A sensitive control system for simulating the flight attitude of an aircraft

Abstract

The present invention discloses a flight attitude simulation sensitive control system for an aircraft. The simulation sensitive control system includes: a first motor and a second motor. The first motor and the second motor are respectively connected to a gyroscope sensor, and the first motor, the second motor, and the gyroscope sensor are respectively connected and communicate with an embedded ARM main control board. The embedded ARM main control board obtains flight trajectory signals and controls the first motor and the second motor to perform corresponding rotations. The embedded ARM main control board obtains the detection signals of the gyroscope sensor and feedback-controls to adjust the rotations of the first motor and the second motor. The beneficial effects of the present invention are as follows: By obtaining the detection signals of the gyroscope sensor through the embedded ARM main control board and feedback-controlling to adjust the rotations of the first motor and the second motor, the correction of the simulated trajectory is achieved. The accuracy of the simulated trajectory is repeatedly corrected by feedback-controlling to adjust the rotations of the first motor and the second motor, providing reference data for avoiding obstacles during the actual flight of the unmanned aircraft.

Description

Technical Field

[0001] The present invention belongs to the technical field of flight attitude simulation control of aircraft, and particularly relates to an aircraft flight attitude simulation sensitive control system. Background Art

[0002] Chinese invention patent CN201910390474.4 relates to a method for correcting the trajectory and attitude of a small unmanned aerial vehicle based on a flight simulator, belonging to the technical field of small unmanned aerial vehicles. The method includes: establishing the relationship between the flight time and displacement of the unmanned aerial vehicle; before takeoff, synchronizing the actual position of the unmanned aerial vehicle with the GPS positioning of the unmanned aerial vehicle in the simulator; during the flight process, while controlling the flight of the unmanned aerial vehicle, the control terminal also sends the same instruction to the local flight simulator; the unmanned aerial vehicle judges whether to brake according to the reception situation of the control instruction; after the unmanned aerial vehicle brakes, it corrects the flight attitude and trajectory according to the data packet fed back by the simulator in combination with the relationship between the flight time and displacement. The present invention can correct the operation error problem of the unmanned aerial vehicle caused by network congestion or time delay without relying on GPS, complete the precise positioning of the unmanned aerial vehicle, and realize the control of the unmanned aerial vehicle under the condition of extremely poor communication link of the unmanned aerial vehicle system.

[0003] For the flight attitude control of existing unmanned aerial vehicles, most of them also adopt on-site control by the operator. For the aircraft guided by the guidance system to control the flight path, once released, it is very difficult to carry out manual interference. When it encounters an obstacle and needs to change the orbit, it completely needs its own control system to control and adjust.

[0004] For this kind of control and adjustment, if the actual flight method is adopted every time, a large amount of costs will be consumed, including human, material resources and site application, which is very disadvantageous for accumulating flight experience. For the simulation of the flight trajectory, the existing flight simulators can preset a database in the system, form a preset flight trajectory through the database by inputting the corresponding flight mode, and realize the simulation of the fixed flight trajectory. However, this kind of simulation cannot make reasonable simulation actions when the aircraft encounters an obstacle and needs to change the orbit, and cannot meet the simulation requirements of the unmanned aerial vehicle when it encounters an obstacle and needs to change the orbit during flight. Summary of the Invention

[0005] The objective to be achieved by the present invention is to solve the technical problem that the existing flight simulators can preset a database in the system, form a preset flight trajectory through the database by inputting the corresponding flight mode, and realize the simulation of the fixed flight trajectory. However, this kind of simulation cannot make reasonable simulation actions when the aircraft encounters an obstacle and needs to change the orbit, and cannot meet the simulation requirements of the unmanned aerial vehicle when it encounters an obstacle and needs to change the orbit during flight.

[0006] To achieve the above objectives, the present invention provides a sensitive control system for simulating the flight attitude of an aircraft.

