Coach plane flight training simulator system

Abstract

The invention discloses a training aircraft flight training simulator system in the field of aircraft training simulator systems, which comprises a cabin and instrument indicating system, a visual imaging display system, a flight resolving system, a control and control load system, a cabin buffeting system, a sound system, a console system and a computer network, the cabin and instrument indicating system is mainly composed of a cabin simulation system and a cabin instrument system. The visual imaging display system is displayed on the display distributor and the cabin and instrument indicating system through a computer network and the flight resolving system in an imaging mode. According to the invention, flight simulation training of sliding, takeoff, turning, level flight, gliding, landing and takeoff and landing routes under four meteorological conditions can be simulated; the special effect flight simulation training such as circling, diving, jumping, sharp rising turning, rolling, sharp circling descending, sideslip, horizontal 8-shaped, weight giving, inclined weight giving and semi-rolling reversing can be implemented.

Description

Technical Field

[0001] The present invention belongs to the technical field, and particularly relates to a flight training simulator system for a trainer aircraft. Background Art

[0002] In recent years, universities have closely followed the pace of the naval strategic transformation, closely adhered to the needs of the troops and the requirements of the positions, scientifically planned, actively acted, and jointly tackled key problems, continuously strengthening the top-level design of the simulation training system construction. In accordance with the idea of "demand-driven, aiming at first-class, and integrating military and civilian", and based on the principle of "overall planning, highlighting key points, and implementing step by step", adhering to the technical simulation training as the foundation, tactical simulation training as the key point, and campaign simulation training as the development direction, efforts have been made to build a simulation training platform of "integrating technology and tactics, integrating command and technology, and conducting joint air and ground training", and a standardized, serialized, intensive and networked simulation training system has been established.

[0003] Aiming at the problems of the original flight training simulator for a certain type of trainer aircraft, such as the non-realistic feeling of the joystick operation, the insufficient richness of the terrain database information, the inability to implement multi-aircraft formation simulation training, the inability to realize the joint simulation training of flight commanders and pilots on the same field, the lack of a simulation training quality and efficiency evaluation method, and the lack of information management means. Summary of the Invention

[0004] The purpose of the present invention is to address the deficiencies of the existing technology. By upgrading and transforming the original flight simulator of this model, developing a flight tower command simulator, researching and developing a simulation training review system, and developing a simulation training information management system, etc., the technical problems such as the non-realistic feeling of the joystick operation of the flight training simulator, the insufficient richness of the terrain database information, the inability to implement multi-aircraft formation simulation training, the inability to realize the joint simulation training of flight commanders and pilots on the same field, the lack of a simulation training quality and efficiency evaluation method, and the lack of information management means are solved.

[0005] To achieve the above object, the present invention provides the following technical solution: A flight training simulator system for a trainer aircraft, comprising a cockpit and instrument indication system, a visual imaging display system, a flight calculation system, a control and control load system, a cockpit buffeting system, an audio system, a console system, and a computer network. The cockpit and instrument indication system is mainly composed of a cockpit simulation system and a cockpit instrument system. The visual imaging display system is imaged and displayed on a display distributor and the cockpit and instrument indication system through the computer network and the flight calculation system. The cockpit buffeting system, the audio system, and the control and control load system are installed on the cockpit and instrument indication system. The console system is connected to graphic instruments, an audio calculator, and the visual imaging display system for monitoring and managing pilots.

[0006] As a preference, the cockpit simulation system mainly consists of a cockpit cabin body, a control subsystem, an instrument subsystem, a central auxiliary console, left and right consoles, seats, and cockpit equipment drive control. The instrument subsystem mainly consists of analog simulation instruments and graphic instruments. The analog simulation instruments mainly consist of an intake pressure gauge, an engine speedometer, a cylinder head temperature gauge, an intake air temperature gauge, a fuel gauge, and a current-voltage meter. The graphic instruments mainly consist of an airspeed indicator, an altimeter, an attitude indicator, a vertical speed indicator, a combined engine instrument, a turn and slip indicator, a radio magnetic indicator, and a magnetic compass. The left and right consoles mainly consist of control mechanisms, and the control mechanisms are composed of a control stick, a throttle lever, and a rudder.

[0007] The analog simulation instruments mainly consist of an instrument main control computer, an instrument drive circuit, a stepping motor, a reduction gear, and an indicator. The analog simulation instruments are connected to the instrument main control computer through RS. The single-chip microcomputer in the instrument drive circuit receives the data from the instrument main control computer and controls the analog simulation instruments through the stepping motor and the reduction gear, and finally displays through the indicator.

[0008] As a preference, the analog simulation instruments are stepping motor-driven instruments controlled by a single-chip microcomputer, and the drive circuit includes a motor control module, a motor drive module, and an interface power supply module.

[0009] As a preference, the visual imaging display system takes the data input in the cockpit and the instrument indication system as external input data, and then generates a corresponding output virtual simulation system. It mainly consists of an external input receiving module, a scene graph organizing module, a camera control module, a meteorological environment simulation module, and a rendering engine. The external input receiving module sends the relevant parameters of the meteorological environment information to the meteorological environment simulation module. The meteorological environment simulation module transmits the processed meteorological environment data for rendering to the rendering engine. The external input receiving module transmits the aircraft position to the scene graph organizing module. The scene graph organizing module transmits the landscape data of the current spatial position to the rendering engine. The external input receiving module sends the aircraft position and orientation to the camera control module. After processing, the camera control module transmits the spatial coordinates, camera orientation, and camera forward direction to the rendering engine. The rendering engine transmits the rendered data that has been cropped and optimized through organization to the screen display for output.

