KR101954494B1 - Method for certifying qualification of control loading system with side grip yoke used in flight training simulator - Google Patents

Abstract

A verification method for a flight sense generator for a flight training device according to an embodiment of the present invention is a method for verifying a flight sense generator for a flight training simulator of a small aircraft having a side grip yoke, ; Connecting the flight sense generator and the flight simulation engine; Setting a steering force for each roll / pitch / yaw axis of the steering feeling generator; Interfacing the flight simulation engine; Designing the steering feel generator; And verifying the result of the flight simulation. In the step of interfacing the flight simulation engine, the flight simulation engine may be interfaced to perform a test of a qualification evaluation criterion (QTG) of the flight training simulator.

Description

FIELD OF THE INVENTION [0001] The present invention relates to a method for verifying a control sense generator for a flight training device having a side grip yoke,

The present invention relates to a qualification authentication method and a verification method for a maneuver generator of a "I" class flight training device for a small aircraft (eg, Cyrus SR-20) equipped with a side yoke pilot.

The aircraft simulator is designed to eliminate the risk factors of development by allowing the flight environment that is almost similar to the actual situation to be experienced on the ground prior to actual flight accompanied by enormous expense and risk, Test evaluation and training equipment.

In order to simulate the flight characteristics of an aircraft in a simulated manner on the ground, it is necessary to accurately reproduce the reaction force of the pilot in the simulator in real flight situations. Such a control reaction force reproducing device is referred to as a control loading system (CLS).

In the early days, a hydraulic actuator and an analog control device were used. However, since the mid-1980s, the analog control system was digitized. From the early 1990s, the control sense generator was used in the hydraulic system to realize the active stick function according to the emergence of the electronic flight control system and the maintenance / Electric motor system employing an electric motor.

The maneuver generator must provide a "feel" similar to the actual friction, except for the extreme friction present in the actual aircraft system. The maneuver generator generates an electrical signal representative of the force corresponding to the pilot control and feeds back the pilot's force signal and compares it with the required force signal. Signals corresponding to the difference between the force required to implement in the simulator and the pilot's force are generated to obtain an appropriate load of control.

The Qualification Test Guide (QTG), which is a test evaluation required for the certification of the flight training device, is a guide for verifying whether a new flight simulator or simulation technology meets the regulation level of a specific country or institution. In order to use a training device, a flight simulator, it is necessary to satisfy the test items required by the qualification test guide.

In particular, FAA (Federal Aviation Administration, FAA) requests the FAA for the pilot generator of a flight training device for a small aircraft with a control yoke in the form of a side yoke grip, such as a Cirrus SR-20. There is no pilot control generator for a small aircraft flight training device that satisfies the criteria of Level 5 FTD (Flight Training Device) Qualification Standards (QTG) of Part 60 CFR (Code of Federal Regulations) Part 60.

In addition, there is also a way to generate the Level 5 FTD Qualification Assessment (QTG) of the FAA 14 CFR Part 60, which is the test evaluation required by the FAA, when the X-plane is applied as a flight simulation engine of FTD or FFS (Full Flight Simulator) It is absent.

Therefore, in order to overcome the limitations, applicants proposed a verification method of side-yoke control generator of FTD-class small aircraft satisfying the qualification evaluation standard (QTG) , And a reference system related to the related art is a 'reaction force control system of a simulation apparatus' of Korean Patent Laid-Open No. 10-2003-0022591.

The present invention has been proposed in order to solve the above-mentioned problems, and it is an object of the present invention to provide a flight training apparatus having a side grip yoke of an FTD-class small aircraft which generates and satisfies a qualification evaluation standard (QTG) Provides a verification method of maneuvering generator.

The present invention provides a software evaluation method based on Matlab / Simulink that evaluates the Level 5 FTD Qualification Criteria (QTG) of FAA 14 CFR Part 60 when X-Plane is applied to FTD or FFS (Full Flight Simulator) do.

The verification method of the maneuver generator for a flight training device with a side grip yoke of a small aircraft according to the present invention can provide a procedure for generating a qualification criteria (QTG) qualification meeting the tolerance limits of FAA 14 CFR Part 60 have.

