Method for calibrating force of a control stick of a simulator

Abstract

The problem that the simulation degree of the stick force of the joystick is not high, which affects the training effect, and that the force sensing data is not intuitive and has a large deviation due to the lack of reference of the fixed standard and the position of the measuring sensor is solved.SOLUTION: Recording a stick force at each position through a sensor connected inside the control stick, obtaining an actual flight force feedback of an aircraft standard instructor, determining whether the stick force is normal, if yes, moving the control stick to different angles through the force meter according to different positions of the force measuring plane, recording a stick force value displayed on the force meter at each angle, comparing the stick force value with data corresponding to a simulation machine that is verified as normal, and calculating an average value as a simulation machine standard stick force parameter.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to the field of simulator control column force measurement and calibration, and more particularly to a simulator control column force calibration method. [Background technology]

[0002] A flight simulator is a specialized device that provides pilots with a realistic training experience. Through the simulator's highly simulated flight environment, pilots can simulate various flight situations encountered during the flight of a real aircraft, thereby improving their flying skills and operational level. The degree of simulation of the simulator with the real aircraft directly relates to the quality of flight training and further affects the flight safety of the real aircraft.

[0003] Among these, the simulation level of rod force on the B737 simulator is a relatively hot topic in current flight training. During the training process using a real simulator, pilots often point out that the simulator's rod force simulation level is low and unrealistic. Because the control stick is the most important control mechanism for an aircraft, it is necessary to use the control stick to deal with unexpected situations during takeoff, landing, special environments, etc. If the simulator's rod force deviation from that of the actual aircraft is large, it will inevitably affect the training effect, and in serious cases, it will lead to misjudgment in the operation of the actual aircraft, affecting flight safety.

[0004] Although existing simulator manufacturers' control stick structural designs have software that can adjust the control stick feedback force, crews often still raise related issues after the stick force calibration. Existing simulator control stick force parameters do not have a single relative fixed standard as a reference, and there are different degrees of deviation between the simulator stick force calibration data and the stick force at the pilot's control stick end.

[0005] In existing technology, the simulator's control column force measurement sensors are all located at the force-bearing end. However, multiple mechanical connections exist between the force-bearing end and the force-applying end of the control column, resulting in a deviation from the force felt at the force-applying end. Current simulators use a force-balance measurement method, which has significant drawbacks. This measurement method is based on the principle of comparative measurement, balancing an unknown force to be measured with a known force to obtain the force value. This method uses force sensors at the mechanical transmission end but not at the force-applying end, resulting in insufficient intuitive measurement data and frequent deviations. Existing simulator control column force parameters lack a single, fixed reference standard, resulting in varying degrees of deviation between software-calibrated data and the pilot's control column force at the end. Furthermore, because pilots operate different aircraft and feel different feedback forces, subjective differences exist in the simulator's control column feedback force.

[0006] In light of this, the present invention proposes a method for calibrating simulator control stick forces. Summary of the Invention

[0007] In order to solve the above problems in the existing technology, that is, the simulation degree of the stick force of the control stick is not high, which affects the training effect, the lack of a fixed standard reference, the feeling of the real aircraft still exists after the stick force calibration, and the force sensing data is not intuitive and has a large deviation due to the position of the measurement sensor, the present invention provides a simulator control stick force calibration method, which includes: Step S1: energizing the simulator to activate the hydraulic system and pressurize the elevator hydraulic systems A and B; Step S2: moving the control stick back and forth to bring the simulator to a neutral position, while ensuring that the angle between the axis of the control stick and the axis of the vertical position is within a preset angle range; modelSimulator control stick force measurement device, which is the force applied to the simulator control stick in Force measuring instruments, respectively The relevant attaching the simulator control stick force measurement device to a plurality of positions on the force measurement plane; The pilot Step S3: moving the control stick using a force measuring device to keep the control stick at a preset elevator position, recording the stick force at each position using a sensor connected inside the control stick, ensuring that the force applied to move the control stick is within a preset range using the force measuring device, and when moving the control stick, applying a force to the simulator control stick via the force measuring device attached and fixed to the simulator control stick to move the simulator control stick; Step S4: determining whether the stick force at each position is the stick force at the corresponding position of the actual aircraft, and if not, proceeding to step S5, and if yes, proceeding to step S6; Step S5: calibrating the elevator force based on the position parameters for elevator positions corresponding to a different column force from the column force at the corresponding position of the actual aircraft, and proceeding to step S4 after the calibration; Step S6: obtain the actual flight force feedback of the aircraft standard instructor and determine whether the stick force is normal, and if so, proceed to step S7; if not, proceed to step S5; Step S7: moving the control stick to different angles using the force measuring device according to different positions of the force measuring plane, recording the stick force values ​​displayed on the force measuring device at each angle, comparing them with data corresponding to a simulator that has been verified as normal, excluding the abnormal data, and calculating the average value of the remaining stick force values ​​at multiple angles and positions as the simulator standard stick force parameters, forming an industry standard; A method for calibrating simulator control column forces is provided.

