A linear driving motion control method, system and device for a full-motion flight simulator

Abstract

This invention belongs to the field of motion control technology for flight simulators, and relates to a linear drive motion control method, system, and device for a full-motion flight simulator. It aims to solve the problems of decreased control accuracy and multi-stage error accumulation caused by kinematic coupling in existing control systems. The invention includes: acquiring the desired pose command of the simulator cabin; establishing a first mapping relationship and a second mapping relationship, mapping the excitation signal of the first control unit used to generate vertical and angular motion driving forces into vertical resultant forces and moments; mapping the excitation signal of the second control unit used to generate planar translational driving forces into longitudinal and lateral resultant forces; solving for the target resultant force or moment; using the target resultant force and moment of the corresponding mapping relationship as constraints and the energy consumption function as the optimization objective, solving for the excitation command and generating the drive timing sequence; acquiring the actual pose and resolving the target resultant force and moment based on deviation correction. This invention can achieve decoupling of each degree of freedom and reduce error accumulation.

Description

Technical Field

[0001] This invention belongs to the field of motion control technology for flight simulators, and specifically relates to a linear drive motion control method, system, and equipment for a full-motion flight simulator. Background Technology

[0002] Full-motion flight simulators generally employ a six-degree-of-freedom motion system based on a Stewart parallel structure. The control method of this system is as follows: the host computer outputs the desired motion signal based on the flight simulation model. After filtering, the desired pose is converted into the target extension / retraction amount of six electric cylinders through inverse kinematics. Each servo driver controls the servo motor to rotate according to the deviation between the target position and the actual position. This rotation is then converted into linear motion via ball screws, driving the six electric cylinders to coordinate extension / retraction, thus achieving six-degree-of-freedom motion of the upper platform.

[0003] In the above control method, the six electric cylinders are spatially parallel and rigidly connected. There are inherent kinematic coupling characteristics between each axis. The movement of any single actuator cylinder will cause the other actuator cylinders to undergo passive deformation and be subjected to force through the rigid hinge. However, each axis adopts an independent control mode, which fails to eliminate the coupling interference, resulting in a deviation between the control command and the actual output of each axis, affecting the control accuracy of the motion posture.

[0004] In addition, the desired pose in the control link is converted into position commands for each axis through inverse kinematics calculation, and then the actual pose is output through servo position closed-loop control, lead screw transmission and other links. Inverse kinematics calculation has model simplification error, lead screw transmission has backlash and friction nonlinearity error, and the coupling characteristics further introduce additional mechanical coupling error. Multiple error sources accumulate step by step in the signal transmission process, which is difficult to completely eliminate through servo position closed loop.

[0005] Furthermore, in the Stewart configuration, the drive unit needs to simultaneously meet the requirements of bearing gravity and providing dynamic driving force. Due to the spatial constraints of the lower hinge point circular layout, the selection of the radial dimension of the drive unit is subject to interference constraints, causing the drive unit to operate in the overload range for a long time. Summary of the Invention

[0006] To address the aforementioned problems in the existing technology, namely the decreased control accuracy, multi-stage error accumulation, and easy overload of the drive unit caused by kinematic coupling in the existing Stewart parallel mechanism control, this invention provides a linear drive motion control method, system, and device for a full-motion flight simulator.

[0007] The control method of this invention is applicable to a full-motion flight simulator with functionally partitioned linear drive units. The functionally partitioned linear drive unit includes a first control unit and a second control unit. The first control unit generates the driving force required for the vertical and angular motion of the simulator's cabin, and the second control unit generates the driving force required for the planar translational motion of the simulator's cabin. The first and second control units can be pre-calibrated to obtain corresponding mapping relationships based on their installation positions, directions of action, and mechanical parameters. The control method of this invention calculates the target resultant force, target torque, and excitation commands based on these mapping relationships, without being limited by a specific mechanical shape.

[0008] In a first aspect, the present invention provides a linear motion control method for a fully-motion flight simulator, the fully-motion flight simulator comprising a first control unit for generating vertical and angular motion driving forces, and a second control unit for generating planar translational motion driving forces, comprising:

[0009] Obtain the desired pose command for the simulator cabin; A first mapping relationship and a second mapping relationship are established. The first mapping relationship maps the excitation signal of the first control unit used to generate vertical and angular motion driving force to vertical resultant force, pitching moment, roll moment and yaw moment. The second mapping relationship maps the excitation signal of the second control unit used to generate planar translational driving force to longitudinal resultant force and lateral resultant force. According to the desired pose command, the desired displacement of each degree of freedom is calculated into the corresponding target resultant force or target torque through a pre-calibrated mapping function; Using the target resultant force and torque corresponding to the first mapping relationship as constraints, and the energy consumption function of the excitation signal of each first control unit as the optimization objective, the first excitation command is solved; Using the target resultant force corresponding to the second mapping relationship as a constraint, and the energy consumption function of the excitation signal of each second control unit as the optimization objective, the second excitation command is solved; Based on the first stimulus instruction and the second stimulus instruction, generate the driving timing logic; The actual position and orientation of the simulator cabin are obtained, the deviation from the desired position and orientation command is calculated, the target resultant force and torque are corrected based on the deviation, and the excitation command is re-solved.

[0010] Furthermore, using a pre-calibrated mapping function, the desired displacement of each degree of freedom is calculated into the corresponding target resultant force or target moment, including: The vertical desired displacement is calculated as the vertical target resultant force; the pitch desired angular displacement, roll desired angular displacement, and yaw desired angular displacement are calculated as the pitch target moment, roll target moment, and yaw target moment, respectively; the longitudinal desired displacement is calculated as the longitudinal target resultant force; and the lateral desired displacement is calculated as the lateral target resultant force. In this context, the desired displacement change of any degree of freedom only causes a change in the target resultant force or target torque corresponding to that degree of freedom.

[0011] Furthermore, the first mapping relationship is established, including: The square of the excitation signal of each of the first control units is used as an intermediate variable, and the intermediate variables are combined into an intermediate variable vector. The parameter matrix determined by the vertical force coefficient, the circumferential distribution angle parameter, the radius of action parameter and the yaw moment coefficient is multiplied with the intermediate variable vector to establish a first mapping relationship between the intermediate variable vector and the vertical resultant force, the pitching moment, the roll moment and the yaw moment. The pitch moment and the roll moment are determined by superimposing the components of the moment generated by each of the first control units on the corresponding coordinate axes according to the circumferential distribution angle parameters.

[0012] Furthermore, a second mapping relationship is established, including: The radial driving force is obtained by multiplying the square of the excitation signal of each second control unit by the radial force coefficient. Based on the angle between the radiation direction of the second control unit and the plane coordinate axis, the radial driving force is decomposed into longitudinal and lateral components. The longitudinal resultant force is obtained by summing the longitudinal component forces of all the second control units, and the lateral resultant force is obtained by summing the lateral component forces of all the second control units.

[0013] Furthermore, solving for the first excitation instruction includes: The vertical target resultant force, the pitch target moment, the roll target moment, and the yaw target moment are used as equality constraints, namely, the vertical resultant force is equal to the vertical target resultant force, the pitch moment is equal to the pitch target moment, the roll moment is equal to the roll target moment, and the yaw moment is equal to the yaw target moment. The inequality constraint is that the amplitude of the excitation signal of each of the first control units does not exceed a preset upper limit value; In the solution space that satisfies the equality constraints and the inequality constraints, find the excitation command that minimizes the sum of the products of the squares of the excitation signals of each of the first control units and the weighting coefficients.

