JP2020160339A - Control device for aircraft, control device for aircraft control simulator, control method for control device of aircraft, and control method for control device of aircraft control simulator - Google Patents

Abstract

To give an appropriate control sensation to an operator in a control device of an aircraft and a control device of an aircraft control simulator.SOLUTION: A control device 100A includes: a control end 10 for controlling an aircraft 1; a reaction force generation unit 20 for applying an offset value for offsetting an external force acting on the control end 10 other than a control force and a value corresponding to an operation position of the control end 10 as a reaction force to the control end 10; and a reaction force control unit 30A for controlling the reaction force generation device 20. The reaction force control unit 30A sets a value for offsetting the external force calculated as acting on the control end 10 on the basis of an attitude of the aircraft 1 as an offset. Thus, it is possible to make constant a control sensation of an operator even when the attitude of the aircraft 1 changes. Therefore, it is possible to give an appropriate control sensation to the operator in the control device 100A of the aircraft 1.SELECTED DRAWING: Figure 1

Description

The present invention relates to an aircraft control device, an aircraft control simulator control device, an aircraft control device control method, and an aircraft control simulator control device control method.

Conventionally, techniques related to the control device of an aircraft or an aircraft control simulator are known. For example, Patent Document 1 discloses a simulated steering device that generates a steering reaction force corresponding to a steering force based on a steering operation by a trainee (operator) by a steering reaction force generating function unit including an electric motor. ..

Japanese Unexamined Patent Publication No. 63-280288

By the way, in an actual aircraft control device, an offset value of a reaction force to a control end held by the operator is generally provided. That is, in consideration of the gravity acting on the aircraft and the balance adjustment of the link system at the control end, a fixed offset value of the reaction force is always given so that the control end does not move in the neutral state. However, the aircraft does not always remain horizontal during flight and changes its attitude in the so-called pitch, roll, or yaw directions. Therefore, depending on the attitude of the aircraft, the external force acting on the control end may not match the direction of gravity. Therefore, if the fixed offset value of the reaction force is set so as to simply cancel the external force acting on the control end in the direction of gravity, the external force acting on the control end may not be canceled depending on the attitude of the aircraft. As a result, in an actual aircraft control device, the operation feeling of the operator is not constant depending on the attitude of the aircraft, and it is not possible to give the operator an appropriate operation feeling.

On the other hand, for example, a simulated control device (simulator) as described in Patent Document 1 cannot simulate an external force acting on a control end that can change depending on the attitude of an aircraft. That is, in an actual aircraft control device, it is not possible to simulate a situation in which the driver's sense of control is not constant depending on the attitude of the aircraft. Therefore, it is not possible to give the operator an appropriate sense of operation.

The present invention has been made in view of the above, and an object of the present invention is to give an appropriate maneuvering feeling to a pilot in an aircraft maneuvering device and a maneuvering device of an aircraft maneuvering simulator.

In order to solve the above-mentioned problems and achieve the object, the present invention has a control end for maneuvering an aircraft, an offset value for canceling an external force acting on the control end other than the operation force, and an operation position of the control end. A reaction force generator that applies a value corresponding to the above to the control end as a reaction force and a reaction force control unit that controls the reaction force generator are provided, and the reaction force control unit is based on the attitude of the aircraft. It is characterized in that a value that cancels the external force calculated to act on the control end is set as the offset value.

With this configuration, the offset value is set so as to cancel the external force calculated to act on the control end based on the attitude of the aircraft, so even if the attitude of the aircraft changes, the external force acting on the control end can be canceled. Can be done. That is, even if the attitude of the aircraft changes, the maneuvering sensation of the operator can be kept constant. Therefore, according to the present invention, it is possible to give the operator an appropriate driving sensation in the control device of the aircraft.

Further, it is preferable that the reaction force control unit sets the offset value based on at least one of the attitude change rate of the aircraft, the speed of the aircraft, and the acceleration of the aircraft, in addition to the attitude of the aircraft. .. With this configuration, the offset value can be set more appropriately.

