KR102061484B1 - A system for control loading system and a method for implementation of control loading system automatic qtg for synthetic flight trainer - Google Patents

Abstract

An automatic method of performing the Qualification Test Guide (QTG) verification of the control reaction system of the simulator is provided. The steering reaction system includes a steering wheel configured to receive a force related to steering from a trainer, a servo motor mechanically connected through the steering wheel and a connecting portion, an encoder for detecting a displacement between the steering wheel or the rotational position of the servo motor, and the steering wheel. And a steering reaction force control unit configured to generate the displacement between the steering by driving the servo motor based at least in part on information about the force and the output value of the encoder. The method of automatically performing QTG verification may include providing simulated force sensor data, which is a virtual force sensor output value required for QTG verification, to the steering reaction force control unit in a state in which a steering force is not applied between the steering and steering. While the reaction force controller generates the displacement between the steering by driving the servo motor based at least in part on the simulated force sensor data and the output value of the encoder, the simulated force sensor data and the flow of time according to the displacement between the steering. Acquiring QTG measurement data including information about the displacement between the steering wheel according to the control.

Description

A method for performing QTG verification on a control reaction system of a simulator flight training system and a control reaction system capable of automatic QTG verification

The present invention relates to a control reaction system of a simulation flight training apparatus, and more particularly, to a method and a control reaction system for automatically performing verification according to a Qualification Test Guide (QTG) for a control reaction system. It is about.

The simulated flight training system is a device that implements flight conditions similar to actual flight on the ground. In each country, regulations regarding grades, tolerances, and periodic inspections have been established and operated in relation to the manufacture and certification of such simulators. In Korea, the regulations of the Federal Aviation Administration (FAA) are applied, and the Ministry of Land, Infrastructure and Transport enacted the 'Flight Flight Simulator (FFS) Designation Standards and Inspection Guidelines'. It is classified into two types, Flight Training Device (FTD).

The simulation flight training system confirms its performance and operational quality according to the Qualification Test Guide (QTG), and research is underway to equip an automatic inspection system to inspect programs and hardware quickly and effectively. However, only some subsystems, such as flight performance, are equipped with an automatic inspection system, and the motion system or control loading system (CLS) does not have an automatic inspection system. The situation is being performed. In particular, the control reaction system is equipped with a separate measuring device to perform the QTG procedure, and as a person performs the measurement, the same test is performed in the same way due to an error in the mounting position of the measuring device and an uncertain human error. There is a problem that is difficult to do.

Korean Laid-Open Patent Publication No. 10-2011-0109529 ("Control reaction force control system and method")

One object of the present invention for solving the above problems, the control reaction force of the simulation flight training apparatus that can automatically perform the QTG by analyzing the performance criteria of the control reaction system and the conventional QTG performance method in the simulation flight training apparatus It is to provide the system automatic QTG execution method.

In addition, an object of the present invention for solving the above problems, which can automatically perform the QTG procedure of the control reaction system by simulating the load data loaded on the load cell of the control reaction system when performing the QTG procedure, It is to provide an automatic QTG execution method for the control reaction system of the simulation flight training system.

However, the problem to be solved of the present invention is not limited thereto, and may be variously expanded within a range without departing from the spirit and scope of the present invention.

In the method of automatically performing a Qualification Test Guide (QTG) verification for the control reaction system of the simulation flight training apparatus according to an embodiment of the present invention for achieving the above object, the control reaction system, the trainer A control panel configured to receive a force from the control unit from the control panel; A servo motor that is mechanically connected to the steering wheel through a connection part; An encoder for detecting a displacement between the steering wheel or a rotational position of the servo motor; And a steering reaction force control unit configured to generate the displacement between the steering by driving the servo motor based at least in part on the information on the force related to the steering and the output value of the encoder. Simulated force sensor data, which is a virtual force sensor output value required for QTG verification, to the steering reaction force control unit in a state in which a force related to steering is not applied between the steering units (the value of the force sensor in a state where no force is applied and the QTG Providing a controller output value (force unit) that causes the steering wheel to move at a predetermined speed for verification; And while the steering reaction force control unit generates the displacement between the steering by driving the servo motor based at least in part on the simulated force sensor data and the output value of the encoder, for the simulated force sensor data according to the displacement between the steering. The method may include obtaining QTG measurement data including information and information on the displacement between the steering wheel over time.

According to an aspect, the method may further include comparing the QTG measurement data with reference data to determine whether to pass the QTG verification based on whether the maximum error satisfies the acceptance criteria.

According to one aspect, the information on the displacement between the steering, can be determined based on the output value of the encoder.

According to an aspect, the control reaction system further includes a force sensor for sensing a force related to the steering, the force sensor may be any one of a load cell, a torque sensor and a push-pull gauge.

According to one aspect, the force sensor, the encoder and the servo motor may be included in an actuator for providing a steering reaction force for the steering.

