Helicopter handling load simulation system and method

Abstract

The application discloses a helicopter operating load simulation system and method, and relates to the technical field of flight simulation.The system comprises a main simulation module, an operating load control module, a signal distribution module, a driving module and an execution module; the main simulation module is connected with the operating load control module and provides model force; the operating load control module is connected with the signal distribution module, generates initial control signals according to the model force and received loading force and angle values, and sends the initial control signals to the signal distribution module; the signal distribution module is connected with the driving module, integrates the initial control signals to obtain target control signals, and sends the target control signals to the driving module; the driving module is connected with the execution module, generates control instructions according to the target control signals, and sends the control instructions to the execution module; and the execution module controls the motion of a simulation platform of a helicopter according to the control instructions.The application solves the technical problem of excessive load of a data processing port of the operating load control module through the signal distribution module.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of flight simulation, in particular to a helicopter control load simulation system and method. BACKGROUND

[0002] The helicopter control load simulation system is one of the key systems of the helicopter special situation simulation, which is used for simulating the flight control system of the helicopter, and its performance directly affects the control quality during the helicopter special situation simulation.

[0003] In the related art, the control load control module of the helicopter control load simulation system is directly connected with the driving module, so that the control load control module directly processes data with the driving module of the helicopter simulation platform, which causes the data processing port of the control load control module to be overloaded, and the data is processed bidirectionally between the control load control module and the driving module, causing the priority of the data synchronization processing. SUMMARY

[0004] The main purpose of the present application is to provide a helicopter control load simulation system and method, which aims to solve the technical problem of the overload of the data processing port of the control load control module in the existing helicopter control load simulation system.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a helicopter control load simulation system, which comprises a main simulation module, a control load control module, a signal distribution module, a driving module and an execution module.

[0007] The main simulation module is connected with the control load control module, and is used for providing a model force to the control load control module.

[0008] The control load control module is connected with the signal distribution module, and is used for generating an initial control signal according to the model force and the received loading force and angle value, and sending the initial control signal to the signal distribution module.

[0009] The signal distribution module is connected with the driving module, and is used for integrating the initial control signal to obtain a target control signal, and sending the target control signal to the driving module.

[0010] The driving module is connected with the execution module, and is used for generating a control instruction according to the target control signal, and sending the control instruction to the execution module.

[0011] The execution module is used for controlling the movement of the simulation platform of the helicopter according to the control instruction.

[0012] Optionally, the driving module comprises a longitudinal driving unit, a transverse driving unit, a total distance driving unit and a footrest driving unit.

[0013] The longitudinal drive unit is connected to the signal distribution module, and is used to generate a longitudinal control instruction according to the target control signal and send the longitudinal control instruction to the execution module;

[0014] The lateral drive unit is connected to the signal distribution module, and is used to generate a lateral control instruction according to the target control signal and send the lateral control instruction to the execution module;

[0015] The collective drive unit is connected to the signal distribution module, and is used to generate a collective control instruction according to the target control signal and send the collective control instruction to the execution module;

[0016] The pedal driving unit is connected to the signal distribution module, and is used for generating a pedal control instruction according to the target control signal, and sending the pedal control instruction to the execution module.

[0017] Optionally, the execution module includes a longitudinal execution unit, a lateral execution unit, a total distance execution unit and a pedal execution unit;

[0018] The longitudinal execution unit is connected to the longitudinal drive unit and is used to control the longitudinal movement of the simulation platform in the horizontal direction according to the longitudinal control instruction;

[0019] The lateral execution unit is connected to the lateral driving unit and is used to control the lateral movement of the simulation platform in the horizontal direction according to the lateral control instruction;

[0020] The collective pitch execution unit is connected to the collective pitch drive unit and is used to control the simulation platform to move in a direction perpendicular to the horizontal direction according to the collective pitch control instruction;

[0021] The pedal execution unit is connected to the pedal driving unit and is used for controlling the simulation platform to rotate around the central axis according to the pedal control instruction.

[0022] Optionally, the longitudinal actuator unit, the lateral actuator unit, the total distance actuator unit and the pedal actuator unit are all electric actuators, and the electric actuators include a DC torque motor and a reduction structure;

[0023] A DC torque motor is used to generate motion torque according to a control instruction and transmit the motion torque to a reduction structure;

[0024] The reduction structure is used for transmitting the motion torque to the simulation platform so that the simulation platform moves according to the motion torque.

[0025] Optionally, the electric actuator further includes:

[0026] A joystick, one end of which is provided with a connecting piece;

[0027] The reduction structure includes:

[0028] A transmission rod, one end of which is engaged with the connecting piece and the other end of which is provided with a rotating ring;

[0029] a first steel cable, one end of which is fixed to the rotating ring, and the other end of which is wound around the first steel cable receiving groove via the first rotating wheel;

[0030] A second steel cable, one end of the second steel cable is fixed to the rotating ring, the transmission rod, one end of the first steel cable and one end of the second steel cable are opposite to each other in a triangle, and the other end of the second steel cable passes through the second rotating wheel and the third rotating wheel at one time and is wound around the second steel cable receiving groove;

[0031] The first steel cable receiving groove and the second steel cable receiving groove are both connected to the DC torque motor through a belt transmission device;

[0032] Three reducers are respectively arranged on the first rotating wheel, the second rotating wheel and the third rotating wheel.

