Multi-degree-of-freedom aircraft simulated driving training platform

Abstract

The invention discloses a multi-degree-of-freedom aircraft driving simulation training platform. The platform comprises a multi-degree-of-freedom motion platform; the control device is used for acquiring the longitudinal and lateral translation acceleration signals and the lifting and translation acceleration signals, performing wash-out and advanced compensation on the longitudinal and lateral translation acceleration signals and the lifting and translation angular velocity signals to respectively form a displacement signal, an attitude signal, a yaw angle signal and a lifting signal, and outputting the displacement signal, the attitude signal, the yaw angle signal and the lifting signal. The minimum error cost function of the simulation scene feeling model and the motion platform feeling model is taken as a target during wash-out; and controlling the multi-degree-of-freedom motion platform according to the displacement signal, the attitude signal, the yaw angle signal and the lifting signal. According to the method, the acceleration signal output by the scene simulation software is subjected to washout and advanced compensation, so that the error cost function between the simulation scene feeling model and the motion platform feeling model is minimized, the effect of high consistency of the simulation scene and the motion state is realized, and the flight training effect is powerfully improved.

Description

Technical Field

[0001] The present application relates to the field of simulation training technology, and in particular to a multi-degree-of-freedom aircraft simulation driving training platform. Background Art

[0002] Ground simulation training is a necessary process for every pilot. Through the simulation training equipment on the ground, pilots can become familiar with aircraft driving in a safe environment and perform correct operations in some simulated environments. Ground simulation training can lay a solid foundation for later air training, and can greatly save training costs and improve training safety, so it has been widely used.

[0003] At present, the equipment used in ground simulation training mainly consists of two parts: a multi-degree-of-freedom motion platform and scene simulation software. The scene simulation software controls the simulated scene displayed on the monitor according to preset scene parameters, and also controls the motion state of the multi-degree-of-freedom motion platform to achieve the purpose of consistency between the simulated scene and the motion state, and strive to achieve a high degree of consistency in the pilot's vision and physical perception.

[0004] However, due to the delay in mechanical control, the consistency between the visual simulation scene and the physical motion state control is not very high at present, which leads to differences in the pilot's physical sensation and vision, easily causing confusion in the pilot's perception and affecting the training effect. Summary of the invention

[0005] The embodiment of the present application provides a multi-degree-of-freedom aircraft simulation driving training platform to solve the problem of insufficient consistency between simulation scenes and motion states in the prior art.

[0006] On the one hand, the embodiment of the present application provides a multi-degree-of-freedom aircraft simulation driving training platform, including:

[0007] Multi-degree-of-freedom motion platform;

[0008] A control device is used to obtain longitudinal and lateral translation acceleration signals and lifting translation acceleration signals, and after washing out and leading compensation for the longitudinal and lateral translation acceleration signals and lifting translation angular velocity signals, form displacement signals, attitude signals, yaw angle signals and lifting signals respectively used to drive the multi-degree-of-freedom motion platform to move horizontally, pitch and roll, yaw angle and lift, and when washing out the longitudinal and lateral translation acceleration signals and the lifting translation angular velocity signals, the error cost function of the simulated scene perception model and the motion platform perception model is minimized as the goal; and the multi-degree-of-freedom motion platform is controlled according to the displacement signals, attitude signals, yaw angle signals and lifting signals;

[0009] The motion acquisition unit is used to detect the motion status of each operating device during the pilot's operation, so as to know the pilot's actions in advance and make pre-control operations on the multi-degree-of-freedom motion platform in time to make the multi-degree-of-freedom motion platform move in advance.

