CN1204824A - Improved motion simulator - Google Patents

Improved motion simulator Download PDF

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Publication number
CN1204824A
CN1204824A CN 97111938 CN97111938A CN1204824A CN 1204824 A CN1204824 A CN 1204824A CN 97111938 CN97111938 CN 97111938 CN 97111938 A CN97111938 A CN 97111938A CN 1204824 A CN1204824 A CN 1204824A
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lever
pitch
axis
rotation
pitch axis
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CN 97111938
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Chinese (zh)
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弗兰克J·麦克林蒂克
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麦克斯飞机公司
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Priority to CN 97111938 priority Critical patent/CN1204824A/en
Publication of CN1204824A publication Critical patent/CN1204824A/en

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Abstract

A flight simulator wherein the pitch,roll and yaw axes separated from the trainee to provide a more realistic simulated flight experience in that the trainee feels a translation as well as a rotationof his body as the performs a simulated climb or roll.

Description

改进的运动模拟器 Improved motion simulator

本发明涉及一种飞行模拟器,尤其涉及一种关于模拟器运动的作用力对操纵飞行控制器的人提供一种更逼真的感受的飞行模拟器。 The present invention relates to a flight simulator, in particular, to a force on the motion simulator provides a more realistic feel to the manned flight simulator flight controls.

飞行模拟器提高了安全性且减少了实际飞行训练的花费。 Flight simulators improves safety and reduces the cost of actual flight training. 未受训练的人被指导飞行或在适应新的飞机或新的飞机场情况的过程中指导有经验的飞行员使安全性方面得以提高。 Process untrained people were instructed to fly or adapt to new aircraft or a new airport in the case of experienced pilots to guide the safety can be improved. 飞行员保持商务飞行的技巧或是战斗或表演操作的练习的花费减少了(通过使用模拟器而不是实际飞行境况)避免了燃料费,着陆费用和维护费用。 Pilots flying skills to keep the business or take exercise or performance of combat operations decreased (by using flight simulators instead of the actual situation) to avoid the cost of fuel, landing fees and maintenance costs.

模拟器的一般特点是将受训练的人安置于复制的真飞机的控制器和仪器的前面。 General characteristics of the simulator is placed in front of people trained to replicate the real aircraft controls and instrumentation. 围绕受训练人的座舱罩可能空着或它可能有一个屏幕其上图象是设计为随控制器运动响应的进一步的模拟。 Trained around the canopy person may empty or it may have a screen on which the image is further designed to simulate the movement of the controller with a response. 受训练人的座位随他的控制动作响应也产生移动。 Trained people to move with the seat also produced his control action in response.

现有的模拟器的问题是受训练的人的重心是位于根据俯仰(对受训练的人向上和向下),滚动(围绕行进轴线旋转),和偏航(对行进方向的左或右)确定模拟器飞行姿态的轴线的交点。 Problem with existing simulators is that the center of gravity of the person undergoing training is located according to a pitch (p trained persons up and down), rolling (rotation about the axis of travel), and yaw (the traveling direction of the left or right) determining an intersection simulator flight attitude axes. 结果是移动控制器产生爬升时,受训练人绕他的重心(他的骨盆)旋转从而使他的脚向前旋转而他的头向后旋转。 The result is a mobile controller generates climb, the trained person is rotated about his center of gravity (his pelvis) whereby his feet rotate forward and his head is rotated backwards.

在实际飞行中飞行员不是位于飞机的重心,而是通常位于它的前面。 In actual flight the pilot is not the center of gravity of the aircraft, but usually located in front of it. 当飞行员移动控制器作飞行动作时,他感到一种随座位使他同时平移和旋转的加速。 When the pilot moves the flight controller for the action, he felt a seat with him at the same time accelerate the translation and rotation. 在飞行模拟器的领域中没有全部提供这种对受训练人的双重作用。 This is not provided in all areas of flight simulators in the dual role of trained people.

例如,对瓦克斯穆特等的美国专利第4,710,128号揭示的飞行座舱用万向接头固定在三个单独控制的轴上,即俯仰、滚动和偏航轴上,它们都围绕行星式的轴旋转。 For example, U.S. Pat. No. 4,710,128, etc. disclosed 瓦克斯穆特 flight cabin fixed to the shaft by a universal joint in three separate control, i.e. pitch, roll and yaw axes, which are around the planet formula axis. 通过一个杆使座舱围绕行星式的轴旋转以便的2g's的顺序向飞行员施加向心力。 That the cabin by a rotation of the lever so as to surround the planetary shaft 2g's centripetal force is applied to the pilot sequence. 飞行员用机载计算机控制每个用万向架固定的轴,同时经受,由固定的计算机控制的遗失方向的力。 The pilot controlled by an onboard computer with a fixed axis of each gimbal, while being subjected to the force direction is lost by the fixed computer controlled.

