Aircraft winch simulator

Abstract

The invention discloses an aviation winch simulator, which comprises a simulator case and a control unit, and is characterized in that the simulator case is provided with a display module, an indicator light module, a switch and knob module, an external interface module, a debugging interface and a display module touch pen; the control unit comprises a simulator processing module, a signal acquisition and output module, a power supply and voltage monitoring module and a communication module, the simulator processing module is used for simulating the operation process and fault detection of the winch device, and the signal acquisition and output module is used for acquiring analog quantity or digital quantity signals of the manipulator; the power supply and voltage monitoring module is used for supplying power to the winch simulator and monitoring voltage; and the communication module is used for communicating with a winch manipulator. The system can solve the problems of high cost and low safety of existing helicopter hoisting sonar retraction training, has the functions of fault diagnosis, reconfigurable hardware design, accurate mechanical simulation and the like, and can better train a winch operator.

Description

Technical Field

[0001] The present invention belongs to the technical field of aviation winch simulators, and specifically relates to an aviation winch simulator. Background Art

[0002] With the development of domestic aviation dipping sonars, the number of aviation dipping sonar winches is increasing day by day. However, the cost of flight training is relatively high. The basic technical solutions of existing other simulators are to collect input and output signals through a control unit and its software, and interact with external devices through external interfaces, but they do not have functions such as fault diagnosis, reconfigurable hardware design, and precise mechanical simulation. Summary of the Invention

[0003] Based on the deficiencies of the existing technology, the present invention provides an aviation winch simulator, which can simulate the signal output of each sensor of the winch device and the actions of the motor, and receive the instructions of the winch controller, solve the problems of high cost and low safety in the retracting and deploying training of existing helicopter dipping sonars, and at the same time has functions such as fault diagnosis, reconfigurable hardware design, and precise mechanical simulation, and can better train winch operators.

[0004] The technical solution of the present invention is as follows:

[0005] An aviation winch simulator, which is connected to a controller during operation, includes a simulator chassis and a control unit. A display module, an indicator light module, a switch and knob module, an external interface module, a debugging interface, and a display module touch pen are arranged on the simulator chassis, and each device is connected to the control unit;

[0006] The control unit includes a simulator processing module, a signal acquisition and output module, a power supply and voltage monitoring module, and a communication module.

[0007] The simulator processing module is installed with simulator control software, which is used to simulate the operation process of the winch device and simulate and detect faults;

[0008] The signal acquisition and output module is used to acquire analog or digital signals output by the controller;

[0009] The power supply and voltage monitoring module is used to supply power to the winch simulator and monitor the voltage, and display the monitoring results on the display screen;

[0010] The communication module is used for communication between the winch simulator and the winch controller and other external devices;

[0011] The display module, indicator light module, switch and knob module are all connected to the signal acquisition and output module of the control unit to achieve signal input and output. The external interface module and debugging interface are connected to external devices to achieve signal input and output. The display module stylus is used for operating the display module. All modules are integrated in the simulator chassis.

[0012] Preferably, the simulator processing module simulates the working state of the winch device and can send information such as motor speed and torque.

[0013] Preferably, the signal acquisition and output module can acquire 8 digital input signals, output 8 digital output signals, and output 2 - 10V to 10V analog signals, 1 4 - 20mA analog signal, 1 0 - 5V analog signal, and 1 quadrature square wave signal.

[0014] Preferably, the power supply and voltage monitoring module includes a multi - channel ADC and timer acquisition circuit to monitor all input and output signals.

[0015] Preferably, the communication module is provided with a gigabit network port for network communication and program downloading, and externally leads out RS422 interface and RS485 interface to achieve industrial signal transmission and control.

[0016] Preferably, the display module is a display screen, which is used to display the signal characteristics of the acquisition or output, can display the waveforms of each signal, and is used to display the results of voltage monitoring.

[0017] Preferably, the indicator light module is used to display the switch state of sensors or signals in the simulated winch device of the simulator and is lit or extinguished according to the input signal.

