Aircraft fly-by-wire teaching simulation system

Abstract

The invention discloses an aircraft fly-by-wire teaching simulation system, which comprises a flight operation table, a simulation computer and a comprehensive display system, the flight operation platform is in communication connection with the simulation computer; and the comprehensive display system is electrically connected with the simulation computer, and the comprehensive display system is used for displaying teaching contents of the fly-by-wire control system of the airplane, virtual flight scenes and virtual cabin instruments. A virtual reality technology is adopted, and technical means such as computer simulation and system modeling are comprehensively adopted, so that flight trainees can more intuitively understand theoretical knowledge such as basic composition, working principle, control rate calculation and control instruction response of an aircraft telex system, and the aircraft telex system can be simulated through control simulation training. Feedback of each functional module of the aircraft telex system to an aircraft control instruction is sensed in an immersive manner, the telex system theoretical knowledge level of a pilot can be improved, meanwhile, the actual installation loss is reduced, and economy and safety are achieved.

Description

Technical Field

[0001] The invention belongs to an aircraft control theory teaching simulation system, and specifically relates to an aircraft fly-by-wire control teaching simulation system, which is especially suitable for flight trainees to carry out theoretical learning and control simulation training of aircraft fly-by-wire control systems. Background Art

[0002] The Fly-by-Wire (FBW) system is the core control system of modern aircraft. It replaces traditional mechanical transmission devices with electronic signals to achieve high-precision transmission of pilot commands and real-time feedback of flight status. Its main functions include: signal processing and command generation. The pilot generates mechanical displacement signals through input devices such as joysticks and pedals. The system converts them into electrical signals and generates control surface control commands (such as elevator and rudder deflection) based on the preset control law. Flight state stabilization, automatically compensating for external disturbances (such as gusts) through three-axis control stabilization modes (roll, pitch, yaw) to improve flight stability; safety boundary protection, introducing modules such as angle of attack limitation and overload limitation to prevent the aircraft from exceeding the aerodynamic envelope and ensure flight safety; multi-modal collaborative control, supporting dynamic switching and combination of main modes (such as maneuvering flap control and automatic anti-spin) and auxiliary modes (such as manual balancing) to meet the needs of complex flight missions.

[0003] Although the fly-by-wire system is complex and highly dependent on algorithmic logic, traditional teaching equipment can only simulate mechanical operations and cannot demonstrate its core electronic signal processing flow and control law dynamic solution process. For example, it is difficult for students to observe how the control law parameters (such as gain and limit threshold) inside the flight control computer affect the control surface response; it is impossible to disassemble the main / auxiliary modal function modules to analyze their coordination mechanism; there is a lack of visual tracking of the control law input and output quantities (such as real-time mapping of pitch stick quantity instructions and canard deflection).

[0004] Traditional aircraft fly-by-wire system teaching mainly relies on simulation equipment modified from retired real aircraft. Such equipment has the following significant defects:

[0005] 1. Economical and spatial limitations: The cost of real machine transformation is high, requiring a large area of ​​space, and the flexibility of equipment deployment is poor, making it difficult to meet the needs of multi-scenario teaching.

[0006] 2. Functional limitations: Existing simulation equipment can only achieve basic control feedback and cannot visualize the control law parameter adjustment process of the fly-by-wire system. For example, the synergy between the main mode (such as three-axis stabilization and anti-spin) and auxiliary mode (such as manual balancing) of the flight control system, the dynamic relationship between the input and output of the control law, and the impact of parameter adjustment on the flight state cannot be intuitively presented.

[0007] 3. Insufficient teaching depth: Students can only perceive flight feedback through mechanical operations and lack a deep understanding of the core algorithms of the fly-by-wire system (such as pitch / roll control law solutions), making it difficult to establish a systematic connection between theoretical knowledge and practical operations.

[0008] 4. Lack of immersion: The traditional two-dimensional interface cannot simulate the real cockpit environment, and it is difficult for trainees to quickly adapt to the complex instrument layout and multi-modal collaborative operation scenarios.

[0009] The above problems cause students' understanding of the fly-by-wire system to remain at the superficial operational level, making it difficult for them to deeply understand its design principles and dynamic response characteristics, which in turn restricts the efficiency of the integration of theoretical teaching and practical application. Summary of the invention

[0010] In order to solve the above problems existing in the prior art, the present invention provides an aircraft fly-by-wire control teaching simulation system, which adopts virtual reality (VR) technology, comprehensively adopts technical means such as computer simulation and system modeling, and takes flight trainees as the main users, so that flight trainees can more intuitively understand the basic composition, working principle, control rate solution, control command response and other theoretical knowledge of the aircraft fly-by-wire system, and can immersively experience the feedback of various functional modules of the aircraft fly-by-wire system to the aircraft control commands through control simulation training. The present invention can improve the pilot's theoretical knowledge level of the fly-by-wire system, while reducing the actual installation loss, which is both economical and safe.

