CN104330976A - Flight simulator rod force simulation fidelity evaluation device design method - Google Patents

Abstract

The invention provides a flight simulator rod force simulation fidelity evaluation device design method. A flight simulator rod force simulation fidelity evaluation device obtained through the design method of the invention can quantitatively evaluate simulation manipulation load system rod force simulation fidelity of a flight simulator according to a comprehensive evaluation index module used in the evaluation method of the simulator rod force simulation fidelity. Through data obtained by a test, correlation coefficient rxy=0.91 of evaluation result of the evaluation device obtained through the design method and aviator subjective evaluation result achieves very good consistency. Therefore, the method is reasonable and reliable. The model parameters of the design method are easy to modify. Therefore, the device obtained with the method can be applied to comprehensive evaluation of the steering wheel control force simulation fidelity of an automobile driving simulator, and can also applied to design of a steering wheel control force simulation fidelity comprehensive evaluation device of the automobile driving simulator.

Description

Design method of flight simulator rod force simulation fidelity evaluation device

Technical Field

The invention belongs to the field of flight simulation, and relates to a design method of a flight simulator rod force simulation fidelity evaluation device.

Background

The handling load system is one of the important onboard systems of an aircraft, which determines to a large extent the possibilities for use and flight safety of the aircraft. When the flight state changes, the change of the stick force of the control load system is easier to be felt by pilots than the change of the stick displacement, so that the stick force simulation fidelity is one of important factors influencing the practicability of the flight simulator and directly influencing the training effect of the simulator.

Because the rod force simulation fidelity of the flight simulator is influenced by various factors, the research and the evaluation are complicated, so a well-known good method for objectively and quantitatively evaluating the rod force simulation fidelity has not been found so far, and the subjective evaluation of an operator plays an important role in the research of the rod force simulation fidelity of the simulator and is used as a final standard for checking the rod force simulation fidelity of the simulator. At present, from domestic and foreign literature searched by scientific and technological research, the control design of the lever force and the change characteristics of the lever force of the operating load system is mainly researched, and a method for evaluating the simulation fidelity of the lever force is not available. In practical application, subjective evaluation of operators plays an important role in evaluation of lever force simulation fidelity of a simulator, and an objective evaluation method for the lever force simulation fidelity of the simulator is a quantitative and objective evaluation method by testing performance index quantity of a simulator control load system. However, the criteria vary from simulator to load handling system. The subjective evaluation is the evaluation of the rod force provided by the simulator operating load system when the simulator operator operates according to a certain task. The evaluation is not only dependent on the simulator to operate the load system, but also dependent on the behavior characteristics of operators, the requirements for tasks and the like; the objective evaluation is not attended by operators, so that the phenomenon of inconsistent subjective evaluation and objective evaluation often occurs. In fact, simulator stick force simulation fidelity is involved in human-simulator interaction, where the operator plays a significant role in simulator manipulation.

Disclosure of Invention

The invention provides a design method of a flight simulator stick force simulation fidelity evaluation device, aiming at solving the problem that the flight simulator stick force simulation fidelity is inconsistent in subjective and objective evaluation.

The invention designs a human-simulator control closed-loop model device for quantitatively and objectively evaluating the lever force simulation fidelity, and provides an effective method for evaluating the lever force simulation fidelity of a simulator control load system.

The steps and conditions of the design method of the flight simulator stick force simulation fidelity evaluation device are as follows:

i, designing a rod force simulation fidelity evaluation device of a flight simulator;

II, based on the designed flight simulator rod force simulation fidelity evaluation device, establishing a comprehensive evaluation index model used by the flight simulator rod force simulation fidelity evaluation method, storing the comprehensive evaluation index model in a computer, and comprising the following steps:

firstly, considering the error index of the pole force tracking quality and the pole force tracking quality; secondly, considering the rod force direction error index; the total error index;

fourthly, comprehensive evaluation indexes:

$J_T=[1+{\left(\frac{T_{\mathrm{cp}}}{{\hat{T}}_{\mathrm{cp}}}\right)}^2+{\left(\frac{T_{\mathrm{cr}}}{{\hat{T}}_{\mathrm{cr}}}\right)}^2+{\left(\frac{T_{\mathrm{cy}}}{{\hat{T}}_{\mathrm{cy}}}\right)}^2]J_E$

in the formula,step response rise time and threshold values of the positions of three channels of pitching, inclining and yawing of the control load system are respectively set;

determining the stick force data matched with the simulator control load system, wherein the actual stick force data is obtained through a force sensor in a nominal stick force displacement unit of the flight simulator stick force simulation fidelity evaluation device; the input displacement of the measured control load system unit is the output of the pilot control strategy model unit;