According to one aspect, the simulated force sensor data is increased or decreased to move at a predetermined speed until the steering wheel reaches the first direction limit, and when the steering wheel reaches the first direction limit, the steering wheel is moved in the second direction. Time series value of force sensor data increasing or decreasing to move at a predetermined speed until reaching a limit, and increasing or decreasing to move at a predetermined speed until the steering wheel returns to a starting position when the steering wheel reaches a second direction limit. The QTG measurement data may include information on the force sensor output value of the displacement between the steering wheel to perform QTG verification on the static characteristics of the steering reaction system.

According to an aspect, the QTG measurement data may include information about the displacement between the steering wheel over time to perform QTG verification on the trim system rate of the steering reaction system.

According to one aspect, the simulated force sensor data is increased or decreased to move at a predetermined speed until the steering wheel reaches a first direction limit, and a force having a value of zero when the steering wheel reaches the first direction limit. The QTG measurement data, which is a time series value of the sensor data, may include information on the displacement of the steering wheel over time, and may perform QTG verification on the dynamic response of the steering reaction system.

According to another embodiment of the present invention for solving the above-described problems, the control reaction system of the simulation flight training apparatus capable of automatically performing the Qualification Test Guide (QTG) verification, the force applied to the steering from the trainer A steering wheel configured to receive; A servo motor that is mechanically connected to the steering wheel through a connecting part; an encoder for detecting a displacement between the steering wheel or a rotational position of the servo motor; A steering reaction force control unit configured to generate the displacement between the steering by driving the servo motor based at least in part on the information on the force related to the steering and the output value of the encoder; And an automatic QTG control unit, wherein the automatic QTC control unit simulates force sensor data which is a virtual force sensor output value required for QTG verification to the steering reaction force control unit in a state in which a steering force is not applied between the steering units. Provide a value of a force sensor without a force applied and a controller output value (in units of force) that allows the steering wheel to move at a predetermined speed for QTG verification; And while the steering reaction force control unit generates the displacement between the steering by driving the servo motor based at least in part on the simulated force sensor data and the output value of the encoder, for the simulated force sensor data according to the displacement between the steering. And QTG measurement data including information and information about the displacement between the maneuvers over time.

According to one aspect, the steering reaction force control unit and the automatic QTC control unit may be a software module respectively executed on a processor of a single computer device.

According to an aspect, the automatic QTG controller may be further configured to compare the QTG measurement data with reference data and determine whether to pass the QTG verification based on whether the maximum error satisfies the acceptance criteria.

According to one aspect, the information on the displacement between the steering, can be determined based on the output value of the encoder.

According to one aspect, the control reaction system further includes a force sensor for sensing a force related to the steering, the force sensor may be any one of a load cell, torque sensor and a push-pull gauge.

According to one aspect, the force sensor, the encoder and the servo motor may be included in an actuator for providing a steering reaction force for the steering.

According to one aspect, the simulated force sensor data is increased or decreased to move at a predetermined speed until the steering wheel reaches the first direction limit, and when the steering wheel reaches the first direction limit, the steering wheel is moved in the second direction. Time series value of force sensor data increasing or decreasing to move at a predetermined speed until reaching a limit, and increasing or decreasing to move at a predetermined speed until the steering wheel returns to a starting position when the steering wheel reaches a second direction limit. The QTG measurement data may include information on the force sensor output value of the displacement between the steering wheel to perform QTG verification on the static characteristics of the steering reaction system.

According to an aspect, the QTG measurement data may include information about the displacement between the steering wheel over time to perform QTG verification on the trim system rate of the steering reaction system.

According to one aspect, the simulated force sensor data is increased or decreased to move at a predetermined speed until the steering wheel reaches a first direction limit, and a force having a value of zero when the steering wheel reaches the first direction limit. The QTG measurement data, which is a time series value of the sensor data, may include information about the displacement of the steering wheel over time, and may perform QTG verification on the dynamic response of the steering reaction system.

The disclosed technique can have the following effects. However, since a specific embodiment does not mean to include all of the following effects or only the following effects, it should not be understood that the scope of the disclosed technology is limited by this.

According to the above-described method for automatically controlling the control reaction system of the simulated flight training apparatus according to the embodiment of the present invention, the performance criteria of the control reaction system and the conventional method of performing QTG in the simulation flight training apparatus are analyzed and the QTG procedure is performed. The QTG procedure of the control reaction system can be performed automatically by simulating the load data loaded on the load cell of the control reaction system.

Therefore, it is not necessary to attach a separate measuring device to the control reaction system in performing the QTG procedure of the control reaction system, so that an error caused by the change of the mounting position of the measurement equipment can be eliminated. It is possible to perform more accurate QTG procedures by eliminating human error.

