CN114595519A - Flight simulation system, method, device and medium - Google Patents

Abstract

The invention provides a flight simulation system, a flight simulation method, a flight simulation device and a flight simulation medium, and particularly relates to the technical field of aerospace flight simulation.

Description

Flight simulation system, method, device and medium

technical field

The invention relates to the technical field of aerospace flight simulation, in particular to a flight simulation system, method, equipment and medium.

Background technique

At present, there are more and more research and development designs of various new UAVs, and the demand for flight simulation is also increasing rapidly. However, in the related art, the way of simulating the interaction between the aircraft and the ground by the ground simulation system is relatively simple, and it does not really play the role of flight simulation, but relies on the rolling test to guide the design of the aircraft, although this method is more reliable However, relatively speaking, the cost is higher, the cycle is longer, and the versatility is poor, which is not conducive to the research and development of UAVs.

SUMMARY OF THE INVENTION

In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a flight simulation system, method, device and medium, which are used to solve the high cost, cycle time and high cost of simulating the interaction between the aircraft and the ground in the prior art. It is long and has poor versatility, which is not conducive to the research and development of UAVs.

In order to achieve the above object and other related objects, the present invention provides a flight simulation method, the method includes:

Acquiring aircraft state parameters of the aircraft, where the aircraft state parameters include aircraft attitude angle, aircraft altitude, landing gear position information, aircraft speed and aircraft angular rate;

Determine the elastic deformation amount of the landing gear according to the aircraft attitude angle, aircraft height and landing gear position information;

The force state information of the aircraft is determined according to the state parameters of the aircraft and the elastic deformation of the landing gear, and transmitted to the aircraft simulation system, so as to realize the ground simulation of the flight simulation of the aircraft.

In an embodiment of the present invention, the method for determining the force state information includes:

Determine the supporting force of the ground facing the landing gear according to the elastic deformation of the landing gear, the characteristic parameters of the landing gear, the attitude angle of the aircraft, the speed of the aircraft, the angular rate of the aircraft and the position information of the landing gear;

Determine the friction force of the ground facing the landing gear according to the supporting force, friction characteristic parameters, aircraft attitude angle, aircraft speed, aircraft angular rate and landing gear position information;

According to the support force and the friction force, the force state information of the ground facing the aircraft is determined.

In an embodiment of the present invention, the method for determining the supporting force includes:

Obtaining characteristic parameters of the landing gear, where the characteristic parameters of the landing gear include a preset compression elastic coefficient and a preset compression damping coefficient;

Determine the elastic deformation force according to the elastic deformation amount and the preset compression elastic coefficient;

Determine the damping force according to the aircraft attitude angle, aircraft speed, aircraft angular rate, landing gear position information and preset compression damping coefficient;

The supporting force is determined according to the elastic deformation force and the damping force.

In an embodiment of the present invention, the landing gear wheel of the aircraft includes at least one of a universal wheel and a fixed wheel, and the friction characteristic parameters include a preset rolling friction coefficient, a preset static friction coefficient of elasticity, a preset Set at least one of static friction damping coefficient and preset lateral friction coefficient;

If the wheel of the floor stand includes a universal wheel, the friction force includes a universal rolling friction force or a universal static friction force, wherein the universal rolling friction force is based on a preset rolling friction coefficient, the attitude angle of the aircraft , aircraft speed, aircraft angular rate, landing gear position information and support force are determined, and the universal static friction force is determined according to the aircraft attitude angle, aircraft speed, aircraft angular rate and landing gear position information;

If the wheel of the floor stand includes a fixed wheel, the friction force includes a fixed rolling friction force or a fixed static friction force, wherein the fixed rolling friction force is determined according to a preset rolling friction coefficient and the supporting force, and the fixed rolling friction force is determined according to the predetermined rolling friction coefficient and the supporting force. The static friction force is determined according to the preset static friction elastic coefficient, the preset static friction damping coefficient, the aircraft attitude angle, the aircraft speed, the aircraft angular rate and the position information of the landing gear;

If the wheel of the floor stand includes a fixed wheel, the friction force also includes a fixed lateral friction force, and the fixed lateral friction force is based on the preset lateral friction coefficient, the aircraft attitude angle, the aircraft speed, the aircraft angular rate and the Landing gear position information is determined.

In an embodiment of the present invention, the method further includes at least one of the following:

The determination method of the universal rolling friction force is:

Wherein, f ^rf _U is the universal rolling friction force, |V _gnd _U| represents the vector modulus of V _gnd _U, μ is the preset rolling friction coefficient, F _Spt _U is the supporting force of the universal wheel, V _gnd _U is the horizontal speed of the gimbal wheel relative to the ground, V _x _U is the first sub-speed of the relative speed of the gimbal wheel in the x direction, V _y _U is the relative speed of the gimbal wheel in y The second sub-velocity in the direction, the relative velocity of the gimbal wheel is determined according to the aircraft attitude angle, aircraft speed, aircraft angular rate, and landing gear position information;

The way of determining the universal static friction force is:

f ^sf _U=fElas_U+fDamp_U,

Wherein, f ^sf _U is the universal static friction force, fElas_U is an elastic term, fDamp_U is a damping term, and the elastic term is determined according to the preset static friction elastic coefficient, the first and second partial speeds, and the damping term is determined according to Determining a preset static friction damping coefficient, the first minute speed and the second minute speed;

The determination method of the fixed rolling friction force is:

f ^rf _F=-μ·F _Spt _F,

Wherein, f ^rf _F is the fixed rolling friction force, μ is the preset rolling friction coefficient, and F _Spt _F is the supporting force of the fixed wheel;

The fixed static friction force is determined by:

f ^sf _F=-kfElas·∫V _xg _Fdt-kfDamp·V _xg _F,

Wherein, f ^sf _F is the fixed static friction force, kfElas is the preset static friction elastic coefficient, V _xg _F is the fourth sub-speed of the relative speed of the fixed wheel in the x direction, and the kfDamp is the preset static friction damping coefficient, The relative speed of the fixed wheel is determined according to the attitude angle of the aircraft, the speed of the aircraft, the angular rate of the aircraft, and the position information of the landing gear; the determination method of the fixed lateral friction force is:

f ^lf _F=-k _β ·β _w ,

Wherein, f ^lf _F is the fixed lateral friction force, k _β is the preset lateral friction coefficient, and β _w is the wheel sideslip angle, which is based on the relative speed of the fixed wheel and the The relative velocity of the stationary wheels is determined by the fifth fractional velocity in the y-direction.

In an embodiment of the present invention, the determination method of the elastic item includes:

Wherein, fElas_U is the elastic term, kfElas is the preset static friction elastic coefficient, V _x _U is the first partial velocity of the relative speed of the universal wheel in the x direction, and V _y _U is the relative speed of the universal wheel The second minute velocity of the velocity in the y direction;

The way of determining the damping term includes,

Wherein, fDamp_U is the damping term, kfDamp is the preset static friction damping coefficient, V _x _U is the first partial velocity of the relative speed of the universal joint wheel in the x direction, and V _y _U is the relative speed of the universal joint wheel. The second minute velocity of the velocity in the y direction;

The way of determining the horizontal speed of the universal gear relative to the ground includes:

Wherein, V _gnd _U is the horizontal speed of the gimbal wheel relative to the ground, V _x _U is the first sub-speed of the relative speed of the gimbal wheel in the x direction, and V _y _U is the speed of the gimbal wheel The second fractional velocity of the relative velocity in the y direction;

