CN115148069A - Dynamic balance-based steering column simulation device and method for large aircraft - Google Patents

Abstract

The invention discloses a large airplane steering column simulation device and method based on dynamic balance. The device comprises a torque motor, a speed reducer, a first diaphragm type coupler, a torque sensor and a second diaphragm type coupler which are coaxially and synchronously connected in sequence, wherein the torque motor is synchronously connected with a rotating shaft through the second diaphragm type coupler, so that the torque motor generates a return torque for preventing the rotating shaft from rotating through the second diaphragm type coupler; the device also comprises a bearing seat, a rotating shaft, an electromagnetic clutch, a left driving mechanism and a right driving mechanism; the rotating shaft sequentially penetrates through the bearing seats on the base for supporting arrangement; the electromagnetic clutch is coaxially sleeved in the middle of the rotating shaft and is synchronously connected with the rotating shaft, and the left driving mechanism and the right driving mechanism are symmetrically arranged at two ends of the rotating shaft by taking the electromagnetic clutch as a center. The control signal of the control computer is adjusted to carry out closed-loop control on the torque motor and the electromagnetic clutch, so that the dynamic control on the balance state of the steering column is realized.

Description

Dynamic balance-based steering column simulation device and method for large aircraft

technical field

The invention relates to a large aircraft driving column simulation device and method in the technical field of aircraft driving simulation, in particular to a large aircraft driving column simulation device and method based on dynamic balance.

Background technique

The large aircraft driving simulation device is used to simulate the flight of the aircraft, providing a device that approximates the real operating environment, real control mechanism, operating load and motion. It can provide a large aircraft simulation environment for scientific research, personnel training, etc., which can save money and improve training. efficiency, etc. The steering column is the main part of the control mechanism in the cockpit of a large aircraft. The operator can push and pull the left and right steering columns forward and backward to control the elevator to achieve the aircraft's ascent and descent. When the operator releases the steering column, the steering column will return to the neutral position; when the left driving position or the right driving position push and pull the steering column respectively, the steering column on the other side will move synchronously. The loading method of the current aircraft steering column simulation device on the market is fixed. Generally, the operating force when the steering column is pushed and pulled is simulated by the spring mass damping system. Although the cost is low and the structure is simple, the loading form is single, and its return torque and push angle are It is a fixed linear proportional relationship and cannot simulate the force of the aircraft when it is difficult to open the wings due to the strong external airflow. It is not suitable for scenarios where the loading curve of the steering column needs to be changed to study the push-pull performance. A large aircraft steering column simulation device with adjustable load size, high control precision and simple structure. At present, professional driving simulation devices have higher and higher requirements for force feedback, especially military vehicle and aircraft pilot training simulators, which can simulate various complex environments for driver training. These simulators require realistic simulation effects, large feedback torque, and a loading force of 200 N·m for the aircraft steering column. In order to simulate the force feeling of the steering column more realistically, a servo motor with proportional control of speed and torque is often used. However, in the process of pushing the steering column, the motor is often required to be locked or forced to reverse, and when the feedback torque is large When the motor power and current will increase, it is easy to heat up and burn out.

SUMMARY OF THE INVENTION

Aiming at the current situation and requirements of the large aircraft steering column simulation device, especially for the requirement that the force of the steering column can be precisely controlled under the specific airflow outside the aircraft, a steering column simulation using torque motor and electromagnetic clutch to provide resistance torque was designed and invented. The simulation device can achieve the synchronous movement of the left and right steering columns, and the electromagnetic clutch and torque motor are dynamically controlled by the control computer to adjust the input voltage, thereby simulating a more realistic steering column force. Compared with the traditional steering column loading mechanism, the loading is flexible and the control is convenient.