纳尔逊等人的美国专利第4,856,771号揭示了一种视频模拟器设备具有一种在任何导向器中能旋转360度的球面座舱,因此当座舱里的人控制操纵杆时,可模拟俯仰、滚动和偏航的同步运动。 U.S. Patent No. 4,856,771, Nelson et al., Discloses a video simulator apparatus capable of having one 360 ​​degree rotation of the spherical guide at any cabin, so when the people in the cockpit control a joystick, can be simulated pitch, roll and yaw movement of sync. 当他拉起操纵杆回到模拟爬杆时,他的身体向下旋转。 When he pulled the lever back to analog climbing pole, rotated his body down. 分立的描述为齿条和齿杆的提升控制装置移动支撑旋转球体的稳定基座,且它是座舱中的按钮或是由一个计算机控制。 Described as separate lifting of the rack teeth and stable rotation of the lever means for moving the base support sphere of control, and is a button in the cockpit, or controlled by a computer. 这个提升装置的行程和它的速度是被限制的。 The stroke of the lifting device and its speed is restricted.

纽曼等人的美国专利第4,710,129号,揭示了一种固定在操纵杆臂之间的飞机座舱,操纵杆可以确定水平轴(俯仰),操纵杆按比例围绕着垂直轴(偏航)安装于一稳定基座上。 U.S. Patent No. 4,710,129 to Newman et al., Discloses a lever arm secured between the aircraft cabin, the lever may be determined horizontal axis (pitch), in proportion to the lever about a vertical axis (yaw ) mounted on a stable base. 在基座上,尤其是在垂直的方向可以提供受限的平移运动。 On the base, especially in the vertical direction can provide a limited translational motion.

里克特等人的美国专利第5,051,094号揭示了一种g-力训练机,在其中飞行员在密闭的圆球室中,该室是通过一个支杆围绕着垂直的轴旋转。 Richter et al., U.S. Patent No. 5,051,094 discloses a g- force training machine, in which the pilot chamber in a closed sphere, a rod through the chamber is rotated about a vertical axis. 为了动力的平衡在支杆的末端安装一个平衡块,通过支杆支撑着的圆球室随着速度的提高在飞行员的视野内围绕一个滚动轴自由旋转。 To balance power balance weight mounted at the end of a strut, the strut supports the ball through the chamber with increasing speed in the field of view of the pilot is free to rotate about a roll axis.

因此,还需要飞行模拟器能更确切地复制飞行员在空中操纵飞机时感受的实际运动,尤其是对飞行员的一种垂直的和侧向的力其、和飞行员对控制器的操纵的程度是成比例的,在由其它飞行模拟器提供的缀合中,这些力被附加到旋转中。 Accordingly, the flight simulator is also able to more accurately replicate the actual movement felt when the pilot operating an aircraft in the air, in particular for a vertical extent of the pilots and the lateral force thereof, and the pilot control of the controller is to ratio, conjugation provided by other flight simulator, which is attached to the rotation forces.

本发明涉及一种更逼真的运动模拟器,其中参与者不是位于俯仰、滚动、偏航轴的支点的附近。 The present invention relates to a more realistic motion simulator wherein the participant is not located pitch, roll, yaw vicinity of the fulcrum shaft.

本发明的一个实施例中,俯仰悬臂被驱动围绕俯仰轴旋转和沿着与俯仰轴垂直的滚动轴的旋转悬臂,支撑一个参与者舱。 One embodiment of the present invention, a pitch boom is driven in rotation about the pitch axis and the roll axis along the boom and perpendicular to the pitch axis, supports a participant compartment. 参与者舱能围绕滚动轴旋转,且它的重心是和俯仰和滚动轴的交点分开的。 Participant compartment can rotate about the roll axis, and its center of gravity is the intersection of the pitch and roll axis and separated.

在本发明的另一个实施例中,向旋转臂的与参与者舱对应的一端添加平衡块。 In another embodiment of the present invention, the balance weight is added to the end of the rotary arm corresponds to the participant compartment. 当参与者进入参考舱之后传感器确定不平衡状态,平衡控制系统根据来自传感器的信号通过控制一驱动电机以移动平衡块,将由它支撑的所有零件的重量引起的对于俯仰轴的扭矩减少,以达到运动模拟器的静平衡。 As for the pitch axis to reduce the torque sensor determines the unbalanced state after the participant enters the reference compartment, balance control system by controlling a driving motor to move the counterweight, which is supported by the signal from the sensor due to the weight of all components to achieve motion simulator static balance. 在运动模拟中重复这个过程以获得动力平衡。 This procedure is repeated to obtain the simulated motion dynamic equilibrium. 这个过程对俯冲和爬升动作提供相同的响应时间,正如在实际的飞机中将感受的那样。 This process provides the same response time of diving and climbing action, as in an actual aircraft will feel like.