[0011] The objective of the present invention is achieved through the following technical solutions:

[0012] An aircraft fly-by-wire control teaching simulation system comprises a flight control console, a simulation computer, and an integrated display system; the flight control console is communicatively connected to the simulation computer; the integrated display system is electrically connected to the simulation computer, and the teaching content of the aircraft fly-by-wire control system, a virtual flight scene, and a virtual cockpit instrument are displayed through the integrated display system;

[0013] The simulation computer is provided with:

[0014] The fly-by-wire control simulation system is used to: demonstrate the basic composition and working principle of the aircraft fly-by-wire control system; disassemble the main modal function and auxiliary modal function of the aircraft fly-by-wire control system, and load the submodules of each modal function in a combinatorial manner; solve the control law of the aircraft flight control system;

[0015] An aircraft flight performance simulation system is used to establish an aircraft motion simulation model; load the combined control parameters of the modal sub-function modules disassembled from the fly-by-wire simulation system or the calculated control rate output into the aircraft motion simulation model, obtain real-time aircraft motion state data, and send it to the integrated display system for virtual flight scene and virtual cockpit instrument display;

[0016] The visual simulation system is used to store and manage the flight simulation scene library and the virtual cockpit instrument library, and generate real-time flight visual files according to teaching and training needs, and send them to the integrated display system for real-time display of virtual flight scenes and virtual cockpit instruments.

[0017] Furthermore, the simulation computer is also provided with an assessment system for establishing and managing an assessment question bank for the aircraft fly-by-wire control system, conducting theoretical assessments of the trainees' fly-by-wire control system, and conducting practical operation assessments of the trainees' fly-by-wire control system in combination with the flight control console and the integrated display system.

[0018] Furthermore, the fly-by-wire simulation system comprises:

[0019] The basic components display module of the fly-by-wire control system is used to display the basic components of the aircraft fly-by-wire control system and the main functions of each basic component;

[0020] The working principle demonstration module of the fly-by-wire control system is used to demonstrate the working principle of the aircraft fly-by-wire control system;

[0021] A modal function disassembly module is used to disassemble the main modal function and the auxiliary modal function of the aircraft fly-by-wire control system to obtain multiple modal function sub-modules, and load the control parameters of each modal function sub-module separately or in combination to the aircraft flight performance simulation system to obtain real-time aircraft flight status feedback;

[0022] A control law solving module solves the pitch control law and the roll control law based on the simulation of the flight control system, and simulates the adjustment of control law parameters based on the control law solving results;

[0023] The human-computer interaction module is used to implement the human-computer interaction settings of the above modules.

[0024] Furthermore, the modal function disassembly module includes:

[0025] The main mode function disassembly unit is used to disassemble the three-axis control stabilization mode, the limit mode, the maneuvering flap control mode, and the automatic anti-spin mode function respectively, and to load the disassembled mode submodules separately, load in combination, or reset; wherein, the three-axis control stabilization mode function is disassembled into a roll control stabilization submodule, a pitch control stabilization submodule, and a yaw control stabilization submodule, the limit mode function is disassembled into a sideslip angle limitation submodule, an elevation angle / overload limitation submodule, a roll angular velocity limitation submodule, and a rudder deflection limitation submodule, the maneuvering flap control mode function is disassembled into a leading edge maneuvering flap control submodule, and the automatic anti-spin mode function is disassembled into an automatic anti-spin submodule and a direct connection submodule;

[0026] The auxiliary mode function disassembly unit disassembles the auxiliary mode function into a three-axis manual trim submodule and a three-axis automatic takeoff trim submodule.

[0027] Furthermore, the control law solving module includes:

[0028] A pitch control law solving unit solves the input and output of the pitch control law and the pitch control law calculation node; the pitch control law input is the pitch stick control instruction, the aircraft flight state parameters longitudinal overload, pitch angle rate, angle of attack, and Mach number; the pitch control law output is the leading edge flap control quantity, the canard control quantity, and the aileron control quantity; the pitch control law calculation node includes pitch instruction, dynamic formation, angle of attack limit, switch logic, stabilization module, main gain, elevator forward gain, bias value, synchronization function, integral module, canard bias, canard forward gain, canard limit, FDEMD, elevator position rate limiter, leading edge flap bias function, and leading edge flap limit;

[0029] A roll control law solving unit solves the input, output and roll control law calculation nodes of the roll control law; the roll control law input is the roll stick control command and the pedal stick control command, the aircraft flight state parameters lateral overload, roll angular rate, yaw angular rate, angle of attack; the roll control law output is the mixed module control quantity and the rudder control quantity; the roll control law calculation nodes include the roll command module, forward gain, aileron limit, heading stabilization module, heading command module, pedal aileron cross-linking module, P*Q, aileron rudder cross-linking module, and rudder limit.

