CN117533518A - Normal trimming method of flight simulation equipment and related equipment - Google Patents
Normal trimming method of flight simulation equipment and related equipment Download PDFInfo
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Abstract
The invention provides a normal trimming method of flight simulation equipment and related equipment, and relates to the technical field of flight control, wherein the method comprises the following steps: obtaining normal stress deviation of the current period according to normal stress and target normal stress of the flight simulation equipment in the current period; updating the normal stress of the current period based on the selected normal trimming mode under the condition that the normal stress deviation of the current period is larger than the trimming tolerance, so as to obtain the normal stress of the next period; the normal stress of the next period is used for obtaining the normal stress deviation of the next period; and judging that the normal trimming of the flight simulation equipment is completed until the normal stress deviation is smaller than or equal to the trimming tolerance. The invention decouples the normal balancing from the six-degree-of-freedom balancing, realizes balancing in a normal non-stress balance state, and ensures that the flight simulation equipment is in an actual flight state in the normal direction.
Description
Technical Field
The invention relates to the technical field of flight control, in particular to a normal balancing method of flight simulation equipment and related equipment.
Background
During initialization of the relocation and certification test guidelines (Qualification Test Guide, QTG) objective test certification, the flight simulation equipment (e.g., simulated aircraft) must be trimmed in order to make its subsequent status controllable or match the certification data.
Briefly, trim refers to a state in which the flight simulation device is brought into force balance. Traditional trimming methods, such as flat flight trimming, are those in which the aircraft is considered to be sideslip-free given its configuration (mass configuration, wing-in-flap configuration and landing gear configuration), altitude and speed, and the trim state with six degrees of freedom (longitudinal, lateral, normal, pitch, roll and yaw) is achieved by adjusting the attitude, angle of attack, thrust, control surface etc. parameters of the aircraft.
However, in practical engineering applications, such as QTG objective test requirements, the initial state of flight is not in a strictly balanced (stress balance) state due to non-idealities in the actual pilot data. While for QTG objective testing of flight simulation equipment, what is needed is to reproduce the true flight state or trend to ensure proper performance of subject testing. Therefore, it is difficult for the conventional trim method to put the flight simulation apparatus in an actual flight state.
Disclosure of Invention
The invention provides a normal trimming method of flight simulation equipment and related equipment, which are used for solving the defect that the flight simulation equipment is difficult to be in an actual flight state in the prior art and realizing that the flight simulation equipment is in the actual flight state in the normal direction.
In a first aspect, the present invention provides a method for normal trim of a flight simulation device, comprising:
obtaining normal stress deviation of the current period according to normal stress and target normal stress of the flight simulation equipment in the current period;
updating the normal stress of the current period based on the selected normal trimming mode under the condition that the normal stress deviation of the current period is larger than the trimming tolerance, so as to obtain the normal stress of the next period; the normal stress of the next period is used for obtaining the normal stress deviation of the next period;
and judging that the normal trimming of the flight simulation equipment is completed until the normal stress deviation is smaller than or equal to the trimming tolerance.
In some embodiments, the updating the normal force of the current period based on the selected normal balancing manner to obtain the normal force of the next period includes:
updating the resultant force born by the flight simulation equipment in the current period according to the selected normal trimming mode;
And updating the normal stress of the current period according to the updated resultant force born by the flight simulation equipment in the current period to obtain the normal stress of the next period.
In some embodiments, in a case that the selected normal trimming mode is attack angle trimming, updating the resultant force suffered by the flight simulation device in the current period according to the selected normal trimming mode includes:
obtaining the attack angle of the current period according to the attack angle of the previous period and the attack angle offset of the current period;
updating aerodynamic force of the current period according to the attack angle of the current period;
and updating the resultant force born by the flight simulation equipment in the current period according to the updated aerodynamic force in the current period.
In some embodiments, in the case that the selected normal trim mode is speed trim, updating, according to the selected normal trim mode, a resultant force suffered by the flight simulation device in a current period includes:
obtaining the speed of the current period according to the speed of the previous period and the speed offset of the current period;
updating aerodynamic force of the current period according to the speed of the current period;
and updating the resultant force born by the flight simulation equipment in the current period according to the updated aerodynamic force in the current period.
In some embodiments, in the case that the selected normal trim mode is speed trim, updating, according to the selected normal trim mode, a resultant force suffered by the flight simulation device in a current period includes:
obtaining the speed of the current period according to the speed of the previous period and the speed offset of the current period;
updating the ground force of the current period according to the speed of the current period;
and updating resultant force born by the flight simulation equipment in the current period according to the updated ground force in the current period.
In some embodiments, in the case that the selected normal trim mode is center of gravity height trim, updating the resultant force suffered by the flight simulation device in the current period according to the selected normal trim mode includes:
according to the gravity center height of the previous period and the gravity center height offset of the current period, obtaining the gravity center height of the current period;
obtaining the gravity center ground clearance of the current period according to the gravity center height and the terrain height of the current period;
updating the ground force of the current period according to the gravity center ground clearance of the current period;
and updating resultant force born by the flight simulation equipment in the current period according to the updated ground force in the current period.
