A manipulating force control device for simulating driving equipment

Abstract

The present invention discloses a control device for the sense of control of a simulated driving device, which belongs to the technical field of driving sense of control force simulation, and comprises a fixed frame and a control box, wherein the control box is arranged above the fixed frame; a connecting shaft, wherein the connecting shaft is arranged in two groups and respectively fixedly mounted on the left and right ends of the control box; a rotating shaft seat, wherein the rotating shaft seat is rotatably connected to the outer circumferential surface of the connecting shaft, and the lower end of the rotating shaft seat is fixedly connected to the upper end surface of the fixed frame; and a first rotating sleeve, wherein the first rotating sleeve is rotatably mounted on the inner wall of the control box near the upper end. The present invention can achieve accurate acquisition of key parameters such as the appearance size, flight altitude, speed, and attitude of the simulated aircraft, and real-time calculation of the flight resistance in combination with the atmospheric model, and accurately distribute the resistance to the forward and backward and left and right swings of the joystick, so that the pilot can feel a sense of force very similar to that of real driving in the simulated flight, which greatly improves the authenticity and immersion of the simulated flight.

Description

Technical Field

[0001] The present invention relates to the technical field of driving manipulating force simulation, and more particularly to a manipulating force control device for simulating driving equipment. Background Art

[0002] During the actual flight of an aircraft, changes in its flight speed have a crucial impact on flight controllability, especially in the two extreme conditions of low-speed flight and high-speed flight. The resistance encountered by the aircraft varies significantly, and this difference is directly reflected in the force required by the pilot to control the aircraft's joystick.

[0003] When flying at low speed, the relative speed between the aircraft and the air is small, so the air resistance it encounters is also relatively small. In this case, the aircraft's maneuverability is relatively flexible, and the pilot only needs to use a small force to easily pull the aircraft's joystick to achieve the aircraft's turning, taking off and landing and other actions. This easy maneuverability helps the pilot control the aircraft more accurately and complete various flight missions.

[0004] However, when the aircraft enters high-speed flight, the situation is completely different. As the flight speed increases, the relative speed between the aircraft and the air rises sharply, causing the air resistance of the aircraft to increase significantly. This increased resistance not only increases the flight stability of the aircraft, but also makes it more challenging for the pilot to control the aircraft. In order to overcome this increased resistance, the pilot needs to use greater force to pull the aircraft joystick, and sometimes even needs the assistance of both hands to complete this action. This increased control force requires the pilot to have stronger physical strength and higher control skills to ensure the stability and safety of the aircraft during high-speed flight.

[0005] However, existing aircraft joystick simulators generally use complex mechanical linkage structures to simulate the force feel of the aircraft joystick when simulating rapid changes in aircraft speed, and often cannot truly reflect changes in the control force of the aircraft joystick. This is because the resistance simulation system in the simulator cannot accurately adjust the control force according to changes in flight speed, resulting in pilots being unable to obtain the same control feeling in the simulator as in real flight, affecting the pilot's training effect. Summary of the invention

[0006] In view of the problems existing in the prior art, the purpose of the present invention is to provide a control force sense control device for a simulated driving device, which can achieve the goal of accurately obtaining the key parameters of the simulated aircraft, such as the appearance size, flight altitude, speed, attitude, etc., and calculating the flight resistance in real time in combination with the atmospheric model, and accurately distributing the resistance to the forward and backward and left and right swings of the joystick, so that the pilot can feel a force sense that is extremely similar to real driving in the simulated flight, thereby greatly improving the authenticity and immersion of the simulated flight.

[0007] To solve the above problems, the present invention adopts the following technical solutions.

[0008] A manipulation force control device for a simulated driving device, comprising:

[0009] A fixing frame and a control box, wherein the control box is arranged above the fixing frame;

[0010] Connecting shafts, which are arranged in two groups and are respectively fixedly mounted on the left and right ends of the control box;

[0011] A rotating shaft seat, the rotating shaft seat is rotatably connected to the outer circumferential surface of the connecting shaft, and the lower end of the rotating shaft seat is fixedly connected to the upper end surface of the fixing frame;

[0012] A first rotating sleeve, which is rotatably mounted on the inner wall of the control box near the upper end;

[0013] A joystick, the joystick is fixedly connected to the upper end of the first rotating sleeve, and the joystick extends from the inside of the joystick box to the outside;

