CN104332081B - Method for evaluating flight simulator stick force simulation fidelity - Google Patents
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Abstract
The invention provides a method for evaluating the flight simulator stick force simulation fidelity. According to the method for evaluating the flight simulator stick force simulation fidelity, flight simulator stick force simulation fidelity results are obtained through a built comprehensive evaluation index model (please see the specification for the formula), wherein the flight simulator stick force simulation fidelity results comprise error indicators of stick force tracking numerical values and weighted averages of the stick forced direction error indicator; the comprehensive evaluation index model is built and stored in a computer; stick force data are determined; an airplane kinetic model is determined; a steering control strategy model is determined; more than four sets of simulated flight tasks are taken, and a simulator control load system stick force displacement curve is obtained through a device for evaluating the flight simulator stick force simulation fidelity; and the correlation coefficient R<xy> of evaluation results and aviator subjective evaluation results is equal to 0.867, and the coincidence of subjective evaluation and objective evaluation is obtained. It is proved that the method is reasonable and reliable. The evaluating method can be further used for evaluating the automobile driving simulator steering wheel control force simulation fidelity.
Description
Technical Field
The invention relates to the field of flight simulation, in particular to an evaluation method of flight simulator stick force simulation fidelity, which is used for evaluating the fidelity of the stick force simulation of a flight simulator control load system and solving the problem that the subjective evaluation and the objective evaluation of the stick force simulation fidelity of the flight simulator control load system are inconsistent.
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 flight simulator and is used as a final standard for checking the rod force simulation fidelity of the flight 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, the subjective evaluation of operators plays an important role in evaluating the rod force simulation fidelity of the flight simulator, and the objective evaluation method for the rod force simulation fidelity of the flight simulator is a quantitative and objective evaluation method by testing the performance index quantity of the control load system of the flight simulator. However, the criteria vary as the flight simulator maneuvers the load system. The subjective evaluation is the evaluation of the stick force provided by the flight simulator operating load system when the flight simulator operator operates according to a certain task. The evaluation is not only dependent on the flight 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, the flight simulator stick force simulation fidelity is involved in human-simulator interaction, and the operator plays a significant role in flight simulator manipulation.
Disclosure of Invention
The invention provides a flight simulator stick force simulation fidelity evaluation method, aiming at solving the problem that the flight simulator stick force simulation fidelity is inconsistent in subjective and objective evaluation.
The invention provides an effective evaluation method for evaluating the rod force simulation fidelity of a flight simulator control load system by establishing comprehensive evaluation indexes and utilizing a human-simulator control closed-loop model device to quantitatively and objectively evaluate the rod force simulation fidelity.
The flight simulator stick force simulation fidelity evaluation method provided by the invention comprises the following steps and conditions:
i, establishing a flight simulator rod force simulation fidelity evaluation device; the apparatus of example 1 is preferred.
And II, establishing a comprehensive evaluation index model used by the flight simulator stick force simulation fidelity evaluation method based on the flight simulator stick force simulation fidelity evaluation device, storing the comprehensive evaluation index model in a computer, and comprising the following steps of:
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;
④ comprehensive evaluation index JT:
In the formula,step response rise time and threshold values of three channel positions of pitching, inclining and yawing of a flight simulator control load system are respectively set;
determining the pole force data matched with the control load system, wherein the actual pole force data is obtained through a force sensor in a nominal pole force displacement unit of a flight simulator pole 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 operation load system;
VI, selecting more than four groups of different simulated flight tasks, and respectively operating input and output data of the rod force of the load system to obtain a rod force displacement curve of the solid-mounted airplane;
VII, inputting relevant data, and establishing a comprehensive evaluation index J used by the evaluation method for the flight simulator stick force simulation fidelity according to the step IIT：
Obtaining a lever force simulation fidelity result of the control load system;
VIII, the evaluation result of the evaluation method for simulating the fidelity by utilizing the stick force of the flight simulator and the subjective evaluation of a pilot are used as correlation coefficients of two groups of sampling dataTo evaluate the flight simulation of the present inventionThe reasonability and reliability of the evaluation method of the simulation fidelity of the instrument and the rod force, and the correlation coefficientThe calculation formula is as follows:
wherein,
；
；
two groups of sampling data respectively;
respectively, the average values of the two corresponding groups of sampling data;
=0, the two sets of data are completely uncorrelated; when in useThe closer to 1, the more correlated the two sets of data;=1, the two sets of data are completely correlated.