The method of determining the relative speed of the fixed wheel includes,

Among them, Vtp _{g_F} is the relative speed of the fixed wheel, ψ is the third component of the aircraft attitude angle, Vtp _{v_F} is the speed of the standard coordinate system of the fixed wheel, and V _{xg_F} is the relative speed of the fixed wheel in the x direction. The fourth minute speed, V _yg _F is the fifth minute speed of the relative speed of the fixed wheel in the y direction, V _zg _F is the sixth minute speed of the relative speed of the fixed wheel in the z direction, the fixed wheel standard The coordinate system speed is determined according to the aircraft attitude angle, aircraft speed, aircraft angular rate, and landing gear position information;

The method for determining the speed of the standard coordinate system of the fixed wheel includes:

Vtp _v _F=[V _x _F V _y _F V _z _F] ^T =Vcg _v +DCM_vb·(pqr _b ×TP _b ),

Wherein, Vcg _v is the speed of the aircraft, pqr _b is the angular rate of the aircraft, DCM_vb is the direction cosine matrix, determined according to the attitude angle of the aircraft, TP _b is the landing gear position information, V _x _F is the speed of the standard coordinate system of the fixed wheel at x The speed in the direction, V _y _F is the speed in the y direction of the standard coordinate system of the fixed wheel, V _z _F is the speed in the z direction of the speed in the standard coordinate system of the fixed wheel;

The method for determining the wheel sideslip angle includes:

β _w = sin ^-1 (V _yg _F/|Vtp _g _F|),

Among them, β _w is the wheel sideslip angle, V _yg _F is the fifth component speed of the relative speed of the fixed wheel in the y direction, and Vtp _g _F is the relative speed of the fixed wheel.

In an embodiment of the present invention, the force state information includes the acting force and acting moment of the ground on the aircraft, wherein,

If the landing gear wheel includes a universal wheel, the method for determining the acting force includes determining the acting force as the first sub-acting force and the The second sub-action force, the first sub-action force is determined according to the universal rolling friction force and the support force of the universal wheel, and the second sub-action force is determined according to the universal static friction force and the support force of the universal wheel ;

If the wheel of the floor stand includes a fixed wheel, the determination method of the acting force includes: according to a preset dynamic and static friction switching threshold and the fourth speed of the relative speed of the fixed wheel in the x direction, the acting force is determined. Determined as the third sub-action force and the fourth sub-action force, the third sub-action force is determined according to the attitude angle of the aircraft, the fixed static friction force, the fixed lateral friction force and the supporting force of the fixed wheel, and the fourth sub-action force is determined. The force is determined according to the attitude angle of the aircraft, the fixed rolling friction force, the fixed lateral friction force and the supporting force of the fixed wheel;

The applied moment is determined based on the applied force and landing gear position information.

In an embodiment of the present invention, if the wheel of the floor stand includes a universal wheel, the determination method of the acting force includes:

Among them, F_U is the acting force, f ^rf _U is the universal rolling friction force, F _Spt _U is the supporting force of the universal wheel, f ^sf _U is the universal static friction, and V _gnd _U is the level of the universal wheel relative to the ground speed, V _tv is the preset dynamic and static friction switching threshold;

If the wheel of the floor stand includes a fixed wheel, the method of determining the acting force includes:

Among them, F_F is the acting force, ψ is the third component of the aircraft attitude angle, f ^rf _F is the fixed rolling friction force, f ^lf _F is the fixed lateral friction force, f ^sf _F is the fixed static friction force, and F _Spt _F is the fixed wheel The supporting force of , V _xg _F is the fourth speed of the relative speed of the fixed wheel in the x direction, and V _tv is the preset dynamic and static friction switching threshold;

If the wheel of the floor stand includes a universal wheel, the method for determining the acting torque includes:

M_U=F_U×TP _{V_U} ,

Wherein, M_U is the acting moment, TP _{V_U} is the relative position of the landing gear, the relative position of the landing gear is determined according to the attitude angle of the aircraft and the position information of the landing gear, and × represents the vector cross product;

If the wheel of the floor stand includes a fixed wheel, the method of determining the acting torque includes:

M_F=F_F×TP _V _F,

Wherein, M_F is the acting moment, TP _V _F is the relative position information of the landing gear, the relative position information of the landing gear is determined according to the attitude angle of the aircraft and the position information of the landing gear, and × represents the vector cross product.

In an embodiment of the present invention, the elastic deformation of the landing gear of the target landing gear is less than zero, and each target landing gear of the aircraft is connected with at least one universal wheel and/or at least one fixed wheel, so The acting force of the aircraft includes the acting force of each swivel wheel and/or the sum of the acting force of each fixed wheel, and the acting moment is the acting moment of each swivel wheel and/or the acting moment of each fixed wheel Sum.

In an embodiment of the present invention, the method for determining the supporting force includes:

F _Spt = FElas + FDamp,

Among them, F _Spt is the supporting force, FElas is the elastic deformation force, and FDamp is the damping force;

The way of determining the elastic deformation force includes,

Among them, FElas is the elastic deformation force, Hgt is the elastic deformation of the landing gear, and KElas is the preset compression elastic coefficient;

The damping force is determined in a manner including,

Wherein, FDamp is the damping force, Vtp _{V_z} is the sub-speed of the relative speed of the landing gear in the z direction, and the relative speed of the landing gear is determined according to the aircraft attitude angle, aircraft speed, aircraft angular rate, and landing gear position information, and KDamp is a preset Compression damping coefficient, Hgt is the elastic deformation of the landing gear.

The present invention also provides a flight simulation system, the system includes:

an acquisition module for acquiring aircraft state parameters of the aircraft, where the aircraft state parameters include aircraft attitude angle, aircraft height, landing gear position information, aircraft speed and aircraft angular rate;

a landing gear state module, configured to determine the elastic deformation amount of the landing gear according to the aircraft attitude angle, aircraft height and landing gear position information;

The ground load module determines the force state information of the aircraft according to the state parameters of the aircraft and the elastic deformation of the landing gear, and transmits the information to the aircraft simulation system, so as to realize the ground simulation of the flight simulation of the aircraft.

The present invention also provides a flight simulation device, comprising a processor, wherein the processor is coupled to a memory, the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the above-mentioned embodiments are implemented. The method of any one.

The present invention also provides a computer-readable storage medium, comprising a program, which, when run on a computer, causes the computer to perform the method as described in any one of the above embodiments.

As described above, the present invention provides a flight simulation system, method, equipment and medium. The method determines the amount of elastic deformation of the landing gear by acquiring the aircraft state parameters of the aircraft. If the elastic deformation of the landing gear is less than zero, then based on the state of the aircraft The parameters determine the force state information of the aircraft, and transmit it to the aircraft simulation system to realize the ground simulation of the flight simulation of the aircraft. By obtaining the parameters of the aircraft and adjusting a small number of parameters (landing gear characteristic parameters and friction characteristic parameters), it can be realized The force state information of the aircraft is determined, and then the ground simulation of flight simulation is realized. By adjusting the parameters, it can be applied to a variety of aircraft using the landing gear system. It has strong versatility, reduces the simulation cost, shortens the development cycle, and is beneficial Development of aircraft such as drones.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic flowchart of a flight simulation method according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a flight simulation system in an embodiment of the present invention.

FIG. 3 is a schematic diagram of an operation flow of the flight simulation system according to an embodiment of the present invention.

Detailed ways

The embodiments of the present invention are described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other under the condition of no conflict.

It should be noted that the drawings provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic way, so the drawings only show the components related to the present invention rather than the number, shape and number of components in actual implementation. For dimension drawing, the type, quantity and proportion of each component can be arbitrarily changed in actual implementation, and the component layout may also be more complicated.

Example 1

In view of the above technical problems, the embodiments of the present invention provide a flight simulation method, which simulates the interaction between the aircraft and the ground more generally, thereby improving the reliability of the flight simulation and improving the flight simulation when the aircraft is on the ground. It can reduce the application of the rollout test in the aircraft design process, can reduce the design cost, has a certain versatility, and can shorten the design cycle.

