Flight simulation throttle operation force control method and system based on preset force-position curve

Abstract

The application relates to the technical field of flight simulators, and discloses a flight simulation throttle operation force control method and system based on a preset force-position curve. The method limits the output of the throttle operation force by adopting an auxiliary PID controller and a force-position curve, realizes force feeling simulation, ensures that when the operation force is removed, the throttle does not have uncertain actions under the control of the PID, and can prevent the equipment from pushing the operating equipment to produce misoperation under the action of the simulated force feeling. In addition, by dynamically adjusting the target position of the auxiliary PID controller, the operation force felt by the operator during the operation of the throttle and the preset force-position curve remain consistent, so that the optimal man-machine interaction force-position curve of the throttle can be better researched.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of flight simulator technology, in particular to a flight simulation throttle operation force control method and system based on a preset force-position curve. BACKGROUND

[0002] In the current field of flight simulator technology, it is necessary to simulate the force feeling of the flight simulator, so that the feedback of the simulation operation is close to the operation feedback of the real aircraft, so as to achieve good training effect of flight training.

[0003] In the prior art, when a flight student operates the throttle, the position sensor of the throttle detects the position of the throttle to reflect the intention of the flight student, and converts the signal into a voltage signal to transmit to the VCU. The VCU transmits the signal to the motor controller through the CAN line, and the motor controller controls the voltage and current entering the motor, thereby controlling the speed and torque of the motor, and feeding back different force feelings to the flight student.

[0004] However, in the prior art, for some flight simulation operation devices, if the operating force is removed when the throttle is outputting force feeling simulation, the device may push the operating device under the action of simulated force feeling, resulting in misoperation. SUMMARY

[0005] The purpose of the present application is to provide a flight simulation throttle operation force control method and system based on a preset force-position curve. The method uses an auxiliary PID controller and a force-position curve to limit the output of the throttle operating force, realizes force feeling simulation, ensures that the throttle does not have uncertain operation under the control of the PID when providing force feeling, prevents the device from pushing the operating device under the action of simulated force feeling, and causes misoperation, and dynamically adjusts the target position of the auxiliary PID controller, so that the operating force felt by the operator during the operation of the throttle is consistent with the preset force-position curve, so as to better study the optimal man-machine interaction force-position curve of the throttle.

[0006] The present application is realized by the following technical solutions:

[0007] In a first aspect, the present application discloses a flight simulation throttle operation force control method based on a preset force-position curve, comprising the following steps:

[0008] Step S1, initialization, specifically including taking the initial throttle position as the target position of the auxiliary PID controller, and obtaining the initial starting torque value of the throttle;

[0009] Step S2, continuously monitoring the current position of the target flight simulation operating device throttle;

[0010] Step S3, judging whether the position difference between the current position and the target position is greater than the set position difference threshold value and the direction count value of the direction counter is not less than the set direction count value, if yes, modifying the target position of the auxiliary PID controller to the current position, and then executing step S4, if no, directly executing step S4;

[0011] Step S4, calling the preset force-position curve, and obtaining the preset torque value of the current position according to the current position and the force-position curve;

[0012] Step S5, calculating the output torque value of the auxiliary PID controller according to the position difference between the current position and the target position;

[0013] Step S6, analyzing the size relationship among the output torque value, the initial starting torque value and the preset torque value, when the output torque value is less than the initial starting torque value or the output torque value is greater than the initial starting torque value and the output torque value is less than the preset torque value, taking the output torque value as the target torque value of the torque motor, and otherwise taking the preset torque value as the target torque value of the torque motor;

[0014] Step S7, listening to the instruction of the simulation running mode, and loading the target torque value for the torque motor according to the obtained simulation running mode;

[0015] Step S8, returning to step S2 and executing in a loop.

[0016] In order to better realize the present application, further, the step S3 further comprises:

[0017] According to the direction of the current position with reference to the target position, the count of the positive direction counter or the count of the negative direction counter is selected as the direction count value.

[0018] In order to better realize the present application, further, the method of selecting the count of the positive direction counter or the count of the negative direction counter as the direction count value according to the direction of the current position with reference to the target position specifically comprises:

[0019] After obtaining the direction of the current position with reference to the target position, judging the positive and negative of the direction: when the direction is positive, the negative direction counter is cleared, and the count of the positive direction counter is taken as the direction count value; when the direction is negative, the positive direction counter is cleared, and the count of the negative direction counter is taken as the direction count value.

