A Flight Simulation Control Method Based on a Six-DOF Flight Simulation Motion Platform

Abstract

This disclosure relates to a flight simulation control method, device, electronic device, and storage medium based on a six-degree-of-freedom flight simulation motion platform. The method includes: receiving joystick commands via a first data communication module and sending the joystick commands to a flight control module; the flight control module, using the joystick commands as input, generating periodic pitch signals based on a preset control model; verifying the periodic pitch signals, generating analytical expressions for aerodynamic forces and aerodynamic torques based on a preset dynamic model, and generating flight control commands based on a preset six-degree-of-freedom model; and a second data communication module receiving the flight control commands and sending them to an actuator to complete the control of the six-degree-of-freedom flight simulation motion platform. This disclosure improves the reliability and real-time performance of motion control signal transmission through flight simulation control based on industrial Ethernet and PLC transmission.

Description

Technical Field

[0001] This disclosure relates to the field of flight control simulation, and more specifically, to a flight simulation control method, device, electronic device, and computer-readable storage medium based on a six-degree-of-freedom flight simulation motion platform. Background Technology

[0002] The training of personnel in the field of aviation emergency rescue is urgently needed, and the demand for flight simulation equipment is becoming increasingly urgent. Currently, six-degree-of-freedom flight simulators are commonly used in existing rescue training. Due to their safety, economy, reliability, and high realism, six-degree-of-freedom flight simulators have become an indispensable experimental simulation device in pilot training and aircraft development.

[0003] Existing six-degree-of-freedom motion flight simulation control systems rely on wireless communication modules to transmit motion signals, thereby controlling the motion of the six-degree-of-freedom platform. This approach suffers from drawbacks such as low reliability, weak real-time performance, and poor stability.

[0004] Therefore, one or more methods are needed to solve the above problems.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this disclosure is to provide a flight simulation control method, device, electronic device, and computer-readable storage medium based on a six-degree-of-freedom flight simulation motion platform, thereby overcoming at least to some extent one or more problems caused by the limitations and defects of related technologies.

[0007] According to one aspect of this disclosure, a flight simulation control method based on a six-degree-of-freedom flight simulation motion platform is provided, comprising:

[0008] The system receives joystick commands through the first data communication module and sends the joystick commands to the flight control module.

[0009] The flight control module receives the control stick command, takes the control stick command as input, generates a periodic pitch signal based on a preset control model, and sends the periodic pitch signal to the flight parameter verification module.

[0010] The flight parameter verification module receives the periodic pitch signal, verifies the periodic pitch signal, generates a verified periodic pitch signal, and sends the verified periodic pitch signal to the flight simulation calculation module.

[0011] The flight simulation solution module receives the verified periodic pitch signal, generates analytical expressions for aerodynamic forces and aerodynamic torques based on a preset dynamic model, generates flight control commands based on a preset six-degree-of-freedom model, and sends the flight control commands to the second data communication module.

[0012] The second data communication module receives the flight control command and sends it to the actuator to complete the control of the six-degree-of-freedom flight simulation motion platform.

[0013] In one exemplary embodiment of this disclosure, the method further includes:

[0014] The first data communication module receives joystick commands based on the USB-HID communication protocol and receives master control system task commands based on the Modbus-Tcp communication protocol, and sends the joystick commands and master control system task commands to the flight control module.

[0015] In one exemplary embodiment of this disclosure, the method further includes:

[0016] The flight control module generates periodic pitch signals based on a preset collective pitch stick-automatic swashplate, using the stick commands as input.

[0017] In one exemplary embodiment of this disclosure, the method further includes:

[0018] The flight parameter verification module receives the periodic pitch signal, performs amplitude limiting verification on the periodic pitch signal, generates a verified periodic pitch signal, and sends the verified periodic pitch signal to the flight simulation calculation module.