In order to solve the above-mentioned problems and achieve the object, the present invention presents a control end for maneuvering an aircraft in the virtual space of an aircraft maneuvering simulator and an offset that cancels an external force acting on the control end other than the maneuvering force. The reaction force control unit includes a reaction force generator that applies a value and a value corresponding to the operation position of the control end to the control end as a reaction force, and a reaction force control unit that controls the reaction force generator. Is calculated to act on the control end based on the first offset value that cancels the external force that actually acts on the control end and the attitude of the aircraft in the virtual space when the attitude is not in the horizontal direction. The total value of the second offset value, which is the external force, is set as the offset value.

With this configuration, the external force that actually acts on the control end, such as the force in the direction of gravity, is canceled by the first offset value, so that the control end in the neutral state moves when the attitude of the aircraft in the virtual space is horizontal. Can be avoided. In addition, the second offset value, which is an external force acting on the control end calculated based on the attitude of the aircraft in the virtual space, makes the external force acting on the control end in the actual aircraft of the aircraft an offset value according to the change in attitude. Join. As a result, when the external force acting on the control end does not match the direction of gravity due to the attitude of the aircraft, it is possible to simulate the reaction force acting on the control end. That is, it is possible to simulate a situation in which the driver's feeling of maneuvering is not constant depending on the attitude of the aircraft. Therefore, according to the present invention, in the control device of the aircraft control simulator, it is possible to give the operator an appropriate control feeling.

Further, in addition to the attitude of the aircraft in the virtual space, the reaction force control unit determines at least one of the attitude change rate of the aircraft in the virtual space, the speed of the aircraft, and the acceleration of the aircraft. Based on this, it is preferable to set the second offset value. With this configuration, the second offset value can be calculated more appropriately.

In order to solve the above-mentioned problems and achieve the object, the present invention has a control end for maneuvering an aircraft, an offset value for canceling an external force acting on the control end other than the operation force, and an operation position of the control end. A method for controlling an aircraft control device including a reaction force generator that applies a value corresponding to the reaction force to the control end, and is calculated to act on the control end based on the attitude of the aircraft. It is characterized in that a value for canceling an external force is set as the offset value.

With this configuration, the offset value is set so as to cancel the external force calculated to act on the control end based on the attitude of the aircraft, so even if the attitude of the aircraft changes, the external force acting on the control end is always offset. It can be canceled by the value. That is, even if the attitude of the aircraft changes, the maneuvering sensation of the operator can be kept constant. Therefore, according to the present invention, it is possible to give the operator an appropriate driving sensation in the control device of the aircraft.

In order to solve the above-mentioned problems and achieve the object, the present invention presents the control end for maneuvering an aircraft in the virtual space of the aircraft maneuvering simulator and the offset that cancels the external force acting on the control end other than the maneuvering force. It is a control method of a control device of an aircraft control simulator including a value and a reaction force generator that applies a value corresponding to the operation position of the control end to the control end as a reaction force, and actually acts on the control end. The first offset value that cancels the external force and the second offset value that is the external force calculated to act on the control end based on the attitude when the attitude of the aircraft in the virtual space is not in the horizontal direction. It is characterized in that the total value of and is set as the offset value.

With this configuration, the external force that actually acts on the control end, such as the force in the direction of gravity, is canceled by the first offset value, so that the control end in the neutral state moves when the attitude of the aircraft in the virtual space is horizontal. Can be avoided. In addition, the second offset value, which is an external force acting on the control end calculated based on the attitude of the aircraft in the virtual space, makes the external force acting on the control end in the actual aircraft of the aircraft an offset value according to the change in attitude. Join. As a result, when the external force acting on the control end does not match the direction of gravity due to the attitude of the aircraft, it is possible to simulate the reaction force acting on the control end. That is, it is possible to simulate a situation in which the driver's sense of control is not constant depending on the attitude of the aircraft. Therefore, according to the present invention, in the control device of the aircraft control simulator, it is possible to give the operator an appropriate control feeling.

