Helicopter simulator balancing method and device, electronic equipment and storage medium

Abstract

The invention provides a balancing method and device for a helicopter simulator, electronic equipment and a storage medium, and the method comprises the steps: responding to a balancing instruction, and based on the initial control amount of the helicopter simulator, determining the initial stress values of multiple degrees of freedom of the helicopter simulator under a body shaft system; determining the filtered stress value of the degree of freedom corresponding to each initial stress value; and determining a balancing result of the helicopter simulator based on a matching relationship between each filtered stress value and a preset stress balance condition of the corresponding degree of freedom. According to the method, the flight state does not need to be limited, the nonlinear equation set does not need to be solved, the filtered multi-degree-of-freedom stress is used when the helicopter simulator balancing is judged to reach the balance state through the pre-designed multi-degree-of-freedom filter, the influence of periodic oscillation can be eliminated, and the balancing precision of the helicopter simulator is improved. The defects that the helicopter simulator is difficult to reach the balancing state and the balancing limitation is large are overcome, and the accuracy and the reliability of the balancing result of the helicopter simulator are improved.

Description

Technical Field

[0001] The invention relates to the technical field of helicopter simulation, and in particular to a helicopter simulator balancing method, device, electronic equipment and storage medium. Background Art

[0002] When a helicopter is in stable flight, all external forces and torques acting on the helicopter are zero, that is, the helicopter is in a balanced state; and the process of making the helicopter reach a balanced state is called trimming. Since the flight of a helicopter in a balanced state can improve the safety and stability of flight operations, it is particularly important to simulate the trimming of the helicopter in the simulator.

[0003] In the related art, the balancing method of a helicopter simulator usually constructs a multi-degree-of-freedom force balance equation for a single flight state, and uses the Newton method to solve the force balance equation to obtain a balancing value that characterizes whether the helicopter simulator is in a balanced state.

[0004] However, since the existing multi-degree-of-freedom force balance equations are nonlinear equations, and the solutions to the nonlinear equations are only for a fixed single flight state, it is difficult to achieve balancing for all flight states. In addition, since the forces of multiple degrees of freedom often have periodic oscillations, when the forces of multiple degrees of freedom are simultaneously zero as the balancing condition, it is difficult for the helicopter simulator to reach a balanced state or the judgment of the achieved balanced state is not accurate enough. Summary of the invention

[0005] The present invention provides a helicopter simulator balancing method, device, electronic device and storage medium, which are used to solve the defects in the prior art that the helicopter simulator is difficult to reach a balanced state, the balancing state is not accurate enough and the balancing method has great limitations. There is no need to limit the flight state or solve a group of nonlinear equations. Instead, a pre-designed multi-degree-of-freedom filter is used to use the filtered multi-degree-of-freedom force when judging whether the helicopter simulator has reached a balanced state. The influence of periodic oscillations can be eliminated, the defects that the helicopter simulator is difficult to reach a balanced state and the balancing limitations are large are solved, and the accuracy and reliability of the helicopter simulator balancing results are greatly improved.

[0006] The invention provides a helicopter simulator balancing method, comprising the following steps.

[0007] In response to the balancing instruction, based on the initial control amount of the helicopter simulator, the initial force values ​​of the multiple degrees of freedom of the helicopter simulator under the fuselage axis system are determined; the filtered force values ​​corresponding to the degrees of freedom of each of the initial force values ​​are determined; and based on the matching relationship between each of the filtered force values ​​and the preset force balance conditions corresponding to the degrees of freedom, the balancing result of the helicopter simulator is determined.

[0008] According to a helicopter simulator balancing method provided by the present invention, the balancing result of the helicopter simulator is determined based on the matching relationship between each filtered force value and the preset force balance condition corresponding to the degree of freedom, including: for each filtered force value, determining the force difference between the filtered force value and the target force threshold corresponding to the degree of freedom; if each of the force difference values ​​is within the preset difference range, determining the balancing result as a successful balancing; if at least one of the force difference values ​​is not within the preset difference range, determining the balancing result as a failed balancing.

[0009] According to a helicopter simulator balancing method provided by the present invention, the method also includes: based on a preset control iteration function, updating the initial control amount to obtain an updated initial control amount; using the updated initial control amount as a new balancing control amount, returning to execute the initial control amount based on the helicopter simulator, and determining the initial force values ​​of each of the multiple degrees of freedom of the helicopter simulator under the body axis system; until it is determined that the balancing result is a successful balancing.

[0010] According to a helicopter simulator balancing method provided by the present invention, the initial control amount is updated based on a preset control iteration function to obtain an updated initial control amount, including: when the initial control amount includes the rotor collective pitch, the rotor lateral cyclic pitch change, the rotor longitudinal cyclic pitch change and the tail rotor collective pitch, using the control iteration function to iterate the force difference between the initial force value and the preset force value in the normal direction of the helicopter simulator under the body axis system, and the rotor collective pitch to obtain an updated rotor collective pitch; using the control iteration function to iterate the helicopter simulator under the body axis system The first torque difference between the longitudinal torque and the target longitudinal torque, and the rotor lateral cyclic pitch variation are iterated to obtain an updated rotor lateral cyclic pitch variation; using the control iteration function, the second torque difference between the lateral torque of the helicopter simulator under the body axis system and the target lateral torque, and the rotor longitudinal cyclic pitch variation are iterated to obtain an updated rotor longitudinal cyclic pitch variation; using the control iteration function, the third torque difference between the normal torque of the helicopter simulator under the body axis system and the target normal torque, and the tail rotor collective pitch are iterated to obtain an updated tail rotor collective pitch.