[0019] In one exemplary embodiment of this disclosure, the method further includes:

[0020] The flight simulation solution module receives the verified periodic pitch signal, and based on the preset dynamic model, uses the periodic pitch signal as input to generate analytical expressions for aerodynamic forces and aerodynamic torques.

[0021] Using the analytical expressions of the aerodynamic forces and aerodynamic torques as input, flight control commands are generated based on a preset six-degree-of-freedom model.

[0022] In one aspect of this disclosure, a flight simulation control device based on a six-degree-of-freedom flight simulation motion platform is provided, comprising:

[0023] The first data communication module is used to receive joystick commands and send the joystick commands to the flight control module;

[0024] The flight control module is used to receive the control stick commands sent by the first data communication module, take the control stick commands as input, generate periodic pitch signals based on a preset control model, and send the periodic pitch signals to the flight parameter verification module.

[0025] The flight parameter verification module is used to receive the periodic pitch signal, verify the periodic pitch signal, generate a verified periodic pitch signal, and send the verified periodic pitch signal to the flight simulation calculation module.

[0026] The flight simulation solution module is used to receive the verified periodic pitch signal, generate analytical expressions for aerodynamic forces and aerodynamic torques based on a preset dynamic model, generate flight control commands based on a preset six-degree-of-freedom model, and send the flight control commands to the second data communication module.

[0027] The second data communication module is used to receive the flight control command sent by the flight parameter verification module and send the flight control command to the actuator to complete the control of the six-degree-of-freedom flight simulation motion platform.

[0028] In one aspect of this disclosure, a six-degree-of-freedom flight simulation motion platform is provided, comprising:

[0029] A joystick and foot pedal, wherein the joystick and foot pedal are used to receive the user's operating actions through a mechanical structure and generate joystick commands;

[0030] A flight simulation control system is provided, wherein the flight simulation control system is used to receive joystick commands, generate flight control commands based on the joystick commands, and send the flight control commands to the actuator via industrial Ethernet;

[0031] The execution structure includes a PLC module, a servo driver, a servo motor, a rotary mechanical structure, and a swing mechanical structure. The PLC module receives flight control commands sent by the flight simulation control system via an industrial Ethernet network, generates execution commands, and sends the execution commands to the servo driver based on the Ethernet / IP communication protocol. The servo driver receives the execution commands and performs drive control of the servo motor, rotary mechanical structure, and swing mechanical structure based on the execution commands.

[0032] The integrated display and control system includes an integrated instrument display system, a map display system, and a flight control emergency stop system. The integrated display and control system is used to receive flight parameters sent by the flight simulation control system and to visualize the flight parameters to the user.

[0033] In one exemplary embodiment of this disclosure, the flight simulation control system of the six-degree-of-freedom flight simulation motion platform is further used for:

[0034] Attitude control of a six-degree-of-freedom flight simulation motion platform is achieved based on the LQR control law.

[0035] Vertical channel speed control of a six-degree-of-freedom flight simulation motion platform is achieved based on the LQR control law.

[0036] A control method based on nonlinear point correction is used to achieve horizontal channel speed control of the reference pitch angle and reference roll angle of a six-degree-of-freedom flight simulation motion platform.

[0037] In one aspect of this disclosure, an electronic device is provided, comprising:

[0038] Processor; and

[0039] A memory storing computer-readable instructions that, when executed by the processor, implement the method according to any one of the preceding claims.

[0040] In one aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the method according to any one of the preceding claims.

[0041] An exemplary embodiment of this disclosure discloses a flight simulation control method based on a six-degree-of-freedom flight simulation motion platform. The method includes: receiving joystick commands via a first data communication module and sending the joystick commands to a flight control module; the flight control module using the joystick commands as input to generate periodic pitch signals based on a preset control model; after verifying the periodic pitch signals, generating analytical expressions for aerodynamic forces and aerodynamic torques based on a preset dynamic model, and generating flight control commands based on a preset six-degree-of-freedom model; and a second data communication module receiving the flight control commands and sending them to an actuator to complete the control of the six-degree-of-freedom flight simulation motion platform. This disclosure improves the reliability and real-time performance of motion control signal transmission through flight simulation control based on industrial Ethernet and PLC transmission.