FIG. 1 is a schematic configuration diagram showing a main part of an aircraft provided with a control device according to an embodiment. FIG. 2 is an explanatory diagram schematically showing a control device according to the embodiment. FIG. 3 is an explanatory view showing a state in which the aircraft is flying along the horizontal direction. FIG. 4 is an explanatory view showing a state in which the aircraft is turning while tilting with respect to the horizontal direction. As a comparative example, FIG. 5 is an explanatory diagram showing an example of the relationship between the forces acting on the control end when the force acting on the aircraft does not match the direction of gravity. FIG. 6 is an explanatory diagram showing an example of the relationship between the forces acting on the control end when the force acting on the aircraft does not match the direction of gravity in the control device of the aircraft according to the embodiment. FIG. 7 is a schematic configuration diagram of an aircraft maneuvering simulator including the maneuvering device according to the embodiment. FIG. 8 is an explanatory diagram showing the relationship between the forces acting on the control end in the control device of the simulator according to the embodiment.

Hereinafter, embodiments of an aircraft control device, an aircraft control simulator control device, an aircraft control device control method, and an aircraft control simulator control device control method according to the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment.

The aircraft control device and the control method thereof according to the embodiment will be described. FIG. 1 is a schematic configuration diagram showing a main part of an aircraft including the control device according to the embodiment, and FIG. 2 is an explanatory view schematically showing the control device according to the embodiment. As shown in FIG. 1, the aircraft 1 includes a control device 100A and a plurality of sensors 5. In the present embodiment, the plurality of sensors 5 include an attitude angle detection sensor 51 that detects an attitude angle in the pitch direction, roll direction, or yaw direction of the aircraft 1. Further, the plurality of sensors 5 include the attitude angular velocity detection sensor 52 that detects the angular velocity of the attitude angle, that is, the attitude change rate of the aircraft. Further, the plurality of sensors 5 include a speed detection sensor 53 that detects the speed of the aircraft 1. Further, the plurality of sensors 5 include an acceleration detection sensor 54 that detects the acceleration of the aircraft 1.

The control device 100A includes a control end 10, a reaction force generator 20, and a reaction force control unit 30A. The control end 10 is an operation unit for manipulating the aircraft 1 by adjusting each control surface of the aircraft 1 (not shown) by grasping and moving the control end 10. The control end 10 is connected to the reaction force generator 20 via a plurality of link mechanisms 15, and can be moved via the link mechanism 15 in accordance with the operation of the operator.

The reaction force generator 20 includes an electric motor as a power source (not shown) and an actuator (not shown) for outputting the force generated by the electric motor to the control end 10 via a plurality of link mechanisms 15. A reaction force control signal generated by the reaction force control unit 30A is input to the reaction force generator 20, and an electric motor and an actuator (not shown) are driven based on the input reaction force control signal. As a result, the reaction force generator 20 outputs the reaction force based on the reaction force control signal generated by the reaction force control unit 30A to the control end 10. Further, the reaction force generator 20 outputs the value of the reaction force output to the control end 10 to the reaction force control unit 30A. Further, the reaction force generator 20 includes a sensor (not shown) that detects the position information of the control end 10 operated by the operator, and transfers the position information of the control end 10 detected by the sensor to the reaction force control unit 30A. Output.

The reaction force control unit 30A is a control device that controls the reaction force generator 20. The reaction force control unit 30A inputs the position information of the control end 10 input via the reaction force generator 20. The reaction force control unit 30A outputs the input position information of the control end 10 to a control unit (not shown) that controls each control surface of the aircraft 1. A control unit (not shown) controls each control surface of the aircraft 1 based on the input position information of the control end 10. As a result, the aircraft 1 can be operated in response to the operation of the control end 10 by the operator.