[0011] According to a helicopter simulator balancing method provided by the present invention, the determination of the filtered force value of each initial force value corresponding to the degree of freedom includes: based on a preset low-pass cutoff frequency and a high-pass cutoff frequency, filtering each of the initial force values ​​separately to obtain each filtered force value.

[0012] According to a helicopter simulator balancing method provided by the present invention, the initial force values ​​of each of the multiple degrees of freedom of the helicopter simulator under the body axis system are determined based on the initial control amount of the helicopter simulator, including: determining the aerodynamic force and gravity of each of the multiple degrees of freedom of the helicopter simulator under the body axis system based on the initial control amount; determining each of the initial force values ​​based on each of the aerodynamic forces and each of the gravity forces.

[0013] According to a helicopter simulator balancing method provided by the present invention, the method also includes: when the balancing result is successful, based on the longitudinal balanced aerodynamic force of the helicopter simulator under the fuselage axis system, the lateral balanced aerodynamic force of the helicopter simulator under the fuselage axis system, and the longitudinal balanced gravity of the helicopter simulator under the fuselage axis system, determining the attitude angle of the helicopter simulator in the balanced state.

[0014] The present invention also provides a helicopter simulator balancing device, comprising the following units.

[0015] A determination unit is used to determine, in response to a balancing instruction, the initial force values ​​of each of the multiple degrees of freedom of the helicopter simulator under the body axis system based on the initial control amount of the helicopter simulator; a filtering unit is used to determine the filtered force values ​​of each degree of freedom corresponding to each of the initial force values; and a balancing unit is used to determine the balancing result of the helicopter simulator based on the matching relationship between each of the filtered force values ​​and the preset force balance conditions corresponding to the degree of freedom.

[0016] 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 computer program, any one of the above-mentioned helicopter simulator balancing methods is implemented.

[0017] 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 helicopter simulator balancing method as described in any one of the above is implemented.

[0018] The helicopter simulator balancing method, device, electronic device and storage medium provided by the present invention, wherein the helicopter simulator balancing method, when responding to a balancing instruction, first determines the initial force values ​​of the helicopter simulator's multiple degrees of freedom under the body axis system based on the initial control amount of the helicopter simulator, and then further determines the filtered force values ​​of the corresponding degrees of freedom of each initial force value, and then determines the balancing result of the helicopter simulator based on the matching relationship between each filtered force value and the preset force balance condition of the corresponding degree of freedom. In this way, there is no need to limit the flight state, nor to solve a group of nonlinear equations, but through a pre-designed multi-degree-of-freedom filter, the filtered multi-degree-of-freedom force is used when judging whether the helicopter simulator has reached a balanced state, which can eliminate the influence of periodic oscillations, solve the defects of the helicopter simulator being difficult to reach a balanced state and having large balancing limitations, and greatly improve the accuracy and reliability of the helicopter simulator's balancing results. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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.

[0020] Figure 1 This is one of the flow charts of the helicopter simulator trimming method provided by the present invention.

[0021] Figure 2 It is a schematic diagram of the body axis coordinate system where the helicopter simulator provided by the present invention is located.

[0022] Figure 3 This is the second flow chart of the helicopter simulator trimming method provided by the present invention.

[0023] Figure 4 The present invention is a schematic structural diagram of a helicopter simulator trim device.

[0024] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0025] 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.

[0026] In the embodiments of the present invention, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B may be singular or plural. In the textual description of the present invention, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship. In addition, it should be noted that the serial numbers themselves, such as "first", "second", etc., used to distinguish the objects described in the present invention are only used to distinguish the objects described, and do not have any order or technical meaning.

[0027] When a helicopter is in stable flight, all external forces and external moments acting on the helicopter add up to zero, that is, the helicopter is in a balanced state; and the process of making the helicopter reach a balanced state is called trimming; the task of trimming is to obtain the attitude angle and control amount required for the helicopter to achieve a stable flight state based on the pre-set balance conditions.

[0028] The external forces on a helicopter during flight usually include aerodynamic force and gravity. When the helicopter has acceleration or angular velocity, the helicopter will also be subject to inertial force during flight. For example, for a conventional single-rotor helicopter with a tail rotor, the aerodynamic force comes from the rotor, tail rotor, fuselage, horizontal tail and vertical tail.

[0029] Since flying a helicopter in a balanced state can improve the safety and stability of flight operations, it is particularly important to simulate the helicopter's trim in the simulator.

[0030] For helicopter simulators, balancing is an important method and technical means in the development process of simulator software, and it is necessary to develop a balancing method that is more suitable for simulator implementation and use.

[0031] In the related art, the conventional balancing method of a helicopter simulator is usually to construct a multi-degree-of-freedom force balance equation for a single flight state, such as constructing a force balance equation for six degrees of freedom, namely longitudinal, lateral, normal, pitch, roll and yaw, and using Newton's method to solve the force balance equation to obtain the balancing amount that characterizes whether the helicopter simulator is in a balanced state, such as the balancing amount being the helicopter's attitude angle (pitch angle and roll angle) and control amount (such as rotor collective pitch, lateral cyclic pitch, longitudinal cyclic pitch and tail rotor collective pitch).

[0032] However, since the most important aerodynamic component of a helicopter is the rotor, which provides both lift to make the helicopter take off and control force and torque to make the helicopter rise, fall, pitch and roll, and also pulls the helicopter to fly in any direction, there is a strong control coupling.

