TWI680079B - Flight simulation system and flight simulation method for a gyroplane - Google Patents

Abstract

The invention provides a gyroplane flight simulation system and a flight simulation method. The rotorcraft flight simulation system includes a rotorcraft, a gimbal platform, and a computer device. In this method of rotorcraft simulation flight, a virtual environment and a virtual rotorcraft are first constructed. Then, a universal platform is provided to sense the rotary action of the rotorcraft in multiple degrees of freedom and output the rotation information accordingly. The universal platform includes multiple rotation brackets and multiple rotation sensing modules. The rotation sensing module is used to sense the rotation of the rotation bracket and output rotation information accordingly. Next, calculate the flying attitude and trajectory of the rotorcraft based on the rotorcraft's motor information and rotation information. Then, according to the flight trajectory and flight attitude of the rotorcraft, control the flight action of the virtual rotorcraft in the virtual environment.

Description

Rotorcraft flight simulation system and flight simulation method

The invention relates to a rotorcraft simulation flight system and a simulation flight method, and particularly relates to a virtual rotor-plane integration flight simulation system and a simulation flight method.

Unmanned Aerial Vehicle refers to flying equipment without a pilot inside the aircraft, which mostly flies through external control. Because unmanned aerial vehicles can be applied to a variety of occasions such as aerial photography, search and rescue, exploration, and delivery, they have become more and more important and widely used in recent years. Generally speaking, UAVs use multi-axis rotorcraft. The flight control of a multi-axis rotorcraft usually requires high stability, so the operator of the unmanned aerial vehicle needs to perform various related trainings to control the unmanned aerial vehicle for various tasks.

However, during training, the UAV may be damaged due to lack of operator experience or lack of operation, which increases the training time and cost of the operator.

Therefore, an object of the present invention is to provide a rotorcraft flight simulation system and a flight simulation method, which use the virtual-real integration technology to integrate the flight movements of real rotorcraft and virtual rotorcraft in order to achieve the effect of flight simulation and reduce operation The training time and cost of staff are increased.

One aspect of the present invention is to provide a rotorcraft simulation flight system, which includes a rotorcraft, a gimbal platform, and a computer device. The rotorcraft has at least one motor sensing module for providing motor information of the rotorcraft. The universal platform is used to support the rotorcraft, and restricts the rotorcraft's flight movements to a preset space. The universal platform includes a platform support, a first-degree-of-freedom rotation support, a second-degree-of-freedom rotation support, a third-degree-of-freedom rotation support, and a plurality of rotation sensing modules. The first-degree-of-freedom rotating support is pivotally connected to the platform support. The second-degree-of-freedom rotation bracket is pivotally connected to the first-degree-of-freedom rotation bracket. The third-degree-of-freedom rotation bracket is pivotally connected to the second-degree-of-freedom rotation bracket, wherein the rotorcraft is fixed on the third-degree-of-freedom rotation bracket. The rotation sensing module is disposed on the platform bracket, the first degree of freedom rotation bracket and the second degree of freedom rotation bracket, and senses the first degree of freedom rotation bracket, the second degree of freedom rotation bracket and the third degree of freedom rotation bracket A plurality of rotation actions, and a plurality of rotation information is output accordingly. The computer device is used for virtual-real integrated flight simulation operation. In this virtual-real integrated flight simulation operation, first, the rotor attitude and flight trajectory are calculated based on the rotor information and rotor information. Then, construct a virtual environment and a virtual rotorcraft, and control the flying action of the virtual rotorcraft in the virtual environment according to the flight trajectory and flight attitude of the rotorcraft.

According to an embodiment of the present invention, the third-degree-of-freedom rotation bracket includes a first supporting rod, a first engaging structure, a second supporting rod, and a second Occlusal structure. The first support rod has a first end and a second end opposite to the first end, wherein the first end is pivotally connected to the second degree of freedom rotating support. The first engaging structure is used to fix the second end of the first support rod on the rotorcraft. The second support rod has a third end and a fourth end opposite to the third end, wherein the third end is pivotally connected to the second degree of freedom rotating support. The second engaging structure is used to fix the fourth end of the second support rod on the rotorcraft.

According to an embodiment of the present invention, the first engaging structure includes two first clamping plates and a plurality of first screws. The first clamping plate clamps the second end of the first support rod and the first end of the rotorcraft. The first screw is threaded in the first clamping plate to fix the first clamping plate.