According to an aspect of the present invention, there is provided a verification method of a maneuverability generator for a flight training device, the method comprising: Setting a hardware environment of the steering wheel generator using dedicated software; Connecting the flight sense generator and the flight simulation engine using the dedicated software; Setting a steering force for each roll / pitch / yaw axis of the steering feeling generator; Interfacing the flight simulation engine; Designing the steering feel generator; And verifying the results of the flight simulation. In the step of interfacing the flight simulation engine, the controller determines whether the steering wheel generator meets or exceeds the level 5 qualification criteria (QTG) of FAA 14 CFR Part 60 The flight simulation engine can be interfaced by an interface tool or an interface program.

Interfacing the flight simulation engine may include: driving an interface tool or interface program including the flight simulation engine and Simulink or Matlab; Checking a User Datagram Protocol (UDP); Setting a trim condition of the flight simulation using the autopilot function; Executing a flight simulation; Recording data of a flight simulation; And confirming the tolerance on the data of the flight simulation. In the step of confirming the tolerance on the data of the flight simulation, it is judged whether or not the limit of the force specified in FAA 14 CFR Part 60 is satisfied can do.

The step of setting the hardware environment of the steering wheel generator may include providing a CAN bus line connecting the host computer and the steering wheel generator, further providing a gateway between the host computer and the steering wheel generator, And an Ethernet or universal serial bus (USB) for connecting the gateway and the host computer located on the can bus line.

Wherein connecting the steering feeling generator to the flight simulation engine comprises connecting the side grip yoke of the steering wheel generator to the first to fourth nodes among the six nodes formed on the can bus line, A rudder pedal can be connected.

In the step of setting the steering force for each of the roll / pitch / yaw axes of the steering feeler generator, a force is independently set for each of the roll / pitch / yaw axis, and a static force or dynamic You can set the force.

In the step of setting the steering force for each roll / pitch / yaw axis of the steering feeling generator, the force for each axis can be set in consideration of the relationship between the indicated waiting speed of the aircraft and the force.

In the step of setting the steering force for each of the roll / pitch / yaw axes of the steering feel generator, a static force factor is used when all values except for the indicated waiting speed are static, A dynamic force factor can be used to reduce the impact on fly-by-wire or hydraulically controlled aircraft.

In the step of checking the user datagram protocol (UDP), an interface tool or an interface program including Simulink or MATLAB may be connected to the flight simulation engine by a user datagram protocol or TCP / IP.

In designing the steering feel generator, the control structure of the steering feel generator may be designed using a dual integrator force loop architecture having spring constant and damping constant as parameters of the transfer function.

In the step of designing the steering feel generator, an error force (Ferror) obtained from the difference between the current simulated force (Fsim) and the measured force (Fmeas), which is calculated from the acceleration, .

The verification method of the maneuver generator for a flight training device with a side grip yoke of a small aircraft according to the present invention can generate and satisfy the FAA 14 CFR Part 60 Level 5 FTD eligibility criteria (QTG).

The verification method of the maneuver generator for a flight training device with a side grip yoke of a small aircraft according to the present invention is performed when the X-Plane is applied as a flight simulation engine of FTD or FFS (Full Flight Simulator) (QTG), which is required by Article 5.

The verification method of the maneuverability generator for the flight training device having the side grip yoke of the small aircraft according to the present invention provides a simulator satisfying the aircraft dynamics with the same feeling as the gun grip for the side yoke of the simulator can do.

1 is a diagram illustrating a steering sense generator according to an embodiment of the present invention.
2 is a diagram illustrating a configuration of a flight training apparatus including a steering sense generator according to an embodiment of the present invention.
FIG. 3 and FIG. 4 are flowcharts for explaining a verification method of the steering feeling generator according to an embodiment of the present invention.
FIGS. 5 to 7 are views of screens of software used in connection between the navigation sense generator and the flight simulation engine according to an embodiment of the present invention.
FIG. 8 and FIG. 9 are views of screens of software used to set the steering force for the steering feeling generator according to an embodiment of the present invention. FIG.
10 is a view showing a flight training device including a steering sense generator according to an embodiment of the present invention.
11 is a diagram illustrating a configuration of software used in an interface between a steering sense generator and a flight simulation engine according to an embodiment of the present invention.
FIGS. 12 to 14 are graphs showing test and evaluation results of the steering sense generator according to an embodiment of the present invention. FIG.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to or limited by the embodiments. Like reference symbols in the drawings denote like elements.

1, a flight training apparatus 100 according to an embodiment of the present invention includes a steering sense generator 110, a shaft 130 having one end connected to the steering sense generator 110, And a side yoke grip 120 connected to the side yoke 120.