[0020] In order to better realize the present application, further, the step S5 specifically comprises:

[0021] The proportional coefficient, the integral coefficient and the differential coefficient of the auxiliary PID controller are taken as weight values, and the position difference value, the time difference value between the last calculation and the present calculation and the accumulated position difference value corresponding to the time difference value are combined to calculate the output torque value;

[0022] The expression for calculating the output torque value is:

[0023]

[0024] wherein, is the position difference value, , and the proportional coefficient, the integral coefficient and the differential coefficient of the auxiliary PID controller respectively, is the time difference value between the last calculation and the present calculation, is the accumulated position difference value.

[0025] In order to better realize the present application, further, the step S7 comprises:

[0026] The instruction of simulating the running mode is listened to, when the instruction of simulating the stuck fault is listened to, the stuck fault simulation mode is entered, and when the instruction of simulating the stuck fault is not listened to, the target torque value is directly loaded for the torque motor.

[0027] In order to better realize the present application, further, the method of entering the stuck fault simulation mode is specifically:

[0028] The stuck fault simulation filter counter is emptied, the filter flag is turned on, the current position of the accelerator is set as the filter starting position, the stuck fault position is set as the final position of the filter, and the return value of the filter is set as the target position of the auxiliary PID controller;

[0029] It is judged whether the fault counter value of the stuck fault simulation filter is greater than or equal to the set fault counter value, if not, the target position of the auxiliary PID controller is the return position of the stuck fault simulation filter, and if yes, the target position of the auxiliary PID controller is the set stuck fault simulation position;

[0030] When the instruction of exiting the stuck fault simulation mode is not listened to, the stuck fault simulation mode is maintained.

[0031] In order to better realize the present application, further, the method of exiting the stuck fault simulation mode is specifically:

[0032] The instruction of simulating the running mode is continuously listened to, when the instruction of exiting the stuck fault simulation mode is listened to, the current position of the accelerator is set as the target position of the auxiliary PID controller and the stuck fault simulation mode is exited;

[0033] If yes, the target torque value is loaded to the torque motor; if no, step S8 is directly executed.

[0034] To better realize the present application, further, the expression of the force-position curve is F(x)=ax2+bx+c; the abscissa x of the force-position curve is the angle of the throttle rotation of the target flight simulation operating device, which is used to represent the current position; the ordinate F is the preset torque current, which is used to load the preset torque to the torque motor; a and b are the force curve coefficients, and c is the preset constant.

[0035] In the second aspect, the present application discloses a flight simulation throttle operating force control system based on a preset force-position curve, comprising:

[0036] The initialization module is used to execute step S1, initialization, specifically including taking the initial throttle position as the target position of the auxiliary PID controller, and obtaining the initial starting torque value of the throttle;

[0037] The throttle current position monitoring module is used to execute step S2, continuously monitoring the current position of the throttle of the target flight simulation operating device;

[0038] The first comparison module is used to execute step S3, judging whether the position difference between the current position and the target position is greater than the set position difference threshold value and the direction count value of the direction counter is not less than the set direction count value are simultaneously satisfied, if yes, the target position of the auxiliary PID controller is modified to the current position, and then step S4 is executed, if no, step S4 is directly executed;

[0039] The preset torque value calculation module is used to execute step S4, calling the preset force-position curve, and obtaining the preset torque value of the current position according to the current position and the force-position curve;

[0040] The should output torque value calculation module is used to execute step S5, calculating the should output torque value of the auxiliary PID controller according to the position difference between the current position and the target position;

[0041] The second comparison module is used to execute step S6, analyzing the size relationship among the should output torque value, the initial starting torque value and the preset torque value, in the case of "the should output torque value is less than the initial starting torque value" or "the should output torque value is greater than the initial starting torque value and the should output torque value is less than the preset torque value", taking the should output torque value as the target torque value of the torque motor, and in other cases, taking the preset torque value as the target torque value of the torque motor;

[0042] The instruction monitoring and target torque value loading module is used to execute step S7, monitoring the instruction of the simulation running mode, and loading the target torque value to the torque motor according to the obtained simulation running mode.

[0043] The loop module is used to execute step S8 and return to step S2 for repeated execution.