[0014] Furthermore, solving for the second excitation instruction includes: The longitudinal target resultant force and the lateral target resultant force are used as equality constraints, namely, the longitudinal resultant force is equal to the longitudinal target resultant force and the lateral resultant force is equal to the lateral target resultant force. The inequality constraint is that the amplitude of the excitation signal of each of the second control units does not exceed a preset upper limit value; In the solution space satisfying the equality constraints and the inequality constraints, find the excitation command that minimizes the sum of the products of the squares of the excitation signals of each of the second control units and the weighting coefficients; when the resultant force of the lateral target is zero, the excitation command makes the sum of the lateral components of all the second control units zero; when the resultant force of the longitudinal target is zero, the excitation command makes the sum of the longitudinal components of all the second control units zero.

[0015] Furthermore, the generation of driving timing logic includes: According to the first excitation command, a first drive timing sequence is generated for each of the first control units to coordinate excitation according to their respective allocated strengths. The first drive timing sequence is used to enable each of the first control units to synthesize the vertical resultant force, the pitch moment, the roll moment, and the yaw moment. According to the second excitation command, a second driving sequence is generated for each of the second control units to coordinate excitation according to their respective allocated strengths. The second driving sequence is used to enable each of the second control units to synthesize the longitudinal resultant force and the lateral resultant force.

[0016] Furthermore, the step of correcting the target resultant force and torque based on the deviation and resolving the excitation command includes: The vertical, angular, and planar translational components of the deviation are converted into vertical correction force, pitch correction moment, roll correction moment, yaw correction moment, longitudinal correction force, and lateral correction force respectively through a pre-calibrated correction mapping function. The vertical correction force is superimposed on the vertical target resultant force; the pitch correction moment, the roll correction moment, and the yaw correction moment are respectively superimposed on the corresponding target moments; and the longitudinal correction force and the lateral correction force are respectively superimposed on the longitudinal target resultant force and the lateral target resultant force. Using the corrected target resultant force and target torque as updated constraints, the first excitation command and the second excitation command are solved again.

[0017] In a second aspect, the present invention provides a linear drive motion control system for a full-motion flight simulator, used to execute a linear drive motion control method for a full-motion flight simulator, comprising: The command acquisition module is used to acquire the desired pose command of the simulator cabin. The mapping relationship establishment module is used to establish a first mapping relationship and a second mapping relationship. The first mapping relationship maps the excitation signal of the first control unit used to generate vertical and angular motion driving force to vertical resultant force, pitch moment, roll moment and yaw moment. The second mapping relationship maps the excitation signal of the second control unit used to generate planar translational driving force to longitudinal resultant force and lateral resultant force. The calculation module is used to calculate the desired displacement of each degree of freedom into the corresponding target resultant force or target torque according to the desired pose command and through a pre-calibrated mapping function. The first solution module is used to solve for the first excitation command by taking the target resultant force and torque corresponding to the first mapping relationship as constraints and the energy consumption function of the excitation signal of each first control unit as the optimization objective. The second solution module is used to solve for the second excitation command by taking the target resultant force corresponding to the second mapping relationship as a constraint and the energy consumption function of the excitation signal of each second control unit as the optimization objective. The timing generation module is used to generate driving timing logic based on the first stimulus instruction and the second stimulus instruction; The deviation correction module is used to obtain the actual position and orientation of the simulator cabin, calculate the deviation from the desired position and orientation command, correct the target resultant force and torque based on the deviation, and re-solve the excitation command.

[0018] In a third aspect, the present invention provides an apparatus comprising: At least one processor; and a memory communicatively connected to at least one of the processors; The memory stores instructions that can be executed by the processor to implement a linear drive motion control method for a full-motion flight simulator.

[0019] The beneficial effects of this invention are: This invention establishes a first mapping relationship and a second mapping relationship respectively, and assigns the control of vertical motion and angular motion driving force and the control of planar translational driving force to the first control unit and the second control unit with different functions. This allows the motion control of each degree of freedom to be realized through independent mapping relationships, avoiding the structural kinematic coupling between axes that cannot be eliminated due to the rigid connection of spatial parallel connection in the existing Stewart parallel mechanism.

[0020] This invention uses a pre-calibrated mapping function to calculate the vertical desired displacement into a vertical target resultant force, the pitch desired angular displacement into a pitch target moment, the roll desired angular displacement into a roll target moment, the yaw desired angular displacement into a yaw target moment, the longitudinal desired displacement into a longitudinal target resultant force, and the lateral desired displacement into a lateral target resultant force. This ensures that a change in the desired displacement of any degree of freedom only causes a change in the target resultant force or target moment corresponding to that degree of freedom, thus achieving decoupled control between the degrees of freedom.

[0021] The control link of this invention directly calculates the desired pose into the target resultant force and torque, and after optimization, generates excitation commands that are directly driven for execution. Compared with the series control link of the prior art, which involves multiple links such as inverse kinematics solution, servo position closed loop, and lead screw transmission, this invention reduces error sources such as inverse kinematics solution error and transmission backlash error, and shortens the error accumulation path.

[0022] This invention optimizes the solution by minimizing the energy consumption function as the optimization objective and constraining the amplitude of the excitation signal of each control unit to not exceed a preset upper limit. This allows the operating point of each control unit to be allocated within the rated range through optimized calculation, thus avoiding the problem of some control units operating in an overload state for a long time due to structural layout limitations. Attached Figure Description

[0023] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a flowchart of a linear drive motion control method for a full-motion flight simulator according to the present invention; Figure 2 This is a structural diagram of a linear drive motion control system for a full-motion flight simulator according to the present invention; Figure 3 This is a schematic diagram of the structure of a computer system used to implement the methods, systems, and electronic devices of this application. Detailed Implementation

[0024] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] In this embodiment, the linear drive motion control method for the full-motion flight simulator is used to control a motion platform with functionally partitioned linear drive units. This motion platform includes at least a simulator cabin, a first control unit, and a second control unit. The first control unit applies vertical resultant force, pitch moment, roll moment, and yaw moment to the simulator cabin, while the second control unit applies longitudinal resultant force and lateral resultant force to the simulator cabin. Both the first and second control units are drive units capable of generating linear drive force based on excitation signals, and they participate in establishing a mapping relationship according to their corresponding installation positions, directions of action, and mechanical parameters.

[0027] The first embodiment of the present invention provides a linear drive motion control method for a full-motion flight simulator. The full-motion flight simulator includes a first control unit for generating vertical and angular motion driving forces, and a second control unit for generating planar translational motion driving forces, comprising: Step S10: Obtain the desired pose command for the simulated cabin. Step S20: Establish a first mapping relationship and a second mapping relationship. The first mapping relationship maps the excitation signal of the first control unit used to generate vertical and angular motion driving force to vertical resultant force, pitching moment, roll moment and yaw moment. The second mapping relationship maps the excitation signal of the second control unit used to generate planar translational driving force to longitudinal resultant force and lateral resultant force. Step S30: According to the desired pose command, the desired displacement of each degree of freedom is calculated into the corresponding target resultant force or target torque through a pre-calibrated mapping function. Step S40: Using the target resultant force and torque corresponding to the first mapping relationship as constraints, and the energy consumption function of the excitation signal of each first control unit as the optimization objective, solve for the first excitation command; Step S50: Using the target resultant force corresponding to the second mapping relationship as a constraint and the energy consumption function of the excitation signal of each second control unit as the optimization objective, solve for the second excitation command; Step S60: Generate driving timing logic according to the first stimulus instruction and the second stimulus instruction; Step S70: Obtain the actual pose of the simulator cabin, calculate the deviation from the desired pose command, correct the target resultant force and torque based on the deviation, and re-solve the excitation command.

