Manned centrifugal machine overload control method, device and equipment and storage medium

Abstract

The invention relates to the technical field of data processing, and discloses a manned centrifugal machine overload control method, device and equipment and a storage medium, and the manned centrifugal machine overload control method comprises the steps: building a kinematic model of a six-axis manned centrifugal machine, and deducing the acceleration and angular velocity of a cabin origin under a target coordinate system based on the kinematic model; the acceleration and the angular velocity are converted into the sensing specific force and the sensing angular velocity of a pilot through the human body vestibular sensing characteristics; based on the accelerated speed, the angular speed, the sensing specific force and the sensing angular speed, a multi-objective optimization function is constructed, constraint conditions are established, and the constraint conditions comprise the physical constraint of the six-axis manned centrifugal machine and the sensing constraint of human body vestibular sensing; the multi-objective optimization function is solved based on the constraint condition, the optimal perception control sequence in the target time domain is obtained, overload control is conducted on the manned centrifugal machine, and the reliability of overload simulation control of the manned centrifugal machine can be improved.

Description

Overload control methods, devices, equipment and storage media for manned centrifuges Technical Field

[0001] This invention relates to the field of data processing technology, specifically to a method, apparatus, equipment, and storage medium for overload control of manned centrifuges. Background Technology

[0002] In related technologies, manned centrifuge overload simulation is generally based on the target overload and uses a three-axis centrifuge overload simulation algorithm to solve the three-axis motion control parameters, which has the problem of overall motion perception simulation distortion. Summary of the Invention

[0003] This invention provides a method, apparatus, equipment, and storage medium for controlling overload in a manned centrifuge, in order to solve the problem of overall motion perception simulation distortion in overload simulation of manned centrifuges in related technologies.

[0004] In a first aspect, the present invention provides an overload control method for a manned centrifuge, comprising: establishing a kinematic model of a six-axis manned centrifuge; deriving the acceleration and angular velocity of the cockpit origin in the target coordinate system based on the kinematic model; the six axes including: center yaw rotation angle, radial displacement, vertical displacement, cockpit yaw angle, cockpit pitch angle, and cockpit roll angle; converting the acceleration and angular velocity into the pilot's perceived force and perceived angular velocity through the vestibular perception characteristics; constructing a multi-objective optimization function based on the acceleration, angular velocity, perceived force, and perceived angular velocity, and establishing constraints, including physical constraints of the six-axis manned centrifuge and perceptual constraints of the human vestibular perception; solving the multi-objective optimization function based on the constraints to obtain the optimal perception control sequence in the target time domain for overload control of the manned centrifuge.

[0005] The manned centrifuge overload control method provided in this invention establishes a six-axis kinematic model to accurately capture the complex motion state of the cabin in three-dimensional space; it converts the perceived force and angular velocity by utilizing the vestibular perception characteristics of the human body, effectively conforming to the physiological perception patterns of pilots; and it constructs a multi-objective optimization function that integrates physical and perceptual constraints to achieve a dynamic balance between centrifuge motion performance and human tolerance. The optimal perceptual control sequence obtained by solving the problem can maximize the simulation of real flight overload scenarios within the physical limits of the equipment, enhancing the realism and effectiveness of training.

[0006] In one optional implementation, a kinematic model of a six-axis manned centrifuge is established, including: establishing a cockpit coordinate system, an boom coordinate system, and an inertial coordinate system; deriving the first direction cosine matrix of the cockpit coordinate system relative to the boom coordinate system and the second direction cosine matrix of the boom coordinate system relative to the inertial coordinate system, wherein the cockpit coordinate system is used to describe the change in cockpit roll angle, the boom coordinate system is used to describe the change in cockpit yaw angle, and the inertial coordinate system is used to describe the change in center yaw rotation angle; based on the second direction cosine matrix, establishing the transformation relationship of the cockpit origin position vector from the boom coordinate system to the inertial coordinate system, and performing second-order time differentiation to obtain the acceleration of the cockpit origin in the inertial coordinate system; and constructing the kinematic model of the six-axis manned centrifuge based on the acceleration of the cockpit origin in the inertial coordinate system, the first direction cosine matrix, and the second direction cosine matrix.

[0007] The manned centrifuge overload control method provided in this invention ensures the accuracy of acceleration calculation by using the second-order time derivative of the cabin origin acceleration in the kinematic model of the six-axis manned centrifuge. This effectively reflects the overload situation experienced by the subjects in real operating scenarios, helps improve the precision of overload control, and ensures the physiological safety of the subjects. Furthermore, the construction of the kinematic model of the six-axis manned centrifuge enables a systematic description of the complex motion of the six-axis manned centrifuge, further improving the operational reliability and maintenance efficiency of the six-axis manned centrifuge.

[0008] In one optional implementation, acceleration and angular velocity are converted into the pilot's perceived force and perceived angular velocity based on the characteristics of the human vestibular system, including: constructing a human vestibular system perception model based on the characteristics of the human vestibular system; inputting acceleration and angular velocity into the human vestibular system perception model to obtain the pilot's perceived force and perceived angular velocity.

[0009] The manned centrifuge overload control method provided in this invention can provide real-time feedback on the pilot's physical state by quantifying the output of perceived force and perceived angular velocity, providing a direct basis for dynamic adjustment of overload control and effectively reducing the risk of physiological stress caused by perception deviation. By constructing a human vestibular perception model, the method fills the gap between centrifuge motion parameters and human perception experience, accurately mapping centrifuge motion parameters to the pilot's subjective perception level, making the formulation of overload control strategies more physiologically adaptable.

[0010] In one optional implementation, constructing a human vestibular perception model includes: analyzing the perception of acceleration by otoliths in the human vestibule and constructing a linear motion perception sub-model of otoliths; analyzing the perception of angular velocity by the semicircular canals in the human vestibule and constructing a semicircular canal angular motion perception sub-model; and constructing a human vestibular perception model based on the linear motion perception sub-model of otoliths and the semicircular canal angular motion perception sub-model.

