JPH04324098A - Target craft attitude simulating method of fighter simulator - Google Patents

Abstract

PURPOSE:To permit the operation of yaw angle, pitch angle and bank angle without providing a computer with any load by a method wherein a target craft is simplified as a model having three degrees of freedom to obtain an attitude simulating method capable of controlling the attitude thereof simply, since the attitude of the target craft is not the object of evaluation. CONSTITUTION:A target craft controlling command generating and controlling means 31, operating the speed change dV/dt, yaw rate dPSI/dt and pitch rate dtheta/dt of a target craft, is provided. The speed change dV/dt, the yaw rate dPSI/dt and the pitch rate dtheta/dt are integrated by a target craft attitude angle operating means 33 to obtain a speed V, a yaw angle PSI and a pitch angle theta. The movement GY in a horizontal plane is operated by the product of the yaw rate dPSI/dt by the speed V while a movement GZ in a vertical plane is operated from the product of the pitch rate dtheta/dt by the speed V. Further, the bank angle phi=tan<-1>(GY/GZ+mgcos theta) is operated and respective data are outputted to a simulated field of vision device 34. In this case, (g) is an acceleration applied on the center of gravity and (m) is the mass of a fighter.

Description

Description: FIELD OF INDUSTRIAL APPLICATION This invention relates to a simple method for controlling the bank angle of a three-degree-of-freedom model of a target aircraft for automatic maneuvering in a fighter aircraft simulator. [0002] In the target aircraft attitude simulation control of a fighter jet simulator, the result is displayed as an image of, for example, the image of the target fighter jet, and the result is relatively changed depending on the movement of the own aircraft on which the trainee is aboard. It is used to observe changes in the target aircraft's attitude, predict what kind of movement the target aircraft will make, and evaluate how to react to it. Conventionally, in the case of a 6-degree-of-freedom model, the attitude of a target aircraft is calculated by solving the following complex equation of motion, for example. [0003] m(dU/dt+QW-RV)=-mgsinθ+
Xa...(1) m(dV/dt+RU-PW)=mgcosθ
sinφ+Ya...(2) m(dW/dt+PV-QU)=mgcosθ
cosφ+Za...(3) 0006] IXXdP/dt-IXXdR/dt+(IZZ-
IYY)QR-IXZPQ=L