[0010] The multi-degree-of-freedom aircraft simulation driving training platform in this application has the following advantages:

[0011] By washing out and advance-compensating the acceleration signal output by the scene simulation software, the error cost function between the simulated scene perception model and the motion platform perception model is minimized, achieving a high degree of consistency between the simulated scene and the motion state, greatly improving the effect of flight training. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 A schematic diagram of the overall structure of the multi-degree-of-freedom motion platform provided in an embodiment of the present application;

[0014] Figure 2 A schematic diagram of the structure of the upper platform provided in the embodiment of the present application;

[0015] Figure 3 A schematic diagram of the structure of the lower platform provided in an embodiment of the present application.

[0016] Description of the accompanying drawings: 100 - upper platform, 110 - upper connecting piece, 200 - lower platform, 210 - lower connecting piece, 300 - telescopic unit. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0018] The embodiment of the present application provides a multi-degree-of-freedom aircraft simulation driving training platform, including:

[0019] Multi-degree-of-freedom motion platform;

[0020] A control device is used to obtain longitudinal and lateral translation acceleration signals and lifting translation acceleration signals, and after washing out and leading compensation for the longitudinal and lateral translation acceleration signals and lifting translation angular velocity signals, form displacement signals, attitude signals, yaw angle signals and lifting signals respectively used to drive the multi-degree-of-freedom motion platform to move horizontally, pitch and roll, yaw angle and lift, and when washing out the longitudinal and lateral translation acceleration signals and the lifting translation angular velocity signals, the error cost function of the simulated scene perception model and the motion platform perception model is minimized as the goal; and the multi-degree-of-freedom motion platform is controlled according to the displacement signals, attitude signals, yaw angle signals and lifting signals;

[0021] The motion acquisition unit is used to detect the motion status of each operating device during the pilot's operation, so as to know the pilot's actions in advance and make pre-control operations on the multi-degree-of-freedom motion platform in time to make the multi-degree-of-freedom motion platform move in advance.

[0022] For example, Figure 1-3 As shown, the multi-degree-of-freedom motion platform includes a telescopic unit 300 and an upper platform 100 and a lower platform 200 rotatably connected to the upper end and the lower end of the telescopic unit 300 respectively.

[0023] In the embodiment of the present application, a training cabin can be installed on the top surface of the upper platform 100, a plurality of upper connecting members 110 are arranged on the bottom surface of the upper platform 100, and a plurality of lower connecting members 210 are arranged on the top surface of the lower platform 200. The upper connecting members 110 and the lower connecting members 210 have the same structure, and both can adopt L-shaped metal plates, one side of which is fixedly connected to the upper platform 100 or the lower platform 200, and the other side is rotatably connected to the upper end or the lower end of the telescopic unit 300. When the rotatable connection is made, joint bearings can be fixedly arranged at both ends of the telescopic unit 300, and the joint bearings can be rotatably connected to the connecting rods on the upper connecting member 110 or the lower connecting member 210.

[0024] In the present application, the number of telescopic units 300 is 6, and the 6 telescopic units 300 form a Stewart parallel structure, and the motion platform after parallel connection can select and combine the 6 degrees of freedom of roll, pitch, yaw, lift, longitudinal translation and lateral translation to form motion simulation with different degrees of freedom. It should be understood that in other embodiments, the number of telescopic units 300 can be more or less, and the present application does not limit the number of telescopic units 300 and degrees of freedom.

[0025] Furthermore, the telescopic unit 300 includes a telescopic execution unit, a telescopic driving unit and a telescopic control unit. The telescopic driving unit drives the telescopic execution unit to work so as to adjust the length of the telescopic execution unit. The telescopic control unit controls the working state of the telescopic driving unit.

[0026] The telescopic execution unit may adopt an electric cylinder, the telescopic driving unit may adopt an AC servo motor, and the telescopic control unit may adopt an AC servo driver.