[0011] The manned centrifuge overload control method provided in this invention achieves refined decomposition and targeted modeling of the linear acceleration and angular motion perception mechanisms in the human vestibular system by constructing a linear motion perception sub-model of otoliths and a semicircular canal angular motion perception sub-model, respectively. This ensures the accurate reproduction of the model's perception process for different types of motion stimuli. The organic integration of the two models fully covers the core perception function dimensions of the vestibular system, enabling the human vestibular perception model to more realistically and comprehensively map the centrifuge motion parameters to the pilot's subjective perception level. This provides reliable model support for the subsequent accurate quantitative output of perception force and perception angular velocity, thereby effectively reducing the risk of physiological stress to the pilot caused by perception deviation and improving the safety, adaptability, and humanization level of manned centrifuge overload control.

[0012] In one optional implementation, a multi-objective optimization function is constructed based on acceleration, angular velocity, sensed specific force, and sensed angular velocity, including: obtaining a prediction error term based on the deviation between the predicted specific force and the predicted reference specific force corresponding to acceleration, and the deviation between the predicted angular velocity and the predicted reference angular velocity; obtaining a sense error term based on the deviation between the sensed specific force and the sensed reference specific force, and the deviation between the sensed angular velocity and the sensed reference angular velocity; and constructing a multi-objective optimization function based on the prediction error term and the sense error term.

[0013] The manned centrifuge overload control method provided in this invention ensures a high degree of consistency between the actual acceleration and angular velocity of the centrifuge and the physical reference values ​​by setting a prediction error term, thus solidifying the basic physical accuracy of overload control. By setting a perception error term, the pilot's subjective vestibular perception feedback is directly transformed into an optimization target, enabling the control strategy to actively adapt to individual perception characteristics and avoid physiological stress reactions caused by accurate physical parameters but uncomfortable perception. This multi-objective collaborative optimization mechanism effectively balances the dual requirements of machine motion accuracy and human perception adaptability, improving the safety, humanization level, and individual adaptability during manned centrifuge overload training or testing, thereby reducing training risks and optimizing training effects.

[0014] In one optional implementation, a multi-objective optimization function is constructed based on acceleration, angular velocity, perceived force, and perceived angular velocity. The function further includes: obtaining the acceleration control amplitude of the six-axis manned centrifuge in each degree of freedom to obtain a control penalty term; obtaining the state deviation error between the cabin state and the reference state to obtain a state deviation penalty term; and constructing a multi-objective optimization function based on the control penalty term, the state deviation penalty term, the prediction error term, and the perception error term.

[0015] The manned centrifuge overload control method provided in this invention can effectively constrain the acceleration control amplitude of each degree of freedom within a safe and reasonable range by setting control quantity penalty terms, avoiding overload or motion overshoot of the centrifuge mechanical structure due to excessive control quantity, and significantly improving the stability and service life of the equipment. By setting state deviation penalty terms, it can effectively suppress the deviation between the cockpit state and the reference state, ensuring that key state parameters such as cockpit attitude and position are always maintained near the preset reference, reducing the additional interference of unexpected state deviations on the pilot's vestibular perception, and further enhancing the standardization and repeatability of the training or test process. This provides a more comprehensive guarantee for the safety, reliability and process controllability of manned centrifuge overload training or testing, and provides a more solid technical support for completing overload training tasks with high quality.

[0016] In an optional implementation, the method further includes: acquiring the control result of overload control of the six-axis manned centrifuge; comparing the control result with the overload control target to determine the control deviation; if the control deviation exceeds a preset allowable error range, dynamically adjusting the weights of the prediction error term, the perception error term, or the control quantity penalty term coefficients in the multi-objective optimization function based on the control deviation; if the deviation is within the preset allowable error range, determining that the overload control has achieved the expected target.

[0017] The manned centrifuge overload control method provided in this invention can promptly capture deviations during the control process by comparing the control results with the overload control target in real time and evaluating the deviation amount, thus avoiding control inaccuracies caused by the accumulation of deviations. By dynamically adjusting the weights of the prediction error term, the perception error term, or the control penalty term coefficient in the multi-objective optimization function based on the deviation amount, it can adapt to different training scenarios, equipment status changes, and individual differences among pilots, further enhancing the robustness and flexibility of overload control and ensuring that overload control always conforms to the preset target. This provides a dynamically adaptable technical guarantee for the accurate implementation of manned centrifuge overload training or testing.

[0018] Secondly, the present invention provides an overload control device for a manned centrifuge, comprising: a model creation module for establishing a kinematic model of a six-axis manned centrifuge, and deriving the acceleration and angular velocity of the cockpit origin in the target coordinate system based on the kinematic model; the six axes include: center yaw rotation angle, radial displacement, vertical displacement, cockpit yaw angle, cockpit pitch angle, and cockpit roll angle; a data conversion module for converting acceleration and angular velocity into the pilot's perceived force and perceived angular velocity through the characteristics of human vestibular perception; a target optimization module for constructing a multi-objective optimization function based on acceleration, angular velocity, perceived force, and perceived angular velocity, and establishing constraints, including physical constraints of the six-axis manned centrifuge and perceptual constraints of human vestibular perception; and an overload control module for solving the multi-objective optimization function based on the constraints to obtain the optimal perceptual control sequence in the target time domain for overload control of the manned centrifuge.

[0019] 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 manned centrifuge overload control method of the first aspect or any corresponding embodiment described above.

[0020] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the manned centrifuge overload control method of the first aspect or any corresponding embodiment described above.

[0021] Fifthly, the present invention provides a computer program product, including computer instructions for causing a computer to execute the manned centrifuge overload control method of the first aspect or any corresponding embodiment described above. Attached Figure Description

[0022] 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.