IV, determining a dynamic model of the airplane in the flight simulator stick force simulation fidelity evaluation device;

v, determining an operation control strategy model matched with the simulator operation load system;

VI, selecting more than four groups of different simulated flight tasks, and respectively carrying out input and output data of the lever force of the simulator control load system to obtain a lever force displacement curve of the solid-borne aircraft;

and VII, inputting relevant data, and according to the comprehensive evaluation index used by the evaluation method for the simulator rod force simulation fidelity established in the step II:

$J_T=[1+{\left(\frac{T_{\mathrm{cp}}}{{\hat{T}}_{\mathrm{cp}}}\right)}^2+{\left(\frac{T_{\mathrm{cr}}}{{\hat{T}}_{\mathrm{cr}}}\right)}^2+{\left(\frac{T_{\mathrm{cy}}}{{\hat{T}}_{\mathrm{cy}}}\right)}^2]J_E$

obtaining a simulation fidelity result of the lever force of the simulator operating load system;

VIII, evaluation results of the flight simulator stick force simulation fidelity evaluation device designed by the invention and the evaluation method of the simulator stick force simulation fidelity used in the evaluation device, and correlation coefficient r which is subjectively evaluated by a pilot and used as two sets of sampling data_xyThe evaluation device designed by the invention and the evaluation method for the simulation fidelity of the simulator rod force are evaluated for the reasonability and the reliability, and the correlation coefficient r_xyThe calculation formula is as follows:

$r_{\mathrm{xy}}=l_{\mathrm{xy}}/\sqrt{l_{\mathrm{xx}}{l}_{\mathrm{yy}}}$

wherein,

<math><mrow> <msub> <mi>l</mi> <mi>xy</mi> </msub> <mo>=</mo> <munderover> <mi>&Sigma;</mi> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mi>i</mi> </msub> <mo>-</mo> <mover> <mi>x</mi> <mo>&OverBar;</mo> </mover> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mi>i</mi> </msub> <mo>-</mo> <mover> <mi>y</mi> <mo>&OverBar;</mo> </mover> <mo>)</mo> </mrow> <mo>;</mo> </mrow></math>

<math><mrow> <msub> <mi>l</mi> <mi>xx</mi> </msub> <mo>=</mo> <munderover> <mi>&Sigma;</mi> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msup> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mi>i</mi> </msub> <mo>-</mo> <mover> <mi>x</mi> <mo>&OverBar;</mo> </mover> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>;</mo> </mrow></math>

<math><mrow> <msub> <mi>l</mi> <mi>yy</mi> </msub> <mo>=</mo> <munderover> <mi>&Sigma;</mi> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msup> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mi>i</mi> </msub> <mo>-</mo> <mover> <mi>y</mi> <mo>&OverBar;</mo> </mover> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow></math>

<math><mrow> <mover> <mi>x</mi> <mo>&OverBar;</mo> </mover> <mo>=</mo> <mfrac> <mn>1</mn> <mi>n</mi> </mfrac> <munderover> <mi>&Sigma;</mi> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msub> <mi>x</mi> <mi>i</mi> </msub> </mrow></math>

<math><mrow> <mover> <mi>y</mi> <mo>&OverBar;</mo> </mover> <mo>=</mo> <mfrac> <mn>1</mn> <mi>n</mi> </mfrac> <munderover> <mi>&Sigma;</mi> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msub> <mi>y</mi> <mi>i</mi> </msub> </mrow></math>

x_i，y_itwo groups of sampling data respectively;

，respectively, the average values of the two corresponding groups of sampling data;

r_xy0 is completely irrelevant; when r is_xyThe closer to 1, the more correlated the two sets of data; r is_xy1 is fully relevant.

