Centrifugal manned simulator base overload adjustment control method

Abstract

The application discloses a centrifugal manned simulator basic overload adjustment control method, wherein step one is a basic G value parameter initialization process and method; steps two to four are a calculation process and calculation method of the centrifuge from static rising to the basic G value; steps six to eight are a processing process and calculation method of the basic G value after the centrifuge receives an experimental G value; and steps nine to eleven are a dynamic process and calculation method of the centrifuge from the basic G value descending to stopping. After receiving a new basic G value, the application adopts an online solution method to respectively generate a static rising to the basic G value, an experimental process G value curve and a G value curve from the current G value to static, and then calculates each axis motion parameter according to the G value curve, so that the basic G value of the manned centrifuge is adjustable, and the application function of the manned centrifuge is expanded.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of centrifugal manned simulator, and particularly relates to a centrifugal manned simulator basic overload adjustment control method. BACKGROUND

[0002] Pilots and astronauts will bear the overload caused by linear motion in flight, which will bring great test to pilots' physiology and psychology, thus threatening flight safety and affecting mission execution effect. The manned centrifuge is a kind of simulation training equipment using centrifugal force of rotation to provide an overload environment, which is mainly used for pilot and astronaut overload endurance training. Through training by the manned centrifuge, the anti-overload capacity of pilots can be efficiently, safely and economically improved, and the manned centrifuge is a necessary equipment for pilots training in various aviation powers.

[0003] The current manned centrifuge is further divided into single-shaft manned centrifuge, three-shaft manned centrifuge, four-shaft simulator and various configurations, and the same feature is that a rotating arm generates centrifugal force.

[0004] At present, for the purpose of overload simulation training, and for the reasons of trainee pilots' experience and driving ability, the manned centrifuge adopts a basic overload (basic G value) starting mode, that is, the manned centrifuge first runs from a static state to a fixed basic G value, and then runs an experimental target G value curve from the basic G value, and when the experimental curve is completed, the speed is reduced to the basic G value, and finally, the machine is stopped from the basic G value to the static state, as shown in the following figure. Figure 2 The current manned centrifuge has a fixed basic G value, and this scheme also fixes the mutual conversion curve from the static state of the centrifuge to the basic G value state.

[0005] Disadvantages of the prior art:

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

[0007] 2. The existing centrifugal manned simulator must start the experiment from the fixed basic overload G value state, and has no condition to start the experiment in the static state or quasi-static state, and cannot develop the overload simulation demand lower than the fixed basic G value. The reason is that the basic overload G value of the existing centrifugal manned simulator is basically 1.4g, that is, the centrifuge is already in a running state before the test, and has no experimental overload editing capability in the range of 1g~1.4g.

[0008] Therefore, a centrifugal manned simulator basic overload adjustment control method is needed to solve the above problems. SUMMARY

[0009] The centrifugal manned simulator basic overload adjustment control method is designed to solve the above problems.

[0010] The centrifugal manned simulator basic overload adjustment control method is designed to solve the above problems.

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

[0012] Step one, initialize the basic G value parameter;

[0013] 1.1, set the value in the centrifuge control system human-computer interface module ;

[0014] 1.2, the control system checks the rationality of the input data, and prompts and forcibly converts to a reasonable range if it exceeds the range;

[0015] 1.3, the control system human-computer interface module forwards the target value after preliminary checking to the centrifuge calculation module;

[0016] 1.4, the basic overload online calculation module updates the default basic G value to the latest received new value;

[0017] Step two, the basic overload online calculation module generates a smooth rising curve from static to ;

[0018] Step three, calculate the running curve of each axis of the centrifuge to the basic overload ;

[0019] 3.1, calculate the main arm speed: according to the following formula, calculate the centrifuge main arm speed curve from the G value rising curve ;

[0020]

[0021] In the above formula, is the centrifuge main shaft speed; 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 two;

[0022] 3.2, according to the main shaft speed calculated in step 3.1, calculate the linear acceleration , and ;

[0023]

[0024] 3.3, the centrifuge arm coordinate system according to the calculated acceleration to calculate the centrifuge roll, pitch angle 、 ;

[0025]

[0026] Step four, after receiving the start instruction, start to issue the target value of each axis motion in turn To the centrifuge motion platform, control the centrifuge to reach the basic G value, ;