[0042] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0043] The above and other features and advantages of this disclosure will become more apparent from the detailed description of exemplary embodiments thereof with reference to the accompanying drawings.

[0044] Figure 1A flowchart is shown for a flight simulation control method based on a six-degree-of-freedom flight simulation motion platform according to an exemplary embodiment of the present disclosure;

[0045] Figure 2 A schematic block diagram of a flight simulation control device based on a six-degree-of-freedom flight simulation motion platform is shown according to an exemplary embodiment of the present disclosure;

[0046] Figure 3 A schematic block diagram of a six-degree-of-freedom flight simulation motion platform according to an exemplary embodiment of the present disclosure is shown;

[0047] Figure 4 A schematic block diagram of the execution structure of a six-degree-of-freedom flight simulation motion platform according to an exemplary embodiment of the present disclosure is shown;

[0048] Figure 5 A block diagram of an electronic device according to an exemplary embodiment of the present disclosure is schematically shown; and

[0049] Figure 6 The illustration shows a schematic diagram of a computer-readable storage medium according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0050] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0051] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of the specific details described, or other methods, components, materials, apparatuses, steps, etc., can be employed. In other instances, well-known structures, methods, apparatuses, implementations, materials, or operations are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0052] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, or in one or more software-hardened modules, or in different network and / or processor devices and / or microcontroller devices.

[0053] In this example embodiment, a flight simulation control method based on a six-degree-of-freedom flight simulation motion platform is first provided; (Refer to...) Figure 1 As shown, the flight simulation control method based on a six-degree-of-freedom flight simulation motion platform may include the following steps:

[0054] Step S110: Receive the joystick command through the first data communication module and send the joystick command to the flight control module;

[0055] Step S120: The flight control module receives the control stick command, takes the control stick command as input, generates a periodic pitch signal based on a preset control model, and sends the periodic pitch signal to the flight parameter verification module.

[0056] Step S130: The flight parameter verification module receives the periodic pitch signal, verifies the periodic pitch signal, generates a verified periodic pitch signal, and sends the verified periodic pitch signal to the flight simulation calculation module.

[0057] In step S140, the flight simulation solution module receives the verified periodic pitch signal, generates analytical expressions for aerodynamic forces and aerodynamic torques based on a preset dynamic model, generates flight control commands based on a preset six-degree-of-freedom model, and sends the flight control commands to the second data communication module.

[0058] In step S150, the second data communication module receives the flight control command and sends the flight control command to the actuator to complete the control of the six-degree-of-freedom flight simulation motion platform.

[0059] An exemplary embodiment of this disclosure discloses a flight simulation control method based on a six-degree-of-freedom flight simulation motion platform. The method includes: receiving joystick commands via a first data communication module and sending the joystick commands to a flight control module; the flight control module using the joystick commands as input to generate periodic pitch signals based on a preset control model; after verifying the periodic pitch signals, generating analytical expressions for aerodynamic forces and aerodynamic torques based on a preset dynamic model, and generating flight control commands based on a preset six-degree-of-freedom model; and a second data communication module receiving the flight control commands and sending them to an actuator to complete the control of the six-degree-of-freedom flight simulation motion platform. This disclosure improves the reliability and real-time performance of motion control signal transmission through flight simulation control based on industrial Ethernet and PLC transmission.

[0060] The following will further explain a flight simulation control method based on a six-degree-of-freedom flight simulation motion platform in this example embodiment.

[0061] In step S110, the control stick command can be received through the first data communication module, and the control stick command can be sent to the flight control module.