The side yoke type grip 120 is a control column that is applied to a small fixed-wing small-sized aircraft such as a Cirrus SR-20.

The present invention is based on the FAA 14 CFR Part 60 Level 5 requirements of the FAA when the steering sense generator 110 included in the flight training device 100 of a small aircraft equipped with the side yoke type grip 120 And the verification procedure satisfying the FTD Qualification Assessment Standard (QTG).

In order for the flight training device to be approved, the test items listed in [Table 1] must be satisfied and the alternative data sources listed in the FAA 14 CFR Part 60 Level 5 FTD Qualification Assessment (QTG) The simulation results should be compared and satisfied.

The method of verifying a maneuverability generator for a flight training device with a side grip yoke of a small aircraft according to the present invention is characterized in that verification of the maneuver generator 110 for a side yoke grip 120 capable of satisfying FAA 14 CFR Part 60 ≪ / RTI >

Fig. 10 schematically shows a flight training apparatus for a small-sized aircraft equipped with a side yoke type grip 120. Fig. 10, the side yoke type grip 120 is provided so that the main pilot using the left seat can be held by the left hand, and the student pilot using the right seat can be held with the right hand.

Below the flight training device 100, a rudder pedal 250 may be provided which is used by each pilot to control the rudder.

The pilot who performs the flight training using the side yoke type grip 120 can sense the control feeling almost the same as the grip of the actual aircraft by the flight sense generator 110. [ The steering sense generator 110 may also be referred to as a steering reaction force device or a steering reduction timing or steerage steering force reproducing device.

The steering sense generator 110 according to the present invention is designed to give a pilot who performs a flight training using the side yoke type grip 120 the same feel as controlling an actual airplane, It can be modeled as a damper. Also, the steering sense generator 110 according to the present invention is preferably a reversible steering sense generator that simulates a reversible flight steering system.

2, a flight training apparatus 100 according to an exemplary embodiment of the present invention may include a CAN bus line 240 connected to a host computer 210 and a host computer 210. FIG. A gateway 220 may be provided at the interruption of the can bus line 240.

The gateway 220 may be provided as an E2CanGateway and the gateway 220 may be connected to the host computer 210 via an Ethernet or a universal serial bus (USB).

Six nodes may be provided in the CAN bus line 240 connected to the gateway 220. [ The side grip yoke 120 of the steering sense generator 110 is connected to the first to fourth nodes of the six nodes formed on the can bus line 240 and the rudder pedal , 250) can be connected.

Referring to FIG. 2, a CANopen device 230 may be connected to the CAN bus line 240. The can open device 230 is provided in a plug-in form and can be connected to the can bus line 240.

Although not shown, the flight training apparatus 100 according to an embodiment of the present invention includes a flight simulation engine (i.e., flight simulation software or program) connected to the flight sense generator 110, a flight sense generator 110, And an interface program for interfacing the simulation engine.

Hereinafter, a verification method of the steering feeling generator for the flight training device according to an embodiment of the present invention will be described.

Referring to FIG. 3, the verification method of the flight sense generator for the flight training device according to the embodiment of the present invention includes verification of the flight sense generator 110 for the flight training simulator of the small aircraft having the side grip yoke 120 The method of claim 12, further comprising: setting (1200) a hardware environment of the steering wheel generator (110); Connecting the flight sense generator 110 and the flight simulation engine 1300; Setting (1400) control forces for each roll / pitch / yaw axis of the steering feel generator; Interfacing (1600) the flight simulation engine; Designing (1700) the steering sense generator (110); And verifying the result of the flight simulation 1800.

Here, in step 1600 of interfacing with the flight simulation engine, the flight simulation engine may be interfaced to perform a test of the qualification criteria (QTG) of the flight training device (simulator).

A step 1100 of providing the steering feeling generator 110 before setting the hardware environment 1200 of the steering feeling generator 110 is required. In the present invention, it provided the hardware sense one trillion kinds generator (hardware control loader) manufactured by Brunner's Elektronik AG ^® to simulate the perfect feeling of manipulation of a small aircraft having a yoke-type side grip 120.

In the step 1200 of setting the hardware environment of the maneuver generator 110, the environment of the maneuver generator 110 can be set using the dedicated software CLS2SIM. In step 1200, a CAN bus line 240 connecting the host computer 210 and the steering wheel generator 110 is provided. The host computer 210, the steering wheel generator 110, An Ethernet or a universal serial bus (USB) for connecting the gateway 220 and the host computer 210 located on the can bus line 240 can be provided .

