Trimming method, device and electronic equipment for a joystick of a flight simulator

Abstract

The application provides a kind of trimming method, device and electronic equipment of the joystick of flight simulator, belong to flight simulator technical field.The trimming method of the joystick of flight simulator includes: in response to receiving trimming instruction, the current position of the joystick to be trimmed is taken as the trimming position of the joystick to be trimmed;According to the distance between the trimming position and the first position, and the length of the first preset time period, the adjustment value information of the joystick force is obtained;In the first preset time period, according to the adjustment value information of the joystick force, the joystick force applied to the joystick to be trimmed is adjusted to adjust the neutral position of the joystick to be trimmed from the first position before executing the trimming instruction to the trimming position;In the second preset time period, according to the value information of the trimming flywheel force, the trimming flywheel force applied to the joystick to be trimmed is adjusted.The application can accurately simulate the trimming process of the joystick in flight simulator.

Description

Technical Field

[0001] This invention relates to the field of flight simulator technology, and in particular to a method, apparatus, and electronic device for balancing the joystick of a flight simulator. Background Technology

[0002] In the field of flight simulator technology, the precise simulation of the control load system has always been key to achieving a realistic sensory experience. The control load system must not only simulate the control forces felt by the pilot in real flight, but also accurately replicate the dynamic characteristics of various control mechanisms. The control stick trim mechanism of flight equipment (e.g., helicopters) is a crucial component of the flight equipment's control system. It allows pilots to reduce control forces by adjusting the trim mechanism when operating a helicopter, thereby achieving more stable and accurate control. In a real flight environment, pilots can finely adjust the trim mechanism to adapt to different flight conditions and mission requirements.

[0003] Existing technologies for simulating the control load system in flight simulators face numerous challenges in simulating the trim mechanism of flight equipment control sticks. Common simulation methods typically involve the operator pressing a trim switch, simply reducing the control stick force to zero, and setting the stick's current position to a new neutral position. While this method simulates the function of the trim mechanism in real flight equipment to some extent, it presents significant problems when simulating heavy flight equipment. Due to the substantial control load of heavy flight equipment, a sudden load reduction can cause the pilot to be unable to retract their force in time, resulting in large movements of the control stick. This unrealistic simulation experience not only affects the pilot's training effectiveness but may also pose a potential threat to flight safety.

[0004] Therefore, how to accurately simulate the control stick trimming process in a flight simulator is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] To address the problems existing in the prior art, the present invention provides a method, apparatus, and electronic device for balancing the joystick in a flight simulator, which can accurately simulate the balancing process of the joystick in a flight simulator.

[0006] This invention provides a method for trimming a control stick in a flight simulator, comprising: in response to receiving a trimming command, taking the current position of the control stick to be trimmed as the trimming position of the control stick; obtaining adjustment numerical information of the control stick force based on the distance between the trimming position and a first position, and the duration of a first preset time period; wherein, the first position is the neutral position of the control stick to be trimmed before executing the trimming command, the neutral position is the force balance position to which the control stick automatically returns when it is not subjected to external force, the control stick force is used to simulate the force applied to the control stick of the flight equipment by the control stick preload mechanism of the flight simulator, and the adjustment numerical information of the control stick force includes a first numerical sequence that changes with time within the first preset time period; within the first preset time period, adjusting the control stick force according to the adjustment numerical information of the control stick force. The integer value information is used to adjust the lever force applied to the lever to be balanced, so as to adjust the neutral position of the lever from the first position before the balance command is executed to the balance position; within a second preset time period, the balance flywheel force applied to the lever to be balanced is adjusted according to the numerical information of the balance flywheel force; wherein, the balance flywheel force is used to simulate the force transmitted to the lever due to inertia by the balance flywheel set in the lever pretensioning mechanism during the adjustment of the lever force, the numerical information of the balance flywheel force includes a second numerical sequence that changes with time, the start time of the second preset time period is greater than the start time of the first preset time period, there is an intersection between the second preset time period and the first preset time period, and the balance command is completed at the end time of the second preset time period.

