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

Abstract

The application provides a helicopter simulator trimming method and device, electronic equipment and storage medium, the method comprises the following steps: in response to the trimming instruction, based on the initial manipulation of the helicopter simulator, the initial force value of each degree of freedom of the helicopter simulator under the body shaft is determined; the filtered force value of each initial force value corresponding to the corresponding degree of freedom is determined; based on the matching relationship between each filtered force value and the preset force balance condition of the corresponding degree of freedom, the trimming result of the helicopter simulator is determined. The application does not need to limit the flight state, nor to solve the nonlinear equation set, but through the pre-designed multi-degree-of-freedom filter, the filtered multi-degree-of-freedom force is used for judging whether the helicopter simulator trimming reaches the balance state, which can eliminate the influence of periodic oscillation, solve the defects that the helicopter simulator is difficult to reach the trimming state and the trimming limitation is large, and improve the accuracy and reliability of the helicopter simulator trimming result.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of helicopter simulation, and in particular to a helicopter simulator trimming method and device, an electronic device and a storage medium. BACKGROUND

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

[0003] In related technologies, the trimming method of the 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 trimming quantity representing whether the helicopter simulator is in a trimmed state.

[0004] However, since the existing constructed multi-degree-of-freedom force balance equation is a nonlinear equation set, and the solution of the nonlinear equation set is only for a fixed single flight state, it is difficult to trim all flight states. In addition, since the multi-degree-of-freedom force often has periodic oscillation, when the multi-degree-of-freedom force is simultaneously zero as the trimming condition, the helicopter simulator is difficult to reach the trimmed state or the reached trimmed state is not accurate enough. SUMMARY

[0005] The present application provides a helicopter simulator trimming method, device, electronic device and storage medium to solve the defects of the prior art that the helicopter simulator is difficult to reach the trimmed state, the trimmed state is not accurate enough, and the trimming method has large limitations. Without limiting the flight state, and without solving the nonlinear equation set, but using the filtered multi-degree-of-freedom force for the helicopter simulator trimming to determine whether the balanced state is reached, the influence of periodic oscillation can be eliminated, the defects that the helicopter simulator is difficult to reach the trimmed state and the trimming has large limitations are solved, and the accuracy and reliability of the helicopter simulator trimming result are greatly improved.

[0006] The present application provides a helicopter simulator trimming method, comprising the following steps.

[0007] In response to a trimming instruction, based on the initial control amount of the helicopter simulator, the initial force values of the multi-degree-of-freedom of the helicopter simulator under the body shaft system are determined; the filtered force values of each of the initial force values corresponding to the degrees of freedom are determined; based on the matching relationship between each of the filtered force values and the preset force balance condition corresponding to the degrees of freedom, the trimming result of the helicopter simulator is determined.

[0008] The helicopter simulator trimming method provided by the application determines the trimming result of the helicopter simulator based on the matching relationship between each filtered force value and the preset force balance condition corresponding to the degree of freedom, and comprises the following steps: for each filtered force value, a force difference value between the filtered force value and a target force threshold value corresponding to the degree of freedom is determined; if each force difference value is within a preset difference value range, it is determined that the trimming result is trimming success; if at least one force difference value is not within the preset difference value range, it is determined that the trimming result is trimming failure.

[0009] The helicopter simulator trimming method provided by the application further comprises the following steps: based on a preset manipulation iteration function, the initial manipulation quantity is updated to obtain an updated initial manipulation quantity; the updated initial manipulation quantity is taken as a new trimming manipulation quantity, and the step of determining the initial force values of each degree of freedom of the helicopter simulator under the body shaft system based on the initial manipulation quantity of the helicopter simulator is executed again until it is determined that the trimming result is trimming success.

[0010] The helicopter simulator trimming method provided by the application determines the trimming result of the helicopter simulator based on the matching relationship between each filtered force value and the preset force balance condition corresponding to the degree of freedom, and comprises the following steps: for each filtered force value, a force difference value between the filtered force value and a target force threshold value corresponding to the degree of freedom is determined; if each force difference value is within a preset difference value range, it is determined that the trimming result is trimming success; if at least one force difference value is not within the preset difference value range, it is determined that the trimming result is trimming failure.

