Foundation overload adjustment control method for centrifugal manned simulator

Abstract

The invention discloses a basic overload adjustment control method for a centrifugal manned simulator. The basic overload adjustment control method comprises the following steps: step 1, initializing a basic G value parameter; the step 2 to the step 4 are a calculation process and a calculation method for raising the centrifugal machine from a static state to a basic G value; the steps 6-8 are a processing flow and a calculation method of a basic G value after the centrifugal machine receives the experimental G value; the ninth to eleventh steps are a dynamic process and a calculation method for dropping the centrifugal machine from the basic G value to stop. According to the method, after a new basic G value is received, an online resolving method is adopted to respectively generate a static rising to basic G value curve, an experimental process G value curve and a G value curve from the current G value to the static G value, and then motion parameters of all axes are calculated according to the G value curves; the basic G value of the manned centrifugal machine is adjustable, and the application function of the manned centrifugal machine is expanded.

Description

Technical Field

[0001] The invention relates to the technical field of centrifugal manned simulators, and in particular to a basic overload adjustment control method for a centrifugal manned simulator. Background Art

[0002] Pilots and astronauts will be subjected to overloads caused by linear motion during flight, which will bring great challenges to the pilots' physiology and psychology, thus threatening flight safety and affecting the effectiveness of mission execution. Manned centrifuges are a type of simulation training equipment that uses the centrifugal force of rotational motion to provide an overload environment. They are mainly used for overload endurance training for pilots and astronauts. Training through manned centrifuges can efficiently, safely and economically improve pilots' ability to resist overloads, and is a must-have equipment for pilot training in major aviation countries.

[0003] Currently, manned centrifuges are further divided into multiple configurations, including single-axis manned centrifuges, three-axis manned centrifuges, four-axis simulators, etc. The same feature is that they all have a rotating arm to generate centrifugal force.

[0004] At present, for the purpose of overload simulation training, as well as for the feelings and driving ability of the trained pilots, manned centrifuges all adopt the basic overload (basic G value) start-up method, that is, the manned centrifuge first accelerates from a stationary state to a fixed basic G value, and then runs the experimental target G value curve from the basic G value. When the experimental curve is completed, it slows down to the basic G value, and finally stops from the basic G value to a stationary state. Figure 2 At present, the basic G value of manned centrifuge is a fixed lower super-weight G value. This scheme also fixes the conversion curve between the static state of centrifuge and the basic G value state.

[0005] Disadvantages of existing technology:

[0006] 1. The existing manned centrifuge uses a fixed basic overload mode (usually 1.4g) and has no basic overload adjustment capability, which cannot meet specific user training and research needs. The reason is that the existing centrifugal manned simulator has no corresponding interface and online data processing function, that is, there is no basic overload adjustment human-computer interaction interface, adjustment logic control and basic overload online solution module;

[0007] 2. Existing centrifugal manned simulators must start the experiment from the G value state of fixed basic overload, and do not have the conditions to start the experiment in the static state or quasi-static state, and cannot carry out the overload simulation requirements below the fixed basic G value. The reason is that the basic overload G value of existing centrifugal manned simulators is basically 1.4g, that is, the centrifuge is already in operation before the test, and does not have the ability to edit experimental overloads in the range of 1g to 1.4g.

[0008] Therefore, it is necessary to develop a basic overload adjustment control method for a centrifugal manned simulator to solve the above problems. Summary of the invention

[0009] The purpose of the present invention is to design a basic overload adjustment control method for a centrifugal manned simulator in order to solve the above problems.

[0010] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0011] A basic overload adjustment control method for a centrifugal manned simulator, comprising:

[0012] Step 1: Initialize basic G value parameters;

[0013] 1.1、Setting up the human-machine interface module in the centrifuge control system value;

[0014] 1.2. The control system checks the rationality of the input data. If it exceeds the range, it will prompt and force the data to be converted to a reasonable range;

[0015] 1.3. The control system human-machine interface module will undergo preliminary verification. The value is forwarded to the centrifuge solution module;

[0016] 1.4. Update the default basic G value of the basic overload online solution module to the latest received new value;

[0017] Step 2: The basic overload online solution module generates static A smooth rising curve ;

[0018] Step 3: Calculate the overload from each axis of the centrifuge to the foundation The operating curve of

[0019] 3.1. Calculate the main arm speed: According to the following formula, the G value rising curve Back-calculated as the centrifuge main arm speed curve ;

[0020]

[0021] In the above formula is the spindle speed of the centrifuge; g is the acceleration of gravity, and r is the effective radius of the centrifuge; is the value of the nth point in the curve in step 2;

[0022] 3.2. Based on the spindle speed calculated in step 3.1, calculate the linear acceleration of the centrifuge arm end , and ;