[0007] According to a method for trimming a control stick in a flight simulator provided by the present invention, the step of obtaining adjustment value information of the control stick force based on the distance between the trimming position and a first position and the duration of a first preset time period includes: fitting trajectory data of the change of the neutral position of the control stick to be trimmed over time within the first preset time period based on the first position, the trimming position, and the duration of the first preset time period; and obtaining adjustment value information of the control stick force based on the trajectory data using the correspondence between the neutral position and the control stick force.

[0008] According to the present invention, a method for trimming a control stick of a flight simulator includes fitting trajectory data of the neutral position of the control stick to be trimmed changing over time within the first preset time period based on the first position, the trimming position, and the duration of the first preset time period. The method comprises: determining the position difference between the first position and the trimming position; obtaining a displacement coefficient based on preset values ​​of the neutral position corresponding to multiple preset time points within the first preset time period; and using the displacement coefficient to perform a weighted summation calculation between the position difference and the first position to obtain the trajectory data of the neutral position of the control stick to be trimmed changing over time.

[0009] According to the present invention, a method for balancing a control stick in a flight simulator includes obtaining a displacement coefficient based on preset values ​​of neutral positions corresponding to multiple preset time points within a first preset time period. This includes: establishing a displacement coefficient fitting equation based on the mechanical structure of the control stick pre-tensioning mechanism; wherein the displacement coefficient fitting equation uses time points as independent variables and displacement coefficients as dependent variables; substituting the preset values ​​of neutral positions corresponding to the multiple preset time points into the displacement coefficient fitting equation to obtain values ​​of multiple unknown coefficients in the displacement coefficient fitting equation; and using the output value of the displacement coefficient fitting equation after coefficient determination as a function of time as the displacement coefficient.

[0010] According to the present invention, a method for balancing the joystick of a flight simulator obtains the numerical information of the balancing flywheel force by: obtaining a force coefficient that changes with time based on preset values ​​of the balancing flywheel force corresponding to multiple preset time points within a second preset time period; and obtaining the numerical information of the balancing flywheel force by multiplying the maximum value of the balancing flywheel force with the force coefficient.

[0011] According to the present invention, a method for balancing a control stick in a flight simulator includes obtaining a force coefficient that varies with time based on preset values ​​of the balancing flywheel force corresponding to multiple preset time points within a second preset time period. The method comprises: establishing a force coefficient fitting equation based on the mechanical structure of the balancing flywheel; wherein the force coefficient fitting equation uses time points as independent variables and force coefficients as dependent variables; substituting the preset values ​​of the balancing flywheel force corresponding to the multiple preset time points into the force coefficient fitting equation to obtain values ​​of multiple unknown coefficients in the force coefficient fitting equation; and using the output value of the force coefficient fitting equation after coefficient determination as a function of time as the force coefficient.

[0012] The present invention also provides a trimming device for a control stick of a flight simulator, comprising the following modules: a first acquisition module, configured to, in response to receiving a trimming command, take the current position of the control stick to be trimmed as the trimming position of the control stick to be trimmed; a second acquisition module, configured to obtain adjustment value information of the control stick force based on the distance between the trimming position and the first position, and the duration of a first preset time period; wherein, the first position is the neutral position of the control stick to be trimmed before the execution of the trimming command, the neutral position is the force balance position to which the control stick automatically returns when it is not subjected to external force, the control stick force is used to simulate the force applied by the control stick preload mechanism of the flight equipment corresponding to the flight simulator to the control stick of the flight equipment, and the adjustment value information of the control stick force includes a first value sequence that changes with time within the first preset time period; a first adjustment module, configured to, within the first preset time period... The first adjustment module adjusts the force applied to the control lever to be balanced based on the adjustment value information of the control lever force, so as to adjust the neutral position of the control lever to be balanced from the first position before the balance command is executed to the balance position; the second adjustment module is used to adjust the balance flywheel force applied to the control lever to be balanced based on the balance flywheel force value information within a second preset time period; wherein, the balance flywheel force is used to simulate the force transmitted to the control lever due to inertia by the balance flywheel set in the control lever pretensioning mechanism during the adjustment of the control lever force, the balance flywheel force value information includes a second value sequence that changes with time, the start time of the second preset time period is greater than the start time of the first preset time period, there is an intersection between the second preset time period and the first preset time period, and the balance command is completed at the end time of the second preset time period.

