CN203573515U - Airplane control load feedback system - Google Patents
Airplane control load feedback system Download PDFInfo
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- CN203573515U CN203573515U CN201320740929.9U CN201320740929U CN203573515U CN 203573515 U CN203573515 U CN 203573515U CN 201320740929 U CN201320740929 U CN 201320740929U CN 203573515 U CN203573515 U CN 203573515U
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Abstract
The utility model belongs to the field of human-computer interaction equipment, and relates to an airplane control load feedback system. The airplane control load feedback system comprises a driving rod (1), the middle portion of the driving rod (1) is provided with a fulcrum, one end of the driving rod (1) is used for user control, the other end of the driving rod is connected with a motor (5) via a rigid transmission mechanism (9), the airplane control load feedback system also comprises a sensor (7) and a microprocessor (8), the sensor is used for detecting position information, speed information and force information of the driving rod, and the microprocessor (8) receives the position information, the speed information and the force information of the driving rod (1), processes the information, and outputs signals to a drive to control the output torque of the motor (5). The airplane control load feedback system gives the feedback of airplane control load via the rigid transmission mechanism, and solves problems of low transmission precision and poor effect reliability of the control load feedback system of a conventional flight simulator. The driving rod of the airplane control load feedback system can also be replaced by a throttle lever or a pedal.
Description
Technical field
The utility model belongs to human-computer interaction device field, particularly the force feedback system of a kind of aircraft control stick, pedal, throttle lever.
Background technology
Flight simulator is training flight personnel's indispensable device, and pilot operates jociey stick, pedal, throttle lever in the static test on ground, and flight Simulation System provides manipulation load, vision, the sense of hearing of practical flight to pilot, thereby reaches the effect of real training.Use flight simulator to carry out airplane training, possess raising training effectiveness, save training expenses, guarantee driving safety, reduce the advantages such as environmental pollution.
Jociey stick, pedal and throttle lever are mainly used in the manipulation of aircraft, and wherein jociey stick is the vitals of operating aircraft flight, and pilot's post-tensioning jociey stick is inclined to one side on elevating rudder, nose-up; Stick-forword movement, inclined to one side under elevating rudder, nose dip.A left side pushes away jociey stick, and on the aileron of left side, partially, aircraft is roll to the right; The right side pushes away jociey stick, and on the aileron of right side, partially, aircraft is roll left.Pedal, for controlling aircraft in the deflection of surface level direction, is pedaled left foot and is received the deflection to the right of right crus of diaphragm aircraft; Pedal right crus of diaphragm and receive the deflection left of left foot aircraft.Throttle lever is used for controlling aircraft engine output power.Push away forward increase engine output power, toward post-tensioning, reduce engine output power.
Existing simulator flight is handled the electrohydraulic servo systems that adopt in feedback loading loop more and is controlled, it has, and power is large, rapidity good, precision advantages of higher, but hydraulic system structure is complicated, safeguard inconvenience, be applied in simulator flight, the dirigibility that makes Aircraft Simulator handle feedback loading device is very restricted.For this reason, provide a kind of backfeed loop aerolog simple in structure, that simultaneously can multi-channel feedback handle load to become those skilled in the art's problem demanding prompt solution.
For this reason, Chinese patent document CN101976522A discloses a kind of aircraft steering wheel force feedback system, and system unit comprises a bearing circle, an operating rod, two scramblers, four reels, four wire rope, four extension springs, four transmission shafts, two AC servo motor, two speed reduction units, a pedestal.When bearing circle is rotated by force couple role or operating rod is stressed while being used as rectilinear motion, scrambler gathers bearing circle around the angular displacement vector of operating rod axis rotation or gathers longitudinally straight-line displacement vector of operating rod, host computer calculates corresponding motor shaft corner in real time, control motor and do position servo, drive rope traction spring to complete certain deformation, the moment that spring deformation produces is delivered on bearing circle or operating rod, makes pilot experience feedback force.This system force backfeed loop adopts wire rope and reel transmission campaign and power, and wire rope easily twists, and load rotates, transmission is unstable, thereby wire rope and reel wearing and tearing cause rope service-life short greatly, when wire rope overload is snapped, there is great elasticity, dangerous.And this force feedback system feeds back aircraft handling lever operation load in two degree of freedom, and in the time of cannot feeding back practical flight, produced simultaneously hyperchannel is handled load, comprehensive not for the simulation of aircraft handling load.
