Six-axis manned centrifugal machine overload simulation method, device, equipment and medium

Abstract

The invention relates to the technical field of flight simulation, and discloses a six-axis manned centrifuge overload simulation method, device, equipment and medium, the six-axis manned centrifuge overload simulation method comprises the following steps: obtaining six-degree-of-freedom motion parameters of a to-be-simulated aircraft, the six-degree-of-freedom motion parameters comprising a linear overload component and an angular velocity component; frequency domain decomposition and motion coordination are carried out on the linear overload component, motion coordination is carried out on the angular velocity component, and a motion control coordination solution used for synchronously controlling six motion axes of the six-axis manned centrifugal machine is generated; according to the motion control coordination solution, carrying out synchronous motion control on six motion shafts of the six-shaft manned centrifugal machine, and simulating and generating an overload environment corresponding to the six-degree-of-freedom motion parameters in the cabin, thereby expanding a sustainable simulation linear overload range, reducing extra angular motion stimulation caused by spindle speed change, and improving the simulation precision of the six-shaft manned centrifugal machine. And the authenticity of overload simulation is improved.

Description

Technical Field

[0001] This invention relates to the field of flight simulation technology, specifically to a method, apparatus, equipment, and medium for simulating overload in a six-axis manned centrifuge. Background Technology

[0002] Manned centrifuges can simulate the three-axis acceleration environment of aerospace flight on the ground. In existing technologies, the simulation of three-axis overload of aircraft mainly relies on target overload, employing a three-axis centrifuge overload simulation algorithm to solve for the three-axis motion control parameters. The main process involves: the main shaft rotation generating centripetal (radial) and tangential acceleration; the pitch and roll axes rotating; and the sum of the acceleration generated by the main shaft rotation and gravitational acceleration being projected onto the pilot's head coordinate system within the pod to generate the three-axis overload sensation. However, this method still has the following drawbacks:

[0003] 1. Conventional overload simulation methods for triaxial centrifuges are limited by the two-dimensional motion structure of the triaxial centrifuge, which combines the rotation of the boom with the pitching and rolling of the pod. The radial and tangential accelerations generated by the boom rotation are perpendicular to the gravitational acceleration, and the vector sum of the linear acceleration and the gravitational acceleration is always greater than 1G. Therefore, it is impossible to simulate overload in the range of -1G to +1G in a single axis, and the range of linear acceleration overload simulation is also limited.

[0004] 2. In general triaxial centrifuge overload simulation methods, when the target overload changes (such as pilot anti-G training), the spindle angular acceleration must be used to control the spindle speed and generate the expected centripetal acceleration. In this process, the pilot will be subjected to additional angular motion stimulation, which is inconsistent with the actual flight experience and affects the overall motion perception.

[0005] 3. In general triaxial centrifuge overload simulation methods, if Gx or Gy acceleration needs to be generated simultaneously while maintaining continuous overload (such as in Herbst maneuver simulation), the operation of the main shaft, pitch axis, or roll axis must be controlled. During this process, the pilot will be subjected to additional angular motion stimulation, which will affect the overall motion perception. Summary of the Invention

[0006] This invention provides a method, apparatus, equipment, and medium for simulating overload in a six-axis manned centrifuge, in order to solve the problems in the prior art where the overload range of manned centrifuges is limited, additional angular motion stimuli are generated, and the overall motion perception simulation is distorted.

[0007] In a first aspect, the present invention provides a method for simulating overload in a six-axis manned centrifuge. The six-axis manned centrifuge includes a main shaft and a cabin connected by a boom. The method includes: acquiring six-degree-of-freedom motion parameters of the aircraft to be simulated, the six-degree-of-freedom motion parameters including linear overload components and angular velocity components; performing frequency domain decomposition and motion coordination on the linear overload components, and performing motion coordination on the angular velocity components to generate a motion control coordination solution for synchronously controlling the six motion axes of the six-axis manned centrifuge; and performing synchronous motion control on the six motion axes of the six-axis manned centrifuge according to the motion control coordination solution to simulate an overload environment corresponding to the six-degree-of-freedom motion parameters within the cabin.

[0008] This invention effectively utilizes the radial and vertical linear motion capabilities of a six-axis manned centrifuge by frequency domain decomposition and coordinated processing of six-degree-of-freedom motion parameters. This expands the range of continuous linear overload simulation to -1G to +1G and reduces the additional angular motion stimulation caused by spindle speed change during continuous overload simulation. This improves the accuracy of overload simulation and the realism of the pilot's experience, making overload simulation in pilot anti-G training more accurate and the overall motion perception more realistic and comfortable.

[0009] In one optional implementation, the steps of performing frequency domain decomposition and motion coordination on the linear overload component, and on the angular velocity component, to generate a motion control coordination solution for synchronously controlling the six motion axes of a six-axis manned centrifuge, include: performing coordinate transformation and integration on the angular velocity component to obtain the first component of the three-axis cabin angles, wherein the three-axis cabin angles include cabin roll angle, cabin pitch angle, and cabin yaw angle; performing frequency domain decomposition on the linear overload component to obtain a high-frequency transient linear overload component and a low-frequency continuous linear overload component; and performing coordinate transformation and integration on the high-frequency transient linear overload component to obtain the first component of the spindle rotation angular velocity. The system calculates the magnitude, radial displacement, and vertical displacement; it calculates the low-frequency continuous linear overload component according to a preset tilt coordination ratio to obtain the second component of the spindle rotational angular velocity and the second component of the cockpit three-axis angle; it superimposes the first and second components of the cockpit three-axis angle to obtain the final cockpit three-axis angle; it superimposes the first and second components of the spindle rotational angular velocity to obtain the final spindle rotational angular velocity; it integrates the final spindle rotational angular velocity to obtain the spindle rotation angle; and it uses the spindle rotation angle, radial displacement, vertical displacement, and the final cockpit three-axis angle as the motion control coordination solution.