In the step 1300 of connecting the flight sense generator 110 and the flight simulation engine, setting of the flight sense generator 110 may be performed using CLS2SIM software. Here, the CLS2 SIM software can simplify the connection between the control sense generator 110 and the flight simulation engine with the TCP / IP or USB interface. In addition, the CLS2SIM software can support autopilot and trim functions.

In the step 1300 of connecting the navigation sense generator and the flight simulation engine, the side grip yoke 120 of the navigation sense generator 110 is connected to the first to fourth nodes among the six nodes formed in the can bus line 240 And a rudder pedal 250 may be connected to the fifth and sixth nodes. As described above, six nodes may be provided on the CAN bus line 240 connected to the host computer 210 via Ethernet or USB via the gateway 220. In addition, there are a total of three axes: roll, pitch and yaw axes.

When the setting of the steering sense generator 110 is completed, a main window shown in FIG. 5 appears on the screen. The screen shown in FIG. 5 shows the CLS2 SIM setting and the profile manager.

After the connection between the navigation sense generator 110 and the flight simulation engine is established, the user clicks a connect button on the screen shown in FIG. 5 to transmit the navigation sense generator 110 to the flight simulation engine (1300). If an error occurs in the connection process, it may be displayed at the lower part of the screen shown in FIG.

If the connection of the steering wheel generator 110 is successful, the screen shown in FIG. 6 is generated. FIG. 6 shows a main window showing the connection state of the steering feeling generator 110. FIG. As shown in FIG. 6, the maneuver generator 110 is activated only when it is connected to the CLS device, and may indicate the initialization or the completion of the connection by displaying the separated colors.

FIG. 7 shows a screen showing CANopen Commander software. You can configure complex CANopen devices using CAN Open Commander software. As shown in FIG. 2, a variety of plug-in type can open devices 230 can be used and quick and easy parameterization can be performed using these can open devices. You can optionally add plug-in devices flexibly using Can Open Commander software. Also, as shown in FIG. 2, the CAN network can access the external gateway 220 via Ethernet or USB.

In the step 1400 of setting the steering force for each of the roll / pitch / yaw axis of the steering feeling generator, the force can be set using the screen shown in Figs. 8 and 9. Fig. A separate screen appears for each axis, ie, roll / pitch / yaw axis, and you can set the force for each axis using a separate screen.

In step 1400 of setting the steering force for each roll / pitch / yaw axis of the steering feel generator, the force is independently set for each roll / pitch / yaw axis. At this time, it is preferable that the independent force setting for each roll / pitch / yaw axis is performed simultaneously.

When setting the force with respect to the three axes, it is preferable to set the ratio of the force to the roll: pitch: yaw axis to be 1: 2: 4. By setting the force on three axes to be such a ratio, a pilot using a flight training device can feel the most comfortable steering.

As shown in FIG. 8, a force profile value can be entered in a box next to the numbers 1 to 9. It is desirable that the input force profile value has a gradually increasing value in accordance with the steering feeling expected by the pilot. If the maneuverability is strong, the value should be large. If the maneuverability is weak, the value can be one.

The force factor tab shown in FIG. 8 relates to the relationship between the force and the aircraft indicated airspeed (IAS). Thus, in step 1400 of setting the steering force for each roll / pitch / yaw axis of the steering feeling generator 110, the force for each axis can be set in consideration of the relationship between the indicated waiting speed of the aircraft and the force have. In some cases, the step (1500) of considering the relationship between the force and the indicated waiting speed after step (1400) of setting the steering force for each of the roll / pitch / yaw axes of the steering feel generator may be performed separately.

For all manually controlled aircraft, the stiffness of the control increases as a function of the square of the indicated waiting speed. For example, in the case of an aircraft stall, the control is loose, whereas at the Vne (never exceed speed), the control is strong and adds a lot of resistance.

Airplanes with hydraulic, fly-by-wire and other auxiliary mechanisms can have pre-implemented steering feel in the system, but typically the effect of speed on control is reduced.

If you are satisfied with the standard calculation of the force factor, you can click "Use static force factor" in FIG. Here, the static force factor means that all values except for the indicated waiting speed are static, and accordingly, the force may rapidly increase to the square of the speed. Referring to Fig. 9, the use of a static force factor can be set through a slider or text box.