The technical scheme adopted in the present invention is:

1. A large aircraft steering column simulation device based on dynamic balance:

Including power equipment, load equipment and base; the power equipment and load equipment are synchronously connected and fixedly installed on the base in sequence; the power equipment includes a torque motor, a reducer, a first diaphragm coupling, a torque sensor and a first Two-diaphragm coupling, and the torque motor, reducer, first diaphragm coupling, torque sensor and second diaphragm coupling are coaxially connected in sequence, and the torque motor is connected by the second diaphragm. The shaft is synchronously connected with the rotating shaft in the load device, so that the torque motor generates a return torque that hinders the rotation of the rotating shaft through the second diaphragm coupling; the load device includes a bearing seat, a rotating shaft, an electromagnetic clutch, a left-hand drive A plurality of bearing seats are arranged at intervals on the side of the base close to the load device, and the rotating shaft is supported and arranged through the bearing seats on the base in turn; the electromagnetic clutch is coaxially sleeved on the rotating shaft In the middle position and synchronously connected with the rotating shaft, the left steering mechanism and the right steering mechanism have the same structure, and the left steering mechanism and the right steering mechanism are symmetrically installed on the rotating shaft with the electromagnetic clutch as the center. two ends, and the left driving mechanism and the right driving mechanism are respectively located between adjacent bearing seats.

The electromagnetic clutch is mainly composed of a left magnetic track, an armature plate and a right rotor. The armature plate is synchronously connected to the rotating shaft through the right rotor sleeve on the rotating shaft, and the left magnetic track is sleeved on the rotating shaft. The outer circumference of the shaft and the left magnetic track is not in contact with the rotating shaft. The bottom of the left magnetic track is provided with an electromagnetic clutch fixing seat, and the left magnetic track is fixedly installed on the base through the electromagnetic clutch fixing seat, so that the electromagnetic clutch is energized. The resistive moment that impedes the rotation of the rotating shaft.

The left-hand drive mechanism includes a fixing piece, a driving column fixing seat, a driving column and a steering wheel; the steering wheel is hinged on the top of the driving column, and the driving column fixing seat and the fixing piece are fixedly installed on the bottom end of the driving column in sequence. The fixing piece is sleeved on the rotating shaft and is synchronously connected with the rotating shaft, so that the steering wheel controls the rotation of the rotating shaft through the steering column.

The simulation device further includes a photoelectric encoder and a control computer, the electric encoder is arranged at the end of the rotating shaft away from the power equipment, and the photoelectric encoder, the torque sensor, the torque motor and the electromagnetic clutch are all electrically connected to the control computer.

2. Simulation method of large aircraft steering column:

The method includes the following process: when the simulation device is turned on, the photoelectric encoder sets the current position of the steering column to zero, first, the left or right steering mechanism applies a fixed dynamic torque to the rotating shaft through the steering column, and the rotating shaft rotates. ;

Then the photoelectric encoder and the torque sensor respectively transmit the collected angle signal and torque signal of the rotating shaft to the control computer; the control computer determines the total resistance of the rotating shaft by combining the external state parameters of the large aircraft and the angle signal and torque signal of the rotating shaft moment;

According to the total resistance torque of the rotating shaft, the following judgment is made: if the total resistance torque of the rotating shaft is less than or equal to the maximum return torque of the torque motor, then the torque motor is controlled by the control computer to provide a return equal to the total resistance torque of the rotating shaft. moment;

If the total resistance torque of the rotating shaft is greater than the maximum aligning torque of the torque motor, the torque motor will be controlled by the control computer to provide the maximum aligning torque, and the electromagnetic clutch will be controlled by the control computer to provide the resistance torque that hinders the rotation of the rotating shaft, and the maximum aligning torque will be provided. The sum of the resistance torque is equal to the total resistance torque of the rotating shaft, so that the steering column is in a dynamic equilibrium state under the action of the dynamic torque and the total resistance torque;

When the steering column returns to the positive, the dynamic torque of the rotating shaft is removed, and the electromagnetic clutch is controlled by the control computer to be powered off, so that the resistance torque is zero. Complete the simulation of the driving state of the large aircraft column.

The aligning torque provided by the torque motor is opposite to the dynamic torque of the rotating shaft.

The external state parameters of the large aircraft include the flying speed of the large aircraft and the external air resistance of the large aircraft.

During the simulation process, the photoelectric encoder, torque sensor, torque motor, and electromagnetic clutch all maintain real-time communication with the control computer, so that the torque motor and the electromagnetic clutch receive the control signal from the control computer for operation. The angle signal and torque signal of the rotating shaft measured by the sensor are fed back to the control computer in real time, and the control signal of the control computer is adjusted in real time for closed-loop control.