Utility model content
The technical problems to be solved in the utility model is the problem that kinematic train transmission accuracy is lower, function reliability is poor of existing simulator flight manipulation feedback loading system, and then the aircraft handling feedback loading system that a kind of precision is higher is provided.
For solving the problems of the technologies described above, aircraft handling feedback loading system of the present utility model comprises jociey stick, it comprises jociey stick, the middle part of described jociey stick is provided with fulcrum, and one end of described jociey stick is controlled for user, the other end is connected with motor by Yi Ge positive drive mechanism, for detection of described jociey stick positional information, the sensor of velocity information and force information, and microprocessor, microprocessor is accepted the positional information of described jociey stick, velocity information and force information, process rear input signal to driver to control the output torque of described motor.
Preferably, described positive drive mechanism is linkage assembly.
Preferably, described motor is direct current torque motor, and it is connected by reductor with described positive drive mechanism.
Preferably, described driver is PWM width modulation speed-regulating driver.
Preferably, on described motor, scrambler is installed.
Described jociey stick is replaceable is throttle lever or pedal.
Technique scheme of the present utility model has the following advantages compared to existing technology:
(1) in aircraft handling feedback loading system of the present utility model, jociey stick one end is controlled for user, the other end is connected with motor by Yi Ge positive drive mechanism, microprocessor receives displacement information, velocity information and the force information of jociey stick, outputs signal to driver to control motor output torque.Than prior art, this aircraft handling feedback loading system adopts positive drive mechanism, and transmission accuracy is higher, function reliability is high.
(2) preferred, the positive drive mechanism of this aircraft handling feedback loading system is linkage assembly, linkage assembly simple in structure, and stability is high, and meanwhile, easy for installation, cost is lower.
(3) force feedback that aircraft handling feedback loading system adopts direct current torque motor to handle load is controlled, and it can meet the requirement of accurate control motor output torque.
Accompanying drawing explanation
For content of the present invention is more likely to be clearly understood, below according to a particular embodiment of the invention and by reference to the accompanying drawings, the present invention is further detailed explanation, wherein,
Fig. 1 is the schematic diagram of aircraft handling feedback loading system of the present utility model;
Fig. 2 is the stereographic map of aircraft handling feedback loading system of the present utility model.
In figure, Reference numeral is expressed as: 1-jociey stick, 2-pedestal, 3-throttle lever, 4-pedal, 5-motor, 6-connecting rod, 7-sensor, 8-microprocessor, 9-positive drive mechanism.
Embodiment
Below with reference to accompanying drawing, use following examples to be further elaborated the utility model.
Aircraft handling feedback loading system of the present utility model, as Fig. 1, shown in Fig. 2, comprises jociey stick load forces feedback system, throttle lever load forces feedback system and pedal load forces feedback system, and above-mentioned aircraft handling feedback loading system is installed on pedestal 2 inside.Wherein, above-mentioned jociey stick load forces feedback system comprises jociey stick 1, the middle part of described jociey stick 1 is provided with fulcrum, one end of described jociey stick 1 is controlled for user, the other end is connected with motor 5 by Yi Ge positive drive mechanism 9, for detection of the sensor 7 of displacement information, velocity information and the force information of described jociey stick 1, and microprocessor 8; Described microprocessor 8 is accepted displacement information, velocity information and the force information of described jociey stick 1, process rear input signal to driver to control the output torque of described motor 5.This aircraft handling feedback loading system adopts positive drive mechanism 9, and transmission accuracy is higher, function reliability is high.
Due to linkage assembly have simple in structure, the advantage that stability is high, in the present embodiment, described positive drive mechanism 9 selects linkage assembly.
In the present embodiment, described motor 5 is direct current torque motor, on described motor 5, scrambler is installed.In order to increase output torque, described motor 5 is connected by reductor with positive drive mechanism 9.Positive drive mechanism 9 is connected by shaft coupling with the main shaft of described torque motor 5.Described driver is PWM width modulation speed-regulating driver.
The jociey stick load forces feedback system course of work of the present utility model is: when driver's operation jociey stick 1, the sensor 7 being installed on jociey stick 1 detects jociey stick 1 displacement information, velocity information and force information, microprocessor 8 receives jociey stick displacement information, velocity information and the force information that detecting sensor 7 detects, particularly, by the angular displacement signal of measuring, calculate aerodynamic force, Negotiation speed calculated signals goes out viscous friction, by other calculation of parameter, goes out a coulomb friction force, inertial force, spring force etc.; And by lugre friction force model, eliminated the impact of friction force on system, by PID(proportion integration differentiation) or other algorithms make system stability and meet the requirements of stable state and dynamic property.Output signal to PWM width modulation speed-regulating driver to control direct current torque motor 5 output torques, final, the moment of torsion of motor 5 outputs acts on jociey stick 1 by described positive drive mechanism, realizes jociey stick 1 and handles feedback loading.