In some embodiments, before the center of gravity height of the current cycle is obtained according to the center of gravity height of the previous cycle and the center of gravity height offset of the current cycle, the method further includes:
and obtaining the gravity center height offset of the current period according to the normal stress deviation of the current period and the change step length of the gravity center height of each period.
In a second aspect, the present invention provides a normal trim apparatus for a flight simulation device, comprising:
the first processing module is used for obtaining normal stress deviation of the current period according to normal stress and target normal stress of the flight simulation equipment in the current period;
the second processing module is used for updating the normal stress of the current period based on the selected normal trimming mode under the condition that the normal stress deviation of the current period is larger than the trimming tolerance, so as to obtain the normal stress of the next period; the normal stress of the next period is used for determining the normal stress deviation of the next period;
and judging that the normal trimming of the flight simulation equipment is completed until the normal stress deviation is smaller than or equal to the trimming tolerance.
In a third aspect, the present invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a method of normal trimming of a flight simulation device as described in any one of the preceding claims when the program is executed by the processor.
In a fourth aspect, the invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of normal trimming of a flight simulation device as described in any of the above.
In a fifth aspect, the invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a method of normal trimming of a flight simulation apparatus as described in any one of the above.
According to the normal trimming method of the flight simulation equipment and the related equipment, the target normal stress in the normal non-stress balance state is set, the difference between the target normal stress and the actual normal stress is smaller than or equal to the trimming tolerance and serves as the trimming target, and the actual normal stress is continuously updated based on the selected normal trimming mode until the trimming target is achieved; and decoupling the normal trim from the trim with six degrees of freedom, so that the trim in a normal non-stress balance state is realized, and the flight simulation equipment is in an actual flight state in the normal direction.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a machine body shafting according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for balancing a normal direction of a flight simulation device according to an embodiment of the present invention;
FIG. 3 is a second flow chart of a method for balancing a normal direction of a flight simulation device according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a normal trim apparatus of a flight simulation device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. The embodiments of the present invention and the features in the embodiments may be combined with each other without collision. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
It is further intended that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The term "at least one" in the present invention means one or more, and "a plurality" means two or more. The terms "first," "second," "third," "fourth," and the like in this disclosure, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
In embodiments of the invention, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g." in an embodiment should not be taken as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.
Repositioning refers to the rapid resetting of a flight simulation device to a particular state (a particular altitude, a particular speed, etc.), and then starting a test for a particular mission or training of a particular action.
QTG objective test refers to a process of performing a test on the flight performance, handling quality, and the like of the flight simulation apparatus using verification data (pilot flight data or engineering verification data). In the objective test process, in order to perform performance matching with test data, the initial state of the flight simulation device is first made to coincide with the initial state of verification data, and this process is called an initialization process of QTG test.
Before the access balancing, the system flight state and flight parameter calculation is normally performed. The access of the trim is triggered by manual operation, the current normal flight parameter resolving moment is the initial moment of the trim resolving, and after the trim resolving is started, the flight parameters which are not used for trim adjustment still can be resolved normally every cycle.
The fixed state for the repositioning and QTG trim flight simulation equipment, weight, center of gravity, flap configuration, landing gear configuration, aircraft position, etc. are all manually set, and therefore none of the above parameters are available for trim parameter adjustment.
Fig. 1 is a schematic diagram of a machine axis system provided in an embodiment of the present invention, as shown in fig. 1, the machine axis system uses the center of gravity of an aircraft as an origin, the X-axis direction is a forward direction along a nose in an aircraft symmetry plane, the Z-axis direction is a downward direction perpendicular to the X-axis in the aircraft symmetry plane, and the Y-axis direction is a rightward direction perpendicular to the aircraft symmetry plane.
Fig. 2 is a schematic flow chart of a normal trimming method of a flight simulation device according to an embodiment of the present invention, as shown in fig. 1, the normal trimming method of a flight simulation device according to the present invention includes the following steps:
step 210, obtaining the normal stress deviation of the current period according to the normal stress of the flight simulation equipment in the current period and the target normal stress.
Specifically, a target normal force F is set according to balancing requirements or test flight data target . Normal force F of current period z_now The actual normal force of the flight simulation device in the current period is calculated.
Normal force F of current period z_now Normal force F to the target target The difference between the two is taken as the normal stress deviation F of the current period z_now -F target 。
Step 220, determining whether the normal stress deviation of the current period is greater than the trimming tolerance.
Specifically, the trimming tolerance R may be preset according to the trimming requirement. And judging whether the normal stress deviation of the current period is larger than a trimming tolerance R.
The normal force bias at the current period is less than or equal to the trim tolerance, i.e. F z_now -F target In the case of R, step 240 is performed.
