A flight simulator for preventing abnormal posture

Abstract

The present invention relates to the technical field of flight simulators, and more specifically, to a flight simulator for achieving abnormal posture prevention. The flight simulator provided by the present invention at least includes a pitch controller, which controls and outputs the pitch moment under abnormal posture prevention to a simulation host computer; a roll controller, which controls and outputs the roll moment under abnormal posture prevention to a simulation host computer; and a simulation host computer, which adds the pitch moment and roll moment under abnormal posture prevention to the aircraft simulation model torque balance equation, and realizes roll angle and pitch angle drive according to the aircraft simulation model torque balance equation. The present invention introduces newly added calculation items of the aircraft simulation model torque balance equation and a new human-computer interaction interface of the instructor's console to perform abnormal posture prevention training, which effectively reduces interference factors in simulation training and significantly improves the flexibility, practicality and realism of simulation training.

Description

Technical Field

[0001] The present invention relates to the technical field of flight simulators, and more particularly to a flight simulator for realizing abnormal posture prevention and a training method for realizing abnormal posture prevention. Background Art

[0002] Flight simulators, as aircraft simulation equipment designed for pilot flight training, are designed to strictly follow the required proportions of a real aircraft cockpit. The simulator integrates many necessary equipment and computer programs to ensure that the simulated ground and air operating environments are realistic and accurate.

[0003] In recent years, in order to enhance the training effectiveness of flight simulators, civil aviation departments of various countries have increased their attention to training subjects such as abnormal attitudes, aircraft icing, and stall recovery for flight trainees on flight simulators. Since 2019, these training subjects have become mandatory requirements for the initial certification of simulators. These requirements not only expand the simulator's coverage of aircraft performance, but also introduce a series of unique simulator function modules, such as IOS envelope display, real-time parameter recording, abnormal attitude recovery (UAR), abnormal attitude prevention (UAP), and automatic stall (ASE) actuation.

[0004] These simulator trainings are of immeasurable importance to modern airworthiness pilot trainees. However, in the prior art, when performing abnormal attitude prevention (UAP) training, the flight instructor often needs to act as the co-pilot and manually guide the gradual entry of the abnormal attitude. In this process, the pilot needs to ignore the instructor's co-pilot seat movements, and promptly "judge" the abnormal attitude trend of the aircraft based on the aircraft instruments or motion sensations, and make corresponding corrections.

[0005] In the prior art, the flight instructor acting as the co-pilot for the flight student during UAP training has the following shortcomings:

[0006] First, abnormal posture prevention training is designed to train pilots to quickly identify and judge in emergency situations. When the instructor acts as the co-pilot, his or her operation may have a prompting effect on the trainee pilot, thereby reducing the suddenness of the training scenario and affecting the training effect.

[0007] Secondly, in a simulator equipped with control loads, the flight instructor's control input may interfere with the student's control operation, resulting in control problems in the early stages of prevention training.

[0008] Finally, for fly-by-wire aircraft flight simulators equipped with sidesticks, the flight instructor and the flight student may cause the aircraft's "DUAL INPUT" warning sound or sidestick vibration warning when operating the sidestick at the beginning of the prevention training. Calming down the warning is not one of the training items for abnormal attitude prevention, which increases the complexity of the training subject.

[0009] There is a method in the prior art for automatically driving into abnormal posture training scenarios at a later stage, by directly changing the pitch angle and roll angle of the simulated aircraft in the aircraft motion equation, or increasing the pitch and roll rates without calculating the pitch and roll torque of the fuselage. However, this method destroys the operation rules of the aircraft motion equation, resulting in abnormal operation of subsystems such as instruments and motion systems.

[0010] The prior art method of automatically driving abnormal flight posture at a later stage has the following shortcomings:

[0011] First of all, whether changing the attitude directly or by injecting the attitude rate, the simulated aircraft will perform hard attitude adjustments without solving the aircraft's motion equations, which will destroy the consistency of flight dynamics. This will lead to calculation errors of key parameters such as angle of attack and sideslip angle, which are inconsistent with the actual situation that the aircraft can achieve, and thus deviate from the original intention of abnormal attitude prevention training.

[0012] Secondly, directly and rigidly changing the pitch and roll angles of the simulated aircraft will cause errors in the display of the simulated instruments, seriously affecting the simulated flight experience, and may even cause some functions to not work properly. For example, the calculation of the aircraft's rate of ascent and descent depends on the precise value of the aircraft's pitch torque. If the attitude is forced to change without changing the torque, the rate of ascent and descent will be displayed incorrectly.

[0013] Finally, when implementing the adjustment to prevent abnormal attitude, this method did not change the torque and calculate it through the aircraft motion equation, and could not produce the corresponding linear acceleration and angular acceleration changes, which resulted in the motion system being unable to accurately respond to the physical effects of attitude adjustment, while the visual system and instrument system would give corresponding feedback based on the attitude changes. Therefore, the pilot may feel the mismatch between the motion sensation and visual perception during the simulated flight, which may cause motion sickness and seriously affect the training experience.