[0010] This implementation method refines and optimizes the overload generation task, which is traditionally handled by a single spindle rotation, resulting in a significant improvement in technical performance. Specifically, the acquired linear overload component is decomposed into a high-frequency transient linear overload component and a low-frequency continuous linear overload component. For the low-frequency continuous linear overload component, it is calculated using a preset tilt coordination ratio, primarily transforming it into a component of the spindle rotation angular velocity and a component of the cabin attitude angle. This means that stable, continuous overloads are simulated by the centrifugal force generated by the spindle rotation and the cabin tilt. For the high-frequency transient linear overload component, such as severe shaking or impact, it is transformed into radial displacement, vertical displacement, and another component of the spindle rotation angular velocity. This part of the overload is responded to quickly and accurately by the radial displacement axis, vertical displacement axis, and spindle rotation axis unique to a six-axis centrifuge. Simultaneously, the angular velocity component is independently processed as another component of the cabin attitude angle. Finally, by superimposing the two components of the obtained three-axis cabin angles and the two components of the spindle rotation angular velocity and integrating them, a coordinated six-axis motion control command is generated. Since the high-frequency transient linear overload component is mainly borne by linear motion, and a portion of the low-frequency sustained linear overload component is achieved by cockpit tilt, the stability of the main shaft rotation speed can be maintained to the maximum extent when simulating overload changes. This avoids the need to generate drastic angular acceleration to adjust centripetal acceleration, thus eliminating the additional non-realistic angular motion stimulation in traditional methods. Simultaneously, the introduction of radial and vertical linear motion axes allows the centrifugal acceleration vector to be synthesized with gravity in a wider range of directions, breaking the physical limitation that the synthesized acceleration is always greater than 1G under pure rotational structures. This expands the range of sustainable and accurate linear overload simulation to -1G to +1G. Therefore, through this intelligent division of labor and collaboration, this invention ultimately achieves the technical effects of a wider overload simulation range, more realistic motion perception, and a more comfortable pilot experience.

[0011] In one optional implementation, the step of calculating the first component of the cockpit three-axis angle based on the angular velocity component through coordinate transformation and integration includes: transforming the angular velocity component from the aircraft pilot coordinate system to the cockpit coordinate system to obtain the cockpit three-axis angular acceleration; and performing double integration on the cockpit three-axis angular acceleration to obtain the first component of the cockpit three-axis angle.

[0012] In this embodiment, the angular velocity component is transformed from the pilot's coordinate system to the cockpit coordinate system, resolving the mapping problem between motion descriptions in different coordinate systems. This ensures that the final commands driving the cockpit roll, pitch, and yaw perfectly match the pilot's expected direction of rotation. Subsequently, the angle command is obtained by double integration of the angular acceleration, a process that fully reproduces the change from angular acceleration to angular velocity and then to angle. This embodiment enables the cockpit's attitude motion during the simulation of complex aircraft maneuvers in a six-axis centrifuge to be highly synchronized with the pilot's physical sensations in real flight, thereby greatly enhancing the realism of the G-force simulation.

[0013] In one optional implementation, the step of calculating the first component of the spindle rotational angular velocity, radial displacement, and vertical displacement based on the high-frequency transient overload component through coordinate transformation and integration includes: transforming the high-frequency transient overload component from the aircraft pilot coordinate system to the polar coordinate system to obtain the spindle rotational angular acceleration, radial acceleration, and vertical acceleration; performing double integration on the radial acceleration and vertical acceleration to obtain the radial displacement and vertical displacement; and integrating the spindle rotational angular acceleration to obtain the first component of the spindle rotational angular velocity.

[0014] This implementation converts the high-frequency transient linear overload component to polar coordinates and integrates it, thereby accurately allocating the transient acceleration requirement to the linear motion axis and the main axis. It decouples the high-frequency overload from the simulation mode that depends on the speed change of the main axis, and instead generates the required displacement directly by the fast-responding radial and vertical linear motion. This not only can quickly reproduce dynamic acceleration, but also avoids the non-realistic angular acceleration caused by the large acceleration of the main axis. This makes the pilot's dynamic overload experience closer to the experience of body vibration or impact in real flight, and significantly improves the realism and physiological comfort of the simulation.

[0015] In one optional implementation, the step of calculating the second component of the spindle rotational angular velocity and the second component of the cockpit triaxial angle based on the low-frequency continuous overload component and a preset tilt coordination ratio includes: obtaining the low-frequency continuous overload tilt component to be simulated by cockpit tilting and the low-frequency continuous overload angular velocity component to be simulated by centripetal acceleration based on the low-frequency continuous overload component and the preset tilt coordination ratio, wherein the tilt coordination ratio represents the proportion of continuous overload simulated by cockpit tilting, and the sum of the low-frequency continuous overload tilt component and the low-frequency continuous overload angular velocity component is the low-frequency continuous overload component; converting the low-frequency continuous overload tilt component into cockpit triaxial angle based on the principle of gravity component synthesis, as the second component of the cockpit triaxial angle; converting the low-frequency continuous overload angular velocity component into spindle rotational angular acceleration based on the basic principle of centripetal acceleration, integrating the spindle rotational angular acceleration to obtain the spindle rotational angular velocity, as the second component of the spindle rotational angular velocity.

[0016] This implementation decomposes the low-frequency continuous overload component into tilt and centripetal angular velocity components according to a preset ratio, and converts them into cockpit attitude angle and spindle angular velocity, respectively, to achieve optimized simulation of steady-state overload. The active tilt of the cockpit, through the directional synthesis of the gravity component, can precisely adjust the direction of the continuous overload vector felt by the pilot without changing the spindle speed, effectively expanding the simulation accuracy of the low overload range. The steady-state rotation of the centripetal angular velocity component utilizes the efficient rotational characteristics of a centrifuge to generate a high G-value. The coordinated operation of the two allows for the simulation of a smooth and continuous high G-value overload using the uniform rotation of the spindle, while the fine adjustment of the cockpit attitude avoids the non-realistic angular motion interference caused by forced deceleration to maintain low overload. Thus, while achieving a wide range of steady-state overload simulation, it significantly improves the pilot's motion continuity and comfort during continuous maneuvering.

