CN115148069B - Large aircraft steering column simulation device and method based on dynamic balance - Google Patents
Large aircraft steering column simulation device and method based on dynamic balance Download PDFInfo
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- CN115148069B CN115148069B CN202210802461.5A CN202210802461A CN115148069B CN 115148069 B CN115148069 B CN 115148069B CN 202210802461 A CN202210802461 A CN 202210802461A CN 115148069 B CN115148069 B CN 115148069B
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/12—Motion systems for aircraft simulators
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
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Abstract
The invention discloses a large aircraft steering column simulation device and method based on dynamic balance. The device comprises a torque motor, a speed reducer, a first diaphragm type coupler, a torque sensor and a second diaphragm type coupler which are sequentially and synchronously connected, wherein the torque motor is synchronously connected with a rotating shaft through the second diaphragm type coupler, so that the torque motor generates a return torque which resists the rotation of the rotating shaft through the second diaphragm type coupler; the device also comprises a bearing seat, a rotating shaft, an electromagnetic clutch, a left driving mechanism and a right driving mechanism; the rotating shaft sequentially passes through bearing seats on the base to be supported and arranged; the electromagnetic clutch is coaxially sleeved in the middle of the rotating shaft and is synchronously connected with the rotating shaft, and the left driving mechanism and the right driving mechanism are symmetrically arranged at two ends of the rotating shaft by taking the electromagnetic clutch as a center. And the torque motor and the electromagnetic clutch are subjected to closed-loop control by adjusting control signals of a control computer, so that the dynamic control of the balance state of the steering column is realized.
Description
Technical Field
The invention relates to a large aircraft steering column simulation device and method in the technical field of aircraft steering simulation, in particular to a large aircraft steering column simulation device and method based on dynamic balance.
Background
The large aircraft driving simulation device is used for simulating the flight of an aircraft, provides a device which approximates to a real operation environment, a real operation mechanism, an operation load and motion, can provide a large aircraft simulation environment for scientific research, personnel training and the like, and achieves the purposes of saving expenses, improving training efficiency and the like. The steering column is a main component in a large aircraft cockpit control mechanism, and an operator can push and pull the left steering column and the right steering column back and forth to control the elevator to realize the ascending and descending of the aircraft. When the operator releases the steering column, the steering column will return to the neutral position; when the left driving position or the right driving position respectively pushes and pulls the driving column to move, the driving column at the driving position at the other side moves synchronously. The existing airplane steering column simulation device on the market is fixed in loading mode, generally, the operating force during steering column push-pull is simulated through a spring mass damping system, although the cost is low, the structure is simple, the loading mode is single, the aligning moment and the pushing angle are in a fixed linear proportional relation, the force sense of the airplane when the wing is difficult to open due to the fact that the airplane is subjected to strong external airflow cannot be simulated, and the device is not suitable for a scene that the steering column loading curve needs to be changed for researching push-pull performance, so that the large airplane steering column simulation device capable of adjusting the load, high in control precision and simple in structure is needed. At present, the requirements of professional driving simulation devices on force feedback are higher and higher, particularly, a military vehicle and airplane driver training simulator can simulate various complex environments for the driver to train. These simulators require a realistic simulation effect and a large feedback moment, and a 200n·m loading force is required for the aircraft steering column. In order to simulate the force sense of the steering column more truly, a servo motor with proportionally controllable rotating speed and torque is usually adopted, but in the process of pushing the steering column, the motor is often required to be in a locked-rotor or forced reverse rotation state, and when the feedback torque is very large, the power and current of the motor are increased, so that the steering column is easy to generate heat and burn.
Disclosure of Invention
Aiming at the current situation and the demand of a large aircraft steering column simulation device, particularly for the requirement that steering column force sense can be accurately controlled under the condition of specific air flow outside the aircraft, the steering column simulation device which adopts a torque motor and an electromagnetic clutch to provide resistance torque is designed and invented, the simulation device can realize synchronous motion of steering columns of left and right steering columns, and the electromagnetic clutch and the torque motor are dynamically controlled by regulating input voltage by a control computer, so that more real steering column force sense is simulated. Compared with the traditional steering column loading mechanism, the steering column loading mechanism is flexible in loading and convenient to control.