[0028] To more clearly explain the linear drive motion control method for a full-motion flight simulator according to the present invention, the following is in conjunction with... Figure 1 The steps in the embodiments of the present invention are described in detail below: Step S10: Obtain the desired pose command for the simulated cabin. In specific implementation, step S10, obtaining the desired pose command of the simulated aircraft cabin, refers to receiving pose information describing the target motion state of the simulated aircraft cabin in space from the host computer or simulation computer of the full-motion flight simulator in real time. The desired pose command is generated in real time by the flight simulation model based on the pilot's input and simulated flight environment parameters. The pilot's input comes from displacement or force signals from control devices such as the control stick, pedals, and throttle. Simulated flight environment parameters include flight altitude, flight speed, atmospheric density, and airflow disturbances. The flight simulation model calculates the six-degree-of-freedom motion response of the aircraft in virtual space based on the above inputs. This motion response is the desired motion that the simulated aircraft cabin should reproduce. The desired pose command contains the desired displacement information of the simulated aircraft cabin in six degrees of freedom. Specifically, the six degrees of freedom include three translational degrees of freedom and three rotational degrees of freedom. The three translational degrees of freedom are longitudinal displacements along the longitudinal axis X. Lateral displacement along the transverse axis Y and vertical displacement along the vertical axis Z The three rotational degrees of freedom are the roll angle displacement about the longitudinal axis. Pitch angle displacement about the transverse axis and yaw angle displacement about the vertical axis The desired pose command is represented as a vector containing six elements as follows: ; in, , , The displacements are triaxial translational displacements, in meters. , , This is the rotation angle along three axes, in radians. This vector... Data is transferred between the flight simulation computer and the control computer. The transfer method can include shared memory access, reflected memory network communication, or real-time Ethernet bus communication. This embodiment preferably uses a reflected memory network to achieve high-speed, deterministic data transmission. The control computer periodically reads the desired pose command according to a preset control cycle. The control cycle is kept consistent with or an integer multiple of the solution cycle of the flight simulation model to ensure the real-time performance and synchronization of motion control. In this embodiment, the preset control cycle is preferably 5 to 10 milliseconds, i.e., the control frequency is 100 Hz to 200 Hz, which matches the mainstream solution frequency of the flight simulation model, thereby ensuring that the motion system can respond promptly to changes in flight status. During the reading process, the control computer can also perform validity checks on the received data, such as checking whether each element is within the preset travel and angle limits. If an anomaly is found, the valid command from the previous cycle is used or a safety protection mode is entered. The desired pose command is obtained. Then, it is used as the input of the entire control process, and is used in subsequent steps to calculate the corresponding target resultant force and target torque through the pre-calibrated mapping function.

[0029] Step S20: Establish a first mapping relationship and a second mapping relationship. The first mapping relationship maps the excitation signal of the first control unit used to generate vertical and angular motion driving force to vertical resultant force, pitching moment, roll moment and yaw moment. The second mapping relationship maps the excitation signal of the second control unit used to generate planar translational driving force to longitudinal resultant force and lateral resultant force. In this embodiment, establishing the first mapping relationship includes: Step S21: The square of the excitation signal of each of the first control units is used as an intermediate variable, and the intermediate variables are combined into an intermediate variable vector; the parameter matrix determined by the vertical force coefficient, the circumferential distribution angle parameter, the radius of action parameter and the yaw moment coefficient is multiplied with the intermediate variable vector to establish a first mapping relationship between the intermediate variable vector and the vertical resultant force, the pitching moment, the roll moment and the yaw moment; The pitch moment and the roll moment are determined by superimposing the components of the moment generated by each of the first control units on the corresponding coordinate axes according to the circumferential distribution angle parameters.

[0030] In specific implementation, step S20, establishing the first and second mapping relationships, refers to constructing a quantitative mathematical model between the excitation signal and the mechanical output based on the spatial layout and electromagnetic force characteristics of the execution units in the drive system. The spatial layout is used to determine the direction of action, point of action, radius of action, and circumferential or radial distribution parameters of each control unit, and is not limited to a specific external structure; as long as the mapping relationship between the excitation signal and the corresponding resultant force or torque can be calibrated, it is applicable to the control method of this embodiment. The excitation signal refers to the electrical signal applied to each independent control unit to generate the corresponding electromagnetic driving force. In this embodiment, the excitation signal is specifically the current flowing through the windings of each control unit. The first mapping relationship corresponds to the functional part that generates vertical and angular motion driving forces, and the second mapping relationship corresponds to the functional part that generates planar translational driving forces. The establishment of the two mapping relationships is based on the spatial configuration and force transmission characteristics of their respective execution units.

[0031] The process of establishing the first mapping relationship is as follows. Assume that the first control unit used to generate vertical and angular motion driving forces has a total of... Number, distributed circumferentially, the first The circumferential distribution angle of the first control unit is ,in , This represents the angle value measured counterclockwise with the positive X-axis as the reference. When the... The first control unit is supplied with current. At that time, the electromagnetic force it produces is proportional to the square of the current, that is: ; in, For the first The electromagnetic force coefficient of the first control unit is predetermined by electromagnetic finite element simulation or static force calibration experiment; For the first The current of the first control unit; For the first The mounting tilt angle between the axial and vertical axes of the first control unit. The vertical force component generated by the first control unit Represented as: Let the first The effective radius of the first control unit is The circumferential distribution angle is .use The axis is the longitudinal axis. The axis is a transverse axis. A right-handed coordinate system with the axis perpendicular to the axis, revolving around... The torque on the shaft is the rolling torque. , around The torque on the shaft is the pitching torque. , around The torque on the shaft is the yaw torque. .

[0032] The planar component force generated by the first control unit is not used as the target resultant force component of the second control unit for independent control; the planar component forces generated by each first control unit are combined into residual planar component forces during the calibration phase and treated as calibration disturbance terms of the first mapping relationship. Their influence on the planar target resultant force is limited to a preset tolerance through reachability verification.

[0033] The first The vertical combined force coefficient corresponding to each first control unit is denoted as The corresponding combined roll moment coefficient is denoted as The corresponding pitch combined moment coefficient is denoted as The corresponding yaw moment coefficient is denoted as .in, From electromagnetic force coefficient and installation tilt angle Sure; and From electromagnetic force coefficient Installation tilt angle Radius of action and circumferential distribution angle To be determined jointly; According to the The capability of each first control unit to generate tangential driving force and yaw moment is calibrated and determined. The sign of each comprehensive coefficient is determined based on the actual direction of action of the corresponding control unit and the positive direction of the coordinate axis.