[0018] Preferably, the switch and knob module is used to control the input or output of signals and includes a rotary light - guiding adjustment knob, an analog handle operation knob, an analog switch, and a power - on switch.

[0019] Further, the rotary light - guiding adjustment knob can simulate the output of a PWM signal to control the brightness of the blue and white light of the manipulator; the rotary analog handle operation knob can simulate the operation of the handle to control the motor; the opening or closing of the analog switch can simulate the input and output of digital signals; the power - on switch is used to power on the simulator.

[0020] Preferably, the external interface module is used to connect to the winch manipulator. The interfaces of the external interface module correspond one - to - one with the interfaces of the manipulator and can be connected to the manipulator for communication or control.

[0021] The beneficial effects of the present invention are:

[0022] 1. The motion scenarios of the winch can be expanded according to the simulation requirements of users. The simulator processing module provides a rich variety of function options, including functions such as status acquisition, signal generation and communication, simulating the operation process and fault simulation of the winch device, and fault diagnosis. It has the advantages of comprehensive functions, wide application scope, convenient operation, and good reliability;

[0023] 2. Using the winch simulator to conduct certain basic training for the operators of the aviation sonar winch can not only improve the training efficiency, but also save the training cost and improve the safety of training, etc. Description of the Drawings

[0024] Figure 1 is the system architecture diagram of an aviation winch simulator connected to a controller in an embodiment of the present invention;

[0025] Figure 2 is the device structure diagram of an aviation winch simulator in an embodiment of the present invention, where, Figure 2 (a) of is a side view, Figure 2 (b) of is a front view;

[0026] Figure 2 In : 1 - simulator chassis, 2 - control unit, 3 - display module, 4 - indicator light module, 5 - switch and knob module, 6 - external interface module, 7 - debugging interface, 8 - display module touch pen;

[0027] Figure 3 is the circuit diagram of digital quantity acquisition in an embodiment of the present invention;

[0028] Figure 4 is the circuit diagram of 4 - 20mA and 0 - 5V analog quantity output in an embodiment of the present invention;

[0029] Figure 5 is the circuit diagram of -10 - +10V analog quantity output in an embodiment of the present invention. Detailed Embodiments

[0030] The present invention will be further described below in conjunction with specific embodiments and the drawings:

[0031] The present invention provides an aviation winch simulator, which is used to simulate the operation of an aircraft releasing or recovering a suspended object through a winch device. Generally speaking, in an aviation winch, the winch device includes a frame, a drum, a motor, and a brake device. The frame is equipped with a drum and a motor, the motor is connected to the drum through a rotating shaft, and multiple layers of cables are installed on the drum. The frame is also equipped with a cable arrangement mechanism, which includes a reciprocating screw, a fixed pulley assembly, and a screw motor. The fixed pulley assembly is installed on the screw, and the cable passes through the fixed pulley assembly to connect the suspended object. The screw motor drives the reciprocating screw to rotate and drives the fixed pulley assembly to move back and forth to perform the cable arrangement operation. The motor drives the drum to rotate clockwise or counterclockwise to tighten or loosen the cable. The brake device is installed on the frame near the drum to brake the motor and decelerate the drum and the cable. In order to realize signal control, a series of sensors are correspondingly arranged on the winch device. For example, a motor encoder (including speed and torque) is arranged at the motor shaft. The speed is calculated by the encoder frequency, and the cable length is calculated by the speed and the number of cable layers. If the torque is too large, protective measures are taken. A tension sensor is arranged at the fixed pulley assembly, and the hoisting tension is calculated through the signal.