[0013] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a joystick trimming method as described in any of the above-described flight simulators.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a joystick trimming method for a flight simulator as described above.

[0015] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements a joystick trimming method as described in any of the above-described flight simulators.

[0016] The present invention provides a method, apparatus, and electronic device for trimming a control stick in a flight simulator. During a first preset time period in the trimming process, the control stick force applied to the control stick to be trimmed is adjusted based on the adjustment value information of the control stick force. During a second preset time period, the trimming flywheel force applied to the control stick to be trimmed is adjusted based on the trimming flywheel force value information. Since both the control stick force adjustment value information and the trimming flywheel force value information are time-varying numerical sequences, the embodiments of the present invention can simulate the control stick trimming process in a flight simulator with relatively high accuracy, allowing the operator to experience forces highly similar to those experienced with actual flight equipment during the trimming process. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating the control stick balancing method for the flight simulator provided by the present invention.

[0019] Figure 2 This is a flowchart illustrating the method for obtaining numerical information on the adjustment of joystick force provided by the present invention.

[0020] Figure 3 This is a flowchart illustrating the method for obtaining numerical information of the balance flywheel force provided by the present invention.

[0021] Figure 4 This is a schematic diagram of the trim device for the control stick of the flight simulator provided by the present invention.

[0022] Figure 5 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] The following is combined with Figures 1-3 The present invention describes a method for balancing the joystick of a flight simulator.

[0025] Figure 1 This is a flowchart illustrating the trim method for the control stick of a flight simulator provided by the present invention. This method is applied to the trim mechanism of a flight simulator, such as... Figure 1 As shown, the method includes the following: Step 101: In response to receiving the balancing command, the current position of the lever to be balanced is taken as the balancing position of the lever to be balanced.

[0026] A trim command is a command issued by the operator of a flight simulator (e.g., a pilot) requesting the trim of the control stick. For example, a trim button is provided on the flight simulator. When the operator presses the button, the operating system running on the processing device in the trim mechanism receives the trim command and executes the control stick trimming method described in this embodiment of the invention.

[0027] The balancing position is the neutral position after the joystick to be balanced is balanced. In practice, after receiving the balancing command, the current position information (e.g., coordinate values) of the joystick to be balanced can be obtained through the position sensor. Based on this information, the operating system sets the current position of the joystick to be balanced as the balancing position.

[0028] Step 102: Based on the distance between the balancing position and the first position, and the duration of the first preset time period, obtain the adjustment value information of the joystick force.

[0029] The first position is the neutral position of the control lever before executing the trim command.

[0030] The neutral position is the force balance position to which the control stick automatically returns when no external force is applied. During flight, the neutral position is the position of the control stick when the pilot's hands are not touching or lightly resting on it. In this position, the flight equipment can maintain a stable flight state without requiring additional control from the pilot.

[0031] The joystick force is used to simulate the force applied to the joystick by the joystick preload mechanism of the flight equipment corresponding to the flight simulator, such as spring force, starting force, etc.

[0032] For real flight equipment, the joystick force changes over time during the joystick trimming process. To accurately simulate the joystick trimming process in a flight simulator, in some embodiments, the joystick force adjustment information includes a first numerical sequence that changes over time within a first preset time period.

[0033] In practice, numerical information on the adjustment of the joystick force can be obtained in various ways. For example, an equation can be established to fit the change in joystick force during the trim process of a real flight device; using this equation, numerical information on the adjustment of the joystick force can be obtained.

[0034] An example of a method for obtaining numerical information on the adjustment of the joystick force can be found here. Figure 2 The relevant content will not be repeated here.

[0035] Step 103: Within the first preset time period, adjust the lever force applied to the lever to be balanced according to the adjustment value information of the lever force, until the neutral position of the lever to be balanced is adjusted from the first position before the balance command is executed to the balance position.

[0036] The trimming process of the control stick to be trimmed involves adjusting the neutral position of the control stick from the initial position before the trimming command to the trimming position. Because different control stick forces correspond to different neutral positions, this adjustment process manifests as a change in the control stick force applied to the control stick. In practice, a specific electromechanical module within the trimming mechanism of the flight simulator can apply the control stick force.