[0034] The first The square of the current of the first control unit is denoted as: ; And the intermediate variables corresponding to each first control unit are combined into an intermediate variable vector: ; Arrange the vertical combined force coefficient, roll combined moment coefficient, pitch combined moment coefficient, and yaw combined moment coefficient corresponding to each first control unit according to their corresponding relationships to form the first parameter matrix. Then, the first mapping relationship is expressed as: ; in, For vertical resultant force, To bypass The rolling torque of the shaft, To bypass The pitching moment of the shaft, To bypass Yaw moment of the shaft; The first parameter matrix is ​​defined as follows: the rows of the first parameter matrix correspond to the vertical resultant force, roll moment, pitch moment, and yaw moment, respectively, and the columns of the first parameter matrix correspond to the intermediate variables of each first control unit.

[0035] In one specific implementation, the vertical combined force coefficient By the Electromagnetic force coefficient of the first control unit and installation tilt angle Confirmed; Rolling moment coefficient and pitch combined moment coefficient From the electromagnetic force coefficient The installation tilt angle Radius of action and circumferential distribution angle Determined according to the moment components on the corresponding coordinate axes; yaw composite moment coefficient By the The tangential driving force generated by each first control unit and its radius of action are determined. The sign of each comprehensive coefficient is determined based on the actual direction of action of the corresponding first control unit and the positive direction of the coordinate axis.

[0036] Each element in the first parameter matrix can be determined through electromagnetic finite element simulation, mechanical calculation or calibration experiment, and is pre-stored during the system initialization phase for subsequent optimization and solution.

[0037] In the calibrated reachable configuration, the first parameter matrix The output dimensions of vertical resultant force, roll moment, pitch moment, and yaw moment have full row rank, and the second parameter matrix... The output dimensions of the longitudinal and lateral resultant forces have rank 2; control unit configurations that do not meet the corresponding rank conditions are not considered reachable configurations in this embodiment.

[0038] Establishing a second mapping relationship includes: Step S22: Multiply the square of the excitation signal of each second control unit by the radial force coefficient to obtain the radial driving force; Step S23: Based on the angle between the radiation direction of the second control unit and the plane coordinate axis, the radial driving force is decomposed into longitudinal and lateral components. Step S24: Summing up the longitudinal component forces of all the second control units to obtain the longitudinal resultant force, and summing up the lateral component forces of all the second control units to obtain the lateral resultant force.

[0039] The process of establishing the second mapping relationship is as follows. Assume that the second control unit used to generate the planar translational driving force has a total of... There are [number] individuals, arranged radially. In this embodiment... Each second control unit is arranged radially with the center of the circle as the origin. The angle between the radial direction of the second control unit and the positive X-axis direction is: ,in , This represents the angle of the radiation direction, measured with the positive X-axis as the reference. The radiation directions are evenly distributed around the circumference, and the angle between any two adjacent directions is... In this embodiment Take respectively , , , , , When the first The second control unit is supplied with current. At that time, the excitation signal will be squared. Multiply by radial force coefficient The radial driving force is obtained as follows: ; in, For the first The radial force coefficient of the second control unit is determined by electromagnetic simulation or calibration experiment; For the first The current of the second control unit, in amperes. According to the... The angle between the radiation direction of the second control unit and the plane coordinate axis The radial driving force is decomposed into the X and Y axes to obtain the longitudinal component. lateral component :

[0040] All The longitudinal resultant force is obtained by summing the longitudinal component forces of each second control unit. ; All The resultant lateral force is obtained by summing the lateral components of the second control unit. : ; ； in, This is the longitudinal resultant force, used for longitudinal motion; This is the resultant force in the lateral direction, used for lateral motion. The cosine coefficient of each second control unit. and sine coefficient From the angle of radiation direction It is determined that this will remain unchanged after the system is assembled. It can be pre-calculated and stored during the initialization phase for use in subsequent optimization and solution steps.

[0041] Assume the second control unit used to generate planar translational driving force has a total of one, and according to Number them sequentially. The number... The square of the current of the second control unit is denoted as:

[0042] in, This is the serial number of the second control unit; This refers to the total number of second control units; For the first The second intermediate variable corresponding to the second control unit.

[0043] The second intermediate variables are arranged into a vector according to the numbering order of the second control units:

[0044] in, The second intermediate variable vector; superscript Indicates matrix transpose; subscript Indicates the first A second control unit, Indicates the first The second intermediate variable corresponding to the second control unit.

[0045] The longitudinal force coefficients and lateral force coefficients corresponding to each second control unit are arranged in the order of the second control unit numbers to form the second parameter matrix. Then the second mapping relationship is expressed as:

[0046] in, The second parameter matrix is ​​defined as follows: the first row of the second parameter matrix corresponds to the longitudinal force coefficient of each second control unit, the second row corresponds to the lateral force coefficient of each second control unit, and each column corresponds to a second control unit. and They represent the first The radial force coefficient and radiation direction angle of the second control unit.

[0047] During system initialization and calibration, the first and second mapping relationships are verified based on the actual operating direction, mechanical parameters, and preset safe current upper limit of each control unit to determine the achievable range of the corresponding target resultant force and target torque. In real-time control, only the target resultant force and target torque within the corresponding achievable range are used as constraints for subsequent optimized allocation. The verification is based on the calibration parameters of the control units and does not limit the specific mechanical configuration of the control units.

[0048] The electromagnetic force mapping model established through the above process establishes a direct analytical relationship between the current excitation of each control unit of the system and the resultant force and torque on the cabin. This eliminates the inverse kinematics calculation step of converting the desired pose into the target extension and contraction of each actuator in the traditional scheme, and provides a mathematical basis for subsequent motion-force calculation and optimization allocation.

[0049] Step S30: According to the desired pose command, the desired displacement of each degree of freedom is calculated into the corresponding target resultant force or target torque through a pre-calibrated mapping function. In this embodiment, step S30 includes: The vertical desired displacement is calculated as the vertical target resultant force; the pitch desired angular displacement, roll desired angular displacement, and yaw desired angular displacement are calculated as the pitch target moment, roll target moment, and yaw target moment, respectively; the longitudinal desired displacement is calculated as the longitudinal target resultant force; and the lateral desired displacement is calculated as the lateral target resultant force. In this context, the desired displacement change of any degree of freedom only causes a change in the target resultant force or target torque corresponding to that degree of freedom.

[0050] In specific implementation, step S30, based on the desired pose command, calculates the desired displacement of each degree of freedom into the corresponding target resultant force or target torque using a pre-calibrated mapping function. The pre-calibrated mapping function refers to a function established in advance through system identification, mechanical modeling, or experimental calibration, describing the correspondence between the desired displacement of each degree of freedom and the required driving force or torque. The input to this mapping function is the desired pose command obtained in step S10. The components in the equation are output as the target resultant force or target torque corresponding to each degree of freedom.

[0051] Because the first control unit generating vertical and angular motion driving forces and the second control unit generating planar translational driving forces in this invention are functionally partitioned, and there is no spatial parallel rigid connection between the actuators in a traditional Stewart mechanism, the target resultant force or target torque corresponding to each degree of freedom can be calculated separately without the need for inverse kinematic coupling solutions in a traditional Stewart mechanism. The pre-calibrated mapping function consists of six independent sub-mapping functions, each corresponding to only one degree of freedom, mapping the desired displacement of one degree of freedom to the target force or torque required for that degree of freedom. There are no cross-coupling terms between the six sub-mapping functions.