[0011] The helicopter simulator trimming method provided by the application determines the trimming result of the helicopter simulator based on the matching relationship between each filtered force value and the preset force balance condition corresponding to the degree of freedom, and comprises the following steps: for each filtered force value, a force difference value between the filtered force value and a target force threshold value corresponding to the degree of freedom is determined; if each force difference value is within a preset difference value range, it is determined that the trimming result is trimming success; if at least one force difference value is not within the preset difference value range, it is determined that the trimming result is trimming failure.

[0012] According to the helicopter simulator trimming method provided by the application, the initial force values of each of the multiple degrees of freedom of the helicopter simulator under the body axis are determined based on the initial manipulation amount of the helicopter simulator, and the method comprises the following steps: determining the aerodynamic force and the gravity of each of the multiple degrees of freedom of the helicopter simulator under the body axis based on the initial manipulation amount; and determining the initial force value of each of the degrees of freedom based on the aerodynamic force and the gravity of each of the degrees of freedom.

[0013] According to the helicopter simulator trimming method provided by the application, the method further comprises the following step: in the case that the trimming result is successful, determining the attitude angle of the helicopter simulator in the trimming state based on the balanced aerodynamic force in the longitudinal direction of the helicopter simulator under the body axis, the balanced aerodynamic force in the lateral direction of the helicopter simulator under the body axis, and the balanced gravity in the longitudinal direction of the helicopter simulator under the body axis.

[0014] The application further provides a helicopter simulator trimming device, which comprises the following units.

[0015] The determining unit is configured to determine the initial force values of each of the multiple degrees of freedom of the helicopter simulator under the body axis based on the initial manipulation amount of the helicopter simulator in response to a trimming instruction; the filtering unit is configured to determine the filtered force values of each of the degrees of freedom corresponding to each of the initial force values; and the trimming unit is configured to determine the trimming result of the helicopter simulator based on the matching relationship between each of the filtered force values and the preset force balance condition corresponding to the degree of freedom.

[0016] The application further provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and capable of being executed on the processor, and the processor implements the helicopter simulator trimming method according to any one of the above-mentioned methods when executing the computer program.

[0017] The application further provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the helicopter simulator trimming method according to any one of the above-mentioned methods.

[0018] The helicopter simulator trimming method, device, electronic equipment and storage medium provided by the application, wherein the helicopter simulator trimming method, in response to a trimming instruction, first determines the initial force values of each degree of freedom of the helicopter simulator under the body shaft system based on the initial control amount of the helicopter simulator, further determines the filtered force values of each corresponding degree of freedom of each initial force value, and then determines the trimming 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, without limiting the flight state and without solving the nonlinear equation set, the filtered multi-degree-of-freedom force is used to determine whether the helicopter simulator trimming reaches the balance state through the pre-designed multi-degree-of-freedom filter, the influence of periodic oscillation can be eliminated, the defects that the helicopter simulator is difficult to reach the trimming state and the trimming limitation is large are solved, and the accuracy and reliability of the helicopter simulator trimming result are greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 is one of the flowcharts of the helicopter simulator trimming method provided by the application.

[0021] Figure 2 is a schematic diagram of the body shaft coordinate system of the helicopter simulator provided by the application.

[0022] Figure 3 is another flowchart of the helicopter simulator trimming method provided by the application.

[0023] Figure 4 is a structural schematic diagram of the helicopter simulator trimming device provided by the application.

[0024] Figure 5 is a structural schematic diagram of the electronic equipment provided by the application. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the application more clear, the technical solutions in the application will be described clearly and completely in the following with reference to the drawings in the application. Obviously, the described embodiments are some embodiments of the application, not all embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the application.