[0027] Step five, monitor whether to stop, if the stop command is received, jump to step nine, otherwise go to the next step;

[0028] Step six, real-time processing and calculation of experimental curve basic G value;

[0029] 6.1, real-time receiving experimental target overload , and according to the following formula to do basic overload processing, calculate the new target overload ;

[0030]

[0031] Among them, Target input G value, Transition mapping function, realize To Smooth mapping; The upper limit of manned experiment G value;

[0032] 6.2, The Value and The equivalent point, from this point, the transition mapping function curve ends; , there are three setting methods of using pre-set value, automatically adjusting with Value, user input;

[0033] Step seven, calculate the experimental running target value of each axis of the centrifuge at each G value point according to the formula in step three;

[0034] Step eight, issue the target value of each axis motion To the centrifuge motion platform, control the centrifuge to run the experimental curve;

[0035] Step nine, when the stop needs to be executed, the basic overload online solution module generates a smooth descending G value curve from the current G value to static ;

[0036] Step ten, according to step three formula calculation of each axis from the current G value to the static running curve;

[0037] Step eleven, point by point to issue each axis movement target value The centrifuge motion platform, control centrifuge shutdown.

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

[0039] The present application is used to realize the adjustment of manned centrifuge basic overload in the range from gravity field (1g) to larger G value, meet the needs of different simulation training purposes; the present application realizes the opening of basic overload adjustment function by adding (new design) basic overload adjustment man-machine interface, adjustment logic control and basic overload online solving module; the user can start the experiment curve from static, also can start the experiment curve from higher basic G value than traditional 1.4g, expand the test and research space. After receiving the new basic G value, the present application adopts online solving method, respectively generates the G value curve from static rising to basic G value, experiment process G value curve, from current G value to static G value curve, then calculates each axis motion parameter according to G value curve; realize the adjustable of manned centrifuge basic G value, expand the application function of manned centrifuge. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 It is the flowchart of the present application;

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

[0042] Figure 3 It is the experiment overload basic G value calculation processing curve schematic diagram;

[0043] Figure 4 It is the complete experiment process basic G value processing curve schematic diagram. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application 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 invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0046] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0047] In the description of this invention, it should be understood that the terms "upper," "lower," "inner," "outer," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used to facilitate the description of this invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0048] Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0049] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, terms such as "set" and "connection" should be interpreted broadly. 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; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

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

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

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

[0054] 1.2 The control system checks the reasonableness of the entered data. If the data exceeds the acceptable range, it will prompt the user and force the data to be converted to the acceptable range. The value must be greater than or equal to the gravitational field (1g) and less than , To ensure safety and human body within the range of the ability to withstand overload value (such as 2g);

[0055]

[0056] 1.3 control system man-machine interface module will be the target value of the preliminary review, forwarded to the centrifuge solver module;

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

[0058] Step two, the basic overload online solver module generates a smooth rising curve from static (1g gravitational field) to by interpolation , interpolation method includes circular arc, parabolic transition mode;

[0059] Step three, calculate the running curve of each axis of the centrifuge to the basic overload

[0060] 3.1 calculate the main arm speed: according to the following formula, the G value rising curve is calculated into the centrifuge main arm speed curve ;

[0061]

[0062] In the above formula is the centrifuge main shaft speed; g is the acceleration of gravity, r is the effective radius of the centrifuge, is the value of the n-th point in the curve in step two;

[0063] 3.2 according to the main shaft speed calculated in step 3.1, the linear acceleration of the centrifuge rotating arm end is calculated 、 and ;

[0064]

[0065] 3.3 according to the calculated acceleration of the centrifuge rotating arm coordinate system, the centrifuge roll and pitch angle 、 ;

[0066]

[0067] Step four, after receiving the start command, start to issue the target value of each axis motion in turn ​​The centrifuge motion platform is given, and the centrifuge is controlled to reach the basic G value, .

[0068] Step five, monitor whether to stop, if the stop command is received, go to step nine, otherwise go to the next step;

[0069] Step six, experimental curve basic G value real-time processing calculation

[0070] 6.1 Real-time receive experimental target overload , and the basic overload is processed according to the following formula to calculate the new target overload , as shown in Figure 3 .