[0010] As a preference, the flight solution system includes aircraft motion simulation, flight control system simulation software, engine control software, and electromechanical systems. For aircraft motion simulation, the flight solution system collects control actions such as those of the cockpit simulation system, solves the aircraft's motion equations and power equations through numerical integration methods to obtain real-time numerical solutions, and transmits relevant parameters such as the real-time position and attitude of the aircraft to the visual imaging display system, cockpit, and instrument indication system for display and other related calculations. The aircraft motion simulation consists of aerodynamic characteristic simulation software, flight dynamics simulation software, aircraft mass characteristic simulation software, environmental characteristic influence simulation software such as atmosphere / airflow, airframe strength model simulation software, landing gear model simulation software, special effect modules, and fault simulation modules.

[0011] As a preference, the control and control load system mainly consists of a control stick, rudder, throttle, and corresponding control mechanisms. The pilot changes the aircraft's pitch, bank, and other attitudes through coordinated actions of the control stick, foot pedals, etc. to achieve the purpose of changing the aircraft's heading, altitude, etc. The main control computer inside the control and control load system samples the states of the cockpit control equipment through an analog / digital conversion card A / D and a digital input / output card I / O, calculates the values of various display and indication devices in real time in the flight solution system, converts them through a digital / analog conversion card D / A and a digital output / input card I / O, and controls the operation of the cockpit control, display, and indication devices after driving and amplification, thereby realizing real-time simulation of the simulation equipment. The control and control load system provides the pilot with longitudinal / lateral control feelings of the control stick. The longitudinal stick force simulation system uses a human feeling motor to output, and through a controller and corresponding distance measurement, limit, and transmission mechanisms, the longitudinal control force acting on the control stick is matched with the current speed, altitude, and flight attitude of the aircraft, so that the pilot obtains the corresponding control stick control feelings during flight.

[0012] As a preference, the cockpit buffeting system consists of an AC vibration motor, a buffeting mass block, an AC frequency converter, and a power control board. The AC motor is installed on the bottom bracket of the cockpit cabin. The cockpit cabin and the AC vibration motor are connected to the base through shock absorbers, and the base is fixed on the ground. By processing a suitable buffeting mass block, eccentric vibration of the motor is formed, and different states of engine vibration are achieved through control by a frequency conversion controller.

[0013] As an optimization, the audio system mainly consists of an audio control computer, a digital audio synthesis card, an audio power amplifier, and speakers. The audio control computer is used to provide radio communication effect simulation and sound synthesis control management, and receive / send simulator main computer data. The digital audio synthesis card is used to provide radio communication effect simulation and sound synthesis, and perform analog / digital conversion of audio data. The audio power amplifier uses a professional CROWN power amplifier to amplify the ambient sound and warning sound transmitted. The speakers use JBL CONTROL speakers, which adopt a hidden spherical mounting bracket and the original factory-configured horizontal and vertical mounting accessories, making it easy to install in the narrow space of the cockpit.

[0014] As an optimization, the console system mainly consists of a visual monitoring, instrument monitoring, and management setting system, a total of [specific size] monitors and a console cabinet, which are used to control and monitor the operation of the entire flight simulator. The console system is respectively connected to the instructor console management system and system detection through the instructor console. The instructor console management system is used to manage the setting, recording, and replay function control of the human tasks. The system detection is used to detect whether various switches, buttons, indicator lights, etc. are normal, and whether the positions and ranges of the joystick, rudder, throttle, and brakes are accurate.

[0015] As another optimization, the computer network consists of two parts: computer communication and interfaces. The computer communication system consists of a local area network composed of a fast Ethernet, which is used to complete the communication between the main simulation control computer and the visual generation computer, digital audio computer, and graphic instrument computer. The system interfaces are divided into two types: external interfaces and internal interfaces. The external interfaces of the system mainly include two parts. One is that the system transmits parameters to the outside; the other is that the system receives the parameters transmitted by the external system. The internal interfaces are mainly concentrated between the internal modules of each system, and the parameters are transmitted through global variables.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. The present invention can simulate taxiing, takeoff, turning, level flight, gliding, landing, and circuit flight simulation training under four meteorological conditions; it can implement stunt flight simulation training such as hovering, diving, zooming, sharp climbing turn, barrel roll, sharp spiral dive, sideslip, horizontal "8" figure, loop, oblique loop, half roll inverted, half loop roll, zoom half roll inverted, horizontal "8" figure, climbing barrel roll, double climbing turn, slow roll, etc.

[0018] 2. The present invention can realize the simulation training of formation flight in the takeoff and landing circuit for two aircraft, three aircraft, and four aircraft, simple acrobatic formation in the airspace, and loose formation flight; can implement the simulation training of instrument flight, cloud penetration flight, five-sided glide, etc.; can conduct the simulation flight training of special situations such as the landing gear cannot be lowered, the brakes fail, the engine stops, the airspeed indicator fails, the altimeter fails, the tachometer fails, the intake pressure gauge fails, the gyro magnetic compass fails, the generator fails, the attitude indicator fails, the vertical speed indicator fails, and the aircraft power-off, and can implement the simulation flight training of landing at the emergency landing fields in each airspace. The specific settings of the special situation courses are fully realized according to the needs of the pilots.

[0019] 3. The present invention can network based on 1 flight command simulator and 12 flight simulators to realize the joint simulation training of 2 flight commanders and 12 pilots on the same field; can basically realize the comprehensive evaluation function of flight simulation training; and can realize the network monitoring and comprehensive management functions of flight simulation training.