[0014] A first servo motor and a second servo motor, wherein the first servo motor and the second servo motor are both mounted on a fixed frame and close to a lower end, the first servo motor is used to apply resistance when the joystick is swung forward and backward, and the second servo motor is used to apply resistance when the joystick is swung left and right;

[0015] A connecting rod, the upper end of which is hinged to the left end of the first rotating sleeve;

[0016] A second rotating sleeve, the second rotating sleeve is hinged at the lower end of the connecting rod, and the second rotating sleeve is rotatably connected to the inner wall of the control box;

[0017] Transmission assembly, the transmission assembly is provided in two groups, and the two groups of transmission assemblies are respectively installed between the connecting shaft and the first servo motor and between the second rotating sleeve and the second servo motor;

[0018] The first data acquisition module is used to obtain the appearance size of the simulated aircraft;

[0019] The second data acquisition module is used to obtain the current altitude and flight speed of the simulated aircraft controlled by the joystick, as well as the flight attitude in real time;

[0020] The analysis module calculates the resistance of the joystick in the simulated aircraft according to the external dimensions of the simulated aircraft, the altitude and flight speed of the simulated aircraft at the current moment, and the flight attitude;

[0021] The control module calculates the control current of the first servo motor and the second servo motor according to the resistance of the joystick in the simulated aircraft, and inputs the control current into the first servo motor and the second servo motor.

[0022] Furthermore, the transmission assembly comprises:

[0023] Upper cranks, wherein one group of the upper cranks is fixedly mounted on one end of the connecting shaft, and another group of the upper cranks is fixedly connected to the lower end of the second rotating sleeve;

[0024] A first connecting rod, the first connecting rod being hinged to the lower end of the upper crank;

[0025] A transfer rod, the transfer rod being hinged to an end of the first connecting rod away from the upper crank;

[0026] A rotating shaft disk, the rotating shaft disk is rotatably mounted at the center position of the outer surface of the transfer rod, and the rotating shaft disk is fixedly mounted on a fixing frame;

[0027] A second connecting rod, wherein the second connecting rod is hinged at the lower end of the transfer rod;

[0028] The lower cranks are hinged on one end of the second connecting rod away from the transfer rod, wherein one group of the lower cranks is connected to the output shaft of the first servo motor, and the other group of the lower cranks is connected to the output shaft of the second servo motor.

[0029] Furthermore, the resistance of the joystick in the simulated aircraft is calculated, including:

[0030] Acquire the wingspan area of ​​the simulated aircraft according to the first data acquisition module , fuselage length , the projected area in the flight direction ;

[0031] Acquire the current flight altitude of the simulated aircraft according to the first data acquisition module , current flight speed , the angle between the chord of the aircraft and the incoming flow direction , the angle between the side of the aircraft and the incoming flow direction ;

[0032] According to the above data, calculate the flight resistance of the simulated aircraft at the current moment :

[0033] ,in Indicates the current altitude The corresponding air density is: It is expressed as the induced drag coefficient and is related to the design of the aircraft; It is expressed as the wave drag coefficient, which is related to the speed and altitude of the aircraft; Expressed as the acceleration due to gravity; Expressed as dynamic viscosity, it varies with temperature and altitude; Expressed as the drag coefficient, it is the angle and angle function.

[0034] Furthermore, the resistance of the joystick in the simulated aircraft is calculated, and the following steps are also included:

[0035] Simulate the flight resistance of the aircraft at the current moment Calculate the control resistance that the joystick in the simulated aircraft should be subjected to in the forward and backward directions at the current moment And the control resistance that the joystick should be subjected to in the left and right directions The specific calculation method is , in Expressed as drag coefficient; It is expressed as the resistance distribution ratio of left and right swing; It is expressed as the resistance distribution ratio of the forward and backward swing, and =1.

[0036] Further, according to the resistance of the joystick in the simulated aircraft, the control current of the first servo motor and the second servo motor is calculated, including:

[0037] According to the control resistance and The mechanical resistance generated when the joystick drives the transmission component when it swings is measured in advance by experiments. and the mechanical resistance generated when swinging left and right ,based on and Calculate the torque that the first servo motor needs to output ,based on and Calculate the torque that the second servo motor needs to output , the specific calculation is: and ,in Expressed as transmission efficiency; and Expressed as transmission ratio.