[0017] In one optional implementation, the step of converting the low-frequency continuous line overload tilt component into a cockpit triaxial angle based on the principle of gravity component synthesis includes: differentiating the low-frequency continuous line overload tilt component to obtain the rate of change of the low-frequency continuous line overload tilt component; converting the rate of change of the low-frequency continuous line overload tilt component into a cockpit triaxial angular velocity using a Jacobian matrix based on the principle of gravity component synthesis; and integrating the cockpit triaxial angular velocity to obtain the cockpit triaxial angle, which serves as the second component of the cockpit triaxial angle.

[0018] This implementation dynamically converts the rate of change of the tilt component into the cockpit's three-axis angular velocity, enabling the cockpit to adjust its attitude in a manner consistent with kinematics and the laws of gravity synthesis. This allows the pilot to experience continuous low-G changes naturally and smoothly, avoiding the discomfort and unrealistic feeling caused by sudden attitude changes, and improving the dynamic quality of steady-state low-frequency continuous G-force simulation.

[0019] In one optional implementation, the six motion axes of the six-axis manned centrifuge include a radial displacement axis for controlling the extension and retraction of the boom, a vertical displacement axis for controlling the lifting and lowering of the cabin, a main shaft rotation axis for controlling the rotation angle and speed of the boom, a roll axis for controlling the left and right tilt angle of the cabin, a pitch axis for controlling the forward and backward tilt angle of the cabin, and a yaw axis for controlling the left and right turning angle of the cabin. The step of synchronously controlling the six motion axes of the six-axis manned centrifuge according to the motion control coordination solution includes: outputting each parameter in the motion control coordination solution as motion control parameters for controlling the six motion axes of the six-axis manned centrifuge, and using the motion control parameters to perform synchronous motion control on the six motion axes of the six-axis manned centrifuge.

[0020] This implementation method coordinates and demaps motion control to the control parameters of the six physical motion axes of the centrifuge, achieving precise matching between the algorithm and the mechanical structure. By synchronously outputting and driving the corresponding motion axes data such as the principal axis angle, displacement, and cockpit attitude angle obtained through frequency domain decomposition and coordination calculation, the spatiotemporal consistency of the six-axis motion is ensured, enabling the centrifuge to collaboratively reproduce complex spatial six-degree-of-freedom motion as a whole. Ultimately, the optimization scheme at the algorithm level is transformed into a coherent and accurate three-axis overload and angular motion environment actually felt by the pilot in the cockpit.

[0021] Secondly, the present invention provides a six-axis manned centrifuge overload simulation device. The six-axis manned centrifuge includes a main shaft and a cabin connected by a boom. The device includes: a target acquisition module for acquiring six degrees of freedom motion parameters of the simulated aircraft, including linear overload components and angular velocity components; a parameter conversion module for performing frequency domain decomposition and motion coordination on the linear overload components and motion coordination on the angular velocity components to generate a motion control coordination solution for synchronously controlling the six motion axes of the six-axis manned centrifuge; and a motion control module for synchronously controlling the six motion axes of the six-axis manned centrifuge according to the motion control coordination solution, and simulating an overload environment corresponding to the six degrees of freedom motion parameters within the cabin.

[0022] Thirdly, the present invention provides an electronic device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the six-axis manned centrifuge overload simulation method of the first aspect or any corresponding embodiment described above.

[0023] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the six-axis manned centrifuge overload simulation method of the first aspect or any corresponding embodiment described above. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the first process of the overload simulation method for a six-axis manned centrifuge according to an embodiment of the present invention; Figure 2This is a schematic diagram of the second process of the overload simulation method for a six-axis manned centrifuge according to an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the transformation between the centrifuge cabin coordinate system and the centrifuge center boom coordinate system in the six-axis manned centrifuge overload simulation method according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the spherical washing filter algorithm for the overload simulation method of a six-axis manned centrifuge according to an embodiment of the present invention; Figure 5 This is a structural block diagram of a six-axis manned centrifuge overload simulation device according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0028] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] Traditional triaxial centrifuges simulate triaxial overload by combining spindle rotation with pod pitch / roll, superimposing centripetal and tangential accelerations with gravity onto the pilot's coordinate system. However, this method has significant limitations: First, because centrifugal acceleration is always perpendicular to gravity, the resultant linear acceleration is always greater than 1G, making it impossible to achieve accurate simulation within the ±1G range of a single axis. Second, when adjusting overload or generating lateral acceleration, it is necessary to rely on the angular acceleration motion of the spindle or pod, which will bring additional, unrealistic angular motion stimulation to the pilot, interfering with their motion perception and deviating from the actual flight experience.

[0030] Based on this, the present invention provides a method, apparatus, equipment, and medium for simulating overload in a six-axis manned centrifuge, to solve the problems of limited overload range in existing technologies, generation of additional angular motion stimuli, and overall motion perception simulation distortion. The six-axis manned centrifuge, compared to a three-axis centrifuge, has more degrees of freedom and a more complex motion structure, resulting in a wider range for overload simulation, richer control modes, and broader application prospects, mainly including the following aspects: 1. Aerospace field: The six-axis manned centrifuge motion simulation equipment can simulate the three-axis overload of various spacecraft and aircraft under complex flight conditions on the ground through advanced motion simulation algorithms, providing an important environmental simulation platform for aerospace scientific research.

[0031] 2. Aerospace Medical Research: In aerospace medical research, by applying advanced motion simulation algorithms, six-axis centrifuges can simulate changes in the perception of Earth's gravitational acceleration, and are used to study the physiological and psychological responses of the human body in a compound acceleration environment. They can also more realistically simulate changes in spatial orientation perception during flight, and conduct research on flight illusions and spatial orientation disorders.