[0020] 4. The present invention can conduct the settings of flight meteorological conditions such as flight time setting, visibility setting, cloud base height and cloud thickness setting, wind speed and direction setting, day and night selection, etc., and can realize the auxiliary teaching functions such as real-time recording, redrawing, pausing of the flight trajectory, real-time display of flight data, real-time monitoring of the main instrument indications, and real-time monitoring of the visual scene images; can realize the fault detection of the simulator cockpit equipment through the computer detection software. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 It is a schematic diagram of the overall framework structure of the system of the present invention;

[0023] Figure 2 It is a block diagram of the composition of the cockpit simulation system of the present invention;

[0024] Figure 3 It is a diagram of the composition of the simulation and emulation instrument and its connection with the system of the present invention;

[0025] Figure 4 It is a circuit diagram of the drive motor structure of the present invention;

[0026] Figure 5 It is a circuit diagram of the stepping motor drive port of the present invention;

[0027] Figure 6 It is a circuit diagram of the switch quantity acquisition interface of the simulation and emulation instrument of the present invention;

[0028] Figure 7 This is the circuit diagram of the analog quantity acquisition interface of the analog simulation instrument in the present invention;

[0029] Figure 8 This is the circuit diagram of the LED independent power supply port of the analog simulation instrument in the present invention;

[0030] Figure 9 This is the circuit diagram of the digital output port of the analog simulation instrument in the present invention;

[0031] Figure 10 This is the program flow chart of the control module of the analog simulation instrument in the present invention;

[0032] Figure 11 This is the working flow chart of the visual imaging display system in the present invention;

[0033] Figure 12 This is the dynamic model framework diagram of the flight solution system in the present invention;

[0034] Figure 13 This is the orientation of the body axis system relative to the aircraft's earth-fixed coordinate system in the present invention;

[0035] Figure 14 This is the orientation diagram of the aircraft's airspeed relative to the body coordinate system in the present invention;

[0036] Figure 15 This is the control relationship diagram of the control and control load system in the present invention;

[0037] Figure 16 This is the principle block diagram of the longitudinal stick force system in the control and control load system of the present invention;

[0038] Figure 17 This is the principle block diagram of the cockpit vibration in the present invention;

[0039] Figure 18 This is the block diagram of the DC motor drive control circuit in the present invention;

[0040] Figure 19 This is the structure diagram of the sound subsystem in the audio system of the present invention;

[0041] Figure 20 This is the program implementation process of the audio system in the present invention;

[0042] Figure 21 This is the functional module diagram of the console system in the present invention;

[0043] Figure 22 This is the console function block diagram of the console system in the present invention;

[0044] Figure 23 This is the block diagram of the instructor control and management software composition of the console system in the present invention;

[0045] Figure 24 This is the block diagram of the instructor station system detection software in the present invention;

[0046] Figure 25 This is the principle block diagram of computer communication simulation in the present invention;

[0047] In the figure: 1. Cockpit and instrument indication system; 11. Cockpit cabin; 12. Control subsystem; 13. Instrument subsystem; 131. Instrument main control computer; 132. Instrument drive circuit; 133. Stepper motor; 134. Reduction gear; 135. Indicator; 14. Central auxiliary console; 15. Left and right consoles; 16. Seat; 17. Cockpit equipment drive control; 2. Visual scene imaging display system; 21. External input receiving module; 22. Scene graph organization module; 23. Camera control module; 24. Meteorological environment simulation module; 25. Rendering engine; 3. Flight calculation system; 4. Control and control load system; 5. Cockpit buffeting system; 51. AC vibration motor; 6. Audio system; 7. Console system; 8. Computer network. Specific implementation mode

[0048] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0049] Embodiment

[0050] Please refer to Figure 1 , the present invention provides the following technical solutions: A flight training simulator system for a trainer aircraft, including a cockpit and instrument indication system 1, a visual scene imaging display system 2, a flight calculation system 3, a control and control load system 4, a cockpit buffeting system 5, an audio system 6, a console system 7, and a computer network 8. The cockpit and instrument indication system 1 is mainly composed of a cockpit simulation system and a cockpit instrument system. The visual scene imaging display system 2 is imaged and displayed on a display distributor and the cockpit and instrument indication system 1 through the computer network 8 and the flight calculation system 3. The cockpit buffeting system 5, the audio system 6, and the control and control load system 4 are installed on the cockpit and instrument indication system 1. The console system 7 is connected to a graphic instrument, an audio calculator, and the visual scene imaging display system 2 for monitoring and managing pilots..

[0051] Furthermore, as Figures 2 - 10As shown in the figure, the cockpit simulation system mainly consists of a cockpit cabin body 11, a control subsystem 12, an instrument subsystem 13, a central auxiliary console 14, left and right consoles 15, seats 16, and a cockpit equipment drive control 17. The instrument subsystem 13 mainly consists of analog simulation instruments and graphic instruments. The analog simulation instruments mainly consist of an intake pressure gauge, an engine speedometer, a cylinder head temperature gauge, an intake air temperature gauge, a fuel gauge, and a current-voltage meter. The graphic instruments mainly consist of an airspeed indicator, an altimeter, a horizon indicator, a vertical speed indicator, a combined engine instrument, a turn and slip indicator, a radio course indicator, and a magnetic compass. The left and right consoles 15 mainly consist of control mechanisms, and the control mechanisms consist of a control stick, a throttle lever, and a rudder. The cockpit field bus consists of data distribution, control, power distribution, interface units, etc.;

[0052] The analog simulation instruments mainly consist of an instrument main control computer 131, an instrument drive circuit 132, a stepping motor 133, a reduction gear 134, and an indicator 135. The analog simulation instruments are connected to the instrument main control computer 131 through RS422. The single-chip microcomputer in the instrument drive circuit 132 receives the data from the instrument main control computer 131 and controls the analog simulation instruments through the stepping motor 133 and the reduction gear 134, and finally displays through the indicator 135. The analog simulation instruments are stepping motor-driven instruments controlled by a single-chip microcomputer, and the drive circuit includes a motor control module, a motor drive module, and an interface power supply module.

[0053] In this embodiment, a 1:1 cockpit simulation environment is provided. The electrical interfaces such as instruments are designed based on the CAN bus, and the interface definitions follow national standard specifications, enabling the rapid replacement of cockpits of different models. The analog simulation instruments are mainly a stepping motor controller based on the CAN bus, used to control the stepping motor. The CAN bus is selected because among the commonly used industrial field buses at present, the CAN bus has the advantages of good real-time performance, high anti-interference and reliability, flexible mechanism, and easy expansion; its communication method is an RS-422 duplex serial data bus, with a baud rate of 115200Kbps, 8 data bits, 1 start bit, 1 stop bit, no parity check, and uses a trigger response method.