According to an embodiment of the present invention, the second engaging structure includes two second clamping plates and a plurality of second screws. The second clamping plate clamps the fourth end of the second support rod and a second end portion of the rotorcraft. The second screw is threaded through the second clamping plate of the fish to fix the second clamping plate.

According to an embodiment of the invention, the second end portion of the rotorcraft is opposite to the first end portion of the rotorcraft.

According to an embodiment of the present invention, the rotation sensing module includes a first degree of freedom sensing module, a second degree of freedom sensing module, and a third degree of freedom sensing module. The first degree-of-freedom sensing module is disposed at a pivot joint between the first degree-of-freedom rotation support and the platform support. The second-degree-of-freedom sensing module is disposed at a pivot joint between the second-degree-of-freedom rotation bracket and the first-degree-of-freedom rotation bracket. The third-degree-of-freedom sensing module is disposed at a pivot joint between the third-degree-of-freedom rotation bracket and the second-degree-of-freedom rotation bracket.

According to an embodiment of the present invention, the first degree of freedom sensing The module is used for sensing the rotation angle of the first degree of freedom rotary support. The second-degree-of-freedom sensing module is used to sense the rotation angle of the second-degree-of-freedom rotating support. The third-degree-of-freedom sensing module is used to sense a rotation angle of the third-degree-of-freedom rotating support.

According to an embodiment of the present invention, the first degree-of-freedom sensing module is further configured to sense a rotation speed of the first degree-of-freedom rotating support. The second-degree-of-freedom sensing module is further configured to sense the rotation speed of the second-degree-of-freedom rotating support. The third-degree-of-freedom sensing module is used to sense the rotation speed of the third-degree-of-freedom rotating support.

According to an embodiment of the present invention, the first-degree-of-freedom rotation bracket and the second-degree-of-freedom rotation bracket are ring-shaped.

Another aspect of the present invention is to provide a rotorcraft simulated flight method. In this rotorcraft flight simulation method, a virtual environment and a virtual rotorcraft are first constructed. Then, a universal platform is provided to sense the rotation of the rotorcraft in a plurality of degrees of freedom and output a plurality of rotation information accordingly. Next, calculate the flying attitude and trajectory of the rotorcraft based on the rotorcraft's motor information and rotation information. Then, according to the flight trajectory and flight attitude of the rotorcraft, control the flight action of the virtual rotorcraft in the virtual environment.

100‧‧‧ Rotorcraft Flight Simulation System

110‧‧‧rotor

112, 114, 116, 118‧‧‧ propellers

120‧‧‧Universal platform

121‧‧‧platform bracket

121a‧‧‧Sub-bracket

121b‧‧‧ bottom fixing element

122‧‧‧First Degree of Freedom Rotation Bracket

123‧‧‧Second Degree of Freedom Rotation Bracket

124‧‧‧ Third Degree of Freedom Rotation Bracket

124a‧‧‧First support rod

124b‧‧‧Second support rod

125‧‧‧rotation sensing module

126‧‧‧rotation sensing module

127‧‧‧rotation sensing module

130‧‧‧Computer device

310‧‧‧Electronic Module

320‧‧‧Fixed components

330‧‧‧Electronic Module

340‧‧‧Fixed element

350‧‧‧electronic module

360‧‧‧Fixed components

CLP1‧‧‧First clamping plate

CLP2‧‧‧Second clamping plate

P1, P2, P3‧‧‧ pivot structure

P1a‧‧‧The first smooth element

P1b‧‧‧Hole-shaped pivot joint structure

P2a‧‧‧Second smooth element

P2b, P2c‧‧‧hole-shaped pivot joint structure

P3a‧‧‧ third smooth element

P3b‧‧‧Hole-shaped pivot joint structure

MA1, MA2, MA3‧‧‧magnet

In order to make the above and other objects, features, advantages, and embodiments of the present invention more comprehensible, the detailed description of the drawings is as follows: [FIG. 1] FIG. 1 is a diagram illustrating a rotorcraft simulation flight system according to an embodiment of the present invention. Schematic diagram of the structure; [FIG. 2] Schematic diagram showing the simple structure of the rotorcraft according to the embodiment of the present invention; [Fig. 3] is an exploded view showing the structure of a universal platform according to an embodiment of the present invention; and [Fig. 4] is a schematic flowchart showing a method of simulating flight of a rotorcraft according to an embodiment of the present invention.

Regarding the "first", "second", ... and the like used herein, they do not specifically mean the order or the order, but merely the difference between the elements or operations described in the same technical terms.