[0033] In addition, since the multi-degree-of-freedom force balance equations constructed in the existing conventional balancing methods are nonlinear equations, the Newton method, as a mathematical method, cannot well reflect the physical relationship between the helicopter control variables and the helicopter response; and the solution to the nonlinear equation group is usually only for a fixed single flight state, it is difficult to achieve balancing for all flight states, and it is difficult to achieve in real-time operation solution.

[0034] Furthermore, the characteristics of the helicopter rotor cause periodic oscillations in the six-degree-of-freedom forces calculated by the helicopter simulator. Especially during high-speed flight, the flapping characteristics make the periodic oscillations more obvious. Therefore, if the judgment condition for reaching the balanced state is that the six-degree-of-freedom forces are simultaneously zero, it will be difficult for the helicopter simulator to reach the balanced state. If the conditions for reaching the balanced state are appropriately relaxed, the determined balanced state of the helicopter simulator will not be accurate enough, resulting in unstable subsequent states and possible multiple trimming results.

[0035] In order to solve the above technical problems, the present invention provides a helicopter simulator balancing method, device, electronic device and storage medium. It does not need to limit the flight state or solve a group of nonlinear equations. Instead, it uses a pre-designed multi-degree-of-freedom filter to use the filtered multi-degree-of-freedom force when judging whether the helicopter simulator has reached a balanced state. It can eliminate the influence of periodic oscillations, solve the defects that the helicopter simulator is difficult to reach a balanced state and has large balancing limitations, and greatly improves the accuracy and reliability of the helicopter simulator balancing results.

[0036] Combine the following Figure 1-Figure 5 The helicopter simulator balancing method, device, electronic device and storage medium of the present invention are described, wherein the execution subject of the helicopter simulator balancing method can be an electronic device or a server, and the electronic device can be other devices such as a personal computer (PC), a portable device, a laptop computer, a smart phone, a tablet computer and a portable wearable device, and the server can refer to a single server, or a server cluster composed of multiple servers, a cloud server, etc. The present invention does not specifically limit the specific form of the electronic device or the server. Furthermore, the helicopter simulator balancing method can also be applied to a helicopter simulator balancing device set in an electronic device or a server, and the helicopter simulator balancing device can be implemented by software, hardware or a combination of the two. The helicopter simulator balancing method is described below by taking the execution subject of the helicopter simulator balancing method as an electronic device as an example.

[0037] In order to facilitate understanding of the helicopter simulator trimming method provided by the embodiment of the present invention, the helicopter simulator trimming method provided by the present invention will be described in detail below through the following exemplary embodiments. It can be understood that the following exemplary embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0038] Reference Figure 1 , which is one of the flow charts of the helicopter simulator trimming method provided by the present invention, such as Figure 1 As shown, the helicopter simulator balancing method includes the following steps 110 to 130.

[0039] Step 110, in response to the trim command, based on the initial control amount of the helicopter simulator, determine the initial force values ​​of the multiple degrees of freedom of the helicopter simulator under the body axis system.

[0040] The multiple degrees of freedom may include but are not limited to longitudinal, lateral, normal, pitch, roll and yaw.

[0041] The initial control amount may include but is not limited to rotor collective pitch, rotor lateral cyclic pitch, rotor longitudinal cycle and tail rotor collective pitch.

[0042] The trim command may be a command automatically generated by human triggering.

[0043] Specifically, when a trim command is generated by manual triggering, the moment when the trim command is triggered can be recorded as the trim moment, and the rotor collective pitch, rotor lateral cyclic pitch change, rotor longitudinal cycle and tail rotor collective pitch at the trim moment can be used as initialization parameters of the trim process.

[0044] For the balancing of helicopter simulators, the balance equation can be established based on the body axis coordinate system. Figure 2 The schematic diagram of the body axis coordinate system where the helicopter simulator is located is shown in FIG. Figure 2 As shown, the body axis system takes the center of gravity of the helicopter simulator as the origin, the X-axis is forward along the nose in the symmetry plane of the helicopter simulator, the Z-axis is perpendicular to the X-axis downward in the symmetry plane of the helicopter simulator, and the Y-axis is perpendicular to the symmetry plane of the helicopter simulator and points to the right; and Figure 2 In the figure, Roll represents the roll angle of the helicopter simulator, Yaw represents the yaw angle of the helicopter simulator, and Pitch represents the pitch angle of the helicopter simulator.

[0045] At this point, the initial control value of the helicopter simulator and the above-constructed fuselage axis coordinate system can be used to solve the physical relationship between the control value and the helicopter simulator response and the actual situation, so as to solve the initial force values ​​of the multiple degrees of freedom of the helicopter simulator in the fuselage axis system. Each initial force value can be the external force and external torque exerted on the corresponding degree of freedom of the helicopter simulator in the fuselage axis system; the external forces here can generally include aerodynamic force and gravity.

[0046] It should be noted that during the initialization process of repositioning trim and Qualification Test Guide (QTG) objective test verification, the helicopter simulator must be trimmed in order to make the subsequent state of the helicopter simulator controllable or match the verification data; trimming is a commonly used technical means in the development of helicopter simulator software. Simply put, it is to make the helicopter simulator reach a state of force balance.

[0047] Before the helicopter simulator enters the trimming stage, the initial control amount is first calculated, and the flight state parameters of the helicopter simulator before and after the trimming are set to be the same. The flight state parameters may include but are not limited to the weight, center of gravity, landing gear configuration, height and speed of the helicopter simulator, that is, the method of the present invention can be applied to trimming in any flight state. Therefore, for repositioning trimming and QTG trimming, the weight, center of gravity, landing gear configuration, height and speed of the helicopter simulator can be fixed flight state parameters set manually, so the manually set flight state parameters are the trim initialization state, and cannot be automatically adjusted during the entire trimming process; when the trimming solution process is started, other flight parameters that are not used for trim adjustment will still be solved normally every cycle.