The above-mentioned course of work is equally applicable to throttle lever load forces feedback system and pedal load forces feedback system.Said system mutually can isolated operation, also can use simultaneously, when three are handled feedback loading systems and work simultaneously, because the feedback force of described jociey stick 1 is divided into two degree of freedom: horizontal and vertical, this force feedback system has been realized four-way aircraft handling feedback loading.
Certainly, the positive drive mechanism 9 of this aircraft handling feedback loading system also can adopt other positive drive mechanisms as gear mechanism, and same, positive drive mechanism 9 is not limited to shaft coupling with motor 5 main shafts and is connected, also can adopt other to be flexibly connected, as gear engagement etc.In addition, quantity and the type of the motor 5 of described output torque all can change, and the degree of freedom quantity that quantity can detect as required and feed back increases and increases, and the type of motor also can adopt servomotor.
Claims (6)
1. an aircraft handling feedback loading system, comprise, jociey stick (1), it is characterized in that: the middle part of described jociey stick (1) is provided with fulcrum, and one end of described jociey stick (1) is controlled for user, the other end is connected with motor (5) by Yi Ge positive drive mechanism (9), for detection of described jociey stick positional information, the sensor of velocity information and force information (7), and microprocessor (8), microprocessor (8) is accepted the positional information of described jociey stick (1), velocity information and force information, process rear input signal to driver to control the output torque of described motor (5).
2. aircraft handling feedback loading system according to claim 1, is characterized in that: described positive drive mechanism (9) is linkage assembly.
3. aircraft handling feedback loading system according to claim 1 and 2, is characterized in that: described motor (5) is direct current torque motor, and it is connected by reductor with described positive drive mechanism (9).
4. aircraft handling feedback loading system according to claim 3, is characterized in that: described driver is PWM width modulation speed-regulating driver.
5. aircraft handling feedback loading system according to claim 4, is characterized in that: the upper scrambler of installing of described motor (5).
6. aircraft handling feedback loading system according to claim 1, is characterized in that: described jociey stick (1) is replaceable is throttle lever (3) or pedal (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320740929.9U CN203573515U (en) | 2013-11-20 | 2013-11-20 | Airplane control load feedback system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320740929.9U CN203573515U (en) | 2013-11-20 | 2013-11-20 | Airplane control load feedback system |
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| CN203573515U true CN203573515U (en) | 2014-04-30 |
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| CN201320740929.9U Expired - Lifetime CN203573515U (en) | 2013-11-20 | 2013-11-20 | Airplane control load feedback system |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104217623A (en) * | 2014-09-19 | 2014-12-17 | 中国商用飞机有限责任公司 | Side lever operation test device |
| CN104501836A (en) * | 2014-12-22 | 2015-04-08 | 中国人民解放军海军航空工程学院青岛校区 | Wireless device for calibration of flight data |
| CN104868803A (en) * | 2015-06-11 | 2015-08-26 | 贵州华烽电器有限公司 | Position feedback control servo motor driving system |
| CN106205275A (en) * | 2016-07-12 | 2016-12-07 | 徐舒青 | The push-pull effort control system of aviation simulator control lever |
| CN107195219A (en) * | 2017-05-27 | 2017-09-22 | 中国人民解放军95995部队 | A kind of method that electric control load system, aircraft flight simulation system and loading simulation manipulate resistance |
| CN107731041A (en) * | 2017-09-20 | 2018-02-23 | 中国民用航空飞行学院 | A kind of flight simulator electro-servo control load system |
| CN109473012A (en) * | 2018-12-20 | 2019-03-15 | 北京中航科电测控技术股份有限公司 | A kind of manipulation force feedback system for simulated flight |