[0014] Therefore, there is an urgent need for a flight simulator for implementing training such as abnormal posture prevention. Summary of the invention

[0015] The purpose of the present invention is to provide a flight simulator for realizing abnormal posture prevention, so as to solve the problem that the flight simulators in the prior art are difficult to realize abnormal posture prevention training.

[0016] In order to achieve the above-mentioned object, the present invention provides a flight simulator for preventing abnormal posture, which at least includes a simulation host computer, a pitch controller and a roll controller;

[0017] The pitch controller controls and outputs the pitch moment under abnormal posture prevention to the simulation host computer;

[0018] The roll controller controls and outputs the roll moment under abnormal posture prevention to the simulation host computer;

[0019] The simulation host computer adds the pitch moment and the roll moment under abnormal posture prevention into the aircraft simulation model torque balance equation, and realizes the roll angle and the pitch angle drive according to the aircraft simulation model torque balance equation.

[0020] In some embodiments, the pitch controller controls and outputs the pitch moment under abnormal posture prevention according to the input target pitch angle and the actual pitch angle;

[0021] The roll controller controls and outputs the roll moment for abnormal posture prevention according to the input target roll angle and the actual roll angle.

[0022] In some embodiments, the pitch controller and the roll controller are arranged in a simulation host computer to realize control and output;

[0023] The pitch controller and roll controller are both composed of PID controllers:

[0024] The pitch controller is a pitch PID controller, which performs PID control according to the input target pitch angle and the actual pitch angle, controls and outputs the pitch moment under abnormal posture prevention;

[0025] The roll controller is a roll PID controller, which performs PID control according to the input target roll angle and the actual roll angle, and controls and outputs the roll torque under abnormal posture prevention.

[0026] In some embodiments, the pitch controller further includes a pitch limiter, which is arranged at the front end of the pitch PID controller input end and outputs a limit value of the difference between the input target pitch angle and the actual pitch angle;

[0027] The roll controller also includes a roll limiter, which is arranged at the front end of the input end of the roll PID controller and outputs a limited value of the difference between the input target roll angle and the actual roll angle.

[0028] In some embodiments, the PID controller includes gains for proportional regulation, integral regulation, and derivative regulation;

[0029] The gains of the proportional regulation, integral regulation and differential regulation are constants and are set through a software configuration file.

[0030] In some embodiments, the exit triggering condition of the PID controller includes:

[0031] For fly-by-wire flight simulators, when the sidestick position changes beyond a preset threshold or the pedal force exceeds a preset threshold, the PID controller will trigger an exit condition;

[0032] For a flight simulator equipped with a control load system, when the force of the main control load force sensor exceeds a preset threshold, the PID controller will trigger an exit condition.

[0033] In some embodiments, when the PID controller triggers an exit condition and stops working, the torque output of the PID controller gradually decreases to 0 according to a preset change rate.

[0034] In some embodiments, the exit trigger condition of the PID controller is set via a configuration file.

[0035] In some embodiments, the flight simulator further comprises an instructor operating console:

[0036] The instructor console provides a human-computer interaction interface for triggering abnormal posture prevention scenarios.

[0037] In some embodiments, the human-computer interaction interface includes a horizontal coordinate and a vertical coordinate:

[0038] The ordinate represents the pitch command, and the direction of the ordinate represents raising the head or lowering the head;

[0039] The horizontal axis represents the rolling instruction, and the horizontal axis direction represents right rolling or left rolling;

[0040] The coordinate position of the human-computer interaction interface represents the scene intensity.

[0041] In some embodiments, the positive axis and the negative axis of the horizontal axis are respectively divided into a number of rolling motion somatosensory intensity areas;

[0042] The positive axis and the negative axis of the ordinate axis are respectively divided into a number of pitch motion somatosensory intensity areas;

[0043] The coordinate position of the human-computer interaction interface represents a combination of a selected pitch direction, a pitch strength, a roll direction, and a roll strength.

[0044] In order to achieve the above object, the present invention provides a training implementation method for abnormal posture prevention, which is implemented based on the above-mentioned flight simulator for implementing abnormal posture prevention, and includes the following steps:

[0045] Step S1, triggering an abnormal posture prevention scenario, sending a pitch control instruction and / or a roll control instruction;

[0046] Step S2: determine and select to turn on and activate the pitch controller and / or the roll controller;

[0047] Step S3, determine whether the pitch controller and / or the roll controller meet the exit condition, if not, proceed to step S2, if yes, proceed to step S4;

[0048] Step S4: the pitch controller and / or the roll controller stops working;

[0049] Step S5: Abnormal posture prevention scenario training ends.

[0050] In some embodiments, the flight simulator includes an instructor console:

[0051] The step S1 also includes: triggering an abnormal posture prevention scenario through a human-computer interaction interface of the instructor console.

