Multi-degree-of-freedom motion control method for flight driving rocker and accelerator simulation

Abstract

The invention relates to the field of flight simulation, and discloses a multi-degree-of-freedom motion control method for flight driving rocker and accelerator simulation, which comprises the following steps: receiving attitude data from flight simulation software in real time, constructing a rotation matrix based on the attitude data, and calculating displacement data of platform angular points; the target stroke of the linear electric cylinders is calculated in combination with the displacement data, and the target stroke is optimized, so that movement of the multiple electric cylinders is coordinated, and the mechanical stroke range of the electric cylinders is met; meanwhile, dynamic feedback data including vibration feedback and damping feedback are generated based on the flight environment parameters, the dynamic feedback data are superposed into the control instruction, and an electric cylinder is driven to adjust the attitude of the platform; the platform motion state is detected and updated in real time through a closed-loop control system, and it is ensured that platform motion and a flight simulation software scene are highly synchronized. The system has the advantages of high-precision attitude control, real-time dynamic response and good system stability, can adapt to various flight simulation scenes, and provides real flight simulation experience.

Description

Technical Field

[0001] The present invention relates to the technical field of flight simulation, in particular to a multi-degree-of-freedom motion control method for flight driving rocker and throttle simulation. Background Art

[0002] With the development of flight simulation technology, multi-degree-of-freedom motion platforms are increasingly used in aviation training, flight entertainment, virtual reality and other fields. Flight joystick and throttle simulation is an indispensable and important part of flight simulation. Its core lies in accurately mapping the attitude changes in the virtual flight scene to the actual motion platform, thereby providing users with a real flight operation experience. However, the existing technology still has some technical problems that need to be solved when realizing multi-degree-of-freedom motion control.

[0003] Existing multi-DOF motion control methods usually use simple linear models to process attitude data and control the platform. This method is prone to control errors when the attitude changes greatly or the flight environment is complex, resulting in the platform motion being out of sync with the simulation scenario. In addition, most existing methods lack a real-time feedback mechanism for dynamic flight environment parameters (such as turbulence disturbances, air resistance, etc.), and only rely on preset attitude control algorithms for adjustment, which makes it difficult to meet the requirements of complex flight scenarios for platform real-time and dynamic adaptability. On the other hand, the control strategy of linear electric cylinders is usually based only on target position calculations, and fails to optimize and coordinate the electric cylinder stroke, which is prone to problems such as exceeding the mechanical stroke range or electric cylinder motion imbalance, thereby reducing the platform's operational safety and stability.

[0004] In addition, for highly dynamic flight environments such as turbulence, the existing technology lacks targeted modeling and dynamic adjustment in the generation of vibration feedback and damping feedback, making it difficult for users to obtain a realistic operating feel. At the same time, the closed-loop control system of the existing technology has limited capabilities in high-frequency data processing and real-time attitude updates, and cannot ensure that the rapidly changing attitude in the flight simulation scene can be adjusted in time.

[0005] In summary, existing multi-degree-of-freedom motion control technology is difficult to strike a balance between accuracy, real-time and system stability, especially in complex scenarios of flight driving joystick and throttle simulation. Its technical defects limit the realism and user experience of flight simulation. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a multi-degree-of-freedom motion control method for flight control joystick and throttle simulation, which solves the problems of insufficient accuracy, real-time performance and stability in the existing multi-degree-of-freedom motion control methods.

[0007] To achieve the above objectives, the present invention is implemented by the following technical solutions: a multi-degree-of-freedom motion control method for flight driving rocker and throttle simulation, comprising the following steps: receiving attitude data from the flight simulation software in real time and performing preprocessing, the attitude data including roll angle, pitch angle and yaw angle; Constructing a rotation matrix based on the posture data, and calculating the displacement data of the platform corner points through the rotation matrix; Calculating a target stroke of a linear electric cylinder driving a multi-degree-of-freedom motion platform according to the displacement data; The target stroke is optimized so that the motion of multiple electric cylinders is coordinated and the mechanical stroke range of the electric cylinders is satisfied; Generate dynamic feedback data based on flight environment parameters, including vibration feedback and damping feedback; superimposing the dynamic feedback into the control instructions of the multi-degree-of-freedom motion platform; The electric cylinder that drives the multi-degree-of-freedom motion platform adjusts the platform's posture according to the target stroke, and updates the platform's motion status and dynamic feedback in real time.

[0008] Preferably, the preprocessing step is to normalize the values ​​of the roll angle, the pitch angle and the yaw angle to within the range of [-1, 1].

[0009] Preferably, the step of constructing a rotation matrix based on the posture data comprises: The received roll angle, pitch angle and yaw angle data are used to construct rotation matrices around the X-axis, Y-axis and Z-axis respectively; According to the predetermined rotation order, the three rotation matrices are multiplied in sequence to generate the final three-dimensional rotation matrix, which is used to describe the spatial transformation of the platform posture.