[0023] Figure 1 is a first flowchart of a manned centrifuge overload control method according to an embodiment of the present invention; Figure 2 is a second flowchart of a manned centrifuge overload control method according to an embodiment of the present invention; Figure 3 is a simulation diagram of a manned centrifuge overload control method according to an embodiment of the present invention; Figures 4(a) and 4(b) are first effect diagrams of a manned centrifuge overload control method according to an embodiment of the present invention; Figures 5(a) and 5(b) are second effect diagrams of a manned centrifuge overload control method according to an embodiment of the present invention; Figure 6 is a structural block diagram of a manned centrifuge overload control device according to an embodiment of the present invention; Figure 7 is a hardware structure diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0024] 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.

[0025] 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.

[0026] 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.

[0027] According to an embodiment of the present invention, an embodiment of a method for overload control of a 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.

[0028] This embodiment provides a method for overload control of a manned centrifuge. Figure 1 is a flowchart of the method for overload control of a manned centrifuge according to an embodiment of the present invention. As shown in Figure 1, the process includes the following steps: Step S101, establish a kinematic model of a six-axis manned centrifuge, and derive the acceleration and angular velocity of the cabin origin in the target coordinate system based on the kinematic model.

[0029] The six axes include the center yaw rotation angle ψ c The parameters include radial displacement R, vertical displacement H, cockpit yaw angle ψ, cockpit pitch angle θ, and cockpit roll angle φ. The kinematic model describes the mapping relationship between the cockpit origin acceleration and the six-axis motion. The acceleration and angular velocity of the cockpit origin in various coordinate systems can be derived based on the kinematic model.

[0030] Step S102: Through the vestibular perception characteristics of the human body, acceleration and angular velocity are converted into the pilot's perceived force and perceived angular velocity.

[0031] The vestibular sensory characteristics of the human body include the physiological response characteristics of the semicircular canals and otolith organs in the vestibular system. The semicircular canals are used to sense angular acceleration signals, and their dynamic response has a time constant characteristic, making them more sensitive to changes in angular acceleration in the low-frequency range. The otolith organs are used to sense linear acceleration signals, and their sensing process depends on the reference of the gravitational field, and they have different sensing sensitivities to linear acceleration in different directions.

[0032] Specifically, when converting acceleration and angular velocity into the pilot's perceived force and perceived angular velocity by utilizing the vestibular perception characteristics, the input angular velocity signal can first be simulated using a first-order low-pass filter model matched with the semicircular canal time constant to filter out high-frequency interference and restore its sensitive perception result to low-frequency angular acceleration changes, thereby obtaining the pilot's perceived angular velocity. Then, for the input linear acceleration signal, with the direction of gravity field as a reference, it can be decomposed into components perpendicular to and parallel to the otolith sensory plane. The components are then weighted and calculated using sensitivity coefficients in different directions to obtain the pilot's perceived force, thus accurately reproducing the actual perception of motion by the human body.

[0033] Step S103: Based on acceleration, angular velocity, perceived force and perceived angular velocity, construct a multi-objective optimization function and establish constraints.

[0034] The constraints include the physical constraints of the six-axis manned centrifuge and the perceptual constraints of the human vestibular system.

[0035] When constructing a multi-objective optimization function based on acceleration, angular velocity, perceived force, and perceived angular velocity, and establishing constraints, the physical constraints of the six-axis manned centrifuge can be determined first: the maximum rotation angle range, maximum angular velocity threshold, maximum angular acceleration threshold, and hardware performance boundaries such as the travel limit of linear motion and maximum linear acceleration for each axis, to ensure that the equipment operates within a safe physical range during control. Then, the perceptual constraints of human vestibular perception can be determined: the perceived force should be controlled within the comfortable range that the human body can tolerate, avoiding discomfort or illusions caused by exceeding the perception threshold of the vestibular system, while ensuring that the rate of change of perceived angular velocity conforms to the physiological adaptation characteristics of the human body, preventing vestibular dysfunction caused by sudden changes in angular velocity. Based on this, a multi-objective optimization function is constructed: minimizing the deviation between actual acceleration and perceived force, and minimizing the deviation between actual angular velocity and perceived angular velocity are the main optimization objectives. At the same time, based on the centrifuge operation stability index (such as minimizing the second derivative of acceleration to reduce impact) and energy consumption optimization index, the priority of each objective is balanced by weighting coefficients to form a comprehensive multi-objective optimization function, so as to achieve the accuracy and efficiency of overload control of manned centrifuges under the premise of meeting the requirements of safe equipment operation and human comfort.

[0036] Step S104: Solve the multi-objective optimization function based on the constraints to obtain the optimal sensing control sequence in the target time domain, so as to perform overload control on the manned centrifuge.

[0037] When performing overload control on a manned centrifuge using the optimal sensing and control sequence within the target time domain, the optimal sensing and control sequence can be converted into electrical signal control commands that conform to the hardware interface protocol of the manned centrifuge. Then, based on the electrical signal control commands, the key operating parameters such as the rotation speed, angular acceleration, and direction of motion of the centrifuge arm can be adjusted, so that the overload application process conforms to the time domain variation characteristics of the optimal sequence.

[0038] The manned centrifuge overload control method provided in this embodiment establishes a six-axis kinematic model to accurately capture the complex motion state of the cabin in three-dimensional space; it converts the perceived force and angular velocity by utilizing the vestibular perception characteristics of the human body to effectively conform to the physiological perception patterns of pilots; and it constructs a multi-objective optimization function that integrates physical and perceptual constraints to achieve a dynamic balance between centrifuge motion performance and human tolerance. The optimal perceptual control sequence obtained by solving the problem can maximize the simulation of real flight overload scenarios within the physical limits of the equipment, thereby enhancing the realism and effectiveness of training.