[0052] In some embodiments, step S2 includes:

[0053] The pitch controller and / or the roll controller controls and outputs the pitch moment and / or the roll moment under abnormal posture prevention to the simulation host computer according to the pitch control instruction and / or the roll control instruction;

[0054] The simulation host computer adds the pitch moment and / or rolling moment under abnormal posture prevention into the aircraft simulation model torque balance equation, and realizes the rolling angle and pitch angle driving according to the aircraft simulation model torque balance equation.

[0055] In some embodiments, the step S4 further comprises:

[0056] The torque output of the pitch controller and / or roll controller gradually decreases to 0 according to the preset change rate.

[0057] The present invention proposes a flight simulator and a training method for abnormal posture prevention thereof. By introducing the newly added calculation items of the moment balance equation of the aircraft simulation model and the new human-computer interaction interface of the instructor operating console (IOS), the harmonious matching of the motion scene during UAP training is achieved, unnecessary system alarms and control force interference are avoided, and the scene setting is more sudden. This innovation not only enhances the suddenness of abnormal posture prevention training, but also shortens the reaction time of flight trainees, thereby improving the training quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The above and other features, properties and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings and embodiments, in which the same reference numerals always represent the same features, wherein:

[0059] Figure 1 A schematic diagram of the principle of a flight simulator for preventing abnormal posture according to an embodiment of the present invention is disclosed;

[0060] Figure 2a A schematic diagram of a pitch controller according to an embodiment of the present invention is disclosed;

[0061] Figure 2b A schematic diagram of a roll controller according to an embodiment of the present invention is disclosed;

[0062] Figure 3 A schematic diagram of the principle of a PID controller according to an embodiment of the present invention is disclosed;

[0063] Figure 4 A schematic diagram of a limiter according to an embodiment of the present invention is disclosed;

[0064] Figure 5 An example diagram of an abnormal posture prevention IOS interface according to an embodiment of the present invention is disclosed;

[0065] Figure 6 A schematic diagram of an abnormal posture prevention IOS interface instruction according to an embodiment of the present invention is disclosed;

[0066] Figure 7 A control flow chart of a flight simulator according to an embodiment of the present invention is disclosed;

[0067] Figure 8 A flow chart of a training implementation method for abnormal posture prevention according to an embodiment of the present invention is disclosed.

[0068] The meanings of the reference numerals in the figures are as follows:

[0069] 100 emulation host computer;

[0070] 200 pitch controller;

[0071] 300 roll controller. DETAILED DESCRIPTION

[0072] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not used to limit the invention.

[0073] In order to improve the training effect and value of simulators, the present invention proposes a flight simulator for realizing abnormal posture prevention. The flight simulator strictly follows the guidelines of various civil aviation administrations on abnormal posture prevention and performs a real simulation of abnormal posture prevention training.

[0074] The present invention proposes a flight simulator and a training method for preventing abnormal postures. The flight simulator can be triggered in any aircraft configuration, flight speed and flight altitude to perform training for preventing abnormal postures while ensuring that the aircraft is in a normal flight process and in a normal state of the simulator. The aircraft body limit of the simulator follows the ordinary flight limit setting and has no special setting requirements.

[0075] Figure 1 A schematic diagram of a flight simulator for preventing abnormal posture according to an embodiment of the present invention is disclosed. Figure 1 As shown, a flight simulator for preventing abnormal posture proposed by the present invention at least includes a simulation host computer 100, a pitch controller 200 and a roll controller 300:

[0076] The pitch controller 200 controls and outputs the pitch moment under abnormal posture prevention to the simulation host computer 100;

[0077] The roll controller 300 controls and outputs the roll moment under abnormal posture prevention to the simulation host computer 100;

[0078] The simulation host computer 100 adds the pitch moment and the roll moment under abnormal posture prevention into the aircraft simulation model torque balance equation, and realizes the roll angle and the pitch angle driving according to the aircraft simulation model torque balance equation.

[0079] In this embodiment, the flight simulator is a full-motion simulator, including important systems such as a simulation host computer, a control load system, a motion system, a visual system, a sound system, and an instrument display system.

[0080] The information interaction between the simulation host computer and various systems, the mode switching of the subject software by the state machine module, and the integration, assembly, calibration and debugging of the hardware of each system structure are all relatively mature and widely used technical means in the existing technical field.

[0081] The simulation host computer includes a variety of simulation modules, such as the solution of flight simulation (involving aerodynamic principles), the solution of flight control simulation software, and the simulation solution of airborne system simulation (such as hydraulic system, flap system), etc. These solution processes can be efficiently executed in the simulation host computer.

[0082] The flight simulator proposed in the present invention adds a specific calculation item to the torque balance equation in the aircraft motion equation, thereby driving the simulated aircraft to a specific abnormal posture without affecting the normal solution of the aircraft motion equation. In addition, the specific calculation item is completed by a PID controller, thereby ensuring the smoothness and stability of the aircraft drive.

[0083] Taking a fixed-wing aircraft as an example, the torque balance equation in the non-inertial coordinate system of the fixed-wing aircraft simulation model is as follows:

[0084]

[0085]

[0086]

[0087] Where Mx is the total rolling moment in the x direction, M y Mz is the total pitch moment in the y direction, and Mz is the total yaw moment in the z direction.

