1226999 五、發明說明（1) 一、 【發明所屬之技術領域】 本發明係有關於一種飛控模擬及測試系統，尤指一種 可藉由個人電腦及乙太網路加以連結以達成協助飛行控制 (或飛行管理）電腦的發展並驗證其軟硬體設計是否正確， 確保飛行試驗的安全性與成功率之無人載具飛控模擬及測 試糸統。 二、 【先前技術】 按過去的模擬測試系統必須以大型的電腦主機系統為 之，其價格非常昂貴，在今日個人電腦硬體的大幅進步且 價格大幅降低之際，習知之高價模擬測試系統顯得不符需 求。而已核准有關模擬及測試系統之專利前案中，例如我 國第8 8 1 0 6 9 2 4號專利案「具有模擬測試功能之自動化測試 平台及其測試方法」係提供一種自動化測試平台，其包 括：一資料庫，儲存至少一測試步驟，該測試步驟經設定 為實際測試模式與模擬測試模式中之一者；一測試執行單 元，用以執行該測試步驟；以及一模擬單元，係當該測試 步驟設定為該模擬測試模式時，產生一模擬信號予該測試 執行單元。該8 8 1 0 6 9 2 4號專利案係提供一種一般之自動化 測試平台，並無法提供載具之飛控模擬及測試功能。 又如美國第5, 2 6 0, 874號專利案「航空器飛行模擬測 言式系統（A i r c r a f t flight emulation test system)」係 提供一種航空器測試系統用以評估該航空器在地面上之效 能，該航空器具有複數個不同之元件被同時加至該航空器 上，反應該些不同之元件之激勵，以產生測量之結果，包1226999 V. Description of the invention (1) 1. [Technical field to which the invention belongs] The present invention relates to a flight control simulation and test system, especially a type that can be connected by a personal computer and Ethernet to assist in flight control. (Or flight management) computer development and verification of its software and hardware design is correct, to ensure the safety and success rate of flight test unmanned vehicle flight control simulation and test system. 2. [Previous technology] According to the past, the simulation test system must be based on a large computer host system. Its price is very expensive. At the time when the personal computer hardware is greatly improved and the price is greatly reduced, the conventional high-priced simulation test system appears to be Does not meet demand. In the pre-patent case concerning the simulation and test system, for example, China's patent No. 8 8 10 6 2 4 "Automated test platform with simulation test function and its test method" provides an automated test platform, which includes : A database storing at least one test step, the test step being set to one of an actual test mode and a simulation test mode; a test execution unit for executing the test step; and a simulation unit for the test When the step is set to the analog test mode, an analog signal is generated to the test execution unit. The 8 8 1 0 6 9 2 patent case provides a general automated test platform and cannot provide the vehicle's flight control simulation and test functions. For another example, US Patent No. 5,260,874, "Aircraft flight emulation test system", provides an aircraft test system to evaluate the effectiveness of the aircraft on the ground. The aircraft A plurality of different components are added to the aircraft at the same time, and the stimuli of the different components are reflected to produce measurement results, including
1226999 五、發明說明（2) 括：複數個處理機控制的測試儀器；複數個測試儀器用以 測量該不同之元件之反應；以及處理器裝置用以控制該測 試儀器。該5，2 6 0，8 7 4號專利案需藉助於各種測試儀器以 量測該些不同之元件之激勵，且無法以個人電腦及網路執 行低成本且精確之載具之飛控模擬及測試功能。 三、【發明内容】 為了解決上述習知技術之缺點，本發明之目的係提供 一種無人載具飛控模擬及測試系統，其係應用於無人飛行 載具（UAV，Unmanned Aerial Vehicle)之自動飛行控制 模擬及測試。 本發明之無人載具飛控模擬及測試系統，其包括：飛 行控制電腦，一無人載具用以自動控制飛行的主要裝備， 亦為本系統欲進行驗證的待測目標：介面環境模擬系統， 耦接至該飛行控制電腦，用以提供該飛行控制電腦與該載 具之真實硬體介面環境，並模擬該載具之感測元件及伺服 機構等硬體模組，及提供操控該載具之人機介面和測試操 控指令，六目由度飛行模擬糸統，輕接至該介面壤境模擬 系統，用以模擬該載具在空中或起飛、落地時的飛行特 性，並提供該載具之一.動態模擬資料 :以及視效顯示系統，耦接至該介面環境模擬系統，係用 以接收該六自由度飛行模擬系統所提供之該載具速度、高 度、姿態等動態模擬資料並顯示在該載具之儀表及電子地 圖螢幕上，並模擬起飛、落地跑道場景顯示及該載具引 擎、螺槳、墜機等音效模擬。