[0030] Furthermore, the human-computer interaction module includes:

[0031] The basic component human-machine interaction unit, the main interface column of which displays the basic components of the aircraft fly-by-wire control system on the aircraft electronic drawing, showing the name of each basic component and the main installation position of each basic component on the aircraft; the secondary interface column displays the function of each basic component;

[0032] Operation principle interactive unit, the main interface of which displays the working principle of the aircraft fly-by-wire control system in the form of a flowchart; and displays the specific working process of the process node selected by the user through a pop-up window interface;

[0033] A modal function decomposition interaction unit, the interface of which is used to display the decomposed modal sub-function modules and provide a user interaction entrance for selecting the modal sub-function modules individually or in combination;

[0034] A control law solving interactive unit is provided, which respectively sets a pitch control law solving interface and a roll control law solving interface; the pitch control law solving interface and the roll control law solving interface are respectively provided with a parameter adjustment sub-interface for adjusting the control parameters in the control process.

[0035] Furthermore, the aircraft flight performance simulation system includes an aerodynamic model, a dynamic model, a kinematic model, an engine model, and an actuator model.

[0036] Furthermore, the visual simulation system comprises:

[0037] Terrain rendering unit, used to load high-precision satellite images and elevation data, and to render large terrain databases in real time;

[0038] Airport effect rendering unit, used to generate airport runways, control towers, and airport lights;

[0039] The natural environment and lighting rendering unit is used to simulate the impact of time changes in the natural environment on the virtual scene;

[0040] Weather effect rendering unit, used to simulate weather effects;

[0041] The viewing angle control unit realizes the control transformation of the viewpoint position, direction and field of view, and realizes different viewing angle effects by switching any scene and any viewing angle;

[0042] The virtual cockpit instrument unit integrates the cockpit's HUD and MFD virtual instrument modules in the form of a dynamic library.

[0043] Furthermore, the flight control console includes a universal lightweight cockpit, and a control stick, a throttle lever, and universal pedals respectively mounted on the lightweight cockpit, and control signals of the control stick, the throttle lever, and the universal pedals are communicatively connected with the simulation computer;

[0044] Furthermore, the integrated display system comprises:

[0045] The main instrument panel touch display is fixed in front of the flight control console and is used for cockpit virtual instrument display;

[0046] The visual display, located above the main instrument panel touch display, uses a curved display screen to display flight scenes;

[0047] A teaching display screen, located in front of the flight control console, for displaying the teaching content of the fly-by-wire simulation system;

[0048] VR glasses are used for immersive 360° real-time display of flight scenes and cockpit instruments.

[0049] The present invention has the following beneficial effects:

[0050] Multi-dimensional visualization teaching: Build an immersive virtual cockpit based on VR technology, combine dynamic instrument display and three-dimensional flight vision to help students quickly familiarize themselves with the cockpit layout and operating procedures; display the control law solution process in real time through an interactive interface (such as the angle of attack limit of the pitch channel and the aileron cross-linking logic of the roll channel), and transform abstract algorithms into intuitive flowcharts and parameter curves to improve the comprehensibility of theoretical knowledge.

[0051] Adjustable dynamic parameters and modular training: Supports real-time adjustment of control law parameters (such as gain, bias value, and limit threshold). Trainees can observe the direct impact of parameter changes on flight attitude and deepen their understanding of control law design principles. It provides the function of disassembling and combining modal function modules (such as loading a three-axis stabilization module or a joint anti-spin module separately) to facilitate phased training and fault simulation, and enhance teaching flexibility.

[0052] Cost and safety optimization: Lightweight hardware (universal cockpit, curved display) is used to replace real aircraft modification equipment, greatly reducing procurement and maintenance costs. Virtual simulation avoids mechanical wear and safety risks in actual training, and is especially suitable for repeated drills of high-risk subjects (such as spin recovery).