The reaction force control unit 30A sets a target value of the reaction force to be generated by the reaction force generator 20 and output to the control end 10 based on the input position information of the control end 10. More specifically, the reaction force control unit 30A sets a total value of the offset value Fos (see, for example, FIG. 2), which will be described later, and the value corresponding to the operation position of the control end 10 as the reaction force target value. The value corresponding to the operation position of the control end 10 is set based on the above-mentioned position information of the control end 10. The value according to the operation position of the control end 10 is set to a larger value as the movement amount (the amount in which the control end 10 is operated by the operator) is larger as a force in the direction opposite to the movement direction of the control end 10, for example. To. However, the method of setting the value according to the operation position of the control end 10 is not limited to this. For example, a force in the direction toward the target position may be set according to the deviation between the target position of the control end 10 and the current position. The reaction force control unit 30A generates a reaction force control signal to be output to the reaction force generator 20 so that the reaction force which is the set target value is applied from the reaction force generator 20 to the control end 10. Then, the reaction force control unit 30A generates a reaction force control signal so that the actual value approaches the target value based on the actual value of the reaction force output from the reaction force generator 20 to the control end 10. The feedback control to output to the reaction force generator 20 is executed. As a result, a force obtained by adding the offset value Fos and the value corresponding to the operation position of the control end 10 is applied to the control end 10 as a reaction force.

Further, the reaction force control unit 30A receives information regarding the operation of the aircraft 1 from a plurality of sensors 5 included in the aircraft 1. More specifically, the reaction force control unit 30A inputs the attitude angle of the aircraft 1 from the attitude angle detection sensor 51. The reaction force control unit 30A inputs the attitude angular velocity of the aircraft 1, that is, the attitude change rate of the aircraft 1 from the attitude angular velocity detection sensor 52. The reaction force control unit 30A inputs the speed of the aircraft 1 from the speed detection sensor 53. The reaction force control unit 30A inputs the acceleration of the aircraft 1 from the acceleration detection sensor 54. Then, the reaction force control unit 30A sets the value of the offset value Fos, which will be described later, based on the input attitude, attitude change rate, speed, and acceleration value of the aircraft 1. The reaction force control unit 30A may calculate the attitude angular velocity based on the attitude angle from the attitude angle detection sensor 51. Further, the reaction force control unit 30A may calculate the acceleration based on the speed from the speed detection sensor 53.

Next, as a control method of the control device 100A according to the embodiment, a method of setting an offset value Fos included in the reaction force applied to the control end 10 will be described. An offset value Fos is always given to the control end 10 so as not to move in the neutral state in consideration of the gravity acting on the aircraft 1 and the balance adjustment of the link mechanism 15 and the like. In other words, the offset value Fos is a value set to always cancel the external force F1 (see, for example, FIG. 2) acting on the control end 10 in addition to the operation force applied to the control end 10 by the operator.

Here, FIG. 3 is an explanatory view showing a state in which the attitude of the aircraft is in a horizontal state. When the attitude of the aircraft 1 is along the horizontal direction (horizontal direction in FIG. 3) orthogonal to the gravity direction (downward in FIG. 3), the gravity Fg acts on the aircraft 1 as shown in FIG. .. As shown by the white arrows in FIG. 2, when the gravity Fg acts on the aircraft 1, the downward external force F1 based on the gravity Fg also acts on the control end 10. Therefore, in general, the offset value Fos is an upward force that cancels the downward external force F1 as shown in FIG.

However, the aircraft 1 does not always remain horizontal during flight, and changes its attitude in the so-called pitch direction, roll direction, or yaw direction. FIG. 4 is an explanatory view showing a state in which the aircraft is turning while tilting with respect to the horizontal direction. In this case, the centrifugal force Fc acts on the aircraft 1 in addition to the gravity Fg. Therefore, as shown in FIG. 4, the total force acting on the aircraft 1 is the force Fa in the direction inclined with respect to the direction of gravity. That is, the external force acting on the control end 10 does not coincide with the direction of gravity.