[0033] Optionally, the system further includes a data acquisition module;

[0034] The data acquisition module is connected to the manipulation load control module and is used to collect the loading force and angle values ​​of the simulation platform, perform digital filtering on the loading force and angle values, and send them to the manipulation load control module.

[0035] Optionally, the data acquisition module includes a four-channel synchronous sensor unit, a data processing unit and a network communication unit;

[0036] A sensor unit, used to collect loading force and angle values;

[0037] A data processing unit is used to perform digital filtering on the loading force and angle values ​​to obtain the loading force and angle values ​​after data processing;

[0038] The network communication unit includes a UDP / IP protocol and a memory reflection card, and is used for data communication with the control load control module, and sends the loaded force and angle values ​​after data processing to the control load control module.

[0039] Optionally, the sensor unit includes a force sensor and an angle sensor;

[0040] Force sensor, used to detect loading force;

[0041] Angle sensor, used to detect angle values.

[0042] Optionally, the system also includes a human-computer interaction module:

[0043] The human-computer interaction module is connected to the data acquisition module and the main simulation module respectively, and is used for human-computer interaction.

[0044] In a second aspect, the present invention further provides a helicopter control load simulation method, which is applied to the helicopter control load simulation system as described above, and the method comprises:

[0045] Output model forces through the main simulation module;

[0046] Generate an initial control signal by manipulating the load control module according to the model force and the received loading force and angle values, and send the initial control signal to the signal distribution module;

[0047] The initial control signal is integrated through the signal distribution module to obtain the target control signal, and the target control signal is sent to the driving module;

[0048] Generate control instructions according to the target control signal through the driving module and send the control instructions to the execution module;

[0049] Through the execution module, the movement of the helicopter's simulation platform is controlled according to the control instructions.

[0050] The present invention provides a helicopter control load simulation system and method. A signal distribution module is provided between a control load control module and a drive module. The signal distribution module is used to integrate and distribute control signals. The control signals between the control load control module and the drive module are not transmitted simultaneously directly through the data transmission port of the control load control module. This solves the technical problem of excessive load on the data processing port of the control load control module in existing helicopter control load simulation systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0052] Figure 1 1. This is a structural diagram of a first embodiment of a helicopter control load simulation system according to the present invention;

[0053] Figure 2 This is a partial structural diagram of the electric actuator of the helicopter control load simulation system of the present invention.

[0054] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0055] In order to make the objects, technical solutions and advantages of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0056] It should be understood that the specific embodiments described herein are merely to explain the present application and are not intended to limit the present application.

[0057] In the present application, the term "comprising" or "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that the device or system comprising a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such device or system. Without more limitations, the elements defined by the statement "comprising" do not exclude the presence of other identical elements in the device or system comprising the elements.

[0058] In view of the technical problem of the control computer port load of the helicopter control load simulation system, the present application provides a helicopter control load simulation system and method, and the general idea is as follows:

[0059] The system comprises a main simulation module, a control load control module, a signal distribution module, a driving module and an execution module; the main simulation module is connected with the control load control module and is used to provide a model force to the control load control module; the control load control module is connected with the signal distribution module and is used to generate an initial control signal according to the model force and received loading force and angle value, and send the initial control signal to the signal distribution module; the signal distribution module is connected with the driving module and is used to integrate the initial control signal to obtain a target control signal, and send the target control signal to the driving module; the driving module is connected with the execution module and is used to generate a control instruction according to the target control signal, and send the control instruction to the execution module; and the execution module is used to control the motion of the simulation platform of the helicopter according to the control instruction.

[0060] The present application provides a helicopter control load simulation system and method, by setting a signal distribution module between the control load control module and the driving module, integrating and distributing the control signal by the signal distribution module, not directly transmitting the multiple control signals between the control load control module and the driving module through the data transmission port of the control load control module at the same time, and solving the technical problem of the heavy load of the data processing port of the control load control module in the existing helicopter control load simulation system.

[0061] The helicopter control load simulation system and method of the present invention are described in detail below with reference to the accompanying drawings and specific embodiments.

[0062] Example 1

[0063] Reference Figure 1 The present invention provides a first embodiment of a helicopter control load simulation system. Figure 1 This is a structural diagram of a first embodiment of a helicopter control load simulation system of the present invention.