[0053] Integrated teaching and evaluation: The integrated theoretical question bank and practical assessment system can quantitatively evaluate students' mastery of core skills such as control law parameter adjustment and modal function matching, thus realizing a closed-loop teaching system. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a block diagram of the composition principle of an aircraft fly-by-wire teaching simulation system according to an embodiment of the present invention;

[0055] Figure 2 Schematic diagram of the working principle of the fly-by-wire control system in an embodiment of the present invention;

[0056] Figure 3 This is a schematic diagram of the interface display of the modal function disassembly module described in an embodiment of the present invention;

[0057] Figure 4 A schematic diagram showing a pitch control law solution interface according to an embodiment of the present invention;

[0058] Figure 5 A schematic diagram showing a roll control law solution interface according to an embodiment of the present invention;

[0059] Figure 6 Schematic diagram of the structure of the flight control console in an embodiment of the present invention. DETAILED DESCRIPTION

[0060] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings used in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0061] like Figure 1 As shown, this embodiment is an aircraft fly-by-wire control teaching simulation system, comprising a flight control console, a simulation computer, and an integrated display system; wherein the flight control console is communicatively connected to the simulation computer; the integrated display system is electrically connected to the simulation computer, and the teaching content of the aircraft fly-by-wire control system, the virtual flight scene, and the virtual cockpit instrument display are displayed through the integrated display system;

[0062] The simulation computer is provided with:

[0063] The fly-by-wire control simulation system is used to: demonstrate the basic composition and working principle of the aircraft fly-by-wire control system; disassemble the main mode function and auxiliary mode function of the aircraft fly-by-wire control system, and load the submodules of each mode function in a combinable manner; solve the control law of the aircraft flight control system; and evaluate the learning outcomes of flight trainees;

[0064] An aircraft flight performance simulation system is used to establish an aircraft motion simulation model; load the combined control parameters of the modal sub-function modules disassembled from the fly-by-wire simulation system or the calculated control rate output into the aircraft kinematic model, obtain real-time aircraft motion state parameters, and send them to the integrated display system for virtual flight scene and virtual cockpit instrument display;

[0065] The visual simulation system is used to store and manage the flight simulation scene library and the virtual cockpit instrument library, and generate real-time flight visual files according to teaching and training requirements, and send them to the integrated display system for real-time display of virtual flight scenes and virtual cockpit instruments;

[0066] The assessment system is used to establish and manage the aircraft fly-by-wire system assessment question bank, conduct theoretical assessments of trainees' fly-by-wire systems, and conduct practical operation assessments of trainees' fly-by-wire systems in combination with the flight control console and the integrated display system.

[0067] Furthermore, the fly-by-wire simulation system comprises:

[0068] The basic components display module of the fly-by-wire control system is used to display the basic components of the aircraft fly-by-wire control system and the main functions of each basic component;

[0069] The working principle demonstration module of the fly-by-wire control system is used to demonstrate the working principle of the aircraft fly-by-wire control system;

[0070] A modal function disassembly module, which disassembles the main modal function and the auxiliary modal function of the aircraft fly-by-wire control system to obtain multiple modal function sub-modules, and the control parameters of each modal function sub-module are loaded separately or in combination to the aircraft flight performance simulation system to obtain real-time aircraft flight status feedback;

[0071] A control law solving module solves the pitch control law and the roll control law based on the simulation of the flight control system, and simulates the adjustment of control law parameters based on the control law solving results;

[0072] The human-computer interaction module is used to implement the human-computer interaction settings of the above modules.

[0073] Preferably, in this embodiment, the basic components of the aircraft fly-by-wire control system include:

[0074] Signal sensors, which are used to collect pilot control action signals, aircraft flight status signals and flight environment information; mainly include pilot sensors, pitch sensors, roll sensors, heading sensors, angular velocity gyro sensor components, acceleration sensor components, atmospheric data sensors, and angle of attack sensors;

[0075] Flight control computer, which is used to process all discrete, digital and analog information of sensors, servo actuators, leading edge flap drive devices and related equipment, and complete all digital and analog calculations, including control laws, system management, built-in self-test, etc.

[0076] The actuator receives the control command from the flight control computer, controls the deflection of the control surface according to the command, and feeds back the power piston rod displacement and the main control valve displacement signal to the servo actuator controller in the flight control computer to form a servo actuator closed-loop control; the servo actuator includes an inner elevon actuator, an outer elevon actuator, a canard actuator, and a rudder actuator;

[0077] The flight control box is used for the flight control computer to send command signals.

[0078] In this embodiment, the working principle of the aircraft fly-by-wire control system is as follows: during the normal process of the flight control system, the pilot generates longitudinal, lateral and heading mechanical displacement control instructions for controlling the aircraft by operating the joystick and pedals located in the cockpit, and then converts the mechanical displacement into pilot command electrical signals through the longitudinal stick, lateral stick and pedals respectively and inputs them into the flight control computer; the movement generated by the aircraft is sensed by the angle of attack sensor, rate gyro, normal / lateral accelerometer and atmospheric data sensor, and then converted into response feedback electrical signals and input into the flight control computer; the above electrical signals are demodulated, filtered and converted into digital-to-analog conversion by the flight control computer hardware, and then the redundancy is used to generate the feedback electrical signals. The voting and monitoring of the management software generates a correct voting value for the calculation of the digital control law; the electrical signal generated by the pilot operating the flight control switch in the cockpit is converted into a discrete input by the flight control computer, and a correct voting value is selected for the calculation of the control law through the discrete input voting and monitoring of the redundancy management software; the control system calculates the control law based on the above signals, and generates a total of 9 output instructions for 4 elevators, 2 canards, rudders and left and right leading edge maneuvering flaps. The correctness of the output instruction is detected by the output instruction monitor, and is input to the servo actuator and leading edge maneuvering flap drive system closed loop through digital / analog conversion.