[0048] Step 120: Determine the filtered force values ​​of the degrees of freedom corresponding to the initial force values.

[0049] Specifically, in order to eliminate the defect of periodic oscillation in the multi-degree-of-freedom forces calculated by the helicopter simulator caused by the characteristics of the helicopter rotor, the present invention can pre-design a multi-degree-of-freedom force filter for the multiple degrees of freedom according to the model characteristics of the helicopter simulator, and use the multi-degree-of-freedom force filter to filter the initial force values ​​of the corresponding degrees of freedom respectively to obtain multiple filtered force values.

[0050] Step 130: Determine the balancing result of the helicopter simulator based on the matching relationship between each filtered force value and the preset force balance condition of the corresponding degree of freedom.

[0051] Specifically, for the determined multiple filtered force values, each filtered force value can be matched with the preset force balance condition of the corresponding degree of freedom. If all the filtered force values ​​match the preset force balance conditions of the corresponding degree of freedom, the balancing result of the helicopter simulator is determined to be a successful balancing, and the helicopter simulator is in a balanced state. On the contrary, if there is a situation where at least one filtered force value fails to match the preset force balance condition of the corresponding degree of freedom, the balancing result of the helicopter simulator is determined to be a balancing failure.

[0052] The helicopter simulator balancing method provided by the embodiment of the present invention, when responding to the balancing instruction, first determines the initial force values ​​of the multiple degrees of freedom of the helicopter simulator under the body axis system based on the initial control amount of the helicopter simulator, and then further determines the filtered force values ​​of the corresponding degrees of freedom of each initial force value, and then determines the balancing result of the helicopter simulator based on the matching relationship between each filtered force value and the preset force balance condition of the corresponding degree of freedom. In this way, there is no need to limit the flight state, nor to solve a group of nonlinear equations. Instead, the filtered multi-degree-of-freedom force is used when judging whether the helicopter simulator has reached a balanced state through a pre-designed multi-degree-of-freedom filter, which can eliminate the influence of periodic oscillations, solve the defects of the helicopter simulator being difficult to reach a balanced state and having large balancing limitations, and greatly improve the accuracy and reliability of the helicopter simulator balancing result.

[0053] Based on the above Figure 1 In the helicopter simulator trimming method shown, in an exemplary embodiment, the specific implementation process of step 130 can be implemented through the following steps.

[0054] For each filtered force value, determine the force difference between the filtered force value and the target force threshold of the corresponding degree of freedom; if each force difference is within the preset difference range, the balancing result is determined to be a successful balancing; if at least one force difference is not within the preset difference range, the balancing result is determined to be a failed balancing.

[0055] Specifically, any one of the filtered force values ​​is recorded as , and the integration of multiple degrees of freedom into The target force threshold of the same degree of freedom is recorded as , the preset difference range can be recorded as (- b , b Thus, if the force difference between each filtered force value and the target force threshold of the corresponding degree of freedom satisfies formula (1), the balancing result can be determined to be a successful balancing result; otherwise, if there is a situation where the force difference between at least one filtered force value and the target force threshold of the corresponding degree of freedom does not satisfy formula (1), the balancing result is determined to be a failed balancing result.

[0056] (1).

[0057] In formula (1), Indicates the absolute value operation. Indicates the force value after filtering The target force threshold corresponding to the degree of freedom The force difference between It can be the maximum preset tolerance value within the preset difference range. is an integer greater than 0 and the unit is N (Nm), where N represents the magnitude of the external force. The specific value is Newton; Nm indicates the magnitude of the torque and stands for Newton meter.

[0058] It should be noted that for the equilibrium state of the helicopter simulator, the force on each degree of freedom is 0, so the target force threshold of each degree of freedom can be set to 0, that is, ; Further, set the maximum preset tolerance value of the external force and external torque received by the helicopter simulator in each degree of freedom are the same, and the maximum preset tolerance value Can be pre-set, such as , where 50 is an experience value and can be set according to actual conditions.

[0059] Based on the above Figure 1 In the helicopter simulator trimming method shown, in an exemplary embodiment, when trimming fails, the trimming control amount can be updated and the trimming operation can be re-executed using the updated initial control amount. Based on this, when the trimming result is determined to be a trimming failure, the helicopter simulator trimming method provided by the present invention can also perform the following steps.

[0060] Firstly, based on the preset control iteration function, the initial control variable is updated to obtain the updated initial control variable; then, the updated initial control variable is used as the new balancing control variable, and the process returns to the step of executing the initial control variable based on the helicopter simulator to determine the initial force values ​​of the multiple degrees of freedom of the helicopter simulator under the body axis system; until the balancing result is determined to be successful.

[0061] Specifically, when it is determined that the helicopter simulator is not trimmed based on the initial initial control amount, the initial initial control amount can be updated using a preset control iteration function, that is, the initial rotor collective pitch, rotor lateral cyclic pitch change, rotor longitudinal cycle and tail rotor collective pitch are all updated, and the updated rotor collective pitch, updated rotor lateral cyclic pitch change, updated rotor longitudinal cycle and updated tail rotor collective pitch are used as new trim control amounts, and the process returns to step 110, that is, steps 110 to 130 are repeatedly executed. Until it is determined that the trim result of the helicopter simulator is a successful trim.