[0010] Preferably, the step of calculating the displacement data of the platform corner points by means of the rotation matrix comprises: Taking the geometric center of the multi-degree-of-freedom platform as the origin, define the initial coordinates of the four corner points of the platform; By applying the rotation matrix to the initial coordinates of the four corner points, new coordinates of the four corner points after the posture change are obtained; The change value of the Z-direction component of the new coordinate is extracted as the displacement data of the electric cylinder of the multi-degree-of-freedom platform.

[0011] Preferably, the step of calculating the target stroke of the linear electric cylinder driving the multi-degree-of-freedom motion platform according to the displacement data comprises: Extract the Z-direction displacement data of the four corner points of the multi-degree-of-freedom motion platform; Multiply the Z-direction displacement data by a proportionality coefficient to map it to the travel range of the linear electric cylinder; The target stroke of the linear electric cylinder is defined as the sum of the neutral stroke length and the mapping result, wherein the neutral stroke length is the initial extension and retraction position of the linear electric cylinder; Output the target stroke data of each linear electric cylinder to drive the posture adjustment of the multi-degree-of-freedom motion platform.

[0012] Preferably, the step of optimizing the target travel comprises: Based on the calculation results of the target stroke, an optimization objective function is constructed to minimize the error between the stroke of each linear electric cylinder and its mapped displacement data; Setting optimization constraints, wherein the target stroke of each linear electric cylinder must be within a predetermined mechanical stroke range; The target stroke is dynamically optimized by adjusting the proportional coefficient, so that all linear electric cylinders can achieve the coordination of multi-electric cylinder motion while satisfying the constraint conditions; The optimized target stroke data is output to drive the linear electric cylinder to adjust the posture of the multi-degree-of-freedom motion platform.

[0013] Preferably, the step of generating dynamic feedback data based on flight environment parameters includes: Receiving flight environment parameters, wherein the flight environment parameters include turbulence disturbance intensity and platform movement speed; Generating a vibration feedback signal according to the turbulence disturbance intensity, wherein the vibration feedback signal is a periodic sinusoidal wave signal with a predetermined frequency and amplitude; Generate a damping feedback signal according to the platform movement speed, wherein the magnitude of the damping feedback signal is proportional to the platform movement speed; superimpose the vibration feedback signal and the damping feedback signal to generate dynamic feedback data; The dynamic feedback data is outputted to adjust the control instructions of the multi-degree-of-freedom motion platform.

[0014] Preferably, the step of superimposing the dynamic feedback into the control instructions of the multi-degree-of-freedom motion platform includes: receiving dynamic feedback data, converting the dynamic feedback data into a force signal of the electric cylinder of the control platform, wherein the force signal is generated by calculating a real-time adjustment parameter corresponding to a target stroke of the electric cylinder; According to the initial target stroke data of the control instruction, the dynamic adjustment value of the force signal is superimposed to generate a corrected control instruction; the corrected control instruction is output to the electric cylinder drive module to adjust the posture of the multi-degree-of-freedom motion platform in real time.

[0015] Preferably, the steps of driving the electric cylinder of the multi-degree-of-freedom motion platform, adjusting the posture of the platform according to the target stroke, and updating the motion state and dynamic feedback of the platform in real time include: Receive target stroke data and dynamic feedback data of the electric cylinder; Control the electric cylinder drive module to drive the electric cylinder to operate according to the target stroke data, so that the posture of the platform is adjusted to a position corresponding to the target stroke; Real-time detection of the platform's motion state parameters, including the platform's current posture and the actual stroke of the electric cylinder; Compare the detected actual stroke data with the target stroke data, and dynamically adjust the electric cylinder drive signal according to the comparison result to compensate for the error; The dynamic feedback signal is updated, and the updated dynamic feedback is superimposed on the control instruction of the next cycle to realize the real-time closed-loop control of the platform movement.

[0016] The present invention also provides a multi-degree-of-freedom motion control system for flight control rocker and throttle simulation, comprising: A data receiving module, used to receive attitude data and environmental parameters from the flight simulation software; A posture solving module, used for calculating the corner point displacement of the multi-degree-of-freedom motion platform according to the posture data; A stroke planning module, used for calculating the target stroke of the electric cylinder according to the angular point displacement, and optimizing the target stroke; a dynamic feedback module, used for generating a vibration feedback signal and a damping feedback signal according to the environmental parameters; The drive module is used to drive the electric cylinder of the multi-degree-of-freedom motion platform to execute motion according to the target stroke and update the platform posture in real time.

[0017] The present invention provides a multi-degree-of-freedom motion control method for flight control rocker and throttle simulation, which has the following beneficial effects: 1. The present invention realizes high-precision attitude adjustment of a multi-degree-of-freedom motion platform by constructing a rotation matrix and an optimization algorithm based on the target stroke of the electric cylinder, combined with the superposition of dynamic feedback signals, and can accurately simulate the attitude changes in the flight simulation software to ensure a high degree of synchronization between the platform movement and the virtual scene.