...(4) 0007] IYYdQ/dt+(IXX-IZZ)RP+IX
Z(P2-R2)=M...(5) 0008
] -IXZdP/dt+IZZdR/dt+(IYY
-IXX)PQ+IXZQR=N


...(6) dφ/dt=P+Qsinφtanθ+Rcosφ
tanθ...(7) dθ/dt=Qcosφ−Rsinφ
…(8)
dψ/dt=Qsinφsecθ+Rcosφse
cθ...(9) where, , ψ: Euler angle, L, M, N: moment, IXX, etc.; coefficient of inertia. [0013] These equations are solved to calculate the aircraft speeds U, V, W and angular velocities P, Q, R. Furthermore, coordinate transformation and integration are performed to calculate x, y, z, φ, θ, and ψ. [0014] The complicated equation of motion as described above is solved, but if there are many target aircraft at the same time, this 6
Solving the equations of motion of the degree-of-freedom model for all target machines places a large burden on computer processing power. [0015] The problem to be solved by the present invention is to simplify the target aircraft as a three-degree-of-freedom model and easily control its attitude, since the attitude of the target aircraft is not an object of evaluation. The purpose is to provide a method. Means for Solving the Problems [0016] A method for simulating the attitude of a target aircraft in a fighter jet simulator according to the present invention is to A first process of calculating a change dVT/dt, a yaw rate dψ/dt, and a pitch rate dθ/dt;
A second process of integrating the speed change, yaw rate, and pitch rate to calculate the speed V, yaw angle ψ, and pitch angle θ, and calculating the maneuver GY in the horizontal plane from the product of the yaw rate dψ/dt and the speed V. Pitch rate dθ/dt and speed V
The third process is to calculate the maneuver GZ in the vertical plane from the product of
This method is characterized in that the bank angle of the target aircraft is controlled from the fourth step of calculating n-1(GY/(GZ+mgcosθ)). [Operation] As a motion model of the target aircraft, speed, heading,
It is defined by three degrees of freedom consisting of pitching, and the bank angle of the target aircraft is determined by calculating backwards from the maneuver path. [Embodiment] An embodiment of the present invention will be described below with reference to the drawings. When you have a three-degree-of-freedom model as shown in Figure 2, one way to give it roll motion around the The bank angle is determined from the speed. In step 1 (P1), dVT/dt, dψ/dt, and dθ/dt are calculated using a three-degree-of-freedom equation of motion. Here, the simple equation of motion with three degrees of freedom used this time is expressed by the following equation. dVT/dt=(1/mT)(TT-DT-mTg
sinγ) …(10) 0021] dψ/dt=(GMAX/VT)
…
(11) dθ/dt=(GMAX/VT)
…
(12) Here, at the output, dV
T/dt: acceleration generated in the target aircraft, dψ/dt: yaw rate of the target aircraft, dθ/dt: pitch rate of the target aircraft, and in the input, mT: mass of the target aircraft, TT: Thrust, DT: Drag of target aircraft, g: Gravitational acceleration, γ
: Target aircraft path angle, GMAX: Target aircraft allowable load (maximum G)
, VT: target aircraft speed. [0024] Equations (11) and (12) above directly calculate the Euler angle rate; Equation (11) controls left and right (±) with respect to the desired direction of flight, and Equation (12) It controls up and down (±) in the direction you want to fly. [0025] In step 2 (P2), dVT/dt,d
Integral processing for ψ/dt, dθ/dt, VT=∫
(dVT/dt)dt
…(13) [
ψ=∫(dψ/dt)dt
…(
14) θ=∫(dθ/dt)dt
…(
15) Perform [0028]. However, since it is a three-degree-of-freedom model, γ=θ. [0029] In step 3 (P3), the maneuver G in the horizontal plane
Let GY be GY, and let GZ be the maneuver G in the vertical plane, GY=m*((dψ/dt)*VT)
…(16)
GZ=m*((dθ/dt)*VT)
…(17)
Calculate . Here, m is the mass of the target aircraft. In step 4 (P4), the bank angle φ is calculated as follows. φ=tan-1(GY/(GZ+mgco
sθ)) FIG. 3 is a functional block diagram for implementing the present invention. The target aircraft control command generation control means 31 obtains dψ/dt and dθ/dt. The target aircraft motion control means 32 calculates VT. The target aircraft attitude angle calculation means 33 uses these dψ/dt, dθ/dt and VT to calculate θ.
, φ, ψ are calculated and outputted to the simulated visual field device 34. The simulated visibility device 34 displays the movement of the target aircraft according to the input. As described above, according to the present invention, each attitude angle of ψ, θ, and φ can be calculated with almost no load on the computer, even though it is a three-degree-of-freedom model.

[Brief explanation of drawings]

FIG. 1 is a control flow diagram of one embodiment.

FIG. 2 is a diagram illustrating a three-degree-of-freedom model.

FIG. 3 is a functional block diagram implementing the present invention.

[Explanation of symbols]

Claims (1)

[Claims] 1. A target aircraft attitude simulation method for a fighter jet simulator that controls the attitude of a target aircraft with respect to its own aircraft, the method comprising: controlling the target aircraft's speed change dV/dt, yaw rate dψ/dt and pitch rate dθ/dt; A first process of calculating, a second process of integrating the speed change, yaw rate and pitch rate to calculate the speed V, yaw angle ψ, and pitch angle θ, and the product of the yaw rate dψ/dt and the speed V. The third step is to calculate the maneuver GY in the horizontal plane from the product of the pitch rate dθ/dt and the velocity V, and the maneuver GZ in the vertical plane from the product of the pitch rate dθ/dt and the velocity V, and the bank angle φ=tan where the gravitational acceleration is g and the mass is m.
-1(GY/(GZ+mgcosθ))
A method for simulating the attitude of a target aircraft in a fighter jet simulator, characterized in that the bank angle of the target aircraft is controlled from the process.