The technical scheme adopted by the invention is as follows:
1. large aircraft steering column simulation device based on dynamic balance:
comprises a power device, a load device and a base; the power equipment and the load equipment are fixedly arranged on the base in sequence after being synchronously connected; the power equipment comprises a torque motor, a speed reducer, a first diaphragm type coupler, a torque sensor and a second diaphragm type coupler, wherein the torque motor, the speed reducer, the first diaphragm type coupler, the torque sensor and the second diaphragm type coupler are sequentially and coaxially and synchronously connected, and the torque motor is synchronously connected with a rotating shaft in the load equipment through the second diaphragm type coupler, so that the torque motor generates a back torque for preventing the rotating shaft from rotating through the second diaphragm type coupler; the load equipment comprises a bearing seat, a rotating shaft, an electromagnetic clutch, a left driving mechanism and a right driving mechanism; a plurality of bearing seats are arranged on one side of the base close to the load equipment at intervals, and the rotating shaft sequentially penetrates through the bearing seats on the base to be supported and arranged; the electromagnetic clutch is coaxially sleeved at the middle of the rotating shaft and is synchronously connected with the rotating shaft, the left driving mechanism and the right driving mechanism have the same structure, the left driving mechanism and the right driving mechanism are symmetrically arranged at two ends of the rotating shaft by taking the electromagnetic clutch as a center, and the left driving mechanism and the right driving mechanism are respectively positioned between adjacent bearing seats.
The electromagnetic clutch mainly comprises a left magnetic track, an armature plate and a right rotor, wherein the armature plate is sleeved on a rotating shaft through the right rotor and is synchronously connected with the rotating shaft, the left magnetic track is sleeved on the periphery of the rotating shaft and is not contacted with the rotating shaft, an electromagnetic clutch fixing seat is arranged at the bottom of the left magnetic track, and the left magnetic track is fixedly arranged on the base through the electromagnetic clutch fixing seat, so that a resistance moment for preventing the rotating shaft from rotating is generated after the electromagnetic clutch is electrified.
The left driving mechanism comprises a fixing piece, a driving column fixing seat, a driving column and a steering wheel; the steering column is characterized in that a steering wheel is hinged to the top of the steering column, a steering column fixing seat and a fixing piece are sequentially and fixedly installed at the bottom end of the steering column, and the fixing piece is sleeved on the rotating shaft and synchronously connected with the rotating shaft, so that the steering wheel controls the rotating shaft to rotate through the steering column.
The simulation device further comprises a photoelectric encoder and a control computer, wherein the photoelectric encoder is arranged at one end of the rotating shaft far away from the power equipment, and the photoelectric encoder, the torque sensor, the torque motor and the electromagnetic clutch are all electrically connected with the control computer.
2. The large aircraft steering column simulation method comprises the following steps:
the method comprises the following steps: when the simulation device is started, the photoelectric encoder sets the current position of the steering column as a zero position, a left steering mechanism or a right steering mechanism applies a fixed torque to the rotating shaft through the steering column, and the rotating shaft rotates;
then the photoelectric encoder and the torque sensor respectively transmit the collected rotation angle signals and torque signals of the rotating shaft to a control computer; the control computer combines the external state parameters of the large aircraft with the rotation angle signals and the torque signals of the rotating shaft to determine the total resistance moment of the rotating shaft;
the following judgment is made according to the total resistance moment of the rotating shaft: if the total resistance moment of the rotating shaft is smaller than or equal to the maximum aligning moment of the moment motor, the moment motor is controlled by the control computer to provide a returning moment with the same size as the total resistance moment of the rotating shaft;
if the total resistance moment of the rotating shaft is larger than the maximum aligning moment of the moment motor, the maximum aligning moment is provided by the control computer for controlling the moment motor, the resistance moment for preventing the rotating shaft from rotating is provided by the control computer for controlling the electromagnetic clutch, and the sum of the maximum aligning moment and the resistance moment is equal to the total resistance moment of the rotating shaft, so that the steering column is in a dynamic balance state under the action of the power moment and the total resistance moment;
when the steering column is retracted, the power moment of the rotating shaft is removed, meanwhile, the electromagnetic clutch is controlled to be powered off through the control computer, so that the resistance moment is zero, and the steering column is retracted to the zero position under the action of the retraction moment provided by the moment motor, so that the simulation of the steering state of the steering column of the large aircraft is completed.
The moment motor provides a aligning moment in the opposite direction to the moment of the rotating shaft.
The large aircraft external state parameters include large aircraft flight speed, large aircraft external air resistance.