[0018] 2. The present invention adopts a real-time feedback mechanism, generates dynamic feedback signals (such as vibration feedback and damping feedback) by receiving flight environment parameters, and superimposes them into the electric cylinder control instructions, thereby realizing millisecond-level closed-loop control, enabling the platform to quickly respond to dynamic changes in flight scenes, such as turbulence, sharp turns or speed changes and other complex situations.

[0019] 3. The present invention effectively avoids the instability or overtravel problem of the electric cylinder movement by setting the optimization objective function and travel range constraints, as well as the travel error compensation and protection mechanism, ensures the operating safety and stability of the system, and maintains reliable attitude control even in complex flight environments.

[0020] 4. The present invention is applicable to a variety of flight simulation scenarios, including civil aviation, military flight and rescue flight, and supports dynamic adjustment of control parameters. It can be flexibly customized according to different application requirements and has wide adaptability and scalability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the method flow of the present invention; Figure 2 Schematic diagram of the system architecture of the present invention.

[0022] Among them, 10, data receiving module; 20, attitude solving module; 30, travel planning module; 40, dynamic feedback module; 50, driving module. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Please refer to the attached Figure 1 The present invention provides a multi-degree-of-freedom motion control method for flight driving joystick and throttle simulation. By receiving attitude data from flight simulation software in real time, the attitude changes of the flight simulation scene are accurately mapped to the multi-degree-of-freedom motion platform, thereby achieving a highly simulated flight driving experience.

[0025] like Figure 1 As shown, the multi-degree-of-freedom motion control method for flight control joystick and throttle simulation may include the following steps: S1, receiving attitude data from flight simulation software in real time and preprocessing; S2, construct a rotation matrix based on the posture data, and calculate the displacement data of the platform corner points through the rotation matrix; S3. Calculate the target stroke of the linear electric cylinder driving the multi-degree-of-freedom motion platform according to the displacement data; S4. Optimize the target stroke to coordinate the motion of multiple electric cylinders and meet the mechanical stroke range of the electric cylinders; S5. Generate dynamic feedback data based on flight environment parameters; S6, superimposing the dynamic feedback into the control instructions of the multi-degree-of-freedom motion platform; S7 drives the electric cylinder of the multi-degree-of-freedom motion platform and updates the status and feedback in real time.

[0026] Each step of the method of the present invention is described in detail below.

[0027] For step S1, in this embodiment, attitude data is received in real time from the flight simulation software, and the data is preprocessed to ensure the accuracy and consistency of the data. The attitude data includes roll angle (Roll, φ), pitch angle (Pitch, θ) and yaw angle (Yaw, ψ), which respectively represent the rotation angles of the multi-degree-of-freedom motion platform around the X, Y, and Z axes.

[0028] The attitude data is transmitted to the control system in real time via the flight simulation software using the UDP communication protocol. The time interval for each transmission is set to 1 millisecond according to actual needs to ensure the real-time and continuity of the platform movement. Through the UDP data packet, the attitude data and necessary control parameters can be effectively transmitted.

[0029] After receiving the data, in order to ensure the accuracy and reliability of the data, the posture data needs to be standardized and preprocessed. The specific process includes the following: The roll angle, pitch angle, and yaw angle are normalized by the maximum allowable rotation angle. The normalization formula is as follows: Among them, φ max ,θ max and ψ max The maximum rotation angle that the platform can support.

[0030] The attitude data may be affected by communication interference or turbulence simulation environment and may have high-frequency jitter, so the data is filtered. The filter uses a sliding average filter to smooth data fluctuations by taking the average value of the time window of continuous data. Its mathematical expression is as follows: Among them, x(t) is the posture data received at time t, and N is the size of the sliding window. This method can significantly reduce high-frequency noise and improve the stability of posture data.

[0031] In addition to filtering, outlier detection is also required to remove values ​​that are beyond the reasonable range due to communication packet loss or interference. By setting the upper and lower limits of the attitude data, if the detected angle exceeds the predetermined range, it is set to the attitude value of the previous frame to avoid the impact of data mutation on the control command.

[0032] In this embodiment, the attitude data after preprocessing will be stored in the system cache as an input parameter for subsequent attitude solution. The process of receiving and preprocessing data in real time runs in a millisecond time cycle to ensure that the data update frequency is synchronized with the output frequency of the flight simulation software.

[0033] This embodiment can effectively improve the accuracy and stability of platform control by receiving and preprocessing posture data in real time, and provide reliable input data for subsequent posture solution and platform movement.

[0034] As for step S2, in this embodiment, a rotation matrix is ​​constructed based on the received posture data, and the displacement data of the corner points of the multi-degree-of-freedom motion platform is calculated through the rotation matrix, thereby providing a reference input for precise adjustment of the platform posture.

[0035] First, the received attitude data includes the roll angle φ, the pitch angle θ and the yaw angle ψ, which respectively represent the rotation angles of the multi-degree-of-freedom motion platform around the X-axis, the Y-axis and the Z-axis. In order to describe the platform attitude in three-dimensional space, this embodiment uses the rotation matrix as a mathematical expression to convert the attitude data into the spatial displacement of the platform corner points.