Has the advantages that: the invention provides an evaluation method for the rod force simulation fidelity of a flight simulator, which can quantitatively evaluate the rod force simulation fidelity of a simulated control load system in flight. The evaluation result of the flight simulator stick force simulation fidelity evaluation method and the correlation coefficient of the subjective evaluation of the pilot are obtained by calculating the data obtained by fourteen groups of tests by using a correlation coefficient calculation formula=0.867 and the correlation curve is plotted. From the test results, the evaluation results of the flight simulator stick force simulation fidelity evaluation method are consistent with the subjective evaluation of pilots, and the flight simulator stick force simulation fidelity evaluation method is reasonable and reliable.
The method is suitable for objective comprehensive evaluation of the rod force simulation fidelity of the flight simulator control load system, and the model parameters of the method are easy to modify. Therefore, the 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 of the present invention.
Fig. 2 is a force displacement curve for a helicopter mast of the type disclosed herein.
FIG. 3 is a graph showing the correlation between the evaluation result of a helicopter simulator operating load system by the evaluation method of the present invention and the subjective and objective evaluation result of a pilot on the operating load system.
FIG. 4 is a model H of the vestibular model unit (11) with respect to linear accelerationves(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 a method for evaluating the simulation fidelity of stick force of a flight simulator, comprising the following steps and conditions:
i, establishing a flight simulator rod force simulation fidelity evaluation device
As shown in fig. 1, a flight simulator stick force simulation fidelity evaluation device includes: 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 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 motion angular velocity, linear 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, the motion angular velocity unit and the linear 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 linear acceleration and angular velocity aircraft overload signals obtained by calculation to the washout model unit 13, linear acceleration and angular velocity of a simulator motion system are obtained after calculation by 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 controls the control strategy model unit 6 to make 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;
II, based on the evaluation device of the flight simulator rod force simulation fidelity, a comprehensive evaluation index model used by the evaluation method of the flight simulator rod force simulation fidelity is established and stored in the computer 3, and the evaluation method comprises the following steps:
error index J for considering pole force tracking qualityel：
In the formula,the desired stick forces in pitch, pitch and yaw directions respectively,the actual rod forces in the pitch, pitch and yaw directions of the control load system during the test are respectively,respectively are standard threshold values of errors of pitching, inclining and yawing direction rod forces,testing time;
secondly, considering the rod force direction error index:
the value is 3, 2, 1, 0; the index comprises force direction errors of three channel rods of pitching, inclining and yawing; when the three expected rod forces of pitch, tilt and yaw are consistent with the corresponding actual rod force directions of the operation load system in the test,= 0; when both desired stick forces coincide with the corresponding actual stick force directions of the handling load system at the time of the test,= 1; when a desired stick force is aligned with the corresponding actual stick force direction of the operating load system under test,= 2; all of the phases are not the same as each other,=3；
③ Total error indicator：
Taking the weighted average of the two error indexes to obtain the total error
In the formula,is a weighted value;
④ comprehensive evaluation index model:
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 pole force data matched with the control load system, wherein the actual pole force data is obtained through a force sensor in a tested control load system unit 2 of a flight simulator pole 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:
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 of the instantaneous overload of the aircraft to the wash out model unit 13;
v, determining an operation control strategy model matched with the operation load system:
debugging matching of the flight simulator stick force simulation fidelity evaluation device and the 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 control load system is determined; the pilot control strategy model unit 6 stores an operator control strategy mathematical model Hco as follows:
in the formula,respectively a vestibular model, a visual perception model and a central nerve model;are respectively corresponding weighting coefficients;is a neural decision system model;is a time delay;
the vestibular model unit 11 includes a model of linear acceleration (specific force):
the vestibular model unit 11 models the angular velocity as:
the visual sensation model in the visual sensation model unit 9 is：
The central nerve model in the pilot operation control strategy model unit 6 is:
The pilot manipulates the neural decision system model in the control strategy model unit 6:
corresponding weighting coefficient
The moving wash-out model w(s) in the moving wash-out model unit 13 is:
VI, selecting more than four groups of different simulated flight tasks of the simulated flight task subject, and recording the input and output data of the rod force of the control load system to obtain a rod force displacement curve 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 of pole force error，
Test time，
Weighting of error indicators；
Simulating flight mission subjects:
1. a landing and taking line;
2. landing on five sides;
3. running and taking off;
4. the flight is driven by a saw-tooth mechanism;
5. longitudinal acceleration and deceleration flying;
6. deceleration and acceleration under vertical overload;
7. turning in the shortest time;
8. rotating the disc;
9. hovering the helicopter;
10. from a small speed to a large speed;
11. a system failure;
VII, inputting relevant data, and establishing a comprehensive evaluation index used by the evaluation method for the flight simulator stick force simulation fidelity according to the step II：
And obtaining the evaluation result of the rod force fidelity of the flight simulator control load system.