1226999 V. Description of the invention (2) Including: a plurality of test instruments controlled by the processor; a plurality of test instruments used to measure the response of the different components; and a processor device used to control the test instruments. The patent No. 5, 2 60, 8 7 4 requires the use of various testing instruments to measure the excitation of these different components, and cannot perform low-cost and accurate flight control simulation of the vehicle with a personal computer and network. And test functions. III. [Content of the Invention] In order to solve the shortcomings of the above-mentioned conventional technologies, the object of the present invention is to provide an unmanned vehicle flight control simulation and test system, which is used for automatic flight of unmanned aerial vehicle (UAV, Unmanned Aerial Vehicle). Control simulation and testing. The unmanned vehicle flight control simulation and test system of the present invention includes: a flight control computer, a main equipment for automatically controlling flight of the unmanned vehicle, and also a test target to be verified by the system: an interface environment simulation system, Coupled to the flight control computer to provide the real hardware interface environment of the flight control computer and the vehicle, simulate the hardware components such as the sensing elements and servos of the vehicle, and provide control of the vehicle Human-machine interface and test control instructions, Liumu Youdu flight simulation system, lightly connected to the interface soil simulation system, to simulate the flight characteristics of the vehicle in the air or when taking off and landing, and provide the vehicle One. Dynamic simulation data: and a visual effect display system, coupled to the interface environment simulation system, are used to receive and display dynamic simulation data such as vehicle speed, altitude, and attitude provided by the six-degree-of-freedom flight simulation system. On the vehicle's instrument and electronic map screen, the simulation of the takeoff and landing runway scene display and the vehicle's engine, propeller, crash and other sound effects simulation.
1226999 五 '發明說明（3) 為使 貴審查委員能進一步瞭解本創作之結構、特徵 及其目的，茲附以圖式及較佳具體實施例之詳細說明如 后。 四、【實施方式】 請參照圖1，其繪示根據本發明之一較佳實施例之無 人載具飛控模擬及測試系統之示意圖。如圖所示，本發明 之無人載具飛控模擬及測試系統包含：飛行控制電腦1 0 ; 介面環境模擬系統2 0 :六自由度飛行模擬系統3 0 ;以及視 效顯示系統40所組成。 其中，該飛行控制電腦1 0係用以控制一無人載具（圖 未示）之自動飛行，為無人載具上一主要的裝備系統件， 以作為本系統中欲進行驗證的待測目標，是以，飛行控制 電腦1 0是本系統中唯一待測的實際物體，其餘三項則皆為 模擬的虛擬系統；介面環境模擬系統2 0，係耦接至該飛行 控制電腦1 0，用以提供該飛行控制電腦1 0與該載具之真實 硬體介面環境，並模擬該載具之感測元件及伺服機構等硬 體模組，及提供操控該載具之人機介面和測試操控指令； 該六自由度飛行模擬系統3 0，係雜接至該介面環境模擬系 統2 0，用以模擬該載具.在空中或起飛、落地時的飛行特 性，並提供該載具之一動態模擬資料，例如該載具之飛行 高度、速度以及姿態等等，該六自由度飛行模擬系統3 0可 模擬無人飛機、I D F、F - 1 6或幻象（M i r a g e )戰鬥機等載 具：以及該視效顯示系統4 0，係由一台或多台之個人電腦 所組成，係耦接至該介面環境模擬系統2 0，用以接收該六1226999 Five 'Description of the Invention (3) In order to allow your reviewers to further understand the structure, characteristics and purpose of this creation, drawings and detailed descriptions of preferred embodiments are attached below. IV. Implementation Please refer to FIG. 1, which illustrates a schematic diagram of an unmanned vehicle flight control simulation and test system according to a preferred embodiment of the present invention. As shown in the figure, the unmanned vehicle flight control simulation and test system of the present invention includes: a flight control computer 10; an interface environment simulation system 20: a six-degree-of-freedom flight simulation system 30; and a visual effect display system 40. Among them, the flight control computer 10 is used to control the automatic flight of an unmanned vehicle (not shown), and is a major equipment system component on the unmanned vehicle as a test target to be