[0037] Step 104: During the second preset time period, adjust the trim flywheel force applied to the control lever to be trimmed according to the numerical information of the trim flywheel force.

[0038] The trim flywheel force simulates the force transmitted to the control stick due to inertia during the adjustment of the control stick force by the trim flywheel, which is located within the control stick preload mechanism of a real flight simulator. As an example, the trim flywheel employs a flywheel mechanical structure to control the position of the spring plates in the control stick preload mechanism. During trimming, the trim flywheel is in motion (e.g., releasing or tightening the spring plates), and after trimming, the trim flywheel is fixed and stationary. In practical implementation, the trim flywheel force can be applied to the control stick by a specific electromechanical module within the flight simulator's trim mechanism.

[0039] The trimming process includes a first preset time period and a second preset time period. The start time of the second preset time period is later than the start time of the first preset time period, and there is an overlap between the two. The trimming command is completed at the end of the second preset time period. In practical implementation, the values ​​of the first and second preset time periods can be set by referring to the trimming process of the control stick of the corresponding flight simulator. As an example, if the time required for the trimming process is T (e.g., 10 seconds), the first preset time period can be set to 0~4 / 5T, and the second preset time period can be set to 3 / 5T~T.

[0040] For real flight equipment, the trim flywheel force changes over time during the control stick trimming process. To accurately simulate the control stick trimming process in a flight simulator, in some embodiments, the numerical information of the trim flywheel force includes a second numerical sequence that changes over time. In practice, the numerical information of the trim flywheel force can be obtained in various ways, without being limited by the description in this specification.

[0041] For an example of obtaining numerical information about the balance flywheel force, see [link to example]. Figure 3 The relevant content will not be repeated here.

[0042] Figure 2 This is a flowchart illustrating the method for obtaining numerical information on the adjustment of the joystick force provided by the present invention, as shown below. Figure 2 As shown, the method includes the following: Step 201: Based on the first position, the balancing position, and the duration of the first preset time period, fit the trajectory data of the change of the neutral position of the control lever to be balanced over time within the first preset time period.

[0043] In some embodiments, the positional difference between the first position and the balancing position can be determined; and the displacement coefficient can be obtained based on the preset values ​​of the neutral positions corresponding to multiple preset time points within a first preset time period.

[0044] In the specific implementation process, a displacement coefficient fitting equation can be established based on the mechanical structure of the joystick pretensioning mechanism of the flight equipment corresponding to the flight simulator. The displacement coefficient fitting equation takes time point as independent variable and displacement coefficient as dependent variable. The preset values ​​of the neutral position corresponding to multiple preset time points are substituted into the displacement coefficient fitting equation to obtain the values ​​of multiple unknown coefficients in the displacement coefficient fitting equation. The output value of the displacement coefficient fitting equation after the coefficients are determined and changing with time is taken as the displacement coefficient.

[0045] As an example only, the displacement coefficient can be obtained through the following steps.

[0046] Establish a cubic polynomial y(t) with time point t as the independent variable (the value of t is within the first preset time period) as the displacement coefficient fitting equation.

[0047] y(t)=At 3 +Bt 2 +Ct+D (1) Among them, A, B, C and D are unknown coefficients.

[0048] Substituting the following sets of values ​​into formula (1), the values ​​of coefficients A, B, C, and D can be calculated: y=1 at t=0; y=0 at t=4 / 5T; y'=0 at t=0; y'=0 at t=4 / 5T. Where y' is the derivative of y(t).

[0049] In some embodiments, after obtaining the displacement coefficient, a weighted summation calculation can be performed using the displacement coefficient and the first position to obtain the trajectory data of the neutral position of the joystick to be balanced changing over time. The calculation formula is as follows: (2) Where λ is the position difference between the first position (A1) and the balancing position (A2).

[0050] Step 202: Using the correspondence between the neutral position and the joystick force, obtain the adjustment value information of the joystick force based on the trajectory data.