[0044] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0045] By employing an auxiliary PID controller in conjunction with a force-position curve, the output of the throttle operating force is limited to achieve force sensation simulation. This ensures that while providing force sensation, the throttle will not exhibit uncertain movements under PID control when the operating force is removed. This prevents the equipment from malfunctioning due to the simulated force sensation. Furthermore, by dynamically adjusting the target position of the auxiliary PID controller, the operating force felt by the operator during throttle operation is kept consistent with the preset force-position curve, allowing for better research into the optimal human-machine interaction force-position curve for the throttle.

[0046] Furthermore, traditional PID control adjusts the system's control quantity through three control links: proportional, integral, and derivative, to achieve rapid response, reduce errors, and improve stability. This solution, however, combines PID control with the real-time changes in the position of the throttle / lever during the pushing process. It uses the stable characteristics of PID control to achieve torque output with force feedback, which exceeds the conventional understanding and application scope of PID control in the industry. Attached Figure Description

[0047] The present invention will be further described in conjunction with the following drawings and embodiments. All inventive concepts of the present invention should be considered as disclosed content and within the scope of protection of the present invention.

[0048] Figure 1 This is a flowchart illustrating Embodiment 1 of a flight simulation throttle operation force control method based on a preset force-position curve, as described in this application.

[0049] Figure 2 This is a schematic diagram of the force-position curve of Embodiment 5 of the flight simulation throttle operation force control method based on a preset force-position curve in this application;

[0050] Figure 3 This is a structural block diagram of a flight simulation throttle operation force control system based on a preset force-position curve, as described in this application. Detailed Implementation

[0051] Example 1

[0052] like Figure 1 As shown, an embodiment of a flight simulation throttle operation force control method based on a preset force-position curve includes the following steps:

[0053] Step S1, initialization, specifically including taking the initial throttle position as the target position of the auxiliary PID controller, and obtaining the initial starting torque value of the throttle;

[0054] Step S2, continuously monitoring the current position of the throttle of the target flight simulation control device;

[0055] Step S3, judging whether the position difference between the current position and the target position is greater than the set position difference threshold value and the direction count value of the direction counter is not less than the set direction count value, if yes, modifying the target position of the auxiliary PID controller to the current position, and then executing step S4, if no, directly executing step S4;

[0056] Step S4, calling the preset force-position curve, and obtaining the preset torque value of the current position according to the current position and the force-position curve;

[0057] Step S5, calculating the output torque value of the auxiliary PID controller according to the position difference between the current position and the target position;

[0058] Step S6, analyzing the size relationship of the output torque value, the initial starting torque value and the preset torque value, when the output torque value is less than the initial starting torque value or the output torque value is greater than the initial starting torque value and the output torque value is less than the preset torque value, taking the output torque value as the target torque value of the torque motor, and otherwise taking the preset torque value as the target torque value of the torque motor;

[0059] Step S7, listening to the instruction of the simulation running mode, and loading the target torque value for the torque motor according to the obtained simulation running mode;

[0060] Step S8, returning to step S2 for cyclic execution.

[0061] Specifically, in the embodiment, the auxiliary PID controller is electrically connected with the Eeprom memory and the torque motor, to read and write the force-position curve from the Eeprom memory, to obtain the position of the throttle through the TTL interface, and to set the target torque value to be executed by the torque motor;

[0062] The force-position curve is preset in the Eeprom memory, the force-position curve reflects the relationship between the position and the force, the initialization reads the force-position curve and stores it in the memory, and the preset torque value required is calculated by reading the current position;

[0063] The auxiliary PID controller can also be connected with the upper layer application to obtain the fault simulation state from the upper layer application.

[0064] The initial throttle position is actually the real-time position of the throttle at the initialization time, and the current position is actually the real-time position of the throttle at the current time during the monitoring process. In step S1, the "initial throttle position" is set as the target position of the PID control. The target position of the PID is an uncertain value when the system is initialized, and the throttle is a self-holding device. Therefore, the current position of the throttle needs to be obtained first, and this position is assigned to the target position of the auxiliary PID controller to ensure that the throttle will not move without external force.

[0065] Initialization is a general term for a series of actions, including "setting the initial throttle position as the target position of the auxiliary PID controller" and "obtaining the initial starting torque value of the throttle".