[0026] In the embodiments of the present application, "at least one" means one or more, and "multiple" means two or more. The "and / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A existing alone, A and B existing together, and B existing alone, where A and B can be singular or plural. In the description of the present application, the character " / " generally represents that the associated objects before and after it are in an "or" relationship. In addition, it should be noted that the serial numbers in the present application for the described objects, such as "first", "second", etc., are only used to distinguish the described objects and do not have any order or technical meaning.

[0027] When the helicopter is in a stable flight state, all external forces and external moments acting on the helicopter are combined to zero, that is, the helicopter is in a balanced state; and the process of making the helicopter reach the balanced state is called trimming. The task of trimming is to obtain the attitude angle and control amount required for the helicopter to be in a stable flight state according to the pre-set balanced condition.

[0028] The external forces acting on the helicopter in flight generally include aerodynamic forces and gravitational forces. When the helicopter has an acceleration or an angular velocity, the helicopter will also be subjected to an inertial force in flight. For example, for a conventional single-rotor tail-rotor helicopter, the aerodynamic forces come from the rotor, the tail rotor, the fuselage, the horizontal tail and the vertical tail.

[0029] Since the helicopter can fly in a balanced state to improve the safety and stability of flight operation, it is particularly important to perform trimming simulation of the helicopter in a simulator.

[0030] For a helicopter simulator, trimming is an important method and technical means in the development process of the simulator software, and a trimming method more suitable for implementation and use of the simulator needs to be developed.

[0031] In the related art, the conventional trimming method of the helicopter simulator is generally to construct a multi-degree-of-freedom force balance equation for a single flight state, such as constructing a force balance equation of 6 degrees of freedom, including longitudinal, lateral, normal, pitch, roll and yaw, and using the Newton method to solve the force balance equation to obtain a trimming quantity representing whether the helicopter simulator is in a trimmed state, such as the attitude angle (pitch angle and roll angle) and the control amount (such as rotor total pitch, lateral cyclic pitch, longitudinal cyclic pitch and tail rotor total pitch) of the helicopter.

[0032] However, since the most important aerodynamic component of the helicopter is the rotor, the rotor not only provides the lift to make the helicopter take off, but also provides the control force and moment to make the helicopter ascend, pitch and roll, and also pulls the helicopter to fly in any direction, so there is strong control coupling.

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

[0034] Further, the rotor characteristics of the helicopter make the 6-degree-of-freedom force calculated by the helicopter simulator have periodic oscillation, especially at high speed, the flapping characteristics make the periodic oscillation more obvious, therefore, if the judgment condition for reaching the trimming state is that the 6-degree-of-freedom force is zero at the same time, the helicopter simulator is difficult to reach the trimming state, if the condition for reaching the trimming state is appropriately relaxed, the determined trimming state of the helicopter simulator is not accurate enough, resulting in unstable subsequent state and possible different trimming results.

[0035] To solve the above technical problems, the helicopter simulator trimming method, device, electronic equipment and storage medium are provided, without limiting the flight state, and without solving the nonlinear equation set, but through the pre-designed multi-degree-of-freedom filter, the filtered multi-degree-of-freedom force is used for judging whether the helicopter simulator trimming reaches the balance state, the influence of periodic oscillation can be eliminated, the defects that the helicopter simulator is difficult to reach the trimming state and the trimming limitation is large are solved, and the accuracy and reliability of the helicopter simulator trimming result are greatly improved.

[0036] The helicopter simulator trimming method, device, electronic equipment and storage medium of the present application will be described below. Figures 1-5 The helicopter simulator trimming method, device, electronic equipment and storage medium of the present application will be described below.

[0037] To facilitate understanding of the helicopter simulator trimming method provided by the embodiments 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 is understood that the following exemplary embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail 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 variables may include but are not limited to rotor collective pitch, rotor lateral cyclic pitch, rotor longitudinal cyclic and tail rotor collective pitch.

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

[0043] Specifically, when the 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, 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 simulator, 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 manipulation amount of the helicopter simulator and the body axis coordinate system constructed above can be combined with the physical relationship and actual situation between the manipulation amount and the helicopter simulator response to calculate the initial force values of each degree of freedom of the helicopter simulator under the body axis, and each initial force value can be the external force and external torque of the corresponding degree of freedom of the helicopter simulator under the body axis. The external force here can generally include aerodynamic force and gravity.