Figure 1 shows the acceptance criteria for each test item simulated flight.
FIG. 2 shows a tolerance of dynamic characteristics in FIG. 1.
3 shows a general steering feeling measurement method.
4 shows the configuration of the control reaction system.
5 shows the actuator controller model.
6 is a block diagram showing the configuration of a control reaction system capable of automatically performing QTG verification according to an embodiment of the present invention.
7 is a detailed view of another embodiment of the steering reaction system of FIG.
8 is a flowchart of a method for automatically performing QTG verification for a steering reaction system according to an embodiment of the present invention.
9 shows static QTG verification results of an aircraft according to an embodiment of the present invention.
10 shows QTG verification results for free play among aircraft static characteristics according to an embodiment of the present invention.
11 illustrates a trim system rate QTG verification result according to an embodiment of the present invention.
12 illustrates QTG verification results for dynamic response according to an embodiment of the present invention.

As the present invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description.

However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. The term and / or includes a combination of a plurality of related items or any item of a plurality of related items.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art, and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

Hereinafter, with reference to the accompanying drawings, it will be described in detail a preferred embodiment of the present invention. In the following description of the present invention, the same reference numerals are used for the same elements in the drawings and redundant descriptions of the same elements will be omitted.

As described above, in general, in order to perform a Qualification Test Guide (QTG) verification procedure for the control reaction system, a separate measurement device is mounted in the control reaction system and a human measurement is used. Therefore, there is a problem that it is difficult to repeat the same test in the same way due to the error of the mounting position of the measurement equipment and the uncertain human error (Human Error).

The present invention is to solve the above-mentioned problems, analyzes the performance criteria of the control reaction system and the conventional QTG performance method in the simulation flight training apparatus, and simulates the load data loaded on the load cell of the control reaction system when performing the QTG procedure By doing so, the QTG procedure of the control reaction system can be performed automatically.

Therefore, it is not necessary to attach a separate measuring device to the control reaction system in performing the QTG procedure of the control reaction system, so that an error caused by the change of the mounting position of the measurement equipment can be eliminated. It is possible to perform more accurate QTG procedures by eliminating human error.

On the other hand, the following description of the present invention is described based on the evaluation of the performance criteria of the control reaction system of the simulated flight training apparatus for the aircraft, the performance criteria evaluation method of the control reaction system according to an embodiment of the present invention has a force feedback It can be applied to all equipment. For example, the method for evaluating the control reaction system according to the embodiment of the present invention may be applied to the control equipment of heavy equipment such as automobiles, ships or fork lanes, or the rowing of ships (eg, the angle and speed of the furnace, etc.). It can also be used for equipment such as fishing, skiing, etc.).

Performance standard of control reaction system

First, the performance standard of the control reaction system will be described. The control reaction system is a system that simulates the control of the flight simulator to be the same as the actual aircraft. The simulation flight training system should be configured so that the trainer feels as much control as the steering of the actual aircraft, and the force required to move the steering wheel in the actual aircraft depends on the displacement of the steering. Therefore, if the reference data on the required force for the control between the steering wheel in the real aircraft has each displacement, if the data obtained through OTG verification is based on the maximum error with the reference data in each steering displacement You can determine whether or not you passed the verification. Fig. 1 shows the acceptance criteria for the inspection items of the simulation flight apparatus of the Ministry of Land, Infrastructure and Transport, and can be designated as the simulation flight apparatus only when the range of the corresponding tolerance is satisfied.

As shown in FIG. 1, the inspection items are classified into the static characteristic test and the dynamic characteristic test. First, in the case of the static characteristic, the required force and the breakout force according to the position of the steering wheel movement for each channel between the control planes of the simulator, The test is to check for clearance and dynamics, and to determine whether the dynamic control of the trim system rate and under damped response between steering is the same as the actual aircraft. FIG. 2 shows the tolerance of the dynamics in FIG. 1, and the dynamic tolerance of the underdamping response is within ± 10% of the time spent for zero crossing and ± 10 (N for subsequent periods) as shown in FIG. 2. It is required to be within +1)%. In addition, the amplitude of the first overshoot must be within ± 10% and subsequent overshoots greater than 5% of the second amplitude and the initial displacement are required to be within ± 20%. Thereafter ± 1% is allowed.

Conventional QTG Execution Method

As described above, the control reaction system QTG of the conventional simulation flight training apparatus is generally used to make a separate measurement equipment for each manufacturer. 3 shows a general steering feeling measurement method. In most cases, the jig is designed to be equipped with a push-pull gauge or a load cell (torque sensor), a displacement sensor, an angle sensor, and the like, and a load cell / mounting jig 33 is mounted between the steering wheels as shown in FIG. Displacement sensor 31 which can be provided, and a person measures the feeling of control while applying a force to the jig.

In this regard, the QTG is not only performed at the time of initial designation of the simulated flight training apparatus, but only at regular intervals to maintain its effectiveness. However, since the subject performing this QTG procedure is the 'person' who operates the equipment, it is difficult to equip the same measuring equipment in the same position every time, and the degree of movement of the control rod and the magnitude of the applied force must also be different. In addition, since these human factors are reflected in the measurement results, it is cumbersome to perform the measurement repeatedly until a correct measurement result is obtained.