[0039] In some optional implementations, the control results of overload control of the six-axis manned centrifuge can also be obtained; the control results are compared with the overload control target to determine the control deviation; if the control deviation exceeds the preset allowable error range, the weights of the prediction error term, the weights of the perception error term, or the coefficients of the control quantity penalty term in the multi-objective optimization function are dynamically adjusted based on the control deviation; if the deviation is within the preset allowable error range, it is determined that the overload control has achieved the expected target.

[0040] Specifically, when the detected control deviation mainly stems from deviations from physical constraint boundaries (such as the boom rotation speed exceeding the safe threshold range or excessive cabin acceleration fluctuations), the weight of the prediction error term in the multi-objective optimization function can be increased by 10%-30% from its base value to strengthen the constraint priority of equipment operational safety. If the deviation mainly comes from the difference between the occupant's physiological perception feedback and the target perception state (such as the pilot's vestibular perception signal showing a dizziness level higher than the expected threshold), the weight of the perception error term is increased to make the optimization process more focused on matching the human body's physiological tolerance patterns. If the adjustment range of the control command is too drastic, leading to an increased risk of wear on the equipment's mechanical components, the coefficient of the control quantity penalty term can be increased by 20%-50% to suppress abrupt changes in the control quantity. When the deviation is within the allowable range, the current weight and coefficient configuration is saved to the parameter database and marked as the optimal parameter set adapted to the current training scenario, so that it can be directly called upon in subsequent identical or similar overload training tasks, improving control efficiency and stability.

[0041] The manned centrifuge overload control method provided in this invention can promptly capture deviations during the control process by comparing the control results with the overload control target in real time and evaluating the deviation amount, thus avoiding control inaccuracies caused by the accumulation of deviations. By dynamically adjusting the weights of the prediction error term, the perception error term, or the control penalty term coefficient in the multi-objective optimization function based on the deviation amount, it can adapt to different training scenarios, equipment status changes, and individual differences among pilots, further enhancing the robustness and flexibility of overload control and ensuring that overload control always conforms to the preset target. This provides a dynamically adaptable technical guarantee for the accurate implementation of manned centrifuge overload training or testing.

[0042] This embodiment provides a method for controlling the overload of a manned centrifuge. Figure 2 is a flowchart of the method for controlling the overload of a manned centrifuge according to an embodiment of the present invention. As shown in Figure 2, the process includes the following steps: Step S201, establish a kinematic model of a six-axis manned centrifuge, and derive the acceleration and angular velocity of the cabin origin in the target coordinate system based on the kinematic model.

[0043] In some optional implementations, referring to Figure 3, when establishing the kinematic model of a six-axis manned centrifuge, a cockpit coordinate system, an boom coordinate system, and an inertial coordinate system can be established. The first direction cosine matrix of the cockpit coordinate system relative to the boom coordinate system and the second direction cosine matrix of the boom coordinate system relative to the inertial coordinate system are derived. The cockpit coordinate system is used to describe the change in cockpit roll angle, the boom coordinate system is used to describe the change in cockpit yaw angle, and the inertial coordinate system is used to describe the change in center yaw rotation angle. Based on the second direction cosine matrix, the transformation relationship of the cockpit origin position vector from the boom coordinate system to the inertial coordinate system is established, and the second-order time derivative is performed to obtain the acceleration of the cockpit origin in the inertial coordinate system. Based on the acceleration of the cockpit origin in the inertial coordinate system, the first direction cosine matrix, and the second direction cosine matrix, the kinematic model of the six-axis manned centrifuge is constructed.

[0044] Specifically, the fixed coordinate system O0-x0y0z0 is defined on the base coordinate system; its position and time do not change with time and can be considered an inertial coordinate system. The boom coordinate system O1-x1y1z1 is defined on the boom, with its y-axis fixed on the boom and changing with the boom's rotation. The radial coordinate system O2-x2y2z2 and the vertical coordinate system O3-x3y3z3 are used to describe the motion of the horizontal movement system and the vertical lift system. The yaw, pitch, and roll motions of the cockpit are described by coordinate systems O4-x4y4z4, O5-x5y5z5, and O6-x6y6z6, respectively. The centers of these three coordinate systems are defined at the center of the vestibular system of the human head within the cockpit, and it is assumed that the center of the human head remains fixed during the simulation. Among them, coordinate system O6-x6y6z6 is also used to describe the motion state perceived by the pilot.

[0045] To simplify the subsequent derivation, the trigonometric functions are abbreviated as sin(·)=s(·) and cos(·)=c(·), where (·) represents ψ. c , ψ, θ, φ. Simultaneously define matrices. Represents coordinate system O m -x m y m z m Relative to coordinate system O n -x n y n z n The direction cosine matrix of rotation. Then the direction cosine matrix of the human coordinate system O6-x6y6z6 relative to the upper arm coordinate system. It can be represented as:

[0046] Because two translational degrees of freedom, radial and vertical, are introduced, the position of the cockpit origin relative to the boom rotation center is time-varying. The components of the cockpit origin's position vector in the boom coordinate system can be expressed as:

[0047] The components of this vector in the inertial coordinate system are:

[0048]

[0049] Where T is the transpose.

[0050] For x [0] The acceleration at the cockpit origin can be obtained by taking the second derivative:

[0051] Through kinematic models By transforming the above acceleration from the inertial coordinate system to the cockpit coordinate system, we can obtain the component of the acceleration vector at the cockpit origin in the cockpit coordinate system.

[0052] Similarly, using coordinate transformation relationships, the components of the cockpit angular velocity vector in the cockpit coordinate system can be calculated as follows:

[0053] Furthermore, a model predictive control model can be constructed based on the above kinematic model. Define the variable x as the position, velocity, and acceleration of the centrifuge's six degrees of freedom, i.e., the inertial signals:

[0054] in, , , .