verified in this system. Therefore, the flight control computer 10 is the only actual object to be measured in this system, and the remaining three items are simulated virtual systems. The interface environment simulation system 20 is coupled to the flight control computer 10 for Provide the real hardware interface environment of the flight control computer 10 and the vehicle, simulate the hardware components such as the sensor components and servos of the vehicle, and provide the human-machine interface and test control instructions for controlling the vehicle The six-degree-of-freedom flight simulation system 30 is connected to the interface environment simulation system 20 to simulate the vehicle's flight characteristics in the air or during take-off and landing, and provides one of the vehicle's dynamic simulations. Data, such as the vehicle ’s flight altitude, speed, attitude, etc., the six-degree-of-freedom flight simulation system 30 can simulate vehicles such as unmanned aircraft, IDF, F-16, or Mirage fighters: and the video The display system 40, by a personal computer-based or more of the composition, based environment interface coupled to the simulation system 20, for receiving the six
1226999 五、發明說明（4) --- 自由度飛行模擬系統3〇所提供之該載具速度、高度、姿態 =動態模擬資料，將之顯示在模擬的載具儀表及電子地圖 螢幕上，可模擬起飛與落地之跑道場景、座艙内視野或飛 機外=顯示、及該載具引擎、螺槳、墜機等音效模擬。 、明ί…、圖2 其％示本發明之無人載具飛控模擬及測 試系統之Τ塊示意圖。如圖所示，本發明之飛行控制電腦 1 0、"面椒1兄杈擬系統2 0、六自由度飛行模擬系統3 〇以及 視效顯示系統40間係藉由一網路50連接以達到分散處理之 目的，該網路較佳係為一乙太網路（Ethernet)，且其所使 用之協定較佳係為TCP/ I P。由圖2可知該介面環境模擬系 統20是唯一與飛行控制電腦1 〇 (即待測件）有訊號連妙介 面的系統模組，換言之，它必須能提供飛行控制^ ^二 , 电1. U所 有週邊環境的模擬訊號，包括飛機上的各種感測t ^ 電裝備、控制翼面致動器，與其它機電系統等箄+ 工 丁、几寸寻之電壓訊 號，故此糸統模組必須能夠處理不同類型與大* Μ + ’、 的輸入/ 輸出（I /0 )信號，現今的個人電腦可藉由介面杨卡 (Ρ 1 ug - i n Card )輕易地擴充各種類型的I /〇作祕 炎，再配 合模組化的軟體設計，可以彈性地增減模擬功能& ° Μ適切地 符合介面環境模擬系統2 0環境的需要。 請再參照圖2，本發明之介面環境模擬系統2 q進—| 包括··一輸入/輸出介面裝置2 1 ; —通訊模組2 2 ; ^ y '一感測 器模組2 3 ; —監視燈號模組2 4 ; —馬達模組2 5 ;以一 機介面模組2 6。其中’該輸入/輸出介面裝置2 1係介於兮 飛行控制電腦1 〇與該介面環境模擬系統2 〇之間，1226999 V. Description of the invention (4) --- The vehicle speed, altitude and attitude provided by the DOF flight simulation system 30 = dynamic simulation data, which will be displayed on the simulated vehicle instrument and electronic map screen. Simulate take-off and landing runway scenes, cockpit view or out-of-plane = display, and sound simulation of the vehicle engine, propeller, crash, etc. Figure 2 shows the schematic diagram of the T block of the unmanned vehicle flight control simulation and test system of the present invention. As shown in the figure, the flight control computer 10 of the present invention, " face pepper 1 sibling system 20, six-degree-of-freedom flight simulation system 3 0, and visual effect display system 40 are connected by a network 50 to To achieve the purpose of decentralized processing, the network is preferably an Ethernet network, and the protocol used is preferably TCP / IP. It can be seen from FIG. 2 that the interface environment simulation system 20 is the only system module that has a signal interface with the flight control computer 10 (that is, the device under test). In other words, it must be able to provide flight control ^ ^ 二, electricity 1. U Analog signals of all surrounding environments, including various sensing signals on the aircraft, electrical equipment, control wing actuators, and other electromechanical systems, etc. + voltage signals of several inches, so the system module must be able to Handles different types of input / output (I / 0) signals