VIII, the evaluation result of the evaluation method for simulating the fidelity by utilizing the stick force of the flight simulator and the subjective evaluation of a pilot are used as correlation coefficients of two groups of sampling dataThe reasonability and reliability of the evaluation method for the rod force simulation fidelity of the flight simulator and the correlation coefficient are evaluatedThe calculation formula is stored in the computer 3, the
Correlation coefficientThe calculation formula is as follows:
wherein,
；
；
two groups of sampling data respectively;
respectively, the average values of the two corresponding groups of sampling data;
are two sets of data correlation coefficients.
The two sets of data were completely unrelated; when in useThe closer to 1, the more correlated the two sets of data;=1, the two sets of data are completely correlated.
By making a pair of tenThe four groups of data obtained by the test are calculated by using a correlation coefficient calculation formula, and the obtained evaluation result of the flight simulator stick force simulation fidelity evaluation method and the correlation coefficient of the pilot subjective evaluation=0.867 and the correlation curve is plotted. From the test results, the evaluation results of the flight simulator stick force simulation fidelity evaluation method are consistent with the subjective evaluation of pilots, and the flight simulator stick force simulation fidelity evaluation method is reasonable and reliable.
Claims (1)
1. The evaluation method for the flight simulator rod force simulation fidelity is characterized in that a flight simulator rod force simulation fidelity evaluation device is used and comprises the following components: 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 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 motion angular velocity unit and the linear 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 linear acceleration and angular velocity aircraft overload signals obtained by resolving to the washout model unit (13), linear acceleration and angular velocity of a simulator motion system are obtained after the signals are resolved by the washout model unit (13), results are sent to the motion angular velocity and linear acceleration unit (12) and are output to the vestibular model unit (11) through the motion angular velocity and linear acceleration unit (12), and the pilot operation control strategy model unit (6) carries out next decision according to the contents of the visual perception model unit (9), the vestibular model unit (11) and the simulated flight mission unit (5); based on the flight simulator pole force simulation fidelity evaluation device, a comprehensive evaluation index model used by the flight simulator pole force simulation fidelity evaluation method is established and stored in the computer (3);
comprehensive evaluation index:
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;
the steps and conditions of the evaluation method for the rod force simulation fidelity of the flight simulator are as follows:
i, establishing the rod force simulation fidelity evaluation device of the flight simulator;
II, based on the evaluation device of the flight simulator rod force simulation fidelity, a comprehensive evaluation index model used by the evaluation method of the flight simulator rod force simulation fidelity is established and stored in a computer (3), and the evaluation method comprises the following steps:
error index considering pole force tracking quality：
In the formula,the desired stick forces in pitch, pitch and yaw directions respectively,the actual rod forces in the pitch, pitch and yaw directions of the control load system during the test are respectively,respectively are standard threshold values of errors of pitching, inclining and yawing direction rod forces,testing time;
② consider the stick force direction error index：
The value is 3, 2, 1, 0; the rod force direction error index comprises three channel rod force direction errors of pitching, inclining and yawing; when the three expected rod forces of pitch, tilt and yaw are consistent with the corresponding actual rod force directions of the operation load system in the test,= 0; when both expected rod forces coincide with the respective actual rod force directions of the operating load system under test=1,; when a desired stick force is aligned with the corresponding actual stick force direction of the operating load system under test,= 2; all of the phases are not the same as each other,=3；
