Method for determining flapping angle based on helicopter simulator rotor

Abstract

The invention provides a flapping angle determination method based on a rotor of a helicopter simulator, and the method comprises the steps: constructing a rotor flapping expression of the helicopter simulator in a rotor flapping plane of the helicopter simulator when the helicopter simulator is in a stable flight state, and determining a corresponding flapping acceleration expression; determining the flapping inertia force of the rotor in the rotor flapping plane based on the flapping acceleration expression, and constructing a balance equation of the helicopter simulator in the rotor flapping plane based on the pulling force, the gravity, the centrifugal force and the moment corresponding to the flapping inertia force in the rotor flapping plane; then resolving the balance equation to obtain parameters corresponding to the rotor wing flapping angle expression so as to determine the flapping angle of the helicopter simulator rotor wing, the process can be solved by selecting proper software, the calculation process is simplified, the calculation precision of the rotor wing flapping angle is improved, matching debugging can be performed in the calculation simulation process, and the reliability of the helicopter simulator rotor wing flapping angle is improved. And the computer code writing amount of rotor wing simulation is reduced.

Description

Technical Field

[0001] The invention relates to the field of aerospace technology, and in particular to a method for determining a flapping angle based on a helicopter simulator rotor. Background Art

[0002] The rotor of a helicopter includes multiple blades. The rotor is the lift surface of the helicopter, generating lift to lift the helicopter into the air; it is also the control surface of the helicopter, providing control force and torque to lift, pitch and roll the helicopter; and it is also the propeller of the helicopter, pulling the helicopter to fly in any direction. Therefore, helicopter rotor simulation is an important part of helicopter simulator flight simulation. The prior art uses the momentum method to integrate the rotor microelement to calculate the rotor flapping angle equation, but this method is not convenient for debugging in computer simulation. Summary of the invention

[0003] The object of the present invention is to provide a method for determining the flapping angle of a helicopter simulator rotor. When the helicopter simulator is in a stable flight state, a rotor flapping expression of the helicopter simulator is constructed in the rotor flapping plane of the helicopter simulator to determine the corresponding flapping acceleration expression, and the change of the rotor flapping angular acceleration is expressed in a functional manner; based on the flapping acceleration expression, the flapping inertia force of the rotor in the rotor flapping plane is determined, and based on the tension, gravity, centrifugal force and the torque corresponding to the flapping inertia force received by the rotor in the rotor flapping plane, the balance equation of the helicopter simulator in the rotor flapping plane is constructed, and the rotor is subjected to dynamic analysis and calculation using the balance equation; the balance equation is then solved to obtain the parameters corresponding to the rotor flapping angle expression, so as to determine the flapping angle of the helicopter simulator rotor. The above process can be solved by selecting appropriate software, simplifying the calculation process, improving the calculation accuracy of the rotor flapping angle, and matching and debugging can be performed in the calculation simulation process to reduce the amount of computer code writing for rotor simulation.

[0004] The present invention is achieved through the following technical solutions:

[0005] The method for determining the flapping angle of a helicopter simulator rotor includes:

[0006] When the helicopter simulator is in a stable flight state, determining a rotor flapping plane of the helicopter simulator; constructing a rotor flapping expression of the helicopter simulator in the rotor flapping plane, and determining a corresponding flapping acceleration expression based on the rotor flapping angle expression;

[0007] Based on the flapping acceleration expression, the flapping inertia force of the rotor in the rotor flapping plane is determined; based on the tension, gravity, centrifugal force and the moment corresponding to the flapping inertia force received by the rotor in the flapping plane, the equilibrium equation of the helicopter simulator in the rotor flapping plane is constructed;

[0008] The balance equation is solved to obtain parameters corresponding to the rotor flapping angle expression; based on the parameters, the flapping angle of the helicopter simulator rotor is determined.

[0009] Optionally, before determining the rotor flapping plane of the helicopter simulator, it is also necessary to determine whether the helicopter simulator is in a stable flight state, including:

[0010] Detecting a helicopter simulator in flight to obtain simulated flight trajectory information of the helicopter simulator; wherein the simulated flight trajectory information includes a flight path trajectory of the helicopter simulator that changes with time in a simulated three-dimensional space;

[0011] The simulated flight trajectory information is analyzed to determine the flight trajectory drift change information of the helicopter simulator during the flight; and then based on the flight trajectory drift change information, it is determined whether the helicopter simulator is in a stable flight state.