with large * M + ', today's personal computers can easily expand various types of I / 〇 secrets through the interface Yang card (P 1 ug-in Card) Yan, combined with the modular software design, can flexibly increase or decrease the simulation function & ° M appropriately meet the needs of the interface environment simulation system 20 environment. Please refer to FIG. 2 again, the interface environment simulation system 2 q of the present invention includes:-an input / output interface device 2 1;-a communication module 2 2; ^ y 'a sensor module 2 3;- Monitor light module 2 4; —Motor module 2 5; Use a machine interface module 26. Among them, the input / output interface device 2 1 is between the flight control computer 1 〇 and the interface environment simulation system 2 〇,
第8頁 1226999 五、發明說明（5) 該介面環境模擬系統2 0及該飛行控制電腦間1 〇間之介面； 該通訊模組2 2，其可藉由一第一介面2 2 1耦接至該輸入/輸 出介面裝置2 1 ’用以將其所接收之資訊透過該輸入/輸出 介面裝置2 1傳送給該飛行控制電腦丨0處理，其中該第一介 面2 2 1較佳係為一 R S / 2 3 2或R S / 4 2 2介面，而該通訊模組2 2 則可為一GPS、GCS或Pay load模組；該感測器模組23，其 可藉由一第二介面231耦接至該輸入/輸出介面裝置21，用 以模擬感測該載具之各種狀態並透過該輸入/輸出介面裝 置2 1傳送給該飛行控制電腦1 〇處理，其中該第二介面2 3 ^ 較佳係為一類比至數位轉換介面（A DC)以便將感測模組所 感測之類比訊號轉換成數位訊號供該飛行控制電腦丨〇處 理，該監視燈號模組24，其可藉由一第三介面24 1耦接至 =輸輸出介面裝置21，用以模擬該載具之各種監視燈 虬亚透過該輸入/輸出介面裝置2丨傳送給該飛行控制電腦 1 理\其中該第三介面241係為一數位輸入/輸出介面 齡〇);該馬達模組25，其可藉由一第四介面251耦接至該 並輸出介面裝置2 1，用以模擬該載具之馬達驅動訊號 處^過^輸入/輸出介面裝置2 1傳送給該飛行控制電腦1 0 面.r其中该第四介面2 5 1係為一脈衝寬度調變（PWM )介 (圖 '厂4人機介面模組2 6，耦I接至一操縱桿或一遙控器 " 不）’供使用者操作該系統。 下之無人載具飛控模擬及測試系統之測試流程如 操控指^ ”面裱境模擬系統2 〇對飛行控制電腦1 0下達各種 ^ 並將六自由度飛行模擬器3 0所提供飛機動態資Page 8 1226999 V. Description of the invention (5) Interface of the interface environment simulation system 20 and the flight control computer room 10; The communication module 22 can be coupled through a first interface 2 2 1 To the input / output interface device 2 1 ′ is used to transmit the information received by the input / output interface device 2 1 to the flight control computer 丨 0 for processing, wherein the first interface 2 2 1 is preferably a RS / 2 3 2 or RS / 4 2 2 interface, and the communication module 2 2 can be a GPS, GCS or Pay load module; the sensor module 23 can be accessed through a second interface 231 Is coupled to the input / output interface device 21 for simulating sensing various states of the vehicle and transmitting to the flight control computer 10 through the input / output interface device 21 for processing, wherein the second interface 2 3 ^ Preferably, it is an analog-to-digital conversion interface (A DC) in order to convert the analog signal sensed by the sensing module into a digital signal for processing by the flight control computer. The monitoring light module 24 can be used by A third interface 24 1 is coupled to the input / output interface device 21 to simulate various types of the vehicle. The video light is transmitted to the flight control computer 1 through the input / output interface device 2, where the third interface 241 is a digital input / output interface age 0); the motor module 25, which can be used by A fourth interface 251 is coupled to the parallel output interface device 21 for simulating the motor drive signal of the vehicle. The input / output interface device 21 is transmitted to the flight control computer 10 surface. The fourth interface 2 5 1 is a pulse width modulation (PWM) interface (picture 'factory 4 human-machine interface module 26, coupled to a joystick or a remote control " no)' for user operation The system. The test flow of the unmanned vehicle flight control simulation and test system is as follows: Control finger ^ "Face mounting simulation system 2 〇 Various flight control computers 10 are issued ^ and six-degree-of-freedom flight simulator 30 provided aircraft dynamic data
