Helicopter vibration platform driving model construction method and device

Abstract

The invention relates to the technical field of flight simulation, and provides a helicopter vibration platform driving model construction method and device. Establishing a corresponding relation graph between vibration energy distribution in different vibration directions and different vibration frequencies and each test flight parameter change; generating an interpolation table of each test flight parameter and the vibration intensity in the test flight vibration data under different vibration directions and different vibration frequencies based on each corresponding relation graph; and constructing a vibration platform driving model based on each interpolation table and the test flight parameters, the vibration platform driving model being used for determining real-time vibration data based on the real-time flight parameters, and driving the helicopter vibration platform with the real-time vibration data. In the invention, because each interpolation table reflects the relationship between each flight parameter change and the vibration intensity, the constructed vibration platform driving model can output the corresponding real-time vibration data according to the change of the real-time flight parameter.

Description

Technical Field

[0001] The invention relates to the technical field of flight simulation, and in particular to a method and a device for constructing a helicopter vibration platform driving model. Background Art

[0002] For flight simulation equipment, vibration simulation is a very important link, especially for helicopter simulation, vibration simulation plays a great role in improving the realism of simulation. Helicopter vibration simulation is generally achieved through a three-degree-of-freedom vibration platform. In response to the vibration drive data (including: vibration frequency signal and vibration intensity signal) in the longitudinal, lateral and vertical directions given by the host computer, the vibration platform is driven to output vibration according to the vibration data to simulate the vibration response caused by the rotor or external environment changes during the flight of the helicopter. Therefore, how to determine the vibration drive data of the vibration platform is the key work of vibration simulation.

[0003] At present, fixed vibration frequency signals and vibration intensity signals are usually used to determine vibration driving data, or the pilot is relied on to conduct multiple rounds of test flights, and the vibration frequency signals and vibration intensity signals are adjusted according to the pilot's subjective opinions, thereby adjusting the vibration driving data. It is impossible to automatically output vibration driving data that conforms to the changes in the flight status of the helicopter. Summary of the invention

[0004] The invention provides a method and device for constructing a helicopter vibration platform driving model, which are used to solve the problem in the prior art that vibration driving data that conforms to the change of the helicopter flight state cannot be automatically output.

[0005] The invention provides a method for constructing a helicopter vibration platform driving model, which comprises the following steps.

[0006] Based on the test flight vibration data and various test flight parameters collected during the helicopter test flight, a corresponding relationship diagram between the vibration energy distribution and the changes of various test flight parameters under different vibration directions and different vibration frequencies is established.

[0007] Based on each corresponding relationship diagram, an interpolation table of each test flight parameter and the vibration intensity in the test flight vibration data under different vibration directions and different vibration frequencies is generated.

[0008] A vibration platform driving model is constructed based on each of the interpolation tables and the test flight parameters. The vibration platform driving model is used to determine real-time vibration data based on real-time flight parameters, and drive the helicopter vibration platform with the real-time vibration data.

[0009] According to a method for constructing a helicopter vibration platform driving model provided by the present invention, based on the test flight vibration data and various test flight parameters collected during the helicopter test flight, a corresponding relationship diagram between the vibration energy distribution and the changes in various test flight parameters under different vibration directions and different vibration frequencies is established, including the following steps.

[0010] The flight parameters of the helicopter in the stable flight phase are extracted, and the average values ​​of the flight parameters in the stable flight phase are calculated.

[0011] Performing Fourier transform on the flight test vibration data in the flight test stabilization phase, and determining the power spectrum density of the flight test vibration data based on the Fourier transform result.

[0012] The main frequencies in the three directions of vibration are determined, and the secondary frequencies in the three directions of vibration are statistically calculated based on the power spectrum density.

[0013] Based on the power spectrum density, the vibration intensity in each vibration direction and each frequency is statistically calculated.

[0014] Based on the average values ​​of the flight parameters corresponding to different flight test stability segments and the vibration intensity, a corresponding relationship diagram between the vibration intensity and the flight parameters in each vibration direction and frequency is drawn.

[0015] According to a method for constructing a helicopter vibration platform driving model provided by the present invention, a Fourier transform is performed on the test flight vibration data in a stable flight segment, and the power spectrum density of the test flight vibration data is determined based on the Fourier transform result, including: calculating the power spectrum density of the test flight vibration data based on the Fourier transform result, gravity acceleration, the sampling frequency of the test flight vibration data and the number of test flight vibration data in the stable flight segment.

[0016] According to a method for constructing a helicopter vibration platform driving model provided by the present invention, based on each corresponding relationship diagram, an interpolation table of each test flight parameter and the vibration intensity in the test flight vibration data under different vibration directions and different vibration frequencies is generated, including: under different vibration directions and different vibration frequencies, each test flight parameter is used as the input axis of the interpolation table, the vibration intensity is used as the output axis of the interpolation table, and the average value of each test flight parameter is used as a reference. In the corresponding relationship diagram, a curve is fitted by a curve fitting tool of Matlab, and interpolation points are supplemented to obtain the interpolation table.