[0038] Further, according to the torque output by the first servo motor and the torque output by the second servo motor , calculate the control current input into the first servo motor and the second servo motor, the specific calculation is: ,in It represents the control current that should be input to the first servo motor. ,in It represents the control current that should be input to the second servo motor. Expressed as the torque constant of the first servo motor, Expressed as the torque constant of the second servo motor, and It is obtained based on the parameters of the motor characteristics, the type and specifications of the motor.

[0039] Furthermore, torque sensors are installed between the first servo motor and the corresponding lower crank and between the second servo motor and the corresponding lower crank, and the torque sensors are used to monitor the torque output by the first servo motor and the second servo motor.

[0040] Further, according to the monitoring of the torque sensor, the actual output torque of the first servo motor is measured to be , the actual output torque of the second servo motor is ; If the torque sensor monitors the output torque of the first servo motor and the second servo motor and The corresponding calculated and If there is a gap, it is determined that the resistance of the servo motor itself has changed, and the control current corresponding to the input of the first servo motor and the second servo motor is recalculated;

[0041] Differential torque of the first servo motor The calculation formula is: , according to the formula , calculate the control current increment required for the first servo motor , specifically ; The total control current of the first servo motor is ;

[0042] Differential torque of the second servo motor The calculation formula is: , according to the formula , calculate the control current increment required for the second servo motor , specifically ; The total control current of the second servo motor is .

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] This solution accurately obtains key parameters such as the appearance size, flight altitude, speed, and attitude of the simulated aircraft, and calculates the flight resistance in real time in combination with the atmospheric model, and accurately distributes the resistance to the forward and backward and left and right swings of the joystick, so that the pilot can feel a force sense that is very similar to real driving in the simulated flight, which greatly improves the authenticity and immersion of the simulated flight. At the same time, the invention uses a torque sensor to monitor the output torque of the servo motor in real time and compare it with the expected torque, so as to promptly discover and adjust the changes in the servo motor's own resistance caused by mechanical wear or internal lubrication changes, thereby ensuring the stability and precise control of the system. This not only improves the training effect of the pilot, but also greatly reduces the risks and costs in actual flight, providing a strong guarantee for the safe training of pilots. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 This is an appearance view of the overall structure of the present invention;

[0047] Figure 2 It is a structural schematic diagram of the transmission component of the present invention;

[0048] Figure 3 It is a schematic diagram of the structure inside the control box of the present invention.

[0049] Description of the numbers in the figure:

[0050] 1. Fixed frame; 2. Control box; 3. Rotating shaft seat; 4. Connecting shaft; 5. Control lever; 6. First rotating sleeve; 7. Connecting rod; 8. Second rotating sleeve; 9. Transmission assembly; 91. Upper crank; 92. First connecting rod; 93. Adapter rod; 94. Rotating shaft disk; 95. Second connecting rod; 96. Lower crank; 10. Mounting plate; 11. First servo motor; 12. Second servo motor; 13. Torque sensor. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention.

[0052] See also Figures 1 to 3 A control force control device for a simulated driving device comprises a fixed frame 1 and a control box 2, wherein the control box 2 is arranged above the fixed frame 1; a connecting shaft 4, wherein the connecting shaft 4 is arranged in two groups and fixedly installed at the left and right ends of the control box 2 respectively; a rotating shaft seat 3, wherein the rotating shaft seat 3 is rotatably connected to the outer circumferential surface of the connecting shaft 4, and the lower end of the rotating shaft seat 3 is fixedly connected to the upper end surface of the fixed frame 1; a first rotating sleeve 6, wherein the first rotating sleeve 6 is rotatably installed at the inner wall of the control box 2 near the upper end position; a joystick 5, wherein the joystick 5 is fixedly connected to the upper end of the first rotating sleeve 6, and the joystick 5 extends from the inside of the control box 2 to the outside; a first servo motor 11 and a second servo motor 1 2, the first servo motor 11 and the second servo motor 12 are both installed on the fixed frame 1 and close to the lower end. The first servo motor 11 is used to apply resistance when the joystick 5 swings forward and backward, and the second servo motor 12 is used to apply resistance when the joystick 5 swings left and right; connecting rod 7, the upper end of the connecting rod 7 is hinged to the left end of the first rotating sleeve 6; the second rotating sleeve 8, the second rotating sleeve 8 is hinged to the lower end of the connecting rod 7, and the second rotating sleeve 8 is rotatably connected to the inner wall of the operating box 2; transmission assembly 9, the transmission assembly 9 is arranged in two groups, and the two groups of transmission assemblies 9 are respectively installed between the connecting shaft 4 and the first servo motor 11 and between the second rotating sleeve 8 and the second servo motor 12;

