CN106652650B - A kind of helicopter control load simulation device with tactile guiding - Google Patents

Abstract

The invention relates to a helicopter simulation control load simulation device with tactile guidance, which is characterized in that: the table panel base is composed of the lower bottom plate of the table panel base and the table panel of the table panel base, and the top surface of the lower bottom plate of the table panel base is fixedly connected with the table panel base platform The panel and the fixed base are fixedly connected to the top surface of the table panel base. The lateral movement servo motor is fixedly connected to the table panel base and the table panel through the fixed base. The outer ear of the device is connected to the fixed base, the rotating bracket has a right-angle structure, and the bottom surface of the rotating bracket is fixedly connected with the flange surface of the lateral movement disc reducer, which can provide real-time and accurate tactile guidance according to the helicopter dynamics model and the joystick model Force, simulating a high-fidelity on-the-spot sense of force. At the same time, for different helicopter models, the programming method can be used to simulate the subtle differences in the force sense of each model, which has good adaptability and versatility.

Description

A Helicopter Control Load Simulator with Tactile Guidance

technical field

The invention relates to a helicopter simulation control load simulation device with tactile guidance, belongs to the field of robot human-computer interaction, and is a simulator control load simulation device based on tactile guidance.

Background technique

On a real helicopter, the control load system is a direct device for the pilot to control the aircraft. Due to the complex flight environment of the helicopter, the flight state changes frequently, the flight parameters such as pitch angle, roll angle, rudder angle, and flight speed change rapidly, and the aerodynamic forces loaded on the joystick and pedals change rapidly. Quickly make judgments about changes and perform corresponding operations. For the training of helicopter pilot students, the safety and economic benefits of real machine training are very poor, so special simulation training equipment is needed to simulate the control force feeling of real helicopters.

As an important interface of helicopter human-computer interaction, the control load device is mainly used to provide the control interface of the helicopter and to feedback the control force feeling of the pilot driving the helicopter. In order to effectively improve the training efficiency of helicopter pilot students, the static and dynamic force sense simulated by the control load simulator must have a high degree of fidelity compared with the real machine control force sense.

At present, the force simulation of helicopter simulators adopts either spring loading to simulate the control force through spring combinations of various stiffnesses; or a hydraulic servo control load system to achieve force load with high fidelity. . However, due to its fixed form, the spring load cannot realistically simulate the dynamic force feeling in different flight states, and the hydraulic servo control load system is unstable in the subtle and slow operation due to hydraulic pipeline leakage, frictional resistance, etc. , these two control load systems are difficult to establish an accurate control load model, and the degree of simulation is far from the actual one.

In addition, the general helicopter simulator control load device does not consider the force interaction between the pilot and the device. The device feeds back the aerodynamic model force generated by the helicopter's flight state, but it cannot directly and quickly detect the pilot's judgment based on the joystick model force. The manual operation force applied later. This will easily lead to conflicts between the model force reflected on the joystick and the operating force of the pilot during the fast and frequent manipulation process, resulting in a sense of frustration. At the same time, the tactile guidance in the teaching mode cannot be realized, which in turn affects the sense of presence in the simulation training. and the final training effect.

Contents of the invention

The purpose of the present invention is to provide a helicopter simulation control load simulation device with tactile guidance, which can provide tactile guidance force in real time and accurately according to the helicopter dynamics model and the joystick model, and simulate a high-fidelity on-the-spot force feeling. At the same time, for different helicopter models, the programming method can be used to simulate the subtle differences in the force sense of each model, which has good adaptability and versatility.

The technical solution of the present invention is achieved in the following way: a helicopter simulation control load simulation device with tactile guidance, which consists of a joystick, a 6-dimensional force sensor, a joystick, a table panel base, a lateral motion servo motor, and a lateral motion disc deceleration device. It consists of a device, a fixed base, a longitudinal motion disc reducer, a joystick base, a longitudinal motion servo motor, a rotating bracket, a table panel base table panel, and a lower bottom plate of the table panel base. It is composed of the table top base and the table top. The top surface of the lower bottom plate of the table top base is fixedly connected to the top surface of the table top base. The fixed base is fixedly connected to the top surface of the table top base. Fixed connection, the front end of the lateral motion servo motor has a lateral motion disc reducer, the outer ear of the lateral motion disc reducer is connected to the fixed base, the rotating bracket is a right-angle structure, the bottom surface of the rotating bracket and the flange surface of the lateral motion disc reducer Fixed connection, the other vertical surface of the rotating bracket is fixedly connected with the flange surface of the longitudinal movement disc reducer at the front end of the longitudinal movement servo motor, the outer ear of the longitudinal movement disc reducer is fixedly connected with the base of the joystick, the lower end of the joystick is connected with the joystick The top of the rod base is connected, and the lower end of the joystick has a 6-dimensional force sensor and is fixedly connected with the upper end of the joystick;

The measurement and control system modules of the simulation device include the system control module of the PC host computer, the motor servo control module and the force/torque detection module, and the supporting communication modules—including EntherNet TCP/IP protocol communication and CANOpen protocol communication; among them, the force/torque The detection module is connected to the PC host computer through the USB interface, and the motor servo control module is connected to the PC host computer through the Ethernet interface (EntherNet TCP/IP protocol) or the CAN bus industrial Ethernet interface (CANOpen protocol).