[0088] Total rolling moment M x For most aircraft, it is the sum of the torque generated by the aileron actuation, the torque generated by the rudder actuation, the torque generated by the sideslip angle, the torque generated by the spoiler, etc.

[0089] Total pitch moment M y For most aircraft, it is the sum of the torque generated by the elevator, the torque generated by the wing, the torque generated by the angle of attack, the torque generated by the flaps, and the torque generated by the horizontal tail.

[0090] More specifically, the total rolling moment Mx and the total pitching moment M y The following formula is involved:

[0091] Mx=Mailerons+M R udder+Ms p oiler+...+M UAP x;

[0092] M y =Melevator+Mwin g +Mstab+...+M UAPy ;

[0093] Among them, M ailerons is the rolling moment caused by aileron actuation, M Rudder is the rolling moment caused by the rudder actuation, Ms pOiler is the rolling moment caused by the actuation of the spoiler, Melevator is the pitching moment caused by the actuation of the elevator, and Mwin g is the pitch moment generated by the flap, Mstab is the pitch moment generated by the horizontal stabilizer, and the above moments are output by other software of the simulation host computer, which is beyond the scope of the present invention and will not be discussed in depth here.

[0094] Among them, M UAP x is the rolling moment generated by the rolling controller in the present invention, M UAPy It is the pitch moment generated by the pitch controller in the present invention.

[0095] Since the training scenario has no requirement for aircraft yaw, the present invention does not control the aircraft Z-axis body torque.

[0096] The flight simulator proposed by the present invention uses Mx and M in the moment balance equation in the aircraft motion equation to y The rolling moment M used in the UAP training scenario is added to the calculation formula of UAP x and pitch moment M UAPy Two specific calculation items are used to drive the aircraft to change the roll and pitch angles to achieve the purpose of UAP training.

[0097] According to the regulations of the Civil Aviation Administration of each region, any UAP training scenario needs to generate non-command motion trends of the roll and pitch axes alone, or the combination of the two axes. Therefore, the present invention has two separate pitch controllers 200 and roll controllers 300, which control the pitch axis and the roll axis respectively.

[0098] The pitch controller 200 and the roll controller 300 have similar structural designs.

[0099] In this embodiment, the pitch controller 200 controls and outputs the pitch moment for abnormal posture prevention according to the input target pitch angle and the actual pitch angle;

[0100] The roll controller 300 controls and outputs the roll moment for abnormal posture prevention according to the input target roll angle and the actual roll angle.

[0101] M UAPx With M UAPy The parameter configuration and application method required for calculation are the core of realizing the selection of posture direction and intensity for UAP training.

[0102] In this embodiment, the pitch controller 200 and the roll controller 300 are PID controllers set in the simulation host computer to realize the control and output of the pitch moment and the roll moment. UAPx With M UAPy, achieving a training scenario with controllable pitch and roll angles, and automating abnormal attitude prevention training scenarios using a PID controller, thereby reducing the instructor’s workload and eliminating the need for them to take on the role of co-pilot.

[0103] Since PID control does not affect the normal solution of the calculation items of the original aircraft motion equations, the true reflection of the aircraft performance in the training scenario is guaranteed, the somatosensory response of the motion system is also guaranteed, the motion vision is highly coordinated, and the motion somatosensory is continuous.

[0104] For the flight simulator of fly-by-wire aircraft equipped with sidesticks, the warning system operates normally in this specific scenario, ensuring that the experience of the trainee pilots is closer to reality and natural. Since there is no need for a flight instructor to fly the aircraft, the flight trainees will not hear warning prompts such as "DUAL INPUT" when preventing abnormal posture operations, and the vibration warning of the aircraft sidestick will also be effectively avoided.

[0105] For simulators equipped with a control load system, flight trainees will not feel the discordant force of control, which further enhances the realism and effectiveness of simulation training.

[0106] Figure 2a A schematic diagram of a pitch controller according to an embodiment of the present invention is disclosed. Figure 2b A schematic diagram of a roll controller according to an embodiment of the present invention is disclosed, such as Figure 2a and Figure 2b As shown, the pitch controller 200 and the roll controller 300 are both composed of a PID controller combined with a limiter.

[0107] M UAPx With M UAPy The calculation results are used as the outputs of the roll controller 300 and the pitch controller 200. The output results are sent to the moment balance equation of the aircraft simulation model to achieve the driving purpose of the roll angle and the pitch angle.

[0108] Figure 3 The schematic diagram of the principle of a PID controller according to an embodiment of the present invention is disclosed. Figure 3 As shown, the flight simulator for preventing abnormal posture proposed by the present invention adopts the classic PID control to control the output of pitch and roll torque.