[0007] The specific technical solution adopted by the present invention is as follows:

[0008] A sensitive control system for simulating the flight attitude of an aircraft, the simulation sensitive control system comprising:

[0009] A first motor, the output shaft of the first motor is fixedly connected to a first rotating shaft, and the first rotating shaft is rotatably connected to the end of a first bracket;

[0010] A second motor, the output shaft of the second motor is fixedly connected to a second rotating shaft, and the second rotating shaft is rotatably connected to the end of a second bracket;

[0011] The first rotating shaft and the second rotating shaft are rotatably arranged in a cross-intersecting manner within a connecting block;

[0012] The first motor and the second motor are respectively connected to a gyroscope sensor,

[0013] The first motor, the second motor, and the gyroscope sensor are respectively connected and communicate with an embedded ARM main control board;

[0014] The embedded ARM main control board acquires a flight trajectory signal and controls the first motor and the second motor to perform corresponding rotations;

[0015] The embedded ARM main control board acquires the detection signal of the gyroscope sensor and feedback-controls and adjusts the rotations of the first motor and the second motor.

[0016] Further, a connecting portion is provided at the bottom of the first bracket, and the connecting portion is fixedly connected to the output shaft of a steering gear.

[0017] Further, an electromagnetic damper is connected to the top of the second bracket to provide resistance to the flight attitude simulation orbit change of the aircraft.

[0018] Further, the control method of the simulation sensitive control system includes:

[0019] The embedded ARM main control board acquires a flight trajectory signal;

[0020] Based on the flight trajectory signal, a flight simulation model is constructed, and a spatial coordinate data set of trajectory points is output in chronological order;

[0021] Based on the spatial coordinate data set of the trajectory points, the corresponding coordinates and the angular differences of adjacent spatial coordinate points are calculated;

[0022] Based on the corresponding coordinates and the angular differences, through a PID control algorithm, the rotation control parameters of the corresponding motor are output;

[0023] The embedded ARM main control board obtains the detection signal of the gyroscope sensor, and calculates the coordinate difference and angle difference between the current trajectory point coordinate value and the expected trajectory point coordinate value according to the detection signal;

[0024] Input the coordinate difference and angle difference into a pre-trained tuning control simulator. After multiple rounds of tuning training, output the compensation value of the motor rotation, the adjustment value of the motor voltage supply, and the compensation time;

[0025] Perform real-time control of the motor rotation according to the compensation value of the motor rotation, the adjustment value of the motor voltage supply, and the compensation time.

[0026] Furthermore, constructing a flight simulation model according to the flight trajectory signal in the control method of the simulation sensitive control system includes:

[0027] The flight trajectory signal includes at least one of a straight flight instruction, a spiral flight instruction, an orbit change instruction, an acceleration instruction, and a deceleration instruction;

[0028] Constructing a flight simulation model includes calling a corresponding mathematical model from a pre-implanted database according to the flight trajectory signal;

[0029] Assign values to the corresponding mathematical model according to the corresponding flight trajectory signal;

[0030] Calculate the spatial coordinate values of each trajectory point through the mathematical model in chronological order to form the spatial coordinate data set;

[0031] Furthermore, assigning values to the corresponding mathematical model according to the corresponding flight trajectory signal in the control method of the simulation sensitive control system, the assignment includes:

[0032] The straight flight instruction includes the start time of the straight flight, the end time of the straight flight, and the speed of the straight flight;

[0033] The spiral flight instruction includes the vertical distance between the starting point and the ending point of the spiral flight, the radius of the spiral flight, the number of turns of the spiral flight, the start time and the end time of the spiral flight;

[0034] The orbit change instruction includes the execution time point of the orbit change, the end time point of the orbit change, the acceleration during the orbit change, the turning angle during the orbit change, and the flipping angle during the orbit change;

[0035] The acceleration instruction and deceleration instruction corresponding to the spiral flight;

[0036] Furthermore, the top of the second bracket is connected with an electromagnetic damper through an inelastic rope, and the electromagnetic damper is connected to the embedded ARM main control board:

[0037] During normal flight, the embedded ARM main control board provides instructions for the electromagnetic damper to preset the flight environment and provides damping for the motor.

[0038] During orbital transfer flight, the embedded ARM main control board provides the electromagnetic damper with the product of the instruction for presetting the flight environment and the variable coefficient, and provides damping for the motor.