[0062] It should be noted that the initial control amount can be the initial control amount of the current cycle. The initial control amount of the current cycle is updated, that is, the initial control amount of the next cycle is used to recalculate the initial force values ​​of the multiple degrees of freedom of the helicopter simulator under the body axis system; until the balancing is successful.

[0063] Exemplarily, based on a preset manipulation iteration function, the initial manipulation amount is updated to obtain an updated initial manipulation amount, and the updating process is implemented by the following steps.

[0064] In the case where the initial control variables include rotor collective pitch, rotor lateral cyclic pitch change, rotor longitudinal cyclic pitch change and tail rotor collective pitch, the control iteration function is used to iterate the force difference between the initial force value and the preset force value of the helicopter simulator in the normal direction under the body axis system, and the rotor collective pitch to obtain an updated rotor collective pitch; the control iteration function is used to iterate the first moment difference between the longitudinal moment of the helicopter simulator under the body axis system and the target longitudinal moment, and the rotor lateral cyclic pitch change to obtain an updated rotor lateral cyclic pitch; the control iteration function is used to iterate the second moment difference between the lateral moment of the helicopter simulator under the body axis system and the target lateral moment, and the rotor longitudinal cyclic pitch change to obtain an updated rotor longitudinal cyclic pitch; the control iteration function is used to iterate the third moment difference between the normal moment of the helicopter simulator under the body axis system and the target normal moment, and the tail rotor collective pitch to obtain an updated tail rotor collective pitch.

[0065] Specifically, using the control iteration function, the updated rotor collective pitch can be determined by the iteration method of formula (2): .

[0066] (2).

[0067] In formula (2), represents the preset manipulation iteration function, represents the initial rotor collective pitch, It represents the force difference between the initial force value and the preset force value in the normal direction of the helicopter simulator under the body axis system; the manipulation iteration function is controlled by the force difference , change the initial rotor collective pitch After that, the new rotor collective pitch is output, that is, the updated rotor collective pitch is obtained. . This achieves the purpose of balancing the normal force through the rotor collective pitch.

[0068] Using the control iteration function, the updated rotor lateral cyclic pitch can be determined by the iterative method of formula (3): .

[0069] (3).

[0070] In formula (3), represents the initial rotor lateral cyclic pitch variation, It represents the first moment difference between the longitudinal moment of the helicopter simulator under the body axis system and the target longitudinal moment; the manipulation iteration function is calculated by the first moment difference , changing the initial rotor lateral cyclic pitch After that, the new rotor lateral cyclic pitch is output, that is, the updated rotor lateral cyclic pitch is obtained. . In this way, the purpose of balancing the longitudinal torque through the lateral cyclic pitch change of the rotor is achieved.

[0071] Using the control iteration function, the updated rotor longitudinal cyclic pitch can be determined by the iteration method of formula (4): .

[0072] (4).

[0073] In formula (4), represents the initial rotor longitudinal cyclic pitch variation, It represents the second moment difference between the lateral moment of the helicopter simulator under the body axis system and the target lateral moment; the manipulation iteration function is controlled by the second moment difference , changing the initial rotor longitudinal cyclic pitch After that, the new rotor longitudinal cyclic pitch is output, that is, the updated rotor longitudinal cyclic pitch is obtained. . In this way, the purpose of balancing the lateral torque through the longitudinal cyclic pitch variation of the rotor is achieved.

[0074] Using the control iteration function, the updated tail rotor collective pitch can be determined by the iteration method of formula (5): .

[0075] (5).

[0076] In formula (5), represents the initial tail rotor collective pitch, It represents the third moment difference between the normal moment of the helicopter simulator under the body axis system and the target normal moment; the manipulation iteration function is controlled by the third moment difference , change the initial tail rotor collective pitch After that, the new tail rotor collective pitch is output, that is, the updated tail rotor collective pitch is obtained. . In this way, the purpose of balancing the normal torque through the tail rotor collective pitch is achieved.

[0077] The helicopter simulator balancing method provided by the embodiment of the present invention balances the multi-degree-of-freedom forces through four control variables and two attitude angles. According to the physical relationship between the control variables and the helicopter response and the actual situation, the main response is grasped and the secondary response is ignored: the longitudinal moment is balanced by the lateral cyclic pitch change of the rotor, the lateral moment is balanced by the longitudinal cyclic pitch change of the rotor, the normal moment is balanced by the tail rotor collective pitch, and the normal force is balanced by the rotor collective pitch. In this way, the multi-degree-of-freedom forces of the helicopter are changed by changing the four control variables, and then the attitude angle is calculated, which is more in line with the physical characteristics of the helicopter response and the actual driver operation situation, and is convenient for the code implementation and debugging of the software.

[0078] Based on the above Figure 1 The helicopter simulator balancing method shown, in an exemplary embodiment, determines the filtered force values ​​of the degrees of freedom corresponding to each initial force value, and the determination process is achieved through the following steps.

[0079] Based on the preset low-pass cutoff frequency and high-pass cutoff frequency, each initial force value is filtered respectively to obtain each filtered force value.

[0080] Specifically, for the initial force values ​​of multiple degrees of freedom of the helicopter simulator under the body axis system, the initial force value of any degree of freedom can be recorded as And the initial force value is calculated by formula (6) By filtering, we can get the filtered force value of the corresponding degree of freedom. .

[0081] (6).

[0082] In formula (6), represents a band-stop filter, Indicates the preset low-pass cutoff frequency, Indicates the preset high-pass cutoff frequency.

[0083] For the low pass cutoff frequency and high pass cutoff frequency It should be noted that both cutoff frequencies can be determined by the rotor speed and the number of blades of the helicopter simulator, and can be determined specifically by equations (7) and (8).

