阅读说明：本技术 一种五自由度持续载荷模拟器过载模拟控制方法 (Overload simulation control method for five-degree-of-freedom continuous load simulator ) 是由 黎启胜 王鹏飞 陈国军 宋琼 徐胜 牛红攀 舒杨 茅坪 张贞 于 2020-07-27 设计创作，主要内容包括：本发明涉及飞行模拟器技术领域,目的是提供一种五自由度持续载荷模拟器过载模拟控制方法,本发明包括获取五自由度模拟器座舱上的飞行操作系统中的操作指令,进入仿真模型；通过仿真模型中飞机的实际飞行,获取若干个自由度运动参数、大臂绕主轴转动的角速度和角加速度,进而根据实际飞行的偏航角运动,得到偏航轴的转动角度,得到实际飞行相对俯仰框坐标系的加速度分量以及滚转轴的转动角度；判断垂直运动框的运动状态,获取纯过载时俯仰轴的转动角度；将主轴的转动角速度和转动角加速度及滚转轴的转动角度、俯仰轴的转动角度、偏航轴的转动角度、垂直运动框的加速度发送给持续载荷模拟器。(The invention relates to the technical field of flight simulators, and aims to provide an overload simulation control method for a five-degree-of-freedom continuous load simulator, which comprises the steps of obtaining an operation instruction in a flight operation system on a cabin of the five-degree-of-freedom simulator, and entering a simulation model; acquiring a plurality of freedom degree motion parameters, angular velocity and angular acceleration of the large arm rotating around the main shaft through actual flight of the airplane in the simulation model, further acquiring a rotation angle of a yaw axis according to actual yaw angular motion of the flight, and acquiring an acceleration component of the actual flight relative to a pitching frame coordinate system and a rotation angle of a rolling axis; judging the motion state of the vertical motion frame, and acquiring the rotation angle of the pitch axis during pure overload; and sending the rotation angular velocity and the rotation angular acceleration of the main shaft, the rotation angle of the rolling shaft, the rotation angle of the pitching shaft, the rotation angle of the yawing shaft and the acceleration of the vertical moving frame to the continuous load simulator.)

1. An overload simulation control method of a five-freedom continuous load simulator is characterized by comprising the following steps of,

step 1: acquiring an operation instruction in a flight operation system on the five-degree-of-freedom simulator cabin, entering a simulation model, and executing the step 2;

step 2: through the actual flight of the airplane in the simulation model, a plurality of freedom degree motion parameters and the angular speed of the large arm rotating around the main shaft are obtainedAnd angular accelerationFurther obtaining the rotation angle of a yaw axis according to the actual flying yaw angle motion, and executing the step 3;

and step 3: obtaining an actual flight phase according to the rotation angle of the yaw axis in the step 2Acceleration component of pitching frame coordinate system and rotation angle q of rolling shaft₂Executing the step 4;

and 4, step 4: judging the motion state of the vertical motion frame, acquiring the rotation angle of the pitch axis during pure overload, and executing the step 5;

and 5: angular velocity of rotation of main shaftAnd rotational angular acceleration

step 6: and (6) ending.

2. The overload simulation control method for the five-degree-of-freedom continuous load simulator according to claim 1, wherein the operation commands in the operation system comprise commands of a control lever, an accelerator lever, a rudder pedal and a key switch.

3. The overload simulation control method for the five-degree-of-freedom continuous load simulator according to claim 1, wherein in the step 2, the motion parameters of the degrees of freedom comprise front and rear overload G_xaLeft and right overload G_yaOverload of head and feet G_zaRolling angular velocity P_aPitch angle velocity Q_aAnd yaw rate R_a。

4. The overload simulation control method for the five-degree-of-freedom continuous load simulator according to claim 3, wherein in the step 2, the linear acceleration of the cockpit is calculated through the acquired motion parameters of the degrees of freedom, and the vector of the linear acceleration of the cockpit is

So as to obtain the compound with the characteristics of,

in the formula, r is the distance between the center of the cabin and the main shaft, namely the rotation radius, and the rotation angular acceleration is obtained by calculating the linear acceleration vector at the tail end of the large arm

¹G_cIs the acceleration vector relative to the rotating arm, G_rAs an acceleration component in the direction of the boom, G_tAs component of acceleration in the direction of rotation, G_vThe acceleration component along the vertical direction is shown as r, the distance between the center of the cabin and the main shaft is shown as g, and the gravity acceleration is shown as g.