[0032] 3. Astronaut and Pilot Training and Evaluation: Manned centrifuges are crucial tools for conducting acceleration physiological training and evaluation for astronauts and pilots. By applying advanced motion simulation algorithms, six-axis centrifuges can simulate various complex flight maneuvers or space weightlessness scenarios, providing a more realistic and efficient flight training environment. Astronauts and pilots can practice flight operations and emergency response in simulated scenarios, improving their flight skills and coping abilities.

[0033] 4. Aircraft Performance Testing: During the research and development and performance testing of aircraft, six-axis centrifuges can simulate different flight states and loads to verify and evaluate the aircraft's structure and systems. By applying simulation algorithms, various complex motion scenarios can be accurately simulated to comprehensively test and evaluate the aircraft's performance, including structural strength, system reliability, and flight stability.

[0034] According to an embodiment of the present invention, an embodiment of a method for simulating overload of a six-axis manned centrifuge is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0035] This embodiment provides a method for simulating overload in a six-axis manned centrifuge. Figure 1 This is a flowchart of a six-axis manned centrifuge overload simulation method according to an embodiment of the present invention, as follows: Figure 1 As shown, the process includes the following steps: Step S101: Obtain the six-degree-of-freedom motion parameters of the aircraft to be simulated. The six-degree-of-freedom motion parameters include linear overload components and angular velocity components.

[0036] This step is the data foundation and input source for the entire overload simulation method, aiming to accurately obtain the flight state of the aircraft to be simulated. This step abstracts the complex aerospace flight environment into a set of mathematically describable physical quantities by acquiring the six degrees of freedom motion parameters of the aircraft: linear overload components in three directions (horizontal, forward / backward, and vertical) and angular velocity components in three directions (roll, pitch, and yaw). The linear overload components directly correspond to the linear acceleration experienced by the pilot's body, while the angular velocity components describe the rotational motion of the aircraft's roll, pitch, and yaw. Obtaining these parameters provides subsequent steps with accurate inputs that reflect real flight dynamics and contain all necessary motion information, providing a data foundation for accurate simulation.

[0037] Step S102: Perform frequency domain decomposition and motion coordination on the linear overload component, and perform motion coordination on the angular velocity component to generate a motion control coordination solution for synchronously controlling the six motion axes of the six-axis manned centrifuge.

[0038] This step involves frequency domain decomposition of the linear overload component to distinguish between high-frequency transients and low-frequency continuous components, followed by motion coordination calculations. The angular velocity component is also calculated in the same manner, achieving refined allocation and optimization of the six-degree-of-freedom motion requirements. This process decouples and resynthesizes the originally coupled complex overload and rotational requirements based on the characteristics of each motion axis, ultimately generating a unified motion control coordination solution. This solution precisely defines the synchronous trajectories required for the six motion axes to achieve the target motion, thus providing a control strategy for flight simulation that conforms to both aircraft dynamics and centrifuge structure.

[0039] Step S103: Based on the motion control coordination solution, perform synchronous motion control on the six motion axes of the six-axis manned centrifuge, and simulate and generate an overload environment corresponding to the six degrees of freedom motion parameters in the cabin.

[0040] This step receives the motion control coordination solution calculated in step S102 and converts the parameters therein into corresponding control commands to synchronously and in real-time drive the six physical motion axes corresponding to the six-axis manned centrifuge. Through high-precision multi-axis control and linkage, the extension and retraction of the boom, the lifting and rotation of the cockpit, and the changes in the spatial attitude of the cockpit itself occur synchronously according to the spatiotemporal relationship of the coordination solution, ultimately creating an overload environment inside the cockpit that completely corresponds to the target's six degrees of freedom motion parameters and acts on the pilot's body.

[0041] The six-axis manned centrifuge overload simulation method provided in this embodiment effectively utilizes the radial and vertical linear motion capabilities of the six-degree-of-freedom motion parameters through frequency domain decomposition and coordinated processing. This expands the range of continuous linear overload simulation to -1G to +1G, and reduces the additional angular motion stimulation caused by spindle speed change during continuous overload simulation. This improves the accuracy of overload simulation and the realism of the pilot's experience, making overload simulation in pilot anti-G training more accurate and the overall motion perception more realistic and comfortable.

[0042] This embodiment provides a method for simulating overload in a six-axis manned centrifuge. Figure 2 This is a flowchart of a six-axis manned centrifuge overload simulation method according to an embodiment of the present invention, as follows: Figure 2 As shown, the process includes the following steps: Step S201: Obtain the six-degree-of-freedom motion parameters of the aircraft to be simulated. These parameters include linear overload components and angular velocity components. The linear overload components include forward / backward, left / right, and head-to-foot overloads, measured in g. The angular velocity components include roll, pitch, and yaw angular velocities. For details, please refer to [link to relevant documentation]. Figure 1 Step S101 of the illustrated embodiment will not be described again here.

[0043] Step S202 involves performing frequency domain decomposition and motion coordination on the linear overload component and motion coordination on the angular velocity component to generate a motion control coordination solution for synchronously controlling the six motion axes of a six-axis manned centrifuge.

[0044] In this embodiment, since coordinate transformation is required in step S202, a coordinate system needs to be established in advance and coordinate transformation matrix, acceleration transformation matrix and angular velocity transformation matrix need to be constructed.

[0045] The first step, in order to simulate the motion of a centrifuge, is to establish corresponding coordinate systems for the aircraft, the centrifuge cabin, and the central arm of the centrifuge. These coordinate systems will be used to describe the aircraft's motion, extract motion signals, and control the motion platform.

[0046] (1) Centrifuge center boom coordinate system The origin of the coordinate system of the centrifuge's central boom is located at the center of gravity of the cabin, and the vertical axis... Vertically downwards, relative to the gravity vector Overlap, horizontal axis Perpendicular to the centrifuge's plane of symmetry, pointing to the right, vertical axis It rotates from the cockpit's center of gravity toward the boom, and rotates as the boom rotates.