[0017] According to a method for constructing a helicopter vibration platform driving model provided by the present invention, when the helicopter is on the ground, the test flight parameters include: engine speed and ground speed; constructing the vibration platform driving model based on each of the interpolation tables and the test flight parameters includes the following steps.

[0018] Under the specified vibration direction and the specified vibration frequency, a first vibration intensity sub-model based on one-dimensional interpolation is constructed using the ground speed and the ground speed-vibration intensity interpolation table; a second vibration intensity sub-model based on one-dimensional interpolation is constructed using the engine speed and the engine speed-vibration intensity interpolation table.

[0019] The first vibration intensity sub-model and the second vibration intensity sub-model are summed to obtain a vibration intensity model, and the vibration intensity model is combined with the specified vibration frequency to form the vibration platform driving model.

[0020] According to a method for constructing a helicopter vibration platform driving model provided by the present invention, when the helicopter is in the air, the test flight parameters include: indicated airspeed, weight, climb rate, radio altitude and yaw angular velocity; constructing the vibration platform driving model based on each of the interpolation tables and the test flight parameters includes the following steps.

[0021] Under the specified vibration direction and the specified vibration frequency, a third vibration intensity sub-model based on two-dimensional interpolation is constructed with the indicated airspeed, weight and the indicated airspeed-weight-vibration intensity interpolation table; a fourth vibration intensity sub-model based on one-dimensional interpolation is constructed with the radio altitude and the radio altitude-vibration intensity interpolation table; a fifth vibration intensity sub-model based on one-dimensional interpolation is constructed with the climb rate and the climb rate-vibration intensity interpolation table; a sixth vibration intensity sub-model based on one-dimensional interpolation is constructed with the yaw angular velocity and the yaw angular velocity-vibration intensity interpolation table.

[0022] The third vibration intensity sub-model, the fourth vibration intensity sub-model, the fifth vibration intensity sub-model and the sixth vibration intensity sub-model are summed to obtain a vibration intensity model, and the vibration intensity model is combined with the specified vibration frequency to form the vibration platform driving model.

[0023] The present invention also provides a helicopter vibration platform driving model building device, which includes the following modules.

[0024] The relationship diagram establishment module is used to establish a corresponding relationship diagram between the vibration energy distribution and the changes of each test flight parameter under different vibration directions and different vibration frequencies based on the test flight vibration data and each test flight parameter collected during the helicopter test flight.

[0025] The interpolation table generation module is used to generate an interpolation table of each test flight parameter and the vibration intensity in the test flight vibration data under different vibration directions and different vibration frequencies based on each corresponding relationship diagram.

[0026] The driving model building module is used to build a vibration platform driving model based on each of the interpolation tables and the test flight parameters. The vibration platform driving model is used to determine real-time vibration data based on real-time flight parameters, and drive the helicopter vibration platform with the real-time vibration data.

[0027] The present invention also provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for constructing a helicopter vibration platform driving model as described in any one of the above is implemented.

[0028] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the method for constructing a helicopter vibration platform driving model as described in any one of the above is implemented.

[0029] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for constructing a helicopter vibration platform driving model as described in any one of the above is implemented.

[0030] In the method and device for constructing a helicopter vibration platform driving model provided by the present invention, based on real test flight vibration data and various test flight parameters, a corresponding relationship diagram between vibration energy distribution and changes in various test flight parameters under different vibration directions and different vibration frequencies is established, and various interpolation tables are generated through the corresponding relationship diagram. Since each interpolation table reflects the relationship between the change of each flight parameter and the vibration intensity, the vibration platform driving model constructed by each interpolation table and the corresponding real test flight parameters can output corresponding real-time vibration data according to the change of real-time flight parameters when it is actually applied, and the real-time vibration data is input into the vibration platform, thereby generating a corresponding vibration signal, and the vibration signal is used for helicopter vibration simulation, thereby improving the fidelity of the simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 This is one of the flow charts of the method for constructing a helicopter vibration platform driving model provided by the present invention.

[0033] Figure 2 This is the second flow chart of the method for constructing a helicopter vibration platform driving model provided by the present invention.

[0034] Figure 3 This is the third flow chart of the method for constructing a helicopter vibration platform driving model provided by the present invention.

[0035] Figure 4It is a structural schematic diagram of a helicopter vibration platform driving model building device provided by the present invention.

[0036] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. 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.

[0038] The helicopter vibration platform driving model construction method of the embodiment of the present invention is as follows: Figure 1 As shown, the following steps S110 to S130 are included.