On the other hand, the dynamic force factor allows more control over the relationship between the indicated waiting speed and the force. Dynamic force factors can vary for different speeds. Dynamic force factors can be used to reduce the impact on fly-by-wire or hydraulic controlled aircraft and can be used to increase impact on aircraft when accurate simulations are needed.

As described above, in the step 1400 of setting the steering force for each of the roll / pitch / yaw axis of the steering feeling generator, if all the values except for the indicated waiting velocity are static, a static force factor A dynamic force factor can be used to reduce the impact on a fly-by-wire or hydraulic controlled aircraft.

If you want to use a dynamic force factor, it is useful to first set the static force factor to use to feel the steering of the value of each force factor. The larger the force factor value, the less force is applied. In addition, since the force varies with the square of the factor value, a very small range of factor values can make a large force difference.

Thus, after setting the force for the three axes, a process of interfacing with the flight simulation engine can be performed.

On the other hand, it is necessary to select a good flight simulation engine to test all of the test items of the Qualification Assessment Standard (QTG).

In the present invention, the flight simulation engine connected to the steering sense generator 110, that is, the flight simulation software, uses X-Plane ( ^R ) manufactured by Microsoft Corporation.

10 is a schematic view showing a flight deck in which a setting of a flight training device (simulator) for Cirrus SR-20 is completed. The settled flight training device may comprise an interface tool or interface program that interfaces with the flight simulation engine as well as perform qualification assessment (QTG) testing and processing entitlements. Here, the interface tool or interface program may include Matlab ( ^R ) or Simulink.

Hereinafter, MATLAB, the interface tool to the interface program (Matlab ^®) or Simulink describes the case that (Simulink) is used, however, found that in MATLAB (Matlab ^®) or Simulink (Simulink) is a mere example of the interface tool to the interface program, Leave.

Referring to FIG. 4, interfacing 1600 the flight simulation engine includes: driving 1610 an interface tool or interface program including a flight simulation engine and Simulink or Matlab; Checking (1620) the User Datagram Protocol (UDP); Setting a trim condition using the auto-pilot function (1630); Executing a flight simulation (1640); Recording (1650) the data of the flight simulation; And determining (1660) the tolerance for the data of the flight simulation. Further, the method may further include a step 1670 of storing the flight simulation result and generating a graph indicating the result of the simulation after the step 1660 of confirming the permissible vehicle.

The step 1610 of driving the interface tool or interface program including the flight simulation engine and Simulink or Matlab is a process of turning on the flight simulation engine and the MATLAB / SIMULINK.

In step 1620 of checking the user datagram protocol (UDP), an interface tool or an interface program including the simulation simulation engine or the MATLAB is connected to the flight simulation engine by the user datagram protocol or TCP / IP .

The interface between the flight simulation engine (ie X-Plane ^® ) and Simulink can be done by user datagram protocol or TCP / IP. Communication via a user datagram protocol or a TCP / IP protocol with a low latency rate by using a computer is very reliable.

After the step 1600 of interfacing the flight simulation engine is performed, a process of designing (designing) the steering sense generator 110 using Simulink is performed.

By using a double integrator method force loop architecture that models the maneuver generator 110 with mass, spring and damper, and with transfer function parameters that lie in the feedback path with spring constant and damping constant, The control structure of the sense generator 110 can be designed.

Thus, in step 1700 of designing the steering feel generator, the control structure of the steering feel generator 110 is designed using a dual integrator force loop architecture having spring constant and damping constant as parameters of the transfer function .

Referring to FIG. 11, the control loop used for designing the steering sense generator 110 includes two integrators 1 and 2, and a spring constant and a damping constant are input as parameters Able to know.

The maneuvering generator 110 may be designed to underdamped oscillation within a range of 0?? <1 during testing according to the qualification evaluation criterion QTG. The transfer function is expressed as Equation (1) and may be referred to as a secondary mass-spring-damper system.

In Equation (1),? _N is the underdamped natural frequency (rad / s), and? Is the damping constant.