[0047] (2) Centrifuge cabin coordinate system To accurately describe the motion perceived by the pilot in the simulated aircraft, a centrifuge cockpit coordinate system needs to be established. This coordinate system is fixed to the centrifuge cockpit, with its center point located at the cockpit's center of gravity. The axis is vertically downward. shaft and The axis is horizontal, and its direction can be set to completely coincide with the coordinate system of the centrifuge's central arm during simulation initialization.

[0048] During the centrifuge's movement, the centrifuge chamber's attitude can be described by three Euler angles relative to the centrifuge's central arm coordinate system. That is, the centrifuge's central arm coordinate system can undergo three rotations to coincide with the centrifuge chamber coordinate system. Figure 3 As shown, the yaw, pitch, and roll angles are formed, and are described as follows: Yaw angle : shaft and Axis winding Rotate, so that Axis and boom transverse axis The angle of rotation when the projections on the horizontal plane passing through the origin coincide.

[0049] Pitch angle : Axis rotation After the angle, it rotates again in the vertical plane. After the angle The axis rotates to the angle that coincides with the longitudinal axis of the boom.

[0050] Roll angle : Did and After two rotations, rotate again around the horizontal axis of the upper arm, so that it has already rotated through... After the angle The angle of rotation when the axis coincides with the longitudinal axis of the boom.

[0051] (3) Inertial coordinate system To describe the motion of a centrifuge, an inertial coordinate system needs to be defined as a reference coordinate system, which is fixed to the ground. Vertical axis Vertically downwards, coinciding with the gravity vector, the vertical axis Horizontal axis The horizontal and vertical axes of the coordinate system are aligned with those of the initial centrifuge center arm coordinate system, while the orientation of the inertial coordinate system remains constant.

[0052] (4) Coordinate system of the pilot of the aircraft to be simulated To accurately describe the motion perceived by the pilot, a coordinate system at the pilot's head needs to be established. This coordinate system is fixed to the cockpit. The center point of the pilot's coordinate system is located midway between the lines connecting the vestibular organs of the captain and first officer. The axis is parallel to the fuselage axis or the mean aerodynamic chord of the wing, and points forward; The axis lies in the plane of symmetry of the aircraft and is perpendicular to it. Pointing downwards; The axis is perpendicular to the plane of symmetry of the aircraft and points to the right.

[0053] (5) Centrifuge pilot coordinate system :Completely coincides with the coordinate system of the centrifuge cabin.

[0054] The second step is to establish the transformation matrix between coordinate systems.

[0055] Rotation matrix between the center boom coordinate system and the cockpit coordinate system : The first rotation will rotate the initial coordinate system of the central arm coordinate system around... Shaft rotation ,at this time The shaft rotates to axis, The shaft rotates to Axis. The coordinate axes that form the coordinate system after rotation. In the original coordinate system ( In this context, it can be represented as:

[0056] Written in matrix form:

[0057] The second rotation will rotate the coordinate system after the first rotation around... Shaft rotation Angle, at this time The shaft rotates to axis, The shaft rotates to Axis. The coordinate axes that form the coordinate system after rotation. In the coordinate system after the first rotation ( In this context, it can be represented as:

[0058] Written in matrix form:

[0059] The third rotation will rotate the coordinate system after the second rotation around... Shaft rotation Angle, at this time The shaft rotates to axis, The shaft rotates to Axis. The coordinate axes that form the coordinate system after rotation. In the coordinate system after the second rotation ( In this context, it can be represented as:

[0060] Written in matrix form:

[0061] After the above three rotations, the coordinate system ( ) and the original coordinate system ( The relationship in ) is:

[0062] in:

[0063] make:

[0064] From the above derivation, we can see that the matrix Let be the direction cosine matrix from the centrifuge cabin coordinate system to the centrifuge center boom coordinate system.

[0065] Rotation matrix between the inertial coordinate system and the central arm : The initial coordinates of the inertial coordinate system are rotated around Axis rotation The angle can be transformed to the coordinate system of the central arm, and written in matrix form as follows:

[0066] The third step is to establish the angular velocity transformation matrix.

[0067] According to the formula for angular velocity The angular velocity of the cockpit relative to the central boom in the cockpit coordinate system can be calculated. The calculation process is as follows:

[0068]

[0069] By formalizing the antisymmetric matrix into vector form, we can obtain:

[0070] in:

[0071] Combining the above formulas, we can obtain the specific expression for angular velocity:

[0072] The angular velocity at this point is only the relative angular velocity between the cockpit and the center boom. To obtain the absolute angular velocity of the cockpit, the angular velocity of the center boom must be written out. The absolute angular velocity of the center boom in the center boom coordinate system is expressed as follows:

[0073] Transform the above angular velocities into the cockpit coordinate system:

[0074] The absolute angular velocity of the cockpit in the cockpit coordinate system is then expressed as:

[0075] The fourth step is to establish the acceleration transformation matrix.

[0076] The displacement at the cockpit origin in the central boom coordinate system is expressed as:

[0077] The displacement at the cockpit origin in the inertial coordinate system is then expressed as:

[0078] The velocity at the cockpit origin in the inertial coordinate system is expressed as:

[0079] The acceleration at the cockpit origin in the inertial coordinate system is expressed as:

[0080] Transforming the above acceleration back into the coordinate system of the central arm, we get:

[0081] Specifically, step S202 above uses a spherical washing filter algorithm for data processing, see [link to relevant documentation]. Figure 4 ,include: Step S2021: Perform coordinate transformation and integration on the angular velocity components to obtain the first component of the cockpit three-axis angles, which include the cockpit roll angle, cockpit pitch angle, and cockpit yaw angle.

[0082] This step transforms the angular velocity component from the pilot's coordinate system to the cockpit coordinate system to obtain the cockpit's three-axis angular acceleration; the cockpit's three-axis angular acceleration is then double-integrated to obtain the first component of the cockpit's three-axis angle.