[0039] Step S110: Based on the test flight vibration data and various test flight parameters collected during the helicopter test flight, a corresponding relationship diagram between the vibration energy distribution and the changes of various test flight parameters under different vibration directions and different vibration frequencies is established.

[0040] Specifically, during the test flight of the helicopter, various test flight parameters can be obtained through the control system of the helicopter. The test flight parameters may include: engine speed, speed (ground speed, indicated airspeed), weight, climb rate, radio altitude and yaw rate. Test flight vibration data can be obtained through an acceleration sensor installed in the helicopter (for example, on the driver's seat), and the vibration data includes vibration frequency and vibration intensity (also called amplitude). In this embodiment, the test flight vibration data collected by the acceleration sensor within a certain time period is obtained, and the test flight parameters corresponding to the test flight vibration data within the time period are obtained at the same time, so that a corresponding relationship diagram between the vibration energy distribution and the changes of various test flight parameters under different vibration directions and different vibration frequencies can be established.

[0041] Among them, the vibration directions include: horizontal (x-axis), longitudinal (y-axis) and vertical (z-axis). The vibration intensity of all vibrations can be decomposed into these three directions.

[0042] Step S120: Based on the corresponding relationship diagrams, an interpolation table of each flight test parameter and the vibration intensity in the flight test vibration data under different vibration directions and different vibration frequencies is generated.

[0043] Specifically, the corresponding relationship diagram reflects the relationship between each test flight parameter and the vibration intensity in the test flight vibration data, specifically a relationship curve diagram. For a test flight parameter, the horizontal axis in the diagram is the test flight parameter, and the vertical axis is the vibration intensity. In order to make the real-time vibration data output by the vibration platform drive model finally constructed more accurate, the relationship curve diagram is interpolated to obtain more test flight parameter and vibration intensity data pairs, and the interpolation table is generated through these data pairs.

[0044] Step S130: construct a vibration platform drive model based on each of the interpolation tables and the test flight parameters, wherein the vibration platform drive model is used to determine real-time vibration data based on the real-time flight parameters, and drive the helicopter vibration platform with the real-time vibration data. Since each interpolation table reflects the relationship between the change of each flight parameter and the vibration intensity, the vibration platform drive model constructed with each interpolation table and the corresponding real test flight parameters can output corresponding real-time vibration data according to the change of the real-time flight parameters in actual application, and input the real-time vibration data into the vibration platform as vibration drive data, thereby generating a corresponding vibration signal, which is used for helicopter vibration simulation, thereby improving the fidelity of the simulation.

[0045] In the helicopter vibration platform driving model construction method of the present embodiment, based on the real test flight vibration data and each test flight parameter, a corresponding relationship diagram between the vibration energy distribution and the change of each test flight parameter under different vibration directions and different vibration frequencies is established, and each interpolation table is generated through the corresponding relationship diagram. Since each interpolation table reflects the relationship between the change of each flight parameter and the vibration intensity, the vibration platform driving model constructed by each interpolation table and the corresponding real test flight parameter can output corresponding real-time vibration data according to the change of real-time flight parameters in actual application, and the real-time vibration data is input into the vibration platform as vibration driving data, thereby generating a corresponding vibration signal, which is used for helicopter vibration simulation, thereby improving the fidelity of the simulation.

[0046] In some embodiments, see Figure 2 , step S110 specifically includes the following steps.

[0047] Step 1: Extract each test flight parameter of the helicopter in the test flight stability segment, and calculate the average value of each test flight parameter in the test flight stability segment. Specifically, the test flight parameters can be classified according to different flight subjects. For each flight subject, each test flight parameter in the test flight stability segment is extracted. Extracting each test flight parameter in the test flight stability segment can accurately extract the vibration under a specific flight state. One state point corresponds to one vibration, avoiding the vibration of other state points mixed in one state point. Calculate the average value of each test flight parameter in the test flight stability segment. For each test flight parameter, the average value of the test flight parameter in a certain test flight stability segment is used as the state point parameter of the helicopter in the test flight stability segment, and corresponds to the test flight vibration data in the test flight stability segment.

[0048] Step 2: Perform Fourier transform on the flight test vibration data in the flight test stabilization phase, and determine the power spectrum density of the flight test vibration data based on the Fourier transform result.

[0049] Specifically, based on the Fourier transform result, gravity acceleration, the sampling frequency of the test flight vibration data, and the number of test flight vibration data in the test flight stability phase, the power spectrum density of the test flight vibration data is calculated. The power spectrum density calculation formula is as follows: .

[0050] Among them, FltDataPsd represents the power spectrum density, fs It represents the sampling frequency of the acceleration sensor to vibration. N Indicates the data length (the number of test flight vibration data in the stable phase of the test flight), FltDataFft indicates the Fourier transform result of the test flight vibration data, g represents the acceleration due to gravity, abs () represents the absolute value function.