5. The overload simulation control method for the five-degree-of-freedom continuous load simulator as claimed in claim 4, wherein in the step 2, the yaw rate R of the actual flight is obtained_aTo obtain the rotation angle q of the yaw axis of the simulator₄

To pairPerforming high-pass filteringAnd the sum is integrated to obtain q₄。

6. The overload simulation control method for the five-degree-of-freedom continuous load simulator according to claim 5, wherein in the step 3, the linear acceleration component of the actual flight relative to the pitch frame coordinate system comprises³G_xa、³G_yaAnd are and³G_zathe calculation formula is

Rotation angle q of rolling shaft₂Is composed of

Using high-pass filter pairsFiltering the signal to obtain

In the formula (I), the compound is shown in the specification,using low-pass filter pairs q₂ ⁰Filtering the signal to obtain the low-frequency part q of the roll shaft angle₂ ^lAnd further, q₂＝q₂ ^h+q₂ ^l。

7. The overload simulation control method for the five-degree-of-freedom continuous load simulator as claimed in claim 6, wherein in the step 4, the linear acceleration of the vertical degree of freedom is calculated as

Using a high-pass filter to obtain

8. The overload simulation control method for the five-degree-of-freedom continuous load simulator as claimed in claim 7, wherein in the step 4, the rotation angle of the pitch shaft in pure overload simulation is obtained through the linear acceleration of the relative pitch frame coordinate system

In the formula (I), the compound is shown in the specification,

Technical Field

The invention relates to the field of flight simulators, in particular to an overload simulation control method for a five-degree-of-freedom continuous load simulator.

Background

With the development of computers and simulation technologies, flight simulation training receives more and more attention, and becomes an effective way for improving flight skills of pilots, ensuring training safety, shortening training period and saving training cost. The flight simulation training device is a device for simulating the flight state, flight environment and flight condition of the airplane when the airplane performs a flight task and providing similar control load, vision, hearing and motion feeling for the pilot, wherein the motion feeling is provided by a motion platform of the training device.

With the development of high-performance fighters, pilots are subjected to continuous high G value acceleration, for example, the maximum G value of a third-generation fighter can reach 9G, the action time is 45s, and the growth rate reaches 10G/s. The continuous high acceleration can induce the problems of consciousness loss, continuous load and the like caused by the G value of the pilot, seriously influences the control of the pilot on the fighter and threatens the safety of the pilot.

The continuous high-G value acceleration load required by the simulation training of the high-performance fighter is usually realized by using the centrifugal acceleration generated by the rapid rotation of the rotating arm, so that the pilot can be trained on the ground in a lower cost and safer mode, and the fighting skill of the fighter pilot in the continuous high-overload environment is improved.

The continuous load simulator (simulator for short) with five degrees of freedom sequentially comprises a main shaft, a vertical motion frame, a rolling shaft, a pitching shaft and a yawing shaft from a mounting base to a cabin, continuous high G-value acceleration is realized through the rapid rotation motion of a rotating arm around the main shaft, the acceleration in the vertical direction is realized through the vertical motion frame, the direction of an acceleration vector relative to the cabin is adjusted through the coordinated motion of the rolling shaft, the pitching shaft and the yawing shaft, and the accurate simulation of continuous overload of a pilot in the cabin of the centrifuge is realized.

The four-degree-of-freedom continuous load simulator can realize accurate simulation of overload, and the five-degree-of-freedom continuous load simulator is additionally provided with a vertical moving frame relative to the four-degree-of-freedom continuous load simulator, so that the control of vertical freedom is increased, and an overload simulation control method for fully utilizing the vertical freedom is not provided at present.

Disclosure of Invention

The invention aims to provide an overload simulation control method of a five-degree-of-freedom continuous load simulator, which fully plays the role of vertical degree of freedom, reduces unnecessary angular motion on the basis that the online acceleration is consistent with the actual flight, and improves the fidelity of the flight action simulation of a fighter;

the technical scheme adopted by the invention is as follows: an overload simulation control method for a five-freedom continuous load simulator comprises the following steps,

step 1: acquiring an operation instruction in a flight operation system on the five-degree-of-freedom simulator cabin, entering a simulation model, and executing the step 2;

step 2: through the actual flight of the airplane in the simulation model, a plurality of freedom degree motion parameters and the angular speed of the large arm rotating around the main shaft are obtainedAnd angular accelerationFurther obtaining the rotation angle of a yaw axis according to the actual flying yaw angle motion, and executing the step 3;