[0053] The transmission assembly 9 includes an upper crank 91, one group of which is fixedly mounted on one end of the connecting shaft 4, and the other group of which is fixedly connected to the lower end of the second rotating sleeve 8; a first connecting rod 92, which is hinged at the lower end of the upper crank 91; a transfer rod 93, which is hinged at the end of the first connecting rod 92 away from the upper crank 91; a rotating shaft disk 94, which is rotatably mounted at the center position of the outer surface of the transfer rod 93, and the rotating shaft disk 94 is fixedly mounted on the fixed frame 1; a second connecting rod 95, which is hinged at the lower end of the transfer rod 93; a lower crank 96, which is hinged at the end of the second connecting rod 95 away from the transfer rod 93, one group of which is connected to the output shaft of the first servo motor 11, and the other group of which is connected to the output shaft of the second servo motor 12.

[0054] By adopting the above technical solution, when the operator simulates driving the aircraft, he holds the joystick 5 and then shakes the joystick 5 back and forth and left and right to realize the simulated flight. When the operator pushes the joystick 5 to swing back and forth, the joystick 5 will drive the control box 2 to swing back and forth accordingly, and the control box 2 will rotate at the connecting shaft 4, and at the same time drive the connecting shaft 4 to rotate. Because the connecting shaft 4 is fixedly connected to the upper crank 91, the connecting shaft 4 will drive the upper crank 91 to swing back and forth when it rotates, and the upper crank 91 will pull the first connecting rod 92 to move when it swings, and the first connecting rod 9 When the transfer rod 93 is moved, the upper end of the transfer rod 93 is pulled, so that the transfer rod 93 rotates with the rotating shaft disk 94 as the rotation center. When the transfer rod 93 rotates, the lower end of the transfer rod 93 pulls the second connecting rod 95 to move. When the second connecting rod 95 moves, it pulls the lower crank 96 to swing. When the lower crank 96 swings, it drives the output shaft of the first servo motor 11 to rotate. By controlling the output torque of the first servo motor 11, a corresponding resistance is generated. The resistance is transmitted to the joystick 5 through the transmission assembly 9, so that the operator can feel the operating force of the joystick 5 in the forward and backward directions.

[0055] When the operator holds the joystick 5 and swings it left and right, the joystick 5 drives the first rotating sleeve 6 to rotate, and the first rotating sleeve 6 drives the connecting rod 7 to move up and down when rotating, and the connecting rod 7 drives the second rotating sleeve 8 to rotate when moving up and down, and the second rotating sleeve 8 drives the fixed upper crank 91 to swing when rotating, and the upper crank 91 pulls the first connecting rod 92 to move when swinging, and the first connecting rod 92 pulls the upper end of the transfer rod 93 when moving, so that the transfer rod 93 rotates with the rotating shaft disk 94 as the rotation center, and the transfer rod 93 is rotating. When rotating, its lower end will pull the second connecting rod 95 to move, and the second connecting rod 95 will pull the lower crank 96 to swing when moving, and the lower crank 96 will drive the output shaft of the second servo motor 12 to rotate when swinging. By controlling the output torque of the second servo motor 12, a corresponding resistance will be generated, and the resistance will be transmitted to the joystick 5 through the transmission assembly 9, so that the operator can feel the operating force of the joystick 5 in the left and right directions, wherein the first servo motor 11 and the second servo motor 12 are both installed on the mounting plate 10, and the mounting plate 10 is fixedly installed on the fixed frame 1.