[0012] Optionally, when the helicopter simulator is in a stable flight state, determining a rotor flapping plane of the helicopter simulator includes:

[0013] When the helicopter simulator is in a stable flight state, the rotor motion attitude data of the helicopter simulator is acquired, the rotor motion attitude data is analyzed, and the rotor flapping plane of the helicopter simulator is determined.

[0014] Optionally, constructing a rotor flapping expression of the helicopter simulator in the rotor flapping plane, and determining a corresponding flapping acceleration expression based on the rotor flapping angle expression, including:

[0015] The rotor blade flapping motion is assumed to be a simple harmonic motion, and the simple harmonic motion is limited to only include the first-order harmonic and the steady-state direction, and the rotor flapping motion coefficient corresponding to the simple harmonic motion is a constant, thereby constructing the rotor flapping angle expression shown in the following formula (1):

[0016] β=a0-a1*cosφ-b1*sinφ (1)

[0017] In the above formula (1), β represents the rotor flapping angle, a0 represents the rotor taper angle, φ represents the blade azimuth angle, and a1 and b1 both represent the rotor flapping motion coefficient;

[0018] The second-order derivative of the rotor flapping angle expression is taken to obtain the corresponding flapping acceleration expression.

[0019] Optionally, determining the flapping inertia force of the rotor in the rotor flapping plane based on the flapping acceleration expression includes:

[0020] Determine the individual flapping inertia force of the blade in the rotor flapping plane based on the mass of the blade of the rotor, the distance between the center of gravity of the blade and the rotation axis, and the flapping acceleration expression;

[0021] The flapping inertia force of the rotor within the rotor flapping plane is determined based on the individual flapping inertia forces of all blades under the rotor.

[0022] Optionally, based on the tension, gravity, centrifugal force and the moment corresponding to the flapping inertia force in the rotor flapping plane, a balance equation of the helicopter simulator in the rotor flapping plane is constructed, including:

[0023] Based on the pulling force on the blades of the rotor in the rotor flapping plane, determine the pulling force moment M corresponding to all the blades under the rotor T ;

[0024] Based on the gravity and centrifugal force on the rotor blades in the rotor flapping plane, determine the gravity moment M of all the blades under the rotor relative to the flapping hinge of the rotor. G and centrifugal force moment M lx ;

[0025] Based on the flapping inertia force, determine the flapping inertia moment M corresponding to all blades under the rotor β ;

[0026] Based on the following formula (2), the balance equation of the helicopter simulator in the rotor flapping plane is constructed:

[0027] M T +M G +M lx +M β =0 (2).

[0028] Optionally, solving the balance equation to obtain parameters corresponding to the rotor flapping angle expression includes:

[0029] The balance equation is solved to obtain the rotor flapping motion coefficients a1 and b1 and the rotor taper angle a0.

[0030] Optionally, determining the flapping angle of the helicopter simulator rotor based on the parameters includes:

[0031] Based on the rotor flapping motion coefficients a1 and b1 and the rotor taper angle a0, the rotor flapping angle expression is determined to obtain the corresponding flapping angles of the rotor at different blade azimuth angles.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The method for determining the flapping angle based on the helicopter simulator rotor provided in the present application constructs a rotor flapping expression of the helicopter simulator in the rotor flapping plane of the helicopter simulator when the helicopter simulator is in a stable flight state, thereby determining the corresponding flapping acceleration expression and functionally expressing the change of the rotor flapping angular acceleration; furthermore, based on the flapping acceleration expression, the flapping inertia force of the rotor in the rotor flapping plane is determined, and based on the tension, gravity, centrifugal force and the torque corresponding to the flapping inertia force in the rotor flapping plane, the balance equation of the helicopter simulator in the rotor flapping plane is constructed, and the rotor is subjected to dynamic analysis and calculation using the balance equation; the balance equation is then solved to obtain the parameters corresponding to the rotor flapping angle expression, thereby determining the flapping angle of the helicopter simulator rotor. The above process can be solved by selecting appropriate software, thereby simplifying the calculation process, improving the calculation accuracy of the rotor flapping angle, and matching and debugging can be performed during the calculation simulation process, thereby reducing the amount of computer code writing for the rotor simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0035] Figure 1 A schematic flow chart of a method for determining a flapping angle of a helicopter simulator rotor provided by the present invention. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0037] The terms "include" and "have" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, method, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0038] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0039] See also Figure 1 As shown, an embodiment of the present application provides a method for determining the flapping angle of a helicopter simulator rotor. The method for determining the flapping angle of a helicopter simulator rotor includes:

[0040] When the helicopter simulator is in a stable flight state, a rotor flapping plane of the helicopter simulator is determined; a rotor flapping expression of the helicopter simulator is constructed within the rotor flapping plane, and a corresponding flapping acceleration expression is determined based on the rotor flapping angle expression;

[0041] Based on the flapping acceleration expression, the flapping inertia force of the rotor in the rotor flapping plane is determined; based on the tension, gravity, centrifugal force and the moment corresponding to the flapping inertia force in the rotor flapping plane, the equilibrium equation of the helicopter simulator in the rotor flapping plane is constructed;

[0042] The balance equation is solved to obtain the parameters corresponding to the rotor flapping angle expression; based on the parameters, the flapping angle of the helicopter simulator rotor is determined.

[0043] The beneficial effects of the above embodiments are as follows: when the helicopter simulator is in a stable flight state, the method for determining the flapping angle of the helicopter simulator rotor constructs a rotor flapping expression of the helicopter simulator in the rotor flapping plane of the helicopter simulator, thereby determining the corresponding flapping acceleration expression, and functionally expressing the change of the rotor flapping angular acceleration; based on the flapping acceleration expression, the flapping inertia force of the rotor in the rotor flapping plane is determined, and based on the tension, gravity, centrifugal force and the torque corresponding to the flapping inertia force in the rotor flapping plane, the balance equation of the helicopter simulator in the rotor flapping plane is constructed, and the rotor is subjected to dynamic analysis and calculation using the balance equation; the balance equation is then solved to obtain the parameters corresponding to the rotor flapping angle expression, thereby determining the flapping angle of the helicopter simulator rotor. The above process can be solved by selecting appropriate software, thereby simplifying the calculation process, improving the calculation accuracy of the rotor flapping angle, and being able to perform matching and debugging during the calculation simulation process, thereby reducing the amount of computer code writing for the rotor simulation.

[0044] In another embodiment, before determining the rotor flapping plane of the helicopter simulator, it is also necessary to determine whether the helicopter simulator is in a stable flight state, including:

[0045] Detecting a helicopter simulator in flight to obtain simulated flight trajectory information of the helicopter simulator; wherein the simulated flight trajectory information includes a flight path trajectory of the helicopter simulator that changes with time in a simulated three-dimensional space;

[0046] The simulated flight trajectory information is analyzed to determine the flight trajectory drift change information of the helicopter simulator during the flight; and then based on the flight trajectory drift change information, it is determined whether the helicopter simulator is in a stable flight state.

[0047] The beneficial effect of the above embodiment is that the rotor is the lift, control and propulsion component of the helicopter, which is used to adjust the flight state of the helicopter simulator, and the rotor is in a stable control state of the helicopter simulator only when the helicopter simulator is in a stable flight state. For this purpose, the helicopter simulator in the flight state is detected to obtain the simulated flight trajectory information of the helicopter simulator, so as to accurately and comprehensively record the change of the flight path trajectory of the helicopter simulator over time during the simulated flight. Then the simulated flight trajectory information is analyzed to determine the flight trajectory drift change information of the helicopter simulator during the flight, that is, the displacement drift change rate of the flight trajectory of the helicopter simulator during the flight. If the displacement drift change rate exceeds the preset change rate threshold, it is judged that the helicopter simulator is not in a stable flight state; otherwise, it is judged that the helicopter simulator is in a stable flight state, which is convenient for the subsequent accurate determination of the rotor flapping plane of the helicopter simulator.