[0062] In this example embodiment, the method further includes:

[0063] The first data communication module receives joystick commands based on the USB-HID communication protocol and receives master control system task commands based on the Modbus-Tcp communication protocol, and sends the joystick commands and master control system task commands to the flight control module.

[0064] In step S120, the flight control module can receive the control stick command, use the control stick command as input, generate a periodic pitch signal based on a preset control model, and send the periodic pitch signal to the flight parameter verification module.

[0065] In this example embodiment, the method further includes:

[0066] The flight control module generates periodic pitch signals based on a preset collective pitch stick-automatic swashplate, using the stick commands as input.

[0067] In this example embodiment, the flight control module receives control stick commands and converts them into corresponding cyclic pitch signals through a control model. The specific conversion process is as follows: the pilot manipulates the collective pitch input by controlling the rotor's collective pitch lever. The collective pitch lever is typically pull-up; pulling it up increases the collective pitch angle, while releasing it decreases it. The movement of the collective pitch lever, via a series of mechanical hinges and linkages, causes the collective pitch sleeve to move up and down, resulting in the entire swashplate moving up and down together. This causes all blades to simultaneously increase or decrease by a pitch angle. The effect of collective pitch is to change the lift of all blades, ultimately altering the overall thrust of the rotor. The input principle for cyclic pitch is similar to that of collective pitch, but the lateral and longitudinal cyclic pitch inputs are distributed circumferentially at 90° in the lower swashplate of the swashplate. The lower swashplate does not rotate but can tilt. The rotating rocker arm on the upper swashplate combines the collective pitch and cyclic pitch into a single angle as the blade pitch angle input.

[0068] In step S130, the flight parameter verification module can receive the periodic pitch signal, verify the periodic pitch signal, generate a verified periodic pitch signal, and send the verified periodic pitch signal to the flight simulation calculation module.

[0069] In this example embodiment, the method further includes:

[0070] The flight parameter verification module receives the periodic pitch signal, performs amplitude limiting verification on the periodic pitch signal, generates a verified periodic pitch signal, and sends the verified periodic pitch signal to the flight simulation calculation module.

[0071] In this example embodiment, flight parameters are transmitted to the actuator via an industrial Ethernet cable to control the actuator's movement. The flight simulation model verifies the flight parameters to ensure system operational safety. In real-world scenarios, helicopters operate at very high speeds, but due to actuator performance limitations and actual operational requirements, the flight parameters of this simulator are restricted to prevent dangerous consequences caused by exceeding the actuator's limits.

[0072] Based on the actual operational capabilities of the actuators and the limitations imposed by the simulator model, the speed limits for the six degrees of freedom of the cockpit are as follows:

[0073] Maximum speed along the X-axis: 0.6 m / s

[0074] Maximum Y-axis speed: 0.6 m / s

[0075] Maximum Z-axis speed: 0.6 m / s

[0076] Maximum angular velocity of the pitch axis: 0.1 rad / s

[0077] Maximum angular velocity of the roll shaft: 0.1 rad / s

[0078] Maximum angular velocity of the Yaw axis: 0.1 rad / s

[0079] After the flight control law is calculated, the flight parameters are first verified. If the calculated flight parameters exceed the maximum limit, the flight parameters will be limited to prevent them from exceeding the operating limits of the suspension system.

[0080] In step S140, the flight simulation solution module can receive the verified periodic pitch signal, generate analytical expressions for aerodynamic forces and aerodynamic torques based on a preset dynamic model, generate flight control commands based on a preset six-degree-of-freedom model, and send the flight control commands to the second data communication module.

[0081] In this example embodiment, the method further includes:

[0082] The flight simulation solution module receives the verified periodic pitch signal, and based on the preset dynamic model, uses the periodic pitch signal as input to generate analytical expressions for aerodynamic forces and aerodynamic torques.

[0083] Using the analytical expressions of the aerodynamic forces and aerodynamic torques as input, flight control commands are generated based on a preset six-degree-of-freedom model.