| CN109741657A (en) * | 2019-01-16 | 2019-05-10 | 辽宁锐翔通用飞机制造有限公司 | A universal electric control load system |
| CN109850126A (en) * | 2018-12-05 | 2019-06-07 | 兰州飞行控制有限责任公司 | A kind of aircraft handling modularization comprehensive control device |
| CN110827620A (en) * | 2019-11-29 | 2020-02-21 | 中仿智能科技（上海）股份有限公司 | Digital control load system |
| CN111063235A (en) * | 2020-01-14 | 2020-04-24 | 中仿智能科技（上海）股份有限公司 | Flight simulator's control load training simulation system |
| CN113496635A (en) * | 2021-05-18 | 2021-10-12 | 中国人民解放军95840部队 | Flight simulator and flight training simulation method |
| CN114005327A (en) * | 2021-12-30 | 2022-02-01 | 江苏普旭科技股份有限公司 | Human sensing system for driving simulator |
| CN114120754A (en) * | 2020-08-27 | 2022-03-01 | 上海航空电器有限公司 | A high-fidelity control force feedback mechanism for flight simulators |
| CN114248909A (en) * | 2021-12-30 | 2022-03-29 | 天津盈科卓控科技有限公司 | Load feedback control method of airplane control rod |
| CN118645029A (en) * | 2024-06-28 | 2024-09-13 | 广东优翼航空技术有限公司 | Flight simulator reversible control load system force simulation method and system |
-
2013
- 2013-11-20 CN CN201320740929.9U patent/CN203573515U/en not_active Expired - Lifetime
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104217623A (en) * | 2014-09-19 | 2014-12-17 | 中国商用飞机有限责任公司 | Side lever operation test device |
| CN104501836A (en) * | 2014-12-22 | 2015-04-08 | 中国人民解放军海军航空工程学院青岛校区 | Wireless device for calibration of flight data |
| CN104501836B (en) * | 2014-12-22 | 2018-01-05 | 中国人民解放军海军航空工程学院青岛校区 | A wireless device for flight parameter calibration |
| CN104868803A (en) * | 2015-06-11 | 2015-08-26 | 贵州华烽电器有限公司 | Position feedback control servo motor driving system |
| CN106205275A (en) * | 2016-07-12 | 2016-12-07 | 徐舒青 | The push-pull effort control system of aviation simulator control lever |
| CN107195219A (en) * | 2017-05-27 | 2017-09-22 | 中国人民解放军95995部队 | A kind of method that electric control load system, aircraft flight simulation system and loading simulation manipulate resistance |
| CN107731041A (en) * | 2017-09-20 | 2018-02-23 | 中国民用航空飞行学院 | A kind of flight simulator electro-servo control load system |
| CN109850126A (en) * | 2018-12-05 | 2019-06-07 | 兰州飞行控制有限责任公司 | A kind of aircraft handling modularization comprehensive control device |
| CN109850126B (en) * | 2018-12-05 | 2022-10-18 | 兰州飞行控制有限责任公司 | Modularized comprehensive control device for airplane control |
| CN109473012B (en) * | 2018-12-20 | 2019-12-17 | 北京中航科电测控技术股份有限公司 | control force feedback system for simulating flight |
| CN109473012A (en) * | 2018-12-20 | 2019-03-15 | 北京中航科电测控技术股份有限公司 | A kind of manipulation force feedback system for simulated flight |
| CN109741657A (en) * | 2019-01-16 | 2019-05-10 | 辽宁锐翔通用飞机制造有限公司 | A universal electric control load system |
| CN109741657B (en) * | 2019-01-16 | 2024-04-02 | 辽宁锐翔通用飞机制造有限公司 | Universal electric control load system |
| CN110827620A (en) * | 2019-11-29 | 2020-02-21 | 中仿智能科技（上海）股份有限公司 | Digital control load system |
| CN111063235A (en) * | 2020-01-14 | 2020-04-24 | 中仿智能科技（上海）股份有限公司 | Flight simulator's control load training simulation system |
| CN114120754A (en) * | 2020-08-27 | 2022-03-01 | 上海航空电器有限公司 | A high-fidelity control force feedback mechanism for flight simulators |
| CN113496635A (en) * | 2021-05-18 | 2021-10-12 | 中国人民解放军95840部队 | Flight simulator and flight training simulation method |
| CN113496635B (en) * | 2021-05-18 | 2023-07-14 | 中国人民解放军95840部队 | Flight simulator and flight training simulation method |
| CN114005327A (en) * | 2021-12-30 | 2022-02-01 | 江苏普旭科技股份有限公司 | Human sensing system for driving simulator |
| CN114248909A (en) * | 2021-12-30 | 2022-03-29 | 天津盈科卓控科技有限公司 | Load feedback control method of airplane control rod |
| CN114248909B (en) * | 2021-12-30 | 2023-09-08 | 天津盈科卓控科技有限公司 | Load feedback control method for aircraft control rod |
| CN118645029A (en) * | 2024-06-28 | 2024-09-13 | 广东优翼航空技术有限公司 | Flight simulator reversible control load system force simulation method and system |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140430 |