How to Perform QTG Verification on Control Reaction System

The present invention is to solve the above-described problems, it is possible to automatically perform the QTG procedure of the control reaction system by simulating the load data loaded on the load cell of the control reaction system when performing the QTG procedure.

4 shows an exemplary configuration of a steering reaction system. As shown in FIG. 4, the steering reaction system may include a steering wheel 410, a connection 420, a force sensor 431, an encoder 433, and a servo motor 435. According to one aspect, the force sensor 431, encoder 433, and servo motor 435 may be included in the actuator 430 configured to provide steering reaction force to the steering wheel 410.

More specifically, the steering wheel 410 is configured to receive a force related to the steering from the trainer, the servo motor 435 is mechanically connected via the steering wheel 410 and the connection 420. Therefore, the displacement occurrence of the steering wheel 410 can be linked with the drive of the servo motor 435. The force sensor 433 may detect a force related to the steering from the trainer applied to the steering wheel, and for example, when the force sensor 431 is provided at the rear end of the connection part 420, the connection included in the connection part 420 The force changed according to the linkage gear ratio is detected.

The encoder 433 is configured to sense the displacement of the steering wheel 410 or the rotational position of the servo motor 435. According to one aspect, the encoder 433 may be included in the actuator 430 together to determine the rotational position of the servo motor 435, and the steering wheel through the unit conversion based on the rotational position of the servo motor 435 It may be configured to indicate a displacement of 410.

On the other hand, the steering reaction system is provided with a steering reaction force control unit, the steering reaction force control unit may be configured to generate a displacement between the steering by driving the servo motor based at least in part on the output value of the force sensor and the output value of the encoder. According to one aspect, the steering reaction force control unit may be configured to perform the control of the actuator 430, the actuator controller model will be described later.

Referring back to FIG. 4, the steering reaction system may receive a pilot's steering input through a load cell and an encoder mounted on the actuator. Conventional QTG performance measurement equipment should be used as a tool to measure the control of the actual aircraft and subsequently to conduct regular inspections of the simulated flight training equipment. In this connection, the required force and the displacement between the steering input data obtained through the measurement equipment can be matched with the load cell / encoder resolution data of the steering reaction system only by simple unit conversion. Therefore, the automatic method of performing QTG verification for the control reaction system according to an embodiment of the present invention, the force sensor 431 included in the control reaction system and / or without mounting a separate measuring equipment and / or jig Alternatively, the QTG verification procedure for the steering reaction system may be performed based on the output value of the encoder 433. According to one aspect, the unit conversion between the steering input data including the required force and the displacement between the steering and the load cell and encoder output can be performed by validating the data at the first designated inspection, and then using the measurement equipment in the regular inspection. Instead, the QTG verification procedure can be performed using the output of the force sensor and encoder mounted on the actuator. That is, when the trainer does not apply force between the controls, the controller generates virtually the force sensor output value corresponding to the force applied between the controls and the actuator reacts to control the actuator. Automated QTG verification procedures can be performed.

Fig. 5 shows the actuator controller model of the control reaction system of the simulator. As shown in FIG. 5, the force used as an input of the mass model in the actuator controller model is a force applied by the pilot between the pilot and the force according to the aircraft characteristics simulated in the flight control model, and other friction and damping forces. According to Newton's second law of acceleration (ΣF = ma), the actuator controller can use a method of calculating and controlling acceleration, velocity, and position values by using inertia and integration for this force. According to an aspect of the present invention, by simulating a value corresponding to the load cell measurement data (hereinafter referred to as 'force sensor output value') of the factors of the mass model, and corresponding to the sequence of force sensor output value appearing when performing the QTG procedure By inputting the simulated force sensor data into the actuator controller model (or steering reaction force control), the QTG measurement data can be obtained by recording the force required in real time by automatically moving the steering wheel without inputting the pilot's control.

6 is a block diagram showing the configuration of a control reaction system capable of automatically performing QTG verification according to an embodiment of the present invention. As shown in FIG. 6, a control reaction system capable of automatically performing QTG verification according to an embodiment of the present invention includes a steering wheel 630, a force sensor 621, an encoder 623, and a servo motor 625. And computing device 610. According to one aspect, the force sensor 621, encoder 623, and servo motor 625 may be included in an actuator 620 configured to provide steering reaction force to the steering wheel 630.

More specifically, the steering wheel 630 is configured to receive a force related to steering from the trainer, and the servo motor 625 is mechanically connected to the steering wheel 630 through a connection. Thus, displacement generation of the steering wheel 630 can be linked with driving of the servo motor 625. The force sensor 621 can detect the force related to the steering from the trainer applied to the steering wheel, for example, when the force sensor 621 is provided at the rear end of the connection, the linkage gear ratio included in the connection (Linkage Gear Ratio) The changed force will be detected.

The encoder 623 is configured to sense the displacement of the steering wheel 630 or the rotational position of the servo motor 625. According to one aspect, the encoder 623 may be included in the actuator 620 together to determine the rotational position of the servo motor 625, the steering wheel through the unit conversion based on the rotational position of the servo motor 625 May be configured to indicate a displacement of 630.