1226999 五、發明說明（6) 料經由介面環境模擬系統2 0的感測器模組2 3模擬後送至飛 行控制電腦1 0，飛行控制電腦1 0即依據所設計之飛行控制 律計算飛機各控制面及油門角度，並將各控制面及油門角 度命令透過介面環境模擬系統2 0之各控制面及油門伺服器 模組（圖未示）模擬後，送至六自由度飛行模擬器3 0以進行 飛機姿態變化的計算，並從視效顯示系統4 0中瞭解飛行控 制電腦1 0是否能夠依照設計需求精準無誤的控制飛機。 其中，當該介面環境模擬系統20單獨存在時，所產生 的感測器元件2 3訊號是一種可自行設定數值的模擬方式， 故使用者可以任意地模擬出特定的飛行狀態並持續保持該 狀態不變，以驗證飛行控制電腦1 0的反應是否正確，此即 為靜態的測試驗證。而當該介面環境模擬系統2 0透過乙太 網路5 0與後端的該六自由度飛.行模擬系統3 0連結後，可以 即時地計算出下一時間的飛機姿態、速度、航向、高度等 等的飛行動態資料，作為前述的感測器模擬元件2 3的訊號 來源並後送至飛行控制電腦1 0，飛行控制電腦1 0即依據所 設計之飛行控制律計算出飛機各控制翼面及油門的角度命 令，再透.過該介面環境模擬系統2 0將各控制命令傳遞給六 自由度飛行模擬系統3 0 .，計算再下一時間的飛機動態資 料，如此循環不斷地展現出飛機的飛行動態行為，此為動 態的飛行模擬。在動態的飛行模擬過程中，如搭配電子地 圖、飛行儀表、飛機模型等視效顯示系統4 0，即可將前述 的飛機動態資料予以具體地圖像呈現，給予操作者有虛擬 實境的感覺，加上人機操作介面裝置2 6即可做為簡易的人1226999 V. Description of the invention (6) The sensor module 2 3 of the interface environment simulation system 20 is simulated and sent to the flight control computer 10, and the flight control computer 10 calculates the aircraft according to the designed flight control law. Control surface and throttle angle, and each control surface and throttle angle command is simulated through each control surface of the interface environment simulation system 20 and the throttle server module (not shown), and then sent to the six-degree-of-freedom flight simulator 30 In order to calculate the attitude change of the aircraft, and understand from the visual display system 40 whether the flight control computer 10 can accurately control the aircraft according to the design requirements. Among them, when the interface environment simulation system 20 exists alone, the generated sensor element 23 signal is a simulation method that can set values by itself, so the user can arbitrarily simulate a specific flight state and continue to maintain the state Do not change to verify that the flight control computer 10 responds correctly. This is a static test verification. And when the interface environment simulation system 20 is connected to the six degrees of freedom at the back end through the Ethernet 50. After the line simulation system 30 is connected, the aircraft attitude, speed, heading, and altitude at the next time can be calculated in real time. Flight dynamics data, etc., are used as the signal source of the aforementioned sensor analog component 23 and sent to the flight control computer 10, and the flight control computer 10 calculates each control wing of the aircraft according to the designed flight control law And the angle command of the throttle, and then through. Through this interface, the environmental simulation system 20 transmits each control command to the six-degree-of-freedom flight simulation system 3 0. It calculates the aircraft dynamic data at the next time, and continuously displays the aircraft in this cycle. Flight dynamic behavior, this is a dynamic flight simulation. In the dynamic flight simulation process, if the visual effect display system 40, such as electronic maps, flight instruments, and aircraft models, is used, the foregoing aircraft dynamic data can be displayed in specific images, giving the operator a sense of virtual reality. , Plus human-machine interface device 2 6 can be used as a simple human
第10頁 1226999 五、發明說明（7 ) 員訓練機具。Page 10 1226999 V. Description of the invention (7) Training equipment for trainers.