[0066] By dynamically adjusting the target position of the auxiliary PID controller, the force sensation simulation in various working conditions can be realized by combining the torque motor, and the problem of lack of dynamic force feedback and large difference between force sensation simulation and real force sensation of the traditional flight simulation control device throttle due to the use of damper can be solved.

[0067] In step S3, the direction of the current position of the throttle with reference to the target position of the auxiliary PID controller can be obtained by the direction count value of the direction counter, which provides the condition for dynamically adjusting the target position of the auxiliary PID controller, and realizes the effect of providing control force during operation and keeping the throttle at the current position after the control is removed. By modifying the target position of the auxiliary PID controller to the current position, the dynamic adjustment of the target position of the auxiliary PID controller is completed, and the effect of keeping the throttle at the current position after the control is removed is realized.

[0068] In step S6, the target torque value of the torque motor is determined by the conditions of the output torque value, the initial starting torque value and the preset torque value, which realizes that the operation force felt by the operator during the operation of the throttle is consistent with the preset force position curve, so as to better study the optimal man-machine interaction force position curve of the throttle.

[0069] Through the step S8 loop execution, it can be ensured that the force sensation simulation can be performed for any operation of the throttle. After the flight simulation device starts to run, this method will start to loop execution until the flight simulation device stops running.

[0070] In addition, in this embodiment, the method can also be applied to the action smoothing processing of the joystick of the flight simulation device,

[0071] The current position of the joystick is smoothly transitioned to the preset value of the joystick position. First, it is judged whether the filter time count is less than the count set value. If so, the current position is taken as the starting position of the smooth transition filter, the preset value of the joystick is taken as the end position of the smooth transition filter, filtering is performed, and the filtered return value is assigned to the target position of the auxiliary PID controller. Otherwise, the preset value of the joystick is assigned to the target position of the auxiliary PID controller. The action of the operating device is smoothed, sudden rapid approach to the preset position is avoided, and problems such as oscillation are avoided in special scenarios. Action smoothing is achieved, and the final result is ensured to be consistent.

[0072] When applied to a joystick, the output shaft of the torque motor is directly connected to the operating rod. The position of the joystick in all steps is actually the actual position of the torque motor at the current time. All target positions are not obtained but are actively set according to the application scenario. For example, for a zero-return device, the final target position is zero. In order to achieve some special functions, such as smooth zero return, the actual target position is gradually approaching zero from the current position.

[0073] Embodiment 2

[0074] This embodiment is further optimized on the basis of the above-mentioned embodiment 1. In this embodiment, step 3 further comprises:

[0075] According to the direction of the current position with reference to the target position, the count of the positive direction counter or the count of the negative direction counter is selected as the direction count value.

[0076] Further, the method of selecting the count of the positive direction counter or the count of the negative direction counter as the direction count value according to the direction of the current position with reference to the target position specifically refers to:

[0077] After obtaining the direction of the current position with reference to the target position, the positive and negative directions are judged. When the direction is positive, the negative direction counter is cleared, and the count of the positive direction counter is taken as the direction count value. When the direction is negative, the positive direction counter is cleared, and the count of the negative direction counter is taken as the direction count value.

[0078] Therefore, in a specific embodiment, step 3 comprises:

[0079] Step S31, obtaining the direction of the current position with reference to the target position;

[0080] Step S32, judging the positive and negative directions of the direction. When the direction is positive, the negative direction counter is cleared, and the count of the positive direction counter is taken as the direction count value. When the direction is negative, the positive direction counter is cleared, and the count of the negative direction counter is taken as the direction count value.

[0081] Step S33, obtaining a position difference between the current position and the target position;

[0082] Step S34, judging whether the direction counter value is not less than a set direction counter value and the position difference is greater than a set position difference threshold value are satisfied at the same time, if yes, modifying the target position of the auxiliary PID controller as the current position, and then executing Step S4, if no, directly executing Step S4.