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

[0047] Before the helicopter simulator enters the trimming, the initial manipulation amount is calculated first, and the flight state parameters of the helicopter simulator before and after the trimming are set to be the same, which can include but is 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 application can be applied to trimming in any flight state. Therefore, for the repositioning trimming and the QTG trimming, the weight, center of gravity, landing gear configuration, height and speed of the helicopter simulator can be the fixed flight state parameters set by humans, so the flight state parameters set by humans are the trimming initialization state, and the trimming process cannot be automatically adjusted. When the trimming calculation process is started, other flight parameters that are not used for trimming adjustment will still be normally calculated every cycle.

[0048] Step 120, determining the filtered force values of each initial force value corresponding to the degree of freedom.

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

[0050] Step 130, determining the trimming 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 plurality of filtered force values, each filtered force value can be matched with a preset force balance condition of the corresponding degree of freedom, and if all the filtered force values match the preset force balance condition of the corresponding degree of freedom, it is determined that the trimming result of the helicopter simulator is trimming success, at this time the helicopter simulator is in a balanced state; otherwise, if there is at least one filtered force value that fails to match the preset force balance condition of the corresponding degree of freedom, it is determined that the trimming result of the helicopter simulator is trimming failure.

[0052] The helicopter simulator trimming method provided by the embodiment of the application, in response to the trimming instruction, first determines the initial force values of the plurality of degrees of freedom of the helicopter simulator under the shaft system of the helicopter simulator based on the initial control amount of the helicopter simulator, further determines the filtered force values of the corresponding degrees of freedom of each initial force value, and then determines the trimming 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, without limiting the flight state and without solving the nonlinear equation set, the filtered force of the plurality of degrees of freedom is used to determine whether the helicopter simulator reaches the balanced state through the pre-designed filter of the plurality of degrees of freedom, which can eliminate the influence of periodic oscillation, solve the defects that the helicopter simulator is difficult to reach the trimming state and has large trimming limitations, and greatly improve the accuracy and reliability of the trimming result of the helicopter simulator.

[0053] Based on the helicopter simulator trimming method described above Figure 1 The specific implementation process of step 130 in an example embodiment can be implemented by the following steps.

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

[0055] Specifically, any one of the plurality of filtered force values is denoted as , and the target force threshold of the degree of freedom that is the same as the degree of freedom of is denoted as , and the preset difference value range can be denoted as (- b , b ); in this way, if the force difference value between each filtered force value and the target force threshold of the corresponding degree of freedom satisfies formula (1), the trimming result is determined to be trimming success; otherwise, if there is at least one filtered force value that does not satisfy formula (1) between the filtered force value and the target force threshold of the corresponding degree of freedom, the trimming result is determined to be trimming failure.

[0056] (1).

[0057] In formula (1), Indicates the absolute value operation. Indicates the force value after filtering 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, It 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 one exemplary embodiment of the helicopter simulator trimming method, if a trim failure is considered, the trim control variables can be updated and the trim operation can be re-executed using the updated initial control variables. Based on this, if the trim result is determined to be a trim failure, the helicopter simulator trimming method provided by the present invention can also perform the following steps.

[0060] First, 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 quantity, the initial initial control quantity can be updated by using a preset control iteration function, that is, the initial collective pitch, the initial cyclic lateral pitch, the initial cyclic longitudinal pitch and the initial tail rotor collective pitch are all updated, and the updated collective pitch, the updated cyclic lateral pitch, the updated cyclic longitudinal pitch and the updated tail rotor collective pitch are taken as new trimming control quantities, and the process returns to step 110, that is, steps 110-130 are repeatedly executed until it is determined that the trimming result of the helicopter simulator is successful.