The second diaphragm type coupling, the fixing piece and the right rotor of the electromagnetic clutch are all keyed to the rotating shaft.

The beneficial effects of the present invention are:

1) The resistance torque is provided by the magnetic attraction of the electromagnetic clutch, and the positive torque is provided by the torque motor, so that the resistance torque that hinders its own rotation can be obtained when the steering column is pushed forward and backward, and the input voltage of the electromagnetic clutch is controlled by the control computer. The input voltage of the torque motor is used to adjust the total resistance torque provided by the torque motor and the electromagnetic clutch, thereby simulating the load on the steering column of the aircraft realistically.

2) The steering column simulation device is equipped with an encoder and a torque sensor, which can obtain the displacement and force of the steering column according to the sensor data.

3) The steering column simulation device is equipped with a torque motor, which can realize the automatic return of the steering column to the zero position after the steering column is released.

4) The steering column simulation device has flexible loading and is suitable for the occasions where the load force needs to be dynamically adjusted or to provide the force loading curve required by different applications.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the large aircraft steering column simulation device of the present invention;

Fig. 2 is the front sectional view of Fig. 1;

Fig. 3 is a partial enlarged view of the motor output shaft part in Fig. 2;

Fig. 4 is a partial enlarged view of the fixed seat portion of the steering column in Fig. 2;

Fig. 5 is a partial enlarged view of the electromagnetic clutch part in Fig. 2;

Figure 6 is the force analysis diagram of the steering column under different attitudes;

FIG. 7 is a block diagram of the control principle of the present invention.

In the picture: 1-torque motor, 2-reducer, 3-diaphragm coupling, 4-torque sensor, 5-bearing seat, 6-fixing piece, 7-steering column fixing seat, 8-steering column, 9 - Steering wheel, 10- rotating shaft, 11- electromagnetic clutch holder, 12- electromagnetic clutch, 17- photoelectric encoder, 18- base.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in Figures 1 and 2, the device includes power equipment, load equipment and a base 18; the power equipment and the load equipment are synchronously connected and fixedly installed on the base 18 in sequence;

As shown in Figure 3, the power equipment includes a torque motor 1, a reducer 2, a first diaphragm coupling 3, a torque sensor 4 and a second diaphragm coupling, and the torque motor 1, the reducer 2, the first diaphragm coupling A diaphragm coupling 3, a torque sensor 4 and a second diaphragm coupling are connected in turn coaxially and synchronously, the rotating shaft of the torque motor 1 is synchronously connected with the input shaft of the reducer 2, and the output shaft of the reducer 2 is sequentially connected. The first diaphragm coupling 3, the torque sensor 4 and the second diaphragm coupling are connected to the rotating shaft 10 in the load device, and the torque motor 1 is connected to the load device through the second diaphragm coupling. The rotating shafts 10 are synchronously connected, so that the torque motor 1 generates a return torque that hinders the rotation of the rotating shaft 10 through the second diaphragm coupling; the torque sensor 4 can measure the torque signal of the rotating shaft 10 in real time when the rotating shaft 10 rotates.

As shown in FIG. 4 , the load device includes a bearing seat 5, a rotating shaft 10, an electromagnetic clutch 12, a left steering mechanism and a right steering mechanism; a plurality of bearing seats 5 are arranged at intervals on one side of the base 18 close to the load device, and rotate The shaft 10 is supported and arranged through the bearing seat 5 on the base 18 in turn; the electromagnetic clutch 12 is coaxially sleeved in the middle of the rotating shaft 10 and is connected synchronously with the rotating shaft 10. The left driving mechanism and the right driving mechanism have the same structure, The left-hand drive mechanism and the right-hand drive mechanism are symmetrically installed at both ends of the rotating shaft 10 with the electromagnetic clutch 12 as the center, and the left-hand drive mechanism and the right-hand drive mechanism are respectively located between the adjacent bearing seats 5, and the left-hand drive mechanism and the The right-hand drive mechanism is capable of synchronizing angular movements.