[0083] In a specific embodiment, the method for dynamically adjusting the target position of the auxiliary PID controller comprises:

[0084] obtaining the direction of the output value of the auxiliary PID controller, specifically, the positive and negative of the output value of the auxiliary PID controller represent the direction of the motor driving torque, the direction of the torque is opposite to the direction of the operating force, and there is a counter for each direction, when the obtained torque is in the positive direction, the counter in the opposite direction is cleared, and vice versa;

[0085] when the output value of the auxiliary PID controller is positive, comparing the current position with the target position of the auxiliary PID controller, if the current position is less than the target position of the auxiliary PID controller and the absolute value of the difference between them is greater than 1% of the set full throttle stroke, assigning the current position to the target position of the auxiliary PID controller;

[0086] when the output value of the auxiliary PID controller is negative, comparing the current position with the target position of the auxiliary PID controller, if the current position is greater than the target position of the auxiliary PID controller and the absolute value of the difference between them is greater than 1% of the set full throttle stroke, assigning the current position to the target position of the auxiliary PID controller.

[0087] By dynamically adjusting the target position of the auxiliary PID controller, the problem that the throttle of the flight simulation control simulation device cannot be pushed under the simulated force feeling after the operating force is removed and the misoperation occurs in the prior art is solved.

[0088] Embodiment 3

[0089] This embodiment is further optimized on the basis of the above-mentioned embodiments 1 or 2, in this embodiment, the step S5 specifically means:

[0090] taking the proportional coefficient, integral coefficient and differential coefficient of the auxiliary PID controller as the weight values, combining the position difference, the time difference between the last calculation and the current calculation and the accumulated position difference corresponding to the time difference, calculating the output torque value;

[0091] The expression for calculating the output torque value is:

[0092]

[0093] wherein, is a position difference value, , and are a proportional coefficient, an integral coefficient and a differential coefficient of the auxiliary PID controller respectively, is a time difference value between the last calculation and the present calculation, is a cumulative position difference value.

[0094] By the cooperation of the auxiliary PID controller and the torque motor, the embodiment provides a force feeling simulation method different from the prior art which uses a damper to provide a steering force feeling, and force feeling simulation in various working conditions can be realized.

[0095] Embodiment 4

[0096] The embodiment is further optimized on the basis of the above-described embodiments 1, 2 or 3. In the embodiment, the simulation running mode is a stuck failure simulation mode, and the step S7 comprises:

[0097] listening to the instruction of the simulation running mode, when the stuck failure simulation instruction is listened to, entering the stuck failure simulation mode, and when the stuck failure simulation instruction is not listened to, directly loading the target torque value for the torque motor.

[0098] Further, the method of entering the stuck failure simulation mode is specifically:

[0099] emptying the stuck failure simulation filter count, turning on the filter flag, setting the current position of the accelerator as the filter starting position, setting the stuck failure position as the final position of the filter, and setting the return value of the filter as the target position of the auxiliary PID controller;

[0100] judging whether the stuck failure simulation filter count is greater than or equal to the set stuck failure count value, if not, the target position of the auxiliary PID controller is the return position of the stuck failure simulation filter, and if yes, the target position of the auxiliary PID controller is the set stuck failure simulation position;

[0101] when the instruction of exiting the stuck failure simulation mode is not listened to, maintaining the stuck failure simulation mode.

[0102] Further, the method of exiting the stuck failure simulation mode is specifically:

[0103] continuously listening to the instruction of the simulation running mode, when the instruction of exiting the stuck failure simulation mode is listened to, setting the current position of the accelerator as the target position of the auxiliary PID controller and exiting the stuck failure simulation mode;

[0104] If yes, the target torque value is loaded to the torque motor; if no, step S8 is directly executed.

[0105] With the embodiment, seamless switching between the special logic and the normal state is realized. The actual position of the stuck fault is back-calculated from the stuck fault position given by the upper application, and the positive and negative rotation of the motor is fully considered in the back-calculated process. The program automatically adapts according to the actual situation, so as to ensure that the actual position of the simulation is consistent with the set position. Through step S70b, smooth transition of the throttle from the current position to the stuck fault position is realized.

[0106] Embodiment 5

[0107] The embodiment is further optimized on the basis of the above-described embodiments 1, 2, 3 or 4, as shown in Figure 2 The expression of the force-position curve is F(x) = ax2 + bx + c; the abscissa x of the force-position curve is the angle of the throttle rotation of the target flight simulation control device, which is used to represent the current position; the ordinate F is the preset torque current, which is used to load the preset torque to the torque motor; a and b are force curve coefficients, and c is a preset constant.

[0108] Embodiment 6

[0109] As shown in Figure 3 An embodiment of a flight simulation throttle operation force control system based on a preset force-position curve includes:

[0110] An initialization module is configured to perform step S1, initialization, and specifically includes taking the initial throttle position as the target position of an auxiliary PID controller, and obtaining an initial starting torque value of the throttle.