[0051] In practical implementation, a correspondence between the neutral position of the joystick and the joystick force can be established based on the mechanical characteristics of the joystick preload mechanism of the flight equipment corresponding to the flight simulator. Then, using this correspondence, the adjustment value information of the joystick force can be obtained based on the trajectory data of the neutral position changing over time obtained in step 201. For example, at time point t1, the neutral position in the trajectory data is a1, and the joystick force corresponding to this neutral position is b1. Therefore, the preset value of the joystick force at time point t1 can be obtained as b1.

[0052] In the embodiments provided by this invention, trajectory data of the change of the neutral position of the control stick to be trimmed over time within the first preset time period is obtained by fitting based on the first position, the trim position, and the duration of the first preset time period. Using the correspondence between the neutral position and the control stick force, adjustment numerical information of the control stick force is obtained based on the trajectory data. Since fitting can yield adjustment numerical information of the control stick force that is closer to that of actual flight equipment, this embodiment of the invention can apply a control stick force closer to that of actual flight equipment to the control stick to be trimmed during the trimming process of the flight simulator. Especially for cases where the control stick force is large and the trimming structure of the simulated flight equipment is a mechanical structure, by using this embodiment of the invention, the trimming process of the control stick in the flight simulator can be simulated more accurately, thereby effectively improving the training effect of pilots.

[0053] Figure 3 This is a flowchart illustrating the method for obtaining numerical information of the balance flywheel force provided by the present invention, as shown below. Figure 3 As shown, the method includes the following: Step 301: Based on the preset values ​​of the balance flywheel force corresponding to multiple preset time points within the second preset time period, obtain the force coefficient that changes with time.

[0054] In some embodiments, a force coefficient fitting equation can be established based on the mechanical structure of the trim flywheel of a simulated real flight device; wherein the force coefficient fitting equation uses time point as independent variable and force coefficient as dependent variable; the preset values ​​of the trim flywheel force corresponding to multiple preset time points are substituted into the force coefficient fitting equation to obtain the values ​​of multiple unknown coefficients in the force coefficient fitting equation; the output value of the force coefficient fitting equation after the coefficients are determined as the force coefficient is used as the output value of the force coefficient fitting equation changing with time.

[0055] As an example only, the force coefficient can be obtained through the following steps.

[0056] Establish a trigonometric function g(t1) with independent variable t1 (the value of t1 is within the second preset time period) as the fitting equation for the force coefficient.

[0057] g(t1)=A1×sin(B1×t1+C1)+D1 (3) Among them, A1, B1, C1 and D1 are unknown coefficients.

[0058] Substituting the following sets of values ​​into formula (3), the values ​​of coefficients A1, B1, C1, and D1 can be calculated: g=0 when t1=3 / 5T; g=0 when t1=T; g=1 when t1=4 / 5T; g'=0 when t1=3 / 5T. Where g' is the derivative of g(t1).

[0059] Step 302: Obtain the numerical information of the balance flywheel force by multiplying the maximum value of the balance flywheel force with the force coefficient.

[0060] In practical implementation, after obtaining the force coefficient, the numerical information of the balance flywheel force can be obtained by multiplying the maximum value of the balance flywheel force by the force coefficient. The calculation formula is as follows.

[0061] F2=g(t1) ×n (4) Where n is the maximum value of the balance flywheel force, which can be determined according to the flight equipment corresponding to the flight simulator.

[0062] In the specific implementation process, the balance flywheel force corresponding to different time points t1 can be calculated using formula (4), and then the numerical information of the balance flywheel force can be obtained.

[0063] In the embodiments provided by the present invention, a force coefficient that changes with time is obtained based on preset values ​​of the trim flywheel force corresponding to multiple preset time points within a second preset time period; the numerical information of the trim flywheel force is obtained by multiplying the maximum value of the trim flywheel force with the force coefficient. Since fitting can yield numerical information of the trim flywheel force that is closer to that of actual flight equipment, the embodiments of the present invention can apply a trim flywheel force closer to that of actual flight equipment to the control stick to be trimmed during the trimming process of the control stick in the flight simulator.

[0064] The following describes the control stick trimming device for the flight simulator provided by the present invention. The control stick trimming device for the flight simulator described below can be referred to in correspondence with the control stick trimming method for the flight simulator described above.

[0065] Figure 4 This is a schematic diagram of the trim device for the control stick of the flight simulator provided by the present invention, as shown in the figure. Figure 4 As shown, the device includes: a first acquisition module 410, a second acquisition module 420, a first adjustment module 430, and a second adjustment module 440.