), 속도(

) 및 위치(Xp)로부터 계산되는 현재 시뮬레이션되는 힘(Fsim)과 스텝 힘 입력(step force input)이 되는 측정된 힘(Fmeas) 사이의 차이에서부터 얻어지는 오차 힘(Ferror)이다. 여기서, 스텝 힘(step force)은 항공기의 조종면(control surface)에 대해서 부드러운 변형(deflection)을 얻기 위해서 직선적으로 증가된다. 스텝 힘의 값 변화 각각에 대해서 가속도 및 위치가 동시에 변하고 새로운 Fsim 값이 얻어진다. 최종적으로 오차 힘(Ferror)이 조종감 생성기를 구동하게 되는데, 조종간 위치의 출력값이 비행 시뮬레이션 엔진 X-plane에 입력으로 보내지고, X-plane은 엘리베이터(elevator), 에일러런(aileron) 및 러더(rudder)와 같은 조종면을 변형하게 된다.Also, in the step 1700 of designing the steering feel generator, an error force (Ferror) obtained from the difference between the current simulated force (Fsim) and the measured force (Fmeas), which is calculated from the acceleration, It can be used as an input. The input force is the acceleration of the control column

), speed(

And the measured force Fmeas which is the step force input and the error force Ferror that is obtained from the difference between the current simulated force Fsim calculated from the position Xp and the measured force Fmeas which is the step force input. Here, the step force is linearly increased to obtain a soft deflection with respect to the control surface of the aircraft. For each change in step force value, the acceleration and position change simultaneously and a new Fsim value is obtained. Finally, an error force (Ferror) drives the steering control generator. The output value of the steering position is input to the flight simulation engine X-plane, and the X-plane is an elevator, anileron, such as a rudder.

Equation (1) can be simplified as Equation (2) to Equation (4) to obtain a force equation.

In Equation (4), m is the mass of the steering feeling generator (kg), c is the damping coefficient (Ns / m), and k is the spring stiffness (N / m).

After performing the procedures described above, a step of verifying the simulation results and verifying that it meets the Level 5 FTD eligibility criteria (QTG) of FAA 14 CFR Part 60 is performed. To this end, in a step 1800 of verifying the result of the flight simulation, the result obtained from the steering sense generator interfaced with the flight simulation engine is compared with the result obtained from the simulink model, and the results of the simulation including the aeronautical, elevator and rudder The simulation results for the control surface can be graphically displayed.

The verification can be performed by comparing the software configuration results including the hardware and flight simulation engine including the steering feel generator. Hardware results are obtained from the steering sense generator by interfacing with the flight simulation engine (X-plane). Compare how much force is needed to move the joystick, and graph the results. Software results are also performed in the same manner.

The software configuration results can be obtained from the Simulink model shown in FIG. 11, a portion for controlling the steering sense generator 110 is shown and the outputs of the side yoke type grip 120 and the steering sense generator 110 are used for flight simulation Is sent to the engine (X-plane, see 300 of FIG. 11) as input data, and finally the steering surfaces are controlled by the output of the flight simulation engine.

Meanwhile, in step 1660 of checking the tolerance on the data of the flight simulation, it is possible to determine whether or not the limit of force defined in the FAA 14 CFR Part 60 is satisfied.

As a result of the verification, the results of the verification for the elevator, the elevator and the rudder are shown in a graph, and the results are shown in Table 2 below. Table 2 also lists the tolerance and breakout force limits mentioned in FAA 14 CFR Part 60.

In order to verify the simulation results, we compared the steering position of the flight training device that conforms to the aircraft and the force applied to the steering wheel. For this purpose, a force gauge was used to measure the force required for control deflection. Push the joystick all the way forward slowly, then slowly pull the joystick backward, and then position the joystick in neutral. After this process, all the values obtained from the CLM2SIM software are recorded and shown in a graph, and FIG. 12 is a graphical result.

Referring to Figure 12, the results for the steerage position and steerage force are graphically represented. Pitch control results for control position and control force show that the hardware side and software side results are almost identical.

FIG. 13 is a graphical representation of the results of the wheel position and the force applied to the wheel. Referring to FIG. 13, the roll control results of the wheel position and the force applied to the wheel are shown as hardware results And the results of the software side are almost the same.

FIG. 14 is a graphical representation of the results of the position of the rudder pedal and the force applied to the rudder pedal. Referring to FIG. 14, the result of yaw control for the position of the rudder pedal and the force applied to the rudder pedal And the results of the software side are similar.

As described above, the method for evaluating the proposed qualification criteria (QTG) in the verification method of the maneuverability generator for a flight training device of a small aircraft equipped with a side yoke grip according to the present invention is described in FAA 14 CFR Part 60 It can be useful for evaluating and verifying a flight simulator for fixed-wing aircraft that meets the Level 5 FTD Qualification Standards (QTG).