The normal force bias at the current period is greater than the trim tolerance, i.e. F z_now -F target In the case of > R, step 230 is performed.
And 230, updating the normal stress of the current period based on the selected normal balancing mode to obtain the normal stress of the next period.
Specifically, the normal trim approach may include: angle of attack trim, speed trim, and center of gravity height trim. The normal trim mode selected may be any one of angle of attack trim, speed trim, and center of gravity height trim. The selection basis can be objective test subjects, actual test flight data conditions and the like. The attack angle balancing is suitable for the subjects/states in the air, the speed balancing is suitable for all subjects/states, and the key height balancing is suitable for the subjects/states on the ground.
Updating the normal stress of the current period based on the selected normal balancing mode, and taking the updated normal stress of the current period as the normal stress of the next period. The normal stress of the next period is used for obtaining the normal stress deviation of the next period.
After the normal force of the next cycle is obtained, step 210 is executed again, that is, in the next cycle, the normal force deviation of the next cycle is obtained according to the normal force and the target normal force of the flight simulation device in the next cycle.
Until the normal force bias for a certain period is less than or equal to the trim tolerance R, step 240 is performed.
Step 240, determining that normal trim of the flight simulation device is complete.
According to the normal trimming method of the flight simulation equipment, the target normal stress in the normal non-stress balance state is set, the normal stress deviation of the difference between the target normal stress and the actual normal stress is smaller than or equal to the trimming tolerance as the trimming target, and the actual normal stress is continuously updated based on the selected normal trimming mode until the trimming target is achieved; and decoupling the normal trim from the trim with six degrees of freedom, so that the trim in a normal non-stress balance state is realized, and the flight simulation equipment is in an actual flight state in the normal direction.
In some embodiments, updating the normal force of the current cycle based on the selected normal balancing mode to obtain the normal force of the next cycle includes:
updating the resultant force born by the flight simulation equipment in the current period according to the selected normal balancing mode;
and updating the normal stress of the current period according to the updated resultant force born by the flight simulation equipment in the current period to obtain the normal stress of the next period.
Specifically, the expression of the resultant force to which the flight simulation apparatus is subjected is as follows:
F＝F aero +F thrust +F ground +G
wherein F represents the resultant force applied by the flight simulation equipment, F aero Representing aerodynamic force, F thrust Representing thrust, F ground Represents ground force and G represents gravity.
And updating aerodynamic force of the current period or ground force of the current period according to the selected normal balancing mode, so as to update resultant force born by the flight simulation equipment of the current period.
The relationship between the resultant force and normal force applied by the flight simulation device is as follows:
wherein F is z Represents normal force, namely normal component of resultant force of the flight simulation equipment under the machine body shafting, F represents resultant force of the flight simulation equipment,represents the roll angle, θ represents the pitch angle, heading represents the Heading angle, f 1 () Representing the resultant force decomposition function.
After the resultant force born by the updated flight simulation equipment in the current period is obtained, substituting the resultant force born by the updated flight simulation equipment in the current period, the acquired rolling angle of the current period, the pitch angle of the current period and the line angle of the current period into a relational expression of the resultant force born by the flight simulation equipment and the normal stress to obtain the normal stress of the updated current period. And taking the updated normal stress of the current period as the normal stress of the next period.
According to the normal trimming method of the flight simulation equipment, the resultant force born by the flight simulation equipment in the current period is updated according to the selected normal trimming mode, and then the normal stress in the current period is updated according to the updated resultant force born by the flight simulation equipment in the current period, so that the normal stress in the next period is obtained, and the normal trimming is facilitated to be quickly realized.
In some embodiments, in a case that the selected normal trimming mode is attack angle trimming, updating the resultant force suffered by the flight simulation device in the current period according to the selected normal trimming mode includes:
obtaining the attack angle of the current period according to the attack angle of the previous period and the attack angle offset of the current period;
updating aerodynamic force of the current period according to the attack angle of the current period;
and updating the resultant force born by the flight simulation equipment in the current period according to the updated aerodynamic force in the current period.
Specifically, according to the normal stress deviation of the current period and the attack angle change step length of each period, the attack angle offset of the current period is calculated. The expression of the angle of attack offset for the current period is as follows:
Δα mow ＝c 1 ·(F z_now -F target )
wherein Δα now Representing the angle of attack offset of the current period, c 1 Represents the change step length of the attack angle per period, F z_now Represents the normal stress of the current period, F target Indicating the target normal force.
And after the attack angle offset of the current period is obtained, obtaining the attack angle of the current period according to the attack angle of the previous period and the attack angle offset of the current period. The expression of the attack angle of the current period is as follows:
α now ＝α last +Δα now
wherein alpha is now Representing the angle of attack, alpha, of the current period last Represents the angle of attack, delta, of the last cycleα now Representing the angle of attack offset for the current period.