[0062] It should be noted that the initial initial control quantity can be the initial control quantity of the current period, and the initial control quantity of the current period is updated, that is, the initial force values of the helicopter simulator under the body axis system are recalculated using the initial control quantity of the next period; until the trimming is successful.

[0063] For example, the initial control quantity is updated based on the preset control iteration function to obtain the updated initial control quantity, and the updating process is realized by the following steps.

[0064] In the case where the initial control quantity includes the collective pitch, the cyclic lateral pitch, the cyclic longitudinal pitch and the tail rotor collective pitch, the force difference between the initial force value of the helicopter simulator under the body axis system and the preset force value and the collective pitch are iterated by using the control iteration function to obtain the updated collective pitch; the first moment difference between the moment of the helicopter simulator under the body axis system and the target longitudinal moment and the cyclic lateral pitch are iterated by using the control iteration function to obtain the updated cyclic lateral pitch; the second moment difference between the moment of the helicopter simulator under the body axis system and the target lateral moment and the cyclic longitudinal pitch are iterated by using the control iteration function to obtain the updated cyclic longitudinal pitch; the third moment difference between the moment of the helicopter simulator under the body axis system and the target normal moment and the tail rotor collective pitch are iterated by using the control iteration function to obtain the updated tail rotor collective pitch.

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

[0066] (2).

[0067] In formula (2), represents the preset control iteration function, represents the initial collective pitch, represents the force difference between the initial force value of the helicopter simulator under the body axis system and the preset force value; the control iteration function is realized 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 goal of balancing the normal force through the rotor collective pitch.

[0068] Using the control iteration function, the updated rotor lateral periodic 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 controlled by the first moment difference , change 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 by cyclically changing the rotor's lateral pitch is achieved.

[0071] Using the control iteration function, the updated rotor longitudinal cyclic pitch can be determined by the iterative 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 , change 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. This achieves the purpose of balancing the lateral torque through the longitudinal cyclic pitch variation of the rotor.

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

[0075] (5).

[0076] In formula (5), represents the initial tail rotor collective pitch, a third moment difference value between a moment of a normal force of the helicopter simulator under the body axis system and a target moment of the normal force, and the control iteration function changes the initial tail rotor pitch based on the third moment difference value , and outputs a new tail rotor pitch, i.e., an updated tail rotor pitch , so as to balance the moment of the normal force through the tail rotor pitch.

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

[0078] Based on the helicopter simulator trimming method shown in the above Figure 1 In an example embodiment, the filtered force value corresponding to each degree of freedom of each initial force value is determined, and the determination process is realized through the following steps.

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

[0080] Specifically, for the initial force values of each degree of freedom of the helicopter simulator under the body axis system, any initial force value of a degree of freedom can be denoted as F i (t), and the initial force value F i (t) is filtered through formula (6) to obtain the filtered force value F i (t) corresponding to the degree of freedom. .

[0081] (6).

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

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

[0084] ​​​f1=RotorSpeed / k (7).

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

[0086] In the formula (7) and the 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 is greater than 0. For example, the value of k can be 57.3, which represents the conversion from radian to angle, that is, 180 / π=57.3.

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

[0088] Based on the above Figure 1 The helicopter simulator trimming method shown in the figure, in an example embodiment, 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 in step 110, and the specific determination process is realized by the following steps.

[0089] First, the aerodynamic force and the gravity of the multiple degrees of freedom of the helicopter simulator under the body axis system are determined based on the initial control amount, and then the initial force values are determined based on the aerodynamic force and the gravity.

[0090] Specifically, considering that the external force received by the helicopter during flight usually includes aerodynamic force and gravity, and the aerodynamic force comes from the rotor, vertical tail, fuselage, horizontal tail and tail rotor of the helicopter, for the helicopter simulator, first, the aerodynamic force and the moment of the multiple degrees of freedom of the helicopter simulator under the body axis system are determined , that is, the aerodynamic force and the moment of the multiple degrees of freedom of the rotor under the body axis system are determined , the aerodynamic force and the moment of the multiple degrees of freedom of the vertical tail under the body axis system are determined , the aerodynamic force and the moment of the multiple degrees of freedom of the fuselage under the body axis system are determined , the aerodynamic force and the moment of the multiple degrees of freedom of the horizontal tail under the body axis system are determined , and the aerodynamic force and the moment of the multiple degrees of freedom of the tail rotor under the body axis system are determined ; refer to formula (9) for details.