[0036] The construction of the rotation matrix R is based on the rotation order of the Euler angles. Taking the ZYX order as an example, the complete rotation matrix is ​​expressed as: R=R z (ψ)R y (θ)R x (φ) Among them, R z (ψ), R y (θ), R x (φ) are the rotation matrices around the X, Y, and Z axes, respectively, and their mathematical expressions are as follows: By multiplying the above three rotation matrices in sequence, we get the final three-dimensional rotation matrix R. This matrix represents the change of the platform attitude in three-dimensional space and can accurately describe the comprehensive rotation effects of roll, pitch and yaw.

[0037] In order to avoid the universal lock problem in Euler angle calculation, this embodiment further adopts a method of combining quaternion and rotation matrix. The received Euler angle posture data is first converted into quaternion form, and the component calculation formula of quaternion is as follows: Using the above quaternion components, recalculate the rotation matrix to improve the accuracy and stability of attitude solution. The rotation matrix R corresponding to the quaternion is expressed as follows: After constructing the rotation matrix, this embodiment calculates the displacement data of the platform corner points by applying the matrix to the initial corner point coordinates of the multi-degree-of-freedom motion platform. Assuming that the geometric center of the platform is the origin, the initial coordinates of the four corner points are: Apply the rotation matrix R to the initial coordinates of each corner point to obtain the new coordinates after the posture change: P i ′ =R·P i Among them, P i ′ Represents the new coordinates of the i-th corner point.

[0038] Furthermore, the Z component change value of the new coordinates is extracted to describe the posture change of the platform: The Z component changes value z i ′ That is, the height change data of each corner point of the multi-degree-of-freedom platform during the posture adjustment process.

[0039] In this embodiment, the singularity problem in the traditional Euler angle calculation can be avoided by combining the rotation matrix with the quaternion, thereby improving the stability and accuracy of the posture solution. At the same time, the corner point displacement data calculated by this method provides accurate input parameters for the stroke planning of the electric cylinder movement.

[0040] Regarding step S3, in this embodiment, the target stroke of the linear electric cylinder driving the platform is calculated based on the corner point displacement data of the multi-degree-of-freedom motion platform to achieve accurate adjustment of the platform posture and motion synchronization.

[0041] The corner point displacement data is calculated through the aforementioned posture solution steps, specifically the change value of the Z coordinate component of each corner point, recorded as (z ′ 1 ,z ′ 2 ,z ′ 3 ,z ′ 4 ). In this embodiment, in order to convert these displacement data into actual executable linear electric cylinder motion instructions, it is necessary to calculate the target stroke of each electric cylinder in combination with the stroke range and geometric constraints of the platform electric cylinder.

[0042] Target stroke L of linear electric cylinder i is based on the length L of its neutral position 0 The sum of the linear mapping of the corner point displacement data is calculated as follows: L i =L 0 +S·z i ′ Where S is the proportional coefficient, which is used to map the Z coordinate change value to the actual range of the electric cylinder stroke.

[0043] The specific calculation of the proportional coefficient S is related to the mechanical travel range of the electric cylinder. Assume that the maximum travel of the electric cylinder is L max , and the maximum possible Z coordinate change of the corner point is z max , then the calculation formula of the proportional coefficient S is: This proportionality factor can ensure that the stroke of each electric cylinder is still within the mechanical stroke range even in the extreme state of platform posture change.

[0044] In this embodiment, the neutral length of the electric cylinder is L 0 Defined as the midpoint of the mechanical stroke of the electric cylinder. For example, for an electric cylinder with a stroke range of 3 cm, its neutral length L 0 is 1.5cm, that is: Among them, L min and L max They are the minimum and maximum extension lengths of the electric cylinder respectively.

[0045] Calculated target travel distance L i Indicates the extension and retraction requirements of the i-th electric cylinder, and the target stroke data of all electric cylinders (L 1 ,L 2 ,L 3 ,L 4 ) jointly determine the posture changes of the platform.

[0046] In order to avoid uncoordinated motion caused by stroke mapping, this embodiment also sets a protection mechanism to ensure the rationality of stroke data. min ,L max ], the following strategies are used for adjustment: L i =min(max(L i ,L min ),L max ) That is, the target travel that exceeds the range is clipped to the allowed range.

[0047] The calculation and mapping of the target stroke of the electric cylinder directly determines the adjustment accuracy of the platform posture and the coordination of the electric cylinder movement. In this embodiment, through the linear mapping of the proportional coefficient, combined with the application of the neutral position and the protection mechanism, high-precision calculation of the stroke and stability control are achieved.

[0048] For step S4, in this embodiment, the target stroke of the linear electric cylinder is optimized to coordinate the motion of multiple electric cylinders and ensure that the target stroke meets the mechanical stroke range of the electric cylinder. Through optimization processing, the motion stability and coordination of the multi-degree-of-freedom motion platform in complex posture changes can be effectively improved, avoiding system failure caused by the target stroke exceeding the limit of the electric cylinder.