In the simulation process, the photoelectric encoder, the torque sensor, the torque motor and the electromagnetic clutch are all in real-time communication with the control computer, so that in the process that the torque motor and the electromagnetic clutch receive control signals of the control computer to operate, rotation angle signals and torque signals of the rotating shaft, which are respectively measured by the photoelectric encoder and the torque sensor, are fed back to the control computer in real time, and the control signals of the control computer are adjusted in real time to perform closed-loop control.
The second diaphragm coupler, the fixing piece and the right rotor of the electromagnetic clutch are all in key connection with the rotating shaft.
The beneficial effects of the invention are as follows:
1) The magnetic attraction of the electromagnetic clutch is used for providing a resisting moment, the moment motor is used for providing a correcting moment, the resisting moment which can prevent the steering column from rotating can be obtained when the steering column is pushed back and forth, the input voltage of the electromagnetic clutch and the input voltage of the moment motor are controlled by the control computer to regulate the total resisting moment provided by the moment motor and the electromagnetic clutch, and then the load of the steering column of the aircraft is truly simulated.
2) The driving column simulator is provided with the encoder and the torque sensor, and can obtain the displacement and the stress condition of the driving column according to the sensor data.
3) The steering column simulator is provided with the torque motor, so that the steering column can automatically return to the zero position after the steering column is released.
4) The steering column simulation device is flexible to load, and is suitable for occasions requiring dynamic adjustment of load force or providing force loading curves required by different application occasions.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a large aircraft steering column simulator of the present invention;
FIG. 2 is a front cross-sectional view of FIG. 1;
FIG. 3 is an enlarged partial view of the output shaft portion of the motor of FIG. 2;
FIG. 4 is an enlarged partial view of the steering column mount portion of FIG. 2;
FIG. 5 is an enlarged partial view of the electromagnetic clutch portion of FIG. 2;
FIG. 6 is a force analysis diagram of a steering column in different orientations;
fig. 7 is a control schematic block diagram of the present invention.
In the figure: the device comprises a 1-torque motor, a 2-speed reducer, a 3-diaphragm coupler, a 4-torque sensor, a 5-bearing seat, a 6-fixing piece, a 7-steering column fixing seat, an 8-steering column, a 9-steering wheel, a 10-rotating shaft, an 11-electromagnetic clutch fixing seat, a 12-electromagnetic clutch, a 17-photoelectric encoder and an 18-base.
Description of the embodiments
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
As shown in fig. 1 and 2, the present apparatus includes a power device, a load device, and a base 18; the power equipment and the load equipment are fixedly arranged on the base 18 in sequence after being synchronously connected;
as shown in fig. 3, the power equipment comprises a torque motor 1, a speed reducer 2, a first diaphragm type coupler 3, a torque sensor 4 and a second diaphragm type coupler, wherein the torque motor 1, the speed reducer 2, the first diaphragm type coupler 3, the torque sensor 4 and the second diaphragm type coupler are sequentially and coaxially connected in synchronization, a rotating shaft of the torque motor 1 is synchronously connected with an input shaft of the speed reducer 2, an output shaft of the speed reducer 2 is sequentially connected to a rotating shaft 10 in the load equipment through the first diaphragm type coupler 3, the torque sensor 4 and the second diaphragm type coupler, and the torque motor 1 is synchronously connected with the rotating shaft 10 in the load equipment through the second diaphragm type coupler, so that the torque motor 1 generates a back torque for preventing the rotating shaft 10 from rotating through the second diaphragm type coupler; the torque sensor 4 can detect the torque signal of the rotary shaft 10 in real time when the rotary shaft 10 rotates.
As shown in fig. 4, the load apparatus includes a bearing housing 5, a rotary shaft 10, an electromagnetic clutch 12, a left-side driving mechanism, and a right-side driving mechanism; a plurality of bearing seats 5 are arranged on one side of the base 18 close to the load equipment at intervals, and the rotating shaft 10 sequentially penetrates through the bearing seats 5 on the base 18 to be supported and arranged; the electromagnetic clutch 12 is coaxially sleeved in the middle of the rotating shaft 10 and is synchronously connected with the rotating shaft 10, the left driving mechanism and the right driving mechanism have the same structure, the left driving mechanism and the right driving mechanism are symmetrically arranged at two ends of the rotating shaft 10 by taking the electromagnetic clutch 12 as a center, the left driving mechanism and the right driving mechanism are respectively positioned between the adjacent bearing seats 5, and the left driving mechanism and the right driving mechanism can synchronously move at the same angle.