[0111] A throttle current position monitoring module is configured to perform step S2, continuously monitoring the current position of the throttle of the target flight simulation control device.

[0112] A first comparison module is configured to perform step S3, judging whether the position difference between the current position and the target position is greater than a set position difference threshold value and the direction count value of a direction counter is not less than a set direction count value, if yes, modifying the target position of the auxiliary PID controller to the current position, and then performing step S4, if no, directly performing step S4.

[0113] A preset torque value calculation module is configured to perform step S4, calling a preset force-position curve, and obtaining a preset torque value of the current position according to the current position and the force-position curve.

[0114] The should output torque value calculation module is configured to perform step S5 and calculate the should output torque value of the auxiliary PID controller according to the position difference between the current position and the target position;

[0115] The second comparison module is configured to perform step S6 and analyze the size relationship among the should output torque value, the initial starting torque value and the preset torque value. When the should output torque value is less than the initial starting torque value or the should output torque value is greater than the initial starting torque value and the should output torque value is less than the preset torque value, the should output torque value is taken as the target torque value of the torque motor. In other cases, the preset torque value is taken as the target torque value of the torque motor.

[0116] The instruction monitoring and target torque value loading module is configured to perform step S7, monitor the instruction of the simulation running mode, and load the target torque value for the torque motor according to the obtained simulation running mode.

[0117] The cycle module is configured to perform step S8 and return to step S2 for cyclic execution.

[0118] The above description is only a preferred embodiment of the present application, and does not limit the present application in any form. Any simple modification or equivalent change made according to the technical essence of the present application to the above embodiment falls within the protection scope of the present application.

Claims

1. A flight simulation throttle operation force control method based on a preset force-position curve, characterized by, The method comprises the following steps: Step S1, initialization, specifically comprising taking the initial throttle position as the target position of the auxiliary PID controller, and obtaining the initial starting torque value of the throttle; Step S2, continuously monitoring the current position of the throttle of the target flight simulation control device; Step S3, judging whether the position difference between the current position and the target position is greater than the set position difference threshold value and the direction count value of the direction counter is not less than the set direction count value, if yes, modifying the target position of the auxiliary PID controller to the current position, and then executing step S4, if no, directly executing step S4; Step S4, calling the preset force-position curve, and obtaining the preset torque value of the current position according to the current position and the force-position curve; the expression of the force-position curve is F(x) = ax² + bx + c; The abscissa x of the force-position curve is the angle of rotation of the throttle of the target flight simulation control device, which is used to represent the current position; the ordinate F is the preset torque current, which is used to load the preset torque for the torque motor; a and b are force curve coefficients, and c is a preset constant; Step S5, calculating the output torque value of the auxiliary PID controller according to the position difference between the current position and the target position; Step S6, analyzing the size relationship among the output torque value, the initial starting torque value and the preset torque value, when the output torque value is less than the initial starting torque value or the output torque value is greater than the initial starting torque value and the output torque value is less than the preset torque value, taking the output torque value as the target torque value of the torque motor, and otherwise taking the preset torque value as the target torque value of the torque motor; Step S7, listening to the instruction of the simulation running mode, and loading the target torque value for the torque motor according to the obtained simulation running mode; Step S8, returning to step S2 and executing in a loop.

2. The flight simulation throttle operating force control method based on a preset force profile curve according to claim 1, characterized in that, The step S3 further comprises: According to the direction of the current position with reference to the target position, selecting the count of the positive direction counter or the count of the negative direction counter as the direction count value.

3. The flight simulation throttle operating force control method based on a preset force profile curve according to claim 2, characterized in that, The method of selecting the count of the positive direction counter or the count of the negative direction counter as the direction count value according to the direction of the current position with reference to the target position specifically comprises: After obtaining the direction of the current position with reference to the target position, judging the positive and negative of the direction: when the direction is positive, clearing the negative direction counter and taking the count of the positive direction counter as the direction count value; when the direction is negative, clearing the positive direction counter and taking the count of the negative direction counter as the direction count value.