[0083] In some alternative implementations, the input angular velocity components need to be scaled and high-pass filtered before coordinate transformation and integration.

[0084] Step S2022: Perform frequency domain decomposition on the line overload component to obtain the high-frequency transient line overload component and the low-frequency continuous line overload component.

[0085] In some alternative implementations, the linear overload component, i.e., the head force of the pilot of the aircraft being simulated, is... Before performing the relevant processing, a scaling step needs to be introduced to ensure that the ratio used for washing out filtering is less than the maximum ratio input value of the washing out filter.

[0086] The ratio obtained after proportional limitation To represent, using Subtract the centrifuge The required cockpit motion acceleration can be obtained by using the load vector. acceleration After passing through a high-pass filter to remove low-frequency components that could cause the centrifuge's motion platform to exceed limits, the high-frequency transient overload component is obtained. This indicates that the high-pass filter here is a third-order linear high-pass filter, and its transfer function is as follows:

[0087] In the formula, The natural cutoff frequency of a first-order element; The natural cutoff frequency of the second-order element; The damping ratio is the damping ratio of the second-order element.

[0088] After filtering out high-frequency components exceeding the motion platform limit using a low-pass filter, the low-frequency continuity overload component is obtained. This indicates that the low-pass filter used here is a second-order linear low-pass filter, with the following transfer function:

[0089] In the formula: This is the natural cutoff frequency of the second-order low-pass filter; is the damping ratio of the second-order low-pass filter.

[0090] Step S2023: Perform coordinate transformation and integration on the high-frequency transient linear overload component to obtain the first component of the spindle rotational angular velocity, radial displacement, and vertical displacement.

[0091] This step transforms the high-frequency transient linear overload component from the aircraft pilot coordinate system to the polar coordinate system to obtain the principal axis rotational angular acceleration, radial acceleration, and vertical acceleration; double integration of the radial and vertical acceleration yields the radial and vertical displacements; integration of the principal axis rotational angular acceleration yields the first component of the principal axis rotational angular velocity.

[0092] In this step After coordinate transformation matrix The coordinates are then transformed to the central boom coordinate system to obtain the acceleration in the central boom coordinate system. Multiply this acceleration by the transformation matrix on the left. The coordinate system can be transformed from Cartesian coordinates to polar coordinates, at which point the angular acceleration of the principal axis rotation can be directly obtained. Radial acceleration and vertical acceleration Then, a high-pass filter is applied to remove low-frequency components that could cause the centrifuge's motion platform to exceed its limits. Then, the radial acceleration is... and vertical acceleration After two integrations, the radial and vertical displacements of the platform can be obtained, along with the angular acceleration of the spindle rotation. Integrating the components yields the first component of the spindle rotational angular velocity.

[0093] In some optional implementations, step S2023 is specifically as follows: right Perform a coordinate transformation to convert the acceleration from the centrifuge cabin coordinate system to the centrifuge center boom coordinate system:

[0094]

[0095] The obtained acceleration is converted from Cartesian coordinates to polar coordinates, and the acceleration due to the principal axis rotation angle is obtained. and radial acceleration Vertical acceleration .

[0096]

[0097]

[0098] A high-pass filter is applied again, and its transfer function is the same as that of the third-order linear high-pass filter described above. The radial and vertical accelerations obtained after filtering are integrated twice to obtain the radial translation of the platform. Vertical translation .

[0099] Step S2024: Calculate the low-frequency continuous line overload component according to the preset tilt coordination ratio to obtain the second component of the main shaft rotational angular velocity and the second component of the cockpit three-axis angle.

[0100] This step is based on a preset tilt coordination ratio, and involves... The module obtains the specific force perceived by the centrifuge pilot. and angular velocity caused by centripetal acceleration As the second component of the spindle rotational angular velocity, the obtained Differentiate to obtain Using the Jacobian mapping matrix It can be obtained , and The relationship between them leads to the two Euler angles. , and , which serves as the second component of the cockpit's three-axis angles.

[0101] In some optional implementations, step S2024 above includes: Step a, based on the low-frequency continuous line overload component and the preset tilt coordination ratio The low-frequency continuous line overload tilt component that needs to be simulated by cockpit tilting and the low-frequency continuous line overload angular velocity component that needs to be simulated by centripetal acceleration are obtained. The tilt coordination ratio represents the proportion of continuous overload simulated by cockpit tilting. The sum of the low-frequency continuous line overload tilt component and the low-frequency continuous line overload angular velocity component is the low-frequency continuous line overload component.

[0102] The module calculates three specific force components and the required eccentricity based on the continuous specific force vector in the simulated aircraft:

[0103] The specific calculation method is as follows:

[0104]

[0105]

[0106]

[0107] in, The overload vector of the aircraft is subject to proportional limitations; This is the overload vector (steady acceleration) required in the centrifuge. For a specific force that is proportionally limited in The components of the axis; For a specific force that is proportionally limited in The components of the axis; For a specific force that is proportionally limited in The components of the axis.

[0108] Step b: Based on the principle of gravity component synthesis, the low-frequency continuous line overload tilt component is converted into the cockpit triaxial angle, which is then used as the second component of the cockpit triaxial angle.

[0109] In this step, the low-frequency continuous line overload tilt component is differentiated to obtain the rate of change of the low-frequency continuous line overload tilt component; the rate of change of the low-frequency continuous line overload tilt component is converted into the cockpit triaxial angular velocity using the Jacobian matrix based on the principle of gravity component synthesis; the cockpit triaxial angular velocity is integrated to obtain the cockpit triaxial angle, which is used as the second component of the cockpit triaxial angle.

[0110] Specifically, the method for calculating the required cockpit three-axis angles using the Jacobian matrix results is as follows:

[0111]

[0112]

[0113] The obtained angular velocity , By integrating, we can obtain Euler angles. , , , which serves as the second component of the cockpit's three-axis angles.