[0055] Define the six degrees of freedom of a six-axis centrifuge as q1, q2, q3, q4, q5, and q6. Use the trapezoidal rule for time-domain discretization, where h is the discrete time step. Then the... The discrete kinematic equations at each time step are expressed as follows:

[0056]

[0057] The total prediction duration in the target time domain can be expressed as kh.

[0058] As mentioned above, by taking the second-order time derivative of the acceleration at the cabin origin in the kinematic model of the six-axis manned centrifuge, the accuracy of acceleration calculation is ensured. This effectively reflects the overload situation experienced by the subjects in real operating scenarios, which helps to improve the precision of overload control and ensure the physiological safety of the subjects. The construction of the kinematic model of the six-axis manned centrifuge realizes a systematic description of the complex motion of the six-axis manned centrifuge, further improving the operational reliability and maintenance efficiency of the six-axis manned centrifuge.

[0059] Step S202: Through the vestibular perception characteristics of the human body, acceleration and angular velocity are converted into the pilot's perceived force and perceived angular velocity.

[0060] Specifically, step S202 includes: step S2021, constructing a human vestibular perception model based on the characteristics of human vestibular perception.

[0061] In some alternative implementations, when constructing a human vestibular perception model, the otoliths in the human vestibule may first be analyzed to perceive acceleration, and an otolith linear motion perception sub-model may be constructed; then, the semicircular canals in the human vestibule may be analyzed to perceive angular velocity, and a semicircular canal angular motion perception sub-model may be constructed; finally, based on the otolith linear motion perception sub-model and the semicircular canal angular motion perception sub-model, a human vestibular perception model may be constructed.

[0062] Since the human body cannot distinguish between acceleration and gravity, the acceleration sensed by the otoliths is characterized by specific force. The otolith linear motion sensing sub-model can be represented as:

[0063] in, The transfer function is used to characterize the sensory characteristics of the otolith organs in the human vestibular system in response to linear acceleration. To sense the force signal, This is the actual force ratio signal; , , where is the time constant of the otolith organ in the human vestibular system for sensing linear acceleration; s is the Laplace operator.

[0064] The semicircular tube angle motion sensing sub-model can be represented as:

[0065] in, The transfer function of the semicircular canal angular motion sensing sub-model is used to characterize the sensing of angular acceleration of the semicircular canals in the human vestibular system. To sense angular velocity, This is the actual acceleration signal. It is a time constant. This is the gain coefficient.

[0066] As mentioned above, by quantifying the output based on perceived force and perceived angular velocity, the pilot's physical state can be fed back in real time, providing a direct basis for the dynamic adjustment of overload control and effectively reducing the risk of physiological stress caused by perception deviation. The construction of the human vestibular perception model fills the gap between centrifuge motion parameters and human perception experience, and can accurately map centrifuge motion parameters to the pilot's subjective perception level, making the formulation of overload control strategies more physiologically adaptable.

[0067] Step S2022: Input the acceleration and angular velocity into the body vestibular perception model to obtain the pilot's perceived force and perceived angular velocity.

[0068] Specifically, acceleration is input into the otolith linear motion sensing sub-model within the vestibular perception model to obtain the pilot's perceived force. Angular velocity is input into the semicircular canal angular motion sensing sub-model within the vestibular perception model to obtain the pilot's perceived angular velocity.

[0069] The manned centrifuge overload control method provided in this invention can provide real-time feedback on the pilot's physical state by quantifying the output of perceived force and perceived angular velocity, providing a direct basis for dynamic adjustment of overload control and effectively reducing the risk of physiological stress caused by perception deviation. By constructing a human vestibular perception model, the method fills the gap between centrifuge motion parameters and human perception experience, accurately mapping centrifuge motion parameters to the pilot's subjective perception level, making the formulation of overload control strategies more physiologically adaptable.

[0070] Step S203: Based on acceleration, angular velocity, perceived force and perceived angular velocity, construct a multi-objective optimization function and establish constraints.

[0071] In some optional implementations, when constructing a multi-objective optimization function based on acceleration, angular velocity, sensed specific force, and sensed angular velocity, a prediction error term can be obtained based on the deviation between the predicted specific force and the predicted reference specific force corresponding to acceleration, and the deviation between the predicted angular velocity and the predicted reference angular velocity; a sense error term can be obtained based on the deviation between the sensed specific force and the sensed reference specific force, and the deviation between the sensed angular velocity and the sensed reference angular velocity; and a multi-objective optimization function can be constructed based on the prediction error term and the sense error term.

[0072] Specifically, during flight, the specific force can be used to represent the degree of acceleration overload experienced by the pilot, which represents the pilot's vestibular somatosensory response. Specific force is defined as the net non-gravitational force per unit mass of a carrier. Its calculation formula is: f = ag, where f represents specific force, a represents acceleration, and g represents gravitational acceleration. The simulated target for a manned centrifuge is the predicted specific force f in the cockpit. s Compared with the predictive reference on the aircraft, f ATo maintain consistency, the system input is the specific force across the three axes of the cockpit. The magnitude of the specific force is sometimes given in the form of overload, defined as G=f / g0, where g0 is the standard gravitational acceleration.

[0073] Because pilot control actions are continuous over short periods, the consistency of the simulation at the current moment can be ensured by utilizing inputs from the current and previous time periods. Zero-order hold predictive reference ratios are used. enter .

[0074] The primary objective of motion simulation is to reproduce the required reference inertial signal, derived from overload and angular velocity data recorded in real or simulated flight. This embodiment constructs the objective function using a quadratic term of the error, and utilizes the following error: specific force error. To account for the error between the predicted specific force and the predicted reference specific force, the angular velocity error... This represents the error between the predicted angular velocity and the predicted reference angular velocity.