[0084] In this example embodiment, the signal is input to the flight simulation solution module, which calculates the flight parameters at the current moment according to the designed six-degree-of-freedom model and dynamic model. The specific process is as follows:

[0085] Define the body coordinate system Fixed to the fuselage. Origin O is at the aircraft's center of mass, and the vertical axis x... t Parallel to the fuselage axis pointing towards the nose, vertical axis y t In the plane of symmetry of the aircraft, perpendicular to x t Pointing upwards, the horizontal axis zt is perpendicular to the plane of symmetry of the aircraft and points to the right.

[0086] The simulator will be subjected to the following specific forces and moments during flight:

[0087]

[0088] The above formulas include the aircraft's aerodynamic coefficients and aerodynamic moment coefficients, and their corresponding calculation methods are as follows:

[0089] The expression for the drag coefficient is:

[0090]

[0091] Lift coefficient expression:

[0092]

[0093] Expression for lateral force coefficient:

[0094]

[0095] The expression for the rolling moment coefficient is:

[0096]

[0097] Yaw moment coefficient expression:

[0098]

[0099] Pitch moment coefficient expression:

[0100]

[0101] The expression for air density is: ρ = 1.225 × 1 - (0.225577 × 10⁻⁶) -4 ×H) 4.25588

[0102] Dynamic pressure expression:

[0103] With the above expressions for aerodynamic forces and aerodynamic moments, by substituting the actual aerodynamic parameters of the UAV into the corresponding expressions, we can obtain the analytical expressions for the corresponding aerodynamic forces and aerodynamic moments.

[0104] Simulated cabin center of mass dynamics equations:

[0105]

[0106] Rotational dynamics equations:

[0107]

[0108] Kinematic equations of the line of mass:

[0109]

[0110] Rotational kinematic equations:

[0111]

[0112] The above equations form the six-degree-of-freedom nonlinear equations for the simulation cabin in a calm atmosphere.

[0113] In step S150, the second data communication module can receive the flight control command and send the flight control command to the actuator to complete the control of the six-degree-of-freedom flight simulation motion platform.

[0114] In this example embodiment,

[0115] It should be noted that although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0116] Furthermore, in this example embodiment, a flight simulation control device based on a six-degree-of-freedom flight simulation motion platform is also provided. (Refer to...) Figure 2 As shown, the flight simulation control device 200 based on a six-degree-of-freedom flight simulation motion platform may include: a first data communication module 210, a flight control module 220, a flight parameter verification module 230, a flight simulation calculation module 240, and a second data communication module 250. Wherein:

[0117] The first data communication module 210 is used to receive joystick commands and send the joystick commands to the flight control module;

[0118] Flight control module 220 is used to receive control stick commands sent by the first data communication module, take the control stick commands as input, generate periodic pitch signals based on a preset control model, and send the periodic pitch signals to the flight parameter verification module;

[0119] The flight parameter verification module 230 is used to receive the periodic pitch signal, verify the periodic pitch signal, generate a verified periodic pitch signal, and send the verified periodic pitch signal to the flight simulation calculation module.

[0120] The flight simulation calculation module 240 is used to receive the verified periodic pitch signal, generate analytical expressions for aerodynamic forces and aerodynamic torques based on a preset dynamic model, generate flight control commands based on a preset six-degree-of-freedom model, and send the flight control commands to the second data communication module.

[0121] The second data communication module 250 is used to receive the flight control command sent by the flight parameter verification module and send the flight control command to the actuator to complete the control of the six-degree-of-freedom flight simulation motion platform.

[0122] The specific details of each of the flight simulation control device modules based on a six-degree-of-freedom flight simulation motion platform mentioned above have been described in detail in the corresponding flight simulation control method based on a six-degree-of-freedom flight simulation motion platform, so they will not be repeated here.