[0048] In another embodiment, when the helicopter simulator is in a stable flight state, determining the rotor flapping plane of the helicopter simulator includes:

[0049] When the helicopter simulator is in a stable flight state, the rotor motion attitude data of the helicopter simulator is obtained, the rotor motion attitude data is analyzed, and the rotor flapping plane of the helicopter simulator is determined.

[0050] The beneficial effect of the above embodiment is that when the helicopter simulator is in a stable flight state, the rotor motion attitude data of the helicopter simulator is obtained by a three-axis acceleration sensor or a gyroscope installed on the rotor blades, and the rotor motion attitude data is fitted and analyzed to determine the rotor flapping plane of the helicopter simulator, thereby providing a reference reference plane for the subsequent determination of the rotor flapping motion.

[0051] In another embodiment, a rotor flapping expression of the helicopter simulator is constructed in the rotor flapping plane, and a corresponding flapping acceleration expression is determined based on the rotor flapping angle expression, including:

[0052] The rotor blade flapping motion is assumed to be a simple harmonic motion, and the simple harmonic motion is limited to only include the first-order harmonic and the steady-state direction, and the rotor flapping motion coefficient corresponding to the simple harmonic motion is a constant, thereby constructing the rotor flapping angle expression shown in the following formula (1):

[0053] β=a0-a1*cosφ-b1*sinφ (1)

[0054] In the above formula (1), β represents the rotor flapping angle, a0 represents the rotor taper angle, φ represents the blade azimuth angle, and a1 and b1 both represent the rotor flapping motion coefficient;

[0055] Taking the second-order derivative of the rotor flapping angle expression, the corresponding flapping acceleration expression is obtained.

[0056] The beneficial effect of the above embodiment is that in order to simplify the motion model of the rotor blades, the flapping motion of the rotor blades is set as a simple harmonic motion, and the simple harmonic motion is limited to only include the first-order harmonic and the steady-state direction, and the rotor flapping motion coefficient corresponding to the simple harmonic motion is a constant, so as to construct the rotor flapping angle expression corresponding to the above formula (1), so that the rotor flapping angle can be represented by a function, and then the above formula (1) is differentiated once with respect to the azimuth angle to obtain the flapping acceleration expression, and then the flapping acceleration expression is differentiated once with respect to the azimuth angle to obtain the corresponding flapping acceleration expression, so as to represent the acceleration change of the flapping angle during the rotor flapping process by a function, and provide a functional basis for the subsequent determination of the flapping inertia force of the rotor in the rotor flapping plane.

[0057] In another embodiment, determining the flapping inertia force of the rotor in the rotor flapping plane based on the flapping acceleration expression includes:

[0058] Determine the individual flapping inertia force of the blade in the rotor flapping plane based on the mass of the blade of the rotor, the distance between the center of gravity of the blade and the rotation axis, and the flapping acceleration expression;

[0059] Based on the individual flapping inertia forces of all blades under the rotor, the flapping inertia force of the rotor within the rotor flapping plane is determined.

[0060] The beneficial effects of the above-mentioned embodiments are based on the mass of the blade of the rotor, the distance between the center of gravity of the blade and the rotation axis, and the flapping acceleration expression, and combined with the corresponding mechanical analysis process to determine the individual flapping inertia force of the blade within the flapping plane of the rotor, and then integrate the individual flapping inertia forces of all blades under the rotor to determine the flapping inertia force of the rotor within the flapping plane of the rotor. The above-mentioned mechanical analysis process and the integration of the individual flapping inertia forces of all blades are conventional technical means in the field and will not be described in detail here.

[0061] In another embodiment, based on the tension, gravity, centrifugal force and the moment corresponding to the flapping inertia force in the rotor flapping plane, the balance equation of the helicopter simulator in the rotor flapping plane is constructed, including:

[0062] Based on the pulling force on the rotor blades in the rotor flapping plane, determine the pulling force moment M corresponding to all the blades under the rotor T ;

[0063] Based on the gravity and centrifugal force on the rotor blades in the rotor flapping plane, determine the gravity moment M of all the blades under the rotor relative to the flapping hinge of the rotor. G and centrifugal force moment M lx ;

[0064] Based on the flapping inertia force, determine the flapping inertia moment M corresponding to all blades under the rotor. β ;

[0065] Based on the following formula (2), the balance equation of the helicopter simulator in the rotor flapping plane is constructed:

[0066] M T +M G +M lx +M β =0 (2).