在本发明的另一个实施例中,由偏动电机驱动的平台支承如上描述的运动模拟器,平台可围绕着和前面实施例中和俯冲和滚动轴交叉的偏动轴转动。 In another embodiment of the present invention, as supported by the platform motion simulator biasing described motor drive, around the platform and embodiments dive and roll rotational axis intersecting the axis and biasing the foregoing embodiment. 参与者和这个交点分开,随着运动模拟器响应控制器使参与者可以体验三个方向的行进和三个方向的转动。 The intersection of participants and separately, with the controller in response to motion simulators allow participants to travel experience and three rotational directions of three directions.

在本发明的另一个实施例,运动模拟器可以升高和降低以便参与者更易进出运动模拟器。 In another embodiment of the present invention, the motion simulator may be raised and lowered to more participants out motion simulator.

在本发明的上述实施例中,在能复制各种各样飞机的飞行状态的飞行规则系统指示下,控制系统操作战斗或特技程序,或各种各样飞机着陆和起飞状态。 In the above embodiment of the present invention, capable of replication under various flight conditions of the aircraft flight rules indicating system, combat or stunt the operation control program, or a variety of aircraft landing and take-off status. 控制系统和飞机座舱(参与者舱)的控制器相连,且和其中可包括指示器,显示仪表板或头盔安装的显示器的各种各样的显示装置相连。 The control system and aircraft cockpit (participant compartment) is connected to the controller, and which may include a variety and a display device indicator, the dashboard display or a helmet mounted display is connected.

通过连同附图一起对以下的最佳实施例的详细描述的考虑,将更好的了解这些和其他的性能和优点。 Together with the accompanying drawings by consideration of the following detailed description of the preferred embodiments will be better understanding of these and other features and advantages.

图的简要描述图1A、B和1C是本发明一个实施例的相应的侧视图,正视图和顶视图;图2为本发明的另一个实施例的侧视图;图3为本发明的另一个实施例的侧视图;图4是本发明的另外一个实施例的侧视图。 Brief description of the figures Fig 1A, B and 1C are respective side view of one embodiment of the present invention, a front view and a top view; FIG. 2 is another side view of the embodiment of the invention; FIG. 3 of the present invention further side view of the embodiment; FIG. 4 is a side view of a further embodiment of the present invention.

附图设有按比例。 With scale figures.

最佳实施例的详细描述尽管本发明尤其适于飞行模拟器使用,且将根据这个申请进行详细的描述,这里揭示的方法和装置可以用于其它运动模拟器。 Detailed description of preferred embodiments of the present invention is particularly suitable although use of flight simulators and will be described in detail according to this application, the methods and apparatus disclosed herein may be used for other motion simulators. 这类运动模拟器可以包含模拟飞行,俯冲,乘骑,滚动惯性运转,其它娱乐公园乘车和虚拟的现实环境。 Such motion simulator may include flight simulation, diving, riding, rolling coasting other amusement park ride and virtual reality environments. 模拟器可以预先编程,相互控制,同样与可能包含其它运动模拟器的外部环境动态的相互配合。 Simulator pre-programmed control each other, cooperate with each other similarly to the external environment may contain other dynamic motion simulator.

现参考图1A、1B和1C,按照本发明的一个实施例所示的装置100。 Referring now to Figure 1A, 1B and 1C, according to an embodiment of the present invention, the apparatus 100 shown in FIG. 在以下的所有图中,相似元件有着同样的标号。 In all the following figures, like elements have the same reference numerals.

支撑的装置包括分别放置于板106和108上的支撑架102和侧架104。 The apparatus comprises a support plate 106 are placed on the support frame 102 and 108 and the side frame 104. 支撑架和侧架终端于并支撑支架109。 Support frame and the side frame and the support bracket 109 to the terminal. 支架和它们的相关支撑装置分开放置且依次支撑两个俯仰轴承座110,轴承座对沿俯仰轴对俯仰杆114提供旋转支撑。 Brackets and their associated support means are placed sequentially separate and support two pitch bearing housing 110, bearing on the pitch axis to provide rotational support for the tilt rod 114. 支架之一可支撑俯仰电机112,它是被围绕俯仰轴于双向的驱动俯仰杆。 One may support the tilt motor bracket 112, which is about the pitch axis of the bidirectional drive rod pitch. 俯仰电机可以以该领域中所知的任何方法在手工或计算机控制下用电或液压来驱动。 Tilt motor power may be any method known in the art under manual or computer control or hydraulically driven. 制动装置(没有显示)也可以连接于俯仰杆和支架,俯仰电机,或是支撑装置之间。 Braking means (not shown) may be connected between the pitch and the support rod, pitch motor, or support means. 制动装置在该领域中众所周知且也可以是由人工或计算机控制。 Braking means well known in the art and may be manually or computer controlled.