Please refer to FIG. 1, which is a schematic structural diagram of a rotorcraft simulation flight system 100 according to an embodiment of the present invention. The rotorcraft simulation flight system 100 includes a rotorcraft 110, a gimbal platform 120, and a computer device 130. The rotorcraft 110 has a plurality of motor sensing modules (not shown) for providing motor information of the rotorcraft to the computer device 130. In this embodiment, the motor sensing module is used for sensing the motor speed of the rotorcraft, and transmitting the information of the motor speed to the computer device 130 through a wireless transmission technology (such as WiFi). However, the embodiments of the present invention are not limited thereto. The universal platform 120 is used to support the rotorcraft 110 and restrict the flying action of the rotorcraft 110 to a preset space. In this embodiment, the universal platform 120 senses the rotation of the rotorcraft 110 in three degrees of freedom, and transmits the rotation information of the rotorcraft to the computer device 130 through the wireless transmission module. The computer device 130 is used to construct a virtual environment and a virtual rotorcraft, and display them on the screen. After the computer device 130 receives the motor information of the rotorcraft 110 and the rotorcraft rotation information provided by the universal platform 120, the computer device 130 will control the virtual rotorcraft in the virtual environment accordingly. Flight action. In this way, the flight operations of the physical rotorcraft 110 are integrated with the virtual rotorcraft of the computer device 130, so as to achieve the effect of integrating the virtual and the real.

Please refer to FIG. 2, which is a schematic diagram showing a simple structure of a rotorcraft 110 according to an embodiment of the present invention. In this embodiment, the rotorcraft 110 is an X-type four-axis rotorcraft. The four-axis rotorcraft is an under-actuated system with six degrees of freedom, including three degrees of freedom of movement (front-back, left-right, and up-and-down) and three degrees of freedom of rotation (roll, pitch, and yaw). The user can control the motors of the four propellers 112, 114, 116, 118 to operate the rotorcraft 110, so that the rotorcraft 110 can perform various flight actions. For the above three degrees of freedom of movement, the computer device 130 can obtain the movement information of the rotorcraft 110 in three degrees of freedom of front-back, left-right, and up-down through the motor information transmitted by the rotorcraft 110. For the above three degrees of freedom of rotation, the universal platform 120 can sense the rotation of the rotorcraft 110 in the three degrees of freedom of rotation, and provide the rotation information of the rotorcraft 110 to the computer device 130 accordingly. After the computer device 130 obtains the information about the three degrees of freedom and three degrees of freedom of rotation of the rotorcraft 110, it can control the virtual rotorcraft to perform the same flying action as the physical rotorcraft 110.

Returning to FIG. 1, the universal platform 120 includes a platform support 121, a first-degree-of-freedom rotation support 122, a second-degree-of-freedom rotation support 123, a third-degree-of-freedom rotation support 124, and a plurality of rotation sensing modules 125 to 127. The first-degree-of-freedom rotation bracket 122 is pivotally connected to the platform bracket 121 to rotate according to the pivot structure P1. The second-degree-of-freedom rotation bracket 123 is pivotally connected to the first-degree-of-freedom rotation bracket 122 to rotate according to the pivoting structure P2. The third-degree-of-freedom rotation bracket 124 is pivotally connected to the second-degree-of-freedom rotation bracket 123 to rotate according to the pivot structure P3. Rotorcraft 110 is fixed at a third degree of freedom to rotate On the bracket 124, when the rotorcraft 110 exhibits a flying action in three degrees of freedom of rotation, the first degree of freedom rotation bracket 122, the second degree of freedom rotation bracket 123, and the third degree of freedom rotation bracket 124 will be driven by the rotorcraft 110 and Follow the rotation. The rotation sensing modules 125 to 127 are provided corresponding to the first-degree-of-freedom rotation bracket 122, the second-degree-of-freedom rotation bracket 123, and the third-degree-of-freedom rotation bracket 124, respectively. The rotation operation of the DOF rotation holder 123 and the third DOF rotation holder 124. For example, the rotation sensing module 125 is disposed at a pivotal connection between the first-degree-of-freedom rotation bracket 122 and the platform bracket 121 to sense the rotation of the first-degree-of-freedom rotation bracket 122. For another example, the rotation sensing module 126 is disposed at a pivot joint of the second degree of freedom rotation bracket 123 and the first degree of freedom rotation bracket 122 to sense the rotation of the second degree of freedom rotation bracket 123. For another example, the rotation sensing module 127 is disposed at a pivot joint between the third-degree-of-freedom rotation bracket 124 and the second-degree-of-freedom rotation bracket 123 to sense the rotation of the third-degree-of-freedom rotation bracket 124.