As a comparative example, FIG. 5 is an explanatory diagram showing an example of the relationship between the forces acting on the control end when the force acting on the aircraft does not match the direction of gravity. Here, as shown by the white arrows in FIG. 5, a case where a force Fa in a direction opposite to the direction of gravity acts on the aircraft 1 is considered. At this time, an external force F2 in the direction opposite to the direction of gravity also acts on the control end 10. It is assumed that the offset value is fixed by an upward force that cancels the external force F1 (see FIG. 2) based on the gravity Fg. Here, the fixed offset value is referred to as a fixed offset value Fosf. At this time, an upward external force F1 and a fixed offset value Fosf act on the control end 10. That is, the external force F2 cannot be canceled by the fixed offset value Fosf, and the reaction force Fr acts on the control end 10 as a total value of the external force F2 and the fixed offset value Fosf in the neutral state as a whole. Therefore, since the reaction force Fr acting on the control end 10 changes depending on the attitude of the aircraft 1, the control feeling of the operator may not be constant, and it may not be possible to give the operator an appropriate control feeling. is there.

Therefore, in the embodiment, when setting the offset value Fos, the reaction force control unit 30A first calculates the external force F2 acting on the control end 10 based on the attitude of the aircraft 1. More specifically, the reaction force control unit 30A acts on the control end 10 based on the attitude of the aircraft 1, the attitude change rate of the aircraft 1, the speed of the aircraft 1, and the acceleration of the aircraft 1 input from the sensor 5. The external force F2 to be generated is calculated. Then, the reaction force control unit 30A sets an offset value Fos that cancels the calculated external force F2.

FIG. 6 is an explanatory diagram showing an example of the relationship between the forces acting on the control end when the force acting on the aircraft does not match the direction of gravity in the control device of the aircraft according to the embodiment. In the example shown in FIG. 6, similarly to the example shown in FIG. 5, a case where a force Fa in a direction opposite to the direction of gravity is applied to the aircraft 1 is shown. Therefore, an external force F2 in the direction opposite to the direction of gravity also acts on the control end 10. In the control device 100A according to the embodiment, the reaction force control unit 30A cancels the external force F2 calculated based on the attitude of the aircraft 1, the attitude change rate of the aircraft 1, the speed of the aircraft 1, and the acceleration of the aircraft 1. Fos is set. Therefore, as shown in FIG. 6, the offset value Fos is a force in the direction opposite to the external force F2. As a result, even if the attitude of the aircraft 1 is not along the horizontal direction, the external force F2 acting on the control end 10 other than the operating force can be canceled. When the attitude of the aircraft 1 is along the horizontal direction and a force Fg in the gravity direction is applied to the aircraft 1 (state in FIG. 2), the offset value Fos is the external force F1 shown in FIG. It is calculated as a force in the canceling direction.

As described above, the control device 100A according to the embodiment operates the control end 10 for controlling the aircraft 1, the offset value Fos for canceling the external force F2 acting on the control end 10 other than the operation force, and the control end 10. A reaction force generator 20 that applies a value corresponding to a position to the control end 10 as a reaction force and a reaction force control unit 30A that controls the reaction force generator 20 are provided, and the reaction force control unit 30A is the aircraft 1. The value that cancels the external force F2 calculated to act on the control end 10 based on the posture is set as the offset value Fos.

With this configuration, the offset value Fos is set so as to cancel the external force F2 calculated to act on the control end 10 based on the attitude of the aircraft 1. Therefore, even if the attitude of the aircraft 1 changes, the control end 10 is set. The acting external force F2 can be canceled. That is, even if the attitude of the aircraft 1 changes, the maneuvering sensation of the operator can be kept constant. Therefore, according to the embodiment, in the control device 100A of the aircraft 1, the operator can be given an appropriate control feeling.

Further, the reaction force control unit 30A has an offset value based on the attitude angle of the aircraft 1 (attitude of the aircraft 1), the attitude angular velocity of the aircraft 1 (attitude change rate), the speed of the aircraft 1, and the acceleration of the aircraft 1. Set Fos. With this configuration, the external force F2 acting on the control end 10 can be calculated more accurately, and the offset value Fos can be set more appropriately. The reaction force control unit 30A may set the offset value Fos at least based on the attitude angle of the aircraft 1 (the attitude of the aircraft 1).

