in the opposite direction to the power torque of the rotating shaft.

The external state parameters of the large aircraft include the flight speed of the large aircraft and the external air resistance of the large aircraft.

During the simulation process, the photoelectric encoder, torque sensor, torque motor, and electromagnetic clutch all maintain real-time communication with the control computer, so that when the torque motor and electromagnetic clutch receive control signals from the control computer for operation, the photoelectric encoder and torque The angle signal and torque signal of the rotating shaft measured by the sensor are fed back to the control computer in real time, and the control signal of the control computer is adjusted in real time to perform closed-loop control.

The second diaphragm coupling, the fixing member and the right rotor of the electromagnetic clutch are all keyed to the rotating shaft.

The beneficial effects of the present invention are:

1) The resistance torque is provided through the magnetic attraction of the electromagnetic clutch, and the backing torque is provided through the torque motor, so that when the driving column is pushed forward and backward, it can obtain the resistance torque that hinders its own rotation. The input voltage of the electromagnetic clutch is controlled by the control computer. The input voltage of the torque motor is used to adjust the total resistance torque provided by the torque motor and the electromagnetic clutch, thereby truly simulating the load on the aircraft steering column.

2) This driving column simulation device is equipped with an encoder and a torque sensor, which can obtain the displacement and force of the driving column based on the sensor data.

3) This driving column simulation device is equipped with a torque motor, which can realize the automatic return of the driving column to the zero position after the driving column is detached.

4) This driving column simulation device has flexible loading and is suitable for situations where the load force needs to be dynamically adjusted or provides force loading curves required for different applications.

Description of the drawings

Figure 1 is a schematic diagram of the overall structure of the large aircraft driving column simulation device of the present invention;

Figure 2 is a front cross-sectional view of Figure 1;

Figure 3 is a partial enlarged view of the output shaft part of the motor in Figure 2;

Figure 4 is a partial enlarged view of the driving column fixing seat part in Figure 2;

Figure 5 is a partial enlarged view of the electromagnetic clutch part in Figure 2;

Figure 6 is a force analysis diagram of the driving column in different postures;

Figure 7 is a control principle block diagram of the present invention.

In the picture: 1-torque motor, 2-reducer, 3-diaphragm coupling, 4-torque sensor, 5-bearing seat, 6-fixture, 7-driving column holder, 8-driving column, 9 - Steering wheel, 10-rotating shaft, 11-electromagnetic clutch holder, 12-electromagnetic clutch, 17-photoelectric encoder, 18-base.

Implementation

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figures 1 and 2, this device includes power equipment, load equipment and a base 18; the power equipment and load equipment are synchronously connected and fixedly installed on the base 18 in turn;

As shown in Figure 3, the power equipment includes a torque motor 1, a reducer 2, a first diaphragm coupling 3, a torque sensor 4 and a second diaphragm coupling, and the torque motor 1, reducer 2, and The first diaphragm coupling 3, the torque sensor 4 and the second diaphragm coupling are connected coaxially and synchronously in sequence. The rotating shaft of the torque motor 1 is synchronously connected with the input shaft of the reducer 2, and the output shaft of the reducer 2 is connected in sequence. The torque motor 1 is connected to the rotating shaft 10 in the load equipment through the first diaphragm coupling 3, the torque sensor 4 and the second diaphragm coupling. The torque motor 1 is connected to the rotating shaft 10 in the load equipment through the second diaphragm coupling. The rotating shaft 10 is connected synchronously, so that the torque motor 1 generates a back torque that hinders the rotation of the rotating shaft 10 through the second diaphragm coupling; the torque sensor 4 can measure the torque signal of the rotating shaft 10 in real time when the rotating shaft 10 rotates.

As shown in Figure 4, the load equipment includes a bearing seat 5, a rotating shaft 10, an electromagnetic clutch 12, a left-hand driving mechanism and a right-hand driving mechanism; a plurality of bearing seats 5 are arranged at intervals on the side of the base 18 close to the load equipment, and the rotating The shaft 10 passes through the supporting arrangement of the bearing seat 5 on the base 18 in turn; the electromagnetic clutch 12 is coaxially installed in the middle of the rotating shaft 10 and is synchronously connected with the rotating shaft 10. The left-hand driving mechanism and the right-hand driving mechanism have the same structure. The left driving mechanism and the right driving mechanism are symmetrically installed at both ends of the rotating shaft 10 with the electromagnetic clutch 12 as the center, and the left driving mechanism and the right driving mechanism are respectively located between adjacent bearing seats 5. The left driving mechanism and The right-hand drive mechanism can synchronize movements at the same angle.