Please refer to FIG. 3, which is a structural exploded view of the universal platform 120 according to an embodiment of the present invention. The platform support 121 includes a plurality of sub-supports 121a and a bottom fixing element 121b. The sub-bracket 121a is used to form a platform bracket 121 having a box shape, and the bottom fixing element 121b is used to fix the platform bracket 121 on the ground. The aforementioned pivot structure P1 includes a first smoothing element P1a and a hole-shaped pivot structure P1b. The hole-like pivot structure P1b is disposed in the sub-bracket 121a of the platform bracket 121. One end of the first smoothing element P1a passes through the hole-shaped pivoting structure P1b, and the other end is connected to the first-degree-of-freedom rotation bracket 122, so that the first-degree-of-freedom rotation bracket 122 is pivotally connected to the platform support 架 121。 Frame 121. The electronic module 310 is disposed on the pivot structure P1 through the fixing element 320 to sense the rotation angle of the first-degree-of-freedom rotation bracket 122 and transmit it to the computer device 130. In this embodiment, the electronic module 310 includes the aforementioned rotation sensing module 125 and a wireless transmission module, but the embodiment of the present invention is not limited thereto. In other embodiments of the present invention, the electronic module 310 may further include other electronic devices, such as a speed sensor, to provide more sensing information to the computer device 130.

In addition, the rotation sensing module 125 of this embodiment is a magnetic angle sensing module and has a magnet MA1. The magnet MA1 is fixed on one end of the first smoothing element P1a. In this way, the rotation sensing module 125 can obtain the rotation angle of the first-degree-of-freedom rotation bracket 122 by measuring the magnetic field change amount when the magnet MA1 rotates.

The aforementioned pivot structure P2 includes a second smooth element P2a, a hole-shaped pivot structure P2b, and P2c. The hole-shaped pivot structure P2b is disposed in the first-degree-of-freedom rotation bracket 122, and the hole-shaped pivot structure P2c is disposed in the second-degree-of-freedom rotation bracket 123. One end of the second smoothing element P2a is threaded through the hole-shaped pivoting structure P2b, and the other end of the second smoothing element P2a is threaded through the hole-shaped pivoting structure P2c, so that the second degree of freedom rotation bracket 123 is pivotally connected to First degree of freedom rotation bracket 122. The electronic module 330 is disposed on the pivot structure P2 through the fixing element 340 to sense the rotation angle of the second-degree-of-freedom rotation bracket 123 and transmit it to the computer device 130. In this embodiment, the electronic module 330 includes the aforementioned rotation sensing module 126 and a wireless transmission module, but the embodiment of the present invention is not limited thereto. In other embodiments of the present invention, the electronic module 330 may further include other electronic devices, such as a speed sensor, to Provide more sensing information to the computer device 130.

In addition, the rotation sensing module 126 of this embodiment is a magnetic angle sensing module and has a magnet MA2. The magnet MA2 is fixed on one end of the second smoothing element P2a. In this way, the rotation sensing module 126 can obtain the rotation angle of the second-degree-of-freedom rotation bracket 123 by measuring the magnetic field change amount when the magnet MA2 rotates.

The aforementioned pivot structure P3 includes a third smoothing element P3a and a hole-shaped pivot structure P3b. The hole-shaped pivoting structure P3b is disposed in the second-degree-of-freedom rotation bracket 123. One end of the third smoothing element P3a passes through the hole-shaped pivoting structure P3b, and the other end is connected to the first support rod 124a and the second support rod 124b of the third-degree-of-freedom rotation bracket 124, so that the third degree of freedom The rotating bracket 124 is pivotally connected to the second-degree-of-freedom rotating bracket 123. In this embodiment, the third-degree-of-freedom rotation bracket 124 includes the aforementioned first and second supporting rods 124a and 124b, and a first engaging structure and a second engaging structure for fixing the rotorcraft 110, wherein the first engaging structure Contains two first clamping plates CLP1 and a plurality of locking elements; the second engaging structure includes two second clamping plates CLP2 and a plurality of locking elements.

One end of the first support rod 124a is fixed to the third smoothing element P3a, and the other end of the first support rod 124a is fixed to the rotorcraft 110 through the first engaging structure. Specifically, the first clamping plate CLP1 clamps one end of the first support rod 124a and one end of the rotorcraft 110, and the locking element is penetrated in the first clamping plate CLP1, so that the first clamping plate CLP1 is locked to each other, so that the first support rod 124a is fixed on the rotorcraft 110.