[0008] In some preferred embodiments, a force measuring device is used to move the control stick, and the control stick is held at a preset elevator position, and a sensor connected inside the control stick records the stick force at each position, and the force measuring device ensures that the force applied to move the control stick is within a preset range, where the stick force includes a first stick force and a second stick force, specifically: Using a force measuring device to move the control stick backward, and maintain the control stick at a preset elevator position, and using a sensor connected inside the control stick to record the first stick force at each position, while using the force measuring device to ensure that the force applied to move the control stick is within a first preset range; The force measuring device moves the control stick forward, and the control stick is held at a preset elevator position, and a sensor connected inside the control stick records the second stick force at each position, and the force measuring device ensures that the force applied to move the control stick is within a second preset range; It is determined whether the first and second rod forces are rod forces at the corresponding positions of the actual aircraft, and if not, proceed to step S5, and if yes, proceed to step S6.

[0009] In some preferred embodiments, the simulator control column force measurement device comprises: a force measuring device; Control stick connection device and , integrally connected to the control stick connection device a force measuring plane; Both ends of the control stick connection device are attached to the control stick, a force measurement plane is attached between the both ends of the control stick connection device, the plane on which the force measurement plane is located is inclined relative to the plane on which the control stick connection device is located, and a force measuring device is attached to the force measurement plane, and the force measuring device is used to measure the control stick force.

[0010] In some preferred embodiments, the control stick connection device comprises a first cover plate and a second cover plate; The two first cover plates are fixed symmetrically on both sides of the force measurement plane along the center of the force measurement plane, and the first cover plate and the second cover plate are removably fixed; A gap is provided between the first cover plate and the second cover plate, and the control stick is engaged in the gap, sheathing (engaging) the control stick with the control stick connecting device through the gap.

[0011] In some preferred embodiments, the first cover plate and the second cover plate are removably fixed, and the structure thereof is The first cover plate has a screw hole to be screwed to a bolt, and the bolt is attached to the second cover plate.

[0012] In some preferred embodiments, the screw holes are provided centrosymmetrically along the center line of the first cover plate.

[0013] In some preferred embodiments, a plurality of force measurement holes are formed in the force measurement plane, and force measuring devices are removably attached in the force measurement holes.

[0014] In some preferred embodiments, the force measuring device abuts against the force measuring device connector through the force measuring hole, and the force measuring device connector and the force measuring hole are removably fixed.

[0015] In some preferred embodiments, a connecting line of the center points of the plurality of force measurement holes overlaps with an axis of symmetry of both ends of the control stick connection device.

[0016] In some preferred embodiments, the angle at which the plane on which the force measurement plane is located is inclined relative to the plane on which the control stick connection device is located is calculated based on the neutral position angle of the control stick of an actual aircraft and the mounting angle of the measurement device.

[0017] The beneficial effects of the present invention are as follows:

[0018] The simulation accuracy is significantly improved. By directly attaching the force measurement plane and force measurement device to the control stick, the present invention can measure the control stick force more accurately, and compared with the conventional measurement form located at the force-receiving end, the deviation of force transmission due to the mechanical connection is reduced, and the intuitiveness and accuracy of the measurement data are improved, thereby significantly improving the simulation degree of the simulator's control stick force and allowing the pilot to experience a control sensation closer to that of a real aircraft.