On the other hand, the computing device 610 may be provided with a steering reaction force control unit 613. According to one aspect, the steering reaction force control 613 may be a software module running on the computing device 610. The steering reaction force control unit 613 may be configured to drive the servo motor 625 to generate a displacement in the steering wheel 630 based at least in part on the output value of the force sensor 621 and the output value of the encoder 623. According to one aspect, as described above with respect to the actuator driver model, the inertia and the inertia based on the forces of the aircraft characteristics simulated in the flight control model, as well as the output value of the force sensor 621, and other forces such as friction and damping It may be configured to control the servo motor by calculating an operation value through integration.

Referring back to FIG. 6, a control reaction system of a simulation flight training apparatus capable of automatically performing a Qualification Test Guide (QTG) verification according to an embodiment of the present invention includes an automatic QTG controller 611. . The automatic QTG control 611 may be provided as a software module, for example, performed on the computing device 610 as shown in FIG. 6, and according to one aspect the steering reaction force control on the same processor of the computing device 610. 613 and a software module that are each executed. However, the automatic QTG controller 611 may be driven in a device separate from the computing device 610, and may be implemented as an independent hardware device.

The automatic QTG control unit 611 may be configured to provide simulated force sensor data to the steering reaction force control unit 613 in a state in which no force relating to the steering is applied to the steering wheel 630. The simulated force sensor data indicates a virtual force sensor output value to be input to the steering reaction force control unit 613, which is required for QTG verification. More specifically, the simulated force sensor data may represent a value obtained by adding a force sensor value in a state where no force is applied and a controller output value (force unit) for moving the steering wheel at a predetermined speed for QTG verification. The simulated force sensor data may be a sequence of force sensor output values measured according to the displacement between the controls in the force sensor of the mounted jig when the user directly performs QTG verification. Therefore, even in a situation where the trainer does not apply the force to the steering wheel 630, the simulated force sensor data is input to the steering reaction force control unit 613 in place of the output value of the force sensor 621, and the steering reaction force control unit 613 simulates. The servo motor 625 can be driven based at least in part on the force sensor data and the output value of the encoder to generate a displacement in the steering wheel 630.

The automatic QTG controller 611 displaces the steering wheel while the steering reaction force control unit drives the servo motor 625 based on at least partly based on the simulated force sensor data and the output value of the encoder 623 to generate a displacement in the steering wheel 630. And QTG measurement data including information about the simulated force sensor data in accordance with the information and the displacement of the steering wheel 630 over time. The information about the displacement of the steering wheel 630 may be obtained by unit conversion based on the output value of the encoder 623. According to one aspect, as described above, based on the relationship between the measured value of the displacement of the steering wheel 630 measured by mounting the measurement equipment in the initial designation inspection and the output value of the encoder 623 in the initial designation inspection The conversion may be performed. Computing device 610 may include a memory (not shown), and the obtained QTG measurement data may be stored in a memory.

On the other hand, the automatic QTG controller 611 may be configured to compare the QTG measurement data with the reference data to determine whether to pass the QTG verification based on whether the maximum error satisfies the acceptance criteria. The reference data may be, for example, reference data obtained by mounting measurement equipment on a real aircraft. According to one aspect, since the data measured in the real aircraft is measured in a separate measurement equipment can be used as a reference data after performing a conversion for direct comparison with the force sensor, encoder data of the control reaction system. According to one aspect, after the initial QTG verification from the simulator to the measurement equipment, the force sensor and encoder data of the time can be stored and used as reference data. That is, according to one aspect, the reference data may be data for QTG verification obtained by mounting the measurement equipment in the initial designated inspection. Determination of whether to pass the QTG verification may be performed on the static characteristics and the dynamic characteristics, respectively, as described above with reference to FIGS. 1 and 2. According to one aspect, in the case of the static characteristics, the force required for each displacement may be determined based on whether the value of the point having the maximum error when compared with the reference data satisfies the acceptance criteria. However, it may not be determined that the acceptance criteria are unsatisfactory by temporarily deviating from the criteria at a certain point, and may determine whether the criteria are satisfied based on the overall steering tendency. The dynamic characteristics may be determined based on whether the trim system rate satisfies the acceptance criteria and whether the underdamping response satisfies the acceptance criteria described above with reference to FIG. 2.

On the other hand, Figure 7 is a specific view of another embodiment of the control reaction system of FIG. As shown in FIG. 7, in order to implement a simulated flight training apparatus for a real aircraft, the control reaction system of the simulated flight training apparatus includes a plurality of actuators 620-1, 620-2,? , 620-n, and corresponding servo drives 640-1, 640-2,?, 640-n, respectively. The plurality of inter-control channels may include channels for left / right (Roll), front / rear (Pitch), pedal, and collective between the controls. Computing device 610 may be, for example, a reaction control computer of a steering reaction system, an automatic QTG controller 611 and steering reaction force as a software module running on a processor of the reaction control computer, or as hardware included in the reaction control computer. The controller 613 may be included. Reaction force control computer 610 may also include a servo control board 615.