[0123] It should be noted that although several modules or units of a flight simulation control device 200 based on a six-degree-of-freedom flight simulation motion platform have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0124] Furthermore, in exemplary embodiments of this disclosure, such as Figure 3 As shown, a six-degree-of-freedom flight simulation motion platform is also provided, the six-degree-of-freedom flight simulation motion platform comprising:

[0125] A joystick and foot pedal, wherein the joystick and foot pedal are used to receive the user's operating actions through a mechanical structure and generate joystick commands;

[0126] A flight simulation control system is provided, wherein the flight simulation control system is used to receive joystick commands, generate flight control commands based on the joystick commands, and send the flight control commands to the actuator via industrial Ethernet;

[0127] The execution structure includes a PLC module, a servo driver, a servo motor, a rotary mechanical structure, and a swing mechanical structure. The PLC module receives flight control commands sent by the flight simulation control system via an industrial Ethernet network, generates execution commands, and sends the execution commands to the servo driver based on the Ethernet / IP communication protocol. The servo driver receives the execution commands and performs drive control of the servo motor, rotary mechanical structure, and swing mechanical structure based on the execution commands.

[0128] The integrated display and control system includes an integrated instrument display system, a map display system, and a flight control emergency stop system. The integrated display and control system is used to receive flight parameters sent by the flight simulation control system and to visualize the flight parameters to the user.

[0129] In this example embodiment, the control information for the six degrees of freedom is transmitted to the PLC module of the suspension mechanism via an industrial Ethernet. The PLC module is connected to the servo motor driver via an EtherNET / IP communication protocol bus, thereby controlling the drive motor to realize the six degrees of freedom motion of the motion platform. At the same time, the PLC module feeds back the motion control status information of the actuator to the flight simulation control system. The flight simulation control system transmits the motion status parameters to the integrated display and control system interface to realize real-time monitoring of the motion.

[0130] In the embodiments of this example, as Figure 4 As shown, the actuator includes a PLC controller, a servo driver, a servo motor, a rotary mechanical structure, a swinging mechanical structure, and a data communication module. Figure 2 As shown: The PLC controller receives flight control commands and distributes slewing commands to the servo drivers, controlling their servo motors to achieve the slewing motion of the slewing mechanical structure; the PLC controller distributes roll commands to the servo drivers, controlling the roll servo drives to achieve the roll motion of the oscillating mechanical structure; the PLC controller distributes pitch commands to the servo drivers, controlling the pitch servo drives to achieve the pitch motion of the oscillating mechanical structure; the PLC controller, servo drivers, and servo motors are all connected via Ethernet cables.

[0131] In this example embodiment, the integrated display and control system includes an integrated instrument display system, a map display system, and a flight control emergency stop system. The integrated instrument display system is developed according to a general cockpit instrument layout. Motion parameters such as flight attitude, attitude angular rate, flight altitude, and flight speed output by the flight simulation control system are directly displayed in the integrated instrument display system. Actuator operating status information, including system status, motor current, and motor speed, is transmitted back to the integrated instrument display system for real-time display via the flight simulation control system. The map display system receives the motion parameters output by the flight simulation control system and displays the flight heading, track, and real-time position information. Users can switch between the integrated instrument display system and the map display system using interface switching buttons.

[0132] In this example embodiment, the flight simulation control system of the six-degree-of-freedom flight simulation motion platform is further used for:

[0133] Attitude control of a six-degree-of-freedom flight simulation motion platform is achieved based on the LQR control law.

[0134] Vertical channel speed control of a six-degree-of-freedom flight simulation motion platform is achieved based on the LQR control law.

[0135] A control method based on nonlinear point correction is used to achieve horizontal channel speed control of the reference pitch angle and reference roll angle of a six-degree-of-freedom flight simulation motion platform.