[0051] Step three: determine the main frequencies in the three directions of vibration, and calculate the secondary frequencies in the three directions of vibration based on the power spectrum density.

[0052] Among them, the main frequency is calculated by RotorSpeed×4 / 60, and RotorSpeed ​​represents the engine speed. The secondary frequency is obtained by power spectrum density statistics. Specifically, the frequency corresponding to the power density peak in the power spectrum density diagram is the secondary frequency. Theoretically, there are multiple power density peaks, and there are multiple secondary frequencies. In this embodiment, the power spectrum density can be used to count the three frequencies with the most concentrated vibrations (only three frequencies are simulated at most at each moment, and the frequencies at different moments may be different. For example: when the helicopter is stationary on the ground and the engine is running at slow speed, the frequencies with concentrated vibrations are 3Hz and 17Hz, that is, the power density peaks in the power spectrum density diagram are presented at 3Hz and 17Hz. When the helicopter is hovering in the air, the frequencies with concentrated vibrations are 6Hz, 18Hz and 24Hz, that is, the power density peaks in the power spectrum density diagram are presented at 6Hz, 18Hz and 24Hz).

[0053] Step 4: Based on the power spectrum density, the vibration intensity in each vibration direction and each frequency is counted.

[0054] Step 5: Based on the average values ​​of the flight parameters corresponding to different flight test stability segments and the vibration intensity, a corresponding relationship diagram between the vibration intensity and the flight parameters is drawn in each vibration direction and frequency. Specifically, the flight test parameters include: engine speed, speed (ground speed, indicated airspeed), weight, climb rate, radio altitude and yaw rate. For example: when the helicopter is on the ground, a corresponding relationship diagram between the engine speed and the vibration intensity is drawn in each vibration direction and frequency, and the corresponding relationship diagram between the engine speed and the vibration intensity can be interpolated to obtain an engine speed-vibration intensity interpolation table. Another example: when the helicopter is in the air, a corresponding relationship diagram between the speed, weight and vibration intensity is drawn in each vibration direction and frequency, and the corresponding relationship diagram between the speed, weight and vibration intensity can be interpolated to obtain an indicated airspeed-weight-vibration intensity interpolation table.

[0055] In some embodiments, step S120 specifically includes: under different vibration directions and different vibration frequencies, each test flight parameter is used as the input axis of the interpolation table, the vibration intensity is used as the output axis of the interpolation table, and the average value of each test flight parameter is used as a reference. In the corresponding relationship diagram, a curve is fitted by a curve fitting tool of Matlab, and interpolation points are supplemented to obtain the interpolation table.

[0056] In some embodiments, when the helicopter is on the ground, the test flight parameters include: engine speed and ground speed; constructing a vibration platform drive model based on each of the interpolation tables and the test flight parameters includes the following steps.

[0057] Under the specified vibration direction and the specified vibration frequency, a first vibration intensity sub-model based on one-dimensional interpolation is constructed using the ground speed and the ground speed-vibration intensity interpolation table; a second vibration intensity sub-model based on one-dimensional interpolation is constructed using the engine speed and the engine speed-vibration intensity interpolation table.

[0058] The first vibration intensity sub-model and the second vibration intensity sub-model are summed to obtain a vibration intensity model, and the vibration intensity model is combined with the specified vibration frequency to form the vibration platform driving model.

[0059] Specifically, flight parameters are divided into two categories: ground status and air status. The ground signal can be used to determine whether the helicopter is on the ground or in the air.

[0060] Among them, in the ground state, the test flight parameters are characterized by ground speed and engine speed to identify the vibrations generated by the simulated helicopter engine start-up, rotor rotation and ground taxiing. According to the state characteristics of the above helicopter, based on the interpolation tables obtained by analyzing and statistically analyzing the test flight parameters and test flight vibration data, a vibration platform driving model in the ground state is constructed. Taking a single frequency (main frequency) and a single direction (x direction) as an example, the vibration platform driving model in the ground state is expressed by the following formula.

[0061] TargetSineWaveFrequency0 = 4.0×RotorSpeed / 60.0.

[0062] TargetSineWaveAmplitudeTx = ymsvfi1(GroundSpeed, SpeedEffectGrd, SpeedX1Grd) + ymsvfi2(RotorSpeed, NGEffectGrd, NGX1Grd).