The servo drive 640 may convert the control command received from the servo control board 615 into a PWM signal. The power supply 660 can be configured to supply a 24V direct current power source, for example. The input / output board 650 may be configured to process a load cell signal mounted to the actuator 620, and the actuator 620 may be configured as a servo motor, an encoder, a load cell, an amplifier, and a housing, respectively, and may be manipulated between controls. Configured to generate a reaction force. The automatic QTG controller 611 may be configured to run on the reaction force control computer 610 as shown in FIG. 6 or to be installed and operated in a separate computer (eg, a maintenance notebook or the like). According to one aspect, the automatic QTG controller 611 may provide a monitoring and real-time tuning interface for the state variable, and may be configured to serve as a virtual host. For example, the automatic QTG controller 611 may be implemented as the virtual host program 617 and the monitoring and tuning program 619.

The virtual host program 617 may simulate the state data of the aircraft received from the host, and perform automatic argument control such as trim on / off when performing automatic QTG.

The monitoring and tuning program 619 selects a channel of the actuator to enable monitoring data and tuning data for automatic QTG. Monitoring and tuning can be performed for variable names, data values, units, and min / max values. Furthermore, it is possible to select and tune data with button clicks or keyboard inputs and to generate graphs with X-Y axes for the selected data. It is also possible to retrieve real aircraft reaction force data or MQTG data.

Regarding the automatic QTG verification method, more specifically, FIG. 9 shows static QTG verification results of an aircraft according to an embodiment of the present invention. As shown in FIG. 9, the QTG verification of the aircraft is required to measure the force required for steering at the displacement while changing the displacement between the steering. In this regard, the force exerted by the pilot between the steering wheel is originally obtained through the measurement of the force sensor in the steering reaction system, and can be replaced with simulated force sensor data in the automatic QTG verification of the steering reaction system according to an embodiment of the present invention. .

The simulated force sensor data is increased or decreased (910) to move at a predetermined speed until the steering wheel reaches the first direction limit, and when the steering wheel reaches the first direction limit (920), the steering wheel reaches the second direction limit. Force sensor data to increase or decrease (930) to move at a predetermined speed until it is reached, and to increase or decrease (940) to move at a predetermined speed until the steering wheel reaches its starting position when the steering wheel reaches a second direction limit. It may be a time series value of. Accordingly, the QTG measurement data obtained as shown in FIG. 9 may include information about the force sensor output value for the displacement between the steering wheel to perform QTG verification on the static characteristics of the steering reaction system.

In detail, when the automatic QTG is performed, the pilot does not have a force applied to the steering wheel, so that the simulated force sensor data, which is a virtual force sensor value, may be gradually increased to control the steering wheel to move slowly at a constant speed. The steering wheel moves forward (910). Here, for the sake of clarity, the pitch channel is described based on the front and rear terms. For example, the pitch may be moved to the front and then to the front. In addition, you can control movement in different directions on different channels between controls, such as left / right, pedals, and collective (up / down). According to one aspect, a simple proportional controller can be configured with respect to the command speed, and various control schemes can be applied. If the movement between the controls reaches the limit position, the displacement between the controls (encoder measurement) remains constant. Accordingly, a change of direction is performed when maintaining the displacement between the steering wheel and measuring the maximum force (920). The simulated force sensor data, which is virtual force sensor data, may be configured to divert when a predetermined condition is met, such as when a predetermined force or more is reached or when a preset (maximum) displacement is reached. After the turn, the steering wheel is moved back (930), and once it reaches the rear threshold, it can move back toward the turn and initial starting point (940). Here, it may be configured to move to the position where the offset value is added at the initial starting point. As illustrated in FIG. 9, the measured automatic QTG measurement data may be compared with the data of the actual aircraft, so that the QTG verification pass may be determined based on whether the maximum error exceeds the tolerance standard.

10 shows QTG verification results for free play among aircraft static characteristics according to an embodiment of the present invention. Similar to FIG. 9, QTG measurement data for Freeplay of a rotorcraft aircraft can be obtained by controlling time series values of the simulated force sensor data, and the QTG verification pass can be determined by comparing with reference data of a real aircraft.

11 illustrates a trim system rate QTG verification result according to an embodiment of the present invention. The aircraft's trim system can be configured with a specific rate so that the steering wheel reaches its neutral position again through the forward and reverse limits. Therefore, when performing QTG on the trim system, the Beep Trim button operation signal of the steering wheel is simulated, the forward button signal is simulated (1110) until the steering wheel reaches the forward limit position, and the steering wheel reaches the forward limit position. The reverse button signal can be simulated (1120), and if the steering wheel reaches the reverse limit position, the forward button signal can be simulated (1130), and the measurement can be ended when the steering wheel reaches the neutral position.