and step 3: according to the rotating angle of the yaw axis in the step 2, obtaining the acceleration component of the actual flight relative to the pitching frame coordinate system and the rotating angle q of the roll axis₂Executing the step 4;

and 4, step 4: judging the motion state of the vertical motion frame, acquiring the rotation angle of the pitch axis during pure overload, and executing the step 5;

and 5: angular velocity of rotation of main shaft

And rotational angular accelerationAnd the rotation angle q of the roll axis₂The rotation angle q of the pitch axis₃The rotation angle q of the yaw axis₄Acceleration of vertically moving frameSending the training result to a continuous load simulator, if the continuous load simulator displays the training result, if the training is completed, executing the step 6, and if the training is not completed, executing the step 1;

step 6: and (6) ending.

Preferably, the operation commands in the operation system include commands of a control lever, a throttle lever, a rudder pedal and a key switch.

Preferably, in step 2, the motion parameter of the degree of freedom includes front and rear overload G_xaLeft and right overload G_yaOverload of head and feet G_zaRolling angular velocity P_aPitch angle velocity Q_aAnd yaw rate R_a。

Preferably, in step 2, the linear acceleration of the cockpit is calculated through the acquired motion parameters of the degrees of freedom, and the vector of the linear acceleration of the cockpit is

So as to obtain the compound with the characteristics of,

in the formula, r is the distance between the center of the cabin and the main shaft, namely the rotation radius, and the rotation angle plus is obtained by calculating the linear acceleration vector at the tail end of the large armSpeed of rotation

¹G_cIs the acceleration vector relative to the rotating arm, G_rAs an acceleration component in the direction of the boom, G_tAs component of acceleration in the direction of rotation, G_vThe acceleration component along the vertical direction is shown as r, the distance between the center of the cabin and the main shaft is shown as g, and the gravity acceleration is shown as g.

Preferably, in step 2, a yaw rate R of an actual flight is obtained_aTo obtain the rotation angle q of the yaw axis of the simulator₄

To pair

After high-pass filtering and integration, q is obtained₄。

Preferably, in step 3, the linear acceleration component of the actual flight relative to the pitch frame coordinate system includes³G_xa、³G_yaAnd are and³G_zathe calculation formula is

Rotation angle q of rolling shaft₂Is composed of

Using high-pass filter pairsFiltering the signal to obtainTo the high-frequency part of (2), to the obtainedThe high-frequency part is subjected to secondary integration to obtain a high-frequency part q of the rotation angle of the rolling shaft₂ ^h，

In the formula (I), the compound is shown in the specification,

using low-pass filter pairs q₂ ⁰Filtering the signal to obtain the low-frequency part q of the roll shaft angle₂ ^lAnd further, q₂＝q₂ ^h+q₂ ^l。

Preferably, in the step 4, the linear acceleration by calculating the vertical degree of freedom is

Using a high-pass filter to obtainHigh frequency part of the signal

The integral obtains the speed of the vertical degree of freedom, the secondary integral obtains the displacement of the vertical degree of freedom, and the vertical motion frame is in the stroke range through amplitude limiting.

Preferably, in the step 4, the rotation angle of the pitch axis during the pure overload simulation is obtained through the linear acceleration relative to the pitch frame coordinate system

In the formula (I), the compound is shown in the specification,

compared with the prior art, the invention has the beneficial effects that:

1. the function of vertical freedom degree is fully exerted, unnecessary angular motion is reduced on the basis that the on-line acceleration is consistent with the actual flight, and the fidelity of the flight action simulation of the fighter is improved.

Drawings

FIG. 1 is a schematic diagram of an overload simulation control method for a five-degree-of-freedom continuous load simulator;

Detailed Description

The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to fig. 1 of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other implementations made by those of ordinary skill in the art based on the embodiments of the present invention are obtained without inventive efforts.

In the description of the present invention, it is to be understood that the terms "counterclockwise", "clockwise", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used for convenience of description only, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting.

