Electric control load system

Abstract

The invention belongs to the technical field of simulator control load systems, and particularly relates to an electric control load system which comprises an electric control load device and an electric control system used for controlling the electric control load device, and the electric control load device comprises a motor, a driver, an upper computer and a measuring mechanism. The driver is used for controlling and driving the motor, the measuring mechanism is used for measuring the rotation stress of the motor, and the upper computer is used for receiving and analyzing signals; the electric control system comprises a main control subsystem and a motor control subsystem which run in an upper computer, an operation load general model and a communication unit are arranged in the main control subsystem, and the main control subsystem completes data control and data simulation through the operation load general model and completes simulation of the control force feeling of a pilot for driving an aircraft. The simulation is more accurate.

Description

Technical Field

[0001] The present invention belongs to the technical field of simulator control loading systems, and particularly relates to an electric control loading system. Background Art

[0002] As a key subsystem of a flight simulator, the control loading system mainly functions to simulate the control force feeling of a pilot flying an aircraft. On a real aircraft, the control force changes with parameters such as rudder deflection angle, flight speed, and flight altitude. The pilot makes corresponding judgments and performs corresponding operations based on the change of the control force. The control force feeling provides the main basis for the pilot to judge the flight state. Therefore, the fidelity of force feeling simulation affects the flight training level. Developing a high-fidelity control loading system is a prerequisite for developing a high-level flight simulator. The existing technologies have the following problems: unable to perform on-line debugging of parameters according to different aircraft control force curves; the control loading system software has poor adaptability to different hardware devices on the market. For this reason, we propose an electric control loading system. Summary of the Invention

[0003] The purpose of the present invention is to provide an electric control loading system. The control loading system provides the control force feeling and operation prompts for the pilot and is one of the important systems on the flight simulator. The control loading system provides load force balance for devices such as the pilot's joystick that need to provide force feeling through an actuator. According to the requirements of CCAR-60, the control loading system has two parts of requirements: static control quality test and dynamic control quality test. The principle prototype has established a general control loading model, which includes spring force, starting force, friction force, damping force, and cable force modules.

[0004] The technical solutions adopted by the present invention are specifically as follows: An electric control loading system includes an electric control loading device and an electric control system for controlling the electric operation loading device. The electric control loading device includes a motor, a driver, a host computer, and a measuring mechanism. The driver is used to control and drive the motor. The measuring mechanism is used to measure the rotational stress of the motor. The host computer is used to receive signals and analyze signals; The electric control system includes a main control subsystem and a motor control subsystem running in the host computer. The main control subsystem is provided with a control loading general model and a communication unit. The main control subsystem completes data control and data simulation through the control loading general model to complete simulating the control force feeling of a pilot flying an aircraft.

[0005] Preferably, the motor is a torque motor. A single-turn absolute encoder is installed at the tail of the motor for the inner loop control of the motor, and a torque sensor is installed at the output end of the motor.

[0006] Preferably, the main control subsystem runs an operation load general model, which divides the aircraft control force into a front-end, a connection, and a rear-end system according to three parts: the control equipment in the cockpit, the connecting rod, and the flight control control surface; the general model simulates all force characteristics from the operation of the control column until the movement of the flight control control surface according to the physical characteristics of the three regions, and forms a force closed-loop.

[0007] Preferably, the main control subsystem completes parameter configuration according to different aircraft control forces and communicates with the control load motor control subsystem through a communication unit.

[0008] Preferably, the operation load general model is a general model for the outer loop of the control load. The general model for the outer loop of the control load is modeled using Simulink. The model includes an outer loop model of a force feeling module related to aircraft handling qualities, a connection model of the control equipment in the pilot's cockpit, and a conversion model between the actuator and the general model.

[0009] Preferably, the inner loop of the main control subsystem is a passive force loading system, and the outer loop is built with a general model module related to aircraft handling qualities using Matlab / Simulink. By online configuring the model parameters to match the handling characteristics of the target simulated aircraft, this general model is converted into the input of a force-position motor control algorithm for motor control.