[0023]

[0024] 3.3. Calculate the centrifuge roll and pitch angles based on the calculated acceleration of the centrifuge arm coordinate system , ;

[0025]

[0026] Step 4: After receiving the start command, start sending the motion target values ​​of each axis in sequence Provide the centrifuge with a motion platform to control the centrifuge to reach the basic G value. ;

[0027] Step 5: Monitor whether the machine is shut down. If a shutdown command is received, jump to step 9, otherwise proceed to the next step;

[0028] Step 6: Real-time processing and calculation of the basic G value of the experimental curve;

[0029] 6.1. Real-time receipt of experimental target overload , and perform basic overload processing according to the following formula to calculate the new target overload ;

[0030]

[0031] in, Enter the G value for the target, is the transition mapping function, arrive Smooth mapping of ; The upper limit of G value for manned experiments;

[0032] 6.2、 for Value and From this point, the transition mapping function curve ends; The value can be a preset value or a random value. There are three setting modes: automatic value adjustment and user input;

[0033] Step 7: Calculate the experimental operation target value of each axis of the centrifuge at each G value point according to the formula in step 3;

[0034] Step 8: Send the motion target value of each axis Provide a centrifuge motion platform to control the centrifuge running experimental curve;

[0035] Step 9: When a shutdown is required, the basic overload online solution module generates a smooth descending G value curve from the current G value to the static state through interpolation. ;

[0036] Step 10: Calculate the running curve of each axis from the current G value to static state according to the formula in step 3;

[0037] Step 11: Send the motion target value of each axis point by point Provide centrifuge with motion platform and control centrifuge shutdown.

[0038] The beneficial effects of the present invention are:

[0039] The present invention is used to adjust the basic overload of a manned centrifuge within the range of a gravitational field (1g) to a larger G value, meeting the needs of different simulation training purposes; the present invention realizes the opening of the basic overload adjustment function by newly adding (newly designing) a basic overload adjustment human-machine interface, adjustment logic control, and a basic overload online solution module; the user can start the experimental curve from a static state, or from a basic G value higher than the traditional 1.4g, expanding the experimental and research space. After receiving the new basic G value, the present invention adopts an online solution method to generate a static rise to a basic G value, an experimental process G value curve, and a G value curve from the current G value to a static state, and then calculates the motion parameters of each axis according to the G value curve; the basic G value of the manned centrifuge is adjustable, and the application function of the manned centrifuge is expanded. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the process of the present invention;

[0041] Figure 2 It is a schematic diagram of the basic G value rising and falling transition G value curve;

[0042] Figure 3 This is a schematic diagram of the experimental overload basic G value calculation processing curve;

[0043] Figure 4 Schematic diagram of the basic G value processing curve for the complete experimental process. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, 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. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0045] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0047] In the description of the present invention, it should be understood that the terms "upper", "lower", "inside", "outside", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use, or are directions or positional relationships commonly understood by those skilled in the art. These directions or positional relationships are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0048] Furthermore, the terms “first”, “second”, etc. are merely used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0049] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms such as "setting" and "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings.

[0051] like Figure 1 As shown, a basic overload adjustment control method for a centrifugal manned simulator includes:

[0052] Step 1: Initialize the basic G value ( )parameter

[0053] 1.1 Setting the human-machine interface module in the centrifuge control system value (e.g. 1.6g);

[0054] 1.2 The control system checks the rationality of the input data. If it exceeds the range, it will prompt and force it to be converted to a reasonable range. The value must be greater than or equal to the gravity field (1g) and less than , To ensure safety and a value within the human body's overload tolerance range (e.g. 2g);

[0055]

[0056] 1.3 The control system human-machine interface module will undergo preliminary verification. The value is forwarded to the centrifuge solution module;

[0057] 1.4 Update the default basic G value of the basic overload online solver module to the latest received new value.

[0058] Step 2: The basic overload online solution module generates static (1g gravity field) to A smooth rising curve ,The interpolation methods include arc, parabola and other transition methods;

[0059] Step 3: Calculate the overload from each axis of the centrifuge to the foundation The running curve

[0060] 3.1 Calculate the main arm speed: According to the following formula, the G value rising curve Back-calculated as the centrifuge main arm speed curve ;

[0061]

[0062] In the above formula is the spindle speed of the centrifuge; g is the acceleration of gravity, r is the effective radius of the centrifuge; is the value of the nth point in the curve in step 2;

[0063] 3.2 Based on the spindle speed calculated in step 3.1, calculate the linear acceleration of the centrifuge arm end , and ;

[0064]

[0065] 3.3 Calculate the centrifuge roll and pitch angles based on the calculated acceleration of the centrifuge arm coordinate system , ;

[0066]

[0067] Step 4: After receiving the start command, start sending the motion target values ​​of each axis in sequence Provide the centrifuge with a motion platform to control the centrifuge to reach the basic G value. .