[0032] At the same time, a storage compartment for suspended objects is provided in the aircraft, and the storage compartment for suspended objects is equipped with a clamping device and a guide rail. The clamping device includes a driving device, a spring mechanism and a clamping claw. The driving device pushes the clamping claw to clamp or release the suspended object through the spring mechanism. The clamping device is also provided with a lighting lamp, a cable angle sensor, and a clamping and releasing sensor, wherein: the cable angle sensor is used to monitor the inclination angle of the winch and the suspended object, and dynamically adjust the winch operation to compensate for the platform shaking; the clamping and releasing sensor provides a state signal of the clamping device opening and clamping, indicating whether the clamping device is operating in the expected state. The guide rails are located on both sides of the cabin, and are used to assist the suspended objects in descending or ascending in the cabin. The upper and lower edges of the guide rails are respectively installed with the upper and lower limit sensors of the guide rails, wherein the upper limit sensor of the guide rails is used to detect whether the suspended objects are recovered in place, and the lower limit sensor of the guide rails is used to detect whether the suspended objects are out of the cabin. When the load rises to the upper edge along the guide rail of the load storage compartment, the upper limit sensor is triggered. The driving device of the clamping device pushes the claw through the spring mechanism to clamp it. When the load needs to be released, the driving device drives the claw to relax through the spring mechanism to make it fall along the guide rail to the lower edge, triggering the lower limit sensor. The cable arrangement mechanism starts and releases the load and the cable outward together.

[0033] like Figures 1 to 3 As shown, an aviation winch simulator provided by the present invention is connected to a manipulator when working, and includes a simulator chassis 1 and a control unit 2. The simulator chassis 1 is provided with a display module 3, an indicator light module 4, a switch and knob module 5, an external interface module 6, a debugging interface 7, and a display module touch pen 8, and each device is connected to the control unit 2;

[0034] The control unit 2 includes a simulator processing module, a signal acquisition and output module, a power supply and voltage monitoring module, and a communication module.

[0035] The simulator processing module is installed with simulator control software for simulating the operation process of the winch device and simulating and detecting faults;

[0036] The signal acquisition and output module is used to acquire analog or digital signals output by the manipulator;

[0037] The power supply and voltage monitoring module is used to supply power to the winch simulator and monitor the voltage (28V, 24V, +12V, +5V) in real time, and display the monitoring results on the display screen;

[0038] The communication module is used for the winch simulator to communicate with the winch manipulator and other external devices;

[0039] The display module 3, indicator light module 4, switch and knob module 5 are all connected to the signal acquisition and output module of the control unit 2 to realize signal input and output. The external interface module 6 and debugging interface 7 are connected to external devices to realize signal input and output. The display module touch pen 8 is used to operate the display module 3. Each module is integrated in the simulator chassis 1 and only needs an external power supply cable to power on and work.

[0040] In this embodiment, the simulator processing module simulates the working state of the winch device and can send information such as motor speed and torque. The module provides a variety of functional options, including state acquisition, signal generation and communication, simulated winch device operation process and fault simulation, diagnosis and other functions.

[0041] In this embodiment, the signal acquisition and output module can acquire 8 switching signals, output 8 switching signals, and output 2 -10V~10V analog signals, 1 4~20mA analog signal, 1 0~5V analog signal, and 1 orthogonal square wave signal.

[0042] Specifically, in the signal acquisition and output module, the switch quantity acquisition circuit is as follows: Figure 3 As shown in the figure, for all the switch voltage signals input to the device, a resistor voltage divider circuit is designed, and the divided voltage is input to the 12-bit ADC sampling channel of the microcontroller for collection and monitoring (with eight channels). After the switch output multiple switch voltage signals are input to the simulator baseboard, they are directly connected to the analog switch through the output interface, and the output of the signal is controlled by the hardware toggle switch.

[0043] For analog quantity acquisition, a 16-bit 8-channel synchronous sampling ADC from Shimou Microelectronics, model CM2248, is selected, which supports bipolar analog input. For analog quantity output, the built-in 12-bit DAC of the single-chip microcomputer is used to output an analog signal, and the analog signal is amplified and output through an operational amplifier. The analog quantity acquisition includes 4 - 20 mA, 0 - 5 V signals, and -10 - 10 V. The 4 - 20 mA is the analog tension signal, 0 - 5 V is for backup, and -10 - 10 V is the analog cable position angle signal.