[0071]

[0072] Among them, is the target input G value, is the transition mapping function, which realizes the smooth mapping from to , including linear function and nonlinear function and other methods; is the upper limit of manned experiment G value;

[0073] 6.2 The above is the equivalent point of value and , from which the transition mapping function curve ends; , there are three setting methods of using pre-set value, automatically adjusting with value and user input.

[0074] Step seven, calculate the experimental running target value of each axis of the centrifuge at each G value point according to the formula in step three;

[0075] Step eight, issue each axis motion target value to the centrifuge motion platform to control the centrifuge to run the experimental curve;

[0076] Step nine, when it is necessary to execute stop, the basic overload online solution module generates a smooth descending G value curve from the current G value to static through interpolation , and the interpolation method includes circular arc, parabola and other transition methods;

[0077] Step ten, calculate the running curve of each axis from the current G value to static according to the formula in step three;

[0078] Step eleven, issue each axis motion target value to the centrifuge motion platform to control the centrifuge to stop.

[0079] In the technical solution: in step one, the basic G value is ) parameter initialization process and method; steps two to four are the calculation process and method of the centrifuge from static to the basic G value; steps six to eight are the processing process and calculation method of the basic G value after the centrifuge receives the experimental G value; steps nine to eleven are the dynamic process and calculation method of the centrifuge from the basic G value to stop, as shown in Figure 4 the figure shows the basic G value processing curve schematic diagram of the complete experiment process of the application.

[0080] The above only describes the preferred embodiments of the present application, and it should be noted that for ordinary skilled persons in the art, without departing from the technical principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A method for overload adjustment control of a centrifugal manned simulator foundation, characterized in that it includes: Step 1: Initialize the basic G-value parameters; 1.1 Setting up the human-machine interface module of the centrifuge control system value; 1.2 The control system checks the reasonableness of the entered data. If the data exceeds the range, it will prompt the user and force the data to be converted to the reasonable range. 1.3 The human-machine interface module of the control system will accept the target after preliminary verification. The value is forwarded to the centrifuge calculation module; 1.4 The basic overload online calculation module updates the default basic G value to the latest received value. value; Step 2: The basic overload online calculation module generates a static to... Smooth rising curve ; Step 3: Calculate the overload from each shaft of the centrifuge to the foundation. The running curve; 3.1 Calculate the boom rotation speed: Calculate the G-value curve according to the following formula. Inversely calculated as the centrifuge main boom speed curve ; ， In the above formula ρ is the rotational speed of the centrifuge spindle; g is the acceleration due to gravity; r is the effective radius of the centrifuge. This refers to the value of the nth point on the curve in step two. 3.

2. Based on the spindle speed calculated in step 3.1, calculate the linear acceleration at the end of the centrifuge arm. , and ; ， 3.3 Calculate the roll and pitch angles of the centrifuge based on the calculated acceleration in the centrifuge arm coordinate system. , ; ， Step 4: After receiving the start command, begin sequentially issuing the motion target values ​​for each axis. Provide a motion platform for the centrifuge and control the centrifuge to reach the basic G-value. ; Step 5: Monitor whether the machine has stopped. If a stop command is received, proceed 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 reception of experimental target overload The new target overload is calculated by performing basic overload processing according to the following formula. ; ， in, Enter the G value for the target. For the transition mapping function, implement arrive Smooth mapping; This represents the upper limit of the G-value for manned experiments. 6.2 for Value and The isopleth point is the starting point from which the transition mapping function curve ends; The values ​​can be preset or random. Three setting methods are available: automatic value adjustment, user input, and manual value input. Step 7: Calculate the target values ​​for each shaft of the centrifuge at each G-value point according to the formula in Step 3; Step 8: Issue motion target values ​​for each axis Provide a motion platform for the centrifuge and control the experimental curve of the centrifuge's operation. Step 9: When a shutdown is required, the online overload calculation module generates a smooth decreasing G-value curve from the current G-value to rest through interpolation. ; Step 10: Calculate the running curve of each axis from the current G value to rest according to the formula in Step 3; Step 11: Issue motion target values ​​for each axis point by point. Provide a motion platform for the centrifuge and control the centrifuge to stop.

2. The overload adjustment control method for a centrifugal manned simulator foundation according to claim 1, characterized in that, In steps two and nine, the interpolation methods include circular transition or parabolic transition.

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