[0064] This embodiment provides a helicopter control load simulation system, which includes a main simulation module, a control load control module, a signal distribution module, a drive module and an execution module;

[0065] The main simulation module is connected to the control load control module and is used to provide model forces to the control load control module;

[0066] The manipulation load control module is connected to the signal distribution module and is used to generate an initial control signal according to the model force and the received loading force and angle value, and send the initial control signal to the signal distribution module;

[0067] The signal distribution module is connected to the driving module and is used to integrate the initial control signal to obtain the target control signal and send the target control signal to the driving module;

[0068] The driving module is connected to the execution module and is used to generate a control instruction according to the target control signal and send the control instruction to the execution module;

[0069] The execution module is used to control the movement of the helicopter's simulation platform according to the control instructions.

[0070] In this embodiment, a helicopter control load simulation system is applied to a simulation device, which may be a simulation device used in the fields of education, training, manufacturing, and entertainment. This embodiment is described in detail with a helicopter special situation handling simulation training device. The device can be used for special situation simulations such as helicopter ground resonance, vortex ring, engine shutdown, engine air start, engine misfire, tail rotor failure (stuck / failed), fuel system failure, engine oil pressure loss, engine fuel regulator failure, hydraulic system failure (left / right), main reducer oil pressure is low, and electrical system failure (DC / AC). The simulation platform may be a simulation platform of a helicopter cockpit in the simulation device. The model force may be the force applied to the simulation platform to simulate a helicopter special situation. The loading force may be the loading force applied on the simulation platform of the helicopter cockpit when the special situation simulation trainee operates the simulation device during the special situation simulation.

[0071] Among them, the main simulation module can be the main simulation computer, which can generate a special situation simulation model and output the model force required to be applied to the simulation platform to simulate the special situation of the helicopter; the control load control module can be the control load control computer; the drive module can be an electric servo control drive box; the signal distribution module can be a signal distributor, which can enable the control load control computer to not directly control the electric servo control drive box, and distribute and buffer the control signal and feedback signal, and interact with the control load control computer after integration; the execution module can control the movement of the simulation platform according to the control instructions.

[0072] In the specific implementation, the main simulation module outputs the model force according to the simulation special situation, and the control load control module generates the initial control signal according to the model force and the received loading force and angle value, and sends it to the signal distribution module. After the initial control signal is integrated by the signal distribution module, the target control signal is obtained, and the target control signal is distributed to the corresponding drive module. The drive module generates a control instruction according to the received target control signal and sends it to the execution module. The execution module controls the simulation platform of the helicopter to produce corresponding movement according to the received control instruction.

[0073] This embodiment provides a helicopter control load simulation system. By setting a signal distribution module between the control load control module and the drive module, the signal distribution module is used to integrate and distribute the control signals. The control signals between the control load control module and the drive module are not directly transmitted simultaneously through the data transmission port of the control load control module, thereby solving the technical problem of excessive load on the data processing port of the control load control module in the existing helicopter control load simulation system.

[0074] Example 2

[0075] Reference Figure 1 , based on the above embodiment 1, the driving module includes a longitudinal driving unit, a transverse driving unit, a collective driving unit and a pedal driving unit;

[0076] The longitudinal drive unit is connected to the signal distribution module, and is used to generate a longitudinal control instruction according to the target control signal and send the longitudinal control instruction to the execution module;

[0077] The lateral drive unit is connected to the signal distribution module, and is used to generate a lateral control instruction according to the target control signal and send the lateral control instruction to the execution module;

[0078] The collective drive unit is connected to the signal distribution module, and is used to generate a collective control instruction according to the target control signal and send the collective control instruction to the execution module;

[0079] The foot pedal driving unit is connected with the signal distribution module, and is configured to generate a foot pedal control instruction according to the target control signal, and send the foot pedal control instruction to the execution module.

[0080] In this embodiment, the longitudinal driving unit, the lateral driving unit, the total distance driving unit and the foot pedal driving unit can all be electric servo control driving boxes, which include a servo driving amplifier, a transmitter, a direct current power supply, a power supply control relay, a signal conditioning board and the like. The electric servo control driving box is externally designed to be installed with a working state indicator lamp, which can display the power supply state of the system in real time. The total distance driving unit integrates a laser ranging sensor to operate the height of the platform bottom, so that the height change of the simulation platform after being manipulated by the simulated student can be calculated, a certain ratio of height change can be converted, and the feedback can be fed back to the manipulation load control computer. The manipulation load control computer feeds back to the main simulation computer, so that the simulated student can have the change of simulated take-off and landing.

[0081] In a specific implementation, the main simulation module outputs a model force according to a simulation special situation, the manipulation load control module generates an initial control signal according to the model force and the received loading force and angle value, and sends the initial control signal to the signal distribution module. The signal distribution module integrates the control signals to generate a target control signal, and distributes the target control signal to the corresponding longitudinal driving unit, lateral driving unit, total distance driving unit and foot pedal driving unit. The longitudinal driving unit, lateral driving unit, total distance driving unit and foot pedal driving unit generate a longitudinal control instruction, a lateral control instruction, a total distance control instruction and a foot pedal control instruction respectively according to the received control signal, and send the control instructions to the execution module. The execution module controls the simulation platform of the helicopter to generate corresponding motion according to the received control instructions.