俯仰杆114支撑固定套筒120,固定套筒120支撑旋转杆134,因此沿着滚动轴旋转杆的与俯仰杆和俯仰轴垂直。 Tilt rod 114 fixed to the support sleeve 120, the sleeve 120 supporting and fixing the rotary shaft 134, thus along the roll axis and the pitch rotation shaft and the pitch axis perpendicular to the rod. 固定套筒围着俯仰杆旋转且含有一个旋转电机(来显示)和旋转轴承座(未显示),滚动轴承座通过滚动电机使旋转杆将围着滚动轴旋转。 Tilt lever is rotated around the fixed sleeve and containing a rotary electric machine (to display) and rotary bearing housing (not shown), a rolling bearing seat by the motor around the rotation lever to rotate the roll axis. 前面关于俯仰电机类型,操作,控制和制动的讨论在这里适用于旋转电机。 Above with respect to the pitch motor type, operation, control and braking of the discussion here applies to the rotary electric machine.

旋转杆的一端136支承机舱装置160。 End of the rotary shaft 136 supporting a nacelle 160. 机舱装置可以包括:受训练人的座椅,输入控制器如操纵杆,驾驶盘,按钮,开关,拉杆和诸如此类的东西,显示各种各样飞行情况如机舱姿态,速度和加速度,燃料和弹药的储备,飞行控制表面情况的仪器,和用于显示受训练的人在实际飞行中将看到的情况的装置。 Nacelle apparatus may comprise: a seat things people trained, the input controller such as a joystick, steering wheel, buttons, switches, and the like of the rod, displayed various flight conditions nacelle attitude, velocity and acceleration, fuel and ammunition reserve, surface condition of flight control equipment, and means for displaying the situation of trained people will actually see the flight. 这些显示器可以是电视屏幕,投影屏幕或是头盔安装的显示器。 The display may be a television screen, projection screen, or a helmet mounted display. 机舱装置还含有通讯装置,来自训练的人的能源,飞行,信息和控制询问通过其在控制系统之间传递,控制系统可以在机舱中或是一个固定的基准或是两者都是。 The communication apparatus further comprises means nacelle, energy from the training person, flight, information, and control passes between the interrogation control system, the control system may be either a fixed reference in the nacelle or both are passed. 通讯装置可以包含电缆和集流环,或是遥测系统。 Communication means may comprise cables and slip rings, or a telemetry system. 能量可以通过集流环提供或储存于机舱内的电池中。 The energy stored in the battery or may be provided in the cabin through the slip rings.

在操作中,了解当旋转轴通过机舱时,俯仰轴不通过是很重要的。 In operation, to know when the rotation shaft through the nacelle, by the pitch axis is not important. 当输入控制需要爬升时,通过将受训练的人移开俯仰轴,受训练的人将体验提升的感受,还有旋转的感受,这满足了飞行模拟器领域的需要而更确切地复制了在飞机飞行动作中飞行员感受的实际运动。 When the input control needs to climb by trained people away pitch axis, trained people will experience elevated feelings, and the feelings rotation, which meet the needs in the field of flight simulator and more precisely replicated in pilot aircraft flight operation experience of actual movement. 在图1A中只要飞行员指示爬升,机舱装置将顺时针旋转,机架109间隔于板106和108之上,因此机舱和旋转杆可以围绕俯仰轴完全旋转以模拟实际飞行曲线。 In FIG. 1A as long as the pilot indicates climb nacelle means rotates clockwise, the rack 109 over the spacer 106 and the plate 108, so the nacelle and the rotating lever can be fully rotated about the pitch axis to simulate the actual flight curve.

完成的模拟曲线的比率是输入控制的位置和在控制系统中贮存的规则系统而决定的。 Ratio curve is completed analog input position control system and rules stored in the control system is determined. 这种规则系统能复制各种各样飞机的实际飞行条件,飞行情况如运转故障,战斗、起飞、着陆和诸如此类的东西,控制系统的输出驱动俯仰和滚动电机且它还驱动机舱内的所有设备和显示系统。 Such rules system can replicate a variety of aircraft actual flight conditions, flight conditions such as operational failure, fight, take-off, landing and whatnot, output drive pitch and roll control system of the motor and drive it in the cabin of all devices and display systems. 用于训练或表演,控制系统可以记录一受训练人的模拟飞行的行为且在屏幕上显示或存贮或打印。 For training or performance, the control system can record a person's flight simulation training deeds and displayed or stored or printed on the screen.

当受训练的人要求旋转,一输入信号被送入控制系统,如上面所述按照规则系统对其进行处理,致使旋转电机驱动机舱装置围绕旋转轴作圆周运动直至输入控制器回到空档的位置。 When the person undergoing training is required of rotation, the input signal is fed to a control system, as described above, according to the rules it to be processed, causing the motor driving the rotating means of the nacelle around the rotation axis in a circular motion until it returns to the neutral input of the controller position. 支撑工具充分地分开放置以允许机舱装置围绕滚动轴完全旋转。 Support means are placed sufficiently apart to allow the nacelle full rotation device about the roll axis.

现参考图2,图中显示了按照本发明的另一个实施例的装置200,其中元件开头为“1”的与装置100中的元件相同,并以同样方法操作。 Referring now to Figure 2, it shows a device 200 according to another embodiment of the present invention, the drawings, of which the first element is "1" and the element 100 in the same apparatus and the same method of operation.