[0027] The training platform in this application adopts full digital servo control technology. The control device obtains the simulated posture data output by the scene simulation software through the network or serial port in a specified protocol format, performs a spatial motion model transformation on the simulated posture data, and uses the wash-out algorithm to obtain the elongation of each telescopic unit. The elongation is transmitted to the telescopic control unit through the bus. The telescopic control unit accurately controls the working state of the telescopic drive unit in the position control mode, so that the telescopic drive unit drives the screw rod of the telescopic execution unit to rotate through the synchronous wheel, and then accurately completes the telescopic movement, so that the upper platform runs to the specified position. At the same time, an encoder can also be set on the telescopic drive unit. The encoder detects the torque, speed and position information of the telescopic drive unit in real time, and sends the torque, speed and position information to the telescopic control unit to form a closed-loop control of the telescopic execution unit.

[0028] Although the above method can improve the consistency of the pilot's vision and body sensation, the multi-degree-of-freedom motion platform can only move after the control device outputs displacement signals, attitude signals, yaw angle signals and lift signals, and it can only move after these signals are no longer obtained, resulting in a certain deviation between the pilot's body sensation and vision. In response to this problem, the training platform of the present application also includes a motion acquisition unit, which detects the motion state of each operating device during the pilot's operation to know the pilot's actions in advance, and then before the control device outputs the above signals, it can know the next control to be performed, and make pre-control operations in time, so that the multi-degree-of-freedom motion platform can move in advance, further improving the consistency of the pilot's body sensation and vision.

[0029] Specifically, the motion acquisition unit can use a camera, which is preferably installed above or in front of the pilot so that the monitoring range can cover various operating devices. After the camera acquires the image inside the training cabin in real time, the central processor can process the image. During the processing, the central processor will identify key features such as hands and feet in the image, and then continuously monitor the moving direction of these key features. By judging the position and moving direction of these key features, the operating device currently operated by the pilot and the specific operating action of the operating device can be determined. Since the operating device can only issue corresponding instructions after being operated by the pilot, the pilot's operating intention can be known in advance by monitoring the pilot's operating action, and then the central processor pre-controls the multi-degree-of-freedom motion platform after determining the specific operating action. In the pre-control, the central processor only needs to determine the pilot's intention, that is, the approximate content of the specific operating action, such as turning left, refueling, etc., without knowing the detailed content of the operating action. After determining the approximate content of the operating action, the central processor can immediately perform a certain amount of pre-control on the multi-degree-of-freedom motion platform, so that after the pre-control occurs, the multi-degree-of-freedom motion platform can perform more accurate actions under the control of the above-mentioned signal.

[0030] Furthermore, since there are many operating devices in the training cabin and they are distributed in multiple different positions, the central processing unit needs to traverse the entire image when determining the operating device that the pilot is operating. This process takes a lot of time. In order to speed up the processing speed, the present application can also set a sensing unit on each operating device, such as a pressure sensor, a touch sensor, etc. When the pilot touches or presses a certain operating device, the central processing unit can quickly determine the position of the operating device in the image, and then identify the image content at that position without traversing the image, which greatly speeds up the processing speed of the image.

[0031] In a possible embodiment, the control device decomposes the longitudinal and lateral translation acceleration signals into high-frequency signals and low-frequency signals, washes out and advance-compensates the high-frequency signals to form displacement signals, and processes the low-frequency signals to form attitude signals and yaw angle signals.

[0032] Exemplarily, the control device decomposes the low-frequency signal into an attitude angle prompt signal and a yaw angle prompt signal, filters and advance-compensates the attitude angle prompt signal to form an attitude signal, and washes out, filters and advance-compensates the yaw angle prompt signal to form a yaw angle signal.

[0033] At the same time, the control device filters, washes out and advance-compensates the lifting and translation acceleration signals to form lifting signals.