[0056] In some embodiments of the present invention, the first data acquisition module is used to obtain the appearance size of the simulated aircraft; before the simulated flight, the appearance size of the simulated aircraft can be obtained by inputting the appearance parameters of the aircraft, including the wing shape, fuselage length, width and height, etc.;

[0057] The second data acquisition module is used to obtain in real time the altitude, flight speed, and flight attitude of the simulated aircraft at the current moment controlled by the joystick 5; when the joystick 5 is controlled for simulated flight, the region where the simulated take-off is located is determined in advance, and the region where the simulated aircraft is flying, the flight speed, and the flight attitude are determined in real time during the flight;

[0058] The analysis module calculates the resistance of the joystick 5 in the simulated aircraft according to the appearance size of the simulated aircraft, the altitude and flight speed of the simulated aircraft at the current moment, and the flight attitude;

[0059] The control module calculates the control current of the first servo motor 11 and the second servo motor 12 according to the resistance of the joystick 5 in the simulated aircraft, and inputs the control current into the first servo motor 11 and the second servo motor 12;

[0060] Acquire the wingspan area of ​​the simulated aircraft according to the first data acquisition module , fuselage length , the projected area in the flight direction ;

[0061] Acquire the current flight altitude of the simulated aircraft according to the first data acquisition module , current flight speed , the angle between the chord of the aircraft and the incoming flow direction , the angle between the side of the aircraft and the incoming flow direction ;

[0062] According to the above data, calculate the flight resistance of the simulated aircraft at the current moment :

[0063] ,in Indicates the current altitude The corresponding air density is, It can be calculated using the atmospheric model, specifically: , Expressed as atmospheric pressure, Expressed as the air gas constant, Expressed as atmospheric temperature, temperature With height Linear decrease, ,in, is the sea surface temperature, is the temperature gradient;

[0064] pressure With height The change in can be calculated by the following formula, ,in is the sea level pressure, is the acceleration due to gravity; It is expressed as the induced drag coefficient and is related to the design of the aircraft; It is expressed as the wave drag coefficient, which is related to the speed and altitude of the aircraft; Expressed as the acceleration due to gravity; Expressed as dynamic viscosity, it varies with temperature and altitude; Expressed as the drag coefficient, it is the angle and angle Function of drag coefficient and other coefficients (such as and ) needs to be determined through experimental simulation;

[0065] in Expressed as shape resistance and angle and angle resistance caused;

[0066] Expressed as induced drag, the ratio of wingspan to fuselage length;

[0067] It is expressed as wave resistance, which is related to flight speed and altitude;

[0068] Expressed as frictional drag, it is related to flight speed, fuselage length, wingspan and dynamic viscosity.

[0069] In some embodiments of the present invention, the flight resistance of the simulated aircraft at the current moment is Calculate the control resistance that the joystick 5 in the simulated aircraft should be subjected to in the front and rear directions at the current moment and the control resistance that the joystick 5 should be subjected to in the left and right directions , because of the flight resistance The resistance distribution ratio of the left and right swing and the front and back swing of the joystick 5 is: , the resistance distribution ratio of the forward and backward swing is ,and =1; then and The calculation formula is: , in It is expressed as a drag coefficient, which depends on the design and mechanical characteristics of the joystick 5 .

[0070] In some embodiments of the present invention, according to the control resistance and The mechanical resistance generated when the joystick 5 drives the transmission assembly 9 when swinging is measured in advance by experiments. and the mechanical resistance generated when swinging left and right ,based on and Calculate the torque that the first servo motor 11 needs to output ,based on and Calculate the torque that the second servo motor 12 needs to output , the specific calculation formula is: and ,in Expressed as transmission efficiency, it represents the ratio of input power to output power. It is a number less than 1, indicating that there will be energy loss during the transmission process; and Expressed as transmission ratio.

[0071] In some embodiments of the present invention, according to the torque output by the first servo motor 11 and the torque output by the second servo motor 12 , calculate the control current input into the first servo motor 11 and the second servo motor 12, which is specifically calculated as: ,in represents the control current to be input to the first servo motor 11, ,in It represents the control current to be input to the second servo motor 12, is represented as the torque constant of the first servo motor 11, Expressed as the torque constant of the second servo motor 12, and It is obtained based on the parameters of the motor characteristics, the type and specifications of the motor.