As shown in fig. 5, the electromagnetic clutch 12 mainly comprises 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 with the rotating shaft 10, the left magnetic track is sleeved on the periphery of the rotating shaft 10 and is not contacted with the rotating shaft 10, an electromagnetic clutch fixing seat 11 is arranged at the bottom of the left magnetic track, and the left magnetic track is fixedly arranged on the base 18 through the electromagnetic clutch fixing seat 11, so that a resistance moment for preventing the rotating shaft 10 from rotating is generated after the electromagnetic clutch 12 is electrified. Specifically, the right rotor of the electromagnetic clutch 12 is connected to the rotating shaft 10 through a key, the left magnetic track and the right rotor are in a relative sliding state, after the electromagnetic clutch 12 is powered on, the armature plate generates a strong magnetic field, and the left magnetic track and the right rotor generate a resistive moment through a coupled electromagnetic force, so that the action of loading the steering column 8 is achieved.
The left driving mechanism comprises a fixing piece 6, a driving column fixing seat 7, a driving column 8 and a steering wheel 9; the top of steering column 8 articulates there is steering wheel 9, and steering column fixing base 7 and mounting 6 are fixed mounting in proper order to the bottom of steering column 8, and mounting 6 suit is connected with rotation axis 10 synchrony on rotation axis 10 for steering wheel 9 passes through steering column 8 control rotation axis 10 and rotates.
The simulation device further comprises a photoelectric encoder 17 and a control computer, wherein the photoelectric encoder 17 is arranged at one end of the rotary shaft 10 far away from the power equipment and is used for detecting a rotation angle signal of the rotary shaft 10 in real time, and the photoelectric encoder 17, the torque sensor 4, the torque motor 1 and the electromagnetic clutch 12 are all electrically connected with the control computer.
The method comprises the following steps:
after the simulation device is started, the photoelectric encoder 17 sets the current position of the steering column 8 as a zero position, a left steering mechanism or a right steering mechanism firstly applies a fixed power moment to the rotary shaft 10 through the steering column 8, and the rotary shaft 10 rotates; in the process of pushing the steering column 8, the torque motor 1 is in a locked or forced reverse state, and the torque motor 1 cannot generate heat and burn.
Then the photoelectric encoder 17 and the torque sensor 4 respectively transmit the collected rotation angle signal and the torque signal of the rotation shaft 10 to a control computer; the control computer combines the external state parameters of the large aircraft with the rotation angle signal and the torque signal of the rotating shaft 10 to determine the total resistance moment of the rotating shaft 10.
The following determination is made according to the total resistance moment of the rotary shaft 10: if the total resistance torque of the rotating shaft 10 is equal to or less than the maximum aligning torque of the torque motor 1, the torque motor 1 is controlled by the control computer to provide a returning torque having the same magnitude as the total resistance torque of the rotating shaft 10.
If the total resistance moment of the rotating shaft 10 is larger than the maximum aligning moment of the moment motor 1, the maximum aligning moment is provided by the control computer controlling the moment motor 1, and the resistance moment which resists the rotation of the rotating shaft 10 is provided by the control computer controlling the electromagnetic clutch 12, and the sum of the maximum aligning moment and the resistance moment is equal to the total resistance moment of the rotating shaft 10, so that the steering column 8 is in a dynamic balance state under the action of the power moment and the total resistance moment;
when the steering column 8 is retracted, the power moment of the rotating shaft 10 is removed, meanwhile, the electromagnetic clutch 12 is controlled by the control computer to be powered off, so that the resistance moment is zero, and at the moment, the steering column 8 is retracted to a zero position under the action of the restoring moment provided by the moment motor 1, and the simulation of the steering state of the steering column of the large aircraft is completed.
The total resistance moment of the final rotating shaft 10 is sensed by a driver through the steering wheel 9, so that the driver can feel real driving force feedback, and the operation hand feeling of the driver is exercised.
Wherein the aligning torque provided by the torque motor 1 is opposite to the direction of the torque of the rotating shaft 10.
Wherein the large aircraft external state parameters include large aircraft flight speed and large aircraft external air resistance.
Wherein, the second diaphragm coupling, the fixing piece 6 and the right rotor of the electromagnetic clutch 12 are all in key connection with the rotary shaft 10.