[0068] Step 5: Monitor whether the machine is shut down. If a shutdown command is received, jump to step 9, otherwise proceed to the next step;

[0069] Step 6: Real-time processing and calculation of the basic G value of the experimental curve

[0070] 6.1 Real-time receipt of experimental target overload , and perform basic overload processing according to the following formula to calculate the new target overload ,like Figure 3 shown.

[0071]

[0072] in, Enter the G value for the target, is the transition mapping function, arrive Smooth mapping, including the use of linear and nonlinear functions; The upper limit of G value for manned experiments;

[0073] 6.2 Above for Value and From this point, the transition mapping function curve ends; The value can be a preset value or a random value. There are three setting methods: automatic value adjustment and user input.

[0074] Step 7: Calculate the experimental operation target value of each axis of the centrifuge at each G value point according to the formula in step 3;

[0075] Step 8: Send the motion target value of each axis Provide a centrifuge motion platform to control the centrifuge running experimental curve;

[0076] Step 9: When a shutdown is required, the basic overload online solution module generates a smooth descending G value curve from the current G value to the static state through interpolation. ,The interpolation methods include arc, parabola and other transition methods;

[0077] Step 10: Calculate the running curve of each axis from the current G value to static state according to the formula in step 3;

[0078] Step 11: Send the motion target value of each axis point by point Provide centrifuge with motion platform and control centrifuge shutdown.

[0079] In this technical solution: In step 1, the basic G value ( ) parameter initialization process and method; steps 2 to 4 are the calculation process and method of the centrifuge rising from static to basic G value; steps 6 to 8 are the processing process and calculation method of the basic G value after the centrifuge receives the experimental G value; steps 9 to 11 are the dynamic process and calculation method of the centrifuge falling from the basic G value to stopping, such as Figure 4 As shown, a schematic diagram of the basic G value processing curve of the complete experimental process of this application is shown.

[0080] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A basic overload adjustment control method for a centrifugal manned simulator, characterized by comprising: Step 1: Initialize basic G value parameters; 1.1、Setting up the human-machine interface module in the centrifuge control system value; 1.

2. The control system checks the rationality of the input data. If it exceeds the range, it will prompt and force the data to be converted to a reasonable range; 1.

3. The control system human-machine interface module will undergo preliminary verification. The value is forwarded to the centrifuge solution module; 1.

4. Update the default basic G value of the basic overload online solution module to the latest received new value; Step 2: The basic overload online solution module generates static A smooth rising curve ; Step 3: Calculate the overload from each axis of the centrifuge to the foundation The operating curve of 3.

1. Calculate the main arm speed: According to the following formula, the G value rising curve Back-calculated as the centrifuge main arm speed curve ; ， In the above formula is the spindle speed of the centrifuge; g is the acceleration of gravity, and r is the effective radius of the centrifuge; is the value of the nth point in the curve in step 2; 3.

2. Based on the spindle speed calculated in step 3.1, calculate the linear acceleration of the centrifuge arm end , and ; ， 3.

3. Calculate the centrifuge roll and pitch angles based on the calculated acceleration of the centrifuge arm coordinate system , ; ， Step 4: After receiving the start command, start sending the motion target values ​​of each axis in sequence Provide the centrifuge with a motion platform to control the centrifuge to reach the basic G value. ; Step 5: Monitor whether the machine is shut down. If a shutdown command is received, jump to step 9, otherwise proceed to the next step; Step 6: Real-time processing and calculation of the basic G value of the experimental curve; 6.

1. Real-time receipt of experimental target overload , and perform basic overload processing according to the following formula to calculate the new target overload ; ， in, Enter the G value for the target, is the transition mapping function, arrive Smooth mapping of ; The upper limit of G value for manned experiments; 6.2、 for Value and From this point, the transition mapping function curve ends; The value can be a preset value or a random value. There are three setting modes: automatic value adjustment and user input; Step 7: Calculate the experimental operation target value of each axis of the centrifuge at each G value point according to the formula in step 3; Step 8: Send the motion target value of each axis Provide a centrifuge motion platform to control the centrifuge running experimental curve; Step 9: When a shutdown is required, the basic overload online solution module generates a smooth descending G value curve from the current G value to the static state through interpolation. ; Step 10: Calculate the running curve of each axis from the current G value to static state according to the formula in step 3; Step 11: Send the motion target value of each axis point by point Provide centrifuge with motion platform and control centrifuge shutdown.

2. A centrifugal manned simulator basic overload adjustment control method according to claim 1, characterized in that: In step 2 and step 9, the interpolation method includes an arc transition method or a parabola transition method.

Images