One end of the second support rod 124b is fixed to the third smooth element. Piece P3a, and the other end of the first support rod 124b is fixed to the rotorcraft 110 through the second engaging structure. Specifically, the second clamping plate CLP2 clamps one end of the second support rod 124b and one end of the rotorcraft 110, and the locking element is penetrated in the second clamping plate CLP2 to place the second clamping plate CLP2 is locked to each other, so that the second support rod 124b is fixed on the rotorcraft 110.

In this embodiment, the locking element is a screw, which is threaded through the first clamping plate CLP1 and the second clamping plate CLP2, but the embodiment of the present invention is not limited thereto. In addition, the first support rod 124a and the second support rod 124b in this embodiment are respectively fixed on two opposite ends of the rotorcraft 110, so that it can be beneficial to support the rotorcraft 110 and measure the rotation information of the rotorcraft 110 .

The electronic module 350 is disposed on the pivot structure P3 through the fixing element 360 to sense the rotation angle of the third-degree-of-freedom rotation bracket 124 and transmit it to the computer device 130. In this embodiment, the electronic module 350 includes the aforementioned rotation sensing module 127 and a wireless transmission module, but the embodiment of the present invention is not limited thereto. In other embodiments of the present invention, the electronic module 350 may further include other electronic devices, such as a speed sensor, to provide more sensing information to the computer device 130.

In addition, the rotation sensing module 127 of this embodiment is a magnetic angle sensing module and has a magnet MA3. The magnet MA3 is fixed on one end of the third smoothing element P3a. In this way, the rotation sensing module 127 can obtain the rotation angle of the third-degree-of-freedom rotation bracket 124 by measuring the magnetic field change amount when the magnet MA3 rotates.

Please refer to FIG. 4, which illustrates a rotor according to an embodiment of the present invention. A schematic flow chart of the aircraft simulation flight method 400. In the rotorcraft simulation flight method 400, step 410 is first performed to construct a virtual environment and a virtual rotorcraft. In step 410, the computer device 130 uses the Unity 3D simulation system to establish a virtual environment and a virtual rotorcraft, but the embodiment of the present invention is not limited thereto. In step 420, the aforementioned universal platform 120 is provided to sense the rotary motion of the rotorcraft 110 in a plurality of degrees of freedom, and accordingly output a plurality of rotation information to the computer device 130. Specifically, when the user operates the rotorcraft 110 for flight, the rotation sensing modules 125 to 127 of the universal platform 120 can output the first degree of freedom rotation bracket 122, the second degree of freedom rotation bracket 123, and the third freedom respectively. The rotation information of the degree rotation bracket 124 is transmitted to the computer device 130. In addition, when the user operates the rotorcraft 110 for flight, the four motors of the rotorcraft 110 also output motor information to the computer device 130, respectively. In step 430, the computer device 130 calculates the flight attitude and flight trajectory of the rotorcraft based on the motor information and rotation information of the rotorcraft 110. In step 440, the computer device 130 controls the flying action of the virtual rotorcraft in the virtual environment according to the flight trajectory and flight attitude of the rotorcraft. Thereby, the user can understand the current flight status of the rotorcraft 110 through the virtual rotorcraft on the computer screen.

As can be seen from the above description, the embodiment of the present invention uses a universal platform to limit the translational movement of the solid rotorcraft to three degrees of freedom of movement, while the solid rotorcraft still retains three complete rotational degrees of freedom of rotation, and three Rotational degrees of freedom are all designed with a mechanism with very little friction (such as the aforementioned pivot structure), and then combined with a magnetic angle sensing module to sense the rotation angle, so that the attitude of the rotorcraft on the universal platform can be wirelessly Change back to computer The device enables the virtual rotor of the computer virtual environment to project the same attitude as the physical rotor, and achieves the effect of virtual and real integration flight simulation operation.

Although the present invention has been disclosed as above with several embodiments, it is not intended to limit the present invention. Any person with ordinary knowledge in the technical field to which the present invention pertains can make various modifications without departing from the spirit and scope of the present invention. Changes and retouching, so the protection scope of the present invention shall be determined by the scope of the appended patent application.