Has the advantages that: the invention provides a design method of a device for evaluating the rod force simulation fidelity of a flight simulator. The evaluation device for the rod force simulation fidelity of the flight simulator obtained by the design method can quantitatively evaluate the rod force simulation fidelity of the simulated control load system in flight. Data obtained by performing fourteen-group experiments and using correlation coefficient r_xyCalculating by a calculation formula to obtain a correlation coefficient r between an evaluation result of the flight simulator stick force simulation fidelity evaluation method and subjective evaluation of a pilot_xy0.91 and the correlation curve is plotted. From the test results, the device obtained by the design method of the flight simulator stick force simulation fidelity evaluation device is used for the evaluation of the flight simulator stick force simulation fidelity and the subjective evaluation of pilots to obtain quite good consistency, and the design method of the flight simulator stick force simulation fidelity evaluation device is proved to be reasonable and reliable. The model parameters of the method are easy to modify. Therefore, the device obtained by the design method can also be applied to the comprehensive evaluation of the simulation fidelity of the steering wheel operating force of the automobile driving simulator.

Drawings

Fig. 1 is a schematic block diagram of a flight simulator stick force simulation fidelity evaluation device obtained by the design method of the present invention.

Fig. 2 is a force displacement curve for a helicopter mast of the type disclosed herein.

FIG. 3 is a correlation curve between the evaluation result of a flight simulator stick force simulation fidelity evaluation device obtained by the design method of the invention on a helicopter simulator control load system and the subjective and objective evaluation result of a pilot on the control load system.

FIG. 4 is a model H of the vestibular model unit (11) with respect to linear acceleration_ves(s) schematic representation.

Fig. 5 is a schematic diagram of a model of the vestibular model unit (11) with respect to angular velocity.

Detailed Description

The invention will be further described with reference to the accompanying drawings, tables and helicopter simulators.

Embodiment 1 flight simulator pole power simulation fidelity appraises device design method, includes the following step and condition:

i, designing a flight simulator rod force simulation fidelity evaluation device;

as shown in fig. 1, the designed evaluation device for the stick force simulation fidelity of the flight simulator comprises: the device comprises a control input unit 1, a tested control load system unit 2, a computer 3, a tester 4, a simulated flight task unit 5, a pilot control strategy model unit 6, a nominal stick force displacement curve unit 7, an aircraft dynamics model unit 8, a visual perception model unit 9, an aircraft space position unit 10, a vestibule model unit 11, a movement speed and acceleration unit 12 and a washout model unit 13;

the control input unit 1, the controlled load system unit 2 to be tested, the computer 3 and the tester 4 are connected in sequence; the simulated flight task unit 5, the pilot operation control strategy model unit 6, the nominal stick force displacement unit 7 and the aircraft dynamics model unit 8 are sequentially connected, and the pilot operation control strategy model unit 6 is also connected with the measured operation load system unit 2; the aircraft dynamic model unit 8 is respectively connected with the aircraft space position unit 10 and the washing model unit 13; the aircraft space position unit 10 is connected with the visual perception model unit 9; the visual perception model unit 9 is also connected with the pilot operation control strategy model unit 6; the washout model unit 13 is connected with the vestibule model unit 11 and the movement speed and acceleration unit 12 in sequence; the vestibular model unit 11 is also connected with the pilot control strategy model unit 6;

after the flight task of the simulated flight task unit 5 is determined, the flight task is used as the input of a pilot operation control strategy model unit 6, the pilot operation control strategy model unit 6 is used for resolving to obtain an operation force, the operation force is output to a nominal stick force displacement unit 7, the nominal stick force displacement unit 7 outputs the operation displacement to an aircraft dynamics model unit 8, the aircraft space position is calculated through the aircraft dynamics model unit 8, and the operation force is input to an aircraft space position unit 10 and then output to a visual perception model unit 9; the aircraft dynamics model unit 8 outputs aircraft overload signals such as aircraft linear acceleration, aircraft angular velocity and the like obtained through calculation to the washing model unit 13, linear acceleration and angular velocity of a simulator motion system are obtained after calculation by the washing model unit 13, results are sent to the motion angular velocity and linear acceleration unit 12 and are output to the vestibule model unit 11 through the motion angular velocity and linear acceleration unit 12, and the pilot controls the control strategy model unit 6 to make a next decision according to the contents of the visual perception model unit 9, the vestibule model unit 11 and the simulated flight task unit 5;

II, based on the flight simulator pole force simulation fidelity evaluation device of design, establish a comprehensive evaluation index model used by the flight simulator pole force simulation fidelity evaluation method, store in the computer 3, include:

considering the error indexes of the rod force tracking quality:

<math><mrow> <msub> <mi>J</mi> <mrow> <mi>e</mi> <mn>1</mn> </mrow> </msub> <mo>=</mo> <msubsup> <mo>&Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mi>n</mi> </msub> </msubsup> <msup> <mrow> <mo>[</mo> <mfrac> <mrow> <msub> <mi>f</mi> <mi>p</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>f</mi> <mi>pcl</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> </mrow> <msub> <mi>E</mi> <mi>pf</mi> </msub> </mfrac> <mo>]</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>[</mo> <mfrac> <mrow> <msub> <mi>f</mi> <mi>r</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>f</mi> <mi>rcl</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> </mrow> <msub> <mi>E</mi> <mi>rf</mi> </msub> </mfrac> <mo>]</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>[</mo> <mfrac> <mrow> <msub> <mi>f</mi> <mi>y</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>f</mi> <mi>ycl</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> </mrow> <msub> <mi>E</mi> <mi>yf</mi> </msub> </mfrac> <mo>]</mo> </mrow> <mn>2</mn> </msup> <mi>dt</mi> </mrow></math>

in the formula (f)_p(t),f_r(t),f_y(t) desired stick forces in pitch, yaw, respectively, f_pcl(t),f_rcl(t),f_ycl(t) actual stick forces for controlling the pitch, and yaw directions of the load system during the test, respectively, E_pf,E_rf,E_yfError standard threshold values, t, for pitching, tilting, and yawing direction stick forces, respectively_nTesting time;

secondly, considering the rod force direction error index:

J_e2the value is 3, 2, 1, 0; the desired stick force direction is the same as or less than the human perceptible amount, the direction error J_e2And taking zero, otherwise, taking 1. The index comprises force direction errors of three channel rods of pitching, inclining and yawing; when three expected rod forces of pitch, tilt and yaw are consistent with the corresponding actual rod force directions of the control load system in the test, J_e20; when both desired lever forces coincide with the corresponding actual lever force directions of the operating load system under test, J_e21 is ═ 1; when a desired stick force is aligned with the corresponding actual stick force direction of the operating load system under test, J_e22; all are not the same, J_e2＝3；

Third, total error index:

taking the weighted average of the two error indexes to obtain the total error

$J_E=\sqrt{\frac{W_1{J}_{e1}+W_2{J}_{e2}}{W_1+W_2}}$

In the formula, W_iI is 1, 2; is a weighted value;

fourthly, comprehensive evaluation index model:

$J_T=[1+{\left(\frac{T_{\mathrm{cp}}}{{\hat{T}}_{\mathrm{cp}}}\right)}^2+{\left(\frac{T_{\mathrm{cr}}}{{\hat{T}}_{\mathrm{cr}}}\right)}^2+{\left(\frac{T_{\mathrm{cy}}}{{\hat{T}}_{\mathrm{cy}}}\right)}^2]J_E$

in the formula,step response rise time and threshold values of the positions of three channels of pitching, inclining and yawing of the control load system are respectively set;

determining the stick force data matched with the simulator operating load system, wherein the actual stick force data is obtained through a force sensor in a measured operating load system unit 2 of a flight simulator stick force simulation fidelity evaluation device; the input displacement of the measured control load system unit 2 is the output of the pilot control strategy model unit 6;

IV, determining a dynamic model of the airplane in the flight simulator stick force simulation fidelity evaluation device, namely the dynamic model in the airplane dynamic model unit 8 is as follows:

<math><mrow> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mover> <mi>p</mi> <mo>&CenterDot;</mo> </mover> </mtd> </mtr> <mtr> <mtd> <mover> <mi>v</mi> <mo>&CenterDot;</mo> </mover> </mtd> </mtr> <mtr> <mtd> <mover> <mi>&phi;</mi> <mo>&CenterDot;</mo> </mover> </mtd> </mtr> <mtr> <mtd> <mover> <mi>r</mi> <mo>&CenterDot;</mo> </mover> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <msub> <mi>L</mi> <mi>p</mi> </msub> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <msub> <mi>Y</mi> <mi>v</mi> </msub> </mtd> <mtd> <mi>g</mi> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <msub> <mi>N</mi> <mi>r</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mi>p</mi> </mtd> </mtr> <mtr> <mtd> <mi>v</mi> </mtd> </mtr> <mtr> <mtd> <mi>&phi;</mi> </mtd> </mtr> <mtr> <mtd> <mi>r</mi> </mtd> </mtr> </mtable> </mfenced> <mo>+</mo> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <msub> <mi>L</mi> <mi>&delta;c</mi> </msub> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <msub> <mi>N</mi> <mi>&delta;e</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <msub> <mi>&delta;</mi> <mi>lat</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&delta;</mi> <mi>r</mi> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow></math>