[0052] Specifically, the vertical desired displacement in the desired pose command obtained in step S10 is... Input vertical submapping function The resultant force of the vertical target is calculated. : ; in, This is a mapping function from vertical displacement to vertical resultant force. This function can be pre-calibrated based on the hull mass, the vertical motion dynamics model, and the desired response characteristics. For example, a proportional-feedforward mapping relationship can be used. ,in The equivalent mass of the cabin. The vertical acceleration calculated based on the desired displacement. Vertical velocity, The damping coefficient is... These are the stiffness coefficients, and each coefficient was determined through a system identification experiment.

[0053] Roll desired angular displacement Input roll mapping function The target roll torque is calculated. : ; The desired pitch angular displacement Input pitch sub-mapping function The pitch target moment was calculated. : ; yaw expected angular displacement Input yaw mapping function The yaw target moment was calculated. : ; in, , , These are the mapping functions from roll, pitch, and yaw angles to stress moments, respectively. For the roll channel, the roll sub-mapping function can be expressed as: ; in, For the cabin The equivalent moment of inertia of the shaft. This is the roll acceleration. The roll rate is angular velocity. This is the roll damping coefficient. This is the roll stiffness coefficient.

[0054] For the pitch channel, the pitch sub-mapping function can be expressed as: ; in, For the cabin The equivalent moment of inertia of the shaft. For pitch acceleration, The pitch angular velocity, This is the pitch damping coefficient. This is the pitch stiffness coefficient.

[0055] Longitudinal desired displacement Input vertical submapping function The longitudinal target resultant force is calculated. : ; lateral desired displacement Input horizontal submapping function The resultant force of the lateral target is obtained by solving the problem. : ; Among the six sub-mapping functions mentioned above, the vertical desired displacement The change only affects the resultant force of the vertical target. Expected angular displacement of roll The change only affects the roll target torque Pitch expected angular displacement The change only affects the pitch target moment. yaw expected angular displacement The change only affects the yaw target moment Longitudinal expected displacement The change only affects the resultant force of the longitudinal target. lateral expected displacement The change only affects the resultant force of the lateral target. .

[0056] The desired pose command is sampled according to a preset control cycle. When the sub-mapping function requires velocity, acceleration, angular velocity, or angular acceleration, it is obtained from the desired pose data of adjacent control cycles through preset differential and filtering processing; a preset initial state value is used when control starts. The processed motion state quantities and the corresponding desired displacement or desired angular displacement are used together to calculate the corresponding target resultant force or target torque.

[0057] The coefficients in the pre-calibrated mapping function can be predetermined as follows: During the system debugging phase, known displacements or angles in each degree of freedom direction are applied to the cabin, the required driving force or torque is measured, and the coefficients of each sub-mapping function are determined using system identification methods such as least squares fitting. After calibration, each sub-mapping function is stored in the control computer in parametric form or lookup table form and directly called during the real-time execution of step S30. The resultant force and target torque obtained by step S30 will serve as input constraints for subsequent optimization solution steps.

[0058] Step S40: Using the target resultant force and torque corresponding to the first mapping relationship as constraints, and the energy consumption function of the excitation signal of each first control unit as the optimization objective, solve for the first excitation command; Solving for the first excitation instruction includes: Step S41, using the vertical target resultant force, the pitch target moment, the roll target moment, and the yaw target moment as equality constraints, the equality constraints are that the vertical resultant force is equal to the vertical target resultant force, the pitch moment is equal to the pitch target moment, the roll moment is equal to the roll target moment, and the yaw moment is equal to the yaw target moment; Step S42, the amplitude of the excitation signal of each of the first control units does not exceed a preset upper limit value as an inequality constraint; Step S43: In the solution space that satisfies the equality constraints and the inequality constraints, find the excitation command that minimizes the sum of the products of the squares of the excitation signals of each of the first control units and the weighting coefficients.

[0059] In specific implementation, step S40 uses the target resultant force and torque corresponding to the first mapping relationship as constraints, and the energy consumption function of the excitation signal of each first control unit as the optimization objective to solve for the first excitation command. The purpose of this step is to find the current distribution scheme that minimizes the system's energy consumption while satisfying the force and torque required for motion.

[0060] In step S41, the vertical target resultant force obtained in step S30 is used. Target torque of roll Pitch target moment and yaw target moment As an equality constraint. Let and order Based on the first mapping relationship established in step S20, the equality constraint is expressed as: ; In step S42, let the first... The maximum allowable current of the first control unit is Then the intermediate variable satisfy: ; In step S43, the optimization objective is to minimize the sum of the Joule loss power of each first control unit. Let the first... The weighting coefficient of each first control unit is , If the resistance of the corresponding winding can be selected, the optimization objective function can be expressed as: ; Square of the current When used as optimization variables, the above optimization solution constitutes a linear optimization problem with linear equality constraints and boundary constraints, which can be solved using the simplex method, interior point method, or other linear optimization methods. The intermediate variables are then obtained. Then, the square root of each intermediate variable is taken to obtain the corresponding first excitation command. ,Right now: ; Step S40 selects the first parameter matrix corresponding to the forward or reverse commutation state based on the sign of the yaw target torque, and performs optimization solution for the first excitation command using the selected first parameter matrix; Step S61 generates the first drive timing according to the selected commutation state.

[0061] Alternatively, the first excitation command corresponding to the typical target resultant force and target torque can be solved in advance and a lookup table can be established. During real-time control, the first excitation command can be obtained by looking up the table or interpolation.

[0062] Step S50: Using the target resultant force corresponding to the second mapping relationship as a constraint and the energy consumption function of the excitation signal of each second control unit as the optimization objective, solve for the second excitation command; Solving for the second excitation instruction includes: Step S51: The longitudinal target resultant force and the lateral target resultant force are used as equality constraints, wherein the longitudinal resultant force is equal to the longitudinal target resultant force and the lateral resultant force is equal to the lateral target resultant force. Step S52, the amplitude of the excitation signal of each of the second control units does not exceed a preset upper limit value as an inequality constraint; Step S53: In the solution space that satisfies the equality constraints and the inequality constraints, find the excitation command that minimizes the sum of the products of the squares of the excitation signals of each second control unit and the weighting coefficients; when the resultant force of the lateral target is zero, the excitation command makes the sum of the lateral components of all the second control units zero; when the resultant force of the longitudinal target is zero, the excitation command makes the sum of the longitudinal components of all the second control units zero.

[0063] In specific implementation, step S50 uses the target resultant force corresponding to the second mapping relationship as a constraint and the energy consumption function of the excitation signal of each second control unit as the optimization objective to solve for the second excitation command. This step is consistent with the logical framework of solving for the first excitation command in step S40, the difference being that the constraints and the dimensions of the optimization variables are different. This step only involves the resultant force distribution of the longitudinal and lateral translational degrees of freedom.

[0064] In step S51, the longitudinal target resultant force obtained in step S30 is used. Combined force with lateral targets As an equality constraint. Let Based on the second mapping relationship established in step S20, the equality constraint is expressed as:

[0065] in, M.