[0079] Furthermore, in this embodiment, the modal function disassembly module includes:

[0080] The main mode function disassembly unit is used to disassemble the three-axis control stabilization mode, the limit mode, the maneuvering flap control mode, and the automatic anti-spin mode function respectively, and to load or reset the disassembled mode submodules in combination; wherein, the three-axis control stabilization mode function is disassembled into a roll control stabilization submodule, a pitch control stabilization submodule, and a yaw control stabilization submodule; the limit mode function is disassembled into a sideslip angle limitation submodule, an elevation angle / overload limitation submodule, a roll angular velocity limitation submodule, and a rudder deflection limitation submodule; the maneuvering flap control mode function is disassembled into a leading edge maneuvering flap control submodule; and the automatic anti-spin mode function is disassembled into an automatic anti-spin submodule and a direct connection submodule;

[0081] The auxiliary mode function disassembly unit disassembles the auxiliary mode function into a three-axis manual trim submodule and a three-axis automatic takeoff trim submodule.

[0082] Furthermore, the control law solving module includes:

[0083] A pitch control law solving unit solves the input and output of the pitch control law and the main calculation nodes of the pitch control law; the input of the pitch control law is the pitch stick control instruction, the aircraft flight state parameters longitudinal overload, pitch angle rate, angle of attack, and Mach number; the output of the pitch control law is the leading edge flap control quantity, the canard control quantity, and the aileron control quantity; the pitch control law realizes the longitudinal channel control of the aircraft, and the main calculation nodes of the pitch control law include pitch instruction, dynamic formation, angle of attack limit, switch logic, stabilization module, main gain, elevator forward gain, bias value, synchronization function, integral module, canard bias, canard forward gain, canard limit, FDEMD, elevator position rate limiter, leading edge flap bias function, leading edge flap limit; such as Figure 4 As shown;

[0084] The roll control law solving unit solves the input and output of the roll control law and the main calculation nodes of the roll control law; the roll control law realizes the lateral channel control of the aircraft, and the main calculation nodes of the roll control law include the roll command module, forward gain, aileron limit, heading stabilization module, heading command module, pedal aileron cross-linking module, P*Q, aileron rudder cross-linking module, and rudder limit; the input of the roll control law is the roll stick control command and the pedal stick control command, and the aircraft flight state parameters are lateral overload, roll angle rate, yaw angle rate, and angle of attack; the output of the roll control law is the mixed module control quantity and the rudder control quantity; such as Figure 5 shown.

[0085] In this embodiment, the output instructions of the control law of the flight control system are used to control the longitudinal motion, lateral motion and heading motion of the aircraft, the four elevons (symmetrical deflection) of the main control surface for longitudinal motion and the canard of the auxiliary control surface for controlling the four elevons (differential deflection) of the main control surface for controlling the lateral motion and the rudder of the auxiliary control surface for controlling the heading motion of the main control surface and the four elevons (differential deflection) of the auxiliary control surface. The leading edge maneuvering flap is adjusted according to the changes of the Mach number and the angle of attack, and the lift-to-drag ratio characteristics, the nonlinear characteristics of the longitudinal pitch moment and the heading stability are improved through stepless automatic deflection.

[0086] Preferably, in this embodiment, the simulation of the flight control system in the control law solving module includes the following process:

[0087] Establishing mathematical model: Establishing dynamic model based on the input basic parameters of the aircraft, linearizing the dynamic equations based on the selected reference state, and obtaining state space model and transfer function model in turn;

[0088] Perform stability and maneuverability analysis: Based on the state-space model, input step and pulse signals to check the stability and maneuverability of the longitudinal and lateral control systems;

[0089] Based on the transfer function module, the simulation design of the longitudinal control system and the lateral control system are respectively carried out: the simulation design of the longitudinal control system includes the design of the pitch channel stabilization loop and the design of the track inclination tracking control law; the simulation design of the lateral control system includes the design of the roll channel stabilization loop, the design of the yaw channel stabilization loop, and the design of the track lateral deviation correction control law;

[0090] System simulation: According to the designed control law gain, different working conditions are simulated and the simulation results are given, including dynamic simulation, engine simulation, environmental simulation and sensor simulation.