[0091] (9).

[0092] Let represent any one of the rotor, the vertical tail, the fuselage, the horizontal tail and the tail rotor qThe multi-degree-of-freedom aerodynamic force and moment under the body axis are calculated according to the collective pitch of the rotor, the lateral cyclic pitch of the rotor, the longitudinal cyclic pitch of the rotor and the collective pitch of the tail rotor, which can be represented by formula (10).

[0093] (10).

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

[0095] At this time, the force calculation of the current period of the helicopter simulator can be further carried out based on the aerodynamic force of each degree of freedom of the helicopter simulator under the body axis, the moment 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 ; Specifically, it can be determined by formula (11).

[0096] (11).

[0097] In formula (11), represents the aerodynamic force of the degree of freedom of the helicopter simulator under the body axis, indicates the gravity of the helicopter simulator under the body axis system indicates the gravity of the helicopter simulator under the body axis system Specifically, any one of the six degrees of freedom, namely, the longitudinal, lateral, normal, pitch, roll and yaw.

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

[0099] In the case of successful trimming, the attitude angle of the helicopter simulator in the trimmed state is determined based on the balanced aerodynamic force of the helicopter simulator in the longitudinal direction under the body axis system, the balanced aerodynamic force of the helicopter simulator in the lateral direction under the body axis system, and the balanced gravity of the helicopter simulator in the longitudinal direction under the body axis system.

[0100] Specifically, in the case of successful trimming, not only can the helicopter simulator be determined to be in a balanced state, but also the aerodynamic force of the helicopter simulator in the longitudinal direction under the body axis system at the trimming time can be determined as the balanced aerodynamic force in the longitudinal direction , the aerodynamic force of the helicopter simulator in the lateral direction under the body axis system at the trimming time can be determined as the balanced aerodynamic force in the lateral direction , and the gravity of the helicopter simulator in the longitudinal direction under the body axis system at the trimming time can be determined as the balanced gravity in the longitudinal direction At this time, the attitude angle of the helicopter simulator in the trimmed state can be determined, that is, the pitch angle and the roll angle of the helicopter simulator in the trimmed state are determined by equations (12) and (13).

[0101] (12).

[0102] (13).

[0103] In equations (12) and (13), indicates the sine function.

[0104] For example, referring to Figure 3 , it is a flowchart of the helicopter simulator trimming method provided by the present application, as Figure 3As shown, the balancing process can be started in response to the balancing instruction, and the gravity calculation and the aerodynamic force calculation are performed based on the initial manipulation amount obtained in the initialization, that is, the aerodynamic force and the gravity of each of the multiple degrees of freedom of the helicopter simulator under the body axis are calculated, and then the six-degree-of-freedom force solution is further performed to obtain the initial force value of each of the multiple degrees of freedom of the helicopter simulator under the body axis. Each initial force value is filtered, and the difference between the filtered force value and the target force value 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. 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 is ended. Otherwise, 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 manipulation order is changed, and the steps of gravity calculation and aerodynamic force calculation are returned to be performed until the balancing is successful. The specific process involved can be referred to the foregoing embodiments. Details are not described herein.

[0105] The helicopter simulator balancing device provided by the application is described below. The helicopter simulator balancing device described below can be correspondingly referred to the helicopter simulator balancing method described above.

[0106] Reference Figure 4 The structure diagram of the helicopter simulator balancing device provided by the application is shown in FIG. 4. Figure 4 As shown in FIG. 4, the helicopter simulator balancing device 400 includes:

[0107] The determining unit 410 is configured to determine the initial force value of each of the multiple degrees of freedom of the helicopter simulator under the body axis in response to the balancing instruction based on the initial manipulation amount of the helicopter simulator.