[0072] In some embodiments of the present invention, a torque sensor 13 is installed between the first servo motor 11 and the corresponding lower crank 96 and between the second servo motor 12 and the corresponding lower crank 96. The torque sensor 13 is used to monitor the torque output by the first servo motor 11 and the second servo motor 12. According to the monitoring of the torque sensor 13, the actual output torque of the first servo motor 11 is measured as follows: , the actual output torque of the second servo motor 12 is If the torque sensor 13 monitors the output torque of the first servo motor 11 and the second servo motor 12 and The corresponding calculated and If there is a difference, it is determined that the resistance of the servo motor itself has changed, because with the long-term use of the servo motor, mechanical wear will occur and the internal lubrication will also change, which results in the same control current before input, and the torque output by the servo motor in the current state is different from the torque output in the original state. In this case, it is necessary to recalculate the control current corresponding to the input of the first servo motor 11 and the second servo motor 12;

[0073] The differential torque of the first servo motor 11 The calculation formula is: , according to the formula , calculate the control current increment required by the first servo motor 11 , specifically ; The total control current of the first servo motor 11 is ;

[0074] The differential torque of the second servo motor 12 The calculation formula is: , according to the formula , calculate the control current increment required by the second servo motor 12 , specifically The total control current of the second servo motor 12 is , and finally and The control current of the servo motor is precisely controlled to make the joystick 5 in the simulated aircraft as close to the force feeling of real driving as possible, so that pilots can train in a safer environment and reduce the risk and cost of actual flight. The stability and reliability of the simulated flight system can be ensured and the training efficiency can be improved by real-time monitoring and adjustment of the control current of the servo motor.

[0075] The above is only a preferred specific implementation of the present invention; however, the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and its improved conception within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A control force sense control device for a simulated driving device, characterized in that: include: A fixed frame (1) and a control box (2), wherein the control box (2) is arranged above the fixed frame (1); Connecting shafts (4), the connecting shafts (4) being arranged in two groups and respectively fixedly mounted on the left and right ends of the control box (2); A rotating shaft seat (3), the rotating shaft seat (3) being rotatably connected to the outer circumferential surface of the connecting shaft (4), and the lower end of the rotating shaft seat (3) being fixedly connected to the upper end surface of the fixing frame (1); A first rotating sleeve (6), the first rotating sleeve (6) being rotatably mounted on the inner wall of the control box (2) near the upper end; A joystick (5), the joystick (5) being fixedly connected to the upper end of the first rotating sleeve (6), the joystick (5) extending from the inside of the joystick box (2) to the outside; A first servo motor (11) and a second servo motor (12), wherein the first servo motor (11) and the second servo motor (12) are both mounted on the fixing frame (1) and close to the lower end, the first servo motor (11) being used to apply resistance when the joystick (5) swings forward and backward, and the second servo motor (12) being used to apply resistance when the joystick (5) swings left and right; A connecting rod (7), the upper end of the connecting rod (7) being hinged to the left end of the first rotating sleeve (6); a second rotating sleeve (8), the second rotating sleeve (8) being hinged to the lower end of the connecting rod (7), the second rotating sleeve (8) being rotatably connected to the inner wall of the control box (2); A transmission assembly (9), wherein the transmission assembly (9) is provided in two groups, and the two groups of the transmission assembly (9) are respectively installed between the connecting shaft (4) and the first servo motor (11) and between the second rotating sleeve (8) and the second servo motor (12); The first data acquisition module is used to obtain the appearance size of the simulated aircraft; The second data acquisition module is used to obtain in real time the altitude and flight speed of the simulated aircraft at the current moment controlled by the joystick (5), as well as the flight attitude; The analysis module calculates the resistance exerted on the joystick (5) in the simulated aircraft according to the external dimensions of the simulated aircraft, the altitude and flight speed of the simulated aircraft at the current moment, and the flight attitude of the simulated aircraft; Acquire the wingspan area of ​​the simulated aircraft according to the first data acquisition module , fuselage length , the projected area in the flight direction ; Acquire the current flight altitude of the simulated aircraft according to the first data acquisition module , current flight speed , the angle between the chord of the aircraft and the incoming flow direction , the angle between the side of the aircraft and the incoming flow direction ; According to the above data, calculate the flight resistance of the simulated aircraft at the current moment : ,in Indicates the current altitude The corresponding air density is: It is expressed as the induced drag coefficient and is related to the design of the aircraft; It is expressed as the wave drag coefficient, which is related to the speed and altitude of the aircraft; Expressed as the acceleration due to gravity; Expressed as dynamic viscosity, it varies with temperature and altitude; Expressed as the drag coefficient, it is the angle and angle Function of The control module calculates the control current of the first servo motor (11) and the second servo motor (12) according to the resistance exerted on the joystick (5) in the simulated aircraft, and inputs the control current into the first servo motor (11) and the second servo motor (12).