[0066] The first acquisition module 410 is used to, in response to receiving a balancing command, take the current position of the lever to be balancing as the balancing position of the lever to be balancing.

[0067] The second acquisition module 420 is used to obtain the adjustment value information of the joystick force based on the distance between the trim position and the first position and the duration of the first preset time period; wherein, the first position is the neutral position of the joystick to be trimmed before the trim command is executed, the neutral position is the force balance position that the joystick automatically returns to when it is not subjected to external force, the joystick force is used to simulate the force applied by the joystick pretensioning mechanism of the flight equipment corresponding to the flight simulator to the joystick of the flight equipment, and the adjustment value information of the joystick force includes a first value sequence that changes with time within the first preset time period.

[0068] The first adjustment module 430 is used to adjust the lever force applied to the lever to be balanced according to the adjustment value information of the lever force within the first preset time period, so as to adjust the neutral position of the lever to be balanced from the first position before the balance command is executed to the balance position.

[0069] The second adjustment module 440 is used to adjust the trimming flywheel force applied to the control lever to be trimmed within a second preset time period, based on the numerical information of the trimming flywheel force. The trimming flywheel force simulates the force transmitted to the control lever due to inertia by the trimming flywheel within the control lever preload mechanism during the adjustment of the control lever force. The numerical information of the trimming flywheel force includes a second numerical sequence that changes over time. The start time of the second preset time period is greater than the start time of the first preset time period. There is an intersection between the second preset time period and the first preset time period. The trimming command is completed at the end time of the second preset time period.

[0070] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5As shown, the electronic device may include: a processor 510, a communications interface 520, a memory 530, and a communications bus 540, wherein the processor 510, the communications interface 520, and the memory 530 communicate with each other through the communications bus 540. The processor 510 can call logic instructions in the memory 530 to execute a control stick trimming method for a flight simulator. This method includes: in response to receiving a trimming command, taking the current position of the control stick to be trimmed as the trimming position of the control stick; obtaining adjustment value information of the control stick force based on the distance between the trimming position and a first position, and the duration of a first preset time period; wherein the first position is the neutral position of the control stick to be trimmed before executing the trimming command, the neutral position being the force balance position to which the control stick automatically returns when not subjected to external force, the control stick force being used to simulate the force applied to the control stick of the flight equipment by the control stick preload mechanism corresponding to the flight simulator, and the adjustment value information of the control stick force including a first value sequence changing over time within the first preset time period; within the first preset time period... Based on the adjustment value information of the joystick force, the joystick force applied to the joystick to be balanced is adjusted to adjust the neutral position of the joystick to be balanced from the first position before the balance command is executed to the balance position; within a second preset time period, based on the adjustment flywheel force value information, the balance flywheel force applied to the joystick to be balanced is adjusted; wherein, the balance flywheel force is used to simulate the force transmitted to the joystick due to inertia by the balance flywheel set in the joystick pretensioning mechanism during the adjustment of the joystick force, the balance flywheel force value information includes a second value sequence that changes with time, the start time of the second preset time period is greater than the start time of the first preset time period, there is an intersection between the second preset time period and the first preset time period, and the balance command is completed at the end time of the second preset time period.

[0071] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0072] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the control stick trimming method for a flight simulator provided by the above methods. The method includes: in response to receiving a trimming command, taking the current position of the control stick to be trimmed as the trimming position of the control stick to be trimmed; obtaining adjustment value information of the control stick force based on the distance between the trimming position and a first position, and the duration of a first preset time period; wherein, the first position is the neutral position of the control stick to be trimmed before executing the trimming command, the neutral position is the force balance position that the control stick automatically returns to when it is not subjected to external force, the control stick force is used to simulate the force applied by the control stick preload mechanism of the flight equipment corresponding to the flight simulator to the control stick of the flight equipment, and the adjustment value information of the control stick force includes the force applied by the control stick preload mechanism of the flight equipment corresponding to the flight simulator to the control stick of the flight equipment. The first preset time period is defined as a first numerical sequence that changes over time; within the first preset time period, the joystick force applied to the joystick to be balanced is adjusted according to the adjustment value information of the joystick force, so as to adjust the neutral position of the joystick to be balanced from the first position before the execution of the balancing command to the balancing position; within the second preset time period, the balancing flywheel force applied to the joystick to be balanced is adjusted according to the balancing flywheel force value information; wherein, the balancing flywheel force is used to simulate the force transmitted to the joystick due to inertia by the balancing flywheel set in the joystick pretensioning mechanism during the adjustment of the joystick force, the balancing flywheel force value information includes a second numerical sequence that changes over time, the start time of the second preset time period is greater than the start time of the first preset time period, there is an intersection between the second preset time period and the first preset time period, and the balancing command is completed at the end time of the second preset time period.