The aerodynamic force expression is as follows:
F aero ＝f 2 (V，h，α，β，p，q，r，δ e ，δ a ，δ r ，δ flap ，T，P CG ，G ear )
wherein,
wherein F is aero The aerodynamic force, V, the velocity, h, the barometric pressure height, alpha, the angle of attack, beta, the sideslip angle, p, the roll angle rate, q, the pitch angle rate, r, the yaw angle rate, delta e Representing the deflection angle delta of the elevator a Representing aileron deflection angle, delta r Represents rudder deflection angle, delta flap Represents the flap deflection angle, T represents the thrust, T= |F thrust |，P CG Represents the position of the center of gravity, gear represents the position of the landing Gear, f 2 () Representing aerodynamic force calculation function, F aero_x Represents aerodynamic force applied to the flight simulation equipment in the X-axis direction under the machine body shafting, F aero_y Represents aerodynamic force applied to the flight simulation equipment in the Y-axis direction under the machine body shafting, F aero_z Represents aerodynamic force, M, applied to the flight simulation equipment in the Z-axis direction under the machine body shafting aero_x Representing the moment of aerodynamic force applied to the flight simulation equipment in the X-axis direction under the machine body shafting, M aero_y Representing the moment of aerodynamic force applied to the flight simulation equipment in the Y-axis direction under the machine body shafting, M aero_z The moment of aerodynamic force applied to the flight simulation equipment in the Z direction of the axis is represented under the machine body shafting.
Substituting the attack angle of the current period into the aerodynamic force expression, and updating the aerodynamic force of the current period to obtain the updated aerodynamic force of the current period.
Substituting the updated aerodynamic force of the current period into an expression of the resultant force born by the flight simulation equipment, updating the resultant force born by the flight simulation equipment of the current period, and obtaining the updated resultant force born by the flight simulation equipment of the current period.
According to the normal trimming method of the flight simulation equipment, under the condition that the selected normal trimming mode is angle of attack trimming, aerodynamic force of the current period is updated according to the angle of attack of the current period, and resultant force born by the flight simulation equipment of the current period is updated according to the updated aerodynamic force of the current period, so that follow-up normal stress updating of the current period is facilitated.
In some embodiments, in the case that the selected normal trim mode is a speed trim, updating the resultant force experienced by the flight simulation device for the current period according to the selected normal trim mode includes:
Obtaining the speed of the current period according to the speed of the previous period and the speed offset of the current period;
updating aerodynamic force of the current period according to the speed of the current period;
and updating the resultant force born by the flight simulation equipment in the current period according to the updated aerodynamic force in the current period.
Specifically, the speed offset of the current period is calculated according to the normal stress deviation of the current period and the speed change step length of each period. The expression of the velocity offset of the current period is as follows:
ΔV now ＝c 2 ·(F z_now -F target )
in the formula DeltaV now Representing the speed offset of the current period, c 2 Representing the step length of the speed change per cycle, F z_now Represents the normal stress of the current period, F target Indicating the target normal force.
And after obtaining the speed offset of the current period, obtaining the speed of the current period according to the speed of the previous period and the speed offset of the current period. The expression for the speed of the current cycle is as follows:
V now ＝V last +ΔV now
wherein V is now Representing the speed of the current period, V last On the representationOne cycle speed, deltaV now Representing the velocity offset of the current cycle.
Substituting the speed of the current period into the expression of aerodynamic force, and updating the aerodynamic force of the current period to obtain updated aerodynamic force of the current period.
Substituting the updated aerodynamic force of the current period into an expression of the resultant force born by the flight simulation equipment, updating the resultant force born by the flight simulation equipment of the current period, and obtaining the updated resultant force born by the flight simulation equipment of the current period.
According to the normal trimming method of the flight simulation equipment, under the condition that the selected normal trimming mode is speed trimming, aerodynamic force of the current period is updated according to the speed of the current period, and resultant force born by the flight simulation equipment of the current period is updated according to the updated aerodynamic force of the current period, so that the follow-up updating of normal stress of the current period is facilitated.
In some embodiments, in the case where the selected normal trim mode is speed trim, updating the resultant force experienced by the current cycle flight simulation device according to the selected normal trim mode includes:
obtaining the speed of the current period according to the speed of the previous period and the speed offset of the current period;
updating the ground force of the current period according to the speed of the current period;
and updating the resultant force born by the flight simulation equipment in the current period according to the updated ground force in the current period.
Specifically, the calculation process of the velocity offset of the current period is as described above, and will not be described herein. After the speed offset of the current period is obtained, the sum of the speed of the previous period and the speed offset of the current period is taken as the speed of the current period.