[0049] In this embodiment, the optimization goal is to minimize the motion error between linear electric cylinders while ensuring that the target stroke data is always within the allowable range of mechanical stroke. The mathematical model of optimization includes an objective function and constraints, as follows: The objective function is used to describe the coordination between the electric cylinder motions, expressed as minimizing the sum of square errors between the target strokes of all electric cylinders and the mapped displacement data: in: L i is the target stroke of the i-th electric cylinder; L 0 is the neutral length of the electric cylinder; S is the proportionality coefficient calculated in the aforementioned step S3; z i ′ is the Z coordinate displacement of the i-th corner point.

[0050] The optimization process of the objective function aims to reduce the coordination error of the electric cylinder, making the dynamic process of platform posture adjustment smoother.

[0051] At the same time, this embodiment sets constraints on the travel range to ensure that the target travel runs within the mechanical range, specifically: L min ≤L i ≤L max Among them, L min and L max Respectively represent the minimum and maximum stroke of the linear cylinder.

[0052] In order to achieve the optimization goal, this embodiment adopts the Lagrange multiplier method to combine the objective function and the constraint conditions into a constrained optimization problem. The Lagrange function expression is as follows: in: λ 1 and λ 2 is the Lagrange multiplier used to represent the influence of the constraint.

[0053] By solving the partial derivatives of the above Lagrange equation, we can obtain the optimal solution that satisfies the constraints, that is, the final target stroke L of each electric cylinder. i .

[0054] This embodiment further dynamically adjusts the optimization result through an iterative algorithm. During each iteration, the proportional coefficient S is fine-tuned according to the calculation result of the target stroke to ensure that the optimization result meets the following two requirements: The sum of squares of the target stroke errors of the electric cylinder is minimized; The target stroke of each electric cylinder remains within the mechanical stroke range.

[0055] The optimization iteration process is completed within each control cycle (such as 1 millisecond) to ensure the real-time and dynamic nature of the optimization results. Through rapid iteration, it can effectively adapt to the dynamic changes in complex flight environments.

[0056] In order to further enhance the robustness of the system, a target stroke protection mechanism is also introduced in this embodiment. If the optimized target stroke of some electric cylinders cannot meet the mechanical restriction conditions, the following adjustment strategy is adopted: L i =min(max(L i ,L min ),L max ) By cutting the target stroke and limiting it to the mechanically permissible range, the safety of system operation is ensured.

[0057] The optimization process of this embodiment not only improves the coordination of the multi-electric cylinder movement, but also ensures that the platform's attitude adjustment has higher stability and accuracy in complex environments through dynamic adjustment and protection mechanisms. In addition, the real-time nature of the optimization algorithm enables the platform to quickly respond to attitude changes in the flight simulation software, thereby improving the overall dynamic performance of the system.

[0058] For step S5, in this embodiment, dynamic feedback data is generated based on the flight environment parameters, and the feedback data includes vibration feedback and damping feedback to simulate the physical characteristics and dynamic effects in the real flight environment. The generation of dynamic feedback data is mainly used to adjust the control instructions of the multi-degree-of-freedom motion platform so that the platform can respond to changes in the flight environment in real time.

[0059] The flight environment parameters are transmitted to the control system in real time at fixed time intervals through the flight simulation software, and the parameters include but are not limited to turbulence disturbance intensity, flight speed, air resistance, etc. This embodiment mainly uses turbulence disturbance intensity and platform movement speed to generate two dynamic feedback signals, namely vibration feedback signal and damping feedback signal.

[0060] In this embodiment, the vibration feedback signal is used to simulate the turbulence or vibration effect in the flight environment. The generation of the vibration signal is based on a sine wave function, and the expression is as follows: F v =k v ·sin(2πf·t) in: F v is the vibration feedback signal; k v is the amplitude of vibration feedback, which depends on the intensity of turbulence disturbance; f is the vibration frequency, simulating the frequency characteristics of turbulence; t is the current time.

[0061] By adjusting the amplitude and frequency of the vibration feedback, the turbulence effects of different intensities and frequencies can be flexibly simulated. For example, when the turbulence intensity increases, k v Both f and f can be adjusted dynamically to reflect more severe vibration feedback.

[0062] The damping feedback signal is used to simulate the effect of air resistance or mechanical resistance on the motion of the platform. In this embodiment, the generation of the damping feedback signal is based on the negative linear relationship of the motion speed, and the expression is as follows: F d =-k d ·v in: F d is the damping feedback signal; k d is the damping coefficient, which indicates the magnitude of resistance; v is the movement speed of the platform, which is taken from the real-time motion data.

[0063] The direction of the damping feedback signal is opposite to the platform movement speed, which can effectively suppress the tendency of excessive movement and enhance the stability of the system. At the same time, by adjusting the damping coefficient k d , the damping effect can be flexibly controlled in different flight environments. For example, in high-speed flight scenarios, increasing k d Can simulate greater air resistance.