Please refer to FIG. 1, the present invention provides a flight simulation method, the method includes:

S101: Obtain aircraft state parameters of the aircraft. The aircraft may be a drone, an airplane, or other equipment. Aircraft state parameters include aircraft attitude angle, aircraft height, landing gear position information, aircraft speed and aircraft angular rate, etc. The aircraft state parameters can be directly obtained through a preset flight simulation system. The aircraft attitude angle can be the Euler angle of the aircraft body coordinate system relative to other coordinate systems (such as the standard coordinate system or the northeast coordinate system mentioned below), and the aircraft height can be the height of the current aircraft center of gravity relative to the ground, and the position of the landing gear. The information can be the position information of the landing gear touchdown point in the aircraft body coordinate system, the aircraft speed can be the speed of the aircraft in the standard coordinate system, the aircraft angular rate can be the angular rate of the aircraft in the aircraft body coordinate system, the aircraft state parameter The data collection can be collected in a manner known to those skilled in the art.

S102: Determine the elastic deformation amount of the landing gear according to the attitude angle of the aircraft, the height of the aircraft and the position information of the landing gear. Optionally, the amount of elastic deformation of the landing gear Hgt=the height of the aircraft Hgt_cg-the position of the relative position of the landing gear in the z direction TP _V _z, at this time, the relative position of the landing gear can be based on the position information of the landing gear and the aircraft body coordinate system at preset coordinates. It is determined by the transformation relationship (such as the direction cosine matrix, etc.) between the standard coordinate system or the northeast coordinate system mentioned below. The relative position of the landing gear is the position where the landing gear is transformed into another non-aircraft body coordinate system (standard coordinate system). The standard coordinate system may be a coordinate system pre-configured by a person skilled in the art, such as a north-east coordinate system, and the transformation relationship between the standard coordinate system and the aircraft body coordinate system (such as a direction cosine matrix, etc.) is pre-calibrated. Optionally, a method for determining the relative position of the landing gear is:

TP _V =[TP _V _x TP _V _y TP _V _z] ^T =DCM_vb·TP _b Formula (1),

Among them, TPV is the relative position of the landing gear, _{TPV_x} is the relative position of the landing gear in the x direction, _{TpV_y} is the relative position of the landing gear in the y direction, and _{TPV_z} is the relative position of the landing gear in the _z direction The position in the direction, DCM_vb is the direction cosine matrix from the aircraft body coordinate system to the standard coordinate system (such as the northeast coordinate system, etc.), determined according to the attitude angle of the aircraft, and the determination method of the direction cosine matrix can be known by those skilled in the art way to achieve. The relative position of the landing gear is the position of the landing gear in the standard coordinate system. TP _b is the position information of the landing gear, which can be the position information of the grounding point of the landing gear in the coordinate system of the aircraft body.

In one embodiment, when the elastic deformation of the landing gear is less than 0, it means that the wheel connected to the landing gear is in a grounded state, otherwise (the elastic deformation of the landing gear is greater than or equal to 0), it means that the wheel connected to the landing gear is in a grounded state. in an ungrounded state.

S103: Determine the force state information of the aircraft according to the state parameters of the aircraft and the elastic deformation of the landing gear, and transmit the information to the aircraft simulation system, so as to realize the ground simulation of the flight simulation of the aircraft.

In one embodiment, the method for determining the force state information includes:

According to the elastic deformation of the landing gear, the characteristic parameters of the landing gear, the attitude angle of the aircraft, the speed of the aircraft, the angular rate of the aircraft and the position of the landing gear, determine the supporting force of the ground facing the landing gear;

Determine the friction force of the ground facing the landing gear according to the support force, friction characteristic parameters, aircraft attitude angle, aircraft speed, aircraft angular rate and landing gear position information;

Determine the force state information of the ground facing the aircraft according to the support force and friction force.

In one embodiment, the way of determining the support force includes:

Obtaining the characteristic parameters of the landing gear, wherein the characteristic parameters of the landing gear include a preset compression elastic coefficient and a preset compression damping coefficient;

Optionally, the characteristic parameters of the landing gear can be determined according to information such as the current aircraft model, the aircraft landing gear type, etc., and the support force determination method can be applied to a variety of aircraft by modifying the landing gear characteristic parameters according to the characteristics of the landing gear and other characteristics of different aircraft;

Determine the elastic deformation force according to the elastic deformation amount and the preset compression elastic coefficient;

Determine damping force according to aircraft attitude angle, aircraft speed, aircraft angular rate, landing gear position information and preset compression damping coefficient;

The support force is determined from the elastic deformation force and damping force.

Optionally, the way of determining the support force includes:

F _Spt =FElas+FDamp Formula (2),

Among them, F _Spt is the supporting force, FDamp is the damping force, and FElas is the elastic deformation force.

Optionally, the method for determining the elastic deformation force includes:

Among them, FElas is the elastic deformation force, Hgt is the elastic deformation amount of the landing gear, and KElas is the preset compressive elastic coefficient, and the preset compressive elastic coefficient is the characteristic parameter of the landing gear determined by the material and structure of the landing gear, which can be determined by those skilled in the art. Set as required.

Optionally, the way of determining the damping force includes:

Among them, FDamp is the damping force, Hgt is the elastic deformation of the landing gear, and KDamp is a preset compression damping coefficient, which is a characteristic parameter of the landing gear determined by the material and structure of the landing gear, which can be determined by those skilled in the art according to It needs to be set. Vtp _{V_z} is the fractional velocity of the relative speed of the landing gear in the z direction. The relative speed of the landing gear in the z direction can be determined according to the aircraft speed, the aircraft angular rate, the aircraft attitude angle, and the relative speed of the landing gear. sub-speed. The method of determining the relative speed of the landing gear can refer to the following formula (5).

It can be seen from formulas (4) and (3) that when the elastic deformation of the landing gear is greater than or equal to zero, the supporting force is zero. As can be seen from the following examples, the frictional force is also zero.

In one embodiment, after the elastic deformation of the landing gear is determined according to the aircraft altitude and the position information of the landing gear, and before the force state information is determined, the method further includes:

The relative speed of the landing gear is determined according to the aircraft speed, the aircraft angular rate and the landing gear position information.

Among them, the method of determining the relative speed of the landing gear includes:

Vtp _v =[Vtp _V _x Vtp _V _y Vtp _V _z] ^T =Vcg _v +DCM_vb·(pqr _b ×TP _b ) Formula (5);

Among them, Vtp _v is the relative velocity of the landing gear, Vtp _V _x is the relative velocity of the landing gear in the x direction, Vtp _V _y is the relative velocity of the landing gear in the y direction, Vtp _V _z is the relative velocity of the landing gear in the z direction The speed of the direction, Vcg _v is the speed of the aircraft, the speed of the aircraft can be the speed of the center of gravity of the aircraft in a standard coordinate system such as the Northeast coordinate system, DCM_vb is the aircraft body coordinate system to the standard coordinate system (such as the Northeast coordinate system, etc. ) direction cosine matrix, determined according to the attitude angle of the aircraft, pqr _b is the angular rate of the aircraft, such as the angular rate of the aircraft in the aircraft body coordinate system, TP _b is the landing gear position information, which can be the landing gear grounding point in the aircraft body coordinate system. location information.

In one embodiment, since the wheels of the landing gear of the aircraft may be fixed wheels and/or universal wheels (the wheels and the landing gear can rotate relative to each other), the friction characteristic parameters include a preset rolling friction coefficient, a preset static friction At least one of the elastic coefficient, the preset static friction damping coefficient, and the preset lateral friction coefficient. Optionally, the friction characteristic parameter can be determined according to information such as the current aircraft model, aircraft landing gear model, etc. Property Modification The friction property parameter can realize the following friction force determination method, which is suitable for various aircrafts.