[0039] The positive effect of the present invention is that the embedded ARM main control board obtains the flight trajectory signal, controls the first motor and the second motor to rotate correspondingly, realizes the purpose of generating the flight trajectory by obtaining the instruction, and obtains the detection signal of the gyroscope sensor through the embedded ARM main control board, and feedback-controls to adjust the rotation of the first motor and the second motor, realizing the correction of the simulated trajectory. That is, when the embedded ARM main control board obtains the flight trajectory signal including the conventional trajectory signal and the orbital transfer trajectory signal, the rotation of the first motor and the second motor is adjusted through feedback control to repeatedly correct the accuracy of the simulated trajectory, providing reference data for avoiding obstacles in the actual flight of the unmanned aerial vehicle. Description of the Drawings

[0040] Figure 1 is the schematic diagram of the composition of the sensitive device simulator in the flight attitude simulation sensitive control system of an aircraft of the present invention;

[0041] Figure 2 is Figure 1 the schematic diagram of the composition of the servo simulator connected to the bottom of the sensitive device simulator in the flight attitude simulation sensitive control system of an aircraft of the present invention shown in ;

[0042] Figure 3 is the schematic diagram of the mechanism connecting the sensitive device and the servo simulator in the flight attitude simulation sensitive control system of an aircraft of the present invention;

[0043] Figure 4 is Figure 3 the schematic diagram of the structure of the connecting block of the first rotating shaft and the second rotating shaft in the flight attitude simulation sensitive control system of an aircraft of the present invention shown in ;

[0044] Legend: 1 - fixing plate, 2 - fixing ring, 3 - connecting rod, 4 - connecting block, 401 - first through hole, 402 - second through hole, 5 - servo, 6 - reducer, 7 - connecting shaft, 8 - connecting plate, 9 - first bracket, 10 - second motor, 1001 - first motor, 11 - second bracket, 12 - through pipe, 1201 - telescopic rod, 13 - electromagnetic damper. Detailed Embodiments

[0045] The present invention will be described in detail below in conjunction with the drawings and specific embodiments:

[0046] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present invention.

[0047] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0048] The following describes in detail the specific implementation of the present invention with reference to specific embodiments.

[0049] As Figures 1 to 4 shown, it is a structural diagram and a schematic diagram of a sensitive control system for simulating the flight attitude of an aircraft provided by an embodiment of the present invention, wherein the sensitive control system includes:

[0050] A first motor, the output shaft of the first motor is fixedly connected to a first rotating shaft, and the first rotating shaft is rotatably connected to the end of a first bracket;

[0051] A second motor, the output shaft of the second motor is fixedly connected to a second rotating shaft, and the second rotating shaft is rotatably connected to the end of a second bracket;

[0052] The first rotating shaft and the second rotating shaft are rotatably arranged in a cross-intersecting manner in a connecting block;

[0053] The first motor and the second motor are respectively connected to a gyroscope sensor,

[0054] The first motor, the second motor and the gyroscope sensor are all respectively connected and communicate with an embedded ARM main control board;

[0055] The embedded ARM main control board obtains a flight trajectory signal and controls the first motor and the second motor to perform corresponding rotations;

[0056] The embedded ARM main control board obtains the detection signal of the gyroscope sensor and feedback-controls and adjusts the rotations of the first motor and the second motor.

[0057] In the embodiment of the present invention, the embedded ARM main control board acquires the flight trajectory signal, controls the first motor and the second motor to rotate accordingly, realizes the purpose of generating the flight trajectory by acquiring instructions, and acquires the detection signal of the gyroscope sensor through the embedded ARM main control board, and feedback controls to adjust the rotation of the first motor and the second motor, realizing the correction of the simulated trajectory. That is, the flight trajectory signal acquired by the embedded ARM main control board includes the conventional trajectory signal and the orbit-changing trajectory signal, and the rotation of the first motor and the second motor is adjusted through feedback control to repeatedly correct the accuracy of the simulated trajectory, providing reference data for avoiding obstacles in the actual flight of the unmanned aerial vehicle.

[0058] Specifically, as Figures 1 to 4 shown in a flight attitude simulation sensitive control system for an aircraft, the sensitive device control board uses an embedded ARM main control board, realizes 1553B bus communication through the control network 1553B module, controls the two-degree-of-freedom sensitive device through the PWM signal, and is connected to the gyroscope sensor through the serial port; the sensitive control system includes:

[0059] The first motor 1001, the output shaft of the first motor 1001 is fixedly connected to the first rotating shaft, and the first rotating shaft is rotatably connected in the first through hole 401 at the end of the first bracket 9; the first motor 1001 drives the connecting block 4 and the second bracket 11 to rotate around the first rotating shaft, that is, the first through hole 401, through the first rotating shaft;