FIG. 1 is a block diagram of an overload simulation control method for a five-degree-of-freedom continuous load simulator according to the present invention;

an overload simulation control method for a five-degree-of-freedom continuous load simulator comprises the following steps of obtaining operation instructions of flight control systems such as an operating lever, an accelerator lever, a rudder pedal, a key switch and the like in a cabin of the five-degree-of-freedom continuous load simulator;

step two, acquiring 6 freedom degree motion parameters of the current airplane (actual flight), namely 3 linear acceleration physical quantities, through flight simulation: g_xa、G_ya、G_zaOverload in the front-back direction, the left-right direction and the head-foot direction (unit is g, gravity acceleration); 3 angular velocity physical quantity: p_a、Q_a、R_aThe angular velocities of the rolling direction, the pitching direction and the yawing direction are sequentially adopted;

step three, calculating the angular speed of the large arm rotating around the main shaftAnd angular acceleration

3.1 knowing the 3 linear accelerations G of the actual flight_xa、G_ya、G_zaAnd calculating the magnitude of the linear acceleration vector of the cockpit as follows:there is a weight loss (| G) in actual flight_aThe | G value is less than 1G, 1G is 1 gravity acceleration), while on the ground, the G value generated by the simulator is necessarily greater than 1G due to the action of gravity, so the | G value is required to be adjusted_aThe | value is processed, usually by modifying G in a manner that is based on the G level_zAnd the magnitude of the acceleration vector after correction is as follows: | G_a'|；

3.2 the angular velocity of rotation of the spindle can be obtained by solving the ordinary differential equation of the following formula

And rotational angular acceleration

Wherein r is the distance between the center of the cabin and the main shaft, namely the turning radius.

When the overload value is large, it can be ignored

Of the rotational angular velocity of the rotor by the following equationA simplified calculation is performed:

3.3 calculating the linear acceleration vector of the big arm end:

in the formula (I), the compound is shown in the specification,¹G_cis the acceleration vector relative to the rotating arm, G_rThe component of acceleration in the direction of the arm (positive with the end of the arm pointing towards the main axis), G_tIs the acceleration component in the direction of rotation (positive in the direction of rotation), G_vIs the acceleration component in the vertical direction (positive in the vertical direction), r is the distance of the center of the cabin from the main axis, and g is the gravitational acceleration.

Step four, solving the rotation angle of the yaw axis according to the actual yaw angular motion of the flight

4.1 physical quantity of yaw rate R according to actual flight_aSolving the rotation angular velocity of the yaw axis of the simulatorComprises the following steps:

wherein

Obtained by step three, q₂And q is₃Obtained by step eight.

4.2 yaw rate of shaft

Carrying out high-pass filtering, and then carrying out integration to obtain the rotation angle q of the yaw axis₄。

Step five, solving 3 linear acceleration components of the actual flight relative to the pitching frame coordinate system according to the rotation angle of the yawing shaft³G_xa,³G_ya,³G_za)。

Step six, obtaining the rotation angle q of the rolling shaft₂；

6.1 calculating the rotation angular acceleration of the roll shaft according to the following formula:

6.2 Using high pass Filter pairsFiltering the signal to obtainThe high-frequency part of (2);

6.3 calculated over 6.2

The high-frequency part is subjected to secondary integration to obtain a high-frequency part q of the rotation angle of the rolling shaft₂ ^h；

6.4, obtaining the rotation angle of the rolling shaft according to pure overload simulation:

in the formula (I), the compound is shown in the specification,

6.5 Using a Low pass Filter pair q₂ ⁰Filtering the signal to obtain the low-frequency part q of the roll shaft angle₂ ^l；

6.6 calculating the rotation angle of the roll shaft by the following formula:

q₂＝q₂ ^h+q₂ ^l

step seven, calculating the motion state of the vertical motion frame;

7.1 calculating the linear acceleration of the vertical degree of freedom according to the following formula:

7.2 Using a high-pass filter, obtaining

High frequency part of the signal

7.3The integral obtains the speed of the vertical degree of freedom, the secondary integral obtains the displacement of the vertical degree of freedom, and the vertical motion frame is in the stroke range through amplitude limiting.

Step eight, calculating the rotation angle of the pitching shaft during pure overload simulation according to the linear acceleration physical quantity relative to the pitching frame coordinate system:

in the formula (I), the compound is shown in the specification,

step nine, rotating angular speed of the main shaftAnd rotational angular acceleration

And the rotation angle q of the roll axis₂The rotation angle q of the pitch axis₃The rotation angle q of the yaw axis₄Acceleration of vertically moving frame

And sending the data to a continuous load simulator motion platform.

And step ten, judging whether to stop, if so, stopping the flow, and if not, entering the step one.

The working principle of the invention is as follows: the invention gives full play to the function of vertical degree of freedom, reduces unnecessary angular motion on the basis that the on-line acceleration is consistent with the actual flight, improves the fidelity of the flight action simulation of the fighter, has ingenious design and is suitable for popularization.