[0054] Data communication protocol:

[0055] ① The data packet format sent from the host computer to the device is: 55AA ID C0 D0 D1 D2 D3 D4 D5 D6D7 5A

[0056] There are a total of 13 bytes, where ID is the device number. When the device detects that the ID number is the same as its own ID number, it parses and responds to the command. ID being 0xF5 represents a general ID number. When the lower computer detects that ID is 0xF5, it parses the command. The purpose of setting this ID is to query the local ID number.

[0057] C0 is the command word, and its meaning is as shown in the following table

[0058] Data sending format

[0059]

[0060]

[0061] ② The data packet format sent by the device to the host computer is: AA 55 ID C0 D0 D1 D2 D3 D4 D5 D6 D7 A5

[0062] There are 13 bytes in total. In any case, when the state of input devices such as switches, buttons or knobs of the device changes (or after the device receives a valid query command), the device sends out a panel status data packet. The data format of the data packet is as follows:

[0063]

[0064]

[0065] Furthermore, as Figure 11 shown, the visual imaging display system 2 takes the data input in the cockpit and instrument indication system 1 as external input data, and then generates a corresponding output virtual simulation system based on this data. It mainly consists of an external input receiving module 21, a scene graph organizing module 22, a camera control module 23, a meteorological environment simulation module 24, and a rendering engine 25. The external input receiving module 21 sends the parameters related to meteorological environment information to the meteorological environment simulation module 24. The meteorological environment simulation module 24 transmits the processed meteorological environment data for rendering to the rendering engine 25. The external input receiving module 21 transmits the aircraft position to the scene graph organizing module 22. The scene graph organizing module 22 transmits the landscape data of the current spatial position to the rendering engine 25. The external input receiving module 21 conveys the aircraft position and orientation to the camera control module 23. After processing, the camera control module 23 transmits the spatial coordinates, camera orientation, and camera forward direction to the rendering engine 25. The rendering engine 25 transmits the rendered data that has been cropped, organized, and optimized to the screen display for output.

[0066] In this embodiment, a high-performance image generation algorithm and a brand-new virtual simulation technology are utilized to simulate a real flight environment based on a huge scene-matching terrain database, so as to provide better visual reference information for pilots; a particle system is used to simulate the meteorological environment, and then the volume rendering method is used to draw efficient cloud, rain, snow, and fog effects. The entire meteorological environment simulation is divided into two stages: the simulation stage and the rendering stage. In the simulation stage, the number of new particles is calculated according to the generation speed and update interval. Each particle is generated at a specific three-dimensional spatial position according to the position of the emitter and the given generation area, and the speed, color, life cycle, etc. of each particle are initialized according to the parameters of the emitter. In order to achieve a more realistic effect, each particle also performs basic collision detection. After the particle simulation is completed, the particle drawing begins, and the authenticity of the particles is enhanced through texture mapping and deferred lighting rendering; the terrain area is quickly scanned through the semantic information attached to the existing digital map, and the computer can roughly find the range covered by the vegetation area in the real environment. After having the general area range, relying on high-definition satellite imagery and using image recognition algorithms to determine the vegetation area in the terrain, so as to provide an exact terrain coverage area for large-scale vegetation generation; for the urban scene to be constructed, an efficient image recognition technology is used to scan the entire area to be constructed. Based on the unique characteristics of the buildings, the building areas that need to be created in the area to be constructed are identified, which serves as the basis for rapid construction. Then, according to the huge background knowledge base and the unique texture characteristics of each building, a building model similar to it is identified and created. The rapid urban modeling mainly uses a terrain block of 256m * 256m as the basic construction unit. On average, there are about 10 buildings in each terrain block. Calculated according to the area of 100 square kilometers centered on Yokosuka Port, a total of about 16,000 buildings will be generated. The visual display projection surface of this simulator is an annular projection area with a diameter of 6.6 meters, a height of 2.8 meters, a horizontal viewing angle of 180 degrees, and a vertical viewing angle of 45 degrees. Three projectors project the display content onto this projection area to produce an image with high resolution, continuous field of view, seamless, and consistent brightness and color.

[0067] Further, as Figure 12As shown, the flight solution system 3 includes aircraft motion simulation, flight control system simulation software, engine control software, and electromechanical systems. For aircraft motion simulation, the flight solution system 3 collects control actions such as those of the cockpit simulation system, solves the aircraft's motion equations and power equations through numerical integration methods to obtain real-time numerical solutions, and transmits relevant parameters such as the real-time position and attitude of the aircraft to the visual imaging display system 2 and the cockpit and instrument indication system 1 for display and other related calculations. The aircraft motion simulation consists of aerodynamic characteristic simulation software, flight dynamics simulation software, aircraft mass characteristic simulation software, environmental characteristic influence simulation software such as atmosphere / airflow, airframe strength model simulation software, landing gear model simulation software, special effect modules, and fault simulation modules.

[0068] In this embodiment, the flight solution system 3 is mainly responsible for collecting control data such as the "two levers and one rudder" of the pilot, receiving control actions such as the pilot's control switches and switches from the cockpit interface computer, solving the aircraft's motion equations and power equations through numerical integration methods to obtain real-time numerical solutions, and transmitting relevant parameters such as the real-time position and attitude of the aircraft to the visual computer and instrument computer for display and other related calculations;

[0069] As Figure 13 and 14 shown, determination of the coordinate system: The coordinate system is a reference standard for describing the speed, position, and attitude of a moving object, and the aircraft motion equations are established relative to a certain coordinate system.

[0070] Common right-handed rectangular coordinate systems include the ground coordinate system, body coordinate system, airflow coordinate system, flight path coordinate system, and stability coordinate system. The definitions of these several coordinate systems are given below.