装置200放置于固定基准物201上且图2中添加的元件为平衡块230,它可以滑动连接于旋转杆231的第二部分以沿着它移动。 Apparatus 200 placed on a fixed reference element 201 was added to 2 and block 230 in FIG balanced, it can be slidably connected to a second portion of the rotating lever 231 to move along it. 旋转杆的第一部分136支撑机舱装置。 A first rotating lever portion 136 of the nacelle support means. 平衡块驱动装置232间置于平衡块和中心焊接件之间,因此它的第一部分固定于中心焊接件而第二部分附于平衡块,在固定套筒120中的平衡块电机(未显示)用于移动平衡驱动装置的第二部分。 Balance weight driving means 232 interposed between the counterweight and the central weld, it is fixed to the central portion of the first member and the second weld portion is attached to the counterweight, the counterweight motor 120 in the fixed sleeve (not shown) moving a second portion of the compensating drive. 在操作中,当受训练的人坐在机舱里且飞行模拟开始之前,俯仰电机112位于空档位置。 In operation, when trained people sitting in the cabin and flight simulation before the start, tilt motor 112 in the neutral position. 在这种情况下机舱装置将以假如所有元件由旋转杆支撑时以重心及这些重心距俯仰轴的距离确定的一个方向绕俯轴旋轴。 In this case, a direction of the nacelle when the apparatus if all of the elements will be supported by the rotary shaft and the center of gravity distance from the center of gravity about the pitch axis of a plan to determine shaft rotation axis. 这些距离是力矩臂,而且由旋转杆支撑的各元件重量倍增时(包括旋转杆本身),它们每个都产生的一磅测量的力矩,其总合产生一绕俯仰轴的纯转矩,其将使机舱直向上拐或向下拐。 These distances are moment arms, and when the weight of the elements supported by the rotary lever multiplication (including rotary lever itself), the measured one lbs torque generated by each of them, with a total of generating a net torque about the pitch axis, which cabin will turn on or turn straight down. 这是通过和俯仰杆连接的传感器测定的静态的不平衡的情况。 This static imbalance is measured by the sensor and the pitch connecting rods. 这种传感器发出信号输入平衡控制系统,使平衡块电机移动平衡块以减少绕俯仰轴的净转矩。 Such a sensor input signals balance control system, so that the motor moves the counterweight balancer to reduce the net torque about the pitch axis. 这种调整使装置形成静态平衡的情况且被补偿了受训练人的不同的重量。 This situation means that the formation of static balance adjustment and the different weights compensated by the training person. 在飞机模拟中进行进一步的调整以获得动态平衡的情况,动态平衡在该领域中众所周知,且取获得效果是爬升操作或俯冲操作具有相同的反应时间。 Further adjustment in the case of flight simulators to obtain dynamic equilibrium, homeostasis is well known in the art, and is taking effect obtained climb or dive operation with the operation time of the same reaction.

现参考图3,图中示出了按照本发明的另一个实施例的装置300。 Referring now to Figure 3, there is shown an apparatus 300 according to another embodiment of the present invention.

平板106和108位于平台302上,平台可以自由围绕着在固定套筒120的中心与俯仰和滚动轴相交的轴自由旋转,三个轴形成正交的一套轴,绕其旋转在俯仰、滚动和偏航方向将确定机舱160的任何姿态,正如在真实飞行情况将体验到的。 Plates 106 and 108 located on platform 302, the platform can freely rotate freely about the shaft center of the pitch and roll axes intersect the fixed sleeve 120, a set of three orthogonal axes forming shaft in rotation about its pitch, roll, and the yaw direction will determine any attitude cabin 160, as in real flight conditions will experience. 正如在大多数飞行模拟器中一样,这些轴的交点不是位于机舱装置内,而是位于受训练人的后面正如在真正飞行中一样其俯仰轴将在机翼和机身的相交处附近。 As in most of the flight simulator, the point of intersection of these axes are not located within the cabin device, but is located just behind the train by the same person in a real flight, which will be near the pitch axis at the intersection of the wings and fuselage. 在这种结构中,由于控制器随着由另外其它模拟器提供的角度位置旋转一起移动,受训练的人感受到在俯仰和偏航的加速度。 In this structure, since the controller along with the angular position of rotational movement provided by other simulators Further, trained people feel the acceleration in pitch and yaw. 304基面支承偏航电机312,电机312驱动平台302绕偏航轴旋转。 Surface of the support base 304 yaw motor 312, the motor 312 drives platform 302 about the yaw axis of rotation. 以上的俯仰电机类型、操作、控制和制动的说明在这里同时适用于偏航电机。 Above the pitch motor type, operation, control and braking of the description herein applies to the yaw motor. 当受训练的人需要旋转,输入信号输入按规则对其进行处理的控制系统,致使偏航电机驱动平台相对偏航轴圆周运动,直至输入控制器回到空档位置。 When the person undergoing training is required by rotating the input signal according to the rules of the process control system, so that the yaw motor drives the platform relative to the circumferential movement of the yaw axis until the input controller returns to the neutral position. 所有其它元件和它们的性能在前面已描述过。 All other elements and their properties have been described in the foregoing.