[0044] Among them, the circuit diagrams of the 4 - 20 mA and 0 - 5 V analog quantity outputs are as shown in Figure 4 the figure, and for the operational amplifiers of the 4 - 20 mA and 0 - 5 V analog quantity outputs, the rail-to-rail dual-channel operational amplifier CM4132 from Shimou Microelectronics is used. The circuit diagram of the -10 - +10 V analog quantity output is as shown in Figure 5 the figure, and for the operational amplifier of the -10 - +10 V analog quantity output, CM4112 from Shimou Microelectronics is used. The specific description of the output principle is as follows:

[0045] 1) 4 - 20 mA (analog tension signal): The load end of the current analog quantity output is a 100R resistor, and there is also a

[0046] 100R resistor at the operational amplifier output. The output current analog quantity can be obtained by adjusting the output voltage divided by 200R resistor. To output a 4 - 20 mA current, the output voltage needs to be controlled between 0.4 V and 2 V. In principle, it is achieved by using a single-chip microcomputer plus an operational amplifier. The single-chip microcomputer outputs an analog voltage, and the output voltage is controlled by an operational amplifier to drive a triode. The amplification factor Av = (1 + RF / R1). Through the parameter calculation of the schematic diagram, the amplification factor Av = 2. The single-chip microcomputer receives user parameters through the user serial port and outputs analog quantities. When outputting 4 mA, by operating the DAC module through registers, Vdac = (496 / 4096) * 3.3 V. The single-chip microcomputer pin outputs 0.4 V voltage to the operational amplifier input, and since VO = Vi * Av, the output voltage is 0.8 V, and Iout = 1.8 V / 200R, resulting in an output current of 4 mA. When outputting 20 mA, by operating the DAC module through registers, Vdac = (2482 / 4096) * 3.3 V. The single-chip microcomputer pin outputs 2 V voltage to the operational amplifier input, and since VO = Vi * Av, the output voltage is 4 V, and Iout = 4 V / 200R, resulting in an output current of 20 mA. If other voltages need to be generated, they can be calculated through the above formula, and by adjusting the single-chip microcomputer register values, it can be achieved. The maximum driving current can reach 33 mA.

[0047] 2) 0 - 5V (Standby): The implementation principle of the 0 - 5V analog output is as follows: One path of analog voltage is input, amplified by a non-inverting proportional operational amplifier and then output. The operational amplifier model is CM4132, and the amplification factor Av = (1 + RF / R1). Through the parameter calculation of the schematic diagram, the amplification factor Av = 2. Vi is generated by the internal DAC module of the single-chip microcomputer. The single-chip microcomputer model is CH32F203VCT6, which integrates a 12-bit DAC. The single-chip microcomputer receives user parameters through the user serial port and outputs analog quantities. When the output is 0V, the DAC module is operated through registers, Vdac = (0 / 4096) * 3.3V. The single-chip microcomputer pin outputs 0V voltage to the operational amplifier input, and since VO = Vi * Av, the output voltage can be obtained as 0V. When the output is 5V, the DAC module register is adjusted, Vdac = (3103 / 4096) * 3.3V. The single-chip microcomputer pin outputs 2.5V voltage to the operational amplifier input, and since VO = Vi * Av, the output voltage can be obtained as 5V. If other voltages need to be generated, they can be calculated through the above formula, and by adjusting the register value of the single-chip microcomputer, it can be achieved. The maximum supported voltage is 5V.