[0010] Preferably, the handling characteristics of the target aircraft to be simulated by the main control subsystem include static handling characteristics and dynamic handling characteristics; system identification is performed using the Matlab toolbox, a feedforward inverse model is constructed using the system identification parameter results, and the internal model controller strategy is used to increase the robust tracking performance of the system while improving the anti-interference ability. At the same time, the stability of the system is adjusted using the increased three-state feedforward system coefficients.

[0011] Preferably, the matching of the aircraft handling characteristics is qualitatively and quantitatively matched through the parameters of each general module sent by the upper computer, and online editing and modification are supported; when matching with the control mechanism, system parameter identification is performed through the feedback values of the force sensor and the encoder feedback value, and a feedforward inverse model is constructed; the system stability is adjusted by using a three-state feedforward system.

[0012] The technical effects achieved by the present invention are: In the present invention, high-performance drivers and controllers with a wide adaptation range and mature in the domestic market are used. According to the characteristics simulated by the control load system itself, the simulated object is systematically and modularly processed. The Matlab toolbox is used for system identification, and the parameters of the feedforward controller and the three-state feedforward system are designed, broadening the system frequency and improving the robustness and stability of the system; all domestic products are used in the system implementation, greatly reducing the order cycle and cost.

[0013] In the present invention, the Matlab toolbox is used to set the parameters of the feed-forward controller of the inner loop of the control loop of the handling load and the three-state feed-forward system, improving the reliability of system debugging, system stability and robustness; the handling characteristics related to the aircraft are modularly modeled and verified using the Simulink toolbox, ensuring the universality of the software model; the above method is used to verify the functional performance test of the electric handling load system. In addition to being used for the matching of aircraft handling characteristics, the control strategy of this product can also be applied to other force loading systems.

[0014] In summary, the present invention can perform on-line debugging of parameters according to different aircraft handling force curves; the software of the handling load system can adapt to different hardware devices in the market; improve the tracking ability of the force loading system; improve the stability and robustness of the handling load control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is the system block diagram of the present invention; Figure 2 is the system architecture diagram of the present invention; Figure 3 is the software diagram of the operation load system running on the upper computer in the present invention; Figure 4 is the schematic diagram of the overall structure of the motor in the present invention; Figure 5 is the electrical wiring diagram of the driver and the motor in the present invention; Figure 6 is the schematic diagram of the control loop principle in the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] In order to make the purpose and advantages of the present invention clearer, the present invention will be specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific requests of the present invention.

[0017] As Figure 1 shown, an electric handling load system includes an electric handling load device and an electric control system for controlling the electric operation load device. The electric handling load device includes a motor, a driver, an upper computer and a measuring mechanism. The driver is used to control the driving motor, the measuring mechanism is used to measure the rotational stress of the motor, and the upper computer is used to receive and analyze signals; The electric control system includes a main control subsystem and a motor control subsystem running in the upper computer. The main control subsystem is provided with an operation load general model and a communication unit. The main control subsystem completes data control and data simulation through the operation load general model, and completes the simulation of the handling force feeling of the pilot driving the aircraft.

[0018] As Figure 3As shown, the main control subsystem is the main control software, and the motor control subsystem is the motor control software. For example, Figure 4 As shown, Figure 4 is the schematic diagram of the overall motor structure in the present invention; when wiring the motor and the driver, as Figure 5 shown, Figure 5 is the electrical wiring diagram of the driver and the motor in the present invention; The schematic diagram of the present invention is as Figure 6 shown. In the present invention, the handling load system provides the pilot with handling force feeling and operation prompts, and is one of the important systems on the flight simulator; the handling load system provides load force balance for the equipment such as the pilot's joystick that needs to provide force feeling through the actuator. According to the requirements of CCAR-60, there are two parts of requirements for the handling load system through static handling quality test and dynamic handling quality test; the principle prototype has established a general handling load model, including spring force, starting force, friction force, damping force, and cable.

[0019] Preferably, the motor is a torque motor, a single-turn absolute encoder is installed at the tail of the motor for the inner loop control of the motor, and a torque sensor is installed at the output end of the motor.