As shown in Figure 5, the electromagnetic clutch 12 is mainly composed of a left magnetic track, an armature plate and a right rotor. The armature plate is synchronously connected to the rotating shaft 10 through the right rotor set. The left magnetic track set is On the outer circumference of the rotating shaft 10 and the left magnetic track does not contact the rotating shaft 10, an electromagnetic clutch fixing seat 11 is provided at the bottom of the left magnetic track. The left magnetic track is fixedly installed on the base 18 through the electromagnetic clutch fixing seat 11, so that the electromagnetic clutch 12 generates resistance torque that hinders the rotation of the rotating shaft 10 after being energized. Specifically, the right rotor of the electromagnetic clutch 12 is connected to the rotating shaft 10 through a key, and the left magnetic track and the right rotor are in a relative sliding state. After the electromagnetic clutch 12 is energized, the armature plate generates a strong magnetic field, and the left magnetic track The electromagnetic force coupled with the right rotor generates resistance torque, which loads the driving column 8.

The left driving mechanism includes a fixing part 6, a driving column fixing base 7, a driving column 8 and a steering wheel 9; the top of the driving column 8 is hinged with a steering wheel 9, and the bottom end of the driving column 8 is fixed with a driving column fixing base 7 and fixing parts 6 in turn. , the fixing piece 6 is set on the rotating shaft 10 and is synchronously connected with the rotating shaft 10, so that the steering wheel 9 controls the rotation of the rotating shaft 10 through the steering column 8.

The simulation device also includes a photoelectric encoder 17 and a control computer. The photoelectric encoder 17 is installed at the end of the rotating shaft 10 away from the power equipment and is used to detect the rotation angle signal of the rotating shaft 10 in real time. The photoelectric encoder 17, the torque sensor 4, and the torque motor 1 and the electromagnetic clutch 12 are both electrically connected to the control computer.

Methods include the following processes:

After the simulation device is turned on, the photoelectric encoder 17 sets the current position of the driving column 8 to the zero position. First, the left-hand driving mechanism or the right-hand driving mechanism applies a fixed power torque to the rotating shaft 10 through the driving column 8, and the rotating shaft 10 rotates. ; During the process of pushing the driving column 8, the torque motor 1 is in a stalled or forced reverse state, and the torque motor 1 will not heat up and burn out.

Then the photoelectric encoder 17 and the torque sensor 4 respectively transmit the collected rotation angle signal and torque signal of the rotation shaft 10 to the control computer; the control computer determines the rotation by combining the external state parameters of the large aircraft and the rotation angle signal and torque signal of the rotation shaft 10 The total resistance moment of shaft 10.

The following judgment is made based on the total resistance torque of the rotating shaft 10: If the total resistance torque of the rotating shaft 10 is less than or equal to the maximum righting torque of the torque motor 1, the torque motor 1 is controlled by the control computer to provide the same total resistance torque as the rotating shaft 10. Same return torque.

If the total resistance torque of the rotating shaft 10 is greater than the maximum backing torque of the torque motor 1, the torque motor 1 is controlled by the control computer to provide the maximum backing torque, and the electromagnetic clutch 12 is controlled by the control computer to provide a resistance torque that hinders the rotation of the rotating shaft 10, And the sum of the maximum righting moment and the resistance moment is equal to the total resistance moment of the rotating shaft 10, so that the driving column 8 is in a dynamic equilibrium state under the action of the power moment and the total resistance moment;

When the driving column 8 returns to the right direction, the power torque of the rotating shaft 10 is removed, and at the same time, the control computer controls the electromagnetic clutch 12 to be powered off so that the resistance torque is zero. At this time, the driving column 8 returns to the right direction under the action of the backing torque provided by the torque motor 1 It reaches the zero position to complete the simulation of the steering column driving state of a large aircraft.

Finally, the total resistance torque of the rotating shaft 10 is felt by the driver through the steering wheel 9, so that the driver can feel the real driving force feedback and practice the driver's operating feel.

The backing torque provided by the torque motor 1 is in the opposite direction to the power torque of the rotating shaft 10 .

Among them, the external state parameters of the large aircraft include the flight speed of the large aircraft and the external air resistance of the large aircraft.

Among them, the second diaphragm coupling, the fixing member 6 and the right rotor of the electromagnetic clutch 12 are all key-connected to the rotating shaft 10 .