[0114] Step c: Based on the fundamental principle of centripetal acceleration, the low-frequency continuous linear overload angular velocity component is converted into the spindle rotational angular acceleration. The spindle rotational angular acceleration is integrated to obtain the spindle rotational angular velocity, which is used as the second component of the spindle rotational angular velocity.

[0115] Step S2025: Superimpose the first component and the second component of the cockpit three-axis angle to obtain the final cockpit three-axis angle; superimpose the first component and the second component of the main shaft rotation angular velocity to obtain the final main shaft rotation angular velocity; integrate the final main shaft rotation angular velocity to obtain the main shaft rotation angle.

[0116] Step S2026: The spindle rotation angle, radial displacement, vertical displacement, and the final cockpit three-axis angle are used as the motion control coordination solution.

[0117] After the above steps, six solutions can be obtained, which are the principal axis rotation angles. Radial translation Vertical translation Cockpit roll angle Cockpit yaw angle Cockpit pitch angle .

[0118] Step S203: Based on the motion control coordination solution, perform synchronous motion control on the six motion axes of the six-axis manned centrifuge, and simulate and generate an overload environment corresponding to the six degrees of freedom motion parameters in the cabin.

[0119] The six axes of motion of the six-axis manned centrifuge include a radial displacement axis for controlling the extension and retraction of the boom, a vertical displacement axis for controlling the lifting and lowering of the cabin, a main shaft rotation axis for controlling the boom's rotation angle and speed, a roll axis for controlling the cabin's left and right tilt angles, a pitch axis for controlling the cabin's forward and backward tilt angles, and a yaw axis for controlling the cabin's left and right turning angles. This step outputs the parameters from the motion control coordination solution as motion control parameters for controlling the six axes of the six-axis manned centrifuge, and uses these parameters to perform synchronous motion control on the six axes. Before the simulation, the centrifuge parameters need to be initialized, with the initial values ​​of the angles and angular velocities of each axis set to 0.

[0120] The six-axis manned centrifuge overload simulation method provided in this embodiment can achieve the synthesis simulation of Earth's gravitational acceleration and linear acceleration by controlling the two linear motion axes, radial and vertical, in the six-axis centrifuge. This solves the problem that three-axis centrifuges cannot simulate linear acceleration in the range of -1G to +1G. When the target overload changes, the pod can be controlled to move radially (in the direction of the main arm) while keeping the main shaft rotation speed constant, thereby changing the rotation radius to generate the expected centripetal acceleration. During this process, the pilot will not experience additional angular motion stimulation, and the motion perception in pure Gz overload experience training is more accurate and comfortable. While maintaining continuous overload, the pod can be controlled to move vertically while keeping the rotation speed of each axis constant to generate Gx or Gy acceleration. During this process, the pilot will not experience additional angular motion stimulation, and the motion perception is more realistic.

[0121] This embodiment also provides a six-axis manned centrifuge overload simulation device, which is used to implement the above embodiments and preferred embodiments, and will not be repeated as already described. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0122] This embodiment provides a six-axis manned centrifuge overload simulation device, such as... Figure 5 As shown, it includes: The target acquisition module 501 is used to acquire the six-degree-of-freedom motion parameters of the aircraft to be simulated. The six-degree-of-freedom motion parameters include linear overload components and angular velocity components. The parameter conversion module 502 is used to perform frequency domain decomposition and motion coordination on the linear overload component and motion coordination on the angular velocity component, generating a motion control coordination solution for synchronously controlling the six motion axes of a six-axis manned centrifuge. The motion control module 503 is used to perform synchronous motion control on the six motion axes of the six-axis manned centrifuge according to the motion control coordination solution, and to simulate and generate an overload environment corresponding to the six degrees of freedom motion parameters in the cabin.

[0123] The six-axis manned centrifuge overload simulation device provided in this embodiment of the invention can execute the six-axis manned centrifuge overload simulation method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the method. Further functional descriptions of the above modules and units are the same as in the corresponding embodiments described above, and will not be repeated here.

[0124] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0125] The following is a detailed reference. Figure 6 This diagram illustrates a structural schematic suitable for implementing an electronic device according to embodiments of the present invention. The electronic device may include a processor (e.g., a central processing unit, graphics processor, etc.) 601, which can perform various appropriate actions and processes based on a program stored in read-only memory (ROM) 602 or a program loaded from memory 608 into random access memory (RAM) 603. RAM 603 also stores various programs and data required for the operation of the electronic device. The processor 601, ROM 602, and RAM 603 are interconnected via bus 604. An input / output (I / O) interface 605 is also connected to bus 604.

[0126] Typically, the following devices can be connected to I / O interface 605: input devices 606 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 607 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 608 including, for example, magnetic tapes, hard disks, etc.; and communication devices 609. Communication device 609 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 6 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0127] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 609, or installed from a memory 608, or installed from a ROM 602. When the computer program is executed by the processor 601, it performs the functions defined in the six-axis manned centrifuge overload simulation method of the present invention.

[0128] Figure 6 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0129] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the six-axis manned centrifuge overload simulation method shown in the above embodiments is implemented.

[0130] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0131] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for simulating overload in a six-axis manned centrifuge, characterized in that, The six-axis manned centrifuge includes a main shaft and a cabin connected by a boom, and the method includes: Obtain the six-degree-of-freedom motion parameters of the aircraft to be simulated, including linear overload components and angular velocity components; Frequency domain decomposition and motion coordination are performed on the line overload component, and motion coordination is performed on the angular velocity component to generate a motion control coordination solution for synchronously controlling the six motion axes of the six-axis manned centrifuge. Based on the motion control coordination solution, the six motion axes of the six-axis manned centrifuge are synchronously controlled, and an overload environment corresponding to the six degrees of freedom motion parameters is simulated in the cabin.