The expression of the ground force is as follows:
F ground ＝f 3 (T brake ，V，HAT，ω)
wherein,
wherein F is ground Representing the ground force, T brake Represents braking moment, V represents speed, HAT represents gravity center ground clearance, omega represents front wheel deflection angle, f 3 () Representing a ground force calculation function, F ground_x Represents the ground force applied by the flight simulation equipment in the X-axis direction under the machine body shafting, F ground_y Represents the ground force applied by the flight simulation equipment in the Y-axis direction under the machine body shafting, F ground_z Represents the ground force, M, applied to the flight simulation equipment in the Z-axis direction under the machine body shafting ground_x Representing the moment of ground force applied to the flight simulation equipment in the X-axis direction under the machine body shafting, M ground_y Representing the moment of ground force applied to the flight simulation equipment in the Y-axis direction under the machine body shafting, M ground_z The moment of the ground force applied to the flight simulation equipment in the Z-axis direction under the machine body shafting is represented.
Substituting the speed of the current period into the expression of the ground force, and updating the ground force of the current period to obtain the updated ground force of the current period.
Substituting the updated ground force of the current period into an expression of the resultant force born by the flight simulation equipment, updating the resultant force born by the flight simulation equipment of the current period, and obtaining the updated resultant force born by the flight simulation equipment of the current period.
According to the normal trimming method of the flight simulation equipment, provided by the embodiment of the invention, under the condition that the selected normal trimming mode is speed trimming, the ground force of the current period is updated according to the speed of the current period, and the resultant force born by the flight simulation equipment of the current period is updated according to the updated ground force of the current period, so that the subsequent updating of the normal stress of the current period is facilitated.
In some embodiments, in the case where the selected normal trim mode is center of gravity height trim, updating the resultant force experienced by the current cycle flight simulation device according to the selected normal trim mode includes:
according to the gravity center height of the previous period and the gravity center height offset of the current period, obtaining the gravity center height of the current period;
according to the gravity center height and the terrain height of the current period, obtaining the gravity center ground clearance of the current period;
updating the ground force of the current period according to the gravity center ground clearance of the current period;
and updating resultant force born by the flight simulation equipment in the current period according to the updated ground force in the current period.
Specifically, according to the normal stress deviation of the current period and the gravity center height change step length of each period, the gravity center height offset of the current period is obtained. The expression of the gravity center height offset of the current period is as follows:
ΔH now ＝c 3 ·(F z_now -F target )
In the formula, deltaH now Representing the height offset of the center of gravity of the current period, c 3 Representing the height change step length of the center of gravity per period, F z_now Represents the normal stress of the current period, F target Indicating the target normal force.
And after the gravity center height offset of the current period is obtained, obtaining the gravity center height of the current period according to the gravity center height of the previous period and the gravity center height offset of the current period. The expression of the height of the center of gravity of the current cycle is as follows:
H now ＝H last +ΔH now
wherein H is now Represents the height of the center of gravity of the current period, H last Represents the height of the center of gravity, ΔH, of the previous cycle now Representing the center of gravity height offset of the current cycle.
And obtaining the gravity center height of the current period, and obtaining the gravity center ground clearance of the current period according to the gravity center height and the terrain height of the current period. The expression of the gravity center-to-ground height of the current period is as follows:
HAT now ＝H now -HOT
in HAT now Representing the height of the center of gravity of the current cycle from ground,H now representing the height of the center of gravity of the current cycle, HOT represents the terrain height.
Substituting the gravity center and the ground height of the current period into the expression of the ground force, and updating the ground force of the current period to obtain the updated ground force of the current period.
Substituting the updated ground force of the current period into an expression of the resultant force born by the flight simulation equipment, updating the resultant force born by the flight simulation equipment of the current period, and obtaining the updated resultant force born by the flight simulation equipment of the current period.
According to the normal trimming method of the flight simulation equipment, under the condition that the selected normal trimming mode is gravity center height trimming, the ground force of the current period is updated according to the gravity center ground leaving height of the current period, and the resultant force born by the flight simulation equipment of the current period is updated according to the updated ground force of the current period, so that the follow-up normal stress updating of the current period is facilitated.
Fig. 3 is a second flow chart of a normal trimming method of a flight simulation device according to an embodiment of the present invention, as shown in fig. 3, the normal trimming method of a flight simulation device according to the present invention includes the following steps:
step 310, calculating the normal stress deviation of the current period.
Specifically, calculating the normal stress and the target normal stress F of the flight simulation equipment in the current period target And obtaining the normal stress deviation of the current period by the difference value.
Step 320, determining whether the normal force deviation of the current period is greater than the trim tolerance.
Specifically, under the condition that the normal stress deviation of the current period is smaller than or equal to the trimming tolerance, the normal trimming of the flight simulation equipment is judged to be completed, and the process is ended. In the event that the normal force bias for the current cycle is greater than the trim tolerance, step 330 is performed.
Step 330, it is determined whether the selected normal trim mode is angle of attack trim.
Specifically, in the case where the selected normal trim mode is angle of attack trim, step 340 is performed. In the event that the selected normal trim mode is not an angle of attack trim, step 390 is performed.