[0071] ① Ground coordinate system O d X d Y d Z d

[0072] The ground coordinate system is abbreviated as the earth axis system, which is fixed to a point on the earth's surface and does not change with the movement of the aircraft. The origin of the earth system is generally selected at one end of the airport runway. The longitudinal axis O d X d is on the earth's surface and coincides with the runway center line, pointing to the other end of the runway; the transverse axis O d Y d is also on the earth's surface, perpendicular to the axis O d X d , pointing to the right side of the axis O d X d ; the vertical axis O d Z d is in the plane containing the axis O d X dand points downward within the vertical plane perpendicular to the Earth's surface.

[0073] ② Body coordinate system O t X t Y t Z t

[0074] The body coordinate system, also known as the body axis system, is fixed to the aircraft and moves with the aircraft. The origin of the body axis system is selected at the center of mass of the aircraft; the longitudinal axis O t X t is within the aircraft's symmetric plane, parallel to the fuselage axis or the mean aerodynamic chord of the wing, and points forward; the transverse axis O t Y t is perpendicular to the aircraft's symmetric plane and points to the right; the vertical axis O t Z t is within the aircraft's symmetric plane and perpendicular to O t X t and points downward.

[0075] The three components of the aerodynamic moment (i.e., the rolling moment M x , the yawing moment M y , and the pitching moment M z ) are defined with respect to the body coordinate system. The pitch angle, yaw angle, and roll angle are jointly defined by the ground coordinate system and the body coordinate system.

[0076] ③ Airflow coordinate system O q X q Y q Z q

[0077] The airflow coordinate system is also called the velocity axis system or the wind axis system. The origin of this coordinate system is selected at the center of mass of the aircraft. The longitudinal axis O q X q is along the flight airspeed vector V a ; the vertical axis O q Z q is within the aircraft's symmetric plane and perpendicular to O q X q and points downward; the transverse axis O q Y q is perpendicular to the plane O q X q Z q and points to the right.

[0078] The three components of the aerodynamic force, namely the lift L, the drag D, and the side force Y, are defined in the airflow coordinate system. It should be noted that the drag D is negative, that is, along the negative direction of the longitudinal axis.

[0079] ④ Trajectory coordinate system O h X h Yh Z h

[0080] The origin of the track coordinate system is selected at the aircraft's center of mass, and the longitudinal axis O h X h is along the aircraft's ground speed vector V; the vertical axis O h Z h is in the vertical plane containing the ground speed vector V and points downward; the transverse axis O h Y h is perpendicular to the plane O h X h Z h , and points to the right.

[0081] Relative to the ground coordinate system, the track inclination angle υ, the track deflection angle ψ s and the roll angle γ about the flight speed vector are defined in the track coordinate system s .

[0082] ⑤ Stability coordinate system O w X w Y w Z w

[0083] The origin of the stability coordinate system is at the aircraft's center of mass. The longitudinal axis O w X w is along the direction of the reference motion flight speed vector V and in the projection direction in the aircraft's symmetric plane; the vertical axis O w Z w is in the symmetric plane and perpendicular to O w X w , and points downward; the transverse axis O w Y w is perpendicular to the symmetric plane and points to the right.

[0084] ⑥ Aircraft's associated ground coordinate system O′ d X′ d Y d ′Z′ d

[0085] The origin of this coordinate system is located at the aircraft's center of mass, and each coordinate axis is parallel and in the same direction as the corresponding coordinate axis of the ground coordinate system. The stability coordinate system and the body coordinate system only have the longitudinal axes O w X w and O t X tThere is an angle of attack α difference between them. The two coordinate systems have the same properties and functions. The mathematical models established under different coordinate systems are different, and there are also significant differences in the ease of analysis. If an appropriate coordinate system is selected, the form of the resulting motion equations can be made simple, facilitating analysis and calculation, and thus obtaining relevant conclusions. For example, in the body coordinate system, the moment of inertia of the fixed main axis of the aircraft is a constant, which is convenient for studying the angular motion of the aircraft, while it is relatively easier to study the linear motion of the aircraft in the trajectory coordinate system.

[0086] The selection of the coordinate system should be comprehensively considered based on factors such as the requirements of the flight simulator, the content of the motion equation solution, the convenience of information exchange, and the saving of machine time. Since most of the motion parameters required to be solved by the flight simulator are relative to the body coordinate system, establishing equations in the body coordinate system can greatly reduce the conversion between coordinate systems, and the form of the equations is not complex, and the analytical processing is also relatively easy. Therefore, the body coordinate system is adopted to establish the motion equations in this paper;

[0087] In the aerodynamic characteristic simulation software, the aerodynamic calculations are given in tabular form, and secondary development is carried out based on the wind tunnel test data. Taking the flight test results as the verification standard, the wind tunnel test data are corrected to make the simulated flight static / dynamic characteristics as close as possible to those of the real aircraft; in the flight dynamics simulation software, the aircraft equations adopt the "T-T" system of equations. That is, both the equations of motion of the center of mass and the equations of rotation about the center of mass are given in the body coordinate system. When calculating the attitude angles, to avoid singularities in the equations when the pitch angle is ±90°, the quaternion method is used to calculate the attitude angles; the aircraft mass characteristic simulation software is used to calculate the mass, center of gravity, and moment of inertia of the aircraft, fully considering the changes caused by the hanging and dropping of external stores, fuel consumption, etc.; the simulation software for the influence of environmental characteristics such as the atmosphere and airflow will process the information from the common natural environment database to perform various calculations on the influence on the aircraft; the body strength model simulation software calculates the forces and moments generated by the landing gear on the center of gravity of the aircraft based on parameters such as the aircraft speed, angular velocity, aircraft mass, aerodynamic forces, and moments provided by other modules of the flight system; the special effects module includes the motion effects of the aircraft during landing gear retraction / extension, flap operation, touchdown, taxiing bumps, weapon firing, etc.; the fault simulation module includes the simulation of engine shutdown, inoperable flaps, and failure of the stability augmentation system; the engine characteristic simulation software focuses on simulating its external characteristics, that is, making reasonable corrections according to conditions such as altitude, Mach number, and engine speed, and giving the engine thrust and fuel consumption, etc.; the flight control system simulation software is divided into modules such as control system simulation, flight control system simulation, landing gear (landing gear, drag chute, nose wheel steering) simulation, interface processing, and fault simulation.