As shown in FIG. 5 , the electromagnetic clutch 12 is mainly composed of a left magnetic rail, an armature plate and a right rotor. The armature plate is synchronously connected to the rotating shaft 10 by being sleeved on the rotating shaft 10 through the right rotor, and the left magnetic rail is sleeved. On the outer periphery of the rotating shaft 10 and the left magnetic rail is not in contact with the rotating shaft 10, an electromagnetic clutch fixing seat 11 is arranged at the bottom of the left magnetic rail, and the left magnetic rail is fixedly installed on the base 18 through the electromagnetic clutch fixing seat 11, so that the electromagnetic clutch After the 12 is energized, a resistance torque that hinders the rotation of the rotating shaft 10 is generated. Specifically, the right rotor of the electromagnetic clutch 12 is connected to the rotating shaft 10 by a key, and the left magnetic rail and the right rotor are in a relative sliding state. After the electromagnetic clutch 12 is energized, the armature plate generates a strong magnetic field, and the left magnetic rail The electromagnetic force coupled with the right rotor generates a resistance torque, which acts as a load on the steering column 8 .

The left-hand drive mechanism includes a fixing member 6, a steering column fixing seat 7, a steering column 8 and a steering wheel 9; the steering wheel 9 is hinged on the top of the steering column 8, and the driving column fixing seat 7 and the fixing member 6 are fixedly installed at the bottom end of the steering column 8 in turn. , the fixing member 6 is sleeved on the rotating shaft 10 and connected to the rotating shaft 10 synchronously, so that the steering wheel 9 controls the rotating shaft 10 to rotate through the steering column 8 .

The simulation device also includes a photoelectric encoder 17 and a control computer. The electric encoder 17 is arranged at one end of the rotating shaft 10 away from the power equipment to detect the rotation angle signal of the rotating shaft 10 in real time. The photoelectric encoder 17, the torque sensor 4 and the torque motor 1 and the electromagnetic clutch 12 are all electrically connected with the control computer.

The method includes the following process:

After the simulation device is turned on, the photoelectric encoder 17 sets the current position of the steering column 8 to zero. First, the left steering mechanism or the right steering mechanism applies a fixed dynamic torque to the rotating shaft 10 through the steering column 8, and the rotating shaft 10 rotates. ; During the process of pushing the steering column 8, the torque motor 1 is in a locked-rotor or forced reverse state, and the torque motor 1 will not heat up and burn out.

Then the photoelectric encoder 17 and the torque sensor 4 respectively transmit the collected rotation angle signal and torque signal of the rotating shaft 10 to the control computer; The total drag torque of the shaft 10.

According to the total resistance torque of the rotating shaft 10, the following judgment is made: if the total resistance torque of the rotating shaft 10 is less than or equal to the maximum return torque of the torque motor 1, the total resistance torque provided by the torque motor 1 and the rotating shaft 10 is controlled by the control computer. same return torque.

If the total resistance torque of the rotating shaft 10 is greater than the maximum aligning torque of the torque motor 1, the torque motor 1 is controlled by the control computer to provide the maximum aligning torque, and the electromagnetic clutch 12 is controlled by the control computer to provide the resistance torque that hinders the rotation of the rotating shaft 10, And the sum of the maximum aligning torque and the resisting torque is equal to the total resisting torque of the rotating shaft 10, so that the steering column 8 is in a dynamic equilibrium state under the action of the dynamic torque and the total resisting torque;

When the steering column 8 is backed up, the dynamic torque of the rotating shaft 10 is removed, and the electromagnetic clutch 12 is controlled to be powered off by the control computer, so that the resistance torque is zero. When it reaches the zero position, the simulation of the driving state of the steering column of the large aircraft is completed.

The total resistance torque of the final rotating shaft 10 is felt by the driver through the steering wheel 9 , so that the driver can feel the real driving force feedback and realize the practice of the driver's operating feeling.

The aligning torque provided by the torque motor 1 is opposite to the dynamic torque of the rotating shaft 10 .

Among them, the external state parameters of the large aircraft include the flying speed of the large aircraft and the external air resistance of the large aircraft.

Wherein, the second diaphragm coupling, the fixing member 6 and the right rotor of the electromagnetic clutch 12 are all connected with the rotating shaft 10 by a key.