If the wheel of the floor stand includes a universal wheel, the friction force includes universal rolling friction force or universal static friction force, wherein the universal rolling friction force is based on the preset rolling friction coefficient, aircraft attitude angle, aircraft speed, aircraft angular rate, The landing gear position information and support force are determined, and the universal static friction force is determined according to the aircraft attitude angle, aircraft speed, aircraft angular rate and landing gear position information.

For example, if it is a universal wheel, depending on the speed, the landing gear is subject to rolling friction or static friction. The direction of the rolling friction is opposite to the direction of the wheel relative to the ground speed. The static friction occurs when the speed is extremely small, and its direction is the same as that of the rolling friction. The force is the same, and the magnitude can be simplified to be related to the small displacement of the wheel and the damping caused by the speed. When the landing gear is in the grounded state (the elastic deformation of the landing gear is less than zero), in the northeast coordinate system (under the standard coordinate system), the relative speed Vtp _v _U of the universal wheel is written in the form of three components as

Vtp _v _U=[V _x _U V _y _U V _z _U] ^T formula (6)

Wherein, Vtp _v _U is the relative speed of the gimbal wheel, V _x _U is the relative speed of the gimbal wheel Vtp _v _U is the first speed in the x direction, and V _y _U is the relative speed of the gimbal wheel Vtp _v _U is the second component velocity in the y direction, and V _z _U is the third component velocity of the gimbal wheel relative velocity Vtp _v _U in the z direction.

The way of determining the relative speed of the gimbal wheel may be:

Vtp _v _U=[V _x _U V _y _U V _z -U] ^T =Vcg _v +DCM_vb·(pqr _b ×TP _b ) Formula (7);

Wherein, Vtp _v _U is the relative speed of the gimbal wheel, V _x _U is the relative speed of the gimbal wheel Vtp _v _U is the first speed in the x direction, and V _y _U is the relative speed of the gimbal wheel Vtp _{v_U} is the second fractional velocity in the y direction, Vz_U is the relative velocity of the gimbal wheel Vtp _{v_U} is the third fractional velocity in the _z direction, Vcg _v is the speed of the aircraft, which can be the center of gravity of the aircraft at The speed in the standard coordinate system such as the Northeast coordinate system, DCM_vb is the cosine matrix of the direction from the aircraft body coordinate system to the standard coordinate system (such as the Northeast coordinate system, etc.), determined according to the attitude angle of the aircraft, pqr _b is the angular rate of the aircraft, For example, the angular rate of the aircraft in the aircraft body coordinate system, TP _b is the position information of the landing gear, which may be the position information of the landing gear touchdown point in the aircraft body coordinate system.

Optionally, the method for determining the universal rolling friction force includes:

Wherein, f ^rf _U is the universal rolling friction force, |V _gnd _U| represents the vector modulus of V _gnd _U, μ is the preset rolling friction coefficient, and the preset rolling friction coefficient is a friction characteristic parameter, which can be determined by those skilled in the art Set as required, -μ·F _Spt _U is the magnitude of the overall frictional force. F _Spt _U is the support force of the gimbal wheel, and the specific determination method can refer to formula (2)-formula (4), V _gnd _U is the horizontal speed of the gimbal wheel relative to the ground, and V _x _U is the described The relative velocity Vtp _v _U of the gimbal wheel is the first partial velocity in the x direction, V _y _U is the second partial velocity of the relative velocity Vtp _v _U of the gimbal wheel in the y direction, and the gimbal wheel The relative speed is determined according to the aircraft attitude angle, aircraft speed, aircraft angular rate, and landing gear position information. As shown in formula (7), the horizontal speed of the universal wheel relative to the ground is determined according to the first and second Speed is ok.

The methods of determining the horizontal speed of the gimbal wheel relative to the ground include:

Wherein, V _gnd _U is the horizontal speed of the gimbal wheel relative to the ground, V _x _U is the relative speed of the gimbal wheel Vtp _v _U is the first speed in the x direction, V _y _U is the gimbal wheel The relative velocity of the wheels Vtp _v _U The second fractional velocity in the y direction.

Optionally, if the speed is extremely small, that is, the horizontal speed of the gimbal wheel relative to the ground |V _gnd _U| is less than the preset dynamic and static friction switching threshold V _tv (it is a friction characteristic parameter, which can be manually set according to the actual situation), then the static friction Instead of rolling friction, the static friction force consists of an elastic term and a damping term. At this time, the universal static friction force is determined as,

f ^sf _U=fElas_U+fDamp_U Formula (10),

Among them, f ^sf _U is the universal static friction force, fElas_U is the elastic term, fDamp_U is the damping term, the elastic term is determined according to the preset static friction elastic coefficient, the first and second speed components, and the damping term is determined according to the preset static friction damping coefficient, The first minute speed and the second minute speed are determined.

Flexibility is determined by,

Wherein, kfElas is a preset elastic coefficient of static friction, and the preset elastic coefficient of static friction is a friction characteristic parameter, which can be set by those skilled in the art as required, fElas_U is an elastic term, and V _x _U is the relative speed of the universal wheel The first partial velocity of Vtp _v _U in the x direction, and V _y _U is the second partial velocity of the relative velocity Vtp _v _U of the gimbal wheel in the y direction.

The damping term is determined by,

Wherein, kfDamp is the preset static friction damping coefficient, fDamp_U is the damping term, V _x _U is the relative velocity Vtp _v _U of the gimbal wheel in the x-direction first speed, V _y _U is the gimbal The relative velocity of the wheel Vtp _{v_U} The second fractional velocity in the y direction.

It should be noted that |fElas_U|, that is, kfElas·|∫V _gnd _Udt|, should not be larger than |f ^rf _U|, that is, the size of the elastic term should not be larger than the size of the universal rolling friction force.

If the wheel of the floor stand includes a fixed wheel, the friction force includes a fixed rolling friction force or a fixed static friction force, wherein the fixed rolling friction force is determined according to the preset rolling friction coefficient and the supporting force, and the fixed static friction force is determined according to the preset static friction elastic coefficient, the preset Set the static friction damping coefficient, aircraft attitude angle, aircraft speed, aircraft angular rate and landing gear position information to determine.

For example, if it is a fixed wheel (fixedly connected to the fuselage), the landing gear is subject to rolling friction or static friction. The direction of the rolling friction is opposite to the direction of the wheel relative to the ground speed. The static friction occurs when the speed is extremely small, and its direction is the same as The rolling friction force is the same, and the magnitude can be simplified to be related to the small displacement of the wheel and the damping caused by the speed. The landing gear is also subject to the lateral friction force caused by the yaw of the fuselage. The lateral friction force is related to the wheel sideslip angle. The wheel sideslip angle is the angle between the wheel plane and the horizontal ground speed direction. When the slip angle is small, there is a linear relationship between the lateral force on the wheel and the side slip angle of the wheel. When the landing gear is in the grounded state (the elastic deformation of the landing gear is less than zero), the current yaw angle ψ of the aircraft is obtained from the flight simulation system (the determination and acquisition method of the current yaw angle of the aircraft can be realized by a method known to those skilled in the art), and the The speed of the fixed wheel in the standard coordinate system is converted into:

Among them, Vtp _g _F is the relative speed of the fixed wheel, V _xg _F is the fourth speed of the relative speed of the fixed wheel in the x direction, and V _yg _F is the fifth relative speed of the fixed wheel in the y direction. Component speed, V _zg _F is the sixth component speed of the relative speed of the fixed wheel in the z direction, ψ is the third component of the aircraft attitude angle, Vtp _v _F is the speed of the standard coordinate system of the fixed wheel, and the speed of the standard coordinate system of the fixed wheel Determined according to aircraft attitude angle, aircraft speed, aircraft angular rate, and landing gear position information.