[0063] Among them, TargetSineWaveFrequency0 represents the vibration frequency output to the vibration platform by the vibration platform driving model when in the ground state, RotorSpeed ​​represents the engine speed, and TargetSineWaveAmplitudeTx represents the vibration intensity output to the vibration platform by the vibration platform driving model when in the ground state. GroundSpeed ​​represents the ground speed, SpeedEffectGrd and SpeedX1Grd represent the speed axis and vibration intensity axis of the ground speed-vibration intensity interpolation table, respectively, and NGEffectGrd and NGX1Grd represent the engine speed axis and vibration intensity axis of the engine speed-vibration intensity interpolation table, respectively. Both ymsvfi1() and ymsvfi2() represent one-dimensional interpolation functions (linear interpolation, cubic spline interpolation, or cubic interpolation). For example, the function ymsvfi1() represents interpolation operation in the ground speed-vibration intensity interpolation table according to the real-time ground speed GroundSpeed, thereby obtaining the real-time vibration intensity value. It can be understood that the two one-dimensional interpolation functions ymsvfi1() and ymsvfi2() in the above formula are respectively the first vibration intensity sub-model and the second vibration intensity sub-model.

[0064] In some embodiments, when the helicopter is in the air, the test flight parameters include: indicated airspeed, weight, climb rate, radio altitude and yaw rate; constructing a vibration platform drive model based on each of the interpolation tables and the test flight parameters includes the following steps.

[0065] Under the specified vibration direction and the specified vibration frequency, a third vibration intensity sub-model based on two-dimensional interpolation is constructed with the indicated airspeed, weight and the indicated airspeed-weight-vibration intensity interpolation table; a fourth vibration intensity sub-model based on one-dimensional interpolation is constructed with the radio altitude and the radio altitude-vibration intensity interpolation table; a fifth vibration intensity sub-model based on one-dimensional interpolation is constructed with the climb rate and the climb rate-vibration intensity interpolation table; a sixth vibration intensity sub-model based on one-dimensional interpolation is constructed with the yaw angular velocity and the yaw angular velocity-vibration intensity interpolation table.

[0066] The third vibration intensity sub-model, the fourth vibration intensity sub-model, the fifth vibration intensity sub-model and the sixth vibration intensity sub-model are summed to obtain a vibration intensity model, and the vibration intensity model is combined with the specified vibration frequency to form the vibration platform driving model.

[0067] Specifically, the air state is characterized by weight, speed, climb rate, altitude, and yaw angular velocity to identify the vibrations generated in various flight states of the simulated helicopter, such as hovering, level flight, climbing, descending, and circling. Based on the state characteristics of the above helicopter, and based on the interpolation tables obtained by analyzing and statistically analyzing the flight parameters and vibration data of the test flight, a vibration platform driving model in the air state is constructed. Taking a single frequency (main frequency) and a single direction (x direction) as an example, the vibration platform driving model in the air state is expressed by the following formula.

[0068] TargetSineWaveFrequency0' = 4.0×RotorSpeed / 60.0.

[0069] TargetSineWaveAmplitudeTx'=ymdvfi(IndicatedAirSpeed, GrossWeight, SpeedEffect, GWEffect, *SpeedHighX) + ymsvfi3(RadioHeight, HeightEffect, GEHighX) + ymsvfi4(RateOfClimb, ROCEffect, ROCHighX) + ymsvfi5(YawRate, ROYEffect, ROYLowX).

[0070] Among them, TargetSineWaveFrequency0' indicates the vibration frequency output by the vibration platform driving model to the vibration platform in the air state, RotorSpeed ​​indicates the engine speed, and TargetSineWaveAmplitudeTx' indicates the vibration intensity output by the vibration platform driving model to the vibration platform in the air state. ymdvfi() indicates a two-dimensional interpolation function (bilinear interpolation, bicubic spline interpolation, or bicubic interpolation), and ymsvfi3(), ymsvfi4(), and ymsvfi5() all indicate one-dimensional interpolation functions. IndicatedAirSpeed ​​represents indicated airspeed, GrossWeight represents weight, SpeedEffect, GWEffect and *SpeedHighX represent speed axis, weight axis and vibration intensity axis of indicated airspeed-weight-vibration intensity interpolation table respectively, vibration intensity axis *SpeedHighX is a two-dimensional array, RadioHeight represents radio altitude, HeightEffect and GEHighX represent altitude axis and vibration intensity axis of radio altitude-vibration intensity interpolation table respectively, RateOfClimb represents climb rate, ROCEffect and ROCHighX represent climb rate axis and vibration intensity axis of climb rate-vibration intensity interpolation table respectively, YawRate represents yaw rate, ROYEffect and ROYLowX represent yaw rate axis and vibration intensity axis of yaw rate-vibration intensity interpolation table respectively. It can be understood that the two-dimensional interpolation function ymdvfi() in the above formula is the third vibration intensity sub-model, and the three one-dimensional interpolation functions ymsvfi3(), ymsvfi4() and ymsvfi5() are the fourth vibration intensity sub-model, the fifth vibration intensity sub-model and the sixth vibration intensity sub-model respectively.