[0048] 3) -10 - +10V (Analog Cable Position Angle Signal): -10V to +10V offset output, composed of two operational amplifiers. The first stage is a subtractor, and the output of the subtractor is then composed of a non-inverting proportional operational amplifier. The operational amplifier model is CM4112, and the amplification factor AV = Av1 * Av2. Through the parameter calculation of the schematic diagram, the amplification factors are Av1 = 2, Av2 = 4, and Av = 8. When outputting a +10V positive offset, the DAC module is operated through registers, Vdac = (0 / 4096) * 3.3V. The single-chip microcomputer pin outputs 0V voltage to the subtractor, Vo1 = (Vi1 - Vi2) * Av1, and Vo1 = 2.5V is obtained. Vo2 = Vo1 * Av2, and Vo2 outputs +10V. When outputting a -10V negative offset, the DAC module is operated through registers, Vdac = (3103 / 4096) * 3.3V. The single-chip microcomputer pin outputs 2.5V voltage to the subtractor, Vo1 = (Vi1 - Vi2) * Av1, and Vo1 = -2.5V is obtained. Vo2 = Vo1 * Av2, and Vo2 outputs -10V. If other offset voltages need to be generated, they can be calculated through the above formula, and by adjusting the register value of the single-chip microcomputer, it can be achieved. The maximum positive offset voltage can reach +10V, and the maximum negative offset voltage can reach -16.4V. Two identical circuits output 2 channels of -10 - 10V.

[0049] In this embodiment, a dedicated timer channel of the single-chip microcomputer is used to generate an orthogonal square wave signal, which is output as an open signal through an OC gate circuit. The triode is implemented by 2SC1623 of Jiangsu Changdian. A 24V pull-up circuit is reserved for convenient debugging. The pulse frequency is 0 - 10kHz, which is used to simulate the output of the motor rotary encoder.

[0050] In this embodiment, the input voltage of the winch simulator is AC220V, and the output current and voltage capabilities are: 28V ± 10%, 5A. Each output port has short-circuit, over-current, and over-voltage protection, and a TVS tube is used for surge protection design of the rear-end load to improve the safety and reliability of the simulator. The power supply and voltage monitoring module is provided with multiple ADCs and timer acquisition circuits to monitor all input and output signals and achieve real-time detection of operating faults.

[0051] In this embodiment, the communication module includes 1 Gigabit Ethernet port, 3 isolated RS422 interfaces, and 2 isolated RS485 interfaces. The communication module externally leads out 1 Gigabit Ethernet port for network communication and program download. The Ethernet port is implemented using the Gigabit Ethernet transceiver YT8521SH-CA of Yutai Microelectronics. At the same time, 3 isolated RS422 interfaces and 2 isolated RS485 interfaces are externally led out. Among them, the isolated 485 interface is implemented using CA-IS3092W, and the RS422 interface is implemented using MM3096W. On the RS485 interface inside the device, 120Ω matching resistors are welded. On the receiving end of the RS422 interface, a 120Ω matching resistor is welded, and no matching resistor is welded on the sending end to improve signal quality and communication reliability.

[0052] In this embodiment, the display module 3, i.e., the display screen, is used to display the signal characteristics of the collected or output signals, can display the waveforms of each signal, and is used to display the results of voltage monitoring. The liquid crystal screen of the display module 3 selects a 5-inch TFT LCD screen with the model TM050JDHG33 from Chengdu Tianma Microelectronics and adopts an I 2 C interface multi-point capacitive touch screen with a light transmittance of more than 85%, a glass surface hardness of 6H, and a shielding film designed on the back of the touch screen.

[0053] In this embodiment, the indicator light module 4 is used to display the on / off states of the sensors or signals in the simulated winch device of the simulator, and can be lit or extinguished according to the input signal. The switch and knob module 5 is used to control the input or output of signals and mainly includes a rotary light guide adjustment knob, an analog handle operation knob, an analog switch, and a power-on switch. The rotary light guide adjustment knob can simulate the output of a PWM signal to control the blue and white light brightness of the manipulator; the rotary analog handle operation knob can simulate the operation of the handle to control the motor; the opening or closing of the analog switch can simulate the input and output of digital signals; the power-on switch is used to power on the simulator.