[0034] The control device is installed with control software, through which the single-degree-of-freedom motion, compound motion, single-cylinder test and vibration test of the multi-degree-of-freedom motion platform can be realized. Before motion control and testing, the pilot can also set the platform parameters, which include response speed, speed limit and linearity. Under single-degree-of-freedom motion control, the control device can complete independent control of any degree of freedom of the multi-degree-of-freedom motion platform. The pilot can input the specified angle through the control software, and the multi-degree-of-freedom motion platform will move to the input angle. Under compound motion control, the control device can complete the combined control of the six degrees of freedom of the multi-degree-of-freedom motion platform. The pilot can input the specified angle and translation through the control software, and the multi-degree-of-freedom motion platform will move to the corresponding position. Under the single-cylinder test, the control device can independently control a single telescopic actuator unit of the multi-degree-of-freedom motion platform. The pilot can input the specified telescopic amount through the control software, and the specified telescopic actuator unit will move to the specified position. Under the vibration test, the control device can vibrate the multi-degree-of-freedom motion platform at a specified frequency. The pilot can input the specified vibration frequency, degrees of freedom and motion range through the control software, and the multi-degree-of-freedom motion platform will perform vibration tests according to the set parameters.

[0035] The wash-out algorithm in this application includes 4 modes: longitudinal mode (including longitudinal and pitch 2 degrees of freedom), lateral mode (including lateral and roll 2 degrees of freedom), yaw mode and up-down mode. The first two modes make the training cabin tilt a certain roll angle and pitch angle in a limited motion space, thereby generating a component of gravity acceleration, so that the pilot feels a continuous sense of acceleration, and the latter two modes can use a high-pass filter alone to simulate the high-frequency dynamics of the aircraft. The following describes the derivation process of the wash-out algorithm by taking the longitudinal mode (X-axis direction) as an example.

[0036] Control input state variable μ f The linear acceleration α in the X-axis direction xf and the angular velocity θ about the X axis xf composition:

[0037]

[0038] μ f After washing, μ ω :

[0039]

[0040] μ f , μ ω They will be compared after being passed through the human body sensory model.

[0041] For the human sensory model, the control input is assumed to be:

[0042]

[0043] The rotational motion felt by the human body is obtained by μ1 through the semicircular canal model:

[0044]

[0045] Where:

[0046]

[0047] T3=G s τ a τ L T0, T4 = G s τ a T0

[0048] Written in state space form:

[0049] χ 1-3 =[χ1χ2χ3] r

[0050]

[0051] Where:

[0052]

[0053] C scc =[1 0 0], D scc =[T10]

[0054] The axial force (in the X-axis direction) felt by the human body is determined by the training cabin force f x Multiplying by the otolith model gives:

[0055]

[0056] On the training platform, since the center position of the optional equipment is located at the center of the multi-degree-of-freedom motion platform, the specific force is:

[0057]

[0058] Where R ph is the length from the center of the multi-degree-of-freedom motion platform to the pilot's head. Performing Laplace transformation on the above formula yields:

[0059]

[0060] After substituting the operation, we get:

[0061]

[0062] Rearranging the equation and differentiating both sides of the equation gives:

[0063]

[0064] The above formula can be written as:

[0065]

[0066] a=(B0+B1),b=B0B1,c=G 02 ×(B0+B1-A0)

[0067] d=G 02 (g+R ph B0B1), e=G 02 gA0,f=G 02 , h=G 02 A0

[0068] Defined in state space:

[0069] χ 4-8 =[χ4χ5χ6χ7χ8] r

[0070]

[0071] Where:

[0072]

[0073] C oto =[1 0 0 1 0], D otp =[-R ph 0]

[0074] The state space equations of the control signal μ and the otolith model and semicircular canal model are established respectively, and the state space of the human motion sensory model is obtained by merging the two state space equations:

[0075]

[0076] Where:

[0077]

[0078] From this we can get μ f , μ ω The state equations of the human body sensory model are as follows:

[0079]

[0080] Assuming that the human sensory model can be applied to both the training cabin and the pilots in the training cabin, define the state error χ e = xω -x f , pilot perceived error e:

[0081] χ e =A v χ e +B v μ ω -B v μ1

[0082] e=C v χ e +D v μ ω -D v μ f

[0083] The washed μ ω Introduce the algorithm to optimize the output angle, speed and displacement, and ensure that the training cabin returns to the neutral position after completing an action. Introduce the state variable χ d :