[0082] It can be understood that the target control signal can include a longitudinal control signal, a lateral control signal, a total distance control signal and a foot pedal control signal

[0083] The embodiment provides a helicopter manipulation load simulation system, which realizes control of height change of a simulation platform by adding a total distance driving unit, so that a simulation platform of a special situation simulation realizes the change of simulated take-off and landing.

[0084] Embodiment three

[0085] Reference Figure 1 Based on the above embodiment two, the execution module includes a longitudinal execution unit, a lateral execution unit, a total distance execution unit and a foot pedal execution unit.

[0086] The longitudinal execution unit is connected with the longitudinal driving unit, and is configured to control the simulation platform to move longitudinally in a horizontal direction according to the longitudinal control instruction.

[0087] The lateral execution unit is connected to the lateral driving unit and is used to control the lateral movement of the simulation platform in the horizontal direction according to the lateral control instruction;

[0088] The collective pitch execution unit is connected to the collective pitch drive unit and is used to control the simulation platform to move in a direction perpendicular to the horizontal direction according to the collective pitch control instruction;

[0089] The pedal execution unit is connected to the pedal driving unit and is used to control the simulation platform to rotate around the central axis according to the pedal control instruction.

[0090] In this embodiment, the longitudinal execution unit, the lateral execution unit, the collective pitch execution unit and the pedal execution unit can be independently designed to simulate the longitudinal channel, the lateral channel, the pedal channel and the collective pitch channel of the helicopter simulation platform respectively.

[0091] In the specific implementation, the main simulation module outputs the model force according to the simulation special situation, the control load control module generates the initial control signal according to the model force and the received loading force and angle value, and sends the initial control signal to the signal distribution module. After the initial control signal is integrated by the signal distribution module, the longitudinal control signal, the lateral control signal, the total distance control signal and the pedal control signal are obtained, and the longitudinal control signal, the lateral control signal, the total distance control signal and the pedal control signal are sent to the longitudinal drive unit, the lateral drive unit, the total distance drive unit and the pedal drive unit respectively. The longitudinal drive unit, the lateral drive unit, the total distance drive unit and the pedal drive unit generate the longitudinal control instruction, the lateral control instruction, the total distance control instruction and the pedal control instruction according to the received longitudinal control signal, the lateral control signal, the total distance control signal and the pedal control signal respectively, and send them to the longitudinal execution unit accordingly. The row unit, the lateral execution unit, the collective pitch execution unit and the pedal execution unit control the longitudinal movement of the helicopter's simulation platform in the horizontal direction according to the received longitudinal control instructions through the longitudinal execution unit, that is, the simulation platform of the helicopter is controlled to move forward and backward in the horizontal direction of the horizontal plane; the lateral execution unit controls the lateral movement of the helicopter's simulation platform in the horizontal direction according to the received lateral control instructions, that is, the simulation platform of the helicopter is controlled to move left and right in the horizontal direction of the horizontal plane; the collective pitch execution unit controls the simulation platform of the helicopter to move in a direction perpendicular to the horizontal direction according to the received collective pitch control instructions, that is, the simulation platform of the helicopter is controlled to move up and down in the horizontal plane to generate height changes; the pedal execution unit controls the simulation platform of the helicopter to rotate around the central axis according to the received pedal control instructions, that is, the simulation platform of the helicopter can rotate left and right.

[0092] This embodiment provides a helicopter control load simulation system, which controls the height change of the simulation platform through the collective pitch execution unit, so that the special situation simulation platform can realize the changes of simulated take-off and descent.

[0093] Specifically, the longitudinal actuator unit, the lateral actuator unit, the collective distance actuator unit and the pedal actuator unit are all electric actuators, and the electric actuators include a DC torque motor and a reduction structure;

[0094] A DC torque motor is used to generate motion torque according to a control instruction and transmit the motion torque to a reduction structure;

[0095] The reduction structure is used for transmitting the motion torque to the simulation platform so that the simulation platform moves according to the motion torque.

[0096] In this embodiment, the DC torque motor receives a control instruction to generate a motion torque, and the motion torque is transmitted to the helicopter simulation platform through the reduction mechanism.

[0097] In the specific implementation, the main simulation module outputs the model force according to the simulation special situation, the control load control module generates the initial control signal according to the model force and the received loading force and angle value, and sends the initial control signal to the signal distribution module. After the initial control signal is integrated by the signal distribution module, the target control signal is obtained, and the target control signal is distributed to the corresponding drive module. The drive module generates a control instruction according to the received target control signal, and the control instruction is sent to the execution module. The DC torque motor generates a motion torque according to the received control instruction, and the deceleration mechanism balances the loading force and the motion speed of the simulation platform, and the motion torque is transmitted to the helicopter simulation platform, and the simulation platform is controlled to generate corresponding motion according to the motion torque.