[0073] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements a method for trimming a joystick of a flight simulator provided by the methods described above. The method includes: in response to receiving a trimming command, taking the current position of the joystick to be trimmed as the trimming position of the joystick; obtaining adjustment numerical information of the joystick force based on the distance between the trimming position and a first position, and the duration of a first preset time period; wherein the first position is the neutral position of the joystick to be trimmed before executing the trimming command, the neutral position being the force balance position to which the joystick automatically returns when not subjected to external force, the joystick force being used to simulate the force applied by the joystick preload mechanism of the flight equipment corresponding to the flight simulator to the joystick of the flight equipment, and the adjustment numerical information of the joystick force including the time-varying values ​​within the first preset time period. A first numerical sequence; within a first preset time period, the joystick force applied to the joystick to be balanced is adjusted according to the adjustment value information of the joystick force, so as to adjust the neutral position of the joystick to be balanced from the first position before the execution of the balancing command to the balancing position; within a second preset time period, the balancing flywheel force applied to the joystick to be balanced is adjusted according to the adjustment flywheel force value information; wherein, the balancing flywheel force is used to simulate the force transmitted to the joystick due to inertia by the balancing flywheel set in the joystick pretensioning mechanism during the adjustment of the joystick force, the balancing flywheel force value information includes a second numerical sequence that changes with time, the start time of the second preset time period is greater than the start time of the first preset time period, there is an intersection between the second preset time period and the first preset time period, and the balancing command is completed at the end time of the second preset time period.

[0074] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0075] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for balancing the joystick of a flight simulator, characterized in that, The method is applied to the trim mechanism of a flight simulator, including: In response to receiving a balancing command, the current position of the lever to be balanced is taken as the balancing position of the lever to be balanced; Based on the distance between the trim position and the first position, and the duration of the first preset time period, the adjustment value information of the joystick force is obtained; wherein, the first position is the neutral position of the joystick to be trimmed before the trim command is executed, the neutral position is the force balance position that the joystick automatically returns to when it is not subjected to external force, the joystick force is used to simulate the force applied by the joystick pretensioning mechanism of the flight equipment corresponding to the flight simulator to the joystick of the flight equipment, and the adjustment value information of the joystick force includes a first value sequence that changes with time within the first preset time period; During the first preset time period, the lever force applied to the lever to be balanced is adjusted according to the adjustment value information of the lever force, so as to adjust the neutral position of the lever to be balanced from the first position before the balance command is executed to the balance position. Within a second preset time period, the trimming flywheel force applied to the control lever to be trimmed is adjusted according to the numerical information of the trimming flywheel force. The trimming flywheel force simulates the force transmitted to the control lever due to inertia during the adjustment of the control lever force by the trimming flywheel within the control lever preload mechanism. The numerical information of the trimming flywheel force includes a second numerical sequence that changes over time. The start time of the second preset time period is greater than the start time of the first preset time period, and there is an intersection between the second preset time period and the first preset time period. The trimming command is completed at the end time of the second preset time period.

2. The method for balancing the joystick of a flight simulator according to claim 1, characterized in that, The step of obtaining the adjustment value information of the joystick force based on the distance between the balancing position and the first position, and the duration of the first preset time period, includes: Based on the first position, the balancing position, and the duration of the first preset time period, trajectory data of the change of the neutral position of the control lever to be balanced over time within the first preset time period is obtained by fitting. By utilizing the correspondence between the neutral position and the joystick force, the adjustment value information of the joystick force is obtained based on the trajectory data.