[0084] χ d =[χ9χ 10 χ 11 χ 12 ]≈[∫∫∫axdt 3 ∫∫axdt 2 ∫axdt 1 θ]

[0085] get:

[0086]

[0087] y d =x d

[0088] Where:

[0089]

[0090] The input signal of the system is μ f The random input signal obtained by filtering white noise is written in state space form:

[0091] χ n =A n x n +B2ω

[0092] μ f =x n

[0093] Where:

[0094]

[0095] Merge to get a new state space:

[0096] χ=[χ c χ d χ n ]

[0097]

[0098] y=[ex d ] r =Cχ+Dμ ω

[0099] Where:

[0100]

[0101] H=[0 0B n ] f

[0102] In order to minimize the sensory error e and μ ω To meet the performance indicators of the motion platform, construct the cost function:

[0103]

[0104] Where E is the mean or expected value. This cost function consists of three variables: sensory error e, additional term χ d and μ ω , the three variables together define the linear and rotational motion of the multi-degree-of-freedom motion platform.

[0105] Convert the equation into standard optimal control form:

[0106]

[0107]

[0108] Where:

[0109]

[0110] R 12 =C T GD

[0111] when

[0112] μ′=-R′2B T P

[0113] The cost function is minimized.

[0114] P is the solution of the following Riccati equation:

[0115]

[0116] Substituting into the equation we get:

[0117]

[0118] Assume the optimal feedback gain matrix is ​​F:

[0119] μ ω =-V

[0120]

[0121] The state variable χ in the corresponding equation e 、v d and χ n , decompose F into the following form:

[0122]

[0123] Remove the state variable χ n get:

[0124]

[0125] Performing a pull transformation yields:

[0126] μ ω (s)=W(s)V f (s)

[0127] in:

[0128]

[0129] The optimal filter matrix is:

[0130]

[0131] Each W(s) is a high-order optimal filter. By choosing a suitable weight matrix Q, R d and R are used to adjust the W(s) filter coefficients to achieve the desired motion response.

[0132] In a possible embodiment, the control device also detects the process specification, and when it is determined that the process specification does not meet the safety index, the multi-degree-of-freedom motion platform is locked.

[0133] For example, pilots need to follow standard procedures before training, such as wearing seat belts, etc., and there may be unsafe factors during the movement of the multi-degree-of-freedom motion platform. Therefore, the control device also needs to detect situations such as the moving distance exceeding the limit point, not reaching the starting point, and the software judging that the limit is exceeded, so as to stop the movement of the multi-degree-of-freedom motion platform in time.

[0134] In a possible embodiment, the control device also performs emergency braking on the multi-degree-of-freedom motion platform when a failure occurs in the multi-degree-of-freedom motion platform.

[0135] For example, when a malfunction or emergency occurs on the multi-degree-of-freedom motion platform, the pilot can perform emergency braking through the control device to protect people and property.

[0136] In a possible embodiment, the control device also performs fault detection on the multi-degree-of-freedom motion platform.

[0137] Illustratively, during the movement of the multi-degree-of-freedom motion platform, the control device reads the data of the telescopic control unit and other control components through the Modbus RTU protocol to monitor the operating status of the multi-degree-of-freedom motion platform in real time. After a fault is found, it can respond promptly and stop the multi-degree-of-freedom motion platform from moving further to ensure the safety of the pilot.

[0138] In a possible embodiment, a posture detection unit is provided on the multi-degree-of-freedom motion platform, and the posture detection unit is used to collect actual posture data of the multi-degree-of-freedom motion platform. The control device also obtains simulated posture data of the simulated scene and compares the actual posture data with the simulated posture data.