[0136] In this example embodiment, the helicopter control system consists of attitude control, speed control, and position control. Through model analysis and simulation, the helicopter's inner loop can be approximated by a first-order system. Attitude control can achieve good stability and response speed using a traditional LQR control law. Due to the zero-lift drag of the rotor, the helicopter's vertical channel has a relatively large equivalent damping in this direction; therefore, vertical speed control can also be effectively achieved using a traditional LQR control law. In horizontal speed control, due to the equilibrium point offset problem caused by centripetal force, the control method based on nonlinear operating point correction proposed in the previous section is adopted. The specific implementation method is as follows:

[0137] The instruction model uses a simple first-order model:

[0138]

[0139] Where u cmd v cmd For control commands, u ref v ref For reference speed, τ u τ vLet be the time constant. This formula indicates that the reference speed tracks the control command in a first-order manner. The time constant represents the tracking speed of the control command; the larger the constant, the longer the tracking time. Transforming the above formula into state-space form:

[0140]

[0141] Make the actual system speed track the reference speed, so that Based on the system's mathematical model equations, the relationship between error velocity and flight state can be obtained:

[0142]

[0143]

[0144] The reference pitch angle can be obtained from the first equation:

[0145]

[0146] The reference roll angle can be obtained from the second equation:

[0147]

[0148] During the design process, the time constant of the instruction model is chosen as τ based on actual needs. u =1.5sτ v =1.5s.

[0149] Furthermore, in an exemplary embodiment of this disclosure, an electronic device capable of implementing the above-described method is also provided.

[0150] Those skilled in the art will understand that various aspects of the present invention can be implemented as systems, methods, or program products. Therefore, various aspects of the present invention can be specifically implemented as entirely hardware embodiments, entirely software embodiments (including firmware, microcode, etc.), or embodiments combining hardware and software aspects, collectively referred to herein as “circuit,” “module,” or “system.”

[0151] The following reference Figure 5 To describe an electronic device 500 according to such an embodiment of the present invention. Figure 5 The electronic device 500 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0152] like Figure 5As shown, the electronic device 500 is manifested in the form of a general-purpose computing device. The components of the electronic device 500 may include, but are not limited to: at least one processing unit 510, at least one storage unit 520, a bus 530 connecting different system components (including storage unit 520 and processing unit 510), and a display unit 540.

[0153] The storage unit stores program code that can be executed by the processing unit 510, causing the processing unit 510 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of the present invention. For example, the processing unit 510 can perform actions such as... Figure 1 Steps S110 to S150 are shown in the diagram.

[0154] Storage unit 520 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 5201 and / or cache memory 5202, and may further include a read-only memory (ROM) 5203.

[0155] Storage unit 520 may also include a program / utility 5204 having a set (at least one) program module 5203, such program module 5205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0156] Bus 550 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0157] Electronic device 500 can also communicate with one or more external devices 570 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 500, and / or with any device that enables electronic device 500 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 550. Furthermore, electronic device 500 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 560. As shown, network adapter 560 communicates with other modules of electronic device 500 via bus 550. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0158] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0159] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of the invention may also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of the invention described in the "Exemplary Methods" section above.