In the simulation process, the photoelectric encoder 17, the torque sensor 4, the torque motor 1, and the electromagnetic clutch 12 all maintain real-time communication with the control computer, so that the torque motor 1 and the electromagnetic clutch 12 receive the control signal from the control computer. The rotation angle signal and torque signal of the rotating shaft 10 measured by the photoelectric encoder 17 and the torque sensor 4 are fed back to the control computer in real time, the control signal of the control computer is adjusted in real time, and closed-loop control is performed to realize the dynamic control of the balance state of the steering column 8 control.

Specifically, as shown in Figures 6 and 7, the control computer can control the torque motor 1 to generate positive torque of different sizes by sending a voltage signal to the torque motor 1. The positive voltage controls the torque motor 1 to run clockwise, and the negative voltage controls the torque. Motor 1 is turned to run counterclockwise. The control computer can apply current to the armature plate of the electromagnetic clutch 12 by sending a voltage signal to the electromagnetic clutch 12. Different currents will generate magnetic fields of different sizes, and adjust the magnetic force between the left magnetic track of the electromagnetic clutch 12 and the right rotor. The magnitude of the resistance torque that hinders the rotation of the rotating shaft 10 is generated.

As shown in FIG. 6 a , when the driver pushes the steering column 8 slightly counterclockwise, the clockwise return torque provided by the torque motor 1 hinders the rotation of the rotating shaft 10 . As shown in Figure 6b, when the driver continues to push the steering column 8 counterclockwise, the main torque applied to the rotating shaft 10 at this time is greater than the maximum return torque that the torque motor 1 can provide, and then the computer controls the electromagnetic clutch 12 to energize to hinder the rotation. The resistance torque of the shaft 10 to rotate, and the sum of the maximum return torque and the resistance torque provided by the electromagnetic clutch 12 to hinder the rotation of the rotating shaft 10 is equal to the dynamic torque of the rotating shaft 10 .

As shown in FIG. 6c , when the steering column 8 is returned to the right, the main torque of the rotating shaft 10 is removed, and the electromagnetic clutch 12 is controlled to be powered off, and no resistance torque is provided. At this time, the steering column 8 is under the action of the return torque of the torque motor 1 Back to zero.

To sum up, the feedback adjustment of the torque motor by this device is carried out at high frequency to ensure that the force feeling of the steering column is in accordance with the prescribed relationship. And real-time adjustment of the control signal to achieve closed-loop control, so that the control is more accurate.

Claims (9)

1. Big aircraft steering column analogue means based on dynamic balance, its characterized in that: comprises a power device, a load device and a base (18); the power equipment and the load equipment are synchronously connected and then sequentially and fixedly arranged on the base (18); the power equipment comprises a torque motor (1), a speed reducer (2), a first diaphragm type coupler (3), a torque sensor (4) and a second diaphragm type coupler, the torque motor (1), the speed reducer (2), the first diaphragm type coupler (3), the torque sensor (4) and the second diaphragm type coupler are sequentially coaxially and synchronously connected, and the torque motor (1) is synchronously connected with a rotating shaft (10) in the load equipment through the second diaphragm type coupler, so that the torque motor (1) generates a return moment for preventing the rotating shaft (10) from rotating through the second diaphragm type coupler; the load device comprises a bearing seat (5), a rotating shaft (10), an electromagnetic clutch (12), a left driving mechanism and a right driving mechanism; a plurality of bearing seats (5) are arranged on one side, close to the load equipment, of the base (18) at intervals, and the rotating shaft (10) sequentially penetrates through the bearing seats (5) on the base (18) to be supported; electromagnetic clutch (12) coaxial suit is in the position in the middle of rotation axis (10) and with rotation axis (10) synchronous connection, left side steering mechanism and right side steering mechanism have the same structure, left side steering mechanism and right side steering mechanism use electromagnetic clutch (12) to install the both ends at rotation axis (10) as central symmetric distribution, just left side steering mechanism and right side steering mechanism are located between adjacent bearing frame (5) respectively.

2. The large aircraft column simulator based on dynamic balance of claim 1, wherein: electromagnetic clutch (12) mainly comprise left side magnetic track, armature plate and right side rotor, the armature plate passes through right side rotor suit on rotation axis (10) with rotation axis (10) synchronous connection, left side magnetic track suit is in rotation axis (10) periphery just left side magnetic track and rotation axis (10) contactless, left side magnetic track bottom is provided with electromagnetic clutch fixing base (11), and left side magnetic track is through electromagnetic clutch fixing base (11) fixed mounting on base (18), makes to produce after electromagnetic clutch (12) circular telegram and hinders rotation axis (10) pivoted resistance moment.