In the simulation process, the photoelectric encoder 17, the torque sensor 4, the torque motor 1 and the electromagnetic clutch 12 are all in real-time communication with the control computer, so that in the process that the torque motor 1 and the electromagnetic clutch 12 receive control signals of the control computer to operate, rotation angle signals and torque signals of the rotating shaft 10, which are respectively measured by the photoelectric encoder 17 and the torque sensor 4, are fed back to the control computer in real time, the control signals of the control computer are adjusted in real time, closed-loop control is performed, and dynamic control of the balance state of the steering column 8 is realized.
Specifically, as shown in fig. 6 and 7, the control computer can control the torque motor 1 to generate the aligning torques with different magnitudes by sending voltage signals to the torque motor 1, the positive voltage controls the torque motor 1 to operate clockwise, and the negative voltage controls the torque motor 1 to operate anticlockwise. 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 can generate magnetic fields with different magnitudes, and the magnitude of magnetic force between the left magnetic track and the right rotor of the electromagnetic clutch 12 is adjusted to generate a resisting moment for preventing the rotation of the rotating shaft 10.
As shown in fig. 6a, when the driver pushes the steering column 8 counterclockwise by a small amount, the clockwise aligning moment provided by the torque motor 1 hinders the rotation of the rotary shaft 10. As shown in fig. 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 aligning torque provided by the torque motor 1, so that the control computer controls the electromagnetic clutch 12 to be electrified to generate a resisting torque for resisting the rotation of the rotating shaft 10, and the sum of the maximum aligning torque and the resisting torque provided by the electromagnetic clutch 12 for resisting the rotation of the rotating shaft 10 is equal to the power torque of the rotating shaft 10.
As shown in fig. 6c, when the steering column 8 is retracted, the main torque of the rotary shaft 10 is removed, and the electromagnetic clutch 12 is controlled to be powered off, so that no resistive torque is provided, and at this time, the steering column 8 is retracted to the zero position under the action of the restoring torque of the torque motor 1.
In conclusion, the feedback adjustment of the torque motor is performed at high frequency by the device, so that the force sense of the driver is ensured to be in a prescribed good relationship. And the control signal is adjusted in real time to realize closed-loop control, so that the control is more accurate.
Claims (8)
1. Large aircraft steering column analogue means based on dynamic balance, its characterized in that: comprises a power device, a load device and a base (18); the power equipment and the load equipment are fixedly arranged on the base (18) in sequence after being synchronously connected; the power equipment comprises a torque motor (1), a speed reducer (2), a first diaphragm type coupler (3), a torque sensor (4) and a second diaphragm type coupler, wherein the torque motor (1), the speed reducer (2), the first diaphragm type coupler (3), the torque sensor (4) and the second diaphragm type coupler are sequentially and coaxially connected in a synchronous manner, the torque motor (1) is synchronously connected with a rotating shaft (10) in the load equipment through the second diaphragm type coupler, and the torque motor (1) generates a back torque for preventing the rotating shaft (10) from rotating through the second diaphragm type coupler; the load equipment comprises a bearing seat (5), a rotating shaft (10), an electromagnetic clutch (12), a left driving mechanism and a right driving mechanism; a plurality of bearing seats (5) are arranged on one side, close to the load equipment, of the base (18) at intervals, and the rotating shaft (10) sequentially penetrates through the bearing seats (5) on the base (18) to be supported and arranged; the electromagnetic clutch (12) is coaxially sleeved in the middle of the rotating shaft (10) and is synchronously connected with the rotating shaft (10), the left driving mechanism and the right driving mechanism have the same structure, the left driving mechanism and the right driving mechanism are symmetrically arranged at two ends of the rotating shaft (10) by taking the electromagnetic clutch (12) as a center, and the left driving mechanism and the right driving mechanism are respectively positioned between the adjacent bearing seats (5);
the electromagnetic clutch (12) mainly comprises a left magnetic track, an armature plate and a right rotor, wherein the armature plate is sleeved on the rotating shaft (10) through the right rotor and is synchronously connected with the rotating shaft (10), the left magnetic track is sleeved on the periphery of the rotating shaft (10) and is not contacted with the rotating shaft (10), an electromagnetic clutch fixing seat (11) is arranged at the bottom of the left magnetic track, and the left magnetic track is fixedly arranged on the base (18) through the electromagnetic clutch fixing seat (11) so that a resistance moment for preventing the rotating shaft (10) from rotating is generated after the electromagnetic clutch (12) is electrified;
if the total resistance moment of the rotating shaft (10) is smaller than or equal to the maximum aligning moment of the moment motor (1), the moment motor (1) is controlled by a control computer to provide an aligning moment with the same size as the total resistance moment of the rotating shaft (10);
if the total resistance moment of the rotating shaft (10) is larger than the maximum aligning moment of the moment motor (1), the maximum aligning moment is provided by controlling the moment motor (1) through a control computer, the resistance moment for preventing the rotating shaft (10) from rotating is provided by controlling the electromagnetic clutch (12) through the control computer, and the sum of the maximum aligning moment and the resistance moment is equal to the total resistance moment of the rotating shaft (10), so that the steering column (8) is in a dynamic balance state under the action of the power moment and the total resistance moment.