[0064] In this embodiment, in order to generate comprehensive dynamic feedback data, the vibration feedback signal and the damping feedback signal are superimposed to form a total feedback signal, which is expressed as follows: F total =F v +F d The total feedback signal can reflect turbulent disturbances and damping effects simultaneously, and provide highly simulated dynamic feedback through real-time calculation and superposition.

[0065] The generation process of dynamic feedback signals is repeated at a fixed time period (such as 1 millisecond) to ensure the real-time and dynamic nature of the total feedback signal. Each generated feedback signal will directly act on the control instructions of the multi-degree-of-freedom motion platform to adjust the target stroke and force output of the platform electric cylinder.

[0066] This embodiment combines vibration feedback with damping feedback to not only truly simulate the turbulence effect and air resistance in the flight environment, but also maintain the stability and response accuracy of the system during dynamic adjustment. In particular, in complex flight scenarios, such as encountering turbulence or high-speed turns, dynamic feedback signals can effectively enhance the control effect of the multi-degree-of-freedom motion platform.

[0067] For step S6, in this embodiment, the dynamic feedback data generated based on the flight environment parameters are superimposed on the control instructions of the multi-degree-of-freedom motion platform to further optimize the accuracy and response performance of the platform attitude control, so that the platform can more realistically simulate the dynamic characteristics in the flight environment.

[0068] The dynamic feedback data includes the vibration feedback signal and the damping feedback signal generated in the aforementioned step S5, and the two feedback signals are used to simulate the turbulence effect and the air resistance effect in the flight environment respectively. The dynamic feedback data is integrated with the platform electric cylinder control command in real time through the control system to form the final control signal.

[0069] In this embodiment, the construction of the control instruction includes the superposition of the target stroke data and the dynamic feedback data. Assuming that the target stroke of the electric cylinder is L i (calculated by the above steps S3 and S4), the dynamic feedback signal is F total (Including F v and F d ), then the control signal C i The expression is as follows: C i =L i +F total in: L i is the target stroke of the i-th electric cylinder, indicating the basic adjustment of the platform posture; F total It is the total dynamic feedback signal, which is superimposed on the target stroke through real-time calculation.

[0070] Specifically, the vibration feedback signal F v It represents the high-frequency dynamic disturbance caused by turbulence during flight, and its mathematical expression is: F v =k v ·sin(2πf·t) Damping feedback signal F d It represents the inhibitory effect of air resistance on platform motion, and its mathematical expression is: F d =-k d ·v The above dynamic feedback signal is superimposed on the target stroke after real-time calculation, so that the control signal of the electric cylinder can simultaneously reflect the comprehensive effect of posture adjustment and dynamic feedback.

[0071] To ensure the reliability of the control signal, this embodiment sets an upper and lower limit protection mechanism before the signal is superimposed to prevent the control signal from exceeding the mechanical range of the electric cylinder or causing motion instability.

[0072] After the control signal is generated, the system converts the control signal C of each electric cylinder into i The dynamic feedback signal is then updated in real time with the change of time and flight environment parameters to ensure that the control signal is always consistent with the current flight scenario.

[0073] In this embodiment, the superposition of dynamic feedback signals provides higher flexibility and dynamic adaptability for the attitude control of the platform. Especially when encountering turbulence, sharp turns or other drastic dynamic changes in flight simulation, the introduction of dynamic feedback can significantly enhance the platform's responsiveness to flight scenes, allowing users to experience a more realistic flight experience.

[0074] For step S7, in this embodiment, by driving the electric cylinder of the multi-degree-of-freedom motion platform, the attitude of the platform is adjusted according to the calculated target stroke, and the motion state and dynamic feedback of the platform are updated in real time to achieve high-precision attitude control in a flight simulation environment.

[0075] In this embodiment, the target stroke L of the electric cylinder i is the optimized value calculated by the above steps S3 and S4, and has been combined with the dynamic feedback signal to form the final control signal C i The electric cylinder drive module of the platform receives the control signal C i , by driving the telescopic movement of the electric cylinder in real time, the posture of the platform is adjusted to the corresponding position.

[0076] In order to achieve accurate posture adjustment, this embodiment uses a closed-loop control system to detect the actual motion state of the platform in real time, including the current posture and the real-time stroke of the electric cylinder. The real-time stroke data of the electric cylinder is measured by a position sensor (such as an optical encoder or a magnetic position sensor) and fed back to the control system. Real-time stroke data With target travel C i By comparison, the error ΔL is calculated i : If the error exceeds the preset threshold, the control system will dynamically adjust the drive signal of the electric cylinder according to the error size to compensate for the error and achieve the target stroke. i It can be expressed by the following formula: in: K p is the proportional control coefficient, which is used to adjust the electric cylinder driving force according to the error size; K d is the differential control coefficient, which is used to compensate for the dynamic trend of error change.

[0077] Through the above closed-loop control strategy, the response speed and accuracy of the electric cylinder drive can be significantly improved, ensuring the real-time and stability of the platform posture adjustment.