[0075] The objective function can be expressed as:

[0076] Where Q1 is the weighted matrix for predicting specific force motion error, Q2 is the weighted matrix for predicting angular velocity motion error, and P is the terminal error weight matrix. The terminal term is used to strengthen the convergence trend of the prediction end, thereby improving closed-loop performance and numerical stability. If further combined with the human vestibular perception model, the objective function can be expressed as:

[0077] in, This refers to the perceived angular velocity deviation within the perceived error term. To perceive the comparison, To perceive the reference comparison, This refers to the perceived angular velocity deviation within the perception error term. To sense angular velocity, To sense the reference angular velocity, The position, velocity, and acceleration of the centrifuge are its six degrees of freedom, i.e., inertial signals.

[0078] As mentioned above, by setting the prediction error term, the actual acceleration and angular velocity of the centrifuge are ensured to be highly consistent with the physical reference values, thus consolidating the basic physical accuracy of overload control. By setting the perception error term, the pilot's subjective vestibular perception feedback is directly transformed into optimization targets, enabling the control strategy to actively adapt to individual perception characteristics and avoid physiological stress reactions caused by accurate physical parameters but uncomfortable perception. This multi-objective collaborative optimization mechanism effectively balances the dual requirements of machine motion accuracy and human perception adaptability, improving the safety, humanization level, and individual adaptability during manned centrifuge overload training or testing, thereby reducing training risks and optimizing training effects.

[0079] In some optional implementations, the acceleration control amplitude of the six-axis manned centrifuge in each degree of freedom can be obtained to obtain the control quantity penalty term; the state deviation error between the cabin state and the reference state can be obtained to obtain the state deviation penalty term; and a multi-objective optimization function can be constructed based on the control quantity penalty term, the state deviation penalty term, the prediction error term, and the perception error term.

[0080] Specifically, to save on centrifuge control costs, a penalty term is added to the system's control variables, allowing the system to complete the simulation at a lower cost. The formula is expressed as follows:

[0081] Where R represents the weighted matrix of the control penalty term.

[0082] To avoid long-term bias in the motion model, a secondary penalty can be applied to the deviation of the system state from the baseline state. Definition The error between the inertial signal and the reference state can be used to construct the state deviation cost term, i.e., the state offset error:

[0083] Where S represents the state deviation weight matrix.

[0084] Each of the above objective functions can be expressed as a time-dependent function, and each objective function can be normalized using a weight matrix. The simulation objective is to minimize the objective function:

[0085] The manned centrifuge overload control method provided in this invention can effectively constrain the acceleration control amplitude of each degree of freedom within a safe and reasonable range by setting control quantity penalty terms, avoiding overload or motion overshoot of the centrifuge mechanical structure due to excessive control quantity, and significantly improving the stability and service life of the equipment. By setting state deviation penalty terms, it can effectively suppress the deviation between the cockpit state and the reference state, ensuring that key state parameters such as cockpit attitude and position are always maintained near the preset reference, reducing the additional interference of unexpected state deviations on the pilot's vestibular perception, and further enhancing the standardization and repeatability of the training or test process. This provides a more comprehensive guarantee for the safety, reliability and process controllability of manned centrifuge overload training or testing, and provides a more solid technical support for completing overload training tasks with high quality.

[0086] Due to the physical limitations of the motion platform, the operational state of the motion model needs to be constrained. For example, the cabin cannot exceed the maximum working radius of the centrifuge, and the state variables of the motion model, such as velocity and acceleration, also need to be kept within allowable ranges. Considering the human vestibular perception model, its internal state and input can be limited by a nonlinear constraint function g(x). In summary, the model constraints can be expressed as:

[0087]

[0088] Initial constraints are imposed on the cloud model at the start of the simulation, such as initializing the cockpit to an upright position. Appropriate initial values ​​can accelerate the convergence of the system solution. Specifically, system variables, objective functions, and constraints can be defined using the CasADi tool, and its automatic differentiation function can be used to calculate gradients. The optimization problem is solved using the iPOTP nonlinear optimization solver.

[0089] Step S204 involves solving a multi-objective optimization function based on constraints to obtain the optimal sensing control sequence in the target time domain, which is then used for overload control of the manned centrifuge. For details, please refer to step S204 of the embodiment shown in Figure 1; it will not be repeated here.

[0090] As one or more specific application embodiments of the present invention, the motion reproduction capability of a centrifuge under complex maneuvering conditions is verified by using the maneuvering flight action of a certain type of aircraft as the simulation object. The reference input is defined as the overload vector and angular velocity vector acting on the pilot's head during the aircraft maneuver. The reference curve sampling frequency is 10Hz, and the total simulation time is 60s. Figures 4(a) and 4(b) show the simulation results of the overload and angular velocity curves. The dashed line represents the aircraft reference curve, and the solid line represents the centrifuge simulation result. As shown in Figure 4(a), the centrifuge has high fidelity to the overload signal, especially in the main overload direction G.z The simulation of angular velocity in Figure 4(b) shows good consistency with the reference curve. However, in Figure 4(b), a poor simulation of angular velocity is observed, with significant deviations in some axes. Although the centrifuge has six degrees of freedom, its reproduction of the angular velocity vector during flight is significantly affected by the physical system. On the one hand, in order to continuously generate target overload in a confined space, the centrifuge needs to introduce centripetal acceleration through changes in the yaw angle, a process that inevitably couples with angular velocity. On the other hand, changes in cockpit attitude cause additional centripetal force and gravity-related motion requirements, thus limiting the accurate reproduction of angular velocity. Therefore, from the perspective of physical consistency, simulating accurate angular velocity on a centrifuge is quite difficult.