Wherein, the way of determining the standard coordinate system speed Vtp _v _F of the fixed wheel includes:

Vtp _v _F=[V _x _F V _y _F V _z _F] ^T =Vcg _v +DCM_vb·(pqr _b ×TP _b ) Formula (14);

Wherein, Vtp _v _F is the speed of the standard coordinate system of the fixed wheel, V _x _F is the speed of the standard coordinate system of the fixed wheel Vtp _v _F in the x direction, and V _y _F is the speed of the standard coordinate system of the fixed wheel Vtp _v _F The component speed in the y direction, V _z _F is the component speed of the fixed wheel standard coordinate system speed Vtp _v _F in the z direction, Vcg _v is the speed of the aircraft, and the speed of the aircraft can be the center of gravity of the aircraft in the northeast coordinate system, etc. The speed in the standard coordinate system, DCM_vb is the cosine matrix of the direction from the aircraft body coordinate system to the standard coordinate system (such as the northeast coordinate system, etc.), which can be determined according to the aircraft attitude angle, pqr _b is the aircraft angular rate, for example, the aircraft is on the aircraft body. The angular rate of the coordinate system, TP _b is the position information of the landing gear, which can be the position information of the grounding point of the landing gear in the coordinate system of the aircraft body.

Fixed rolling friction is determined by:

f ^rf _F=-μ·F _Spt _F formula (15);

Wherein, f ^rf _F is the fixed rolling friction force, μ is the preset rolling friction coefficient, and F _Spt _F is the supporting force of the fixed wheel (refer to formula (2)-formula (4) to determine).

If the speed is extremely small, that is, Vtp _g -x is less than the preset dynamic and static friction switching threshold V _tv , the static friction replaces the rolling friction, and the fixed static friction force of the fixed wheel is composed of an elastic term and a damping term, and the fixed static friction force is determined by: :

f ^sf _F=-kfElas·∫V _xg _Fdt-kfDamp·V _xg _F Formula (16)

Wherein, f ^sf _F is the fixed static friction force, kfElas is the preset static friction elastic coefficient, V _xg _F is the fourth speed of the relative speed of the fixed wheel in the x direction, kfDamp is the preset static friction damping coefficient, the preset static friction The damping coefficient can be the same as the preset static friction damping coefficient value in formula (12), or it can be different. The relative speed of the fixed wheel is determined according to the aircraft attitude angle and aircraft speed, aircraft angular rate, and landing gear position information. See formula ( 13), formula (14) is determined.

In one embodiment, before the fixed lateral friction force is determined, the wheel sideslip angle (that is, the third component of the above-mentioned yaw angle and the aircraft attitude angle) needs to be determined, and the wheel sideslip angle is determined by the fixed wheel The relative velocity and the fifth fractional velocity in the y direction of the relative velocity of the stationary wheels are determined. E.g,

β _w =sin ^-1 (V _yg _F/|Vtp _g _F|) formula (17), where β _w is the wheel sideslip angle, and V _yg _F is the fifth relative speed of the fixed wheel in the y direction. Component speed, Vtp _{g_F} is the relative speed of the fixed wheel.

If the wheel of the landing gear includes a fixed wheel, the friction force also includes a fixed lateral friction force, and the fixed lateral friction force is determined according to the preset lateral friction coefficient, aircraft attitude angle, aircraft speed, aircraft angular rate and landing gear position information, An optional way to determine the fixed lateral friction force is:

f ^lf _F=-k _β •β _w Formula (18);

Among them, f ^lf _F is the fixed lateral friction force, k _β is the preset lateral friction coefficient, which is the friction characteristic parameter, which can be set by those skilled in the art as needed, β _w is the wheel side slip angle, and the wheel side The slip angle is determined according to the relative speed of the fixed wheel and the fifth component speed of the relative speed of the fixed wheel in the y direction, and the determination method can refer to formula (17).

In one embodiment, the force state information includes the acting force and acting moment of the ground on the aircraft, wherein,

If the wheel of the landing gear includes a universal wheel, the method of determining the acting force includes determining the acting force as the first sub-acting force and the second sub-acting force according to the preset dynamic and static friction switching threshold and the speed of the landing gear relative to the ground, The first sub-action force is determined according to the universal rolling friction force and the support force of the universal wheel, and the second sub-action force is determined according to the universal static friction force and the support force of the universal wheel.

Among them, if the wheel of the floor stand includes a universal wheel, the method of determining the force includes:

Among them, F_U is the acting force, f ^rf _U is the universal rolling friction force, F _Spt _U is the supporting force of the universal wheel, f ^sf _U is the universal static friction, and V _gnd _U is the level of the universal wheel relative to the ground speed, V _tv is the preset dynamic and static friction switching threshold.

At this time (the wheel of the floor stand includes the universal wheel), the determination method of the acting torque includes:

M_U=F_U×TP _V _U Formula (20),

Among them, M_U is the acting moment, TP _V _U is the relative position of the landing gear, and the relative position of the landing gear is determined according to the aircraft attitude angle and the position information of the landing gear, which can be determined by referring to formula (1), and × represents the vector cross product.

If the wheel of the floor stand includes a fixed wheel, the method for determining the acting force includes: determining the acting force as the third sub-action according to the preset dynamic and static friction switching threshold and the fourth component speed of the relative speed of the fixed wheel in the x direction force and the fourth sub-action force, the third sub-action force is determined according to the aircraft attitude angle, fixed static friction force, fixed lateral friction force and the supporting force of the fixed wheel, and the fourth sub-action force is determined according to the aircraft attitude angle, fixed rolling friction force , The fixed lateral friction force and the supporting force of the fixed wheel are determined, that is, if the wheel of the floor stand includes the fixed wheel, the determination method of the acting force includes:

Among them, F_F is the acting force, ψ is the third component of the aircraft attitude angle, f ^rf _F is the fixed rolling friction force, f ^lf _F is the fixed lateral friction force, f ^sf _F is the fixed static friction force, and F _Spt _F is the fixed wheel The supporting force of , V _xg _F is the fourth speed of the relative speed of the fixed wheel in the x direction, and V _tv is the preset dynamic and static friction switching threshold.

At this time (the wheel of the floor stand includes the fixed wheel), the determination method of the acting torque includes:

M_F=F_F×TP _V _F Formula (22),

Among them, M_F is the acting moment, and TP _{V_F} is the relative position of the landing gear. The relative position of the landing gear is determined according to the attitude angle of the aircraft and the position information of the landing gear, which can be determined by referring to formula (1), and × represents the vector cross product.

Optionally, the acting moment is determined according to the acting force and the position information of the landing gear.

In one embodiment, if the aircraft has at least one target landing gear, each target landing gear of the aircraft is connected with at least one gimbal wheel and/or at least one fixed wheel in total, and the acting force of the aircraft includes the force of each gimbal wheel. The action force and/or the sum of the action forces of each fixed wheel, and the action moment is the sum of the action moment of each universal wheel and/or the action moment of each fixed wheel.

For example, the aircraft includes at least one target landing gear, and each target landing gear of the aircraft is connected with n universal wheels and m fixed wheels. At this time, the ground force Fac and the acting moment Mac received by the aircraft are:

Among them, Fac is the acting force, Mac is the acting moment, F_U _i is the acting force of the i-th gimbal wheel, F_F _j is the acting force of the j-th gimbal wheel, and M_U _i is the i-th gimbal wheel. The acting moment of , M_F _j is the acting moment of the jth universal joint wheel.

为0，

为0，若n为0，则

为0，

为0。If m is 0, then

is 0,

is 0, if n is 0, then

is 0,

is 0.