[0108] The filtering unit 420 is configured to determine the filtered force value of each corresponding degree of freedom of each initial force value.

[0109] The balancing unit 430 is configured 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.

[0110] Optionally, the balancing unit 430 is specifically configured to determine the force difference between the filtered force value and the target force threshold of the corresponding degree of freedom for each filtered force value. If each force difference is within the preset difference range, it is determined that the balancing result is balancing success. If at least one force difference is not within the preset difference range, it is determined that the balancing result is balancing failure.

[0111] Optionally, the helicopter simulator trimming device provided by the application further comprises an updating unit, which is specifically configured to update the initial control amount based on the preset control iteration function, to obtain an updated initial control amount; and return to execute the step of determining the initial force values of the multiple degrees of freedom of the helicopter simulator under the body axis system based on the updated initial control amount as the new trimming control amount; until the trimming result is trimming success.

[0112] Optionally, the updating unit is specifically configured to, in the case that the initial control amount comprises the rotor total pitch, the rotor lateral cyclic pitch, the rotor longitudinal cyclic pitch and the tail rotor total pitch, use the control iteration function to iteratively update the rotor total pitch based on the force difference between the initial force value of the helicopter simulator under the body axis system and the preset force value; use the control iteration function to iteratively update the rotor lateral cyclic pitch based on the first moment difference between the moment of the helicopter simulator under the body axis system and the target longitudinal moment; use the control iteration function to iteratively update the rotor longitudinal cyclic pitch based on the second moment difference between the moment of the helicopter simulator under the body axis system and the target lateral moment; and use the control iteration function to iteratively update the tail rotor total pitch based on the third moment difference between the moment of the helicopter simulator under the body axis system and the target normal moment.

[0113] Optionally, the filtering unit 420 is specifically configured to filter each initial force value based on the preset low-pass cutoff frequency and the high-pass cutoff frequency, to obtain the filtered force values.

[0114] Optionally, the determining unit 410 is specifically configured to determine the aerodynamic force and the gravity of the multiple degrees of freedom of the helicopter simulator under the body axis system based on the initial control amount; and determine the initial force values based on the aerodynamic forces and the gravities.

[0115] Optionally, the trimming unit 430 is specifically configured to, in the case that the trimming result is trimming success, determine the attitude angle of the helicopter simulator in the trimming state based on the balanced aerodynamic force in the longitudinal direction of the helicopter simulator under the body axis system, the balanced aerodynamic force in the lateral direction of the helicopter simulator under the body axis system and the balanced gravity in the longitudinal direction of the helicopter simulator under the body axis system.

[0116] Figure 5 An example of a schematic diagram of the physical structure of an electronic device is shown in FIG. 1. Figure 5As shown, the electronic device can include a processor 510, a communications interface 520, a memory 530, and a communications bus 540, wherein the processor 510, the communications interface 520, and the memory 530 complete mutual communication through the communications bus 540. The processor 510 can invoke a logic instruction in the memory 530 to execute the helicopter simulator trimming method, which includes: in response to a trimming instruction, determining respective initial force values of multiple degrees of freedom of the helicopter simulator under the body shaft based on initial manipulation values of the helicopter simulator; determining respective filtered force values of the respective degrees of freedom corresponding to the respective initial force values; and determining a trimming result of the helicopter simulator based on a matching relationship between the respective filtered force values and preset force balance conditions of the respective degrees of freedom.

[0117] In addition, the logic instruction in the memory 530 described above can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0118] On the other hand, the present application 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, and the computer program is executed by a processor, so that the computer can execute the helicopter simulator trimming method provided by the above-mentioned methods, which includes: in response to a trimming instruction, determining respective initial force values of multiple degrees of freedom of the helicopter simulator under the body shaft based on initial manipulation values of the helicopter simulator; determining respective filtered force values of the respective degrees of freedom corresponding to the respective initial force values; and determining a trimming result of the helicopter simulator based on a matching relationship between the respective filtered force values and preset force balance conditions of the respective degrees of freedom.