[0084] f1=RotorSpeed / k (7)

[0085] f2=RotorSpeed / k*n (8).

[0086] In formula (7) and formula (8), RotorSpeed ​​represents the rotor speed of the helicopter simulator, n represents the number of blades of the helicopter simulator, and k represents a preset natural number and its value is greater than 0. For example, the value of k can be 57.3, which represents the conversion from radians to angles, that is, 180 / π=57.3.

[0087] The helicopter simulator balancing method provided by the embodiment of the present invention eliminates the influence of rotor oscillation characteristics by filtering the forces of multiple degrees of freedom respectively, realizes high-speed balancing, and makes the balancing result more accurate.

[0088] Based on the above Figure 1 In the helicopter simulator balancing method shown, in an exemplary embodiment, in step 110, the initial force values ​​of the multiple degrees of freedom of the helicopter simulator under the body axis system are determined based on the initial control amount of the helicopter simulator, and the specific determination process is achieved through the following steps.

[0089] Firstly, based on the initial control amount, the aerodynamic force and gravity of each degree of freedom of the helicopter simulator under the body axis system are determined; then, based on each aerodynamic force and each gravity, each initial force value is determined.

[0090] Specifically, considering that the external forces on a helicopter during flight usually include aerodynamics and gravity, and the aerodynamics come from the helicopter's rotor, vertical tail, fuselage, horizontal tail and tail rotor, for a helicopter simulator, the aerodynamics and torques of the helicopter simulator in multiple degrees of freedom under the body axis system are first determined. , that is, to determine the aerodynamic forces and moments of the rotor in multiple degrees of freedom under the body axis system , Aerodynamic forces and moments of the vertical tail in multiple degrees of freedom under the body axis system , the aerodynamic forces and moments of the fuselage in multiple degrees of freedom under the fuselage axis system , Aerodynamic forces and moments of the horizontal tail under the fuselage axis system with multiple degrees of freedom , as well as the aerodynamic forces and moments of the tail rotor in multiple degrees of freedom under the fuselage shaft system ; For details, refer to formula (9).

[0091] (9).

[0092] make Indicates any one of the rotor, vertical tail, fuselage, horizontal tail and tail rotor qThe aerodynamic forces and moments of multiple degrees of freedom under the fuselage shaft system are calculated according to the rotor collective pitch, rotor lateral cyclic pitch change, rotor longitudinal cyclic pitch change and tail rotor collective pitch, which can be expressed by formula (10).

[0093] (10).

[0094] In formula (10), express q The longitudinal aerodynamic force under the fuselage shaft system is: express q The lateral aerodynamic force under the fuselage shaft system, express q The normal aerodynamic force under the body axis system is: express q The longitudinal aerodynamic moment under the body shaft system is: express q The lateral aerodynamic moment under the fuselage axis system is: express q The normal aerodynamic moment under the body axis system is: q is any one of the rotor, vertical tail, fuselage, horizontal tail and tail rotor. v represents the helicopter linear speed, represents the angular velocity of the helicopter, represents the pitch angle of the rotor collective pitch input, A represents the pitch angle of the rotor lateral cyclic pitch input, B represents the pitch angle of the rotor longitudinal cyclic pitch input, represents the pitch angle of the tail rotor collective pitch input, C L is the lift coefficient, C D represents the drag coefficient, C T Indicates the tension coefficient, C l represents the longitudinal moment coefficient, C m represents the lateral moment coefficient, C n It represents the normal moment coefficient. Other aerodynamic parameters such as local sound speed, air density and other mechanical system parameters such as rotor shaft inclination angle and rotor radius are not shown.

[0095] At this point, the force calculation of the current cycle of the helicopter simulator can be performed based on the aerodynamic force of each degree of freedom of the helicopter simulator under the body axis system, the torque of the corresponding degree of freedom, and the gravity of the corresponding degree of freedom, to obtain the initial force value of the corresponding degree of freedom. ; It can be determined specifically by formula (11).

[0096] (11).

[0097] In formula (11), Indicates the freedom of the helicopter simulator under the body axis system The pneumatic force, Indicates the freedom of the helicopter simulator under the body axis system Gravity, degrees of freedom Specifically, any one of the six degrees of freedom: longitudinal, lateral, normal, pitch, roll and yaw.

[0098] Based on the above Figure 1 In the helicopter simulator balancing method shown in the figure, in an exemplary embodiment, when the helicopter simulator is in a balanced state, the attitude angle of the helicopter simulator can be calculated according to the balance relationship between aerodynamic force and gravity. Based on this, the helicopter simulator balancing method provided by the present invention can also include the following steps.

[0099] When the balancing result is successful, the attitude angle of the helicopter simulator in the balanced state is determined based on the longitudinal balanced aerodynamic force of the helicopter simulator under the fuselage axis system, the lateral balanced aerodynamic force of the helicopter simulator under the fuselage axis system, and the longitudinal balanced gravity of the helicopter simulator under the fuselage axis system.

[0100] Specifically, when the trim is successful, not only can it be determined that the helicopter simulator is in a balanced state, but the longitudinal aerodynamic force of the helicopter simulator under the body axis system at the trim moment can also be determined as the longitudinal equilibrium aerodynamic force. , determine the lateral aerodynamic force of the helicopter simulator under the fuselage axis system at the trim moment as the lateral equilibrium aerodynamic force , and determine the longitudinal gravity of the helicopter simulator under the fuselage axis system at the trim moment as the longitudinal balance gravity , at this time, the attitude angle of the helicopter simulator in the trimmed state can be determined, that is, the pitch angle of the helicopter simulator in the trimmed state can be determined by equations (12) and (13): and roll angle .