现在参照图4,图中示出按照本发明的另外一实施例的装置400,其中基板407和末端在盖420的支撑架102相连接。 Referring now to Figure 4, there is shown another apparatus 400 embodiment in accordance with the embodiment of the present invention, wherein the substrate 407 and the cover 420 is connected to the end of the support frame 102. 液压冲头440显示在较低位置以支撑俯仰杆114,且依次,固定圆筒120,旋转杆134,和机舱装置160,其具有装置100所描述的功能。 The hydraulic ram 440 is displayed in a lower position to support the tilt rod 114, and in turn, fixed cylinder 120, 134, 160 and a nacelle rotating lever apparatus having the functions described apparatus 100. 液压冲头440的目的是使受训练的人更易于进入机舱装置160。 Objective hydraulic ram 440 is to make easier to people trained means 160 into the cabin. 在受训练的人坐下后,液压冲头受导轨430的控制且提升以至俯仰杆114和俯仰轴承110在位置“B”显示(用点表示),在这个位置,机舱装置是对俯仰轴完全可旋转且如装置100或装置200的讨论中所描述的操纵它。 After trained person to sit down, the hydraulic ram is controlled by the guide rail 430 and the lift rod 114 as well as the pitch and the pitch bearing 110 in position "B" display (indicated by dots), In this position, the cabin unit is full pitch axis and as the rotatable means 100 or actuating apparatus 200 in which the discussion herein. 液压冲头是最佳实施例,但完成它的性能要通过允许降低俯仰杆的剪刀配置或是通过任何其它提升装置如改锥、支架、和齿杆、曲柄或一种电驱动机械。 The hydraulic ram is the preferred embodiment, but its performance is complete scissor configuration allows a reduction in the pitch lever by lifting or by any other means, such as a screwdriver, the bracket, and a tooth rod, a crank or an electric drive machine.

在最佳实施例中俯仰、滚动和偏航电机是液压驱动的且由德克萨斯、圣安东尼奥的里液压有限公司提供,在机舱装置和计算机之间连接能源和信号的集流环由宾夕法尼亚洲,斯普林城的液动有限公司提供,机舱外的计算机可使用任何销售者提供的使用英特有限公司的486DX2-66处理器的计算机。 In the preferred embodiment the pitch, roll and yaw motors are hydraulically driven and are provided by Texas, San Antonio, Ltd's hydraulic connection between the nacelle and the computer means and the signal energy collector ring by Pennsylvania , Spring City hydraulic Limited provide, outside the nacelle computer processor computer 486DX2-66 any Intel Co., Ltd. may be used to provide sales. 舱内的计算机使用一个486DX2-66处理器,且两个图象产生器来自新泽州艾伦代尔的特尔利安有限公司,模拟器的尺寸为每一边为12英尺的立方体内且能扩大到较大的尺寸。 A cabin 486DX2-66 computer processor, and two image generators from the new Zezhou Ritter Lee Limited of Allendale, the size of each side of the simulator 12 is capable of expanding cubic foot to a larger size.

通过对提供受训练人不稳定的以及在6个自由度的旋转运动这满足了目前飞行模拟器的需要。 By providing trained people in unstable and rotational movement of six degrees of freedom which meet the current needs of the flight simulator.

在不脱离本发明的范围内能对特别描述的实施例进行变化和改进。 It can specifically described embodiments changes and modifications without departing from the scope of the invention. 尤其是支撑的装置可以具有支撑三个旋转轴相交且允许和那交点分离开的机舱在3个方向旋转的任何结构。 In particular, it may have a support means for supporting the three rotational axes intersect and that allows any structure and separated from the intersection of the rotation of the nacelle in three directions.

Claims (6)