[0071] When the helicopter is on the ground or in the air, the real-time flight parameters are substituted into the model according to the corresponding vibration platform driving model. The model outputs the real-time vibration data (including vibration frequency and vibration intensity) on the ground or in the air. The helicopter vibration platform is driven by the real-time vibration data, thereby realizing the automatic output of vibration driving data that conforms to the changes in the helicopter's flight state.

[0072] like Figure 3 As shown, in actual application, real-time flight parameters and ground signals can be generated by the flight simulation model. According to the ground signal, it is determined whether the helicopter is on the ground or in the air. Then the corresponding real-time flight parameters are input into the vibration platform driving model, and the model outputs the vibration frequency and vibration intensity corresponding to the real-time flight parameters.

[0073] Specifically, when the helicopter is in the air, the indicated airspeed-weight-vibration intensity interpolation table is used as the basic item, and the vibration intensity is mainly concentrated here. Other radio altitude-vibration intensity interpolation tables, climb rate-vibration intensity interpolation tables and yaw angular velocity-vibration intensity interpolation tables are correction items. It can be understood that: taking the vibration intensity corresponding to the speed and weight at a certain moment as the basis, if there is climbing and descending, the vibration correction of climbing and descending is superimposed, and if there is yaw angular velocity, the vibration correction of yaw is superimposed, and there are relatively small vibration corrections at different altitudes.

[0074] The helicopter vibration platform driving model building device provided by the present invention is described below. The helicopter vibration platform driving model building device described below and the helicopter vibration platform driving model building method described above can be referred to each other.

[0075] The helicopter vibration platform driving model building device of the embodiment of the present invention is as follows: Figure 4 As shown, it includes the following modules.

[0076] The relationship diagram establishment module 410 is used to establish a corresponding relationship diagram between the vibration energy distribution and the changes of each flight test parameter under different vibration directions and different vibration frequencies based on the test flight vibration data and each test flight parameter collected during the helicopter test flight.

[0077] The interpolation table generating module 420 is used to generate an interpolation table of each test flight parameter and the vibration intensity in the test flight vibration data under different vibration directions and different vibration frequencies based on each corresponding relationship diagram.

[0078] The driving model building module 430 is used to build a vibration platform driving model based on each of the interpolation tables and the test flight parameters. The vibration platform driving model is used to determine real-time vibration data based on real-time flight parameters and drive the helicopter vibration platform with the real-time vibration data.

[0079] In the helicopter vibration platform driving model construction device of the embodiment of the present invention, based on the real test flight vibration data and each test flight parameter, a corresponding relationship diagram between the vibration energy distribution and the change of each test flight parameter under different vibration directions and different vibration frequencies is established, and each interpolation table is generated through the corresponding relationship diagram. Since each interpolation table reflects the relationship between the change of each flight parameter and the vibration intensity, the vibration platform driving model constructed by each interpolation table and the corresponding real test flight parameter can output corresponding real-time vibration data according to the change of real-time flight parameters in actual application, and the real-time vibration data is input into the vibration platform, thereby generating a corresponding vibration signal, which is used for helicopter vibration simulation, thereby improving the fidelity of the simulation.

[0080] In some embodiments, the relationship diagram building module 410 includes the following modules.

[0081] The average value calculation module is used to extract each test flight parameter of the helicopter in the test flight stability stage, and respectively calculate the average value of each test flight parameter in the test flight stability stage.

[0082] The power spectrum density determination module is used to perform Fourier transform on the flight test vibration data in the flight test stabilization phase, and determine the power spectrum density of the flight test vibration data based on the Fourier transform result.

[0083] The frequency determination module is used to determine the main frequencies in three directions of vibration and to calculate the secondary frequencies in three directions of vibration based on the power spectrum density.

[0084] The vibration intensity statistics module is used to count the vibration intensity in each vibration direction and each frequency based on the power spectrum density.

[0085] The relationship diagram drawing module is used to draw a corresponding relationship diagram between the vibration intensity and each test flight parameter in each vibration direction and each frequency based on the average value of each test flight parameter corresponding to different test flight stability segments and the vibration intensity.

[0086] In some embodiments, the power spectrum density determination module is specifically used to calculate the power spectrum density of the flight test vibration data based on the Fourier transform result, gravity acceleration, the sampling frequency of the flight test vibration data and the number of flight test vibration data in the flight test stabilization segment.

[0087] In some embodiments, the interpolation table generation module 420 is specifically used to fit the curve by Matlab's curve fitting tool in the corresponding relationship diagram, and to supplement the interpolation points, under different vibration directions and different vibration frequencies, with each test flight parameter as the input axis of the interpolation table, and the vibration intensity as the output axis of the interpolation table, and with the average value of each test flight parameter as the benchmark.