[0091] Furthermore, the human-computer interaction module includes:

[0092] The basic component human-machine interaction unit, the main interface column of which displays the basic components of the aircraft fly-by-wire control system on the simulated aircraft drawing, showing the name of each basic component and the main installation position of each basic component on the aircraft; the secondary interface column displays the main functions of each basic component;

[0093] Operation principle interactive unit. The main interface of this unit displays the working principle of the aircraft fly-by-wire control system in the form of a flow chart. The interface diagram is as follows Figure 2 As shown; and the specific working process of the main process node selected by the user is displayed through a pop-up window interface;

[0094] The interface of the modal function decomposition interaction unit is used to display the decomposed modal sub-function modules and provide a user interaction entrance to select the modal sub-function modules individually or in combination, such as Figure 3 As shown;

[0095] The control law solving interactive unit is provided with a pitch control law solving interface and a roll control law solving interface respectively; the pitch control law solving interface and the roll control law solving interface are provided with a parameter adjustment sub-interface respectively, which is used to adjust the control parameters in the control process, such as Figure 4 , Figure 5 shown.

[0096] Furthermore, the aircraft flight performance simulation system includes an aerodynamic model, a dynamic model, a kinematic model, an engine model, and an actuator model.

[0097] In this embodiment, the aerodynamic model is:

[0098]

[0099] In the formula, C L , C D、 C Y are respectively the lift, aerodynamic drag and aerodynamic side force coefficient of the aircraft;

[0100] The lift of an aircraft is generated by the wings, fuselage, horizontal tail and control surfaces:

[0101] C L =C L.wb +C L.ht +C L.δ

[0102] Aerodynamic drag coefficient C D =C D0 +C Di

[0103] In the formula, C D0 is zero lift resistance, C Di The drag caused by lift;

[0104] The aerodynamic side force depends on the Mach number Ma, the sideslip angle β, the angle of attack α, the flap position and the fuselage shape:

[0105] C Y =C Y (Ma,α,β,f s )

[0106] The calculation formula of aerodynamic torque is:

[0107]

[0108] In this embodiment, the kinetic model includes:

[0109]

[0110] Where m is the mass of the aircraft, V x 、V y 、V z is the speed of the aircraft in three directions, ω x ,ω y ,ω z is the angular velocity, F x 、F y 、F z is the force in each direction, M x 、M y 、M z is the moment about the respective coordinate axis, I x ,I y ,I z ,I xy is the moment of inertia.

[0111] In this embodiment, the kinematic model includes:

[0112] The translation equation in the track coordinate system is:

[0113]

[0114] Where [V,γ,X] T is the component of the center of mass velocity in the track coordinate system;

[0115] The kinematic equation of the center of mass is:

[0116]

[0117] Kinematic equations for rotation around the center of mass:

[0118]

[0119] In order to avoid the generation of singular points, the quaternion method is used to establish the aircraft kinematics and dynamics model, and the vector The expression is:

[0120]

[0121] Where m is the mass of the aircraft, u, v and w are the components of the velocity in the body coordinate system; p, q and r are the components of the angular velocity in the body coordinate system; C i (i=1,2,…,9) is an intermediate variable related to the aircraft's rotational inertia. The specific calculation formula is shown in Table 1.

[0122] Table 1 Equation coefficient calculation formula

[0123]

[0124]

[0125] Usually q0 2 +q1 2 +q2 2 +q3 2 =1. In actual flight simulation, the integral operation will lead to cumulative errors, and the orthogonality of the quaternion will be destroyed. Therefore, we define λ=1-(q0 2 +q1 2 +q2 2 +q3 2 ), and use the normalization method to reduce the cumulative error. The aircraft's attitude angles: roll angle φ, pitch angle θ and yaw angle ψ can be obtained through quaternion transformation. The relationship between quaternion and Euler angle is as follows:

[0126]

[0127] In the airflow coordinate system, the relationship between the aircraft speed and the angle of attack and sideslip angle is as follows:

[0128] u=V T cosαcosβ

[0129] v=V T sinβ

[0130] w=V T sinαcosβ

[0131] In this embodiment, the engine model interpolates and calculates the thrust, torque, and speed of the engine according to different throttle lever angles, different flight altitudes, intake air temperatures, and different flight speed parameters, and calculates the lubricating oil pressure and lubricating oil temperature. Then, the aircraft fuel consumption rate is interpolated and calculated through the aircraft Mach number, engine speed, and altitude, and the current fuel weight is updated in real time, and the engine thrust and torque are output to the force / torque synthesis module for calculation. In response to actual engineering needs, the engine numerical model adopts the form of an interpolation table, and the influencing factors include throttle lever angle, flight altitude, intake air temperature, flight speed, Mach number, etc.