2. The overload simulation method for a six-axis manned centrifuge according to claim 1, characterized in that, The steps of performing frequency domain decomposition and motion coordination on the linear overload component, and performing motion coordination on the angular velocity component to generate a motion control coordination solution for synchronously controlling the six motion axes of the six-axis manned centrifuge, include: The angular velocity components are transformed and integrated to obtain the first component of the cockpit three-axis angles, which include the cockpit roll angle, cockpit pitch angle and cockpit yaw angle. The line overload component is decomposed in the frequency domain to obtain the high-frequency transient line overload component and the low-frequency continuous line overload component. The coordinate transformation and integration of the high-frequency transient linear overload component are performed to obtain the first component of the spindle rotational angular velocity, radial displacement, and vertical displacement. The low-frequency continuous line overload component is calculated according to a preset tilt coordination ratio to obtain the second component of the main shaft rotational angular velocity and the second component of the three-axis angle of the cockpit. The first and second components of the cockpit three-axis angles are superimposed to obtain the final cockpit three-axis angles; the first and second components of the main shaft rotational angular velocity are superimposed to obtain the final main shaft rotational angular velocity; and the final main shaft rotational angular velocity is integrated to obtain the main shaft rotation angle. The spindle rotation angle, radial displacement, vertical displacement, and the final cockpit three-axis angle are used as the motion control coordination solution.

3. The overload simulation method for a six-axis manned centrifuge according to claim 2, characterized in that, The step of calculating the first component of the cockpit's three-axis angles based on the angular velocity components through coordinate transformation and integration includes: The angular velocity components are transformed from the pilot coordinate system to the cockpit coordinate system to obtain the cockpit's three-axis angular acceleration. The first component of the cockpit's three-axis angle is obtained by double integration of the cockpit's three-axis angular acceleration.

4. The overload simulation method for a six-axis manned centrifuge according to claim 2, characterized in that, The step of calculating the first component of the spindle rotational angular velocity, radial displacement, and vertical displacement based on the high-frequency transient overload component through coordinate transformation and integration includes: The high-frequency transient linear overload component is transformed from the aircraft pilot coordinate system to the polar coordinate system to obtain the principal axis rotational angular acceleration, radial acceleration, and vertical acceleration. The radial displacement and vertical displacement are obtained by double integration of the radial acceleration and vertical acceleration. The first component of the spindle rotational angular velocity is obtained by integrating the spindle rotational angular acceleration.

5. The overload simulation method for a six-axis manned centrifuge according to claim 3, characterized in that, The step of calculating the second component of the spindle rotational angular velocity and the second component of the cockpit three-axis angle based on the low-frequency continuous line overload component and according to a preset tilt coordination ratio includes: Based on the low-frequency continuous line overload component and the preset tilt coordination ratio, the low-frequency continuous line overload tilt component that needs to be simulated by cockpit tilting and the low-frequency continuous line overload angular velocity component that needs to be simulated by centripetal acceleration are obtained. The tilt coordination ratio represents the proportion of continuous overload simulated by cockpit tilting, and the sum of the low-frequency continuous line overload tilt component and the low-frequency continuous line overload angular velocity component is the low-frequency continuous line overload component. Based on the principle of gravity component synthesis, the low-frequency continuous line overload tilt component is converted into the cockpit triaxial angle, which is used as the second component of the cockpit triaxial angle. Based on the fundamental principle of centripetal acceleration, the low-frequency continuous linear overload angular velocity component is converted into the spindle rotational angular acceleration. The spindle rotational angular acceleration is then integrated to obtain the spindle rotational angular velocity, which is used as the second component of the spindle rotational angular velocity.

6. The overload simulation method for a six-axis manned centrifuge according to claim 5, characterized in that, The step of converting the low-frequency continuous line overload tilt component into cockpit three-axis angles based on the principle of gravity component synthesis includes: Differentiating the overload tilt component of the low-frequency continuous line yields the rate of change of the overload tilt component of the low-frequency continuous line. The rate of change of the low-frequency continuous line overload tilt component is converted into the cabin triaxial angular velocity using the Jacobian matrix based on the principle of gravity component synthesis. Integrating the three-axis angular velocities of the cockpit yields the three-axis angles of the cockpit, which serve as the second component of the three-axis angles of the cockpit.

7. The overload simulation method for a six-axis manned centrifuge according to claim 2, characterized in that, The six-axis manned centrifuge comprises six motion axes: a radial displacement axis for controlling the extension and retraction of the boom, a vertical displacement axis for controlling the lifting and lowering of the cabin, a main shaft rotation axis for controlling the rotation angle and speed of the boom, a roll axis for controlling the left and right tilt angle of the cabin, a pitch axis for controlling the forward and backward tilt angle of the cabin, and a yaw axis for controlling the left and right turning angle of the cabin. The step of synchronously controlling the six motion axes of the six-axis manned centrifuge according to the motion control coordination solution includes: Each parameter in the motion control coordination solution is output as a corresponding motion control parameter for controlling the six motion axes of the six-axis manned centrifuge, and the motion control parameters are used to perform synchronous motion control on the six motion axes of the six-axis manned centrifuge.

8. A six-axis manned centrifuge overload simulation device, characterized in that, The six-axis manned centrifuge includes a main shaft and a cabin connected by a boom, and the device includes: The target acquisition module is used to acquire the six-degree-of-freedom motion parameters of the aircraft to be simulated, including linear overload components and angular velocity components. The parameter conversion module is used to perform frequency domain decomposition and motion coordination on the line overload component and motion coordination on the angular velocity component, and to generate a motion control coordination solution for synchronously controlling the six motion axes of the six-axis manned centrifuge. The motion control module is used to synchronously control the six motion axes of the six-axis manned centrifuge according to the motion control coordination solution, and to simulate and generate an overload environment corresponding to the six degrees of freedom motion parameters in the cabin.

9. An electronic device, characterized in that, include: A memory and a processor are interconnected, the memory storing computer instructions, and the processor executing the computer instructions to perform the six-axis manned centrifuge overload simulation method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the six-axis manned centrifuge overload simulation method according to any one of claims 1 to 7.

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