2. The dynamic balance-based large aircraft cockpit simulator of claim 1 wherein: the left steering mechanism comprises a fixing piece (6), a steering column fixing seat (7), a steering column (8) and a steering wheel (9); steering wheel (9) is articulated at the top of steering column (8), steering column fixing base (7) and mounting (6) are fixed mounting in proper order to the bottom of steering column (8), mounting (6) suit is connected with rotation axis (10) synchrony on rotation axis (10) for steering wheel (9) are through steering column (8) control rotation axis (10) rotation.
3. The dynamic balance-based large aircraft cockpit simulator of claim 1 wherein: the simulation device further comprises a photoelectric encoder (17) and a control computer, wherein the photoelectric encoder (17) is arranged at one end, far away from the power equipment, of the rotating shaft (10), and the photoelectric encoder (17), the torque sensor (4), the torque motor (1) and the electromagnetic clutch (12) are electrically connected with the control computer.
4. A large aircraft cockpit simulation method applied to the device of any of claims 1-3, characterized in that: the method comprises the following steps: when the simulation device is started, the photoelectric encoder (17) sets the current position of the steering column (8) as a zero position, a left steering mechanism or a right steering mechanism firstly applies fixed torque to the rotating shaft (10) through the steering column (8), and the rotating shaft (10) rotates;
then, the photoelectric encoder (17) and the torque sensor (4) respectively transmit the acquired rotation angle signal and torque signal of the rotating shaft (10) to a control computer; the control computer combines the external state parameters of the large aircraft with the rotation angle signals and the torque signals of the rotating shaft (10) to determine the total resistance moment of the rotating shaft (10);
the following judgment is made according to the total resistance moment of the rotating shaft (10): if the total resistance moment of the rotating shaft (10) is smaller than or equal to the maximum aligning moment of the moment motor (1), the moment motor (1) is controlled by a control computer to provide an aligning moment with the same size as the total resistance moment of the rotating shaft (10);
if the total resistance moment of the rotating shaft (10) is larger than the maximum aligning moment of the moment motor (1), the maximum aligning moment is provided by controlling the moment motor (1) through a control computer, the resistance moment for preventing the rotating shaft (10) from rotating is provided by controlling the electromagnetic clutch (12) through the control computer, and the sum of the maximum aligning moment and the resistance moment is equal to the total resistance moment of the rotating shaft (10), so that the steering column (8) is in a dynamic balance state under the action of the power moment and the total resistance moment;
when the steering column (8) is in a returning state, the power moment of the rotating shaft (10) is removed, meanwhile, the electromagnetic clutch (12) is controlled to be powered off through the control computer, so that the resistance moment is zero, and the steering column (8) returns to a zero position under the action of the returning moment provided by the moment motor (1), so that the simulation of the steering state of the steering column of the large aircraft is completed.
5. The large aircraft cockpit simulation of claim 4 wherein: the moment motor (1) provides a aligning moment with the opposite direction of the moment of the rotating shaft (10).
6. The large aircraft cockpit simulation of claim 4 wherein: the large aircraft external state parameters include large aircraft flight speed, large aircraft external air resistance.
7. The large aircraft cockpit simulation of claim 4 wherein: in the simulation process, the photoelectric encoder (17), the torque sensor (4), the torque motor (1) and the electromagnetic clutch (12) are all in real-time communication with the control computer, so that in the process that the torque motor (1) and the electromagnetic clutch (12) receive control signals of the control computer to operate, rotation angle signals and torque signals of the rotating shaft (10) respectively measured by the photoelectric encoder (17) and the torque sensor (4) are fed back to the control computer in real time, and the control signals of the control computer are adjusted in real time to perform closed-loop control.
8. The large aircraft cockpit simulation of claim 4 wherein: the second diaphragm coupler, the fixing piece (6) and the right rotor of the electromagnetic clutch (12) are connected with the rotary shaft (10) in a key way.
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