1. 1. 一种运动模拟器,其特征在于,它包括:支撑装置;一俯仰杆,它具有一俯仰轴,俯仰杆和支撑装置可旋转相连;一旋转杆,它具有第一端和第二端,旋转杆在所说的第一端和所说的第二端之间沿着与俯仰轴垂直的旋转轴延伸,其中旋转杆和俯仰杆以能使旋转杆在一个与俯仰轴垂直的平面上完全绕俯仰轴旋转的方式而旋转连接,且其中旋转杆可围绕着旋转轴旋转;及具有一个重心的与所说的旋转杆的第一端相连的参与者舱,这里参与者舱的重心是与俯仰轴分开的。 A motion simulator, characterized in that it comprises: a support means; a tilt lever having a pitch axis, the pitch and the support rod may be connected to the rotation means; a rotating lever having a first end and a second end, rotating rod extends perpendicular to the rotation axis along the pitch axis between said first end and said second end, wherein rotation of the lever and the pitch lever can completely around the rotary lever in a plane perpendicular to the pitch axis pitch axis and rotatably connected to the rotation, and wherein rotation of the rod about a rotational axis; and having a center of gravity of said participant compartment and connected to a first end of the rotating lever, the center of gravity where the pitch is the participant compartment separate from the shafts.
2. 2. 一种运动模拟器,其特征在于,它包括:支撑装置;一俯仰杆,它具有一俯仰轴,俯仰杆可旋转的连接于支撑装置;一旋转杆,它具有第一端及一第二端,旋转杆在所说的第一端和所说的第二端之间沿着与俯仰轴垂直的旋转轴延伸,旋转杆可旋转的连接于俯仰杆;用于有选择地绕俯仰轴旋转的旋转杆的一俯仰电机,其中俯仰杆由支撑杆支撑在一高度上,该高度是以使旋转杆在与俯仰轴垂直的平面上绕旋转轴完全旋转;用于可选择绕旋转转动的旋转杆的一转动电机;一参与者舱,其具有一个重心,与所说的旋转杆的第一端相连,参与者舱包括参与者输入指令输入控制器;及用于控制旋转轴和参与者舱定位的一控制系统,其中控制系统在一个规则系统的指示下操作;这里参与者舱的重心是与俯仰轴分离的。 A motion simulator, characterized in that it comprises: a support means; a tilt lever having a pitch axis, the pitch lever may be rotatably connected to the support means; a rotating lever having a first end and a second end , the rotating lever between said first end and said second end extending along an axis perpendicular to the pitch axis of rotation, the rotating lever is rotatably connected to a pitch rod; for selectively rotate around the pitch axis a tilt motor rotating lever, wherein the pitch lever by a support bar is supported on a height that the rotary lever is fully rotated in a plane perpendicular to the pitch axis around the rotation axis; means for selectively rotating lever rotates around the rotation a rotating motor; a participant compartment having a center of gravity, connected to the first end of said rotary lever, the participant compartment participant input instruction including a controller; and means for controlling the rotation shaft and positioning the participant compartment a control system, wherein the control system operates under the direction of a system of rules; participant compartment where the center of gravity is separated from the pitch axis.
3. 3. 一种飞行模拟器,其特征在于,它包括:支撑装置;一具有俯仰轴的俯仰杆,其可旋转的连接于支撑装置;一旋转杆,包括能绕俯仰轴旋转的第一部分和第二部分,具有与俯仰轴垂直的旋转轴,可旋转连接于俯仰杆;可滑动连接于旋转杆的第二部分以沿其移动的一平衡块;及具有重心的一机舱装置,其由旋转杆的第一部分支撑;从而机舱装置的重心是与俯仰轴分开的。 A flight simulator, characterized in that it comprises: a support means; tilt lever having a pitch axis, which is rotatably connected to the support means; a rotary lever rotatable about a pitch axis comprising first and second portions and its a nacelle assembly having a center of rotation of the lever; having a rotation axis perpendicular to the pitch axis, the pitch lever rotatably connected; slidably connected to the second portion of the rotating shaft along a counterweight which moves a support portion; center of gravity of the cabin so that the apparatus is separated from the pitch axis.
4. 4. 一种飞行模拟器,其特征在于,它包括:支撑装置;具有一俯仰轴的一俯仰杆可旋转连接于支撑装置;一旋转杆,包含有能绕俯仰轴旋转的第一部分和第二部分,具有与俯仰轴垂直的旋转轴,可旋转的连接于俯仰杆;可滑块连接于旋转轴的第二部分以沿其移动的一平衡块;具有一重心的一机舱装置,由旋转杆的第一部分支撑;一平衡块驱动装置,其第一部分固定于俯仰杆其第二部分连接于平衡块,用于使平衡块沿着旋转杆的第二部分移动;一传感器,其与俯仰杆相连且用于测定俯仰轴的旋转并产生与该旋转成正比的信号;一平衡控制系统用于从传感器获得信号,根据它操作,并指示平衡块驱动装置绕俯仰轴平衡飞行模拟器;使旋转杆绕俯仰轴可选择的旋转的一俯仰电机,其中俯仰杆由支撑装置支撑在一高度上,该高度足以允许旋转杆在与俯仰轴垂 A flight simulator, characterized in that it comprises: a support means; a tilt lever having a pitch axis is rotatably connected to the support means; a rotary shaft, comprising a first portion rotatable about a pitch axis and a second portion, having a rotational axis perpendicular to the pitch axis, is rotatably connected to the pitch shaft; a second slider portion may be connected to a rotating shaft along a counterweight which moves; means a nacelle having a center of gravity of the rotating lever a support portion; a balancer drive means having a first portion secured to the pitch lever which is connected to the second portion of the counterweight, for the counterweight moves along the second portion of the rotating shaft; a sensor, which is connected to the tilt lever and with the determination of the pitch axis of rotation and generates a signal proportional to the rotation; balance control system for obtaining a signal from the sensor, based on its operation, and instructs the drive apparatus counterweight balance the flight simulator about the pitch axis; rotating the lever about the pitch Alternatively a rotating shaft of the tilt motor, wherein the pitch lever by a support means supported on a height that is sufficient to allow rotation of the lever in the vertical and pitch axis 的平面上绕俯仰杆旋转;使旋转杆绕旋转轴可选择的旋转的一旋转电机;及用于控制旋转杆和机舱装置的定向的一控制系统;从而机舱装置的重心是与俯仰轴分离开的。 