所以，經由本發明之實施，可使無人載具飛控模擬及 測試系統具有下列優點：（1 )本發明之模擬系統、測試系 統、顯示系統及飛控系統均可個別由單一之個人電腦執 行，並藉由乙太網路架構加以連結可以達成預設之功能， 來取代昂貴的大型主機系統，不但大幅降低成本，而且系 統架構設計更加的模組化與擴充性；（2 )本測試系統亦可 以適時地予以擴充模組，而增加飛行模擬、人員訓練等功 能，甚至可以藉由強化軟體模組，而成為通用型的飛行模 擬與測試平台等。 本發明所揭示者，乃較佳實施例，舉凡局部之變更或 修飾而源於本發明之技術思想而為熟習該項技藝之人所易 於推知者，倶不脫本發明之專利權範疇。 綜上所陳，本發明無論就目的、手段與功效，在在顯 示其迥異於習知之技術特徵，且其首先發明合於實用，亦 在在符合發明之專利要件，懇請 貴審查委員明察，並祈 早日賜予專利，俾嘉惠社會，實感德便。Therefore, through the implementation of the present invention, the unmanned vehicle flight control simulation and test system can have the following advantages: (1) The simulation system, test system, display system and flight control system of the present invention can be individually executed by a single personal computer , And can connect to the Ethernet architecture to achieve the default function to replace the expensive mainframe system, not only greatly reduce costs, but also the system architecture design is more modular and expandable; (2) the test system Modules can also be expanded in due course, and functions such as flight simulation and personnel training can be added, and even software modules can be enhanced to become a universal flight simulation and test platform. The disclosure of the present invention is a preferred embodiment, and it is easy for people who are familiar with the technology to derive partial technical changes or modifications from the technical idea of the present invention without departing from the scope of patent rights of the present invention. To sum up, the present invention, regardless of the purpose, means, and effect, shows its technical characteristics that are quite different from the conventional ones. The first invention is practical, and it is also in line with the patent requirements of the invention. Pray for granting patents at an early date.
第11頁 1226999 圖式簡單說明 圖1是一示意圖，其繪示根據本發明之一較佳實施例之無 人載具飛控模擬及測試系統之示意圖。 圖2是一示意圖，其繪示本發明之無人載具飛控模擬及測 試系統之方塊示意圖。 介面環境模擬系統2 0 通訊模組2 2 感測器模組23 監視燈號模組24 馬達模組2 5 人機介面模組2 6 視效顯示系統40 【圖式元件標號說明】 飛行控制電腦1 0 輸入/輸出介面裝置21 第一介面2 2 1 第二介面2 3 1 第三介面241 第四介面2 5 1 六自由度飛行模擬系統3 0 網路5 0Page 11 1226999 Brief Description of Drawings Figure 1 is a schematic diagram showing a schematic diagram of an unmanned vehicle flight control simulation and test system according to a preferred embodiment of the present invention. FIG. 2 is a schematic diagram showing a block diagram of the unmanned vehicle flight control simulation and test system of the present invention. Interface environment simulation system 2 0 Communication module 2 2 Sensor module 23 Surveillance light module 24 Motor module 2 5 Human-machine interface module 2 6 Visual display system 40 [Illustration of labeling of graphic components] Flight control computer 1 0 I / O interface device 21 First interface 2 2 1 Second interface 2 3 1 Third interface 241 Fourth interface 2 5 1 Six degree of freedom flight simulation system 3 0 Network 5 0
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