[0088] Furthermore, as Figure 15As shown in the figure, the control and control load system 4 mainly consists of a control stick, a rudder, a throttle, and corresponding control mechanisms. The pilot changes the pitch, roll and other attitudes of the aircraft through the coordinated actions of the control stick, foot pedals, etc., in order to change the heading, altitude, etc. of the aircraft. The internal main control computer of the control and control load system 4 samples the states of the cockpit control equipment through the analog / digital conversion card A / D and the digital input card I / O, and calculates the values of various display and indicating devices in real time in the flight solution system. After being converted by the digital / analog conversion card D / A and the digital output card I / O, it is amplified by driving and then controls the operation of the cockpit control, display and indicating devices, so as to realize the real-time simulation of the simulation equipment. The control and control load system 4 provides the pilot with the longitudinal / lateral control feeling of the control stick. The longitudinal stick force simulation system uses a human feeling motor to output. Through the controller and the corresponding ranging, limiting, and transmission mechanisms, the longitudinal control force acting on the control stick is matched with the current speed, altitude, and flight attitude of the aircraft, so that the pilot can obtain the corresponding control feeling of the control stick during the flight process.

[0089] As Figure 16 shown, the control principle of the human feeling motor is that three control parameters can be output through the serial port. One is the force gradient coefficient, one is the damping coefficient, and the third is the trim tab position. The first two parameters control the output torque of the human feeling motor after being output by the controller. By setting the trim tab position, the neutral position of the control stick can be controlled. The human feeling motor working under this controller can fully simulate the control load feeling of the control stick; the stick force gradient mainly comes from the aerodynamic force on the elevator. The torque on the elevator is related to the shaft position, elevator area, dynamic pressure, and rudder deflection angle on the elevator. The change of torque is mainly affected by the dynamic pressure and rudder deflection angle. Therefore, the main factors affecting the stick force are the dynamic pressure and rudder deflection angle. The magnitude of the force can be expressed by the following formula: F = k1qδ z , where k1 is the stick force adjustment coefficient, q is the dynamic pressure, and δ z is the rudder deflection angle, and the main purpose of the elevator trim tab is to trim the stick force. At the stick neutral point, the stick force is zero. By adjusting the position of the trim tab to adjust the stick neutral point, the stick force can be trimmed to zero without changing the stick displacement. Therefore, the total expression of the stick force gradient is: F = k1q(δ z -k2δ 调整片 ), where k2 is the rudder deflection angle adjustment coefficient, and δ 调整片 is the trim tab deflection. The damping of the stick mainly comes from three aspects: the inherent friction between mechanical parts, the inertia of mechanical fasteners, and the aerodynamic friction when the elevator deflects up and down. Then the damping expression is Where q0 is the frictional force in the machinery compartment, k3 and k4 are the inertia and pneumatic friction adjustment coefficients respectively, t is the time quantity, and v is the speed of the aircraft. Then the values of the stick force gradient and damping can be sent to the feel motor controller to control the magnitude of the stick force. During adjustment, the coefficients in the stick force gradient and damping are adjusted to adapt to the pilot's operating feeling.

[0090] Further, as Figure 17 shown, the cockpit buffeting system 5 consists of an AC vibration motor 51, a buffeting mass block, an AC frequency converter, and a power control board. The AC motor is installed on the bottom bracket of the cockpit cabin body 11. The cockpit cabin body 11 and the AC vibration motor 51 are connected to the base through shock absorbers, and the base is fixed on the ground. By machining a suitable buffeting mass block, eccentric vibration of the motor is formed, and engine vibration under different states is achieved through control by the frequency conversion controller.

[0091] As Figure 18 shown, the cockpit buffeting system 5 is a control system combining machinery and electronics, providing mechanical vibration in the simulation system. The vibration system consists of an AC vibration motor, a mechanical part, a power supply, and a control part. The AC vibration motor provides the vibration source, the mechanical part outputs mechanical vibration, the power supply provides power for the torque motor, and the control part controls the motor and provides an external communication interface. The AC vibration motor selects a high-power servo motor. This series of motors is a high-performance servo motor made of permanent magnets. The motor has the characteristics of low speed, large torque, non-demagnetization, fast response speed, good characteristic linearity, and small torque fluctuation. Moreover, it has a compact structure and is an execution element of a high-precision servo system. In the mechanical design, the motor shaft and the cable output shaft are connected in a clamping manner, which increases the mechanical strength, facilitates mechanical installation and maintenance. A dual power supply is selected. The +27V power supply powers the torque motor drive system, and the +5V power supply powers the control system. The +5V power supply of the control system and the power supply of the high-power torque motor drive system are separated, and electromagnetic interference from the high-power drive system to the control system is reduced through isolation, ensuring the stable operation of the control system and improving the reliability of the system. At the same time, according to the system technical index requirements, the control drive system mainly uses an H-bridge drive chip to drive the forward and reverse rotation of the motor. The H-bridge drive uses a combination of IR3220 and IRF7484. The performance indicators of the IR3220 control system mainly consist of a single-chip microcomputer processor and peripheral circuits, a power supply circuit, and a communication circuit. In the vibration system, the main vibration frequency is between 1KHz and 20KH, and the PWM adjustment frequency is generally also between 1KHz and 20KH. By changing the PWM control scheme, a control scheme suitable for the buffeting system is formed.

[0092] Further, as Figure 19 and 20As shown, the audio system 6 mainly consists of an audio control computer, a digital audio synthesis card, an audio power amplifier, and speakers. The audio control computer is used to provide radio communication effect simulation, sound synthesis control management, and receive / send simulator main computer data. The digital audio synthesis card is used to provide radio communication effect simulation, sound synthesis, and perform analog / digital conversion of audio data. The audio power amplifier uses a professional CROWN power amplifier to amplify the ambient sound and warning sound transmitted. The speakers use JBL CONTROL23 speakers, which adopt a hidden ball mounting bracket and the original factory-configured horizontal and vertical mounting accessories, making it easy to install in the narrow space of the cockpit.