4. The method of claim 1, wherein the preset force-position curve-based flight simulation throttle operation force control method is characterized by, The step S5 specifically comprises: Taking the proportional coefficient, the integral coefficient and the differential coefficient of the auxiliary PID controller as weight values, combining the position difference, the time difference between the last calculation and the current calculation and the accumulated position difference corresponding to the time difference, and calculating the output torque value; The expression for calculating the output torque value is: wherein, is a position difference value, , and are a proportional coefficient, an integral coefficient and a differential coefficient of the auxiliary PID controller, respectively, is a time difference value between the last calculation and the present calculation, is a cumulative position difference value.

5. The method of claim 1, wherein the preset force-position curve-based flight simulation throttle operation force control method is characterized by, The step S7 comprises: Listening to the instruction of the simulation running mode, when the stuck fault simulation instruction is listened to, entering the stuck fault simulation mode, and when the stuck fault simulation instruction is not listened to, directly loading the target torque value for the torque motor.

6. The flight simulation throttle operating force control method based on a preset force profile curve according to claim 5, characterized in that, The method of entering the stuck fault simulation mode specifically comprises: Clearing the stuck fault simulation filter count, opening the filter flag, setting the current position of the throttle as the filter starting position, setting the stuck fault position as the final position of the filter, and setting the return value of the filter as the target position of the auxiliary PID controller; Judging whether the stuck fault simulation filter fault count value is greater than or equal to the set fault count value, if not, the target position of the auxiliary PID controller is the return position of the stuck fault simulation filter, and if yes, the target position of the auxiliary PID controller is the set stuck fault simulation position; When no instruction for exiting the stuck fault simulation mode is monitored, the stuck fault simulation mode is maintained.

7. The flight simulation throttle operating force control method based on a preset force profile curve according to claim 6, characterized by, The method for exiting the stuck fault simulation mode is specifically: Continuously monitoring the simulation operation mode instruction, and when the instruction for exiting the stuck fault simulation mode is monitored, setting the current position of the throttle as the target position of the auxiliary PID controller and exiting the stuck fault simulation mode; Judging whether the target flight simulation control device currently exits the stuck fault simulation mode, if yes, loading the target torque value for the torque motor, and if not, directly executing step S8.

8. The flight simulation throttle operation force control method based on a preset force-position curve according to any one of claims 1-7, characterized in that: The expression of the force-position curve is F(x) = ax2 + bx + c; The horizontal coordinate x of the force-position curve is the angle of rotation of the throttle of the target flight simulation control device, which is used to represent the current position; and the vertical coordinate F is the preset torque current, which is used to load the preset torque for the torque motor; a and b are force curve coefficients, and c is a preset constant.

9. A flight simulation throttle force control system based on a pre-set force profile, characterized in that, comprises: An initialization module for performing step S1, initialization, specifically including setting the initial throttle position as the target position of the auxiliary PID controller, and obtaining the initial starting torque value of the throttle; A throttle current position monitoring module for performing step S2, continuously monitoring the current position of the throttle of the target flight simulation control device; A first comparison module for performing step S3, judging whether the conditions of "the position difference between the current position and the target position is greater than the set position difference threshold value" and "the direction count value of the direction counter is not less than the set direction count value" are both met, if yes, modifying the target position of the auxiliary PID controller to the current position, and then performing step S4, and if not, directly performing step S4; A preset torque value calculation module for performing step S4, calling the preset force-position curve, and obtaining the preset torque value of the current position according to the current position and the force-position curve; the expression of the force-position curve is F(x) = ax2 + bx + c; The horizontal coordinate x of the force-position curve is the angle of rotation of the throttle of the target flight simulation control device, which is used to represent the current position; and the vertical coordinate F is the preset torque current, which is used to load the preset torque for the torque motor; a and b are force curve coefficients, and c is a preset constant. An output torque value calculation module for performing step S5, calculating the output torque value of the auxiliary PID controller according to the position difference between the current position and the target position; The second comparison module is configured to perform step S6, analyze the size relationship among the output torque value, the initial starting torque value and the preset torque value, and take the output torque value as the target torque value of the torque motor when the output torque value is less than the initial starting torque value or the output torque value is greater than the initial starting torque value and the output torque value is less than the preset torque value, and take the preset torque value as the target torque value of the torque motor in other cases. The instruction monitoring and target torque value loading module is configured to perform step S7, monitor the instruction of the simulation running mode, and load the target torque value for the torque motor according to the obtained simulation running mode. The loop module is configured to perform step S8, and return to step S2 for loop execution.

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