[0109] PID control, namely Proportional (P) – Integral (I) – Derivative (D) Control, is actually a general term for three types of feedback control: proportional control, integral control and derivative control. According to the control object and application conditions, a partial combination of these three controls can be adopted, namely P control, PI control, PD control or a combination of the three, which is the true PID control.

[0110] In this embodiment, the pitch controller 200 is a pitch PID controller, which performs PID control according to the input target pitch angle and the actual pitch angle, controls and outputs the pitch moment M under abnormal posture prevention. UAPy ;

[0111] The roll controller 300 is a roll PID controller, which performs PID control according to the input target roll angle and the actual roll angle, controls and outputs the roll moment M under abnormal posture prevention. UAPx .

[0112] The PID controller contains the gains of proportional regulation, integral regulation and differential regulation.

[0113] The gains of the proportional regulation, integral regulation and differential regulation are constants, which are set through the software configuration file and vary according to different aircrafts. For example, the gain of the simulator P of a narrow-body aircraft such as A320 is between 10,000 and 20,000, and the gain of the simulator P of a wide-body aircraft such as 777X is between 30,000 and 60,000.

[0114] The above-mentioned adjustment gains only vary according to the model of the simulator, and do not vary with the intensity of the scene.

[0115] Figure 4 The schematic diagram of the principle of a limiter according to an embodiment of the present invention is disclosed. Figure 4 As shown, in this embodiment, the limiter is a bidirectional limiter, and the functions are as follows:

[0116] When the input value exceeds the set positive maximum value, the output will be set to the positive maximum value;

[0117] When the input value is less than the negative maximum value, the output will be set to the negative maximum value;

[0118] When the input value is between the positive maximum and the negative maximum, the limiter will keep the output value the same as the input value.

[0119] like Figure 2a and Figure 2b In the illustrated embodiment, the pitch controller 200 further includes a pitch limiter, which is disposed at the front end of the pitch PID controller input end and outputs a limited value of the difference between the input target pitch angle and the actual pitch angle;

[0120] The roll controller 300 further includes a roll limiter, which is disposed at the front end of the input end of the roll PID controller and outputs a limited value of the difference between the input target roll angle and the actual roll angle.

[0121] In this embodiment, the PID controller and the limiter are implemented by adding a software running module in the simulation host computer without adding additional equipment or software. Therefore, the present invention realizes the training of abnormal posture prevention without increasing external procurement costs.

[0122] Figure 5 An example diagram of an abnormal posture prevention IOS interface according to an embodiment of the present invention is disclosed, such as Figure 5 As shown, the flight simulator for achieving abnormal posture prevention proposed by the present invention also includes an instructor operating console (IOS), which provides an intuitive and convenient human-computer interaction interface for triggering abnormal posture prevention scenarios.

[0123] like Figure 5 As shown, the human-computer interaction interface includes the horizontal and vertical axes:

[0124] The ordinate represents the pitch command, and the direction of the ordinate represents raising the head or lowering the head;

[0125] The horizontal axis represents the rolling instruction, and the horizontal axis direction represents right rolling or left rolling;

[0126] The coordinate position of the human-computer interaction interface represents the scene intensity.

[0127] The positive and negative axes of the horizontal axis are divided into several rolling motion somatosensory intensity regions, and the positive and negative axes of the vertical axis are divided into several pitching motion somatosensory intensity regions. The coordinate position represents the combination of the pitch direction, pitch intensity, rolling direction and rolling intensity.

[0128] The present invention utilizes a new UAP interface designed for IOS to trigger human interaction in UAP scenarios, thereby making the work of flight instructors easier, achieving more intuitive scenario startup, simplifying the setting process of pitch and roll trend intensity, and improving operational convenience.

[0129] like Figure 5 As shown in the figure, the three areas of Ⅰ, Ⅱ and Ⅲ are obtained by dividing the horizontal axis and the vertical axis, which correspond to the mild, moderate and severe areas of physical sensation, respectively. The instructor can select a coordinate position in the coordinate area at will to combine the required pitch direction, pitch intensity, roll direction and roll intensity. After the selection is completed, click the "Execute" button. The flight simulator will calculate the required body torque according to the direction and intensity of the selected UAP within 3 seconds after clicking the execute button, and start training immediately.

[0130] The change of scene intensity is closely related to the adjustment of the two-way limiter, and has nothing to do with the change of simulator model or posture. It is worth mentioning that in the limiter, its maximum setting value is closely related to the touch position of the iOS interface. When the user clicks on the interface away from the origin, the triggered scene intensity will increase accordingly.

[0131] The change in scene intensity is linearly related to the distance between the click position and the origin, making the user's interaction experience smoother and more intuitive.

[0132] like Figure 5 As shown in the figure, the area of ​​light motion sensation on the positive axis of the horizontal axis is linearly divided into an intensity range of 0 to 100% according to the distance between its coordinates and the origin. For example, 50% light represents the middle coordinate position of the area, 100% light represents the rightmost coordinate position of the area, and 0% light represents the leftmost coordinate position (origin) of the area of ​​light motion sensation.