[0066] In step S52, let the first... The maximum allowable current of the second control unit is Then the intermediate variable satisfy: ; In step S53, the optimization objective is to minimize the sum of the Joule loss power of each second control unit. Let the... The weighting coefficient of each second control unit is , If the resistance of the corresponding winding can be selected, the optimization objective function can be expressed as: ; Square of the current When used as optimization variables, the above optimization solution constitutes a linear optimization problem with linear equality constraints and boundary constraints, which can be solved using the simplex method, interior point method, or other linear optimization methods. The intermediate variables are then obtained. Then, the square root of each intermediate variable is taken to obtain the corresponding second excitation command. ,Right now: ; When the resultant force of the lateral target When the resultant force is zero, the equation constraint makes the sum of the lateral components of all second control units zero; when the longitudinal target resultant force is zero... When the sum of the longitudinal components of the forces in all the second control units is zero, the equality constraint makes the sum of the longitudinal components of the forces in all the second control units zero. When the longitudinal target resultant force and the lateral target resultant force are not zero, each second control unit will collaboratively generate the corresponding planar resultant force vector according to the optimization solution results.

[0067] Alternatively, the corresponding second excitation commands can be pre-calculated for the resultant forces of typical longitudinal and lateral targets and a lookup table can be established. During real-time control, the second excitation commands can be obtained by looking up the table or by interpolation.

[0068] Within any control cycle, if the target resultant force or target torque exceeds the corresponding reachable range, or if the equality constraint and the upper limit constraint of the excitation signal do not have a common solution, the target resultant force or target torque is limited according to a preset priority, and the optimization solution is re-applied using the limited target quantity; if no feasible solution is still found after limiting, the valid excitation command from the previous control cycle is retained or a preset safety excitation command is output. The preset priority, limit value, and safety excitation command are determined during the system calibration or debugging phase.

[0069] Step S60: Generate driving timing logic according to the first stimulus instruction and the second stimulus instruction; In this embodiment, the generation of driving timing logic includes: Step S61: According to the first excitation command, generate a first drive timing sequence for each of the first control units to coordinate excitation according to their respective allocated strengths. The first drive timing sequence is used to enable each of the first control units to synthesize the vertical resultant force, the pitch moment, the roll moment and the yaw moment. Step S62: According to the second excitation command, generate a second driving timing sequence for each of the second control units to coordinate excitation according to their respective allocated strengths. The second driving timing sequence is used to enable each of the second control units to synthesize the longitudinal resultant force and the lateral resultant force.

[0070] In specific implementation, step S60 generates timing logic for driving each control unit to perform actions based on the first excitation command obtained in step S40 and the second excitation command obtained in step S50. This driving timing logic refers to converting each excitation command into a current-given signal on the time axis for each control unit according to a certain timing relationship and intensity allocation, so that each control unit works collaboratively in a predetermined order and intensity to synthesize the resultant force and torque required for motion.

[0071] In step S61, the driving timing sequence of each first control unit is generated according to the first excitation command. For vertical motion, each first control unit is synchronously excited according to its assigned intensity determined by the first excitation command within the same control cycle to synthesize the vertical target resultant force. When the electromagnetic force coefficient, installation parameters, and weighting coefficients of each first control unit are the same, the assigned intensity of each first control unit obtained by optimization solution is the same; when the parameters of each first control unit are different, each first control unit adopts the corresponding assigned intensity according to the optimization solution result.

[0072] For pitch motion, in the first excitation command obtained in step S40, the first control unit groups arranged opposite each other along the diameter direction have differentiated current distributions. The first control unit located on the positive X-axis side and the first control unit arranged opposite each other on the negative X-axis side are assigned different current amplitudes, with the current on one side increasing and the current on the other side decreasing accordingly. The electromagnetic forces generated on both sides form an asymmetrical distribution, thereby generating a pitch torque around the Y-axis. Similarly, for roll motion, the first control unit groups arranged opposite each other on both sides of the Y-axis generate differentiated electromagnetic forces, forming a roll torque around the X-axis. During drive timing generation, each first control unit synchronously applies excitation according to its assigned current amplitude within the same control cycle, generating asymmetrical electromagnetic forces through the coil groups arranged opposite each other in the diameter direction to achieve the required torque output.

[0073] For yaw motion, the first excitation command is used to determine the excitation intensity of each first control unit. When calibrating the first parameter matrix, the system calibrates the comprehensive yaw torque coefficient for both forward and reverse commutation states. The first drive timing sequence selects either a forward or reverse commutation sequence based on the sign of the target yaw torque, and controls the circumferentially distributed first control units to be excited sequentially according to the selected commutation sequence, thereby forming a rotating magnetic field in the corresponding direction and generating a yaw torque around the Z-axis. Each first control unit outputs the excitation intensity determined by the first excitation command within its corresponding excitation period, ensuring that the yaw torque generated within one control cycle satisfies the target yaw torque constraint.

[0074] In step S62, the drive timing sequence of each second control unit is generated according to the second excitation command. The second excitation command obtained in step S50 assigns a current command to each second control unit, and the amplitude of each current command is determined by the optimization process based on the requirements of the longitudinal and lateral target resultant forces. During the generation of the drive timing sequence, each second control unit synchronously applies excitation according to its assigned current amplitude within the same control cycle, generating radial drive force along its respective radiation direction. For longitudinal motion, the components of each radial drive force in the X direction are superimposed to form a longitudinal resultant force, while the components in the Y direction cancel each other out to zero, thus achieving longitudinal motion; for lateral motion, the components of each radial drive force in the Y direction are superimposed to form a lateral resultant force, while the components in the X direction cancel each other out to zero, thus achieving lateral motion.

[0075] The above-mentioned types of motion and their corresponding control strategies are summarized in the table below. The first control unit is functionally responsible for generating vertical and angular motion driving forces, while the second control unit is functionally responsible for generating planar translational motion driving forces.

[0076]

[0077] The aforementioned driving timing is updated once per control cycle. The control cycle is consistent with the cycle for obtaining the desired pose command in step S10. In this embodiment, the control cycle is preferably 5 to 10 milliseconds. The current command from each control unit is applied to the corresponding winding after digital-to-analog conversion and power amplification. The actual output current waveform is tracked by the current closed-loop controller to ensure the accuracy of the excitation and the response speed.

[0078] Step S70: Obtain the actual pose of the simulator cabin, calculate the deviation from the desired pose command, correct the target resultant force and torque based on the deviation, and re-solve the excitation command.

[0079] In this embodiment, the step of correcting the target resultant force and torque based on the deviation and resolving the excitation command includes: Step S71: The vertical component, angular motion component, and planar translational component of the deviation are converted into vertical correction force, pitch correction moment, roll correction moment, yaw correction moment, longitudinal correction force, and lateral correction force respectively through a pre-calibrated correction mapping function. Step S72: The vertical correction force is superimposed on the vertical target resultant force; the pitch correction moment, the roll correction moment, and the yaw correction moment are superimposed on the corresponding target moments; and the longitudinal correction force and the lateral correction force are superimposed on the longitudinal target resultant force and the lateral target resultant force, respectively. Step S73: Using the corrected target resultant force and target torque as updated constraint conditions, re-solve the first excitation command and the second excitation command.