[0091] However, from the perspective of human perception, the aforementioned physical differences are unlikely to be precisely perceived by the pilot. Due to the characteristics of the vestibular system, the human body exhibits adaptation and attenuation characteristics to continuous, low-frequency angular velocity stimulation. During the continuous rotation of the centrifuge, the pilot is more sensitive to changes in angular velocity than to the steady-state process. Therefore, if the trend of angular velocity changes and key peak values ​​can be reasonably reproduced, it may present the pilot with a realistic sense of flight motion at the perceptual level. Human perception is introduced into the simulation to optimize the centrifuge. The simulation results of the maneuver curves are shown in Figure 5(a) and Figure 5(b). Figure 5(a) shows the centrifuge pilot's perceived overload ( ) and flight perception overload ( The comparison results are shown in the figure. x and f y The overload simulation error is within 0.5g, while f z The main overload curves are basically consistent with the reference curves, demonstrating good overload tracking capability. In terms of angular velocity, as shown in Figure 5(b), the simulation effect of perceived angular velocity in the x and z directions is significantly improved, and the peak characteristics of its angular velocity with an additional 25s are reflected.

[0092] This embodiment also provides an overload control device for a manned centrifuge, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs 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.

[0093] This embodiment provides an overload control device for a manned centrifuge, as shown in Figure 6. It includes: a model creation module 601, used to establish a kinematic model of the six-axis manned centrifuge, and derive the acceleration and angular velocity of the cockpit origin in the target coordinate system based on the kinematic model. The six axes include: center yaw rotation angle, radial displacement, vertical displacement, cockpit yaw angle, cockpit pitch angle, and cockpit roll angle; a data conversion module 602, used to convert acceleration and angular velocity into the pilot's perceived force and perceived angular velocity through the characteristics of human vestibular perception; a target optimization module 603, used to construct a multi-objective optimization function based on acceleration, angular velocity, perceived force, and perceived angular velocity, and establish constraints, including physical constraints of the six-axis manned centrifuge and perceptual constraints of human vestibular perception; and an overload control module 604, used to solve the multi-objective optimization function based on the constraints to obtain the optimal perceptual control sequence in the target time domain for overload control of the manned centrifuge.

[0094] In some optional implementations, the model creation module 601 includes: a coordinate system establishment unit, used to establish a cockpit coordinate system, a boom coordinate system, and an inertial coordinate system, derive the first direction cosine matrix of the cockpit coordinate system relative to the boom coordinate system and the second direction cosine matrix of the boom coordinate system relative to the inertial coordinate system, wherein the cockpit coordinate system is used to describe the change of the cockpit roll angle, the boom coordinate system is used to describe the change of the cockpit yaw angle, and the inertial coordinate system is used to describe the change of the center yaw rotation angle; an acceleration acquisition unit, used to establish the transformation relationship of the cockpit origin position vector from the boom coordinate system to the inertial coordinate system based on the second direction cosine matrix, and perform second-order time differentiation to obtain the acceleration of the cockpit origin in the inertial coordinate system; and a motion model construction unit, used to construct the kinematic model of the six-axis manned centrifuge based on the acceleration of the cockpit origin in the inertial coordinate system, the first direction cosine matrix, and the second direction cosine matrix.

[0095] In some optional implementations, the data conversion module 602 includes: a perception model construction unit for constructing a human vestibular perception model based on the characteristics of human vestibular perception; and a perception parameter acquisition unit for inputting acceleration and angular velocity into the human vestibular perception model to obtain the pilot's perceived specific force and perceived angular velocity.

[0096] In some optional implementations, the perception model construction unit includes: an acceleration perception subunit, used to analyze the perception of acceleration by otoliths in the human vestibule and construct an otolith linear motion perception submodel; an angular velocity perception subunit, used to analyze the perception of angular velocity by the semicircular canals in the human vestibule and construct a semicircular canal angular motion perception submodel; and a human vestibular perception subunit, used to construct a human vestibular perception model based on the otolith linear motion perception submodel and the semicircular canal angular motion perception submodel.

[0097] In some optional implementations, the target optimization module 603 includes: a prediction error acquisition unit, used to obtain a prediction error term based on the deviation between the predicted specific force and the predicted reference specific force corresponding to the acceleration and the deviation between the predicted angular velocity and the predicted reference angular velocity; a perception error acquisition unit, used to obtain a perception error term based on the deviation between the perceived specific force and the perceived reference specific force and the deviation between the perceived angular velocity and the perceived reference angular velocity; and a first target optimization unit, used to construct a multi-objective optimization function based on the prediction error term and the perception error term.

[0098] In some optional implementations, the target optimization module 603 further includes: a control quantity penalty unit, used to obtain the acceleration control amplitude of the six-axis manned centrifuge in each degree of freedom, and obtain a control quantity penalty term; a state offset penalty unit, used to obtain the state offset error between the cabin state and the reference state, and obtain a state offset penalty term; and a second target optimization unit, used to construct a multi-objective optimization function based on the control quantity penalty term, the state offset penalty term, the prediction error term, and the perception error term.

[0099] In some optional embodiments, the overload control module 604 includes: a control result acquisition unit for acquiring control results of overload control of a six-axis manned centrifuge; a control deviation determination unit for comparing the control results with the overload control target to determine the control deviation; a control parameter adjustment unit for dynamically adjusting the weights of the prediction error term, the perception error term, or the control quantity penalty term coefficient in the multi-objective optimization function based on the control deviation if the control deviation exceeds a preset allowable error range; and an overload control determination unit for determining that the overload control has achieved the expected target if the deviation is within a preset allowable error range.

[0100] The manned centrifuge overload control device provided in this embodiment of the invention can execute the manned centrifuge overload control method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of 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.

[0101] Figure 7 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0102] Referring specifically to Figure 7, a schematic diagram of a suitable electronic device for implementing embodiments of the present invention is shown below. The electronic device may include a processor (e.g., a central processing unit, a graphics processing unit, etc.) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a memory 708 into a random access memory (RAM) 703. The RAM 703 also stores various programs and data required for the operation of the electronic device. The processor 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0103] Typically, the following devices can be connected to I / O interface 705: input devices 706 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 707 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 708 including, for example, magnetic tapes, hard disks, etc.; and communication devices 709. Communication device 709 allows the electronic device to communicate wirelessly or wiredly with other devices to exchange data. Although FIG7 shows an electronic device with various devices, it should be understood that it is not required to implement or have all the devices shown, and more or fewer devices may be implemented or have alternatively.