Rotation of the lever about the pitch on a plane; the rotational lever about the rotating shaft selectively rotating a rotary electric machine; and a control system for controlling the orientation of the lever and the rotating means of the nacelle; means whereby the center of gravity of the nacelle is separated from the pitch axis of.
5. 5. 一种平衡飞行模拟器,其特征在于,它包括:一基座;一偏航电机,它具有一架体,一传动轴和一个偏航轴,架体固定于基座;一个平台,与偏航电机旋转轴相连,可绕偏航轴旋转;与平台相连接的支撑装置;具有一俯仰轴的一俯仰杆,可旋转的连接于支撑装置;一俯仰电机,具有一支架体和一传动轴,从而传动轴驱动俯仰杆围绕俯仰轴作旋转运动,且架体和支撑装置相连;一旋转杆,包含可绕俯仰轴旋转的第一部分和第二部分,具有与俯仰轴垂直的旋转轴,可旋转的连接于俯仰杆;一旋转电机,具有一架体和一传动轴,从而传动轴驱动旋转杆绕旋转轴作旋转运动且架体与俯仰轴相连接;一平衡块可滑动连接于旋转杆的第二部分的沿其移动;及一控制系统,在飞行规则系统指示下操作,用于驱动调整机舱装置定向电机;从而机舱装置的重心的中心 A balanced flight simulator, characterized in that it comprises: a base; a yaw motor, having a body, a drive shaft, and a yaw axis, the frame body fixed to the base; a platform, and Partial Air is connected to the motor rotation shaft, rotatable about the yaw axis; support means connected to the platform; a tilt lever having a pitch axis, rotatably connected to the support means; a tilt motor having a drive shaft and a holder body , thereby driving the tilt lever shaft for rotation about the pitch axis, and connected to the frame and the support means; a rotary shaft, comprising a rotation around the pitch axis of the first and second portions, has a vertical rotation axis and pitch axis, can be rotatably connected to the pitch shaft; a rotary electric machine, having a body and a drive shaft, the drive shaft so that rotation of the lever about the rotating shaft and the rotational movement of the frame body is connected to the pitch axis; a counterweight is slidably connected to the rotating lever along a second portion of its movement; and a control system, operating in flight rules indicating system for driving the motor to adjust the orientation of the nacelle means; thus the center of gravity of the nacelle apparatus 与俯仰轴和旋转轴间的交点分离的。 The intersection between the pitch axis and the rotation axis of the separation.
6. 6. 一种运动模拟器,其特征在于,它包括:支撑装置;具有一俯仰轴的一俯仰杆,俯仰杆可旋转连接于支撑装置;具有第一端和第二端的一旋转杆,所述的旋转杆在所述的第一端和所述的第二端之间沿着与所说的俯仰轴垂直的旋转轴延伸,其中所述的旋转杆以使所述旋转杆在与所述俯仰轴垂直的平面上能绕所说的俯仰轴完全旋转的方式与所述俯仰杆可旋转地连接;具有重心的一机舱装置,与所述旋转杆的所述第一端连接;用于有选择地提高和降低所述的俯仰杆的一提升机械;从而机舱装置的重心是与所说的俯仰轴分离的。 A motion simulator, characterized in that it comprises: a support means; a tilt lever having a pitch axis, the pitch lever rotatably connected to the support means; rotating the rotating lever having a first end and a second end, said and said rod extends along the axis of rotation perpendicular to the pitch axis between said first end and said second end, wherein said rotary shaft so that the rotary bar perpendicular to the pitch axis plane about said pitch axis can fully rotate the tilt rod rotatably connected; a nacelle assembly having a center of rotation of said lever is connected to the first end; for selectively enhance and reducing the pitch of a lever lifting mechanism; means whereby the center of gravity of the nacelle is separated from said pitch axis.
CN 97111938 1997-07-07 1997-07-07 Improved motion simulator CN1204824A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101842822B (en) 2007-12-24 2012-10-10 罗伯特·奇尔德雷斯 Motion platform video game racing and flight simulator
CN104616560A (en) * 2014-12-28 2015-05-13 上海电机学院 Suspension experience simulator
CN108744473A (en) * 2018-05-28 2018-11-06 黄忠 A kind of movement analog machine

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101842822B (en) 2007-12-24 2012-10-10 罗伯特·奇尔德雷斯 Motion platform video game racing and flight simulator
CN104616560A (en) * 2014-12-28 2015-05-13 上海电机学院 Suspension experience simulator
CN104616560B (en) * 2014-12-28 2017-04-19 上海电机学院 One kind of suspension experience simulation apparatus
CN108744473A (en) * 2018-05-28 2018-11-06 黄忠 A kind of movement analog machine

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