[0080] In specific implementation, step S70 acquires the actual pose of the simulator cabin, calculates the deviation from the desired pose command, and corrects the target resultant force and torque based on this deviation before resolving the excitation command to form closed-loop control. The actual pose is acquired through a pose measurement device deployed on the simulator cabin. The device detects the actual displacement information of the cabin in six degrees of freedom in real time, obtaining the actual pose vector. ,in , , This represents the actual translational displacement. , , This represents the actual rotation angle. The actual pose... The desired pose command obtained in step S10 Compare and calculate pose deviation ,in , , , These are the translational displacement deviations in the longitudinal, lateral, and vertical directions, respectively. , , These are the angular deviations for roll, pitch, and yaw, respectively.

[0081] In step S71, the pose deviation components are first converted into corresponding correction forces or correction torques using a pre-calibrated correction mapping function. Specifically, the vertical displacement deviation... Converted into vertical correction force, this reduces roll angle deviation. Converted into roll correction moment, this reduces pitch angle deviation. Converted into pitch correction moment, yaw angle deviation Converted into yaw correction moment, longitudinal displacement deviation Converted into longitudinal correction force, it reduces lateral displacement deviation. It is converted into a lateral corrective force.

[0082] In step S72, the vertical correction force is superimposed on the vertical target resultant force. The corrected vertical target resultant force is obtained. The roll correction torque is superimposed on the roll target torque. The corrected target roll torque is obtained. The pitch correction torque is superimposed onto the pitch target torque. The corrected pitch target moment is obtained. The yaw correction torque is superimposed on the yaw target torque. The corrected yaw target moment is obtained. The longitudinal correction force is superimposed on the longitudinal target resultant force. The corrected longitudinal target resultant force is obtained. The lateral corrective force is superimposed on the resultant force of the lateral target. The corrected resultant force of the lateral target is obtained. .

[0083] The modified mapping function can be in the form of proportional control, proportional-integral control, or proportional-integral-derivative control, and its control parameters are tuned during the system debugging phase.

[0084] The pose deviation is determined according to the difference between the desired pose and the actual pose, and the direction of the correction amount for each channel is consistent with the correction direction of the corresponding pose deviation. A preset limit is set for the correction amount; when using proportional-integral control or proportional-integral-derivative control, the integral term is reset or limited when entering a safe state, when a target limit is reached, or when control is restarted. The corrected target resultant force and target torque are still processed according to the aforementioned reachable range, limit, and safe excitation rules.

[0085] In step S73, the optimized solution process of steps S40 and S50 is re-executed using the superimposed and corrected resultant force and moment as updated constraints. This involves re-executing the corrected vertical target resultant force. Target torque of roll Pitch target moment Yaw target moment As the updated first constraint, the revised first excitation command is obtained by resolving the problem; the revised longitudinal target resultant force is then applied. Combined force with lateral targets As the updated second constraint, the revised second excitation command is obtained by resolving the problem. The revised first and second excitation commands, in the next control cycle, generate updated drive timing logic through step S60, which is then applied to each control unit, causing the cabin to move in a direction that reduces attitude deviation. Steps S70 to S73 and steps S30 to S60 constitute a complete closed-loop control circuit, which is executed cyclically in each control cycle to ensure that the actual attitude of the cabin continuously tracks the desired attitude command, achieving high-precision six-degree-of-freedom motion control.

[0086] See Figure 2 A second embodiment of the present invention provides a linear drive motion control system for a full-motion flight simulator, used to execute a linear drive motion control method for a full-motion flight simulator, comprising: The command acquisition module is used to acquire the desired pose command of the simulator cabin. The mapping relationship establishment module is used to establish a first mapping relationship and a second mapping relationship. The first mapping relationship maps the excitation signal of the first control unit used to generate vertical and angular motion driving force to vertical resultant force, pitch moment, roll moment and yaw moment. The second mapping relationship maps the excitation signal of the second control unit used to generate planar translational driving force to longitudinal resultant force and lateral resultant force. The calculation module is used to calculate the desired displacement of each degree of freedom into the corresponding target resultant force or target torque according to the desired pose command and through a pre-calibrated mapping function. The first solution module is used to solve for the first excitation command by taking the target resultant force and torque corresponding to the first mapping relationship as constraints and the energy consumption function of the excitation signal of each first control unit as the optimization objective. The second solution module is used to solve for the second excitation command by taking the target resultant force corresponding to the second mapping relationship as a constraint and the energy consumption function of the excitation signal of each second control unit as the optimization objective. The timing generation module is used to generate driving timing logic based on the first stimulus instruction and the second stimulus instruction; The deviation correction module is used to obtain the actual position and orientation of the simulator cabin, calculate the deviation from the desired position and orientation command, correct the target resultant force and torque based on the deviation, and re-solve the excitation command.

[0087] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process and related descriptions of the above system can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0088] It should be noted that the linear drive motion control system for a full-motion flight simulator provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be further decomposed or combined. For example, the modules in the above embodiments can be merged into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the various modules or steps and are not considered as an improper limitation of the present invention.

[0089] A device according to a third embodiment of the present invention includes: At least one processor; and a memory communicatively connected to at least one of the processors; The memory stores instructions that can be executed by the processor to implement the above-described linear drive motion control method for a full-motion flight simulator.

[0090] A computer-readable storage medium according to a fourth embodiment of the present invention stores computer instructions, which are executed by the computer to implement the above-described linear drive motion control method for a full-motion flight simulator.

[0091] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process and related descriptions of the storage device and processing device described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0092] The following is for reference. Figure 3It shows a schematic diagram of the structure of a computer system for implementing embodiments of the systems, methods, and electronic devices of this application. Figure 3 The server shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0093] like Figure 3 As shown, the computer system includes a Central Processing Unit (CPU) 301, which can perform various appropriate actions and processes based on programs stored in Read Only Memory (ROM) 302 or programs loaded from storage section 308 into Random Access Memory (RAM) 303. The RAM 303 also stores various programs and data required for system operation. The CPU 301, ROM 302, and RAM 303 are interconnected via a bus 304. An Input / Output (I / O) interface 305 is also connected to the bus 304.

[0094] The following components are connected to I / O interface 305: an input section 306 including a keyboard, mouse, etc.; an output section 307 including a cathode ray tube (CRT), liquid crystal display (LCD), and speakers, etc.; a storage section 308 including a hard disk, etc.; and a communication section 309 including a network interface card such as a LAN (Local Area Network) card and a modem, etc. The communication section 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to I / O interface 305 as needed. Removable media 311, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 310 as needed so that computer programs read from them can be installed into storage section 308 as needed.

[0095] Specifically, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a 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 communication section 309, and / or installed from removable medium 311. When the computer program is executed by central processing unit (CPU) 301, it performs the functions defined in the methods of this application. It should be noted that the computer-readable medium described above in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0096] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0097] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0098] The terms “first”, “second”, etc., are used to distinguish similar objects, not to describe or indicate a specific order or sequence.

[0099] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent in such process, method, article, or apparatus / device.