[0098] Reference Figure 2 , the electric actuator also includes:

[0099] A joystick 300, one end of which is provided with a connecting piece 301, which cooperates with the deceleration structure 200;

[0100] Specifically, the deceleration structure 200 includes:

[0101] A transmission rod 201, one end of which is engaged with the connecting piece and the other end of which is provided with a rotating ring;

[0102] A first steel cable 202, one end of which is fixed to the rotating ring, and the other end of which is wound around the first steel cable receiving groove 204 via a fixed first rotating wheel 203;

[0103] A second steel cable 205, one end of which is fixed to the rotating ring. The transmission rod 201, one end of the first steel cable 202, and one end of the second steel cable 205 are opposite to each other in a triangle. The other end of the second steel cable 205 passes through the fixed second rotating wheel 206 and the fixed third rotating wheel 207 in sequence and is wound around the second steel cable receiving groove 211.

[0104] The first steel cable receiving groove 204 and the second steel cable receiving groove 211 are both connected to the DC torque motor 100 via a belt transmission device 400;

[0105] Three reducers are respectively arranged on the first rotating wheel, the second rotating wheel and the third rotating wheel.

[0106] In this embodiment, the joystick 300 can be a joystick for controlling the simulation platform of the helicopter cockpit during special situation simulation, and the reducer 208, the reducer 209, and the reducer 210 are respectively installed on the first rotor 203, the second rotor 206 and the third rotor 207, wherein the first rotor 203, the second rotor 206 and the third rotor 207 can be fixed on the operating device of the simulation platform; the rotating ring of the transmission rod can cooperate with the main connecting rod system of the simulation platform to transmit the motion torque to the simulation platform, so that the simulation platform moves according to the motion torque; wherein the reducer is an independent component composed of a gear transmission, a worm transmission, and a gear-worm transmission enclosed in a rigid shell, and is often used as a reduction transmission device between the prime mover and the working machine; it plays the role of matching the speed and transmitting torque between the prime mover and the working machine or the actuator, and its purpose is to reduce the speed.

[0107] Specifically, the steel cable can transmit the rotational speed of the motor to the rotating wheel, so that the rotating wheel rotates according to the rotational speed of the motor, and the transmission rod rotates according to the rotational speed. The transmission rod can also be rotated by applying a loading force on the transmission rod through the joystick. Therefore, a reducer is required to match the loading force and the rotational speed. In this embodiment, a reducer is installed on the rotating wheel to reduce the rotational speed of the rotating wheel, so that the motor speed is reduced accordingly, and the motor speed is matched with the loading force on the transmission rod, so that the transmission rod can rotate according to the matched rotational speed and loading force. The rotating ring of the transmission rod cooperates with the main connecting rod system of the simulation platform, so that the main connecting rod system generates motion torque according to the rotation of the transmission rod to control the movement of the simulation platform.

[0108] In the specific implementation, when the operator operates the joystick, the loading force and angle value of the simulation platform are detected by the actuator sensor, the model force is output according to the simulation special situation through the main simulation module, the initial control signal is generated according to the model force and the received loading force angle value through the control load control module, and the initial control signal is sent to the signal distribution module. After the control signal is integrated by the signal distribution module, it is distributed to the corresponding drive module. The drive module generates a control instruction according to the received control signal and sends it to the execution module. The DC torque motor generates motion torque according to the received control instruction, and the deceleration structure balances the loading force and the speed of the DC torque motor, and transmits the motion torque to the simulation platform of the helicopter, so that the simulation platform generates corresponding motion according to the motion torque.

[0109] This embodiment provides a helicopter control load simulation system, which transmits the motion torque of the simulation platform through a rotor-cable reduction structure, so that the simulation platform can achieve faster acceleration and deceleration under the action of the loading force, improves the system response characteristics, and makes the operator's control feel more realistic.

[0110] Example 4

[0111] Based on any one of the above embodiments 1 to 3, the system further includes a data acquisition module;

[0112] The data acquisition module is connected to the manipulation load control module and is used to collect the loading force and angle values ​​of the simulation platform, perform digital filtering on the loading force and angle values, and send them to the manipulation load control module.

[0113] In this embodiment, the data acquisition module is mainly used to process the angle signals and force signals of the four-channel analog platform collected in real time, and transmit the collected angle signals and force signals to the manipulation load control module after processing; the data acquisition module encapsulates the control functions of the acquisition card, and collects angle signals and force signals through a high-frequency time period; the collected input signals are digitally filtered to prevent interference noise from causing system malfunction and system oscillation.

[0114] In the specific implementation, the loading force and angle values ​​of the helicopter simulation platform are collected through the data acquisition module, and the loading force and angle values ​​are sent to the control load control module. The main simulation module outputs the model force according to the simulation special situation. The control load control module generates an initial control signal according to the model force and the received loading force and angle value, and the initial control signal is sent to the signal distribution module. After the control signal is integrated by the signal distribution module, the target control signal is obtained, and the target control signal is distributed to the corresponding drive module. The drive module generates a control instruction according to the received target control signal and sends it to the execution module. The execution module controls the helicopter simulation platform to produce corresponding movement according to the received control instruction.