[0020] In the present invention, the domestic-made motor is a torque motor, and the performance of this motor is equivalent to that of the MOOGE col8000 series HD150. A single-turn absolute encoder is installed at the tail of the motor for the inner loop control of the motor.

[0021] In the present invention, the torque sensor is selected as the GB-STS200 static torque sensor, and its performance indicators are as follows: Measurement range: 0 to ±0.005 (minimum) --- 0 to ±500000 N·m; Mechanical installation connection method: single flange shaft head key connection; Measurement uncertainty: 0.1% FS; Frequency response: 100 μs; Insulation strength: 200 MΩ (100 V); Power supply voltage: precision 10 VDC; Output signal: ≈2 mv / V; Sensor internal resistance: 1000 ± 5 ohms; Adaptable ambient temperature: -20~60˚C; Overload capacity: 120%; Relative humidity: ≤90%RH8. Protection level: IP68; The GB-VM transmitter outputs a standard analog signal of ±10 V.

[0022] In the present invention, the domestic-made Googol GSHD high-performance driver is adopted. This driver can be adapted to various common motor types including rotary motors, linear motors, direct drive motors, and DC brushless motors. It supports multiple input methods such as analog input, pulse input, Glink-II, and EtherCAT, with high sampling accuracy and strong real-time performance; the positioning accuracy can reach ±1 Pulse, the dynamic characteristics are good, the sine-cosine subdivision is 4096 times, the resolution can reach 32 bits, and the maximum speed can reach 60000 rpm; the wiring diagram of the driver and the motor is asFigure 5 as shown

[0023] In the present invention, a domestic Googol GNC series motion controller is selected as the controller, which can achieve high-speed point-to-point motion control. Its core consists of an ARM (dual-core Cortex A9) and an FPGA, and can achieve high-performance control computing. It has a wide range of application fields, including robots, numerically controlled machine tools, woodworking machinery, printing machinery, assembly production lines, electronic processing equipment, laser processing equipment, and PCB drilling and milling equipment. The GNC series motion controller provides function libraries such as C language and Windows dynamic link libraries, and can achieve complex control functions.

[0024] The main control subsystem runs an operation load general model. The general model divides the aircraft control force into front-end, connection, and rear-end systems according to the control equipment in the cockpit, connecting rods, and flight control control surfaces. The general model simulates all the force characteristics from the joystick operation to the flight control control surface movement according to the physical characteristics of the three regions, and forms a force closed-loop. The main control subsystem completes parameter configuration according to different aircraft control forces and communicates with the control load motor control subsystem through the communication unit.

[0025] In the present invention, the Matlab system identification toolbox and Simulink are used to complete the design of the feedforward controller parameters of the inner loop control loop of the control load and the design of the outer loop general model respectively. Relying on mature domestic motor and drive control products, a set of electric control load systems with perfect functions, high adaptability, and stable performance is verified.

[0026] The operation load general model is the outer loop general model of the control load. The outer loop general model of the control load is modeled using Simulink. The model includes the outer loop model (rear control surface system) of the force feeling module related to the aircraft control quality, the connection model of the control equipment in the pilot's cockpit (forward system), and the conversion model between the actuator and the general model.

[0027] The inner loop of the main control subsystem is a typical passive force loading system. The outer loop uses Matlab / Simulink to build a general model module related to the aircraft control quality. By online configuring the model parameters to match the control characteristics of the target simulation aircraft, the general model is converted into the input of the force-position motor control algorithm for motor control.

[0028] In the present invention, the Matlab toolbox is used to set the parameters of the feedforward controller of the inner loop control circuit of the handling load and the three-state feedforward system, improving the reliability of system debugging, system stability and robustness; the handling characteristics related to the aircraft are modularly modeled and verified using the Simulink toolbox, ensuring the universality of the software model; the above method is used to verify the functional performance test of the electric handling load system. In addition to being applicable to the matching of aircraft handling characteristics, the control strategy can also be applied to other force loading systems.