Next, the control device of the aircraft control simulator according to the embodiment and the control method thereof will be described. FIG. 7 is a schematic configuration diagram of an aircraft maneuvering simulator including the maneuvering device according to the embodiment. The aircraft maneuvering simulator 2 (hereinafter, simply referred to as simulator 2) simulates various operations such as flight, takeoff, and landing of an aircraft in virtual space. As shown in FIG. 1, the simulator 2 includes a control device 100B according to an embodiment and an airframe motion calculation unit 200.

The control device 100B includes a reaction force control unit 30B instead of the reaction force control unit 30A included in the control device 100A of the embodiment. Since the other configurations of the control device 100B are the same as those of the control device 100A according to the embodiment, the description thereof will be omitted and the same reference numerals will be given. In the control device 100B, the control end 10 is an operation unit for operating an aircraft in virtual space by being grasped and moved by a pilot who is a trainer who uses the simulator 2.

The reaction force control unit 30B is a control device that controls the reaction force generator 20. The reaction force control unit 30B is input with the position information of the control end 10 input via the reaction force generator 20. Further, the reaction force control unit 30B outputs the input position information of the control end 10 to the airframe motion calculation unit 200, which will be described later. Further, the reaction force control unit 30B sets a target value of the reaction force to be generated by the reaction force generator 20 and output to the control end 10 based on the position information of the control end 10. More specifically, the reaction force control unit 30B sets the total value of the offset value Fos (see, for example, FIG. 7), which will be described later, and the value corresponding to the operation position of the control end 10 as the reaction force target value. Except for the setting of the offset value Fos, the reaction force setting method is the same as that of the embodiment, and thus the description thereof will be omitted.

Further, the reaction force control unit 30B receives information regarding the operation of the aircraft in the virtual space of the simulator 2 from the airframe motion calculation unit 200. More specifically, the reaction force control unit 30B inputs the attitude angle of the aircraft in the virtual space from the airframe motion calculation unit 200. The reaction force control unit 30B inputs the attitude angular velocity of the aircraft in the virtual space, that is, the attitude change rate of the aircraft from the airframe motion calculation unit 200. The reaction force control unit 30B inputs the speed of the aircraft in the virtual space from the airframe motion calculation unit 200. The reaction force control unit 30B receives the acceleration of the aircraft in the virtual space from the airframe motion calculation unit 200. Then, the reaction force control unit 30B sets the value of the offset value Fos, which will be described later, based on the input attitude, attitude change rate, speed, and acceleration value of the aircraft. The reaction force control unit 30B may calculate the attitude angular velocity based on the attitude angle from the airframe motion calculation unit 200, or may calculate the acceleration based on the speed from the airframe motion calculation unit 200.

The airframe motion calculation unit 200 calculates the operation of the aircraft in the virtual space based on the position information of the control end 10 input from the reaction force control unit 30B. The operation in the virtual space calculated by the airframe motion calculation unit 200 is presented to the operator via a display unit (not shown) including, for example, a monitor and an indicator. In addition, the aircraft motion calculation unit 200 uses the calculated motion information of the aircraft in the virtual space as the values of the attitude angle of the aircraft, the attitude angular velocity (attitude change rate) of the aircraft, the speed of the aircraft, and the acceleration of the aircraft. Is output to the reaction force control unit 30B.

Next, as a control method of the control device 100B according to the embodiment, setting of an offset value Fos included in the reaction force applied to the control end 10 will be described. In the control device 100B according to the embodiment, the offset value Fos always cancels the external force acting on the control end 10 in addition to the operation force applied to the control end 10 by the operator, and the offset value Fos is applied to the operator via the control end 10. It is set for the purpose of making the given maneuvering feeling more suitable for the actual aircraft.

In the embodiment, the reaction force control unit 30B sets the total value of the first offset value Fos1 and the second offset value Fos2 shown in FIG. 8 as the offset value Fos. FIG. 8 is an explanatory diagram showing the relationship between the forces acting on the control end in the control device of the simulator according to the embodiment.

The first offset value Fos1 is a value for canceling an external force F3 other than the operating force actually acting on the control end 10 of the control device 100B. That is, an external force F3 in the direction of gravity actually acts on the control end 10. Therefore, the first offset value Fos1 is set as an upward force in order to cancel the external force F3 in the gravitational direction in consideration of the balance adjustment of the link mechanism 15 and the like.