[0060] The second motor 10, the output shaft of the second motor 10 is fixedly connected to the second rotating shaft, and the second rotating shaft is rotatably connected in the second through hole 402 at the end of the second bracket 11; the second motor 10 drives the second bracket 11 to rotate around the second through hole 402 through the second rotating shaft

[0061] The first rotating shaft and the second rotating shaft are rotatably arranged in a cross shape in the connecting block 4;

[0062] The first motor 1001 and the second motor 10 are respectively connected to the gyroscope sensor,

[0063] The first motor 1001, the second motor 10 and the gyroscope sensor are respectively connected and communicate with the embedded ARM main control board;

[0064] The embedded ARM main control board obtains the flight trajectory signal and controls the first motor and the second motor to rotate accordingly. Among them, the flight trajectory signal includes a conventional trajectory signal and an orbit-changing trajectory signal. When the obtained flight trajectory signal is a conventional trajectory signal, the embedded ARM main control board controls the first motor 1001 and the second motor 10 to simulate according to the established trajectory. The embedded ARM main control board obtains the detection signal of the gyroscope sensor and feedback-controls to adjust the rotation of the first motor and the second motor. When the obtained signal is an orbit-changing trajectory signal, the embedded ARM main control board obtains the detection signal of the gyroscope sensor and feedback-controls to adjust the rotation of the first motor and the second motor to compensate for the rotation and output torque required for the trajectory change.

[0065] In this embodiment, as Figure 1 shown, the two-degree-of-freedom sensitive device adopts a two-degree-of-freedom mechanism independently designed by our company, which can realize the movement in two dimensions of horizontal and vertical under the control of the embedded ARM main control board; the gyroscope sensor uses a six-axis gyroscope module, and the characteristic indicators are as follows:

[0066] Operating voltage: 3.3V~5V;

[0067] Current: <40mA;

[0068] Measurement dimensions: Acceleration: 3D, Angular velocity: 3D, Angle: 3D;

[0069] Range: Acceleration: ±16g, Angular velocity: ±2000°, Angle X, Y ±180° Z ±90°;

[0070] Stability: Acceleration 0.01g, Angular velocity 0.05° / s;

[0071] Output content: Time, Acceleration, Angular velocity, Angle;

[0072] Communication method: RS232;

[0073] The 1553B bus communication module selects a serial 1553 module, and the characteristic indicators are as follows:

[0074] Bus interface: RS422;

[0075] Single channel;

[0076] Each channel is A, B dual redundant;

[0077] Rate: 1M;

[0078] RT single function;

[0079] The embedded ARM main control board selects an industrial control main board, and the characteristic indicators are as follows:

[0080] CPU: Cortex-A8;

[0081] 10M / 100M Ethernet port;

[0082] 6 serial ports;

[0083] 4 PWM outputs;

[0084] 2 CAN bus interfaces;

[0085] 32-bit GPIO;

[0086] Preferably, a connecting part is provided at the bottom of the first bracket 9, and the connecting part is fixedly connected to the output shaft of the servo motor; the servo motor is a conventional existing technology and will not be elaborated here. The servo motor 5 is fixed on the surface of the fixing plate 1, as Figure 3 shown. It should be emphasized that the fixing plate 1 in the present invention includes two upper and lower plates. The upper fixing plate 1 is provided with a fixing ring, and the lower fixing plate 1 is fixedly connected to the bottom of the servo motor. The motor of the servo motor 5 is fixedly connected with a connecting shaft 7 through the output shaft of the reducer 6 at the top. The connecting shaft 7 is fixedly connected to the bottom of the first bracket 9 through a connecting plate 8, and the first bracket 9 is driven to rotate by the servo motor 5; as Figure 2 shown. In this embodiment, the servo motor control board adopts an embedded ARM control board, realizes 1553B bus communication through a control network 1553B module, controls the motor through RS485 signals, thereby controlling the rotation of the moving shaft and obtaining the angle of the shaft; it has a manual / programmable control switch. In the manual mode, the motor can be controlled by button jogging. In the programmable mode, the control host realizes the control through the 1553B bus; the servo device can realize the servo deflection function under the drive of the motor and can give the deflection angle.