<math><mrow> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mover> <mi>u</mi> <mo>&CenterDot;</mo> </mover> </mtd> </mtr> <mtr> <mtd> <mover> <mi>w</mi> <mo>&CenterDot;</mo> </mover> </mtd> </mtr> <mtr> <mtd> <mover> <mi>&theta;</mi> <mo>&CenterDot;</mo> </mover> </mtd> </mtr> <mtr> <mtd> <mover> <mi>q</mi> <mo>&CenterDot;</mo> </mover> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <msub> <mi>X</mi> <mi>u</mi> </msub> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mo>-</mo> <mi>g</mi> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <msub> <mi>Z</mi> <mi>w</mi> </msub> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <msub> <mi>M</mi> <mi>q</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mi>u</mi> </mtd> </mtr> <mtr> <mtd> <mi>w</mi> </mtd> </mtr> <mtr> <mtd> <mi>&theta;</mi> </mtd> </mtr> <mtr> <mtd> <mi>q</mi> </mtd> </mtr> </mtable> </mfenced> <mo>+</mo> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Z</mi> <mi>&delta;c</mi> </msub> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <msub> <mi>M</mi> <mi>&delta;e</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mfenced open='[' close=']'> <mtable> <mtr> <mtd> <msub> <mi>&delta;</mi> <mi>c</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&delta;</mi> <mi>longi</mi> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow></math>

in the above model, the aircraft spatial position output by the aircraft dynamics model unit 8 is an input to the aircraft spatial position unit 10; the aircraft dynamics model unit 8 also outputs the linear acceleration, angular velocity, etc. of the instantaneous overload of the aircraft to the washout model unit 13;

v, determining an operation control strategy model matched with the simulator operation load system:

debugging matching of the flight simulator stick force simulation fidelity evaluation device and the simulator control load system is carried out by utilizing a dynamic model of the airplane and flight task data of the simulated flight task unit 5, and a control strategy model matched with the simulator control load system is determined; the pilot control strategy model unit 6 stores an operator control strategy mathematical model as follows:

<math><mrow> <msub> <mi>H</mi> <mi>co</mi> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>w</mi> <mi>visP</mi> </msub> <msub> <mi>H</mi> <mi>visP</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>w</mi> <mi>visR</mi> </msub> <msub> <mi>H</mi> <mi>visR</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> <mrow> <mn>1</mn> <mo>+</mo> <msub> <mi>w</mi> <mi>ves</mi> </msub> <msub> <mi>H</mi> <mi>ves</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow> </mfrac> <msub> <mi>K</mi> <mn>1</mn> </msub> <msup> <mi>e</mi> <mrow> <mo>-</mo> <msub> <mi>&tau;</mi> <mn>1</mn> </msub> <mi>s</mi> </mrow> </msup> </mrow></math>

in the formula, H_ves(s),H_visP(s),H_visR(s) vestibular model, visual perception model, central nerve model, respectively; w is a_visP,w_visR,w_vesRespectively, corresponding weighting coefficients;is a neural decision system model; tau is₁Is a time delay; among them, the vestibular model unit 11 is a model H about linear acceleration (specific force)_ves(s) as shown in FIG. 4;

a model of the vestibular model unit 11 with respect to angular velocity, as shown in fig. 5;

the visual perception model unit 9 is:

$H_{\mathrm{visP}}\left(s\right)=\frac{s^3}{(s^2+0.32s+0.0225)(s+0.01)}{e}^{-0.01s}$

the central neural model in the pilot control strategy model unit 6 is:

$H_{\mathrm{visP}}\left(s\right)=\frac{1}{s+0.732}$

the pilot manipulates the neural decision system model in the control strategy model unit 6:

<math><mrow> <msub> <mi>K</mi> <mn>1</mn> </msub> <msup> <mi>e</mi> <mrow> <mo>-</mo> <msub> <mi>&tau;</mi> <mn>1</mn> </msub> <mi>s</mi> </mrow> </msup> <mo>=</mo> <msup> <mi>e</mi> <mrow> <mo>-</mo> <mn>0.02</mn> <mi>s</mi> </mrow> </msup> </mrow></math>

corresponding weighting coefficient w_visP＝0.15,w_visR＝0.35,w_ves＝0.5；

The motion wash-out model in the motion wash-out model unit 13 is:

$W\left(s\right)=\frac{0.7s^2}{s^2+0.8s+4.0}$

VI, selecting more than four groups of different simulated flight tasks, and recording the input and output data of the lever force of the simulator control load system to obtain a force-displacement curve of the lever of the solid-mounted airplane;

the rising time of the step response of the three channel positions of the helicopter simulator operation load system and the threshold values thereof are respectively 0.92,0.93,0.8,1,1 and 1;

standard threshold value E for pole force error_pf＝0.1,E_rf＝0.1,E_yf＝0.1，

Test time t_n＝600，

Weighting W of error indicators₁＝0.3,W₂＝0.7；

TABLE 1 flight simulator

Serial number	Subject of the scientific discipline
		1	Landing route
2	Landing with five sides
		3	Running takeoff
4	Zigzag maneuvering flight
		5	Longitudinal acceleration and deceleration flight
6	Deceleration and acceleration under vertical overload
		7	Turn in the shortest time
8	Spiral
		9	Helicopter hovers
10	From small to large speed
		11	System failure

And VII, inputting relevant data, and according to the comprehensive evaluation index used by the evaluation method for the simulator rod force simulation fidelity established in the step II:

$J_T=[1+{\left(\frac{T_{\mathrm{cp}}}{{\hat{T}}_{\mathrm{cp}}}\right)}^2+{\left(\frac{T_{\mathrm{cr}}}{{\hat{T}}_{\mathrm{cr}}}\right)}^2+{\left(\frac{T_{\mathrm{cy}}}{{\hat{T}}_{\mathrm{cy}}}\right)}^2]J_E$

and obtaining a simulation operation load system lever force fidelity result.

VIII, evaluation results of the flight simulator stick force simulation fidelity evaluation device designed by the invention and the evaluation method of the simulator stick force simulation fidelity used in the evaluation device, and correlation coefficient r which is subjectively evaluated by a pilot and used as two sets of sampling data_xyThe evaluation device designed by the invention and the evaluation method for the simulation fidelity of the simulator rod force are evaluated for reasonability and reliability, and the correlation coefficient r_xyThe calculation formula is stored in the computer 3, and the correlation coefficient r_xyThe calculation formula is as follows:

coefficient of correlation r_xyThe calculation formula is as follows:

$r_{\mathrm{xy}}=l_{\mathrm{xy}}/\sqrt{l_{\mathrm{xx}}{l}_{\mathrm{yy}}}$

wherein,

<math><mrow> <msub> <mi>l</mi> <mi>xy</mi> </msub> <mo>=</mo> <munderover> <mi>&Sigma;</mi> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mi>i</mi> </msub> <mo>-</mo> <mover> <mi>x</mi> <mo>&OverBar;</mo> </mover> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mi>i</mi> </msub> <mo>-</mo> <mover> <mi>y</mi> <mo>&OverBar;</mo> </mover> <mo>)</mo> </mrow> <mo>;</mo> </mrow></math>

<math><mrow> <msub> <mi>l</mi> <mi>xx</mi> </msub> <mo>=</mo> <munderover> <mi>&Sigma;</mi> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msup> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mi>i</mi> </msub> <mo>-</mo> <mover> <mi>x</mi> <mo>&OverBar;</mo> </mover> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>;</mo> </mrow></math>

<math><mrow> <msub> <mi>l</mi> <mi>yy</mi> </msub> <mo>=</mo> <munderover> <mi>&Sigma;</mi> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msup> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mi>i</mi> </msub> <mo>-</mo> <mover> <mi>y</mi> <mo>&OverBar;</mo> </mover> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow></math>

<math><mrow> <mover> <mi>x</mi> <mo>&OverBar;</mo> </mover> <mo>=</mo> <mfrac> <mn>1</mn> <mi>n</mi> </mfrac> <munderover> <mi>&Sigma;</mi> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msub> <mi>x</mi> <mi>i</mi> </msub> </mrow></math>

<math><mrow> <mover> <mi>y</mi> <mo>&OverBar;</mo> </mover> <mo>=</mo> <mfrac> <mn>1</mn> <mi>n</mi> </mfrac> <munderover> <mi>&Sigma;</mi> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msub> <mi>y</mi> <mi>i</mi> </msub> </mrow></math>

x_i，y_itwo groups of sampling data respectively;

，respectively, the average values of the two corresponding groups of sampling data;

r_xyare two sets of data correlation coefficients.

r_xy0 is completely irrelevant; when r is_xyThe closer to 1, the more correlated the two sets of data; r is_xy1 is fully relevant.