[0093] In this embodiment, the communication between the computers in the training simulator system is carried out through Ethernet using the UDP protocol. The audio control computer receives data sent by the main solution computer, such as engine speed, etc., and through the installed audio software, simulates the engine audio effect, and transmits it to the speakers in the cockpit through the sound card for playback. The audio computer receives the flag bit for controlling the sound sent by the instructor console, and through the installed audio software, simulates various audio effects, such as the noise of the aircraft engine, the aircraft airflow sound, ground effect, rainfall sound, and warning sound, etc. The audio computer is connected to the instructor console computer, the main solution computer, and other client program computers through the network card and the network switch 8 to exchange data with them.

[0094] Furthermore, as Figures 21 - 24 shown, the console system 7 is respectively connected to the instructor console management system and system detection through the instructor console. The instructor console management system is used to manage the setting, recording, and replay function control of human tasks. The system detection is used to detect whether various switches, buttons, indicator lights, etc. are normal, and whether the positions and ranges of the joystick, rudder, throttle, and brakes are accurate.

[0095] In this embodiment, the instructor console is an important part of the system, which plays a role in controlling and monitoring the operation of the entire flight simulator. The instructor console consists of four parts: visual scene monitoring, instrument monitoring, and management setting system, and is composed of 3 17-inch monitors and a console cabinet. The system functions of the instructor console system include configuring settings for the local machine / environmental conditions / task settings. Training personnel will be able to set the configuration of the local machine, set various initial conditions such as weather, environment, and sea conditions, and set scenarios according to the needs of mission scenarios. The instructor console has the performance of recording and replaying, supporting post-training summary. The recording function is mainly used for training personnel to be able to record all the data of the scene and the behavior of the trainees (including radio communication), supporting synchronous playback of the recorded scene. The replay function is mainly used for all recorded events, displays, personnel behaviors, etc. to be able to be replayed, and through the use of the system, effective evaluation can be carried out. During the replay process, all performance data, visual scenes, and audio effects will remain in a synchronous state according to the recorded data. The system detection is used to detect whether various switches, buttons, indicator lights, etc. are normal, and whether the positions and ranges of the joystick, rudder, throttle, and brakes are accurate. Through the instructor console, the following functions can be achieved: flight subject setting; special situation subject setting, including in-flight engine shutdown, landing gear failure, engine failure, failure cancellation, etc.; meteorological condition setting, including time, visibility, cloud cover, rain, snow, hail, wind force, sea conditions, wind and waves, etc.; functions such as pause, memory, and replay can be achieved; topographic map switching, which can dynamically switch maps including three ranges: large, medium, and small according to the flight distance; flight trajectory redrawing and other functions; the console also has the function of online detection of simulation cockpit equipment. The following functions can be achieved during system detection: detecting whether various switches, buttons, and indicator lights are normal; measuring whether the positions and ranges of the joystick, rudder, throttle, and brakes are normal; performing zero position adjustment on analog devices such as the joystick, rudder, throttle, and brakes; and dynamically monitoring the current values of all instruments, switches, indicator lights, and other analog quantities.

[0096] Furthermore, as Figure 25 shown, the computer network 8 consists of two parts: computer communication and interfaces. The computer communication system consists of a local area network composed of Fast Ethernet, which is used to complete the communication between the main simulation control computer and the visual scene generation computer, digital audio computer, and graphic instrument computer. The system interfaces are divided into two types: external interfaces and internal interfaces. The external interfaces of the system mainly include two parts. One is that the system transmits parameters to the outside; the other is that the system receives the parameters transmitted by the external system. The internal interfaces are mainly concentrated between the internal modules of each system, and parameters are transmitted through global variables.

[0097] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "front and back", "left and right", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the invention.

[0098] As mentioned above, the above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art under the technical inspiration of the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A flight training simulator system for a trainer aircraft, comprising a cockpit and instrument indication system (1), a visual imaging display system (2), a flight solution system (3), a control and control load system (4), a cockpit buffeting system (5), an audio system (6), a control console system (7) and a computer network (8), characterized in that: The cockpit and instrument indication system (1) is mainly composed of a cockpit simulation system and a cockpit instrument system. The visual imaging display system (2) is displayed on a display distributor and the cockpit and instrument indication system (1) through a computer network (8) and a flight solution system (3). The cockpit buffeting system (5), the sound system (6) and the control and control load system (4) are installed on the cockpit and instrument indication system (1). The control console system (7) is connected to the graphic instrument, the sound calculator and the visual imaging display system (2) for monitoring and managing the pilot.

2. A trainer flight training simulator system according to claim 1, characterized in that: The cockpit simulation system is mainly composed of a cockpit body (11), a control subsystem (12), an instrument subsystem (13), a central auxiliary control console (14), left and right control consoles (15), seats (16) and a cockpit equipment drive control (17); the instrument subsystem (13) is mainly composed of analog simulation instruments and graphic instruments; the analog simulation instruments are mainly composed of an intake pressure gauge, an engine tachometer, a cylinder head temperature gauge, an intake temperature gauge, an oil level gauge, and an ampere and voltmeter; the graphic instruments are mainly composed of an airspeed gauge, an air pressure altimeter, an attitude gauge, a vertical speed gauge, an engine three-function meter, a turn and sideslip gauge, a radio heading indicator, and a magnetic compass; the left and right control consoles (15) are mainly composed of a control mechanism, and the control mechanism is composed of a joystick, a throttle lever, and a rudder; The analog simulation instrument mainly consists of an instrument main control computer (131), an instrument drive circuit (132), a stepper motor (133), a reduction gear (134) and an indicator (135). The analog simulation instrument is connected to the instrument main control computer (131) via RS422. The single chip microcomputer in the instrument drive circuit (132) receives data from the instrument main control computer (131) and controls the analog simulation instrument via the stepper motor (133) and the reduction gear (134), and finally displays the data via the indicator (135).