[0054] During operation, first select the motor control mode on the manipulator as manual, and then rotate the analog handle on the simulator. Slide the rheostat through the knob, and the voltage on the sliding rheostat is 0 to 3.3V. After the knob is rotated, the voltage will change accordingly as the rheostat value changes. The chip inside the simulator simulates and calculates the motor speed by collecting the voltage value of the sliding rheostat (the larger the voltage, the faster the speed). Each switch is used to simulate sensor signals, including the output and closing of sensor signals such as the upper and lower limit sensors of the simulated guide rails, the clamping and releasing sensors, etc. By connecting one end of the analog switch to a 24V signal, when the switch is pressed, the other end of the switch is connected to a 24V signal, and the chip inside the simulator can collect the 24V voltage signal of the corresponding channel. Others such as day and night conversion, brake status, lower limit, and AC 1 / 2 switch are all similarly used.

[0055] Furthermore, the number, function and control relationship of the power-on switch and the analog switch are specifically described as follows:

[0056] 1. Simulator power-on switch (1, power switch), used to power on the simulator. When the simulator power-on switch is pressed, the simulator is powered on.

[0057] 2. Manipulator power switch (1, device power switch), used to power on the manipulator. When the device power switch is pressed, the manipulator is powered on.

[0058] 3. The upper and lower limit switches of the rails (1 each) are used to simulate the upper and lower limit sensor signals of the rails, thereby providing the signals of the hoisted objects in place and out of the cabin, and realizing the speed control in different stages of retraction and release. When the upper and lower limit switches of the rails are both turned on, the other end of the switch outputs a 24V signal to the manipulator, which simulates the state of retraction in place.

[0059] Taking the upper limit of the guide rail as a sensor (actually a proximity switch) as an example, when the sensor senses a signal, it will output a 24V voltage signal. The controller controls the on and off of the indicator light by determining whether the 24V signal is collected.

[0060] 4. Two clamping switches are used to simulate the clamping sensor signal. When it is turned on, the clamping device is in place. When the clamping switch is turned on, the other end of the switch outputs a 24V signal to the manipulator, simulating the clamping device in place state.

[0061] 5. Hold and release switch (2 pcs) is used to simulate the hold in place sensor signal. When it is turned on, the holding device is released. When the hold and release switch is turned on, the other end of the switch outputs a 24V signal to the manipulator, simulating the release state of the holding device.

[0062] 6. Motor power supply switches (2, AC 1 and AC 2) are used to simulate motor power supply. When the motor power supply switch is turned on, the other end of the switch outputs a 28V signal to the manipulator, simulating motor power supply.

[0063] 7. Day and night conversion switch (1 piece), used to simulate the day and night conversion signal sent by the console. When the day and night conversion switch is turned on, after the controller receives this signal, the brightness will become brighter. Then, rotate the night vision and blue and white light adjustment knob, and the lights of the controller will change.

[0064] 8. Brake status switch (1 piece), used to simulate the brake status. When the brake status switch is turned on, a 24V signal is output to the controller at the other end of the switch, and the brake switch needs to be opened to perform the retracting and paying-out operations.

[0065] 9. Lower limit switch (1 piece), used to simulate overpaying of the cable. When the lower limit switch is turned on, a 24V signal is output to the controller at the other end of the switch. The conduction of this switch indicates that the cable has been paid out completely.

[0066] 10. Orthogonal square wave signal (simulating the output frequency of the motor encoder), 4 - 20mA signal (simulating the tension signal), -10V - 10V signal (simulating the cable position angle sensor signal), set their frequencies or amplitudes through the simulator screen, where:

[0067] 1) Orthogonal square wave signal, used to simulate the output frequency of the motor encoder. When the motor is enabled and the brake is opened, if automatic lifting and lowering is selected, the orthogonal square wave automatically outputs the corresponding frequency according to the cable length, that is, automatically changes the rotational speed; if manual is selected, the corresponding frequency is output according to the rotation amplitude of the analog handle, and finally the corresponding frequency is converted into the motor rotational speed;

[0068] 2) 4 - 20mA signal, used to simulate the tension sensor signal. During the hoisting and lowering process, the output current automatically changes according to the cable length and cable speed, and the output current is transmitted to the controller. The controller then converts it into the tension value, and the output current size can also be set manually through the simulator;

[0069] 3) -10V - 10V signal, used to simulate the cable position angle sensor signal. This cable position angle sensor (-10V - 10V) is used to judge the inclination angle of the cable during the hoisting and lowering process. By manually setting the amplitude of the output signal, the output signal is converted into an angle value, and the simulator will alarm when the angle is too large.