According to one aspect, it is possible to simulate the Beep Trim button operation between the control as described above. Accordingly, as shown in FIG. 11, the QTG measurement data may include information about the displacement between the steering wheels over time to perform QTG verification of the trim system rate of the steering reaction system. More specifically, it is determined whether the displacement amount between the steering over time as shown in FIG. 11, that is, the maximum error between the rate of change and the rate in reference data such as real aircraft data is smaller than the allowable limit. It can be determined whether the QTG verification pass.

12 illustrates QTG verification results for dynamic response according to an embodiment of the present invention. In the aircraft's dynamic response, the under damped response may indicate the movement characteristics of the steering wheel when the applied force is removed after the steering wheel is moved to the limit position. Therefore, as shown in FIG. 12, when performing the QTG verification for the dynamic response according to the automatic QTG verification method according to an embodiment of the present invention, the virtual force sensor data is applied until the steering wheel reaches the limit position. Generate a speed command by increasing or decreasing the force sensor reading (1210), and then release it (set the virtual force sensor value to 0) when the steering wheel reaches the limit position (1220), waiting for the settling time. It is possible to measure (1230) the data up to the time set by the tuning variable.

In this regard, according to one aspect, the simulated force sensor data is increased or decreased 1210 to move at a predetermined speed until the steering wheel reaches a first direction limit, and a value of 0 when the steering wheel reaches the first direction limit. It may be a time series value of the force sensor data having 1220. Therefore, the QTG measurement data may include information about the displacement between the steering wheel over time, so that the QTG verification for the dynamic response of the steering reaction system may be performed. The criterion of verification of the dynamic response should be, for example, within ± 10% of the time required for zero crossing, and within ± 10 (N + 1)% for subsequent periods, as described above with reference to FIG. 2. , The amplitude of the first overshoot must be within ± 10%, subsequent overshoots greater than 5% of the second amplitude and the initial displacement should be within ± 20%, and then within ± 1%. May be required.

8 is a flowchart of a method for automatically performing QTG verification for a steering reaction system according to an embodiment of the present invention. As shown in FIG. 8, in the method for automatically performing QTG verification for a steering reaction system according to an embodiment of the present invention, in a state in which a force for steering is not applied between the steering units, The simulated force sensor data, which is a virtual force sensor output value required for QTG verification, may be provided to the steering reaction force control unit controlling the steering reaction force (step 810).

Thereafter, while the steering reaction force control unit generates a displacement between the steering by driving the servo motor based at least in part on the simulation force sensor data and the output value of the encoder of the steering reaction system, the computing device is applied to the simulation force sensor data according to the displacement between the steering. QTG measurement data including the information about the information and the displacement between the steering over time can be obtained (step 820).

Once the QTG measurement data is obtained, the computing device may compare the obtained QTG measurement data with the reference data to determine whether to pass the QTG verification based on whether the maximum error satisfies the tolerance (step 830).

Detailed features of the method for automatically performing QTG verification according to an embodiment of the present invention as described above, may be dependent on the operation of the automatic QTG control unit of the control reaction system capable of automatically performing QTG verification according to the embodiment of the present invention described above. have.

Experimental Example

Implementing a software that can perform the method for automatic QTG verification according to an embodiment of the present invention, and by first configuring a test bench between the pilot control of one channel by performance criteria described with reference to Figures 1 and 2 above The experiment was performed.

As a result of the experiment, as shown in FIGS. 9 to 12, the maximum error level compared to the reference data was 2N (0.2 daN, 4%) in the case of positive characteristics, and Freeplay was measured to be less than 0.01 inch. The dynamic characteristics were found to be less than 10% for Trim System Rate and 10% for Control Dynamics. In FIGS. 9 to 12, the solid line graphs are virtual reference data corresponding to actual aircraft measurement values, and the dotted line graphs are QTG measurement data recorded in real time while performing an automatic QTG according to an embodiment of the present invention.

According to the experimental results, the control characteristics of the static characteristics and the dynamic characteristics were measured in the same manner as in the actual aircraft or the conventional QTG performance, and it can be seen that the conventional manual QTG performance procedure can be automatically performed. Thus, as the conventional uncomfortable QTG procedure is simplified and the measurement is performed automatically, the reliability of the result can also be increased.

The method according to the present invention described above may be embodied as computer readable code on a computer readable recording medium. Computer-readable recording media include all kinds of recording media having data stored thereon that can be decrypted by a computer system. For example, there may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like. The computer readable recording medium can also be distributed over computer systems connected over a computer network, stored and executed as readable code in a distributed fashion.

As described above with reference to the drawings and examples, it does not mean that the scope of protection of the present invention is limited by the above drawings or embodiments, and those skilled in the art are skilled in the art It will be understood that various modifications and variations can be made in the present invention without departing from the spirit and scope.