The second offset value Fos2 is an external force F2 calculated to act on the control end 10 based on the attitude of the aircraft in the virtual space. That is, if a force Fa in a direction different from the direction of gravity acts on the aircraft 1, an external force F2 in a direction different from the direction of gravity also acts on the control end 10. The second offset value Fos2 is a value simulating this external force F2. More specifically, the reaction force control unit 30B acts on the control end 10 based on the aircraft attitude, the aircraft attitude change rate, the aircraft speed, and the aircraft acceleration values input from the aircraft motion calculation unit 200. The external force F2 (see the broken line in FIG. 8) is calculated. Then, the reaction force control unit 30B sets the calculated external force F2 as the second offset value Fos2. However, when the attitude of the aircraft is along the horizontal direction in the virtual space and the force Fg in the gravity direction is acting on the aircraft in the virtual space (state in FIG. 2), the second offset value Fos2 is a value of 0. It is said that.

As a result, in the example shown in FIG. 8, the offset value Fos given from the reaction force generator 20 to the control end 10 becomes an upward force as a total value of the first offset value Fos1 and the second offset value Fos2. .. Since the external force F3 in the direction of gravity actually acts on the control end 10, the first offset value Fos1 and the external force F3 cancel each other out. As a result, the second offset value Fos2 acts as a reaction force on the control end 10 in the neutral state. Therefore, the operator who controls the control end 10 can feel the second offset value Fos2, which simulates the external force F2 (see the broken line in FIG. 8), as the reaction force in the neutral state. In other words, it is possible to feel that the maneuvering sensation of the operator is not constant depending on the attitude of the aircraft.

As a result, in the example shown in FIG. 8, the offset value Fos given from the reaction force generator 20 to the control end 10 becomes an upward force as a total value of the first offset value Fos1 and the second offset value Fos2. .. Since the external force F3 in the direction of gravity actually acts on the control end 10, the first offset value Fos1 and the external force F3 cancel each other out. As a result, the second offset value Fos2 acts as a reaction force on the control end 10 in the neutral state. Therefore, the operator who controls the control end 10 can feel the second offset value Fos2, which simulates the external force F2 (see the broken line in FIG. 8), as the reaction force in the neutral state when the attitude of the aircraft is not horizontal. .. In other words, it is possible to feel that the maneuvering sensation of the operator is not constant depending on the attitude of the aircraft.

Further, when the attitude of the aircraft in the virtual space is horizontal, the second offset value Fos2 is set to a value of 0. Therefore, the external force F3 in the direction of gravity that actually acts and the first offset value Fos1 act on the control end 10, and both forces cancel each other out. Therefore, when the attitude of the aircraft in the virtual space is horizontal, the control end 10 does not move in the neutral state unless an operating force is applied. In other words, the reaction force felt by the operator holding the control end 10 is only a value set according to the operation position, and the reaction force when the actual aircraft is in a horizontal state can be simulated.

As described above, the control device 100B according to the embodiment has a control end 10 for maneuvering an aircraft in the virtual space of the simulator 2, an offset value Fos that cancels an external force acting on the control end 10 other than the operation force, and an offset value Fos. A reaction force generator 20 that applies a value corresponding to the operation position of the control end 10 to the control end 10 as a reaction force, and a reaction force control unit 30B that controls the reaction force generator 20 are provided, and the reaction force control unit 30B is provided. Is a first offset value Fos1 that cancels the external force F3 that actually acts on the control end 10, and a second offset value Fos2 that is an external force F2 that is calculated to act on the control end 10 based on the attitude of the aircraft in the virtual space. And, the total value of and is set as the offset value Fos.