In the above embodiment, the universal rolling friction force f ^rf _U, the horizontal speed of the universal wheel relative to the ground V _gnd _U, the universal static friction force f ^sf _U, the elastic term fElas_U, the damping term fDamp_U, the fixed rolling friction force f ^rf _F , fixed static friction force f ^sf _F, fixed lateral friction force f ^lf _F, fixed wheel relative speed Vtp _g _F, fixed wheel standard coordinate system speed Vtp _v _F, aircraft speed Vcg _v , aircraft angular rate pqr _b , Landing gear position information TP _b , applied force (swivel wheel) F_U, applied force (fixed wheel) F_F, applied moment (swivel wheel) M_U, relative position of landing gear (swivel wheel) TP _V _U, action Bold symbols such as moment (fixed wheel) M_F, relative position information of landing gear (universal wheel) TP _V _F are vector data.

The flight simulation method provided by the present invention determines the elastic deformation of the landing gear by acquiring the aircraft state parameters of the aircraft. If the elastic deformation of the landing gear is less than zero, the force state information of the aircraft is determined based on the aircraft state parameters and transmitted to the aircraft. The simulation system is used to realize the ground simulation of the flight simulation of the aircraft. By obtaining a small number of parameters of the aircraft and adjusting a small number of parameters, the force state information of the aircraft can be determined, and then the ground simulation of the flight simulation can be realized. It can be applied to a variety of aircraft with landing gear systems, has strong versatility, reduces simulation costs, shortens the research and development cycle, and is beneficial to the research and development of drones and other aircraft.

Optionally, the flight simulation method provided in this embodiment can improve the accuracy of the flight simulation when the aircraft is on the ground, and the flight simulation cost is lower than the flight test, which helps to reduce the design cost. It can improve the accuracy of the flight simulation of the aircraft when it is on the ground, and has a certain versatility. It can be used for flight simulation of various aircraft. Compared with the flight test cycle, the flight simulation is shorter, which helps to shorten the design cycle. By using a set of relatively general ground simulation methods to assist the flight simulation of the aircraft, the operating state of the aircraft on the ground can be simulated more accurately, and only a small number of variable parameters (landing gear characteristic parameters and friction characteristic parameters, such as Preset compression damping coefficient, preset compression elastic coefficient, preset dynamic and static friction switching threshold, preset static friction damping coefficient, preset static friction damping coefficient, preset lateral friction coefficient, preset static friction elastic coefficient, preset rolling friction coefficient, etc. ), it can be applied to a variety of aircraft with landing gear systems. At the same time, through the transformation of different directional cosine matrices (determined according to the flight attitude angle), the method can be applied to various coordinate systems. The accuracy of the force state information determined by the method can be further improved by adjusting the preset dynamic and static friction switching threshold. For example, according to the characteristics of the aircraft that needs to be simulated at present, the above variable parameters can be adjusted so as to be suitable for the flight simulation ground simulation of the aircraft.

The above method can improve the accuracy of the flight simulation of the aircraft when it is on the ground, reduce the application of the rollout test in the aircraft design process, reduce the design cost, have certain versatility, and shorten the design cycle.

The above method simulates the interaction between the aircraft and the ground through a relatively general ground simulation method, thereby improving the reliability of the flight simulation, especially when the aircraft operates on the ground. In the existing flight simulation technology, the ground simulation system is relatively simple and does not really play the role of flight simulation. In fact, it still relies on the rolling test to guide the design of the aircraft. Although this method is more reliable, it is relatively more expensive. longer period. In the case of more frequent and shorter development and design cycles of new aircraft, a relatively fast, yet reliable enough method may be required to guide the design work. In the method provided in this embodiment, a simulation and modeling method for the acting force and acting moment of the ground on the aircraft is proposed. Specifically, it involves ground support force, ground friction force, ground acting moment and other parts. The existing patented technologies on flight simulation systems do not focus on the interaction between the landing gear system and the ground, but mainly on the technology of the entire flight simulation system. In the actual research and development of new aircraft, the operation of the aircraft in the ground state mainly depends on the actual rollout test, but the cost of this method is relatively high. However, the method provided in this embodiment can be generalized and more convenient by adjusting the variable parameters.

Embodiment 2

Referring to FIG. 2, the present invention also provides a flight simulation system 200, which includes:

The obtaining module 201 is used for obtaining aircraft state parameters of the aircraft, where the aircraft state parameters include aircraft altitude, landing gear position information, aircraft attitude angle, aircraft speed and aircraft angular rate. This module can obtain parameters from the flight simulation system.

The landing gear state module 202 is configured to determine the elastic deformation amount of the landing gear according to the attitude angle of the aircraft, the altitude of the aircraft and the position information of the landing gear. This module calculates the compression length of the landing gear (the amount of elastic deformation of the landing gear) according to the design position of the landing gear touchdown point (landing gear position information) and the current aircraft altitude (aircraft height), speed (aircraft speed), angular velocity (aircraft angular velocity) and other information , speed (relative speed of the landing gear), and gives the landing gear touchdown state. When the elastic deformation of the landing gear is greater than or equal to 0, it is not grounded, and when the elastic deformation of the landing gear is less than 0, it is grounded.

The determination module 203 is used for determining the force state information of the aircraft according to the state parameters of the aircraft and the elastic deformation of the landing gear, and transmitting the information to the aircraft simulation system, so as to realize the ground simulation of the flight simulation of the aircraft.

In one embodiment, the determining module further includes:

The supporting force module is used to determine the supporting force of the ground facing the landing gear according to the elastic deformation of the landing gear, the attitude angle of the aircraft, the speed of the aircraft, the angular rate of the aircraft and the position of the landing gear. This module can give the support force of the ground facing the landing gear according to the state of the landing gear and the characteristic parameters of the landing gear (preset compression elastic coefficient, preset compression damping coefficient).

The friction force module is used to determine the friction force of the ground facing the landing gear according to the support force, the attitude angle of the aircraft, the speed of the aircraft, the angular rate of the aircraft and the position of the landing gear. This module gives the friction force of the ground facing the landing gear according to the landing gear state, support force and friction characteristic parameters (preset rolling friction coefficient, preset static friction elastic coefficient, preset static friction damping coefficient, preset lateral friction coefficient). ;

The ground load module is used to determine the force state information of the ground facing the aircraft according to the elastic deformation of the landing gear, the support force and the friction force. Specifically, it is used to determine the acting force and acting moment. According to the output information of the support force module and the friction force module, the module gives the force and torque of the ground on the aircraft, and transmits it to the flight simulation system.

Optionally, it is also possible to determine whether the elastic deformation of the landing gear is less than 0 before determining the force state information of the aircraft according to the aircraft state parameters. If the elastic deformation of the landing gear is less than 0, then determine the force of the aircraft according to the aircraft state parameters. status information. If the elastic deformation of the landing gear is greater than or equal to 0, the support force is 0, and the friction force is also 0.

Referring to FIG. 3, FIG. 3 is a schematic diagram of an operation flow of the flight simulation system. As shown in FIG. 3, after the acquisition module obtains the aircraft state parameters (state parameters in FIG. 3) of the aircraft from the flight simulation system, it inputs the In the landing gear status module, the landing gear status module determines whether there is a target landing gear, that is, whether there is a landing gear whose elastic deformation is less than zero, and whether there is a wheel connected to the landing gear grounded. Input at least a part of the aircraft state parameters into the support force module to determine the support force, input into the friction force module to determine the friction force, and then input the obtained support force and/or friction force into the ground load module to determine the effect respectively Force and acting moment, when there are multiple wheels grounding, the acting force of each wheel is summed, the acting moment of each wheel is summed, and the result is input into the flight simulation system for the flight simulation system to carry out the module , to realize the ground simulation of the flight simulation of the aircraft. The versatility of the system can be improved by adjusting the landing gear characteristic parameters and friction characteristic parameters. For example, the corresponding landing gear characteristic parameters and friction characteristic parameters are set according to the characteristics of different aircrafts.