3. The large aircraft column simulator based on dynamic balance of claim 1, wherein: the left driving mechanism comprises a fixing piece (6), a driving column fixing seat (7), a driving column (8) and a steering wheel (9); the top of steering column (8) articulates there is steering wheel (9), the bottom of steering column (8) is fixed mounting in proper order has steering column fixing base (7) and mounting (6), mounting (6) suit is on rotation axis (10) with rotation axis (10) synchronous connection for steering wheel (9) are through steering column (8) control rotation axis (10) rotation.

4. The large aircraft column simulator based on dynamic balance of claim 1, wherein: the simulation device further comprises a photoelectric encoder (17) and a control computer, wherein the photoelectric encoder (17) is arranged at one end, away from the power equipment, of the rotating shaft (10), and the photoelectric encoder (17), the torque sensor (4), the torque motor (1) and the electromagnetic clutch (12) are all electrically connected with the control computer.

5. A method for simulating a large aircraft flight post applied to the device of any one of claims 1 to 4, wherein: the method comprises the following steps: when the simulation device is started, the photoelectric encoder (17) sets the current position of the steering column (8) to be a zero position, firstly, a left steering mechanism or a right steering mechanism applies fixed moment to the rotating shaft (10) through the steering column (8), and the rotating shaft (10) rotates;

then the photoelectric encoder (17) and the torque sensor (4) respectively transmit the collected rotation angle signal and the collected torque signal of the rotating shaft (10) to a control computer; the control computer combines the external state parameters of the large airplane and the corner signal and the torque signal of the rotating shaft (10) to determine the total resisting torque of the rotating shaft (10);

the following judgment is made according to the total resistance moment of the rotating shaft (10): if the total resisting moment of the rotating shaft (10) is smaller than or equal to the maximum aligning moment of the torque motor (1), controlling the torque motor (1) to provide aligning moment with the total resisting moment of the rotating shaft (10) through a control computer;

if the total resisting moment of the rotating shaft (10) is larger than the maximum aligning moment of the torque motor (1), the torque motor (1) is controlled to provide the maximum aligning moment through the control computer, the electromagnetic clutch (12) is controlled to provide the resisting moment for blocking the rotating shaft (10) to rotate through the control computer, and the sum of the maximum aligning moment and the resisting moment is equal to the total resisting moment of the rotating shaft (10), so that the driving column (8) is in a dynamic balance state under the action of the power moment and the total resisting moment;

when the steering column (8) returns, the power moment of the rotating shaft (10) is removed, and meanwhile, the electromagnetic clutch (12) is controlled to be powered off through the control computer, so that the resisting moment is zero, at the moment, the steering column (8) returns to a zero position under the action of the returning moment provided by the torque motor (1), and the simulation of the steering state of the large plane steering column is completed.

6. The large aircraft steering column simulation method of claim 5, wherein: the aligning torque provided by the torque motor (1) is opposite to the direction of the dynamic torque of the rotating shaft (10).

7. The large aircraft steering column simulation method of claim 5, wherein: the external state parameters of the large airplane comprise the flight speed of the large airplane and the external air resistance of the large airplane.

8. The large aircraft flight column simulation method of claim 5, wherein: in the simulation process, the photoelectric encoder (17), the torque sensor (4), the torque motor (1) and the electromagnetic clutch (12) are all in real-time communication with the control computer, so that in the process that the torque motor (1) and the electromagnetic clutch (12) receive control signals of the control computer to operate, the rotation angle signals and the torque signals of the rotating shaft (10) respectively measured by the photoelectric encoder (17) and the torque sensor (4) are fed back to the control computer in real time, the control signals of the control computer are adjusted in real time, and closed-loop control is performed.

9. The large aircraft steering column simulation method of claim 5, wherein: and the second diaphragm type coupler, the fixing piece (6) and the right rotor of the electromagnetic clutch (12) are all in key connection with the rotating shaft (10).

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