2. The control force sense control device of a driving simulation device according to claim 1, characterized in that: The transmission assembly (9) comprises: Upper cranks (91), wherein one group of the upper cranks (91) is fixedly mounted on one end of the connecting shaft (4), and another group of the upper cranks (91) is fixedly connected to the lower end of the second rotating sleeve (8); A first connecting rod (92), the first connecting rod (92) being hinged to the lower end of the upper crank (91); A transfer rod (93), the transfer rod (93) being hingedly connected to an end of the first connecting rod (92) away from the upper crank (91); A rotating shaft disk (94), the rotating shaft disk (94) being rotatably mounted at a central position of an outer surface of the transfer rod (93), and the rotating shaft disk (94) being fixedly mounted on a fixed frame (1); A second connecting rod (95), the second connecting rod (95) being hinged to the lower end of the transfer rod (93); A lower crank (96), the lower crank (96) being hinged on an end of the second connecting rod (95) away from the transfer rod (93), wherein one group of the lower cranks (96) is connected to the output shaft of the first servo motor (11), and another group of the lower cranks (96) is connected to the output shaft of the second servo motor (12).

3. The control force sense control device of a driving simulation device according to claim 2, characterized in that: Calculating the resistance of the joystick (5) in the simulated aircraft also includes: Simulate the flight resistance of the aircraft at the current moment Calculate the control resistance that the joystick (5) in the simulated aircraft should be subjected to in the forward and backward directions at the current moment and the control resistance that the control lever (5) should be subjected to in the left and right directions The specific calculation method is , ,in Expressed as drag coefficient; It is expressed as the resistance distribution ratio of left and right swing; It is expressed as the resistance distribution ratio of the forward and backward swing, and =1.

4. The control force sense control device for driving simulation equipment according to claim 3, characterized in that: According to the resistance of the joystick (5) in the simulated aircraft, the control current of the first servo motor (11) and the second servo motor (12) is calculated, including: According to the control resistance and and the mechanical resistance generated when the joystick (5) drives the transmission assembly (9) when swinging. The mechanical resistance generated when the transmission assembly (9) swings back and forth is measured in advance by experiments. and the mechanical resistance generated when swinging left and right ,based on and Calculate the torque that the first servo motor (11) needs to output ,based on and Calculate the torque that the second servo motor (12) needs to output , the specific calculation is: and ,in Expressed as transmission efficiency; and Expressed as transmission ratio.

5. The control force sense control device for driving simulation equipment according to claim 4, characterized in that: According to the torque output by the first servo motor (11) and the torque output by the second servo motor (12) , calculate the control current input into the first servo motor (11) and the second servo motor (12), specifically calculated as: ,in represents the control current to be input to the first servo motor (11), ,in represents the control current to be input to the second servo motor (12), is represented by the torque constant of the first servo motor (11), is represented by the torque constant of the second servo motor (12), and It is obtained based on the parameters of the motor characteristics, the type and specifications of the motor.

6. The control force sense control device for driving simulation equipment according to claim 5, characterized in that: Torque sensors (13) are installed between the first servo motor (11) and the corresponding lower crank (96) and between the second servo motor (12) and the corresponding lower crank (96), and the torque sensors (13) are used to monitor the torque output by the first servo motor (11) and the second servo motor (12).

7. The control force sense control device for driving simulation equipment according to claim 6, characterized in that: According to the monitoring of the torque sensor (13), the actual output torque of the first servo motor (11) is measured as follows: , the actual output torque of the second servo motor (12) is If the torque sensor (13) detects that the first servo motor (11) and the second servo motor (12) output torque and The corresponding calculated and If there is a gap, it is determined that the resistance of the servo motor itself has changed, and the control currents corresponding to the inputs of the first servo motor (11) and the second servo motor (12) are recalculated; The differential torque of the first servo motor (11) The calculation formula is: , according to the formula , calculate the control current increment required by the first servo motor (11) , specifically ; The total control current of the first servo motor (11) is ; The differential torque of the second servo motor (12) The calculation formula is: , according to the formula , calculate the control current increment required for the second servo motor (12) , specifically ; The total control current of the second servo motor (12) is .

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