The range of angle of movement of the joystick is not less than the longitudinal , horizontal, and the movement angle range of the real helicopter cycle joystick is required to be vertical and horizontal.

The positive effect of the present invention is that compared with other mechanical structures, it adopts a motor servo drive system, and the longitudinal operating mechanism is suspended on the horizontal operating mechanism through the rotating bracket. The two are connected in series, which reduces the structural complexity. In the present invention, the sense of force produced in the flight of the helicopter is directly provided by the servo motor, and the calculation and simulation are carried out according to the helicopter dynamic model of the model program, which solves the deficiency of spring loading on the simulation of dynamic force sense and the effect of the hydraulic control load device on the subtle and slow manipulation. The shortcomings of hardware components such as insufficient force simulation that affect the sense of force on the spot improve the maneuverability of the device.

Description of drawings

Fig. 1 is a structural diagram of the present invention.

Fig. 2 is an axonometric view of the lateral movement mechanism and the longitudinal movement mechanism of the control load device.

Fig. 3 is a top view of the lateral movement mechanism and the longitudinal movement mechanism of the control load device.

Fig. 4 is a structural diagram of the system hardware circuit of the control load device.

Figure 5 is a block diagram of the system working principle of the control load device.

Detailed ways

Below in conjunction with accompanying drawing, the present invention is further described: as shown in Figure 1-4, a kind of helicopter simulation control load simulation device with tactile guidance, consists of joystick 1, 6-dimensional force sensor 2, joystick 3, table panel base 4. Horizontal motion servo motor 5, horizontal motion disc reducer 6, fixed base 7, longitudinal motion disc reducer 8, joystick base 9, longitudinal motion servo motor 10, rotating bracket 11, table panel base table panel 12, The table top base bottom plate 13 is formed, and it is characterized in that: the table top base 4 is made up of the table top base bottom plate 13 and the table top base table top 12, and the top surface of the table top bottom bottom plate 13 is fixedly connected to the table top base table top 12, fixed The base 7 is fixedly connected to the top surface of the table top base table 12, and the lateral motion servo motor 5 is fixedly connected with the table top base table 12 through the fixed base 7, and the front end of the lateral motion servo motor 5 has a lateral motion disc reducer 6, and The outer ear of the moving disc reducer 6 is connected to the fixed base, the rotating bracket 11 has a right-angle structure, the bottom surface of the rotating bracket 11 is fixedly connected with the flange surface of the transversely moving disc reducer 6, and the other vertical surface of the rotating bracket 11 is aligned with the longitudinal direction. The flange surface of the longitudinal motion disc reducer 8 at the front end of the motion servo motor 10 is fixedly connected, the outer ear of the longitudinal motion disc reducer 8 is fixedly connected with the joystick base 9, the lower end of the joystick 3 is connected with the top of the joystick base 9, and the manipulation There is a 6-dimensional force sensor 2 at the lower end of the handle 1 and is fixedly connected with the upper end of the joystick 3;

The measurement and control system modules of the simulation device include the system control module of the PC host computer, the motor servo control module and the force/torque detection module, and the supporting communication modules—including EntherNet TCP/IP protocol communication and CANOpen protocol communication; among them, the force/torque The detection module is connected to the PC host computer through the USB interface, and the motor servo control module is connected to the PC host computer through the Ethernet interface (EntherNet TCP/IP protocol) or the CAN bus industrial Ethernet interface (CANOpen protocol).

The movement angle range of the joystick 3 is not less than the longitudinal and transverse directions, while the movement angle range of the real helicopter cyclic joystick is required to be longitudinal and transverse.

The whole working process of the present invention is: the operation force of the helicopter pilot student is measured by the 6-dimensional force sensor, when the model force of the helicopter, the path guidance force and the manual operation force act together, the helicopter dynamics system model and the weighted power fusion strategy The fusion force is generated, and the lateral and vertical movement angles of the joystick under the action of the fusion force are obtained through the position predictor, and the motor is controlled by the driver to finally guide the movement of the joystick.