[0104] 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 709, or installed from a memory 708, or installed from a ROM 702. When the computer program is executed by the processor 701, it performs the functions defined in the manned centrifuge overload control method of the embodiments of the present invention.

[0105] The electronic device shown in Figure 7 is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0106] 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 the computer, processor, microprocessor controller, or programmable hardware includes 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 overload control method for a manned centrifuge shown in the above embodiments is implemented.

[0107] 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.

[0108] 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. An overload control method for a manned centrifuge, characterized in that, The method includes: establishing a kinematic model of a six-axis manned centrifuge; deriving the acceleration and angular velocity of the cockpit origin in the target coordinate system based on the kinematic model; the six axes include: center yaw rotation angle, radial displacement, vertical displacement, cockpit yaw angle, cockpit pitch angle, and cockpit roll angle; converting the acceleration and angular velocity into the pilot's perceived force and perceived angular velocity through the vestibular perception characteristics; constructing a multi-objective optimization function based on the acceleration, angular velocity, perceived force, and perceived angular velocity, and establishing constraints, including physical constraints of the six-axis manned centrifuge and perceptual constraints of human vestibular perception; solving the multi-objective optimization function based on the constraints to obtain the optimal perception control sequence in the target time domain for overload control of the manned centrifuge.

2. The method according to claim 1, characterized in that, The establishment of the kinematic model of the six-axis manned centrifuge includes: establishing a cockpit coordinate system, an arm coordinate system, and an inertial coordinate system; deriving the first direction cosine matrix of the cockpit coordinate system relative to the arm coordinate system and the second direction cosine matrix of the arm coordinate system relative to the inertial coordinate system, wherein the cockpit coordinate system is used to describe the change of the cockpit roll angle, the arm coordinate system is used to describe the change of the cockpit yaw angle, and the inertial coordinate system is used to describe the change of the center yaw rotation angle; based on the second direction cosine matrix, establishing the transformation relationship of the cockpit origin position vector from the arm coordinate system to the inertial coordinate system, and performing second-order time differentiation to obtain the acceleration of the cockpit origin in the inertial coordinate system; and constructing the kinematic model of the six-axis manned centrifuge based on the acceleration of the cockpit origin in the inertial coordinate system, the first direction cosine matrix, and the second direction cosine matrix.

3. The method according to claim 1, characterized in that, The step of converting the acceleration and angular velocity into the pilot's perceived force and perceived angular velocity through the vestibular perception characteristics includes: constructing a vestibular perception model based on the vestibular perception characteristics; and inputting the acceleration and angular velocity into the vestibular perception model to obtain the pilot's perceived force and perceived angular velocity.

4. The method according to claim 3, characterized in that, The construction of the human vestibular perception model includes: analyzing the perception of acceleration by otoliths in the human vestibule and constructing a linear motion perception sub-model of otoliths; analyzing the perception of angular velocity by the semicircular canals in the human vestibule and constructing a semicircular canal angular motion perception sub-model; and constructing the human vestibular perception model based on the linear motion perception sub-model of otoliths and the semicircular canal angular motion perception sub-model.

5. The method according to claim 1, characterized in that, The step of constructing a multi-objective optimization function based on the acceleration, the angular velocity, the sensed specific force, and the sensed angular velocity includes: obtaining a prediction error term based on the deviation between the predicted specific force and the predicted reference specific force corresponding to the acceleration, and the deviation between the predicted angular velocity and the predicted reference angular velocity; obtaining a sensing error term based on the deviation between the sensed specific force and the sensed reference specific force, and the deviation between the sensed angular velocity and the sensed reference angular velocity; and constructing the multi-objective optimization function based on the prediction error term and the sensing error term.

6. The method according to claim 5, characterized in that, The step of constructing a multi-objective optimization function based on the acceleration, angular velocity, perceived force, and perceived angular velocity further includes: obtaining the acceleration control amplitude of the six-axis manned centrifuge in each degree of freedom to obtain a control quantity penalty term; obtaining the state deviation error between the cabin state and the reference state to obtain a state deviation penalty term; and constructing the multi-objective optimization function based on the control quantity penalty term, the state deviation penalty term, the prediction error term, and the perceived error term.

7. The method according to claim 1, characterized in that, The method further includes: obtaining the control result of overload control of the six-axis manned centrifuge; comparing the control result with the overload control target to determine the control deviation; if the control deviation exceeds a preset allowable error range, dynamically adjusting the weight of the prediction error term, the weight of the perception error term, or the coefficient of the control quantity penalty term in the multi-objective optimization function based on the control deviation; if the deviation is within the preset allowable error range, determining that the overload control has achieved the expected target.

8. An overload control device for a manned centrifuge, characterized in that, The device includes: a model creation module for establishing a kinematic model of a six-axis manned centrifuge, and deriving the acceleration and angular velocity of the cockpit origin in the target coordinate system based on the kinematic model. The six axes include: center yaw rotation angle, radial displacement, vertical displacement, cockpit yaw angle, cockpit pitch angle, and cockpit roll angle; a data conversion module for converting the acceleration and angular velocity into the pilot's perceived force and perceived angular velocity through the vestibular perception characteristics; a target optimization module for constructing a multi-objective optimization function based on the acceleration, angular velocity, perceived force, and perceived angular velocity, and establishing constraints, including physical constraints of the six-axis manned centrifuge and perceptual constraints of the human vestibular perception; and an overload control module for solving the multi-objective optimization function based on the constraints to obtain the optimal perception control sequence in the target time domain for overload control of the manned centrifuge.

9. An electronic device, characterized in that, include: A memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of 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 method of any one of claims 1 to 7.

Images