During the simulation process, the photoelectric encoder 17, the torque sensor 4, the torque motor 1, and the electromagnetic clutch 12 all maintain real-time communication with the control computer, so that the torque motor 1 and the electromagnetic clutch 12 receive control signals from the control computer for operation. Feed back the rotation angle signal and torque signal of the rotating shaft 10 respectively measured by the photoelectric encoder 17 and the torque sensor 4 to the control computer in real time, adjust the control signal of the control computer in real time, and perform closed-loop control to realize the dynamic control of the balance state of the driving column 8 control.

Specifically, as shown in Figures 6 and 7, the control computer can control the torque motor 1 to generate different sizes of back-to-positive torque by sending a voltage signal to the torque motor 1. Positive voltage controls the torque motor 1 to run clockwise, and negative voltage controls the torque. Motor 1 rotates counterclockwise. The control computer can apply current to the armature plate of the electromagnetic clutch 12 by sending a voltage signal to the electromagnetic clutch 12. Different currents will generate magnetic fields of different sizes to adjust the magnetic force between the left magnetic track and the right rotor of the electromagnetic clutch 12. The size produces a resistance moment that hinders the rotation of the rotating shaft 10.

As shown in Figure 6a, when the driver pushes the steering column 8 in a small counterclockwise direction, the clockwise righting torque provided by the torque motor 1 hinders the rotation of the rotating shaft 10. As shown in Figure 6b, when the driver continues to push the steering column 8 counterclockwise, the main torque applied to the rotating shaft 10 is greater than the maximum backing torque that the torque motor 1 can provide, and the computer controls the electromagnetic clutch 12 to be energized to prevent rotation. The resistance torque of the shaft 10 to rotate, and the sum of the maximum righting torque and the resistance torque provided by the electromagnetic clutch 12 to hinder the rotation of the rotating shaft 10 is equal to the power torque of the rotating shaft 10 .

As shown in Figure 6c, when the driving column 8 returns to the right direction, the main torque of the rotating shaft 10 is removed, and the electromagnetic clutch 12 is controlled to be powered off and no resistance torque is provided. At this time, the driving column 8 is under the action of the back-to-right torque of the torque motor 1. Return to zero position.

In summary, the feedback adjustment of the torque motor by this device is carried out at high frequency to ensure that the force feeling of the driving column is in accordance with the prescribed relationship. And the control signal is adjusted in real time to achieve closed-loop control, making the control more precise.

Claims (8)