[0115] Specifically, the data acquisition module includes a four-channel synchronized sensor unit, a data processing unit, and a network communication unit;

[0116] A sensor unit, used to collect loading force and angle values;

[0117] A data processing unit is used to perform digital filtering on the loading force and angle values ​​to obtain the loading force and angle values ​​after data processing;

[0118] The network communication unit includes a UDP / IP protocol and a memory reflection card, and is used for data communication with the control load control module, and sends the loaded force and angle values ​​after data processing to the control load control module.

[0119] In this embodiment, the network communication unit achieves real-time communication with the control load control module via the UDP / IP protocol and a memory reflection card. The memory reflection card is a fiber-optic local area network adapter card that offers high-speed, secure, real-time, reliable, and user-friendly features. The memory reflection card's real-time communication cycle is as fast as 1ms, and the network communication unit utilizes open-source control.

[0120] In the specific implementation, the loading force and angle values ​​of the simulation platform are collected through the sensor unit, the loading force and angle values ​​are digitally filtered through the data processing unit, and the loading force and angle values ​​after digital filtering are sent to the control load control module through the network communication unit. The main simulation module outputs the model force according to the simulation special situation, and the control load control module generates an initial control signal according to the model force and the received loading force and angle value, and sends the initial control signal to the signal distribution module. After the initial control signal is integrated by the signal distribution module, the target control signal is obtained, and the target control signal is distributed to the corresponding drive module. The drive module generates a control instruction according to the received target control signal, and the control instruction is sent to the execution module. The execution module controls the simulation platform of the helicopter to produce corresponding movement according to the received control instruction.

[0121] This embodiment provides a helicopter control load simulation system. By integrating a memory reflection card in the data acquisition module and communicating data with the control load control module through the memory reflection card, the system solves the problems of unreliable communication quality, high software overhead, and susceptibility to interference caused by data communication via Ethernet in the existing helicopter control load simulation system.

[0122] Specifically, the sensor unit includes a force sensor and an angle sensor;

[0123] Force sensor, used to detect loading force;

[0124] Angle sensor, used to detect angle value.

[0125] In this embodiment, the encoder of the force sensor is installed on the rotating spindle of the rotating connecting rod system of the simulation platform. The maximum range of the force sensor can be 200Kg, which meets the output force requirements of the simulation platform. The angle sensor will not cause the encoder to over-circle. When the angle of the simulation platform changes, the angle sensor can quickly simulate the position change of the platform through a right-angled triangle, and the sensor can measure and calculate the loading force and angle value on the simulation platform in real time.

[0126] In the specific implementation, the loading force of the simulation platform is detected by the force sensor, the angle value of the simulation platform is detected by the angle sensor and is transmitted to the control load control module, the model force is output by the main simulation module according to the simulation scenario, the initial control signal is generated by the control load control module according to the model force and the received loading force and angle value, and the initial control signal is sent to the signal distribution module, the target control signal is obtained by integrating the initial control signal by the signal distribution module, and the target control signal is distributed to the corresponding driving module, the control instruction is generated by the driving module according to the received target control signal, and the corresponding motion of the simulation platform of the helicopter is controlled by the execution module according to the received control instruction.

[0127] The helicopter control load simulation system of the embodiment solves the technical problem that the traditional helicopter control load simulation system needs to be frequently maintained due to the wear characteristics of the position sensor when the position sensor is used to obtain the position change of the simulation platform.

[0128] Embodiment five

[0129] According to any one of the above embodiments one to four, the system further comprises a man-machine interaction module.

[0130] The man-machine interaction module is connected with the data acquisition module and the main simulation module respectively, and is used for man-machine interaction.

[0131] In the embodiment, the man-machine interaction module can be a man-machine interaction interface, and can provide a real-time monitoring interface for an operator, so that the operator can conveniently operate, adjust and monitor. The system running state and monitoring information of the system can be clearly displayed for the operator, and the operator can perform emergency control on the system when a fault occurs in the debugging process.

[0132] Specifically, the man-machine interaction interface can include two interfaces: a system setting interface and a data acquisition monitoring interface. The system setting interface is used to display the model of the simulated helicopter, the friction force, the starting force, the spring gradient, the center position, the maximum angle and the minimum angle. The system setting interface includes a system parameter setting area and a working mode test area. The system parameter setting area can be changed in real time according to the communication address, the sending port and the receiving port of the main simulation module. The working mode test area is mainly used to test the simulation mode. The simulation mode mainly includes a spring mode, a locking mode, a force balance mode, a driving mode, a fault mode and a test mode. The data acquisition monitoring interface is mainly used to display the collected data and the output control data in real time.