[0087] Preferably, an electromagnetic damper is connected to the top of the second bracket to provide resistance for the flight attitude simulation orbit change of the aircraft; as Figure 3 shown. It should be emphasized that the fixing plate 1 in the present invention includes two upper and lower plates. The upper fixing plate 1 is provided with a fixing ring, and the lower fixing plate 1 is fixedly connected to the bottom of the servo motor. It is connected to the electromagnetic damper 13 through a connecting rod 3. The top of the second bracket 11 is connected to the electromagnetic damper 13 through a non-elastic rope or a telescopic rod 1201. The electromagnetic damper 13 is connected to the embedded ARM main control board: the embedded ARM main control board controls the electromagnetic damper 13 to provide damping according to the set requirements:

[0088] During normal flight, the embedded ARM main control board provides instructions for the preset flight environment for the electromagnetic damper and provides damping for the motor;

[0089] During orbit-changing flight, the embedded ARM main control board provides instructions for the electromagnetic damper as the product of the instructions for the preset flight environment and the variable coefficient, and provides damping for the motor.

[0090] In addition, the control method for the simulated sensitive control system includes:

[0091] Step S100: The embedded ARM main control board acquires the flight trajectory signal;

[0092] Step S200: Based on the flight trajectory signal, construct a flight simulation model and output a spatial coordinate data set of trajectory points in chronological order;

[0093] Step S300: Calculate the differences in corresponding coordinates and angles between adjacent spatial coordinate points based on the spatial coordinate data set of trajectory points;

[0094] Step S400: Output the rotational control parameters of the corresponding motor through the PID control algorithm based on the differences in corresponding coordinates and angles;

[0095] Step S500: The embedded ARM main control board acquires the detection signal of the gyroscope sensor, and calculates the coordinate difference and angle difference between the current trajectory point coordinate value and the expected trajectory point coordinate value based on the detection signal;

[0096] Step S600: Input the coordinate difference and angle difference into a pre-trained tuning control simulator, and after multiple rounds of tuning training, output the compensation value for motor rotation, the adjustment value for motor voltage supply and distribution, and the compensation time;

[0097] Step S700: Perform real-time control of the motor rotation based on the compensation value for motor rotation, the adjustment value for motor voltage supply and distribution, and the compensation time.

[0098] Among them, constructing a flight simulation model based on the flight trajectory signal in the control method for the simulated sensitive control system includes:

[0099] Step S210: The flight trajectory signal includes at least one of a straight flight instruction, a spiral flight instruction, an orbit change instruction, an acceleration instruction, and a deceleration instruction;

[0100] Step S220: Constructing a flight simulation model includes calling a corresponding mathematical model from a pre-implanted database based on the flight trajectory signal;

[0101] Step S230: Assign values to the corresponding mathematical model according to the corresponding flight trajectory signal;

[0102] Step S240: Calculate the spatial coordinate values of each trajectory point through the mathematical model in chronological order to form the spatial coordinate data set;

[0103] Among them, assigning values to the corresponding mathematical model according to the corresponding flight trajectory signal in the control method for the simulated sensitive control system, the assignment includes:

[0104] The straight flight instruction includes the start time of the straight flight, the end time of the straight flight, and the speed of the straight flight;

[0105] The spiral flight instruction includes the vertical distance between the starting point and the ending point of the spiral flight, the radius of the spiral flight, the number of turns of the spiral flight, the start time and the end time of the spiral flight;

[0106] The orbit change instruction includes the execution time point of the orbit change, the end time point of the orbit change, the acceleration during the orbit change, the turning angle of the orbit change, and the flipping angle during the orbit change;

[0107] The acceleration instruction and the deceleration instruction corresponding to the spiral flight;

[0108] Furthermore, the top of the second bracket is connected with an electromagnetic damper through an inelastic rope, and the electromagnetic damper is connected with the embedded ARM main control board:

[0109] During normal flight, the embedded ARM main control board provides instructions for the electromagnetic damper to preset the flight environment and provides damping for the motor;

[0110] During orbit change flight, the embedded ARM main control board provides instructions for the electromagnetic damper, which is the product of the instructions for presetting the flight environment and the variable coefficient, and provides damping for the motor.

[0111] The foregoing has broadly outlined some aspects and features of various embodiments, which should be construed as merely illustrative of various potential applications. Other beneficial results can be obtained by applying the disclosed information in different ways or by combining various aspects of the disclosed embodiments. Based on the scope defined by the claims, a more comprehensive understanding of other aspects can be obtained by referring to the detailed description of the exemplary embodiments in conjunction with the drawings.