3. The method for balancing the joystick of a flight simulator according to claim 2, characterized in that, The step of fitting trajectory data of the change of the neutral position of the joystick to be balanced over time within the first preset time period, based on the first position, the balancing position, and the duration of the first preset time period, includes: Determine the positional difference between the first position and the balancing position; The displacement coefficient is obtained based on the preset values ​​of the neutral positions corresponding to multiple preset time points within the first preset time period; Using the displacement coefficient, a weighted summation calculation is performed between the position difference and the first position to obtain the trajectory data of the neutral position of the control stick to be balanced changing over time.

4. The method for balancing the joystick of a flight simulator according to claim 3, characterized in that, The step of obtaining the displacement coefficient based on preset values ​​of neutral positions corresponding to multiple preset time points within the first preset time period includes: Based on the mechanical structure of the control lever preload mechanism, a displacement coefficient fitting equation is established; wherein, the displacement coefficient fitting equation uses time point as the independent variable and displacement coefficient as the dependent variable; Substitute the preset values ​​of the neutral positions corresponding to the multiple preset time points into the displacement coefficient fitting equation to obtain the values ​​of multiple unknown coefficients in the displacement coefficient fitting equation. The output value of the displacement coefficient fitting equation after the coefficients are determined, as a function of time, is used as the displacement coefficient.

5. The method for balancing the joystick of a flight simulator according to claim 1, characterized in that, The numerical information of the balance flywheel force is obtained through the following method: Based on the preset values ​​of the balance flywheel force corresponding to multiple preset time points within the second preset time period, the force coefficient that changes with time is obtained; The numerical information of the balance flywheel force is obtained by multiplying the maximum value of the balance flywheel force with the force coefficient.

6. The method for balancing the joystick of a flight simulator according to claim 5, characterized in that, The step of obtaining the force coefficient that changes with time based on the preset values ​​of the balance flywheel force corresponding to multiple preset time points within the second preset time period includes: Based on the mechanical structure of the balance flywheel, a force coefficient fitting equation is established; wherein, the force coefficient fitting equation uses time point as the independent variable and force coefficient as the dependent variable; Substitute the preset values ​​of the balance flywheel force corresponding to the multiple preset time points into the force coefficient fitting equation to obtain the values ​​of multiple unknown coefficients in the force coefficient fitting equation. The output value of the force coefficient fitting equation after the coefficients are determined, as a function of time, is taken as the force coefficient.

7. A trim device for a control stick in a flight simulator, characterized in that, The device is installed in the trim mechanism of the flight simulator and includes: The first acquisition module is used to, in response to receiving a balancing command, take the current position of the lever to be balanced as the balancing position of the lever to be balanced; The second acquisition module is used to obtain the adjustment value information of the joystick force based on the distance between the trim position and the first position, and the duration of the first preset time period; wherein, the first position is the neutral position of the joystick to be trimmed before the trim command is executed, the neutral position is the force balance position that the joystick automatically returns to when it is not subjected to external force, the joystick force is used to simulate the force applied by the joystick pretensioning mechanism of the flight equipment corresponding to the flight simulator to the joystick of the flight equipment, and the adjustment value information of the joystick force includes a first value sequence that changes with time within the first preset time period; The first adjustment module is used to adjust the lever force applied to the lever to be balanced according to the adjustment value information of the lever force within the first preset time period, so as to adjust the neutral position of the lever to be balanced from the first position before the balance command is executed to the balance position. The second adjustment module is used to adjust the trimming flywheel force applied to the control lever to be trimmed within a second preset time period, based on the numerical information of the trimming flywheel force. The trimming flywheel force simulates the force transmitted to the control lever due to inertia by the trimming flywheel within the control lever preload mechanism during the adjustment of the control lever force. The numerical information of the trimming flywheel force includes a second numerical sequence that changes over time. The start time of the second preset time period is greater than the start time of the first preset time period, and there is an intersection between the second preset time period and the first preset time period. The trimming command is completed at the end time of the second preset time period.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the joystick balancing method of the flight simulator as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the joystick balancing method of the flight simulator as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the joystick balancing method of the flight simulator as described in any one of claims 1 to 6.

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