When the fusion force causes the joystick 3 to perform periodic motion, its motion can be decoupled into longitudinal motion and lateral motion. The disc speed reducer 6 of the transverse motion mechanism drives the longitudinal motion mechanism to rotate around its central axis through the rotating bracket 11, which is reflected on the joystick to perform horizontal periodic motion; at the same time, the flange surface of the disc speed reducer 8 of the longitudinal motion mechanism Because it is fixedly connected with the connection surface of the rotating bracket, it rotates around its own central axis, which is reflected on the joystick as a longitudinal periodic motion. The joint motion of the two periodic motions finally forms a specific motion trajectory of the joystick. In addition, the control loading device can be controlled by the program, so that it can be automatically corrected when required and can be adapted to different helicopter types when loading different helicopter dynamic models.

In the present invention, the movement angle range of the joystick is not smaller than the longitudinal and transverse movement angles, which fully meets the requirements of the longitudinal and transverse movement angle ranges of the joystick of the helicopter control load device.

The function of the motor servo control system of the invention is: the 6-dimensional force sensor detects the force/torque signal applied by the operator to the joystick, and inputs it into the control program of the host computer through the USB interface with the host computer; on the other hand , after the fusion force generated by the weighted force fusion strategy makes the joystick locate at a specific manipulation position, the absolute photoelectric encoders of servo motor 5 and servo motor 10 can respectively obtain the position information and rotational speed of the joystick on the lateral and longitudinal motion components The information is input into the control program of the host computer through the feedback interface between the servo motor driver and the host computer. The measured information is used as the input of the helicopter system model in the control program of the host computer to participate in the simulation calculation of the model, and the fusion force at the next moment is obtained, and the fusion force is passed through the position prediction model of the joystick to finally obtain the rotation angle of the servo motor at the next moment and speed information. Perform PWM control on the servo motor according to the speed information, and at the same time, the absolute photoelectric encoder detects the speed of the servo motor in real time, and feeds this information back to the servo motor driver to realize the closed-loop control of the driver, and finally enables the joystick to feedback a specific force Feel and reach the designated manipulation position at a specific speed. The hardware circuit diagram of the system is shown in Figure 4.

The motor servo control system includes a force/torque detection module and a motor servo drive control module. The force/torque detection module of the 6-dimensional force sensor is connected to the communication terminal and data transmission terminal of the host computer through the USB interface. In order to realize the joystick position detection and Closed-loop control needs to detect the rotation position and speed of the servo motor. The AKD-P00306-NBCN-0000 servo motor driver has an encoder input interface, connect the absolute photoelectric encoder to the driver, and pass the internal parameters of the driver. The data acquisition and closed-loop control of the motor can be realized. The driver is connected with the host computer using Ethernet or CAN bus, and communicates using TCP/IP protocol or CANOpen protocol.

Claims (2)

1. it is a kind of with tactile guiding helicopter simulation manipulate load simulation device, by control crank, 6 dimension force sensors, Control stick, deck plate base, transverse movement servomotor, transverse movement disc type retarder, firm banking, lengthwise movement disc type subtract Fast device, control stick base, lengthwise movement servomotor, runing rest, deck plate base deck plate, deck plate base lower plate group Into, it is characterised in that：Deck plate base is made of deck plate base lower plate and deck plate base deck plate, under deck plate base Plate top surface is fixedly connected with deck plate base deck plate, and firm banking is fixedly connected on the top surface of deck plate base deck plate, horizontal It is fixedly connected to motion servo motor by firm banking with deck plate base deck plate, there is horizontal stroke in transverse movement servomotor front end To movement disc type retarder, the external ear of transverse movement disc type retarder is connected with firm banking, the rectangular structure of runing rest, rotation The bottom surface for turning stent is fixedly connected with the flange face of transverse movement disc type retarder, runing rest vertical another face and longitudinal direction The flange face of the lengthwise movement disc type retarder of motion servo motor front end is fixedly connected, the external ear of lengthwise movement disc type retarder It is fixedly connected with control stick base, control stick lower end is connected with control stick base top, and control crank lower end there are 6 dimension force sensings Device is simultaneously fixedly connected with control stick upper end；

The TT＆C system module of simulator includes system control module, motor servo control module and the power/power of PC host computers Square detection module, and supporting communication module, wherein, power/moment inspecting module is connected by USB interface with PC host computers, Motor servo control module passes through Ethernet interface EntherNet ICP/IP protocols or CAN bus Industrial Ethernet interface CANOpen agreements are connected with PC host computers.

2. the helicopter simulation according to claim 1 with tactile guiding manipulates load simulation device, it is characterised in that The control lever movement angular range vertical and horizontal are not less than ± 20 ゜, and the movement angle of true helicopter cyclic stick Degree area requirement is ± 14 ゜ of vertical and horizontal.