[0119] In yet another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements a method for trimming a helicopter simulator, the method comprising: in response to a trimming instruction, determining initial force values of a plurality of degrees of freedom of the helicopter simulator under a body shaft based on initial manipulation values of the helicopter simulator; determining filtered force values of the degrees of freedom corresponding to the initial force values, respectively; and determining a trimming result of the helicopter simulator based on matching relationships between the filtered force values and preset force balance conditions of the degrees of freedom, respectively.

[0120] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e., may be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0121] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and necessary universal hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions, essentially or in terms of contribution to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions for causing 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.

[0122] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A helicopter simulator trim method, characterized in that: include: In response to the trim command, 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 in the body axis system; the method includes: performing a calculation based on the initial control amount of the helicopter simulator and the constructed body axis coordinate system, combining the physical relationship between the initial control amount and the helicopter simulator response and the actual situation, to determine the initial force values ​​of the multiple degrees of freedom of the helicopter simulator in the body axis system; Determining filtered force values ​​corresponding to the degrees of freedom for each of the initial force values; determining a trim result of the helicopter simulator based on a matching relationship between each of the filtered force values ​​and a preset force balance condition corresponding to the degree of freedom; The method of determining the filtered force value corresponding to each degree of freedom of each initial force value includes: using a multi-degree-of-freedom force filter for multiple degrees of freedom, filtering each initial force value based on a preset low-pass cutoff frequency and a high-pass cutoff frequency, and obtaining each filtered force value; the low-pass cutoff frequency and the high-pass cutoff frequency are both determined by the rotor speed and the number of blades of the helicopter simulator.

2. The helicopter simulator trimming method according to claim 1, characterized in that: Determining the trim 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 includes: 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 variable is used as a new balancing control variable, and the process returns to the step of executing the initial control variable based on the helicopter simulator and determining 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.

4. The helicopter simulator trimming method according to claim 3, characterized in that: The updating of the initial manipulated variable based on a preset manipulated iterative function to obtain an updated initial manipulated variable includes: In the case where the initial control amount includes rotor collective pitch, rotor lateral cyclic pitch, rotor longitudinal cyclic pitch and tail rotor collective pitch, Using the manipulation iteration function, iteratively calculate 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 manipulation iteration function, iteratively calculate a first moment difference between the longitudinal moment of the helicopter simulator under the body shaft system and the target longitudinal moment, as well as the rotor lateral cyclic pitch variation, to obtain an updated rotor lateral cyclic pitch variation; Using the manipulation iteration function, iteratively calculate a 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 of the rotor to obtain an updated longitudinal cyclic pitch of the rotor; The manipulation 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 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: determining, based on the initial control amount, the aerodynamic forces 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.

6. 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.

7. A helicopter simulator trim device, characterized in that: include: a determination unit, configured to determine, in response to a trim command, initial force values ​​of each of the multiple degrees of freedom of the helicopter simulator in the body axis system based on an initial control amount of the helicopter simulator; the determination unit comprising: performing a calculation based on the initial control amount of the helicopter simulator and the constructed body axis coordinate system, in combination with a physical relationship between the initial control amount and the helicopter simulator response and actual conditions, to determine the initial force values ​​of each of the multiple degrees of freedom of the helicopter simulator in the body axis system; a filtering unit, configured to determine a filtered force value corresponding to each degree of freedom of each of the initial force values; a balancing unit, configured to determine a trim result of the helicopter simulator based on a matching relationship between each of the filtered force values ​​and a preset force balance condition corresponding to the degree of freedom; The filtering unit is specifically used to use a multi-degree-of-freedom force filter for multiple degrees of freedom, and based on a preset low-pass cutoff frequency and a high-pass cutoff frequency, filter each of the initial force values ​​separately to obtain each filtered force value; the low-pass cutoff frequency and the high-pass cutoff frequency are both determined by the rotor speed and the number of blades of the helicopter simulator.

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 helicopter simulator trimming method 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 helicopter simulator trimming method according to any one of claims 1 to 6 is implemented.

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