[0078] In this embodiment, the key to real-time updating is the continuous calculation and adjustment of the dynamic feedback signal. total It is generated in real time based on flight environment parameters (such as turbulence intensity and flight speed), and the update frequency is synchronized with the electric cylinder drive frequency. For example, a new feedback signal is calculated every 1 millisecond and superimposed on the target stroke control signal to ensure that the platform responds immediately to environmental changes.

[0079] During the actual movement of the platform, the real-time monitored attitude data includes the current rotation angle (roll angle, pitch angle and yaw angle) of the platform, which is obtained through the inertial measurement unit (IMU). The attitude data provided by the IMU is compared with the target attitude data. If an attitude deviation is detected, the control system will further optimize the drive signal of the electric cylinder to correct the attitude deviation.

[0080] In addition, this embodiment sets up a safety protection mechanism to ensure the movement safety of the platform in extreme situations. Specifically, it includes: If the target travel distance is C i Or actual itinerary Exceeding the mechanical travel range of the electric cylinder [L min ,L max ], the system will immediately stop the action of the corresponding electric cylinder and issue an alarm signal.

[0081] When the posture deviation is too large and may cause the platform to become unstable, the system will force the platform to return to its initial horizontal state.

[0082] The real-time update capability of the platform depends on the execution of high-frequency control cycles. In this embodiment, the entire drive control, posture adjustment and state update process are completed within a time period of 1 millisecond, specifically including: According to the target itinerary C i Drive the electric cylinder to move; Detect and feedback the real-time stroke of the electric cylinder Calculate and compensate for travel error ΔL i ; Update dynamic feedback signal F total ; Generate new control instructions based on the updated signal.

[0083] The above real-time update process ensures the continuity and accuracy of the platform attitude adjustment, and can operate stably even in complex flight simulation scenarios such as turbulence, acceleration or sharp turns.

[0084] In general, the present invention receives attitude data from the flight simulation software in real time, constructs a rotation matrix and calculates the displacement data of the platform corner points, further generates and optimizes the target stroke of the linear electric cylinder, and generates a dynamic feedback signal in combination with the flight environment parameters. The dynamic feedback is superimposed on the control instruction to drive the electric cylinder of the multi-degree-of-freedom motion platform to achieve attitude adjustment.

[0085] The multi-degree-of-freedom motion control system for flight control stick and throttle simulation described below and the multi-degree-of-freedom motion control method for flight control stick and throttle simulation described above can be referenced to each other.

[0086] Please refer to the attached Figure 2 The present invention also provides a multi-degree-of-freedom motion control system for flight control rocker and throttle simulation, comprising: The data receiving module 10 is used to receive attitude data and environmental parameters from the flight simulation software; A posture solving module 20, used for calculating the corner point displacement of the multi-degree-of-freedom motion platform according to the posture data; A stroke planning module 30, used for calculating the target stroke of the electric cylinder according to the corner point displacement, and optimizing the target stroke; A dynamic feedback module 40, configured to generate a vibration feedback signal and a damping feedback signal according to the environmental parameters; The driving module 50 is used to drive the electric cylinder of the multi-degree-of-freedom motion platform to execute motion according to the target stroke, and to update the platform posture in real time.

[0087] The system of this embodiment can be used to execute the above method embodiments, and its principles and technical effects are similar, which will not be repeated here.

[0088] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom motion control method for flight control stick and throttle simulation, characterized in that: The following steps are involved: receiving attitude data from the flight simulation software in real time and performing preprocessing, the attitude data including roll angle, pitch angle and yaw angle; Constructing a rotation matrix based on the posture data, and calculating the displacement data of the platform corner points through the rotation matrix; Calculating a target stroke of a linear electric cylinder driving a multi-degree-of-freedom motion platform according to the displacement data; The target stroke is optimized so that the motion of multiple electric cylinders is coordinated and the mechanical stroke range of the electric cylinders is satisfied; Generate dynamic feedback data based on flight environment parameters, including vibration feedback and damping feedback; superimposing the dynamic feedback into the control instructions of the multi-degree-of-freedom motion platform; The electric cylinder that drives the multi-degree-of-freedom motion platform adjusts the platform's posture according to the target stroke, and updates the platform's motion status and dynamic feedback in real time.

2. The multi-degree-of-freedom motion control method for flight driving rocker and throttle simulation according to claim 1, characterized in that: The preprocessing step is to normalize the values ​​of the roll angle, pitch angle and yaw angle to the range of [−1, 1].

3. The multi-degree-of-freedom motion control method for flight driving rocker and throttle simulation according to claim 1, characterized in that: The step of constructing a rotation matrix based on the posture data comprises: The received roll angle, pitch angle and yaw angle data are used to construct rotation matrices around the X-axis, Y-axis and Z-axis respectively; According to the predetermined rotation order, the three rotation matrices are multiplied in sequence to generate the final three-dimensional rotation matrix, which is used to describe the spatial transformation of the platform posture.