[0070] Specifically, the indicator light module 4, switch and knob module 5 can simulate the operating states of the sensors and switches in the winch device. The control process is as follows: 1) Press the power-on switch of the simulator, and the simulator and the controller are powered on; 2) Turn on the motor enable signal of the controller and press the brake switch button of the simulator; 3) Set the cable length on the controller interface and set the tension and cable position angle in the simulator; 4) Press the automatic lifting and lowering buttons on the controller; 5) The orthogonal square wave of the simulator works at the specified frequency and direction, that is, simulates the motor rotational speed and direction, and displays information such as the current cable length, retracting and paying-out speed, and tension on the screen.

[0071] In this embodiment, the external interface module 6 is used to connect the winch operator, and the interface corresponds one-to-one with the interface of the operator. The module uses the J599 series aviation plug, and the socket is connected to the simulator's internal control unit 2 according to the wiring definition, which can realize real-time communication between the winch simulator and the operator.

[0072] Specifically, the manipulator is connected to the simulator through a connector and its cable. The manipulator is provided with motor control, lighting control, and automatic / manual lifting buttons. By pressing the buttons, the simulator collects the signals of the corresponding buttons and performs the corresponding simulation actions. At the same time, the manipulator is also provided with a status display area, a cable length setting area, and a display area for cable length, speed, tension, and faults.

[0073] In terms of interfaces, the manipulator has: 1) a serial communication interface for communication between the manipulator and the simulator; a power supply interface for the simulator to power the manipulator; 2) a signal interface for outputting the simulated guide rail upper and lower limit sensors, simulated clamping position sensors (0 / 24V digital), simulated longitudinal offset angles (-10V~10V simulator), simulated rotary encoder signals (0~10kHz orthogonal square waves), light guide adjustment knob signals (PWM), and simulated tension sensor signals (4~20mA) from the simulator to the manipulator, and at the same time outputting the motor enable signal (0 / 28V digital) and lighting switch control (0 / 24V digital) from the manipulator to the simulator.

[0074] Furthermore, an aviation winch simulator provided by an embodiment of the present invention integrates a signal acquisition and output module, a communication module, a display module, a simulator processing module, etc. on a baseboard and a core board. The processor of the core board is based on Rockchip's RK3588, and the MCU of the baseboard uses the CH32F203 series of Qinheng Microelectronics. At the same time, the baseboard and the core board are interconnected through a gold finger connector. The core board processor is based on Rockchip's RK3588, and the baseboard MCU is benchmarked against ST's STM32 series, using the CH32F203 series of Qinheng Microelectronics. The core board is integrated with the minimum system of RK3588, leading to a multi-channel functional interface, mainly realizing external network port and serial port communication, transmitting the data sent by the user to the LCD screen through the mipi interface, performing data interaction with the baseboard MCU, and sending the collected and sent data information through the network port and the serial port. The baseboard is mainly composed of an MCU and an acquisition circuit, which mainly receives user serial port data, adjusts the output and acquires simulation parameters.

[0075] In summary, through the input acquisition and output control of multiple switch quantities, the aviation winch simulator has good system stability and high transmission and processing efficiency. By simulating various scenarios in the winch retracting and paying-out states, it can detect various signals, monitor the faults of the winch simulator in real time, display the signals on the display screen in real time, and has functions such as fault diagnosis, precise mechanical simulation, and reconfigurable hardware design.

[0076] The present invention has the following characteristics:

[0077] 1. Precise mechanical simulation: Simulate the force conditions of the winch under different working conditions such as load, speed, angle, etc., including the tension change of the cable during the retracting and paying-out process, the torque transmission of the winch drum, the braking force of the braking system, etc., so that the operator can feel the mechanical feedback consistent with the real operation.