[0133] The same rule applies to the moderate motion somatosensory area and the heavy motion somatosensory area, where the change in scene intensity shows a similar pattern in relation to the click coordinate location.

[0134] Obviously, the coordinates of 100% mild and 0% moderate, and 100% moderate and 0% severe in the horizontal axis or the vertical axis coincide with each other.

[0135] Figure 6 A schematic diagram of an abnormal posture prevention IOS interface instruction according to an embodiment of the present invention is disclosed, such as Figure 6 As shown, the flight simulator for preventing abnormal posture proposed by the present invention, the schematic diagram of the IOS interface instruction is as follows:

[0136] If the user clicks point 1 and then clicks the execute button, IOS will send a 50% slight pitch command to the UAP's pitch controller / roll controller, with no roll command.

[0137] If the user clicks point 2 and then clicks the execute button, IOS will send a 100% medium pitch down and 100% medium left roll command to the UAP's pitch controller / roll controller.

[0138] If the user clicks point 3 and then clicks the execute button, IOS will send a 100% heavy right mixed roll command to the UAP's pitch controller / roll controller, with no pitch command.

[0139] The 100% mild, 100% medium, and 100% severe mentioned above correspond to the setting values ​​of the two-way limiter Limit mentioned above, which can be 2.5°, 5.0°, and 10.0°.

[0140] The set value below 100% intensity is linearly related to the set value of 100% intensity. The set value of this limiter can be changed according to user needs, not according to different machine models.

[0141] For example, when the limiter setting for 100% mild is 2.5°, the limiter setting for 50% mild is 1.25°;

[0142] For example, when the limiter setting for 100% moderate is 5.0°, the limiter setting for 50% moderate is 3.75°;

[0143] The setting value of this limiter is constant and can be changed through the configuration file.

[0144] M UAPx With M UAPy The calculation is performed in the simulator host computer. The operating frequency of this module needs to be above 50 Hz. In the implemented cases, the module runs at an iteration frequency between 50 and 200 Hz.

[0145] Depending on the training content of each aircraft, the attitude limit will also be different.

[0146] For example, in a wide-body aircraft training course, the required abnormal attitude limits are plus or minus 45 degrees for roll and plus or minus 45 degrees for pitch. Abnormal attitudes beyond this range are not included in the training course. In this case, the pitch target value and the roll target value will change the sign of the target attitude according to the direction selected by the flight instructor on the IOS.

[0147] If the flight instructor selects a head-down pitch command, the pitch target value is -45°, and if the instructor selects a head-up pitch command, the pitch target value is 45°. Similarly, if the instructor selects a right roll command, the roll target value is +45°, and if the instructor selects a left roll command, the roll target value is -45°.

[0148] When the aircraft reaches the specified attitude, the PID controller will keep the aircraft in this attitude for more than 10 seconds. This final attitude is a constant and is set through the software configuration file.

[0149] In the absence of abnormal attitude limits, the pitch target and roll target values ​​only change according to the direction selected by the flight instructor on the IOS. If the flight instructor selects a head-down pitch command, the pitch target value is -80°, and if the head-up pitch command is selected, the pitch target value is 80°. Similarly, if the right roll command is selected, the roll target value is +180°, and if the left roll command is selected, the roll target value is -180°.

[0150] Here, the roll target value and the pitch target value are only used to control the flight trend of the aircraft. When the aircraft reaches the attitude specified by the roll target value and the pitch target value, the controller will not maintain this attitude.

[0151] This final formulated posture is a constant, set via the software configuration file.

[0152] The command sizes mentioned above do not change with changes in random type or scene intensity.

[0153] The present invention configures key setting parameters through a configuration file, most of which are constants and are only related to the machine model but not to the scene intensity or the scene itself, which greatly shortens the debugging time of engineers and reduces labor costs.

[0154] Figure 7 A control flow chart of a flight simulator according to an embodiment of the present invention is disclosed. Figure 7 As shown, the present invention proposes a flight simulator for preventing abnormal postures, and the specific implementation process is as follows:

[0155] When the flight instructor triggers IOS UAP training, click any coordinate position in the coordinate system of the human-computer interaction interface of the instructor console IOS and press the "Execute" button;

[0156] The instructor console will send pitch control instructions and roll control instructions to the host controller of the simulation host computer;

[0157] The host controller will determine whether to turn on a single controller (i.e., the pitch controller or the roll controller) or turn on both controllers (i.e., the pitch controller and the roll controller) according to the pitch control command and the roll control command;

[0158] If both controllers are turned on at the same time, the host controller will send activation instructions to the pitch controller and roll controller, and the pitch controller and roll controller will be turned on and activated at the same time, setting the target pitch angle and target roll angle;

[0159] If a single controller is turned on, the host controller will send an activation command to the pitch controller or roll controller, and the pitch controller or roll controller will be activated to set the target pitch angle or target roll angle;

[0160] The simulation host computer determines in real time whether the pitch controller and / or the roll controller meet the exit conditions. If not, the single controller or the dual controllers continue to remain activated;

[0161] If it is met, the single controller or dual controller stops working;

[0162] When the output results gradually reach zero, the training scenario ends and the aircraft automatically enters normal flight.