Step 340, calculate the angle of attack offset for the current period.
Specifically, according to the normal stress deviation of the current period and the attack angle change step length of each period, the attack angle offset of the current period is calculated. The expression of the angle of attack offset for the current period is as follows:
Δα mow ＝c 1 ·(F z_now -F target )
wherein Δα now Representing the angle of attack offset of the current period, c 1 Represents the change step length of the attack angle per period, F z_now Represents the normal stress of the current period, F target Indicating the target normal force.
Step 350, calculate the angle of attack for the current period.
Specifically, according to the attack angle of the previous period and the attack angle offset of the current period, the attack angle of the current period is obtained. The expression of the attack angle of the current period is as follows:
α now ＝α last +Δα now
wherein alpha is now Representing the angle of attack, alpha, of the current period last Represents the angle of attack, Δα, of the previous cycle now Representing the angle of attack offset for the current period.
Step 360, update aerodynamic force of current period.
Specifically, the attack angle of the current period is substituted into the aerodynamic force expression, the aerodynamic force of the current period is updated, and the updated aerodynamic force of the current period is obtained.
Or substituting the speed of the current period into the expression of aerodynamic force, and updating the aerodynamic force of the current period to obtain updated aerodynamic force of the current period.
Step 370, updating the resultant force experienced by the flight simulation device in the current period.
Specifically, substituting the updated aerodynamic force of the current period into an expression of the resultant force born by the flight simulation equipment, updating the resultant force born by the flight simulation equipment of the current period, and obtaining the updated resultant force born by the flight simulation equipment of the current period.
Or substituting the updated ground force in the current period into an expression of the resultant force born by the flight simulation equipment, updating the resultant force born by the flight simulation equipment in the current period, and obtaining the updated resultant force born by the flight simulation equipment in the current period.
Step 380, updating the normal force of the current period.
Specifically, substituting the updated resultant force born by the flight simulation equipment in the current period, the acquired rolling angle of the current period, the acquired pitch angle of the current period and the acquired route angle of the current period into a relational expression of the resultant force born by the flight simulation equipment and the normal stress to obtain the updated normal stress of the current period.
Step 390, determine if the selected normal trim mode is speed trim.
Specifically, in the case where the selected normal trim mode is speed trim, step 3100 is performed. In the event that the selected normal trim mode is not speed trim, step 3130 is performed.
Step 3100, calculating the velocity offset of the current period.
Specifically, the speed offset of the current period is calculated according to the normal stress deviation of the current period and the speed change step length of each period. The expression of the velocity offset of the current period is as follows:
ΔV now ＝c 2 ·(F z_now -F target )
in the formula DeltaV now Representing the speed offset of the current period, c 2 Representing the step length of the speed change per cycle, F z_now Represents the normal stress of the current period, F target Indicating the target normal force.
In step 3110, a speed of the current period is calculated.
Specifically, the speed of the current period is obtained according to the speed of the previous period and the speed offset of the current period. The expression for the speed of the current cycle is as follows:
V now ＝V last +ΔV now
wherein V is now Representing the speed of the current period, V last Representing the speed of the last cycle, deltaV now Representing the velocity offset of the current cycle.
After the velocity of the current period is obtained, step 360 or step 3120 is performed.
Step 3120, updating the ground force for the current period.
Specifically, substituting the speed of the current period into the expression of the ground force, and updating the ground force of the current period to obtain the updated ground force of the current period.
Or substituting the gravity center and the ground height of the current period into the expression of the ground force, and updating the ground force of the current period to obtain the updated ground force of the current period.
After the updated ground force for the current cycle is obtained, step 370 is performed.
In step 3130, the normal trim mode selected is center of gravity height trim.
In step 3140, a center of gravity height offset of the current cycle is calculated.
Specifically, according to the normal stress deviation of the current period and the gravity center height change step length of each period, the gravity center height offset of the current period is obtained. The expression of the gravity center height offset of the current period is as follows:
ΔH now ＝c 3 ·(F z_now -F target )
in the formula, deltaH now Representing the height offset of the center of gravity of the current period, c 3 Representing the height change step length of the center of gravity per period, F z_now Represents the normal stress of the current period, F target Indicating the target normal force.
In step 3150, the center of gravity of the current cycle is calculated.
Specifically, the gravity center height of the current period is obtained according to the gravity center height of the previous period and the gravity center height offset of the current period. The expression of the height of the center of gravity of the current cycle is as follows:
H now ＝H last +ΔH now
wherein H is now Represents the height of the center of gravity of the current period, H last Represents the height of the center of gravity, ΔH, of the previous cycle now Representing the center of gravity height offset of the current cycle.
After the center of gravity of the current cycle is obtained, step 3120 is performed.
The normal trimming device of the flight simulation equipment provided by the invention is described below, and the normal trimming device of the flight simulation equipment described below and the normal trimming method of the flight simulation equipment described above can be correspondingly referred to each other.