[0160] refer to Figure 6 As shown, a program product 600 for implementing the above-described method according to an embodiment of the present invention is described. It may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0161] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0162] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0163] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0164] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0165] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0166] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0167] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A flight simulation control method based on a six-degree-of-freedom flight simulation motion platform, characterized in that, The method includes: The system receives joystick commands through the first data communication module and sends the joystick commands to the flight control module. The flight control module receives the control stick command, takes the control stick command as input, generates a periodic pitch signal based on a preset control model, and sends the periodic pitch signal to the flight parameter verification module. The flight parameter verification module receives the periodic pitch signal, verifies the periodic pitch signal, generates a verified periodic pitch signal, and sends the verified periodic pitch signal to the flight simulation calculation module. The flight simulation solution module receives the verified periodic pitch signal, generates analytical expressions for aerodynamic forces and aerodynamic torques based on a preset dynamic model, generates flight control commands based on a preset six-degree-of-freedom model, and sends the flight control commands to the second data communication module. The second data communication module receives the flight control command and sends the flight control command to the actuator to complete the control of the six-degree-of-freedom flight simulation motion platform; The method further includes: The first data communication module receives joystick commands based on the USB-HID communication protocol and receives master control system task commands based on the Modbus-Tcp communication protocol, and sends the joystick commands and master control system task commands to the flight control module. The method further includes: The flight control module generates periodic pitch signals based on a preset collective pitch stick-automatic swashplate, using the stick commands as input. The method further includes: The flight parameter verification module receives the periodic pitch signal, performs amplitude limiting verification on the periodic pitch signal, generates a verified periodic pitch signal, and sends the verified periodic pitch signal to the flight simulation calculation module. The method further includes: The flight simulation solution module receives the verified periodic pitch signal, and based on the preset dynamic model, uses the periodic pitch signal as input to generate analytical expressions for aerodynamic forces and aerodynamic torques. Using the analytical expressions of the aerodynamic forces and aerodynamic torques as input, flight control commands are generated based on a preset six-degree-of-freedom model.

2. A flight simulation control device based on a six-degree-of-freedom flight simulation motion platform, characterized in that, The device employs the method of claim 1, and the device comprises: The first data communication module is used to receive joystick commands and send the joystick commands to the flight control module; The flight control module is used to receive the control stick commands sent by the first data communication module, take the control stick commands as input, generate periodic pitch signals based on a preset control model, and send the periodic pitch signals to the flight parameter verification module. The flight parameter verification module is used to receive the periodic pitch signal, verify the periodic pitch signal, generate a verified periodic pitch signal, and send the verified periodic pitch signal to the flight simulation calculation module. The flight simulation solution module is used to receive the verified periodic pitch signal, generate analytical expressions for aerodynamic forces and aerodynamic torques based on a preset dynamic model, generate flight control commands based on a preset six-degree-of-freedom model, and send the flight control commands to the second data communication module. The second data communication module is used to receive the flight control command sent by the flight parameter verification module and send the flight control command to the actuator to complete the control of the six-degree-of-freedom flight simulation motion platform; The six-degree-of-freedom flight simulation motion platform includes: A joystick and foot pedal, wherein the joystick and foot pedal are used to receive the user's operating actions through a mechanical structure and generate joystick commands; A flight simulation control system is provided, wherein the flight simulation control system is used to receive joystick commands, generate flight control commands based on the joystick commands, and send the flight control commands to the actuator via industrial Ethernet; The execution structure includes a PLC module, a servo driver, a servo motor, a rotary mechanical structure, and a swing mechanical structure. The PLC module receives flight control commands sent by the flight simulation control system via an industrial Ethernet network, generates execution commands, and sends the execution commands to the servo driver based on the Ethernet / IP communication protocol. The servo driver receives the execution commands and performs drive control of the servo motor, rotary mechanical structure, and swing mechanical structure based on the execution commands. The integrated display and control system includes an integrated instrument display system, a map display system, and a flight control emergency stop system. The integrated display and control system is used to receive flight parameters sent by the flight simulation control system and to visualize the flight parameters to the user. The flight simulation control system of the six-degree-of-freedom flight simulation motion platform is also used for: Attitude control of a six-degree-of-freedom flight simulation motion platform is achieved based on the LQR control law. Vertical channel speed control of a six-degree-of-freedom flight simulation motion platform is achieved based on the LQR control law. A control method based on nonlinear point correction is used to achieve horizontal channel speed control of the reference pitch angle and reference roll angle of a six-degree-of-freedom flight simulation motion platform.

3. An electronic device, characterized in that, include Processor; and A memory storing computer-readable instructions that, when executed by the processor, implement the method according to claim 1.

4. A computer-readable storage medium having a computer program stored thereon, the computer program implementing the method according to claim 1 when executed by a processor.

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