[0112] The above embodiments have described the present invention in detail. Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions, subtractions, and substitutions made by those skilled in the art within the substantial scope of the present invention also belong to the protection scope of the present invention.

Claims

1. A control method for an aircraft flight attitude simulation sensitive control system, characterized in that: The analog sensitive control system comprises: A first motor, wherein an output shaft of the first motor is fixedly connected to a first rotating shaft, and the first rotating shaft is rotatably connected to an end of the first bracket; A second motor, wherein an output shaft of the second motor is fixedly connected to a second rotating shaft, and the second rotating shaft is rotatably connected to an end of the second bracket; The first rotating shaft and the second rotating shaft are arranged in a cross-intersecting rotation in the connecting block; The first motor and the second motor are connected to the gyro sensor respectively. The first motor, the second motor and the gyro sensor are respectively connected to and communicate with the embedded ARM main control board; The embedded ARM main control board obtains the flight trajectory signal and controls the first motor and the second motor to rotate accordingly; The embedded ARM main control board obtains the detection signal of the gyroscope sensor, and uses feedback control to adjust the rotation of the first motor and the second motor; A connecting portion is provided at the bottom of the first bracket, and the connecting portion is fixedly connected to the output shaft of the steering gear; The top of the second bracket is connected to an electromagnetic damper to provide resistance to the aircraft's flight attitude simulation trajectory change; Control methods for analog sensitive control systems include: The embedded ARM main control board obtains the flight trajectory signal; Based on the flight trajectory signal, a flight simulation model is constructed and the spatial coordinate data set of the trajectory points is output in time sequence; According to the spatial coordinate data set of the trajectory points, the corresponding coordinates and angle differences of adjacent spatial coordinate points are calculated; According to the difference between the corresponding coordinates and angles, the rotation control parameters of the corresponding motor are output through the PID control algorithm; The embedded ARM main control board obtains the detection signal of the gyroscope sensor, and calculates the coordinate difference and angle difference between the coordinate value of the current trajectory point and the coordinate value of the expected trajectory point according to the detection signal; The coordinate difference and angle difference are input into a pre-trained setting control simulator, and after multiple rounds of setting training, the compensation value of the motor rotation, the adjustment value of the motor voltage supply and the compensation time are output; The rotation of the motor is controlled in real time according to the compensation value of the motor rotation, the adjustment value of the motor voltage supply and the compensation time.

2. The control method of the aircraft flight attitude simulation sensitive control system according to claim 1, characterized in that: The control method of the simulated sensitive control system is based on the flight trajectory signal to build a flight simulation model including: The flight trajectory signal includes at least one of a straight flight instruction, a spiral flight instruction, a track change instruction, an acceleration instruction and a deceleration instruction; Constructing the flight simulation model includes calling a corresponding mathematical model from a pre-implanted database according to the flight trajectory signal; Assigning values ​​to corresponding mathematical models according to corresponding flight trajectory signals; The spatial coordinate value of each trajectory point is calculated by the mathematical model in time sequence to form the spatial coordinate data set.

3. The control method of the aircraft flight attitude simulation sensitive control system according to claim 2, characterized in that: The control method of the simulated sensitive control system assigns a value to the corresponding mathematical model according to the corresponding flight trajectory signal, and the assignment includes: The straight-line flight instruction includes the start time of the straight-line flight, the end time of the straight-line flight, and the speed of the straight-line flight; The spiral flight instruction includes the vertical distance between the starting point and the end point of the spiral flight, the radius of the spiral flight, the number of spiral flight circles, the starting time and the ending time of the spiral flight; The track change instruction includes the execution time point of the track change, the end time point of the track change, the acceleration during the track change, the turning angle of the track change and the flip angle during the track change; The corresponding acceleration and deceleration instructions during spiral flight.

4. The control method of the aircraft flight attitude simulation sensitive control system according to claim 3, characterized in that: The top of the second bracket is connected to an electromagnetic damper via a non-elastic rope, and the electromagnetic damper is connected to the embedded ARM main control board: During normal flight, the embedded ARM main control board provides the electromagnetic damper with instructions for pre-setting the flight environment and provides damping for the motor; When flying during trajectory change, the embedded ARM main control board provides instructions to the electromagnetic damper, which are the product of the instructions of the pre-set flight environment and the variable coefficient, to provide damping for the motor.

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