[0133] In the specific implementation, a special situation simulation model is set in the human-computer interaction module, the model force is output according to the special situation simulation model through the main simulation module, the initial control signal is generated according to the model force and the received loading force and angle value through the manipulation load control module, and the initial control signal is sent to the signal distribution module. After the initial control signal is integrated by the signal distribution module, the target control signal is obtained, and the target control signal is distributed to the corresponding drive module. The drive module generates a control instruction according to the received target control signal and sends it to the execution module. The execution module controls the simulation platform of the helicopter to produce corresponding movement according to the received control instruction.

[0134] The helicopter control load simulation system of this embodiment clearly displays the system operation status and system monitoring information to the operator through the human-computer interaction module, so that the operator can perform emergency control of the system when a fault occurs during the debugging process.

[0135] Example 6

[0136] Based on the same inventive concept, this embodiment provides a helicopter control load simulation method, which is applied to the helicopter control load simulation system of any one of the first to fifth embodiments above, and includes:

[0137] Step S100: outputting the model force through the main simulation module;

[0138] Specifically, after step S100, the method further includes:

[0139] Step S600: collecting the loading force and angle values ​​of the simulation platform through the data acquisition module;

[0140] Specifically, step S600 includes:

[0141] Step S610: collecting the loading force and angle value of the simulation platform through the sensor unit;

[0142] Specifically, step S610 includes:

[0143] Step S611: detecting the loading force of the simulation platform through a force sensor;

[0144] Step S612: detecting the angle value of the simulation platform through an angle sensor;

[0145] Step S620: performing digital filtering processing on the load force and angle values ​​collected by the sensor unit by the data processing unit to obtain the loaded force and angle values ​​after data processing;

[0146] Step S630: sending the processed loading force and angle values ​​to the manipulation load control module via the network communication unit;

[0147] Step S200: generating an initial control signal according to the model force and the received loading force and angle value by operating the load control module, and sending the initial control signal to the signal distribution module;

[0148] Step S300: integrating the initial control signal by the signal distribution module to obtain a target control signal, and sending the target control signal to the driving module;

[0149] Step S400: generating a control instruction according to the target control signal by the driving module, and sending the control instruction to the execution module;

[0150] Specifically, step S400 includes:

[0151] Step S410: generating a longitudinal control instruction according to the target control signal by the longitudinal driving unit, and sending the longitudinal control instruction to the execution module;

[0152] Step S420: generating a lateral control instruction according to the target control signal by the lateral driving unit, and sending the lateral control instruction to the execution module;

[0153] Step S430: generating a total distance control instruction according to the target control signal by the total distance driving unit, and sending the total distance control instruction to the execution module;

[0154] Step S440: generating a pedal control instruction according to the target control signal by the pedal driving unit, and sending the pedal control instruction to the execution module;

[0155] Step S500: controlling the motion of the simulation platform of the helicopter according to the control instruction by the execution module.

[0156] Specifically, step S500 includes:

[0157] Step S510: controlling the longitudinal motion of the simulation platform in the water direction by the longitudinal execution unit according to the longitudinal control instruction;

[0158] Step S520: controlling the lateral motion of the simulation platform in the water direction by the lateral execution unit according to the lateral control instruction;

[0159] Step S530: controlling the motion of the simulation platform in the vertical direction of the water direction by the total distance execution unit according to the total distance control instruction;

[0160] Step S540: controlling the rotational motion of the simulation platform around the center axis by the pedal execution unit according to the pedal control instruction.

[0161] Specifically, step S500 further includes:

[0162] Step S550: generating a motion torque according to the control instruction by the direct current torque motor, and transmitting the motion torque to the deceleration structure;

[0163] Step S560: transmitting the motion torque to the simulation platform by the deceleration structure, and controlling the motion of the simulation platform.

[0164] Specifically, step S560 includes:

[0165] Step S561: transmitting the rotating speed of the motor to the rotating wheel by the steel cable, and rotating the rotating wheel according to the rotating speed of the motor;

[0166] Step S562: exerting a loading force on the transmission rod by the operating lever;

[0167] Step S563: matching the rotating speed of the rotating wheel and the loading force by the decelerator, so as to match the rotating speed of the motor and the loading force, and rotating the transmission rod according to the matched rotating speed and loading force;

[0168] Step S564: matching the transmission rod with the main connecting rod system of the simulation platform, so as to generate a motion torque according to the rotation of the transmission rod, and controlling the motion of the simulation platform.

[0169] More implementation details of the above method steps can be referred to the description of the specific implementation of the helicopter operating load simulation system, and will not be repeated here for the sake of brevity of the description.

[0170] The embodiment provides a helicopter operating load simulation method, by setting a signal distribution module between the operating load control module and the driving module, integrating and distributing the control signals by the signal distribution module, not directly transmitting the control signals between the operating load control module and the driving module through the data transmission port of the operating load control module at the same time, and solving the technical problem of excessive load of the data processing port of the operating load control module in the existing helicopter operating load simulation system.