[0067] The beneficial effect of the above embodiment is that based on the pulling force on the blades of the rotor in the rotor flapping plane, the gravity and centrifugal force on the blades of the rotor in the rotor flapping plane, and the flapping inertia force, the pulling moment M corresponding to all the blades under the rotor is determined respectively. T , the gravity moment M of all blades under the rotor relative to the flapping hinge of the rotor G and centrifugal force moment M lx , the flapping inertia moment M corresponding to all blades under the rotor β , and based on the fact that the helicopter simulator is currently in a stable flight state, the corresponding equilibrium equation M can be constructed T +M G +M lx +M β =0, thereby constructing the rotor flapping equation for the helicopter simulator and solving the function of the rotor flapping angle. The calculation of the tension moment, gravity moment, centrifugal force moment and flapping inertia moment belongs to the conventional technical means in this field and will not be described in detail here.

[0068] In another embodiment, the balance equation is solved to obtain parameters corresponding to the rotor flapping angle expression, including:

[0069] The balance equation is solved to obtain the rotor flapping motion coefficients a1 and b1 and the rotor taper angle a0.

[0070] The beneficial effect of the above embodiment is that by solving the balance equation, the rotor flapping motion coefficients a1 and b1 and the rotor taper angle a0 are obtained, so that the rotor flapping angle expression can be fully determined and the functional form of the rotor flapping angle expression can be accurately determined.

[0071] In another embodiment, determining the flapping angle of the helicopter simulator rotor based on the parameter includes:

[0072] Based on the rotor flapping motion coefficients a1 and b1 and the rotor taper angle a0, the rotor flapping angle expression is determined to obtain the corresponding flapping angles of the rotor at different blade azimuth angles.

[0073] The beneficial effect of the above embodiment is that the obtained rotor flapping motion coefficients a1 and b1 and the rotor taper angle a0 are substituted into the rotor flapping angle expression, so that the functional relationship between the rotor flapping angle and the blade azimuth angle can be clearly determined, which facilitates the accurate calculation of the corresponding rotor flapping angle at different blade azimuth angles, thereby providing a reliable basis for the rotor operation status evaluation of the helicopter simulator.

[0074] In general, the method for determining the flapping angle based on the helicopter simulator rotor constructs a rotor flapping expression of the helicopter simulator in the rotor flapping plane of the helicopter simulator when the helicopter simulator is in a stable flight state, thereby determining the corresponding flapping acceleration expression and functionally expressing the change of the rotor flapping angular acceleration; based on the flapping acceleration expression, the flapping inertia force of the rotor in the rotor flapping plane is determined, and based on the tension, gravity, centrifugal force and the torque corresponding to the flapping inertia force in the rotor flapping plane, the balance equation of the helicopter simulator in the rotor flapping plane is constructed, and the rotor is dynamically analyzed and calculated using the balance equation; the balance equation is then solved to obtain the parameters corresponding to the rotor flapping angle expression, thereby determining the flapping angle of the helicopter simulator rotor. The above process can be solved by selecting appropriate software to simplify the calculation process, improve the calculation accuracy of the rotor flapping angle, and can be matched and debugged during the calculation simulation process, reducing the amount of computer code writing for rotor simulation.

[0075] The above is only a specific implementation of the present invention, and any other improvements made based on the concept of the present invention are considered to be within the protection scope of the present invention.

Claims

1. A method for determining the flapping angle of a helicopter simulator rotor, characterized in that: include: When the helicopter simulator is in a stable flight state, determining a rotor flapping plane of the helicopter simulator; Constructing a rotor flapping expression of the helicopter simulator in the rotor flapping plane, and determining a corresponding flapping acceleration expression based on the rotor flapping angle expression; determining the flapping inertia force of the rotor in the rotor flapping plane based on the flapping acceleration expression; Based on the tension, gravity, centrifugal force and the moment corresponding to the flapping inertia force in the rotor flapping plane, constructing the equilibrium equation of the helicopter simulator in the rotor flapping plane; Solving the balance equation to obtain parameters corresponding to the rotor flapping angle expression; Based on the parameters, a flapping angle of the helicopter simulator rotor is determined.