3. A trainer flight training simulator system according to claim 2, characterized in that: The analog simulation instrument is a stepper motor drive instrument controlled by a single chip microcomputer, and the drive circuit includes a motor control module, a motor drive module and an interface power supply module.

4. A trainer flight training simulator system according to claim 1, characterized in that: The visual imaging display system (2) uses the data input in the cockpit and instrument indication system (1) as external input data, and then generates a virtual simulation system with corresponding output based on this data. The system mainly consists of an external input receiving module (21), a scene graph organization module (22), a camera control module (23), a meteorological environment simulation module (24) and a rendering engine (25). The external input receiving module (21) sends the meteorological environment information related parameters to the meteorological environment simulation module (24), and the meteorological environment simulation module (24) draws the processed meteorological environment information. The environmental data is transmitted to the drawing engine (25), the external input receiving module (21) transmits the aircraft position to the scene graph organizing module (22), the scene graph organizing module (22) transmits the current spatial position scenery data to the drawing engine (25), the external input receiving module (21) transmits the aircraft position and orientation to the camera control module (23), the camera control module (23) transmits the spatial coordinates, camera orientation and camera positive direction to the drawing engine (25) after processing, and the drawing engine (25) transmits the cropped, organized and optimized drawing data to the screen for output.

5. A trainer flight training simulator system according to claim 1, characterized in that: The flight solution system (3) includes aircraft motion simulation, flight control system simulation software, engine control software and electromechanical system. For aircraft motion simulation, the flight solution system (3) collects control actions of the cockpit simulation system and the like, solves the aircraft's motion equations and dynamic equations through a numerical integration method, obtains real-time numerical solutions, and transmits relevant parameters such as the aircraft's real-time position and attitude to the visual imaging display system (2) and the cockpit and instrument indication system (1) for display and other related solutions. The aircraft motion simulation consists of aerodynamic characteristics simulation software, flight dynamics simulation software, aircraft mass characteristics simulation software, atmosphere / airflow and other environmental characteristics simulation software, airframe strength model simulation software, landing gear model simulation software, special effects module and fault simulation module.

6. A trainer flight training simulator system according to claim 1, characterized in that: The control and control load system (4) is mainly composed of a joystick, a rudder, a throttle, and corresponding control mechanisms. The pilot changes the pitch, tilt, and other attitudes of the aircraft through the coordinated actions of the joystick, pedals, etc., so as to achieve the purpose of changing the aircraft's heading, altitude, etc. The main control computer inside the control and control load system (4) samples the state of the cockpit control equipment through an analog / digital conversion card (A / D) and a switch input card (I / O), and calculates the values ​​of various display and indication devices in real time in the flight solution system. After conversion by a digital / analog conversion card (D / A) and a switch output card (I / O), the cockpit control and display (indication) equipment are controlled after drive amplification, thereby achieving real-time simulation of the simulation equipment. The control and control load system (4) provides the pilot with the longitudinal / lateral control feeling of the joystick. The longitudinal stick force simulation system adopts human-sensing motor output, and through a controller and corresponding, ranging, limiting, and transmission mechanisms, the longitudinal control force acting on the joystick is matched with the current speed, altitude, and flight attitude of the aircraft, so that the pilot can obtain the corresponding joystick control feeling during the flight.

7. A trainer flight training simulator system according to claim 1 or 2, characterized in that: The cabin buffeting system (5) is composed of an AC vibration motor (51), a buffeting mass block, an AC frequency converter and a power control board. The AC motor is mounted on a bottom bracket of a cabin body (11). The cabin body (11) and the AC vibration motor (51) are connected to a base via a shock absorber. The base is fixed on the ground. By processing a suitable buffeting mass block, eccentric vibration of the motor is formed. The engine vibration in different states is realized by controlling the frequency converter.

8. A trainer flight training simulator system according to claim 1, characterized in that: The audio system (6) is mainly composed of an audio control computer, a digital audio synthesis card, an audio power amplifier and a speaker. The audio control computer is used to provide radio communication effect simulation and sound synthesis control management and receive / transmit simulator host computer data. The digital audio synthesis card is used to provide radio communication effect simulation and sound synthesis and perform analog / digital conversion of audio data. The audio power amplifier adopts a professional CROWN power amplifier to amplify the transmitted ambient sound and warning sound. The speaker adopts a JBL CONTROL23 speaker. The speaker adopts a hidden ball mounting bracket and adopts the original factory-configured horizontal and vertical mounting accessories, so that it can be easily installed in the narrow space in the cockpit.

9. A trainer flight training simulator system according to claim 1, characterized in that: The console system (7) is mainly composed of a visual monitoring, instrument monitoring and management setting system, and has a total of 3 17-inch displays and a console cabinet, which are used to control and monitor the operation of the entire flight simulator. The console system (7) is connected to the instructor console management system and the system detection through the instructor console. The instructor console management system is used to manage the setting of human tasks and the control of recording and playback functions. The system detection is used to detect whether various switches, buttons, indicator lights, etc. are normal, and whether the positions and ranges of the rods, rudders, throttles, and brakes are accurate.

10. A trainer flight training simulator system according to claim 1, characterized in that: The computer network (8) is composed of two parts: computer communication and interface. The computer communication system is composed of a local area network composed of fast Ethernet, which is used to complete the communication between the main simulation control computer and the visual generation computer, the digital audio computer, and the graphic instrument computer. Each system interface is divided into two types: external interface and internal interface. The external interface of the system mainly includes two parts, one is the system to transmit parameters to the outside; the other is the system to receive the parameters transmitted by the external system. The internal interface is mainly concentrated between the internal modules of each system, and the parameters are transmitted through global variables.

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