[0101] (12).

[0102] (13).

[0103] In formula (12) and formula (13), Represents the sine function.

[0104] For example, refer to Figure 3 As shown, it is a second flow chart of the helicopter simulator trimming method provided by the present invention, such as Figure 3As shown, the balancing process can be started when responding to the balancing command, and gravity calculation and aerodynamic calculation are performed based on the initial control amount obtained by initialization, that is, the aerodynamic force and gravity of each of the multiple degrees of freedom of the helicopter simulator under the body axis system are calculated, and then the six-degree-of-freedom force solution is further performed to obtain the initial force values ​​of each of the multiple degrees of freedom of the helicopter simulator under the body axis system, and each initial force value is filtered, and the force difference between the filtered force and the target force is calculated, that is, the force difference between each filtered force value and the target force threshold of the corresponding degree of freedom is calculated, and it is determined whether the absolute value of each force difference is less than the maximum preset tolerance value. If the absolute values ​​of all force differences are less than the maximum preset tolerance value, the balancing is successful and the balancing process ends; on the contrary, if the absolute value of at least one force difference is greater than or equal to the maximum preset tolerance value, the balancing fails, the control command is changed and the steps of gravity calculation and aerodynamic calculation are returned until the balancing is successful. The specific process involved can refer to the aforementioned embodiment. It will not be repeated here.

[0105] The helicopter simulator trimming device provided by the present invention is described below. The helicopter simulator trimming device described below and the helicopter simulator trimming method described above can be referred to each other.

[0106] Reference Figure 4 , is a structural schematic diagram of the helicopter simulator trim device provided by the present invention, such as Figure 4 As shown, the helicopter simulator trim device 400 comprises: The determination unit 410 is used to determine the initial force values ​​of the multiple degrees of freedom of the helicopter simulator under the body axis system in response to the balancing instruction based on the initial control amount of the helicopter simulator.

[0107] The filtering unit 420 is used to determine the filtered force values ​​of the degrees of freedom corresponding to each initial force value.

[0108] The balancing unit 430 is used to determine the balancing result of the helicopter simulator based on the matching relationship between each filtered force value and the preset force balance condition of the corresponding degree of freedom.

[0109] Optionally, the balancing unit 430 is specifically used to determine, for each filtered force value, the force difference between the filtered force value and the target force threshold of the corresponding degree of freedom; if each force difference is within a preset difference range, the balancing result is determined to be a successful balancing; if at least one force difference is not within the preset difference range, the balancing result is determined to be a failed balancing.

[0110] Optionally, the helicopter simulator balancing device provided by the present invention may further include an updating unit, which is specifically used to update the initial control variable based on a preset control iteration function to obtain an updated initial control variable; use the updated initial control variable as the new balancing control variable, return to execute the steps of determining the initial force values ​​of each of the multiple degrees of freedom of the helicopter simulator under the body axis system based on the initial control variable of the helicopter simulator; until it is determined that the balancing result is a successful balancing.

[0111] Optionally, the updating unit is specifically used to iterate the force difference between the initial force value in the normal direction of the helicopter simulator under the fuselage axis system and the preset force value, and the rotor collective pitch using the control iteration function when the initial control quantity includes the rotor collective pitch, the rotor lateral cyclic pitch change, the rotor longitudinal cyclic pitch change and the tail rotor collective pitch, so as to obtain an updated rotor collective pitch; to iterate the first moment difference between the longitudinal moment of the helicopter simulator under the fuselage axis system and the target longitudinal moment, and the rotor lateral cyclic pitch change using the control iteration function, so as to obtain an updated rotor lateral cyclic pitch change; to iterate the second moment difference between the lateral moment of the helicopter simulator under the fuselage axis system and the target lateral moment, and the rotor longitudinal cyclic pitch change using the control iteration function, so as to obtain an updated rotor longitudinal cyclic pitch change; to iterate the third moment difference between the normal moment of the helicopter simulator under the fuselage axis system and the target normal moment, and the tail rotor collective pitch using the control iteration function, so as to obtain an updated tail rotor collective pitch.

[0112] Optionally, the filtering unit 420 is specifically configured to filter each initial force value based on a preset low-pass cutoff frequency and a high-pass cutoff frequency to obtain each filtered force value.

[0113] Optionally, the determination unit 410 is specifically used to determine the aerodynamic force and gravity of each of the multiple degrees of freedom of the helicopter simulator under the body axis system based on the initial control amount; and determine each initial force value based on each aerodynamic force and each gravity.

[0114] Optionally, the balancing unit 430 is specifically used to determine the attitude angle of the helicopter simulator in the balanced state based on the longitudinal balanced aerodynamic force of the helicopter simulator under the fuselage axis system, the lateral balanced aerodynamic force of the helicopter simulator under the fuselage axis system, and the longitudinal balanced gravity of the helicopter simulator under the fuselage axis system when the balancing result is successful.

[0115] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530 and a communication bus 540, wherein the processor 510, the communication 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 simulator balancing method, the method comprising: in response to the balancing instruction, based on the initial control amount of the helicopter simulator, determining the initial force values ​​of the multiple degrees of freedom of the helicopter simulator under the body axis system; determining the filtered force values ​​of the corresponding degrees of freedom of each initial force value; and determining the balancing result of the helicopter simulator based on the matching relationship between each filtered force value and the preset force balance condition of the corresponding degree of freedom.

[0116] 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.