2. The method for determining the flapping angle of a helicopter simulator rotor according to claim 1, characterized in that: Before determining the rotor flapping plane of the helicopter simulator, it is also necessary to determine whether the helicopter simulator is in a stable flight state, including: Detecting a helicopter simulator in flight to obtain simulated flight trajectory information of the helicopter simulator; wherein the simulated flight trajectory information includes a flight path trajectory of the helicopter simulator that changes with time in a simulated three-dimensional space; The simulated flight trajectory information is analyzed to determine the flight trajectory drift change information of the helicopter simulator during the flight; and then based on the flight trajectory drift change information, it is determined whether the helicopter simulator is in a stable flight state.

3. The method for determining the flapping angle of a helicopter simulator rotor according to claim 1, characterized in that: When the helicopter simulator is in a stable flight state, determining a rotor flapping plane of the helicopter simulator includes: When the helicopter simulator is in a stable flight state, the rotor motion attitude data of the helicopter simulator is acquired, the rotor motion attitude data is analyzed, and the rotor flapping plane of the helicopter simulator is determined.

4. The method for determining the flapping angle of a helicopter simulator rotor according to claim 3, characterized in that: Constructing a rotor flapping expression of the helicopter simulator in the rotor flapping plane, and determining a corresponding flapping acceleration expression based on the rotor flapping angle expression, including: The rotor blade flapping motion is assumed to be a simple harmonic motion, and the simple harmonic motion is limited to only include the first-order harmonic and the steady-state direction, and the rotor flapping motion coefficient corresponding to the simple harmonic motion is a constant, thereby constructing the rotor flapping angle expression shown in the following formula (1): β=a0-a1*cosφ-b1*sinφ (1) In the above formula (1), β represents the rotor flapping angle, a0 represents the rotor taper angle, φ represents the blade azimuth angle, and a1 and b1 both represent the rotor flapping motion coefficient; The second-order derivative of the rotor flapping angle expression is taken to obtain the corresponding flapping acceleration expression.

5. The method for determining the flapping angle of a helicopter simulator rotor according to claim 4, characterized in that: Determining the flapping inertia force of the rotor in the rotor flapping plane based on the flapping acceleration expression includes: Based on the mass of the blade of the rotor, the distance between the center of gravity of the blade and the rotation axis, and the flapping acceleration expression, the individual flapping inertia force of the blade in the rotor flapping plane is determined; based on the individual flapping inertia force of all the blades under the rotor, the flapping inertia force of the rotor in the rotor flapping plane is determined.

6. The method for determining the flapping angle of a helicopter simulator rotor according to claim 5, characterized in that: Based on the tension, gravity, centrifugal force and the moment corresponding to the flapping inertia force in the rotor flapping plane, the equilibrium equation of the helicopter simulator in the rotor flapping plane is constructed, including: Based on the pulling force on the blades of the rotor in the rotor flapping plane, determine the pulling force moment M corresponding to all the blades under the rotor T ; Based on the gravity and centrifugal force on the rotor blades in the rotor flapping plane, determine the gravity moment M of all the blades under the rotor relative to the flapping hinge of the rotor. G and centrifugal force moment M lx ; Based on the flapping inertia force, determine the flapping inertia moment M corresponding to all blades under the rotor β ; Based on the following formula (2), the balance equation of the helicopter simulator in the rotor flapping plane is constructed: M T +M G +M lx +M β =0 (2)。 7. The method for determining the flapping angle of a helicopter simulator rotor according to claim 6, characterized in that: The balance equation is solved to obtain parameters corresponding to the rotor flapping angle expression, including: The balance equation is solved to obtain the rotor flapping motion coefficients a1 and b1 and the rotor taper angle a0.

8. The method for determining the flapping angle of a helicopter simulator rotor according to claim 7, characterized in that: Based on the parameters, determining the flapping angle of the helicopter simulator rotor comprises: Based on the rotor flapping motion coefficients a1 and b1 and the rotor taper angle a0, the rotor flapping angle expression is determined to obtain the corresponding flapping angles of the rotor at different blade azimuth angles.

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