[0088] In some embodiments, when the helicopter is on the ground, the test flight parameters include: engine speed and ground speed; the drive model construction module 430 is specifically used to construct a first vibration intensity sub-model based on one-dimensional interpolation with the ground speed and the ground speed-vibration intensity interpolation table under a specified vibration direction and a specified vibration frequency; and to construct a second vibration intensity sub-model based on one-dimensional interpolation with the engine speed and the engine speed-vibration intensity interpolation table; the first vibration intensity sub-model and the second vibration intensity sub-model are summed to obtain a vibration intensity model, and the vibration intensity model is combined with the specified vibration frequency to form the vibration platform drive model.

[0089] In some embodiments, when the helicopter is in the air, the test flight parameters include: indicated airspeed, weight, climb rate, radio altitude and yaw angular velocity; the drive model construction module 430 constructs a third vibration intensity sub-model based on two-dimensional interpolation with indicated airspeed, weight and indicated airspeed-weight-vibration intensity interpolation table under the specified vibration direction and specified vibration frequency; constructs a fourth vibration intensity sub-model based on one-dimensional interpolation with radio altitude and radio altitude-vibration intensity interpolation table; constructs a fifth vibration intensity sub-model based on one-dimensional interpolation with climb rate and climb rate-vibration intensity interpolation table; constructs a sixth vibration intensity sub-model based on one-dimensional interpolation with yaw angular velocity and yaw angular velocity-vibration intensity interpolation table; the third vibration intensity sub-model, the fourth vibration intensity sub-model, the fifth vibration intensity sub-model and the sixth vibration intensity sub-model are summed to obtain a vibration intensity model, and the vibration intensity model is combined with the specified vibration frequency to form the vibration platform drive model.

[0090] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5 As shown, the electronic device may include: a processor 510, a communications interface 520, a memory 530 and a communication bus 540, wherein the processor 510, the communications interface 520 and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute the helicopter vibration platform driving model building method, which includes the following steps.

[0091] Based on the test flight vibration data and various test flight parameters collected during the helicopter test flight, a corresponding relationship diagram between the vibration energy distribution and the changes of various test flight parameters under different vibration directions and different vibration frequencies is established.

[0092] Based on each corresponding relationship diagram, an interpolation table of each test flight parameter and the vibration intensity in the test flight vibration data under different vibration directions and different vibration frequencies is generated.

[0093] A vibration platform driving model is constructed based on each of the interpolation tables and the test flight parameters. The vibration platform driving model is used to determine real-time vibration data based on real-time flight parameters, and drive the helicopter vibration platform with the real-time vibration data.

[0094] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0095] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the helicopter vibration platform drive model construction method provided by the above methods, and the method includes the following steps.

[0096] Based on the test flight vibration data and various test flight parameters collected during the helicopter test flight, a corresponding relationship diagram between the vibration energy distribution and the changes of various test flight parameters under different vibration directions and different vibration frequencies is established.

[0097] Based on each corresponding relationship diagram, an interpolation table of each test flight parameter and the vibration intensity in the test flight vibration data under different vibration directions and different vibration frequencies is generated.

[0098] A vibration platform driving model is constructed based on each of the interpolation tables and the test flight parameters. The vibration platform driving model is used to determine real-time vibration data based on real-time flight parameters, and drive the helicopter vibration platform with the real-time vibration data.

[0099] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for constructing a helicopter vibration platform driving model provided by the above methods is implemented. The method includes the following steps.

[0100] Based on the test flight vibration data and various test flight parameters collected during the helicopter test flight, a corresponding relationship diagram between the vibration energy distribution and the changes of various test flight parameters under different vibration directions and different vibration frequencies is established.

[0101] Based on each corresponding relationship diagram, an interpolation table of each test flight parameter and the vibration intensity in the test flight vibration data under different vibration directions and different vibration frequencies is generated.

[0102] A vibration platform driving model is constructed based on each of the interpolation tables and the test flight parameters. The vibration platform driving model is used to determine real-time vibration data based on real-time flight parameters, and drive the helicopter vibration platform with the real-time vibration data.

[0103] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0104] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0105] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for constructing a helicopter vibration platform driving model, characterized in that: include: Based on the test flight vibration data and various test flight parameters collected during the helicopter test flight, a corresponding relationship diagram between the vibration energy distribution and the changes of various test flight parameters under different vibration directions and different vibration frequencies is established; Based on each corresponding relationship diagram, an interpolation table of each test flight parameter and the vibration intensity in the test flight vibration data under different vibration directions and different vibration frequencies is generated; A vibration platform driving model is constructed based on each of the interpolation tables and the test flight parameters. The vibration platform driving model is used to determine real-time vibration data based on real-time flight parameters, and drive the helicopter vibration platform with the real-time vibration data.