[0029] The handling characteristics of the target aircraft that the main control subsystem needs to simulate include static handling characteristics and dynamic handling characteristics; the key issue in solving and improving the static handling characteristics is to improve the tracking performance of the force loading system; system identification is carried out using the Matlab toolbox, and a feedforward inverse model is constructed using the results of the system identification parameters to improve the tracking performance of the system and broaden the system bandwidth without affecting the system stability; in addition, in order to more realistically simulate the dynamic handling quality of the target aircraft and solve the problem of redundant force in loading caused by the control mechanism and human operation, the internal model controller strategy is used to increase the robust tracking performance of the system while improving the anti-interference ability, and at the same time, the stability of the system is adjusted using the increased three-state feedforward system coefficient.

[0030] The matching of aircraft handling characteristics is qualitatively and quantitatively matched through the parameters of each general module sent by the upper computer, supporting online editing and modification; when matching with the control mechanism, in addition to verifying and correcting through measurement tools in the early stage and basic calibration, system parameter identification is carried out through the feedback values of the force sensor and the encoder feedback value, and a feedforward inverse model is constructed; the system stability is adjusted by using the three-state feedforward system.

[0031] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention. The structures, devices and operation methods not specifically described and explained in the present invention are implemented according to the conventional means in the art without special explanation and limitation.

Claims

1. An electric control load system, characterized in that: It includes an electric load device and an electric control system for controlling the electric load device, wherein the electric load device includes a motor, a driver, a host computer and a measuring mechanism, wherein the driver is used to control the drive motor, the measuring mechanism is used to measure the rotation stress of the motor, and the host computer is used to receive and analyze signals; The electronic control system includes a main control subsystem and a motor control subsystem running in a host computer. The main control subsystem is provided with an operation load general model and a communication unit. The main control subsystem completes data control and data simulation through the operation load general model to simulate the pilot's sense of control force when flying an aircraft.

2. An electric control load system according to claim 1, characterized in that: The motor is a torque motor. A single-turn absolute encoder is installed at the tail of the motor for motor internal loop control. A torque sensor is installed at the output end of the motor.

3. An electric control load system according to claim 1, characterized in that: The main control subsystem runs a general model of operating loads, and the general model divides the aircraft control force into front-end, connection, and back-end systems according to the three parts of the control equipment, connecting rods, and flight control surfaces in the cockpit; the general model simulates all force characteristics from the operation of the joystick to the action of the flight control surfaces according to the physical characteristics of the three areas, and forms a force closed loop.

4. The electric control load system according to claim 1, characterized in that: The main control subsystem completes parameter configuration according to different aircraft control forces and communicates with the control load motor control subsystem through a communication unit.

5. The electric control load system according to claim 1, characterized in that: The control load general model is a control load outer loop general model, which is modeled using Simulink. The model includes an outer loop model of a force sensing module related to aircraft control quality, a connection model of control equipment in the cockpit, and a conversion model between an actuator and a general model.

6. The electric control load system according to claim 1, characterized in that: The inner loop of the main control subsystem is a powered loading system, and the outer loop uses Matlab / simulink to build a general model module related to the aircraft's handling qualities. The model parameters are configured online to match the handling characteristics with the target simulated aircraft. The general model is converted into the input of the force-position motor control algorithm for motor control.

7. The electric control load system according to claim 1, characterized in that: The control characteristics of the target aircraft that need to be simulated by the main control subsystem include static control characteristics and dynamic control characteristics; the system is identified using the Matlab toolbox, a feedforward inverse model is constructed using the system identification parameter results, an inner membrane controller strategy is used to increase the robust tracking performance of the system while improving the anti-interference ability, and an increased three-state feedforward system coefficient is used to adjust the stability of the system.

8. The electric control load system according to claim 1, characterized in that: The aircraft control characteristics are matched qualitatively and quantitatively through the general module parameters sent by the host computer, and online editing and modification are supported. When matching with the control mechanism, the system parameters are identified through the force sensor feedback value and the encoder feedback value, and the feedforward inverse model is constructed. The system stability is adjusted by using a three-state feedforward system.

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