Fig. 4 is a schematic structural diagram of a normal trimming device of a flight simulation device according to an embodiment of the present invention, and as shown in fig. 4, the normal trimming device of a flight simulation device provided by the present invention includes: a first processing module 410 and a second processing module 420; wherein:
the first processing module 410 is configured to obtain a normal stress deviation of the current period according to a normal stress of the flight simulation device in the current period and a target normal stress;
the second processing module 420 is configured to update the normal stress of the current period based on the selected normal trimming mode to obtain the normal stress of the next period when the normal stress deviation of the current period is greater than the trimming tolerance; the normal stress of the next period is used for obtaining the normal stress deviation of the next period;
And judging that the normal trimming of the flight simulation equipment is completed until the normal stress deviation is smaller than or equal to the trimming tolerance.
In some embodiments, the second processing module 420 includes: a first update sub-module and a second update sub-module; wherein:
the first updating sub-module is used for updating the resultant force born by the flight simulation equipment in the current period according to the selected normal trimming mode;
and the second updating sub-module is used for updating the normal stress of the current period according to the updated resultant force born by the flight simulation equipment in the current period to obtain the normal stress of the next period.
In some embodiments, in the case where the selected normal trim mode is angle of attack trim, the first update submodule includes: the device comprises a first acquisition unit, a first updating unit and a second updating unit; wherein:
the first acquisition unit is used for obtaining the attack angle of the current period according to the attack angle of the previous period and the attack angle offset of the current period;
the first updating unit is used for updating aerodynamic force of the current period according to the attack angle of the current period;
and the second updating unit is used for updating the resultant force born by the flight simulation equipment in the current period according to the updated aerodynamic force in the current period.
In some embodiments, in the case where the selected normal trim mode is speed trim, the first update sub-module includes: a second acquisition unit, a third updating unit, and a fourth updating unit; wherein:
the second acquisition unit is used for obtaining the speed of the current period according to the speed of the previous period and the speed offset of the current period;
a third updating unit, configured to update aerodynamic force of the current period according to the speed of the current period;
and the fourth updating unit is used for updating the resultant force born by the flight simulation equipment in the current period according to the updated aerodynamic force in the current period.
In some embodiments, in the case where the selected normal trim mode is speed trim, the first update sub-module includes: a second acquisition unit, a fifth updating unit, and a sixth updating unit; wherein:
the second acquisition unit is used for obtaining the speed of the current period according to the speed of the previous period and the speed offset of the current period;
a fifth updating unit, configured to update a ground force in the current period according to the speed in the current period;
and the sixth updating unit is used for updating the resultant force born by the flight simulation equipment in the current period according to the updated ground force in the current period.
In some embodiments, in the case where the selected normal trim mode is center of gravity height trim, the first update sub-module includes: a third acquisition unit, a fourth acquisition unit, a seventh update unit, and a sixth update unit; wherein:
a third obtaining unit, configured to obtain a gravity center height of the current period according to the gravity center height of the previous period and the gravity center height offset of the current period;
a fourth obtaining unit, configured to obtain a gravity center ground clearance of the current period according to the gravity center height and the terrain height of the current period;
a seventh updating unit, configured to update a ground force of the current period according to the gravity center ground clearance of the current period;
and the sixth updating unit is used for updating the resultant force born by the flight simulation equipment in the current period according to the updated ground force in the current period.
In some embodiments, the first update sub-module further comprises: a fifth acquisition unit;
and a fifth acquisition unit, configured to obtain a gravity center height offset of the current period according to the normal stress deviation of the current period and a change step length of the gravity center height of each period.
It should be noted that, the normal balancing device of the flight simulation device provided by the invention can realize all the method steps realized by the method embodiment and can achieve the same technical effects, and the parts and beneficial effects same as those of the method embodiment in the embodiment are not described in detail.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, as shown in fig. 5, the electronic device may include: processor 510, communication interface (Communications Interface) 520, memory 530, and communication bus 540, wherein processor 510, communication interface 520, memory 530 complete communication with each other through communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform a normal trim method of a flight simulation device, the method comprising: obtaining normal stress deviation of the current period according to normal stress and target normal stress of the flight simulation equipment in the current period; updating the normal stress of the current period based on the selected normal trimming mode under the condition that the normal stress deviation of the current period is larger than the trimming tolerance, so as to obtain the normal stress of the next period; the normal stress of the next period is used for obtaining the normal stress deviation of the next period; and judging that the normal trimming of the flight simulation equipment is completed until the normal stress deviation is smaller than or equal to the trimming tolerance.