[0117] On the other hand, the present invention also provides a computer program product, which includes a computer program, which 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 simulator balancing method provided by the above-mentioned methods, which method includes: responding to a balancing instruction, based on the initial control amount of the helicopter simulator, determining the initial force values ​​of each of the multiple degrees of freedom of the helicopter simulator under the body axis system; determining the filtered force values ​​of the degrees of freedom corresponding to each of the initial force values; and determining the balancing result of the helicopter simulator based on the matching relationship between each filtered force value and the preset force balance condition of the corresponding degree of freedom.

[0118] 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, it is implemented to execute the helicopter simulator balancing method provided by the above-mentioned methods. The method includes: responding to a balancing instruction, based on the initial control amount of the helicopter simulator, determining the initial force values ​​of each of the multiple degrees of freedom of the helicopter simulator under the body axis system; determining the filtered force values ​​of the degrees of freedom corresponding to each of the initial force values; and determining the balancing result of the helicopter simulator based on the matching relationship between each filtered force value and the preset force balance condition of the corresponding degree of freedom.

[0119] 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.

[0120] 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.

[0121] 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 helicopter simulator balancing method, characterized in that: include: In response to the trim command, based on the initial control amount of the helicopter simulator, determine the initial force values ​​of the multiple degrees of freedom of the helicopter simulator under the body axis system; Determine a filtered force value of each of the initial force values ​​corresponding to the degree of freedom; Based on the matching relationship between each of the filtered force values ​​and the preset force balance conditions corresponding to the degrees of freedom, the balancing result of the helicopter simulator is determined.

2. The helicopter simulator trimming method according to claim 1, characterized in that: The determining of the balancing result of the helicopter simulator based on the matching relationship between each of the filtered force values ​​and the preset force balance conditions corresponding to the degrees of freedom comprises: For each filtered force value, determining a force difference between the filtered force value and a target force threshold corresponding to the degree of freedom; If all the force differences are within the preset difference range, the balancing result is determined to be successful. If at least one of the force difference values ​​is not within the preset difference range, the balancing result is determined to be a balancing failure.

3. The helicopter simulator trimming method according to claim 2, characterized in that: The method further comprises: Based on a preset manipulation iteration function, the initial manipulation amount is updated to obtain an updated initial manipulation amount; The updated initial control amount is used as a new balancing control amount, and the process returns to the step of executing the initial control amount based on the helicopter simulator and determining the initial force values ​​of each of the multiple degrees of freedom of the helicopter simulator under the body axis system; until it is determined that the balancing result is successful.

4. The helicopter simulator trimming method according to claim 3, characterized in that: The updating of the initial manipulation amount based on a preset manipulation iteration function to obtain an updated initial manipulation amount includes: In the case where the initial control amount includes the rotor collective pitch, the rotor lateral cyclic pitch, the rotor longitudinal cyclic pitch and the tail rotor collective pitch, Using the manipulation iteration function, iterate the force difference between the initial force value and the preset force value in the normal direction of the helicopter simulator under the body axis system, and the rotor collective pitch to obtain an updated rotor collective pitch; Using the control iteration function, iterate the first moment difference between the longitudinal moment of the helicopter simulator under the body shaft system and the target longitudinal moment, and the rotor lateral cyclic pitch variation to obtain an updated rotor lateral cyclic pitch variation; Using the control iteration function, iterate the second moment difference between the lateral moment of the helicopter simulator under the body shaft system and the target lateral moment, and the longitudinal cyclic pitch variation of the rotor to obtain an updated longitudinal cyclic pitch variation of the rotor; The control iteration function is used to iterate the third moment difference between the normal moment of the helicopter simulator under the body axis system and the target normal moment, as well as the tail rotor collective pitch, to obtain an updated tail rotor collective pitch.

5. The helicopter simulator trimming method according to any one of claims 1 to 4, characterized in that: The determining of the filtered force values ​​of the degrees of freedom corresponding to the initial force values ​​includes: Based on the preset low-pass cutoff frequency and high-pass cutoff frequency, each of the initial force values ​​is filtered respectively to obtain each filtered force value.

6. The helicopter simulator trimming method according to any one of claims 1 to 4, characterized in that: The method of determining the initial force values ​​of the multiple degrees of freedom of the helicopter simulator under the body axis system based on the initial control amount of the helicopter simulator includes: Based on the initial control amount, determining the aerodynamic force and gravity of each of the multiple degrees of freedom of the helicopter simulator under the body axis system; Based on the aerodynamic forces and the gravity forces, the initial force values ​​are determined.

7. The helicopter simulator trimming method according to any one of claims 1 to 4, characterized in that: The method further comprises: When the balancing result is a successful balancing, the attitude angle of the helicopter simulator in the balancing state is determined based on the longitudinal balanced aerodynamic force of the helicopter simulator under the fuselage axis system, the lateral balanced aerodynamic force of the helicopter simulator under the fuselage axis system, and the longitudinal balanced gravity of the helicopter simulator under the fuselage axis system.

8. A helicopter simulator trim device, characterized in that: include: A determination unit, configured to determine, in response to a trim instruction, initial force values ​​of each of the multiple degrees of freedom of the helicopter simulator under the body axis system based on the initial control amount of the helicopter simulator; A filtering unit, used to determine a filtered force value corresponding to each of the initial force values ​​of the degrees of freedom; The balancing unit is used to determine the balancing result of the helicopter simulator based on the matching relationship between each of the filtered force values ​​and the preset force balance conditions corresponding to the degrees of freedom.

9. 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 helicopter simulator trimming method according to any one of claims 1 to 7 is implemented.

10. 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 helicopter simulator trim method according to any one of claims 1 to 7 is implemented.

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