4. The multi-degree-of-freedom motion control method for flight driving rocker and throttle simulation according to claim 3, characterized in that: The step of calculating the displacement data of the platform corner points by using the rotation matrix comprises: Taking the geometric center of the multi-degree-of-freedom platform as the origin, define the initial coordinates of the four corner points of the platform; By applying the rotation matrix to the initial coordinates of the four corner points, new coordinates of the four corner points after the posture change are obtained; The change value of the Z-direction component of the new coordinate is extracted as the displacement data of the electric cylinder of the multi-degree-of-freedom platform.

5. The multi-degree-of-freedom motion control method for flight driving rocker and throttle simulation according to claim 1, characterized in that: The step of calculating the target stroke of the linear electric cylinder driving the multi-degree-of-freedom motion platform according to the displacement data comprises: Extract the Z-direction displacement data of the four corner points of the multi-degree-of-freedom motion platform; Multiply the Z-direction displacement data by a proportionality coefficient to map it to the travel range of the linear electric cylinder; The target stroke of the linear electric cylinder is defined as the sum of the neutral stroke length and the mapping result, wherein the neutral stroke length is the initial extension and retraction position of the linear electric cylinder; Output the target stroke data of each linear electric cylinder to drive the posture adjustment of the multi-degree-of-freedom motion platform.

6. The multi-degree-of-freedom motion control method for flight driving rocker and throttle simulation according to claim 1, characterized in that: The step of optimizing the target travel comprises: Based on the calculation results of the target stroke, an optimization objective function is constructed to minimize the error between the stroke of each linear electric cylinder and its mapped displacement data; Setting optimization constraints, wherein the target stroke of each linear electric cylinder must be within a predetermined mechanical stroke range; The target stroke is dynamically optimized by adjusting the proportional coefficient, so that all linear electric cylinders can achieve the coordination of multi-electric cylinder motion while satisfying the constraint conditions; The optimized target stroke data is output to drive the linear electric cylinder to adjust the posture of the multi-degree-of-freedom motion platform.

7. The multi-degree-of-freedom motion control method for flight driving rocker and throttle simulation according to claim 1, characterized in that: The step of generating dynamic feedback data based on flight environment parameters comprises: Receiving flight environment parameters, wherein the flight environment parameters include turbulence disturbance intensity and platform movement speed; Generating a vibration feedback signal according to the turbulence disturbance intensity, wherein the vibration feedback signal is a periodic sinusoidal wave signal with a predetermined frequency and amplitude; Generate a damping feedback signal according to the platform movement speed, wherein the magnitude of the damping feedback signal is proportional to the platform movement speed; The vibration feedback signal and the damping feedback signal are superimposed to generate dynamic feedback data; The dynamic feedback data is outputted to adjust the control instructions of the multi-degree-of-freedom motion platform.

8. The multi-degree-of-freedom motion control method for flight control stick and throttle simulation according to claim 1, characterized in that: The step of superimposing the dynamic feedback into the control instructions of the multi-degree-of-freedom motion platform comprises: Receiving dynamic feedback data, converting the dynamic feedback data into a force signal for controlling the electric cylinder of the platform, wherein the force signal is generated by calculating a real-time adjustment parameter corresponding to a target stroke of the electric cylinder; According to the initial target stroke data of the control instruction, the dynamic adjustment value of the force signal is superimposed to generate a corrected control instruction; The corrected control instructions are output to the electric cylinder drive module to adjust the posture of the multi-degree-of-freedom motion platform in real time.

9. The multi-degree-of-freedom motion control method for flight control stick and throttle simulation according to claim 1, characterized in that: The steps of driving the electric cylinder of the multi-degree-of-freedom motion platform, adjusting the posture of the platform according to the target stroke, and updating the motion state and dynamic feedback of the platform in real time include: Receive target stroke data and dynamic feedback data of the electric cylinder; Control the electric cylinder drive module to drive the electric cylinder to operate according to the target stroke data, so that the posture of the platform is adjusted to a position corresponding to the target stroke; Real-time detection of the platform's motion state parameters, including the platform's current posture and the actual stroke of the electric cylinder; Compare the detected actual stroke data with the target stroke data, and dynamically adjust the electric cylinder drive signal according to the comparison result to compensate for the error; The dynamic feedback signal is updated, and the updated dynamic feedback is superimposed on the control instruction of the next cycle to realize the real-time closed-loop control of the platform movement.

10. A multi-degree-of-freedom motion control system for flight control stick and throttle simulation, which implements the multi-degree-of-freedom motion control method for flight control stick and throttle simulation as claimed in any one of claims 1 to 9, characterized in that: include: A data receiving module, used to receive attitude data and environmental parameters from the flight simulation software; A posture solving module, used for calculating the corner point displacement of the multi-degree-of-freedom motion platform according to the posture data; A stroke planning module, used for calculating the target stroke of the electric cylinder according to the angular point displacement, and optimizing the target stroke; A dynamic feedback module, used for generating a vibration feedback signal and a damping feedback signal according to the environmental parameters; The drive module is used to drive the electric cylinder of the multi-degree-of-freedom motion platform to execute motion according to the target stroke and update the platform posture in real time.

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