[0139] For example, the actual posture data can be solved after data extraction processing to obtain the current posture and vibration data of the multi-degree-of-freedom motion platform. These posture and vibration data can be sent to the HMI (human-machine interface) of the training cabin through the network, and the current posture can be compared with the posture in the simulated scene simulated by the scene simulation software.

[0140] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0141] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A multi-degree-of-freedom aircraft simulation driving training platform, It is characterized in that include: Multi-degree-of-freedom motion platform; A control device, for acquiring longitudinal and lateral translation acceleration signals and lifting translation acceleration signals, and after washing out and leading compensation for the longitudinal and lateral translation acceleration signals and lifting translation angular velocity signals, forming displacement signals, attitude signals, yaw angle signals and lifting signals respectively used to drive the multi-degree-of-freedom motion platform to move horizontally, pitch and roll, yaw angle and lift, and when washing out the longitudinal and lateral translation acceleration signals and lifting translation angular velocity signals, the goal is to minimize the error cost function of the simulated scene perception model and the motion platform perception model; and controlling the multi-degree-of-freedom motion platform according to the displacement signals, attitude signals, yaw angle signals and lifting signals; The motion acquisition unit is used to detect the motion state of each operating device during the pilot's operation, so as to know the pilot's action in advance and make pre-control operations on the multi-degree-of-freedom motion platform in time to make the multi-degree-of-freedom motion platform move in advance.

2. A multi-degree-of-freedom aircraft driving simulation training platform according to claim 1, It is characterized in that The control device decomposes the longitudinal and lateral translation acceleration signals into high-frequency signals and low-frequency signals, forms the displacement signal after washing out and advance-compensating the high-frequency signal, and processes the low-frequency signal to form the attitude signal and yaw angle signal.

3. A multi-degree-of-freedom aircraft driving simulation training platform according to claim 2, It is characterized in that The control device decomposes the low-frequency signal into an attitude angle prompt signal and a yaw angle prompt signal, forms the attitude signal after filtering and advance compensating the attitude angle prompt signal, and forms the yaw angle signal after washing out, filtering and advance compensating the yaw angle prompt signal.

4. A multi-degree-of-freedom aircraft driving simulation training platform according to claim 1, It is characterized in that The control device filters, washes out and advance-compensates the lifting and translation acceleration signal to form the lifting signal.

5. A multi-degree-of-freedom aircraft driving simulation training platform according to claim 1, It is characterized in that The control device also detects the process specification, and when it is determined that the process specification does not meet the safety index, the multi-degree-of-freedom motion platform is locked.

6. A multi-degree-of-freedom aircraft driving simulation training platform according to claim 1, It is characterized in that The control device also performs emergency braking on the multi-degree-of-freedom motion platform when a failure occurs in the multi-degree-of-freedom motion platform.

7. The multi-degree-of-freedom aircraft driving simulation training platform according to claim 1, It is characterized in that The control device also performs fault detection on the multi-degree-of-freedom motion platform.

8. The multi-degree-of-freedom aircraft driving simulation training platform according to claim 1, It is characterized in that The multi-degree-of-freedom motion platform is provided with a posture detection unit, and the posture detection unit is used to collect actual posture data of the multi-degree-of-freedom motion platform. The control device also obtains simulated posture data of a simulated scene and compares the actual posture data with the simulated posture data.

9. The multi-degree-of-freedom aircraft driving simulation training platform according to claim 1, It is characterized in that The multi-degree-of-freedom motion platform comprises a telescopic unit (300), and an upper platform (100) and a lower platform (200) which are rotationally connected to the upper end and the lower end of the telescopic unit (300), respectively.

10. A multi-degree-of-freedom aircraft driving simulation training platform according to claim 9, It is characterized in that The telescopic unit (300) comprises a telescopic execution unit, a telescopic driving unit and a telescopic control unit, wherein the telescopic driving unit drives the telescopic execution unit to operate so as to adjust the length of the telescopic execution unit, and the telescopic control unit controls the working state of the telescopic driving unit.

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