[0171] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent flow transformation according to the content of the specification and drawings of the present application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A helicopter control load simulation system, characterized in that: The system includes a main simulation module, a manipulation load control module, a signal distribution module, a drive module and an execution module; The main simulation module is connected to the control load control module and is used to provide a model force to the control load control module; The control load control module is connected to the signal distribution module and is used to generate an initial control signal according to the model force and the received load force and angle value, and send the initial control signal to the signal distribution module; The signal distribution module is connected to the driving module and is used to integrate the initial control signal to obtain a target control signal, and send the target control signal to the driving module; The driving module is connected to the execution module, and is used to generate a control instruction according to the target control signal and send the control instruction to the execution module; The execution module is used to control the movement of the simulation platform of the helicopter according to the control instruction; The execution module includes a longitudinal execution unit, a transverse execution unit, a total distance execution unit and a pedal execution unit; The longitudinal actuator unit, the lateral actuator unit, the collective distance actuator unit and the pedal actuator unit are all electric actuators, each of which includes a DC torque motor and a reduction structure; The electric actuator further comprises: a joystick, one end of which is provided with a connecting piece; The deceleration structure includes: a transmission rod, one end of which cooperates with the connecting piece and the other end of which is provided with a rotating ring; a first steel cable, one end of which is fixed to the rotating ring, and the other end of which is wound around the first steel cable receiving groove via the first rotating wheel; a second steel cable, one end of which is fixed to the rotating ring, the transmission rod, one end of the first steel cable, and one end of the second steel cable forming a triangle, and the other end of the second steel cable passing through the second rotating wheel and the third rotating wheel in sequence and winding around the second steel cable receiving groove; The first steel cable receiving groove and the second steel cable receiving groove are both connected to the DC torque motor via a belt transmission device; Three reducers are respectively arranged on the first rotating wheel, the second rotating wheel and the third rotating wheel.

2. The system according to claim 1, wherein The driving module includes a longitudinal driving unit, a transverse driving unit, a collective driving unit and a pedal driving unit; The longitudinal driving unit is connected to the signal distribution module, and is used to generate a longitudinal control instruction according to the target control signal, and send the longitudinal control instruction to the execution module; The lateral driving unit is connected to the signal distribution module, and is used to generate a lateral control instruction according to the target control signal, and send the lateral control instruction to the execution module; The collective drive unit is connected to the signal distribution module, and is used to generate a collective control instruction according to the target control signal, and send the collective control instruction to the execution module; The pedal driving unit is connected to the signal distribution module, and is configured to generate a pedal control instruction according to the target control signal, and send the pedal control instruction to the execution module.

3. The system according to claim 2, wherein: The longitudinal execution unit is connected to the longitudinal driving unit and is used to control the longitudinal movement of the simulation platform in the horizontal direction according to the longitudinal control instruction; The lateral execution unit is connected to the lateral driving unit, and is used to control the lateral movement of the simulation platform in the horizontal direction according to the lateral control instruction; The collective pitch execution unit is connected to the collective pitch driving unit, and is used to control the simulation platform to move in a direction perpendicular to the horizontal direction according to the collective pitch control instruction; The pedal execution unit is connected to the pedal driving unit and is used to control the simulation platform to rotate around the central axis according to the pedal control instruction.

4. The system according to claim 3, wherein: The DC torque motor is used to generate a motion torque according to the control instruction and transmit the motion torque to the reduction structure; The deceleration structure is used to transmit the motion torque to the simulation platform so that the simulation platform moves according to the motion torque.

5. The system according to claim 1, wherein: The system also includes a data acquisition module; The data acquisition module is connected to the manipulation load control module, and is used to collect the loading force and angle value of the simulation platform, perform digital filtering on the loading force and the angle value, and send the collected data to the manipulation load control module.

6. The system according to claim 5, wherein: The data acquisition module includes a four-channel synchronous sensor unit, a data processing unit and a network communication unit; The sensor unit is used to collect the loading force and the angle value; The data processing unit is used to perform digital filtering processing on the loading force and the angle value to obtain the loading force and angle value after data processing; The network communication unit includes a UDP / IP protocol and a memory reflection card, and is used to perform data communication with the control load control module, and send the processed loading force and angle values ​​to the control load control module.

7. The system according to claim 6, wherein: The sensor unit includes a force sensor and an angle sensor; The force sensor is used to detect the loading force; The angle sensor is used to detect the angle value.

8. The system according to claim 5, wherein: The system also includes a human-computer interaction module: The human-computer interaction module is connected to the data acquisition module and the main simulation module respectively, and is used for human-computer interaction.

9. A helicopter control load simulation method, characterized in that: Applied to the system according to any one of claims 1 to 8, the method comprises: Output model forces through the main simulation module; Generate an initial control signal by manipulating a load control module according to the model force and the received loading force and angle values, and send the initial control signal to a signal distribution module; The signal distribution module integrates the initial control signals to obtain a target control signal, and sends the target control signal to the driving module; Generate a control instruction according to the target control signal through the driving module, and send the control instruction to the execution module; The execution module is used to control the movement of the simulation platform of the helicopter according to the control instructions.

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