③ Total error indicator：
Taking the weighted average of the two error indexes to obtain the total error index
In the formula,is a weighted value;
④ comprehensive evaluation index:
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 rod force data matched with the control load system, wherein the actual rod force data is obtained through a force sensor in a tested control load system unit (2) of a flight simulator rod force simulation fidelity evaluation device; the input of the measured control load system unit (2) is the output of a 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 and the angular speed of the instantaneous overload of the aircraft to the washing model unit (13);
v, determining an operation control strategy model matched with the operation load system:
debugging matching of the flight simulator stick force simulation fidelity evaluation device and the 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 control load system is determined; the pilot operation control strategy model unit (6) stores an operator operation control strategy mathematical model Hco as follows:
in the formula,，，respectively a vestibular model, a visual perception model and a central nerve model;are respectively corresponding weighting coefficients;is a neural decision system model;is a time delay;
wherein, the model of the vestibular model unit (11) about the linear acceleration is as follows:
the vestibular model unit (11) models the angular velocity as:
the visual perception model in the visual perception model unit (9) is：
The central nerve model in the pilot operation control strategy model unit (6) is:
A neural decision system model in a pilot-operated control strategy model unit (6):
corresponding weighting coefficient
The moving wash-out model w(s) in the moving wash-out model unit (13) is:
VI, selecting more than four groups of different simulated flight tasks of the simulated flight task subject, and recording the input and output data of the rod force of the control load system to obtain a rod force displacement curve of the solid-mounted airplane;
simulating flight mission subjects:
1. a landing and taking line;
2. landing on five sides;
3. running and taking off;
4. the flight is driven by a saw-tooth mechanism;
5. longitudinal acceleration and deceleration flying;
6. deceleration and acceleration under vertical overload;
7. turning in the shortest time;
8. rotating the disc;
9. hovering the helicopter;
10. from a small speed to a large speed;
11. a system failure;
VII, inputting relevant data, and establishing a comprehensive evaluation index used by the evaluation method for the flight simulator stick force simulation fidelity according to the step II：
Obtaining an evaluation result of the lever force fidelity of the control load system;
VIII, evaluation results of evaluation method for simulating fidelity by using stick force of flight simulator and correlation coefficient of subjective evaluation of pilot as two sets of sampling dataThe reasonability and reliability of the evaluation method for evaluating the rod force simulation fidelity of the flight simulator and the correlation coefficientThe calculation formula is as follows:
wherein,
；
；
two groups of sampling data respectively;
respectively, the average values of the two corresponding groups of sampling data;
=0, the two sets of data are completely uncorrelated; when in useThe closer to 1, the more correlated the two sets of data;=1, the two sets of data are completely correlated.
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| CN111785124B (en) * | 2020-07-27 | 2022-04-05 | 中国工程物理研究院总体工程研究所 | Motion perception simulation fidelity evaluation method for continuous load simulator |
| CN115409428A (en) * | 2022-10-28 | 2022-11-29 | 北京航空航天大学 | Flight simulator fidelity comprehensive evaluation method based on fuzzy evaluation method |
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| US5021982A (en) * | 1988-12-28 | 1991-06-04 | Veda Incorporated | Motion base control process and pilot perceptual simulator |
| US5370535A (en) * | 1992-11-16 | 1994-12-06 | Cae-Link Corporation | Apparatus and method for primary control loading for vehicle simulation |
| CN101083019A (en) * | 2006-12-31 | 2007-12-05 | 中国人民解放军63791部队 | Rapid evaluating system based on roomage state sensing |
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