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described, and all of the equivalents or equivalents of the claims, as well as the following claims, belong to the scope of the present invention .

100: Flight training device 110: Pilot generator
120: Side yoke grip 130: Shaft
210: host computer 220: gateway
230: Can open device 240: Can bus line
250: Rudder pedal

Claims (10)

A method for verifying a maneuverability generator for a flight training device of a small aircraft having a side grip yoke,
Setting a hardware environment of the steering wheel generator using dedicated software;
Connecting the flight sense generator and the flight simulation engine using the dedicated software;
Setting a steering force for each roll / pitch / yaw axis of the steering feeling generator;
Interfacing the flight simulation engine;
Designing the steering feel generator; And
And verifying the result of the flight simulation,
In the step of designing the steering feeling generator,
Designing the control structure of the steering feel generator using a dual integrator force loop architecture having a spring constant and a damping constant as parameters of the transfer function, wherein the damping constant (ξ) is determined during testing according to the qualification criteria (QTG) Designates the steering feeling generator so as to under-attenuate vibration within a range of 0?? <1,
The error force (Ferror) obtained from the difference between the current simulated force (Fsim), which is calculated from the accelerations, velocities and positions of the controls, and the measured force (Fmeas), which is a step force input,
A new simulated force (Fsim) value is obtained by simultaneously changing the acceleration and the position of the steering wheel with respect to the linearly increasing step force change, and the error force drives the steering feeling generator,
In interfacing the flight simulation engine, the flight simulation engine is interfaced to the flight simulation engine by an interface tool or interface program to evaluate or test whether the flight control generator meets the Level 5 Qualification Assessment Criteria (QTG) of FAA 14 CFR Part 60. [ Wherein the side grip yoke has a side grip yoke.
The method according to claim 1,
Wherein the step of interfacing the flight simulation engine comprises:
Driving an interface tool or interface program including the flight simulation engine and a simulink or a matlab;
Checking a User Datagram Protocol (UDP);
Setting a trim condition of the flight simulation using the autopilot function;
Executing a flight simulation;
Recording data of a flight simulation; And
Determining a tolerance for the data of the flight simulation,
Wherein the step of verifying the tolerance for the data of the flight simulation determines whether or not the limit of force defined in FAA 14 CFR Part 60 is satisfied. .
3. The method of claim 2,
The step of setting the hardware environment of the steering wheel generator may include providing a CAN bus line connecting the host computer and the steering wheel generator, further providing a gateway between the host computer and the steering wheel generator, And an Ethernet or universal serial bus (USB) for connecting the gateway and the host computer located on the can bus line is provided.
The method of claim 3,
Wherein connecting the steering feeling generator to the flight simulation engine comprises connecting the side grip yoke of the steering wheel generator to the first to fourth nodes among the six nodes formed on the can bus line, And a rudder pedal is connected to the side grip yoke.
5. The method of claim 4,
In the step of setting the steering force for each of the roll / pitch / yaw axes of the steering feeler generator, a force is independently set for each of the roll / pitch / yaw axis, and a static force or dynamic And a force is set to the side grip yoke.
5. The method of claim 4,
Wherein the step of setting the steering force for each of the roll / pitch / yaw axes of the maneuverability generator sets the force for each axis in consideration of the relationship between the indicated waiting speed of the aircraft and the force Verification method of maneuver generator for one flight training device.
The method according to claim 6,
In the step of setting the steering force for each of the roll / pitch / yaw axes of the steering feel generator, a static force factor is used when all values except for the indicated waiting speed are static, Characterized in that a dynamic force factor is used to reduce the impact on fly-by-wire or hydraulically controlled aircraft. &Lt; RTI ID = 0.0 &gt; Verification method of maneuvering generator.
3. The method of claim 2,
Wherein the step of checking the user datagram protocol (UDP) connects an interface tool or an interface program including Simulink or MATLAB to the flight simulation engine by user datagram protocol or TCP / IP. A verification method of maneuver generator for flight training device with yoke.
9. The method according to any one of claims 2 to 8,
In the step of verifying the result of the flight simulation, the result obtained from the steering feeling generator that is interfaced with the flight simulation engine is compared with the result obtained from the simulation model, and simulation results of the steering surface including the aileron, the elevator and the rudder Wherein the side grip yoke is provided with a side grip yoke.
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