2. The helicopter vibration platform driving model construction method according to claim 1, characterized in that: Based on the test flight vibration data and various test flight parameters collected during the helicopter test flight, a corresponding relationship diagram between the vibration energy distribution and the changes in various test flight parameters under different vibration directions and different vibration frequencies is established, including: Extracting each test flight parameter of the helicopter in the stable stage of the test flight, and calculating the average value of each test flight parameter in the stable stage of the test flight; Performing Fourier transform on the flight test vibration data in the flight test stabilization phase, and determining the power spectrum density of the flight test vibration data based on the Fourier transform result; Determine the main frequencies in three directions of vibration, and calculate the secondary frequencies in three directions of vibration based on the power spectrum density; Based on the power spectrum density, the vibration intensity in each vibration direction and each frequency is counted; Based on the average values ​​of the flight parameters corresponding to different flight test stability segments and the vibration intensity, a corresponding relationship diagram between the vibration intensity and the flight parameters in each vibration direction and frequency is drawn.

3. The method for constructing a helicopter vibration platform driving model according to claim 2, characterized in that: Performing Fourier transform on the flight test vibration data in the flight test stabilization segment, and determining the power spectral density of the flight test vibration data based on the Fourier transform result, including: calculating the power spectral density of the flight test vibration data based on the Fourier transform result, gravity acceleration, the sampling frequency of the flight test vibration data and the number of flight test vibration data in the flight test stabilization segment.

4. The method for constructing a helicopter vibration platform driving model according to claim 2, characterized in that: Based on each corresponding relationship diagram, an interpolation table of each test flight parameter and the vibration intensity in the test flight vibration data under different vibration directions and different vibration frequencies is generated, including: Under different vibration directions and different vibration frequencies, each test flight parameter is used as the input axis of the interpolation table, the vibration intensity is used as the output axis of the interpolation table, and the average value of each test flight parameter is used as a reference. In the corresponding relationship diagram, the curve is fitted by the curve fitting tool of Matlab, and the interpolation points are supplemented to obtain the interpolation table.

5. The method for constructing a helicopter vibration platform driving model according to any one of claims 1 to 4, characterized in that: When the helicopter is on the ground, the test flight parameters include: engine speed and ground speed; constructing a vibration platform drive model based on each of the interpolation tables and the test flight parameters includes: Under the specified vibration direction and the specified vibration frequency, a first vibration intensity sub-model based on one-dimensional interpolation is constructed using the ground speed and the ground speed-vibration intensity interpolation table; a second vibration intensity sub-model based on one-dimensional interpolation is constructed using the engine speed and the engine speed-vibration intensity interpolation table; The first vibration intensity sub-model and the second vibration intensity sub-model are summed to obtain a vibration intensity model, and the vibration intensity model is combined with the specified vibration frequency to form the vibration platform driving model.

6. The method for constructing a helicopter vibration platform driving model according to any one of claims 1 to 4, characterized in that: When the helicopter is in the air, the test flight parameters include: indicated airspeed, weight, climb rate, radio altitude and yaw rate; constructing a vibration platform drive model based on each of the interpolation tables and the test flight parameters includes: Under the specified vibration direction and the specified vibration frequency, a third vibration intensity sub-model based on two-dimensional interpolation is constructed using the indicated airspeed, weight and the indicated airspeed-weight-vibration intensity interpolation table; a fourth vibration intensity sub-model based on one-dimensional interpolation is constructed using the radio altitude and the radio altitude-vibration intensity interpolation table; a fifth vibration intensity sub-model based on one-dimensional interpolation is constructed using the climb rate and the climb rate-vibration intensity interpolation table; a sixth vibration intensity sub-model based on one-dimensional interpolation is constructed using the yaw angular velocity and the yaw angular velocity-vibration intensity interpolation table; The third vibration intensity sub-model, the fourth vibration intensity sub-model, the fifth vibration intensity sub-model and the sixth vibration intensity sub-model are summed to obtain a vibration intensity model, and the vibration intensity model is combined with the specified vibration frequency to form the vibration platform driving model.

7. A helicopter vibration platform driving model construction device, characterized in that: include: A relationship diagram establishment module is used to establish a corresponding relationship diagram between the vibration energy distribution and the changes of each flight test parameter under different vibration directions and different vibration frequencies based on the flight test vibration data and each flight test parameter collected during the helicopter flight test; An interpolation table generating module, for generating an interpolation table of each flight test parameter and the vibration intensity in the flight test vibration data under different vibration directions and different vibration frequencies based on each corresponding relationship diagram; The driving model building module is used to build a vibration platform driving model based on each of the interpolation tables and the test flight parameters. The vibration platform driving model is used to determine real-time vibration data based on real-time flight parameters, and drive the helicopter vibration platform with the real-time vibration data.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method for constructing a helicopter vibration platform driving model according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for constructing a helicopter vibration platform driving model according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for constructing a helicopter vibration platform driving model according to any one of claims 1 to 6 is implemented.

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