With this configuration, the external force that actually acts on the control end 10 such as the force in the direction of gravity is canceled by the first offset value Fos1, so that the control end in the neutral state when the attitude of the aircraft in the virtual space is horizontal. 10 can be prevented from moving. Further, it is calculated that the second offset value Fos2, which is an external force acting on the control end 10 calculated based on the attitude of the aircraft in the virtual space, acts on the control end 10 according to the change in the attitude of the actual aircraft. External force F2 is applied to the offset value Fos. As a result, when the external force F2 acting on the control end 10 does not match the direction of gravity depending on the attitude of the aircraft, the reaction force acting on the control end 10 can be simulated and output. That is, it is possible to simulate a situation in which the driver's feeling of maneuvering is not constant depending on the attitude of the aircraft. Therefore, according to the embodiment, the control device 100B of the simulator 2 can give the operator an appropriate control feeling.

Further, the reaction force control unit 30B sets the second offset value Fos2 based on at least one of the attitude change rate of the aircraft, the speed of the aircraft, and the acceleration of the aircraft, in addition to the attitude of the aircraft in the virtual space. .. With this configuration, the second offset value Fos2 can be calculated more appropriately. The reaction force control unit 30B may set the second offset value Fos2 at least based on the attitude angle of the aircraft 1 (the attitude of the aircraft 1).

1 Aircraft 2 Aircraft pilot simulator (simulator)
5 Sensor 51 Attitude angle detection sensor 52 Attitude angle velocity detection sensor 53 Speed detection sensor 54 Acceleration detection sensor 10 Steering end 15 Link mechanism 20 Reaction force generator 30A, 30B Reaction force control unit 100A, 100B Steering device 200 Aircraft motion calculation unit F1, F2, F3 External force Fos Offset value Fos1 1st offset value Fos2 2nd offset value Fosf Fixed offset value Fr Reaction force

Claims (6)

The control end for operating the aircraft and
An offset value that cancels an external force acting on the control end other than the operation force and a reaction force generator that applies a value corresponding to the operation position of the control end to the control end as a reaction force.
A reaction force control unit that controls the reaction force generator and
With
The reaction force control unit is an aircraft control device, characterized in that a value for canceling the external force calculated to act on the control end based on the attitude of the aircraft is set as the offset value. The reaction force control unit is characterized in that, in addition to the attitude of the aircraft, the offset value is set based on at least one of the attitude change rate of the aircraft, the speed of the aircraft, and the acceleration of the aircraft. The aircraft control device according to claim 1. The control end for operating an aircraft in the virtual space of the aircraft control simulator,
An offset value that cancels an external force acting on the control end other than the operation force and a reaction force generator that applies a value corresponding to the operation position of the control end to the control end as a reaction force.
A reaction force control unit that controls the reaction force generator and
With
The reaction force control unit
A first offset value that cancels the external force that actually acts on the control end, and
When the attitude of the aircraft in the virtual space is not in the horizontal direction, the second offset value, which is the external force calculated to act on the control end based on the attitude, and
A control device for an aircraft control simulator, characterized in that the total value of is set as the offset value. The reaction force control unit is based on at least one of the attitude change rate of the aircraft in the virtual space, the speed of the aircraft, and the acceleration of the aircraft, in addition to the attitude of the aircraft in the virtual space. The control device of the aircraft control simulator according to claim 3, wherein the second offset value is set. A reaction force generator that applies a control end for maneuvering an aircraft, an offset value that cancels an external force acting on the control end other than the control force, and a value corresponding to the operation position of the control end as a reaction force to the control end. It is a control method of the control device of the aircraft equipped with
A method for controlling an aircraft control device, which comprises setting a value for canceling the external force calculated to act on the control end based on the attitude of the aircraft as the offset value. The maneuvering ends using the control end for maneuvering the aircraft in the virtual space of the aircraft maneuvering simulator, the offset value for canceling the external force acting on the control end other than the operation force, and the value corresponding to the operation position of the control end as reaction forces It is a control method of the control device of the aircraft control simulator equipped with the reaction force generator applied to the end.
A first offset value that cancels the external force that actually acts on the control end, and
When the attitude of the aircraft in the virtual space is not in the horizontal direction, the second offset value, which is the external force calculated to act on the control end based on the attitude, and
A method for controlling a control device of an aircraft control simulator, which comprises setting a total value of the above as an offset value.

Images