Specifically, the described features may be implemented within digital electronic circuitry, or computer hardware, firmware, or combinations thereof. The features may be executed in a computer program product implemented in storage in a machine readable storage device, for example, for execution by a programmable processor. And features may be performed by a programmable processor executing a program of instructions to perform functions of the described embodiments by operating on input data and generating output. The described features include at least one programmable processor, at least one input device, and at least one output device coupled to receive data and directives from a data storage system, and to transmit data and directives to a data storage system. It can be executed within one or more computer programs that can be executed on a programmable system comprising a. A computer program includes a set of directives that can be used directly or indirectly within a computer to perform a particular action on a given result. A computer program is written in any form of programming language, including compiled or interpreted languages, and included as a module, element, subroutine, or other unit suitable for use in another computer environment, or as a standalone program. Can be used in any form.

Suitable processors for the execution of a program of instructions include, for example, both general purpose and special purpose microprocessors, and one of a single processor or multiple processors of another kind of computer. Computer program instructions and data storage devices suitable for implementing the described features are, for example, magnetic memory such as semiconductor memory devices, internal hard disks and removable disks such as EPROM, EEPROM, and flash memory devices. Devices, magneto-optical disks and all forms of non-volatile memory including CD-ROM and DVD-ROM disks. The processor and memory may be integrated in application-specific integrated circuits (ASICs) or added by ASICs.

Although the present invention described above has been described based on a series of functional blocks, the present invention is not limited to the above-described embodiments and the accompanying drawings, and various substitutions, modifications, and changes without departing from the technical spirit of the present invention. It will be apparent to one of ordinary skill in the art that this is possible.

Combinations of the above-described embodiments are not limited to the above-described embodiments, and various types of combinations as well as the above-described embodiments may be provided according to implementation and / or need.

In the above-described embodiments, the methods are described based on a flowchart as a series of steps or blocks, but the present invention is not limited to the order of steps, and any steps may occur in a different order or at the same time from other steps as described above. have. Also, one of ordinary skill in the art appreciates that the steps shown in the flowcharts are not exclusive, that other steps may be included, or that one or more steps in the flowcharts may be deleted without affecting the scope of the present invention. I can understand.

The foregoing embodiments include examples of various aspects. While not all possible combinations may be described to represent the various aspects, one of ordinary skill in the art will recognize that other combinations are possible. Accordingly, the invention is intended to embrace all other replacements, modifications and variations that fall within the scope of the following claims.

Claims (8)

An automatic method of performing a Qualification Test Guide (QTG) verification on a control reaction system of a simulated flight training apparatus, performed by a computing device,
The steering reaction system includes a steering wheel configured to receive a force related to steering from a trainer; A servo motor that is mechanically connected to the steering wheel through a connection part; An encoder for detecting a displacement between the steering wheel or a rotational position of the servo motor; And a steering reaction force control unit configured to generate the displacement between the steering by driving the servo motor based at least in part on the information on the force related to the steering and the output value of the encoder,
The automatic method of performing the QTG verification,
Providing simulated force sensor data, which is a virtual force sensor output value required for QTG verification, to the steering reaction force control unit in a state where no force related to steering is applied between the steering units; And
Information about the simulated force sensor data according to the displacement between the controls while the steering reaction force control unit generates the displacement between the controls by driving the servo motor based at least in part on the simulated force sensor data and the output value of the encoder And acquiring QTG measurement data including information about the displacement between the maneuvers over time.
The method of claim 1,
And comparing the QTG measurement data with reference data to determine whether or not the QTG verification passes based on whether the maximum error satisfies the acceptance criteria.
The method of claim 1,
The information about the displacement between the steering, is determined based on the output value of the encoder, the automatic method of performing QTG verification for the steering reaction system.
The method of claim 1,
The control reaction system further includes a force sensor for sensing a force related to the steering, wherein the force sensor is any one of a load cell, a torque sensor and a push-pull gauge, the method of automatically performing QTG verification for the control reaction system .
The method of claim 4, wherein
Wherein the force sensor, the encoder and the servo motor are included in an actuator for providing a steering reaction force between the steering wheels.
The method of claim 1,
The simulated force sensor data is increased or decreased to move at a predetermined speed until the steering wheel reaches a first direction limit, and when the steering wheel reaches a first direction limit, when the steering wheel reaches a second direction limit. Increasing or decreasing to move at a predetermined speed until the steering wheel reaches a second direction limit, and is a time series value of force sensor data increasing or decreasing to move at a predetermined speed until the steering wheel returns to a starting position,
And the QTG measurement data includes information on the force sensor output value for the displacement between the steering to perform QTG verification for the static characteristics of the steering reaction system.
The method of claim 1,
The QTG measurement data includes information on the displacement between the steering over time to perform QTG verification for the trim system rate of the steering reaction system.
The method of claim 1,
The simulated force sensor data is increased or decreased to move at a predetermined speed until the steering wheel reaches a first direction limit, and a time series value of force sensor data having a value of zero when the steering wheel reaches a first direction limit. ego,
The QTG measurement data includes QTG verification for the dynamic response of the control reaction system, including information about the displacement between the control over time, and automatically performs QTG verification for the control reaction system. Way.

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