1. A large aircraft driving column simulation device based on dynamic balance, characterized by: including power equipment, load equipment and a base (18); the power equipment and load equipment are synchronously connected and fixedly installed on the base (18) in sequence; The power equipment includes a torque motor (1), a reducer (2), a first diaphragm coupling (3), a torque sensor (4) and a second diaphragm coupling, and the torque motor (1), The reducer (2), the first diaphragm coupling (3), the torque sensor (4) and the second diaphragm coupling are connected coaxially and synchronously in sequence, and the torque motor (1) is connected through the second diaphragm coupling. The shaft device is synchronously connected to the rotating shaft (10) in the load equipment, so that the torque motor (1) generates a back torque that hinders the rotation of the rotating shaft (10) through the second diaphragm coupling; the load equipment includes a bearing seat ( 5), rotating shaft (10), electromagnetic clutch (12), left-hand driving mechanism and right-hand driving mechanism; multiple bearing seats (5) are arranged at intervals on the side of the base (18) close to the load equipment, so The rotating shaft (10) passes through the support arrangement of the bearing seat (5) on the base (18) in turn; the electromagnetic clutch (12) is coaxially set in the middle of the rotating shaft (10) and is synchronized with the rotating shaft (10) connection, the left-hand driving mechanism and the right-hand driving mechanism have the same structure, and the left-hand driving mechanism and the right-hand driving mechanism are symmetrically installed at both ends of the rotating shaft (10) with the electromagnetic clutch (12) as the center. , and the left-hand driving mechanism and the right-hand driving mechanism are respectively located between adjacent bearing seats (5); The electromagnetic clutch (12) is mainly composed of a left magnetic track, an armature plate and a right rotor. The armature plate is sleeved on the rotating shaft (10) through the right rotor and is synchronously connected to the rotating shaft (10), so The left magnetic track is set on the outer periphery of the rotating shaft (10) and does not contact the rotating shaft (10). An electromagnetic clutch holder (11) is provided at the bottom of the left magnetic track. The left magnetic track The electromagnetic clutch holder (11) is fixedly installed on the base (18), so that the electromagnetic clutch (12) generates resistance torque that hinders the rotation of the rotating shaft (10) after being energized; If the total resistance torque of the rotating shaft (10) is less than or equal to the maximum back-aligning torque of the torque motor (1), the torque motor (1) is controlled by the control computer to provide a feedback torque that is the same as the total resistance torque of the rotating shaft (10). moment; If the total resistance torque of the rotating shaft (10) is greater than the maximum backing torque of the torque motor (1), the control computer controls the torque motor (1) to provide the maximum backing torque, and the control computer controls the electromagnetic clutch (12) to provide resistance. The resistance moment of the rotation of the rotating axis (10), and the sum of the maximum righting moment and the resistance moment is equal to the total resistance moment of the rotation axis (10), so that the driving column (8) is in dynamic balance under the action of the power moment and the total resistance moment. state. 2. The large aircraft driving column simulation device based on dynamic balance according to claim 1, characterized in that: the left driving mechanism includes a fixing member (6), a driving column fixing seat (7), and a driving column (8). and the steering wheel (9); the top of the driving column (8) is hinged with the steering wheel (9), and the bottom end of the driving column (8) is fixedly installed with a driving column fixing seat (7) and a fixing piece (6). The fixing piece (6) is placed on the rotating shaft (10) and is synchronously connected with the rotating shaft (10), so that the steering wheel (9) controls the rotation of the rotating shaft (10) through the driving column (8). 3. The large aircraft driving column simulation device based on dynamic balance according to claim 1, characterized in that: the simulation device further includes a photoelectric encoder (17) and a control computer, and the photoelectric encoder (17) is arranged on The end of the rotating shaft (10) away from the power equipment, the photoelectric encoder (17), the torque sensor (4), the torque motor (1) and the electromagnetic clutch (12) are all electrically connected to the control computer. 4. A large aircraft driving column simulation method applied to the device of any one of claims 1 to 3, characterized in that: the method includes the following process: when the simulation device is turned on, the photoelectric encoder (17) changes the current position of the driving column (8) Set to the zero position, first the left-hand driving mechanism or the right-hand driving mechanism applies a fixed power moment to the rotating shaft (10) through the driving column (8), and the rotating shaft (10) rotates; Then the photoelectric encoder (17) and the torque sensor (4) respectively transmit the collected rotation angle signal and torque signal of the rotation axis (10) to the control computer; the control computer combines the external state parameters of the large aircraft and the parameters of the rotation axis (10). The rotation angle signal and the torque signal determine the total resistance torque of the rotating shaft (10); The following judgment is made based on the total resistance torque of the rotating shaft (10): If the total resistance torque of the rotating shaft (10) is less than or equal to the maximum backing torque of the torque motor (1), the torque motor (1) is controlled by the control computer Provides a return torque that is the same as the total resistance torque of the rotating shaft (10); If the total resistance torque of the rotating shaft (10) is greater than the maximum backing torque of the torque motor (1), the control computer controls the torque motor (1) to provide the maximum backing torque, and the control computer controls the electromagnetic clutch (12) to provide resistance. The resistance moment of the rotation of the rotating axis (10), and the sum of the maximum righting moment and the resistance moment is equal to the total resistance moment of the rotation axis (10), so that the driving column (8) is in dynamic balance under the action of the power moment and the total resistance moment. state; When the driving column (8) returns to the right position, the power torque of the rotating shaft (10) is removed, and at the same time, the electromagnetic clutch (12) is controlled by the control computer to cut off the power, so that the resistance torque is zero. At this time, the driving column (8) is in the torque motor ( 1) It returns to the zero position under the action of the provided backing torque, completing the simulation of the driving state of the large aircraft's steering column. 5. The large aircraft driving column simulation method according to claim 4, characterized in that: the backing torque provided by the torque motor (1) is in the opposite direction to the power torque of the rotation axis (10). 6. The large aircraft steering column simulation method according to claim 4, characterized in that: the large aircraft external state parameters include the large aircraft flight speed and the large aircraft external air resistance. 7. The large aircraft driving column simulation method according to claim 4, characterized in that: during the simulation process, the photoelectric encoder (17), the torque sensor (4), the torque motor (1), and the electromagnetic clutch (12) Both maintain real-time communication with the control computer, so that when the torque motor (1) and the electromagnetic clutch (12) receive the control signal from the control computer and operate, the rotation measured by the photoelectric encoder (17) and the torque sensor (4) are respectively The rotation angle signal and torque signal of the shaft (10) are fed back to the control computer in real time, and the control signal of the control computer is adjusted in real time to perform closed-loop control. 8. The large aircraft driving column simulation method according to claim 4, characterized in that: the second diaphragm coupling, the fixing member (6) and the right rotor of the electromagnetic clutch (12) are all rotated with each other. The shaft (10) is keyed.