Further, the logic instructions in the memory 530 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of performing a method of normal trimming of a flight simulation device provided by the methods described above, the method comprising: obtaining normal stress deviation of the current period according to normal stress and target normal stress of the flight simulation equipment in the current period; updating the normal stress of the current period based on the selected normal trimming mode under the condition that the normal stress deviation of the current period is larger than the trimming tolerance, so as to obtain the normal stress of the next period; the normal stress of the next period is used for obtaining the normal stress deviation of the next period; and judging that the normal trimming of the flight simulation equipment is completed until the normal stress deviation is smaller than or equal to the trimming tolerance.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the method of normal trimming of a flight simulation device provided by the methods described above, the method comprising: obtaining normal stress deviation of the current period according to normal stress and target normal stress of the flight simulation equipment in the current period; updating the normal stress of the current period based on the selected normal trimming mode under the condition that the normal stress deviation of the current period is larger than the trimming tolerance, so as to obtain the normal stress of the next period; the normal stress of the next period is used for obtaining the normal stress deviation of the next period; and judging that the normal trimming of the flight simulation equipment is completed until the normal stress deviation is smaller than or equal to the trimming tolerance.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of normal trimming of a flight simulation device, comprising:
obtaining normal stress deviation of the current period according to normal stress and target normal stress of the flight simulation equipment in the current period;
updating the normal stress of the current period based on the selected normal trimming mode under the condition that the normal stress deviation of the current period is larger than the trimming tolerance, so as to obtain the normal stress of the next period; the normal stress of the next period is used for obtaining the normal stress deviation of the next period;
and judging that the normal trimming of the flight simulation equipment is completed until the normal stress deviation is smaller than or equal to the trimming tolerance.
2. The method for balancing the normal direction of the flight simulation equipment according to claim 1, wherein updating the normal direction stress of the current period based on the selected normal direction balancing mode to obtain the normal direction stress of the next period comprises:
updating the resultant force born by the flight simulation equipment in the current period according to the selected normal trimming mode;
and updating the normal stress of the current period according to the updated resultant force born by the flight simulation equipment in the current period to obtain the normal stress of the next period.
3. The method for normal trim of a flight simulation device according to claim 2, wherein, in the case that the selected normal trim mode is an angle of attack trim, updating the resultant force experienced by the flight simulation device in the current period according to the selected normal trim mode comprises:
obtaining the attack angle of the current period according to the attack angle of the previous period and the attack angle offset of the current period;
updating aerodynamic force of the current period according to the attack angle of the current period;
and updating the resultant force born by the flight simulation equipment in the current period according to the updated aerodynamic force in the current period.
4. The method of normal trim of a flight simulation device according to claim 2, wherein, in case the selected normal trim mode is a speed trim, updating the resultant force experienced by the flight simulation device in the current period according to the selected normal trim mode comprises:
Obtaining the speed of the current period according to the speed of the previous period and the speed offset of the current period;
updating aerodynamic force of the current period according to the speed of the current period;
and updating the resultant force born by the flight simulation equipment in the current period according to the updated aerodynamic force in the current period.
5. The method of normal trim of a flight simulation device according to claim 2, wherein, in case the selected normal trim mode is a speed trim, updating the resultant force experienced by the flight simulation device in the current period according to the selected normal trim mode comprises:
obtaining the speed of the current period according to the speed of the previous period and the speed offset of the current period;
updating the ground force of the current period according to the speed of the current period;
and updating resultant force born by the flight simulation equipment in the current period according to the updated ground force in the current period.
6. The method for normal trim of a flight simulation device according to claim 2, wherein, in the case that the selected normal trim mode is a gravity center height trim, updating the resultant force applied to the flight simulation device in the current period according to the selected normal trim mode comprises:
According to the gravity center height of the previous period and the gravity center height offset of the current period, obtaining the gravity center height of the current period;
obtaining the gravity center ground clearance of the current period according to the gravity center height and the terrain height of the current period;
updating the ground force of the current period according to the gravity center ground clearance of the current period;
and updating resultant force born by the flight simulation equipment in the current period according to the updated ground force in the current period.
7. The method of normal trimming of a flight simulation apparatus according to claim 6, further comprising, before deriving the center of gravity height of the current cycle from the center of gravity height of the previous cycle and the center of gravity height offset of the current cycle:
and obtaining the gravity center height offset of the current period according to the normal stress deviation of the current period and the change step length of the gravity center height of each period.
8. A normal trim apparatus for a flight simulation device, comprising:
the first processing module is used for obtaining normal stress deviation of the current period according to normal stress and target normal stress of the flight simulation equipment in the current period;
the second processing module is used for updating the normal stress of the current period based on the selected normal trimming mode under the condition that the normal stress deviation of the current period is larger than the trimming tolerance, so as to obtain the normal stress of the next period; the normal stress of the next period is used for determining the normal stress deviation of the next period;
And judging that the normal trimming of the flight simulation equipment is completed until the normal stress deviation is smaller than or equal to the trimming tolerance.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of normal trimming of a flight simulation device according to any one of claims 1 to 7 when executing the computer program.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements a method of normal trimming of a flight simulation device according to any one of claims 1 to 7.
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