In this embodiment, the system executes the method described in any of the foregoing embodiments, and the specific functions and technical effects may refer to the foregoing embodiments, which will not be repeated here.

The embodiment of the present invention provides a flight simulation system, the system determines the elastic deformation of the landing gear by acquiring the aircraft state parameters of the aircraft, determines the force state information of the aircraft based on the aircraft state parameters, and transmits it to the aircraft simulation system to To realize the ground simulation of the flight simulation of the aircraft, it is possible to determine the force state information of the aircraft by acquiring a small amount of parameters (landing gear characteristic parameters and friction characteristic parameters) and adjust a small amount of parameters, and then realize the ground simulation of the flight simulation. The adjustment of parameters can be applied to a variety of aircraft with landing gear systems, which has strong versatility, reduces simulation costs, shortens the research and development cycle, and is beneficial to the research and development of drones and other aircraft.

The embodiments of the present application also provide a flight simulation device, the device includes a processor, a processor coupled with a memory, the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the implementation of any of the above embodiments is implemented. method described.

Embodiments of the present application further provide a non-volatile readable storage medium, where one or more modules (programs) are stored in the storage medium, and when the one or more modules are applied to a device, the device can be executed by the device. Instructions for steps included in Embodiment 1 of the embodiments of the present application.

Embodiments of the present application further provide a computer-readable storage medium, including a program, which, when run on a computer, causes the computer to execute the method described in any of the foregoing embodiments.

To sum up, the present invention determines the elastic deformation of the landing gear by acquiring the aircraft state parameters of the aircraft. If the elastic deformation of the landing gear is less than zero, the force state information of the aircraft is determined based on the aircraft state parameters and transmitted to the aircraft simulation. The system is used to realize the ground simulation of the flight simulation of the aircraft. By obtaining a small amount of the aircraft and adjusting a small number of parameters (landing gear characteristic parameters and friction characteristic parameters), the force state information of the aircraft can be determined, and then the ground simulation of the flight simulation can be realized. , through the adjustment of parameters, it can be applied to a variety of aircraft with landing gear systems, which has strong versatility, reduces simulation costs, shortens the research and development cycle, and is beneficial to the research and development of drones and other aircraft. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

The above-mentioned embodiments merely illustrate the principles and effects of the present invention, but are not intended to limit the present invention. Anyone skilled in the art can make modifications or changes to the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed in the present invention should still be covered by the claims of the present invention.

Claims (13)

1. a flight simulation method, is characterized in that, described method comprises: Acquiring aircraft state parameters of the aircraft, where the aircraft state parameters include aircraft altitude, landing gear position information, aircraft attitude angle, aircraft speed and aircraft angular rate; Determine the amount of elastic deformation of the landing gear according to the flight attitude angle, the aircraft height and the position information of the landing gear; The force state information of the aircraft is determined according to the state parameters of the aircraft and the elastic deformation of the landing gear, and transmitted to the aircraft simulation system, so as to realize the ground simulation of the flight simulation of the aircraft. 2. The method of claim 1, wherein the method for determining the force state information comprises: Determine the supporting force of the ground facing the landing gear according to the elastic deformation of the landing gear, the characteristic parameters of the landing gear, the attitude angle of the aircraft, the speed of the aircraft, the angular rate of the aircraft and the position information of the landing gear; Determine the friction force of the ground facing the landing gear according to the support force, friction characteristic parameters, aircraft attitude angle, aircraft speed, aircraft angular rate and landing gear position information; According to the support force and the friction force, the force state information of the ground facing the aircraft is determined. 3. The method of claim 2, wherein the method for determining the support force comprises: Obtaining characteristic parameters of the landing gear, where the characteristic parameters of the landing gear include a preset compression elastic coefficient and a preset compression damping coefficient; Determine the elastic deformation force according to the elastic deformation amount and the preset compression elastic coefficient; Determine the damping force according to the aircraft attitude angle, aircraft speed, aircraft angular rate, landing gear position information and preset compression damping coefficient; The supporting force is determined according to the elastic deformation force and the damping force. 4 . The method according to claim 2 , wherein the landing gear wheel of the aircraft includes at least one of a universal wheel and a fixed wheel, and the friction characteristic parameters include a preset rolling friction coefficient, a preset rolling friction coefficient, a Set at least one of static friction elastic coefficient, preset static friction damping coefficient and preset lateral friction coefficient; If the wheel of the floor stand includes a universal wheel, the friction force includes a universal rolling friction force or a universal static friction force, wherein the universal rolling friction force is based on a preset rolling friction coefficient, the attitude angle of the aircraft , aircraft speed, aircraft angular rate, landing gear position information and support force are determined, and the universal static friction force is determined according to the aircraft attitude angle, aircraft speed, aircraft angular rate and landing gear position information; If the wheel of the floor stand includes a fixed wheel, the friction force includes a fixed rolling friction force or a fixed static friction force, wherein the fixed rolling friction force is determined according to a preset rolling friction coefficient and the supporting force, and the fixed rolling friction force is determined according to the predetermined rolling friction coefficient and the supporting force. The static friction force is determined according to the preset static friction elastic coefficient, the preset static friction damping coefficient, the aircraft attitude angle, the aircraft speed, the aircraft angular rate and the position information of the landing gear; If the wheel of the floor stand includes a fixed wheel, the friction force also includes a fixed lateral friction force, and the fixed lateral friction force is based on the preset lateral friction coefficient, the aircraft attitude angle, the aircraft speed, the aircraft angular rate and the Landing gear position information is determined. 5. The method of claim 4, wherein the method further comprises at least one of the following: The determination method of the universal rolling friction force is:

Wherein, f ^rf _U is the universal rolling friction force, |V _gnd _U| represents the vector modulus of V _gnd _U, μ is the preset rolling friction coefficient, F _Spt _U is the supporting force of the universal wheel, and V _gnd _U is the horizontal speed of the gimbal wheel relative to the ground, V _x _U is the first sub-speed of the relative speed of the gimbal wheel in the x direction, V _y _U is the relative speed of the gimbal wheel in y The second sub-velocity in the direction, the relative velocity of the gimbal wheel is determined according to the aircraft attitude angle, aircraft speed, aircraft angular rate, and landing gear position information; The way of determining the universal static friction force is: f ^sf _U=fElas_U+fDamp_U, Wherein, f ^sf _U is the universal static friction force, fElas_U is an elastic term, fDamp_U is a damping term, and the elastic term is determined according to the preset static friction elastic coefficient, the first and second partial speeds, and the damping term is determined according to Determining a preset static friction damping coefficient, the first minute speed and the second minute speed; The determination method of the fixed rolling friction force is: f ^rf _F=-μ·F _Spt _F, Wherein, f ^rf _F is the fixed rolling friction force, μ is the preset rolling friction coefficient, and F _Spt _F is the supporting force of the fixed wheel; The fixed static friction force is determined by: f ^sf _F=-kfElas·∫V _xg _Fdt-kfDamp·V _xg _F, Wherein, f ^sf _F is the fixed static friction force, kfElas is the preset static friction elastic coefficient, V _xg _F is the fourth sub-speed of the relative speed of the fixed wheel in the x direction, and the kfDamp is the preset static friction damping coefficient, The relative speed of the fixed wheel is determined according to the attitude angle of the aircraft, the speed of the aircraft, the angular rate of the aircraft, and the position information of the landing gear; the determination method of the fixed lateral friction force is: f ^lf _F=-k _β ·β _w , Wherein, f ^lf _F is the fixed lateral friction force, k _β is the preset lateral friction coefficient, and β _w is the wheel sideslip angle, which is based on the relative speed of the fixed wheel and the The relative velocity of the stationary wheels is determined by the fifth fractional velocity in the y-direction. 6. The method of claim 5, wherein The way of determining the elastic item includes:

Wherein, fElas_U is the elastic term, kfElas is the preset static friction elastic coefficient, V _x _U is the first partial velocity of the relative speed of the universal wheel in the x direction, and V _y _U is the relative speed of the universal wheel The second minute velocity of the velocity in the y direction; The way of determining the damping term includes,

Wherein, fDamp_U is the damping term, kfDamp is the preset static friction damping coefficient, V _x _U is the first partial velocity of the relative speed of the universal joint wheel in the x direction, and V _y _U is the relative speed of the universal joint wheel. The second minute velocity of the velocity in the y direction; The way of determining the horizontal speed of the universal gear relative to the ground includes:

Wherein, V _gnd _U is the horizontal speed of the gimbal wheel relative to the ground, V _x _U is the first sub-speed of the relative speed of the gimbal wheel in the x direction, and V _y _U is the speed of the gimbal wheel The second fractional velocity of the relative velocity in the y direction; The method of determining the relative speed of the fixed wheel includes,

Wherein, Vtp _{g_F} is the relative speed of the fixed wheel, ψ is the third component of the aircraft attitude angle, Vtp _{v_F} is the speed of the standard coordinate system of the fixed wheel, and V _{xg_F} is the relative speed of the fixed wheel in the x direction The fourth minute speed, V _yg _F is the fifth minute speed of the relative speed of the fixed wheel in the y direction, V _zg _F is the sixth minute speed of the relative speed of the fixed wheel in the z direction, the fixed wheel standard The coordinate system speed is determined according to the aircraft attitude angle, aircraft speed, aircraft angular rate, and landing gear position information; The method for determining the speed of the standard coordinate system of the fixed wheel includes: Vtp _v _F=[V _x _F V _y _F V _z _F] ^T =Vcg _v +DCM_vb·(pqr _b ×TP _b ), Wherein, Vcg _v is the speed of the aircraft, pqr _b is the angular rate of the aircraft, DCM_vb is the direction cosine matrix, determined according to the attitude angle of the aircraft, TP _b is the landing gear position information, V _x _F is the speed of the standard coordinate system of the fixed wheel at x The speed in the direction, V _y _F is the speed in the y direction of the standard coordinate system of the fixed wheel, V _z _F is the speed in the z direction of the speed in the standard coordinate system of the fixed wheel; The method for determining the wheel sideslip angle includes: β _w = sin ^-1 (V _yg _F/|Vtp _g _F|), Among them, β _w is the wheel sideslip angle, V _yg _F is the fifth component speed of the relative speed of the fixed wheel in the y direction, and Vtp _g _F is the relative speed of the fixed wheel. 7. The method according to any one of claims 2 to 6, wherein the force state information comprises the force and moment of action on the aircraft by the ground, wherein, If the landing gear wheel includes a universal wheel, the method for determining the acting force includes determining the acting force as the first sub-acting force and the The second sub-action force, the first sub-action force is determined according to the universal rolling friction force and the support force of the universal wheel, and the second sub-action force is determined according to the universal static friction force and the support force of the universal wheel ; If the wheel of the floor stand includes a fixed wheel, the determination method of the acting force includes: according to a preset dynamic and static friction switching threshold and the fourth speed of the relative speed of the fixed wheel in the x direction, the acting force is determined. Determined as the third sub-action force and the fourth sub-action force, the third sub-action force is determined according to the attitude angle of the aircraft, the fixed static friction force, the fixed lateral friction force and the supporting force of the fixed wheel, and the fourth sub-action force is determined. The force is determined according to the attitude angle of the aircraft, the fixed rolling friction force, the fixed lateral friction force and the supporting force of the fixed wheel; The applied moment is determined based on the applied force and landing gear position information. 8. The method of claim 7, wherein If the wheel of the floor stand includes a universal wheel, the method for determining the acting force includes:

Among them, F_U is the acting force, f ^rf _U is the universal rolling friction force, F _Spt _U is the supporting force of the universal wheel, f ^sf _U is the universal static friction, and V _gnd _U is the level of the universal wheel relative to the ground speed, V _tv is the preset dynamic and static friction switching threshold; If the wheel of the floor stand includes a fixed wheel, the method of determining the acting force includes:

Among them, F_F is the acting force, ψ is the third component of the aircraft attitude angle, f ^rf _F is the fixed rolling friction force, f ^lf _F is the fixed lateral friction force, f ^sf _F is the fixed static friction force, and F _Spt _F is the fixed wheel The supporting force of , V _xg _F is the fourth speed of the relative speed of the fixed wheel in the x direction, and V _tv is the preset dynamic and static friction switching threshold; If the wheel of the floor stand includes a universal wheel, the method for determining the acting torque includes: M_U=F_U×TP _{V_U} , Wherein, M_U is the acting moment, TP _{V_U} is the relative position of the landing gear, the relative position of the landing gear is determined according to the attitude angle of the aircraft and the position information of the landing gear, and × represents the vector cross product; If the wheel of the floor stand includes a fixed wheel, the method of determining the acting torque includes: M_F=F_F×TP _V _F, Wherein, M_F is the acting moment, TP _V _F is the relative position information of the landing gear, the relative position information of the landing gear is determined according to the attitude angle of the aircraft and the position information of the landing gear, and × represents the vector cross product. 9 . The method according to claim 7 , wherein if the aircraft has at least one target landing gear, each target landing gear of the aircraft is connected with at least one universal wheel and/or at least one fixed gear in total. 10 . wheel, the acting force of the aircraft includes the acting force of each swivel wheel and/or the sum of the acting force of each fixed wheel, and the acting moment is the acting moment of each swivel wheel and/or each fixed wheel The sum of the acting moments. 10. The method according to any one of claims 2-6, wherein the method for determining the support force comprises: F _Spt = FElas + FDamp, Among them, F _Spt is the supporting force, FElas is the elastic deformation force, and FDamp is the damping force; The way of determining the elastic deformation force includes,

Among them, FElas is the elastic deformation force, Hgt is the elastic deformation of the landing gear, and KElas is the preset compression elastic coefficient; The damping force is determined in a manner including,

Wherein, FDamp is the damping force, Vtp _{V_z} is the sub-speed of the relative speed of the landing gear in the z direction, and the relative speed of the landing gear is determined according to the aircraft attitude angle, aircraft speed, aircraft angular rate, and landing gear position information, and KDamp is a preset Compression damping coefficient, Hgt is the elastic deformation of the landing gear. 11. A flight simulation system, wherein the system comprises: an acquisition module for acquiring aircraft state parameters of the aircraft, where the aircraft state parameters include aircraft attitude angle, aircraft height, landing gear position information, aircraft speed and aircraft angular rate; a landing gear state module, configured to determine the elastic deformation amount of the landing gear according to the aircraft attitude angle, aircraft height and landing gear position information; The ground load module is used to determine the force state information of the aircraft according to the state parameters of the aircraft and the elastic deformation of the landing gear, and transmit the information to the aircraft simulation system, so as to realize the ground simulation of the flight simulation of the aircraft. 12. A flight simulation device, characterized in that it comprises a processor, the processor is coupled to a memory, the memory stores program instructions, and the claims are realized when the program instructions stored in the memory are executed by the processor The method of any one of 1 to 10. 13. A computer-readable storage medium, characterized by comprising a program which, when run on a computer, causes the computer to perform the method of any one of claims 1 to 10.

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