Claims (10)

A rotorcraft simulation flight system includes: a rotorcraft having a plurality of motor sensing modules for providing information on one of the rotorcraft's motors; a universal platform for supporting the rotorcraft, and the rotorcraft The flying action is limited to a preset space, wherein the universal platform includes: a platform support; a first-degree-of-freedom rotating support pivotally connected to the platform support; and a second-degree-of-freedom rotating support pivoted to the A first degree of freedom rotation bracket; and a third degree of freedom rotation bracket pivotally connected to the second degree of freedom rotation bracket, wherein the rotorcraft is fixed on the third degree of freedom rotation bracket; a plurality of rotation sensing modules Is arranged on the platform bracket, the first degree of freedom rotation bracket and the second degree of freedom rotation bracket, and is used for sensing the first degree of freedom rotation bracket, the second degree of freedom rotation bracket and the third degree of freedom rotation A plurality of rotation actions of the bracket and correspondingly outputting a plurality of rotation information; and a computer device for performing a virtual-real integrated flight simulation operation, wherein the virtual-real integrated flight simulation operation Including: calculating a flight attitude and a flight trajectory of the rotorcraft according to the motor information of the rotorcraft and the rotation information; and constructing a virtual environment and a virtual rotorcraft, and according to the flight trajectory of the rotorcraft and The flight attitude is used to control the flight of the virtual rotorcraft in the virtual environment. The rotorcraft simulation flight system according to item 1 of the scope of patent application, wherein the third-degree-of-freedom rotating support includes a first support rod having a first end and a second end opposite to the first end, wherein The first end is pivotally connected to the second-degree-of-freedom rotating support; a first engaging structure for fixing the second end of the first support rod to the rotorcraft; a second support rod having A third end and a fourth end opposite to the third end, wherein the third end is pivotally connected to the second-degree-of-freedom rotation bracket; and a second engaging structure for connecting the second support rod to the The fourth end is fixed on the rotorcraft. According to the rotorcraft simulation flight system described in item 2 of the patent application scope, wherein the first engaging structure includes two first clamping plates and a plurality of first screws, and the two first clamping plates are configured to clamp the first support. The second end of the rod and a first end of the rotorcraft, the first screws are threaded through the two first clamping plates to fix the two first clamping plates. According to the rotorcraft simulation flight system described in item 3 of the patent application scope, wherein the second engaging structure includes two second clamping plates and a plurality of second screws, and the two second clamping plates are configured to clamp the second support. The fourth end of the rod and a second end of the rotorcraft, the second screws are threaded through the two second clamping plates to fix the two second clamping plates. According to the rotorcraft simulation flight system described in the patent application scope 4, wherein the second end portion of the rotorcraft is opposite to the first end portion of the rotorcraft. According to the rotorcraft simulation flight system described in item 1 of the scope of patent application, wherein the rotation sensing modules include: a first degree of freedom sensing module, which is disposed between the first degree of freedom rotation bracket and the platform bracket A pivot; a second degree of freedom sensing module provided at the pivot between the second degree of freedom rotating bracket and the first degree of freedom rotating bracket; and a third degree of freedom sensing module provided at the The pivot joint of the third-degree-of-freedom rotation bracket and the second-degree-of-freedom rotation bracket. The rotorcraft simulation flight system according to item 6 of the scope of patent application, wherein: the first degree of freedom sensing module is used to sense the rotation angle of the first degree of freedom rotary support; the second degree of freedom sensing The module is used to sense the rotation angle of the second degree of freedom swivel; the third degree of freedom sensing module is used to sense the rotation angle of the third degree of freedom swivel. According to the rotorcraft simulation flight system described in item 6 of the scope of patent application, wherein: the first degree of freedom sensing module is further configured to sense the rotation speed of the first degree of freedom rotary support; the second degree of freedom sensing The module is further configured to sense the rotation speed of the second-degree-of-freedom swivel; the third degree-of-freedom sensing module is used to sense the rotation speed of the third-degree-of-freedom swivel. The rotorcraft simulation flight system according to item 1 of the scope of the patent application, wherein the first-degree-of-freedom rotation support and the second-degree-of-freedom rotation support are annular. A rotorcraft simulation flight method includes: using a computer device to construct a virtual environment and a virtual rotorcraft; providing a universal platform to sense the rotation of a rotorcraft in a plurality of degrees of freedom, and outputting a plurality of corresponding numbers Rotation information; calculating a flight attitude and a flight trajectory of the rotorcraft based on motor information of the rotorcraft and the rotation information; and using the computer device to control the flight trajectory and the flight attitude of the rotorcraft The flying action of the virtual rotorcraft in the virtual environment, and a computer screen is used to display the virtual environment and the virtual rotorcraft in the virtual environment.