[0163] Furthermore, the PID controller exit trigger conditions of the pitch controller and / or roll controller can be the following:

[0164] For fly-by-wire aircraft simulators, when the side stick position changes beyond a preset threshold or the pedal force exceeds a preset threshold, the PID controller will trigger an exit condition. The preset threshold is set as a constant, usually set in the configuration file.

[0165] For simulators equipped with a control load system, when the force of the main control load force sensor exceeds the preset threshold, the PID controller will trigger the exit condition. The preset threshold is set as a constant, usually set in the configuration file.

[0166] Furthermore, when the controller stops working, the torque output (M UAPx With M UAPy The calculation result of the method) gradually decreases to 0 according to a preset change rate, and the size of the preset change rate can be changed as required.

[0167] Based on the above-mentioned flight simulator for preventing abnormal postures, the present invention develops a training method for automatically preventing abnormal postures in a flight simulator, further optimizes the torque control of the moment balance equation of the aircraft simulation model, and overcomes the shortcomings of the traditional method. The method is stable in operation, the simulation effect is realistic, and it effectively improves the training value and practical application ability of the flight simulator in preventing abnormal postures.

[0168] Figure 8 A flow chart of a training method for preventing abnormal posture according to an embodiment of the present invention is disclosed. Figure 8 As shown, a training implementation method for abnormal posture prevention proposed by the present invention includes the following steps:

[0169] Step S1, triggering an abnormal posture prevention scenario, sending a pitch control instruction and / or a roll control instruction;

[0170] Step S2: determine and select to turn on and activate the pitch controller and / or the roll controller;

[0171] Step S3, determine whether the pitch controller and / or the roll controller meet the exit condition, if not, proceed to step S2, if yes, proceed to step S4;

[0172] Step S4: the pitch controller and / or the roll controller stops working;

[0173] Step S5: Abnormal posture prevention scenario training ends.

[0174] Furthermore, abnormal posture prevention scenarios are triggered through the human-computer interaction interface of the instructor console.

[0175] Furthermore, the step S2 comprises:

[0176] The pitch controller and / or the roll controller controls and outputs the pitch moment and / or the roll moment under abnormal posture prevention to the simulation host computer according to the pitch control instruction and / or the roll control instruction;

[0177] The simulation host computer adds the pitch moment and / or rolling moment under abnormal posture prevention into the aircraft simulation model torque balance equation, and realizes the rolling angle and pitch angle driving according to the aircraft simulation model torque balance equation.

[0178] Since the workflow of the flight simulator for preventing abnormal postures has been described in detail previously, the specific content of the training implementation method for preventing abnormal postures proposed in the present invention can correspond to the workflow and will not be repeated here.

[0179] Although the above methods are illustrated and described as a series of actions for simplicity of explanation, it should be understood and appreciated that these methods are not limited by the order of the actions, because according to one or more embodiments, some actions may occur in a different order and / or concurrently with other actions from those illustrated and described herein or not illustrated and described herein but understandable to those skilled in the art.

[0180] The present invention provides a flight simulator and a training method for preventing abnormal postures thereof, which specifically has the following beneficial effects:

[0181] 1) By adopting the PID controller, the torque input of the aircraft can be precisely controlled, and the change rate of the target values ​​of the roll angle and pitch angle in the PID input can be effectively suppressed, thereby ensuring that the gradual entry intensity of the abnormal attitude is reasonably controlled;

[0182] 2) It can trigger abnormal attitude prevention training under any airspeed, configuration and altitude conditions of the simulated aircraft, and the scene triggering has no delay, which greatly improves the flexibility and practicality of simulation training;

[0183] 3) The motion system provides real-time and realistic motion feedback to flight trainees during the gradual introduction of roll and pitch angles, effectively enhancing the fidelity of simulation training and trainees’ operational perception;

[0184] 4) Ensure that the control load system and flight control system will not be affected by backdrive, thus ensuring the stability and safety of simulation training;

[0185] 5) During the abnormal posture gradual entry process, abnormal or human-triggered alarms are avoided, effectively reducing interference factors in simulation training;

[0186] 6) By adopting a new human-computer interaction interface, the present invention realizes effective control of the intensity of abnormal posture gradual entry from the IOS end, further improving the intelligent level of simulation training and user experience;

[0187] 7) Use configuration files to achieve flexible configuration of key setting parameters. Most of the parameters are constants and are only related to the model, but not to the scene intensity or the scene itself. This not only greatly shortens the debugging time of engineers, but also significantly reduces labor costs, bringing higher efficiency and benefits to practical applications.

[0188] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0189] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or a combination of the two. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. The technician may implement the described functionality in different ways for each specific application, but such implementation decisions should not be interpreted as resulting in a departure from the scope of the present invention.