[0078] 2. Reconfigurable hardware design: Adopt the modular and reconfigurable hardware design concept, so that the hardware structure of the winch simulator can be flexibly adjusted and expanded according to different requirements. For example, different types of control buttons, display screens, indicator lights and other hardware modules can be easily replaced to adapt to the operation characteristics of different models of winches, improving the versatility and adaptability of the simulator.

[0079] 3. Multiple operation modes: In addition to the traditional manual operation mode, add the simulation of semi-automatic and full-automatic operation modes. In the semi-automatic mode, the simulator can automatically complete some operations according to the preset rules and parameters, and the operator only needs to be responsible for the decision-making and control of the key links; in the full-automatic mode, the simulated winch runs automatically according to the given task process, and the operator can observe and learn the whole process, or take over the control when necessary.

[0080] It should be noted that the above embodiments are only the preferred embodiments of the present invention, and are not used to limit the protection scope of the present invention. Equivalent transformations made on the basis of the above embodiments all belong to the protection scope of the present invention.

Claims

1. An aviation winch simulator is connected to a manipulator during operation, characterized in that: It includes a simulator chassis and a control unit. A display module, an indicator light module, a switch and knob module, an external interface module, a debugging interface, and a display module stylus are provided on the simulator chassis, and each device is connected to the control unit; The control unit includes a simulator processing module, a signal acquisition and output module, a power supply and voltage monitoring module, and a communication module. The simulator processing module is used to simulate the operation process of the winch device and simulate and detect faults. The signal acquisition and output module is used to acquire analog or digital signals output by the controller. The power supply and voltage monitoring module is used to supply power to the winch simulator and monitor the voltage, and display the monitoring result on the display screen. The communication module is used for communication between the winch simulator and the winch controller and other external devices. The display module, the indicator light module, and the switch and knob module are all connected to the signal acquisition and output module to realize signal input and output. The external interface module and the debugging interface are connected to external devices to realize signal input and output. The display module stylus is used for operation of the display module. Each module is integrated in the simulator chassis.

2. The aviation winch simulator according to claim 1, wherein: The simulator processing module simulates the working state of the winch device and can send information such as motor speed and torque.

3. The aviation winch simulator according to claim 1, characterized in that: The signal acquisition and output module can acquire 8 digital input signals, output 8 digital output signals, and output 2 analog signals of -10V to 10V, 1 analog signal of 4 to 20mA, 1 analog signal of 0 to 5V, and 1 quadrature square wave signal.

4. The aero winch simulator according to claim 1, wherein: The power supply and voltage monitoring module includes a multi-channel ADC and timer acquisition circuit to monitor all input and output signals.

5. The aviation winch simulator according to claim 1, characterized in that: The communication module is provided with a gigabit network port for network communication and program download, and externally leads out RS422 interfaces and RS485 interfaces to realize industrial signal transmission and control.

6. The aero winch simulator according to claim 1, wherein: The display module is used to display the signal characteristics of the acquisition or output, can display the waveforms of each signal, and is used to display the result of voltage monitoring.

7. An aviation winch simulator according to claim 1, characterized in that: The indicator light module is used to display the on / off state of sensors or signals in the simulated winch device of the simulator, and is lit or extinguished according to the input signal.

8. An aviation winch simulator according to claim 1, characterized in that: The switch and knob module is used to control the input or output of signals, and includes a rotary light guide adjustment knob, a simulated handle operation knob, a simulated switch, and a power-on switch.

9. The aviation winch simulator according to claim 8, characterized in that: The rotary light guide adjustment knob can simulate the output of a PWM signal to control the brightness of the blue and white light of the controller; the rotary simulated handle operation knob can simulate the operation of the handle to control the motor; the opening or closing of the simulated switch can simulate the input and output of digital signals; the power-on switch is used to power on the simulator.

10. The aviation winch simulator according to claim 1, characterized in that: The interfaces of the external interface module correspond one-to-one with the interfaces of the controller, and the external interface module is connected to the controller for communication or control.

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