[0132] In this embodiment, the actuator model is responsible for converting the lever quantity collection signal and various analog and digital control quantities sent by the simple operation console into physical control quantities such as the rudder surface and throttle, and at the same time sending the parameters to the dynamics and kinematics model for calculation. The actuator uses the displacement, angle and angular velocity feedback of the control stick, and then limits the rudder surface velocity through the actuator, and outputs the actual deflection of the rudder surface.

[0133] Furthermore, the visual simulation system comprises:

[0134] Terrain rendering unit, capable of loading high-precision satellite images and elevation data, and drawing large terrain databases in real time;

[0135] Airport effect rendering unit, used to generate runways, control towers, and airport lights;

[0136] Natural environment and lighting rendering unit, used to simulate the impact of natural environment time changes (dawn, daytime, dusk and nighttime) on virtual scenes;

[0137] Weather effect rendering unit, used to simulate visibility, cloud, fog, rain, snow and other effects;

[0138] The perspective control unit realizes the control transformation of the viewpoint position, direction and field of view, and can switch through any scene and any perspective to achieve different perspective effects; typical perspectives include first-person cockpit perspective, third-person perspective, bird's-eye view perspective, and free roaming perspective;

[0139] The virtual cockpit instrument unit integrates the cockpit's HUD, MFD and other virtual instrument modules in the form of a dynamic library.

[0140] Furthermore, the flight control console includes a universal lightweight cockpit, and a joystick, a throttle lever, and universal pedals respectively mounted on the lightweight cockpit, and the control signals of the joystick, the throttle lever, and the universal pedals are connected to the simulation computer for communication. Figure 6 shown.

[0141] Furthermore, the integrated display system comprises:

[0142] The main instrument panel touch display is fixed in front of the flight control console and is used for cockpit virtual instrument display;

[0143] The visual display, located above the main instrument panel touch display, uses a curved display screen to display flight scenes;

[0144] A teaching display screen, located in front of the flight control console, for displaying the teaching content of the fly-by-wire simulation system;

[0145] VR glasses are used for immersive 360° real-time display of flight scenes and cockpit instruments.

[0146] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An aircraft fly-by-wire teaching simulation system, characterized in that: It includes a flight control console, a simulation computer, and an integrated display system; the flight control console is communicatively connected to the simulation computer; the integrated display system is electrically connected to the simulation computer, and the teaching content of the aircraft fly-by-wire control system, the virtual flight scene, and the virtual cockpit instrument display are displayed through the integrated display system; The simulation computer is provided with: The fly-by-wire control simulation system is used to: demonstrate the basic composition and working principle of the aircraft fly-by-wire control system; disassemble the main modal function and auxiliary modal function of the aircraft fly-by-wire control system, and load the submodules of each modal function in a combinatorial manner; solve the control law of the aircraft flight control system; An aircraft flight performance simulation system is used to establish an aircraft motion simulation model; load the combined control parameters of the modal sub-function modules disassembled from the fly-by-wire simulation system or the calculated control rate output into the aircraft motion simulation model, obtain real-time aircraft motion state data, and send it to the integrated display system for virtual flight scene and virtual cockpit instrument display; The visual simulation system is used to store and manage the flight simulation scene library and the virtual cockpit instrument library, and generate real-time flight visual files according to teaching and training needs, and send them to the integrated display system for real-time display of virtual flight scenes and virtual cockpit instruments.

2. The aircraft fly-by-wire teaching simulation system according to claim 1, characterized in that: The simulation computer is also provided with an assessment system for establishing and managing an assessment question bank for the aircraft fly-by-wire control system, conducting theoretical assessments of the fly-by-wire control system for trainees, and conducting practical operation assessments of the fly-by-wire control system for trainees in combination with the flight control console and the integrated display system.

3. The aircraft fly-by-wire teaching simulation system according to claim 1, characterized in that: The fly-by-wire simulation system comprises: The basic components display module of the fly-by-wire control system is used to display the basic components of the aircraft fly-by-wire control system and the main functions of each basic component; The working principle demonstration module of the fly-by-wire control system is used to demonstrate the working principle of the aircraft fly-by-wire control system; A modal function disassembly module is used to disassemble the main modal function and the auxiliary modal function of the aircraft fly-by-wire control system to obtain multiple modal function sub-modules, and load the control parameters of each modal function sub-module separately or in combination to the fighter flight performance simulation system to obtain real-time feedback on the aircraft flight status; A control law solving module solves the pitch control law and the roll control law based on the simulation of the flight control system, and simulates the adjustment of control law parameters based on the control law solving results; The human-computer interaction module is used to implement the human-computer interaction settings of the above modules.