Data obtained by performing fourteen-group experiments and using correlation coefficient r_xyCalculating by a calculation formula, and obtaining a correlation coefficient r between the evaluation result of the flight simulator stick force simulation fidelity evaluation device obtained by the design method and the subjective evaluation of the pilot_xy0.91 and the correlation curve is plotted. From the test result, the two are quite good in consistency, and the design method of the flight simulator stick force simulation fidelity evaluation device is proved to be reasonable and reliable.

Claims (1)

1. The design method of the flight simulator stick force simulation fidelity evaluation device is characterized by comprising the following steps and conditions:

i, designing a flight simulator rod force simulation fidelity evaluation device; the system comprises a control input unit (1), a tested control load system unit (2), a computer (3) and a tester (4) which are sequentially connected; the simulated flight task unit (5), the pilot operation control strategy model unit (6), the nominal stick force displacement curve unit (7) and the aircraft dynamics model unit (8) are sequentially connected, and the pilot operation control strategy model unit (6) is also connected with the measured operation load system unit (2); the aircraft dynamic model unit (8) is respectively connected with the aircraft space position unit (10) and the washing model unit (13); the airplane space position unit (10) is connected with the visual perception model unit (9); the visual perception model unit (9) is also connected with the pilot operation control strategy model unit (6); the washout model unit (13) is connected with the vestibule model unit (11), the movement speed unit and the acceleration unit (12) in sequence; the vestibular model unit (11) is also connected with the pilot control strategy model unit (6);

after the flight task of the simulated flight task unit (5) is determined, the flight task is used as the input of a pilot operation control strategy model unit (6), the pilot operation control strategy model unit (6) is used for resolving to obtain an operation force, the operation force is output to a nominal stick force displacement unit (7), the nominal stick force displacement unit (7) outputs the operation displacement to an aircraft dynamics model unit (8), the aircraft spatial position is calculated through the aircraft dynamics model unit (8), and the operation force is input to an aircraft spatial position unit (10) and then output to a visual perception model unit (9); the aircraft dynamic model unit (8) outputs aircraft overload signals such as aircraft linear acceleration, aircraft angular velocity and the like obtained through calculation to the washout model unit (13), linear acceleration and aircraft angular velocity of a simulator motion system are obtained through calculation of the washout model unit (13), results are sent to the motion angular velocity and linear acceleration unit (12) and are output to the vestibule model unit (11) through the motion angular velocity and linear acceleration unit (12), and the pilot operation control strategy model unit (6) performs the next decision according to the contents of the visual perception model unit (9), the vestibule model unit (11) and the simulated flight mission unit (5); based on the flight simulator rod force simulation fidelity evaluation device, a comprehensive evaluation index model used by the flight simulator rod force simulation fidelity evaluation method is established and stored in the computer (3);

comprehensive evaluation indexes are as follows:

in the formula, T_cp,T_cr,T_cy,Step response rise time and threshold values of the positions of three channels of pitching, inclining and yawing of the control load system are respectively set;

II, based on the designed evaluation device for the rod force simulation fidelity of the flight simulator, establishing a comprehensive evaluation index model used by the evaluation method for the rod force simulation fidelity of the flight simulator, storing the comprehensive evaluation index model in a computer (3), and comprising the following steps:

considering the error indexes of the rod force tracking quality:

in the formula (f)_p(t),f_r(t),f_y(t) desired stick forces in pitch, yaw, respectively, f_pcl(t),f_rcl(t),f_ycl(t) actual stick forces for controlling the pitch, and yaw directions of the load system during the test, respectively, E_pf,E_rf,E_yfError standard threshold values, t, for pitching, tilting, and yawing direction stick forces, respectively_nTesting time;

secondly, considering the rod force direction error index:

J_e2the value is 3, 2, 1, 0; the desired stick force direction is the same as or less than the human perceptible amount, the direction error J_e2Taking zero, otherwise, taking 1, wherein the index comprises force direction errors of three channel rods of pitching, inclining and yawing; when three expected rod forces of pitch, tilt and yaw are consistent with the corresponding actual rod force directions of the control load system in the test, J_e20; when both desired lever forces coincide with the corresponding actual lever force directions of the operating load system under test, J_e21 is ═ 1; when a desired stick force is aligned with the corresponding actual stick force direction of the operating load system under test, J_e22; all are not the same, J_e2＝3；

Third, total error index:

taking the weighted average of the two error indexes to obtain the total error

In the formula, W_iI is 1, 2; is a weighted value;

fourthly, comprehensive evaluation indexes:

in the formula, T_cp,T_cr,T_cy,Step response rise time and threshold values of the positions of three channels of pitching, inclining and yawing of the control load system are respectively set;

determining the stick force data matched with the simulator operating load system, wherein the actual stick force data is obtained through a force sensor in a tested operating load system unit (2) of a flight simulator stick force simulation fidelity evaluation device; the input displacement of the measured control load system unit (2) is the output of the pilot control strategy model unit (6);

IV, determining a dynamic model of the airplane in the flight simulator stick force simulation fidelity evaluation device, namely determining the dynamic model in an airplane dynamic model unit (8) of the flight simulator stick force simulation fidelity evaluation device as follows:

in the above model, the aircraft spatial position output by the aircraft dynamics model unit (8) is an input of the aircraft spatial position unit (10); the aircraft dynamics model unit (8) also outputs the linear acceleration, angular velocity, etc. of the instantaneous overload of the aircraft to the wash-out model unit (13);

v, determining an operation control strategy model matched with the simulator operation load system:

debugging matching of the flight simulator stick force simulation fidelity evaluation device and the simulator control load system is carried out by utilizing a dynamic model of the airplane and flight task data of the simulated flight task unit (5), and a control strategy model matched with the simulator control load system is determined; the pilot operation control strategy model unit (6) stores an operator operation control strategy mathematical model as follows:

in the formula, H_ves(s),H_visP(s),H_visR(s) vestibular model, visual perception model, central nerve model, respectively; w is a_visP,w_visR,w_vesRespectively, corresponding weighting coefficients;is a neural decision system model; tau is₁Is a time delay; wherein, the vestibular model unit 11 is a model H about linear acceleration_ves(s) is: as shown in fig. 4;

the vestibular model unit 11 models the angular velocity as: as shown in fig. 5;

the visual perception model unit (9) is:

the central nerve model in the pilot operation control strategy model unit (6) is as follows:

a neural decision system model in a pilot-operated control strategy model unit (6):

corresponding weighting coefficient w_visP＝0.15,w_visR＝0.35,w_ves＝0.5；

The motion wash-out model in the motion wash-out model unit (13) is:

VI, selecting more than four groups of different simulated flight tasks in the table 1, and recording the lever force input and output data of the simulator control load system to obtain a rod force displacement curve of the solid-mounted airplane;

TABLE 1 flight simulator

Serial number Subject of the scientific discipline 1 Landing route 2 Landing with five sides 3 Running takeoff 4 Zigzag maneuvering flight 5 Longitudinal acceleration and deceleration flight 6 Deceleration and acceleration under vertical overload 7 Turn in the shortest time 8 Spiral 9 Helicopter hovers 10 From small to large speed 11 System failure

And VII, inputting relevant data, and according to the comprehensive evaluation index used by the evaluation method for the simulator rod force simulation fidelity established in the step II:

obtaining a simulation control load system lever force fidelity result;

VIII, evaluation results of the flight simulator stick force simulation fidelity evaluation device designed by the invention and the evaluation method of the simulator stick force simulation fidelity used in the evaluation device, and correlation coefficient r which is subjectively evaluated by a pilot and used as two sets of sampling data_xyThe evaluation device designed by the invention and the evaluation method for the simulation fidelity of the simulator rod force are evaluated for reasonability and reliability, and the correlation coefficient r_xyThe calculation formula is stored in the computer 3, and the correlation coefficient r_xyThe calculation formula is as follows:

wherein,

x_i，y_itwo groups of sampling data respectively;

respectively, the average values of the two corresponding groups of sampling data;

r_xy0 is completely irrelevant; when r is_xyThe closer to 1, the more correlated the two sets of data; r is_xy1 is fully relevant.