[0100] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A linear drive motion control method for a full-motion flight simulator, the full-motion flight simulator comprising a first control unit for generating vertical and angular motion driving forces, and a second control unit for generating planar translational motion driving forces, characterized in that, include: Obtain the desired pose command for the simulated aircraft cabin; A first mapping relationship and a second mapping relationship are established. The first mapping relationship maps the excitation signal of the first control unit used to generate vertical and angular motion driving force to vertical resultant force, pitching moment, roll moment and yaw moment. The second mapping relationship maps the excitation signal of the second control unit used to generate planar translational driving force to longitudinal resultant force and lateral resultant force. According to the desired pose command, the desired displacement of each degree of freedom is calculated into the corresponding target resultant force or target torque through a pre-calibrated mapping function; Using the target resultant force and torque corresponding to the first mapping relationship as constraints, and the energy consumption function of the excitation signal of each first control unit as the optimization objective, the first excitation command is solved; Using the target resultant force corresponding to the second mapping relationship as a constraint, and the energy consumption function of the excitation signal of each second control unit as the optimization objective, the second excitation command is solved; Based on the first stimulus instruction and the second stimulus instruction, generate the driving timing logic; The actual position and orientation of the simulator cabin are obtained, the deviation from the desired position and orientation command is calculated, the target resultant force and torque are corrected based on the deviation, and the excitation command is re-solved.

2. The linear drive motion control method for a full-motion flight simulator according to claim 1, characterized in that, Establishing the first mapping relationship includes: The square of the excitation signal of each of the first control units is used as an intermediate variable, and the intermediate variables are combined into an intermediate variable vector. The parameter matrix determined by the vertical force coefficient, the circumferential distribution angle parameter, the radius of action parameter and the yaw moment coefficient is multiplied with the intermediate variable vector to establish a first mapping relationship between the intermediate variable vector and the vertical resultant force, the pitching moment, the roll moment and the yaw moment. The pitch moment and the roll moment are determined by superimposing the components of the moment generated by each of the first control units on the corresponding coordinate axes according to the circumferential distribution angle parameters.

3. The linear drive motion control method for a full-motion flight simulator according to claim 1, characterized in that, Establishing a second mapping relationship includes: The radial driving force is obtained by multiplying the square of the excitation signal of each second control unit by the radial force coefficient. Based on the angle between the radiation direction of the second control unit and the plane coordinate axis, the radial driving force is decomposed into longitudinal and lateral components. The longitudinal resultant force is obtained by summing the longitudinal component forces of all the second control units, and the lateral resultant force is obtained by summing the lateral component forces of all the second control units.

4. The linear drive motion control method for a full-motion flight simulator according to claim 1, characterized in that, Using a pre-calibrated mapping function, the desired displacement of each degree of freedom is calculated into the corresponding target resultant force or target moment, including: The vertical desired displacement is calculated as the vertical target resultant force; the pitch desired angular displacement, roll desired angular displacement, and yaw desired angular displacement are calculated as the pitch target moment, roll target moment, and yaw target moment, respectively; the longitudinal desired displacement is calculated as the longitudinal target resultant force; and the lateral desired displacement is calculated as the lateral target resultant force. In this context, the desired displacement change of any degree of freedom only causes a change in the target resultant force or target torque corresponding to that degree of freedom.

5. The linear drive motion control method for a full-motion flight simulator according to claim 4, characterized in that, Solving for the first excitation instruction includes: The vertical target resultant force, the pitch target moment, the roll target moment, and the yaw target moment are used as equality constraints, namely, the vertical resultant force is equal to the vertical target resultant force, the pitch moment is equal to the pitch target moment, the roll moment is equal to the roll target moment, and the yaw moment is equal to the yaw target moment. The inequality constraint is that the amplitude of the excitation signal of each of the first control units does not exceed a preset upper limit value; In the solution space that satisfies the equality constraints and the inequality constraints, find the excitation command that minimizes the sum of the products of the squares of the excitation signals of each of the first control units and the weighting coefficients.

6. The linear drive motion control method for a full-motion flight simulator according to claim 4, characterized in that, Solving for the second excitation instruction includes: The longitudinal target resultant force and the lateral target resultant force are used as equality constraints, namely, the longitudinal resultant force is equal to the longitudinal target resultant force and the lateral resultant force is equal to the lateral target resultant force. The inequality constraint is that the amplitude of the excitation signal of each of the second control units does not exceed a preset upper limit value; In the solution space satisfying the equality constraints and the inequality constraints, find the excitation command that minimizes the sum of the products of the squares of the excitation signals of each of the second control units and the weighting coefficients; when the resultant force of the lateral target is zero, the excitation command makes the sum of the lateral components of all the second control units zero; when the resultant force of the longitudinal target is zero, the excitation command makes the sum of the longitudinal components of all the second control units zero.

7. The linear drive motion control method for a full-motion flight simulator according to claim 1, characterized in that, Generate driving timing logic, including: According to the first excitation command, a first drive timing sequence is generated for each of the first control units to coordinate excitation according to their respective allocated strengths. The first drive timing sequence is used to enable each of the first control units to synthesize the vertical resultant force, the pitch moment, the roll moment, and the yaw moment. According to the second excitation command, a second driving sequence is generated for each of the second control units to coordinate excitation according to their respective allocated strengths. The second driving sequence is used to enable each of the second control units to synthesize the longitudinal resultant force and the lateral resultant force.

8. The linear drive motion control method for a full-motion flight simulator according to claim 4, characterized in that, Based on the aforementioned deviation, the target resultant force and torque are corrected, and the excitation command is re-solved, including: The vertical, angular, and planar translational components of the deviation are converted into vertical correction force, pitch correction moment, roll correction moment, yaw correction moment, longitudinal correction force, and lateral correction force respectively through a pre-calibrated correction mapping function. The vertical correction force is superimposed on the vertical target resultant force; the pitch correction moment, the roll correction moment, and the yaw correction moment are respectively superimposed on the corresponding target moments; and the longitudinal correction force and the lateral correction force are respectively superimposed on the longitudinal target resultant force and the lateral target resultant force. Using the corrected target resultant force and target torque as updated constraints, the first excitation command and the second excitation command are solved again.

9. A linear drive motion control system for a full-motion flight simulator, used to execute the linear drive motion control method for a full-motion flight simulator as described in any one of claims 1-8, characterized in that, include: The command acquisition module is used to acquire the desired pose command of the simulator cabin. The mapping relationship establishment module is used to establish a first mapping relationship and a second mapping relationship. The first mapping relationship maps the excitation signal of the first control unit used to generate vertical and angular motion driving force to vertical resultant force, pitch moment, roll moment and yaw moment. The second mapping relationship maps the excitation signal of the second control unit used to generate planar translational driving force to longitudinal resultant force and lateral resultant force. The calculation module is used to calculate the desired displacement of each degree of freedom into the corresponding target resultant force or target torque according to the desired pose command and through a pre-calibrated mapping function. The first solution module is used to solve for the first excitation command by taking the target resultant force and torque corresponding to the first mapping relationship as constraints and the energy consumption function of the excitation signal of each first control unit as the optimization objective. The second solution module is used to solve for the second excitation command by taking the target resultant force corresponding to the second mapping relationship as a constraint and the energy consumption function of the excitation signal of each second control unit as the optimization objective. The timing generation module is used to generate driving timing logic based on the first stimulus instruction and the second stimulus instruction; The deviation correction module is used to obtain the actual position and orientation of the simulator cabin, calculate the deviation from the desired position and orientation command, correct the target resultant force and torque based on the deviation, and re-solve the excitation command.

10. A device, characterized in that, include: At least one processor; and a memory communicatively connected to at least one of the processors; The memory stores instructions that can be executed by the processor to implement the linear drive motion control method for a full-motion flight simulator as described in any one of claims 1-8.

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