4. The aircraft fly-by-wire teaching simulation system according to claim 3, characterized in that: The modal function disassembly module includes: The main mode function disassembly unit is used to disassemble the three-axis control stabilization mode, the limit mode, the maneuvering flap control mode, and the automatic anti-spin mode function respectively, and to load the disassembled mode submodules separately, load in combination, or reset; wherein, the three-axis control stabilization mode function is disassembled into a roll control stabilization submodule, a pitch control stabilization submodule, and a yaw control stabilization submodule, the limit mode function is disassembled into a sideslip angle limitation submodule, an elevation angle / overload limitation submodule, a roll angular velocity limitation submodule, and a rudder deflection limitation submodule, the maneuvering flap control mode function is disassembled into a leading edge maneuvering flap control submodule, and the automatic anti-spin mode function is disassembled into an automatic anti-spin submodule and a direct connection submodule; The auxiliary mode function disassembly unit disassembles the auxiliary mode function into a three-axis manual trim submodule and a three-axis automatic takeoff trim submodule.

5. The aircraft fly-by-wire teaching simulation system according to claim 3, characterized in that: The control law solving module comprises: A pitch control law solving unit solves the input and output of the pitch control law and the pitch control law calculation node; the pitch control law input is the pitch stick control instruction, the aircraft flight state parameters longitudinal overload, pitch angle rate, angle of attack, and Mach number; the pitch control law output is the leading edge flap control quantity, the canard control quantity, and the aileron control quantity; the pitch control law calculation node includes pitch instruction, dynamic formation, angle of attack limit, switch logic, stabilization module, main gain, elevator forward gain, bias value, synchronization function, integral module, canard bias, canard forward gain, canard limit, FDEMD, elevator position rate limiter, leading edge flap bias function, and leading edge flap limit; A roll control law solving unit solves the input, output and roll control law calculation nodes of the roll control law; the roll control law input is the roll stick control command and the pedal stick control command, the aircraft flight state parameters lateral overload, roll angular rate, yaw angular rate, angle of attack; the roll control law output is the mixed module control quantity and the rudder control quantity; the roll control law calculation nodes include the roll command module, forward gain, aileron limit, heading stabilization module, heading command module, pedal aileron cross-linking module, P*Q, aileron rudder cross-linking module, and rudder limit.

6. The aircraft fly-by-wire teaching simulation system according to claim 3, characterized in that: The human-computer interaction module comprises: The basic component human-machine interaction unit, the main interface column of which displays the basic components of the aircraft fly-by-wire control system on the aircraft electronic drawing, showing the name of each basic component and the main installation position of each basic component on the aircraft; the secondary interface column displays the function of each basic component; Operation principle interactive unit, the main interface of which displays the working principle of the aircraft fly-by-wire control system in the form of a flowchart; and displays the specific working process of the process node selected by the user through a pop-up window interface; A modal function decomposition interaction unit, the interface of which is used to display the decomposed modal sub-function modules and provide a user interaction entrance for selecting the modal sub-function modules individually or in combination; A control law solving interactive unit is provided, which respectively sets a pitch control law solving interface and a roll control law solving interface; the pitch control law solving interface and the roll control law solving interface are respectively provided with a parameter adjustment sub-interface for adjusting the control parameters in the control process.

7. The aircraft fly-by-wire teaching simulation system according to claim 1, characterized in that: The aircraft flight performance simulation system includes an aerodynamic model, a dynamic model, a kinematic model, an engine model, and an actuator model.

8. The aircraft fly-by-wire teaching simulation system according to claim 1, characterized in that: The visual simulation system comprises: Terrain rendering unit, used to load high-precision satellite images and elevation data, and to render large terrain databases in real time; Airport effect rendering unit, used to generate airport runways, control towers, and airport lights; The natural environment and lighting rendering unit is used to simulate the impact of time changes in the natural environment on the virtual scene; Weather effect rendering unit, used to simulate weather effects; The viewing angle control unit realizes the control transformation of the viewpoint position, direction and field of view, and realizes different viewing angle effects by switching any scene and any viewing angle; The virtual cockpit instrument unit integrates the cockpit's HUD and MFD virtual instrument modules in the form of a dynamic library.

9. The aircraft fly-by-wire teaching simulation system according to claim 1, characterized in that: The flight control console comprises a universal lightweight cockpit, and a joystick, a throttle lever and universal pedals respectively mounted on the lightweight cockpit, and the control signals of the joystick, the throttle lever and the universal pedals are connected to the simulation computer for communication.

10. The aircraft fly-by-wire teaching simulation system according to claim 1, characterized in that: The integrated display system comprises: The main instrument panel touch display is fixed in front of the flight control console and is used for cockpit virtual instrument display; The visual display, located above the main instrument panel touch display, uses a curved display screen to display flight scenes; A teaching display screen, located in front of the flight control console, for displaying the teaching content of the fly-by-wire simulation system; VR glasses are used for immersive 360° real-time display of flight scenes and cockpit instruments.

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