[0190] The above embodiments are provided for persons familiar with the art to implement or use the present invention. Personnel familiar with the art can make various modifications or changes to the above embodiments without departing from the inventive concept of the present invention. Therefore, the protection scope of the present invention is not limited to the above embodiments, but should be the maximum scope of the innovative features mentioned in the claims.

Claims

1. A flight simulator for preventing abnormal postures, characterized in that: At least comprising a simulation host computer, a pitch controller and a roll controller; The pitch controller controls and outputs the pitch moment under abnormal posture prevention to the simulation host computer; The roll controller controls and outputs the roll moment under abnormal posture prevention to the simulation host computer; The simulation host computer adds the pitch moment and the roll moment under abnormal posture prevention to the aircraft simulation model torque balance equation, and realizes the roll angle and the pitch angle drive according to the aircraft simulation model torque balance equation; Wherein, the pitch controller and the roll controller are arranged in the simulation host computer to realize control and output; The pitch controller includes a pitch limiter and a pitch PID controller. The pitch PID controller performs PID control according to an input target pitch angle and an actual pitch angle, controls and outputs a pitch moment under abnormal posture prevention, and the pitch limiter is arranged at the front end of the input end of the pitch PID controller, and limits the difference between the input target pitch angle and the actual pitch angle and outputs the difference; The roll controller includes a roll limiter and a roll PID controller. The roll PID controller performs PID control according to the input target roll angle and the actual roll angle, controls and outputs the roll torque under abnormal posture prevention, and the roll limiter is arranged at the front end of the input end of the roll PID controller, and limits the output of the difference between the input target roll angle and the actual roll angle.

2. The flight simulator for preventing abnormal posture according to claim 1, characterized in that: The PID controller includes gains for proportional regulation, integral regulation and differential regulation; The gains of the proportional regulation, integral regulation and differential regulation are constants and are set through a software configuration file.

3. The flight simulator for preventing abnormal posture according to claim 1, characterized in that: The exit triggering conditions of the PID controller include: For fly-by-wire flight simulators, when the sidestick position changes beyond a preset threshold or the pedal force exceeds a preset threshold, the PID controller will trigger an exit condition; For a flight simulator equipped with a control load system, when the force of the main control load force sensor exceeds a preset threshold, the PID controller will trigger an exit condition.

4. The flight simulator for preventing abnormal posture according to claim 3, characterized in that: When the PID controller triggers an exit condition and stops working, the torque output of the PID controller gradually decreases to 0 according to a preset change rate.

5. The flight simulator for preventing abnormal posture according to claim 3, characterized in that: The exit trigger condition of the PID controller is set through a configuration file.

6. The flight simulator for preventing abnormal posture according to claim 1, characterized in that: Also includes an instructor station: The instructor console provides a human-computer interaction interface for triggering abnormal posture prevention scenarios.

7. The flight simulator for preventing abnormal posture according to claim 6, characterized in that: The human-computer interaction interface includes a horizontal coordinate and a vertical coordinate: The ordinate represents the pitch command, and the ordinate axis direction represents raising the head or lowering the head; The horizontal axis represents the rolling instruction, and the horizontal axis direction represents right rolling or left rolling; The coordinate position of the human-computer interaction interface represents the scene intensity.

8. The flight simulator for preventing abnormal posture according to claim 7, characterized in that: The positive axis and the negative axis of the horizontal axis are respectively divided into a number of rolling motion somatosensory intensity areas; The positive axis and the negative axis of the ordinate axis are respectively divided into a number of pitch motion somatosensory intensity areas; The coordinate position of the human-computer interaction interface represents a combination of a selected pitch direction, a pitch strength, a roll direction, and a roll strength.

9. A training method for preventing abnormal postures, based on a flight simulator for preventing abnormal postures as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: Step S1, triggering an abnormal posture prevention scenario, sending a pitch control instruction and / or a roll control instruction; Step S2: determine and select to activate the pitch controller and / or the roll controller; Step S3, determine whether the pitch controller and / or the roll controller meet the exit condition, if not, proceed to step S2, if yes, proceed to step S4; Step S4: the pitch controller and / or the roll controller stops working; Step S5: Abnormal posture prevention scenario training ends.

10. The training method for preventing abnormal posture according to claim 9, characterized in that: The flight simulator includes an instructor operating console: The step S1 also includes: triggering an abnormal posture prevention scenario through a human-computer interaction interface of the instructor console.

11. The training method for preventing abnormal posture according to claim 9, characterized in that: The step S2 comprises: The pitch controller and / or the roll controller controls and outputs the pitch moment and / or the roll moment under abnormal posture prevention to the simulation host computer according to the pitch control instruction and / or the roll control instruction; The simulation host computer adds the pitch moment and / or rolling moment under abnormal posture prevention into the aircraft simulation model torque balance equation, and realizes the rolling angle and pitch angle driving according to the aircraft simulation model torque balance equation.

12. The training method for preventing abnormal posture according to claim 9, characterized in that: The step S4 further comprises: The torque output of the pitch controller and / or roll controller gradually decreases to 0 according to the preset change rate.

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