[0019] Enhanced calibration efficiency and effectiveness. The proposed simulator control stick force calibration method combines hardware measurement equipment and software data analysis, allowing for refined calibration before the simulator is used to ensure consistency between simulated training and a realistic flight experience. This method not only quickly identifies and corrects stick force deviations, but also dynamically adjusts according to actual flight feedback, effectively resolving the long-term discrepancy between calibration data and pilot intuition.

[0020] Standardization of stick force parameters. By establishing the average values ​​of stick force values ​​at multiple angles and positions as simulator standard stick force parameters and forming an industry standard, the present invention contributes to the unification of stick force standards for simulator training, provides an objective and unified reference standard for different simulator manufacturers and airlines, and promotes the overall improvement of the quality of flight training.

[0021] In terms of adaptability and flexibility, the removable fixed structure (e.g., the screw connection between the first cover plate and the second cover plate) adopted in the device design and the movable mounting of the force measuring device provide high adaptability and convenient adjustment ability for matching the rod forces of different types of simulators and actual aircraft, thereby making the measuring device and calibration method have a wide range of applications.

[0022] Improved flight safety: By increasing the realism and effectiveness of simulation training, pilots can better master the skills of flying aircraft in various flight situations, and reduce misjudgments in actual aircraft operation caused by insufficient simulation training. This fundamentally improves flight safety levels and is of great significance to ensuring aviation safety. [Brief explanation of the drawings]

[0023] Other features, objects and advantages of the present application will become more apparent upon reading the following detailed description of non-limiting embodiments with reference to the drawings, in which:

[0024] [Figure 1] FIG. 2 is a flow diagram of a simulator control stick force calibration method according to the present invention; [Figure 2] 1 is a front view of a simulator control stick force measurement device in a simulator control stick force calibration method according to the present invention; FIG. [Figure 3] 1 is a side view of a simulator control stick force measurement device in a simulator control stick force calibration method according to the present invention; FIG. [Figure 4] 1 is a top view of a simulator control stick force measurement device in a simulator control stick force calibration method according to the present invention; FIG. [Figure 5] 1 is an axonometric view of a simulator control stick force measuring device in a simulator control stick force calibration method according to the present invention; FIG. DETAILED DESCRIPTION OF THE INVENTION

[0025] The present application will be described in more detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are merely for the purpose of illustrating the relevant invention, and are not intended to limit the invention. Furthermore, for ease of explanation, only parts related to the relevant invention are shown in the drawings.

[0026] It should be noted that, where no contradiction exists, the embodiments and features of the embodiments of the present application may be combined with each other. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present application will be described in detail below in relation to the embodiments with reference to the drawings.

[0027] Referring to FIG. 1, the present invention provides a method for calibrating simulator control column forces, the method comprising: Step S1: energizing the simulator to start the hydraulic system and pressurizing the elevator hydraulic systems A and B; Step S2: moving the control stick back and forth to bring the simulator to a neutral position, while ensuring that the angle between the axis of the control stick and the axis of the vertical position is within a preset angle range; In a simulator control stick force measurement device, which is the force applied to the simulator control stick Force measuring instrument 、 each The relevantStep S3: attaching a simulator control stick force measuring device to a plurality of positions on the force measuring plane (2), having the pilot move the control stick using the force measuring device, and holding the control stick at a preset elevator position, and recording the stick force at each position using a sensor connected inside the control stick, and ensuring that the force measured by the force measuring device is within a preset range; Step S4: determining whether the stick force at each position is the stick force at the corresponding position of the actual aircraft, and if not, proceeding to step S5, and if yes, proceeding to step S6; Step S5: calibrating the elevator force based on the position parameters for elevator positions corresponding to a different column force from the column force at the corresponding position of the actual aircraft, and proceeding to step S4 after the calibration; Step S6: obtain the actual flight force feedback of the aircraft standard instructor and determine whether the stick force is normal, and if so, proceed to step S7; if not, proceed to step S5; Step S7: moving the control stick to different angles using the force measuring device according to different positions of the force measuring plane (2), recording the stick force values ​​displayed on the force measuring device for each angle, comparing them with data corresponding to a simulator that has been verified as normal, excluding the abnormal data, and calculating the average value of the remaining stick force values ​​at multiple angles and positions as the simulator standard stick force parameters, forming an industry standard. A method for calibrating simulator control stick forces is proposed.

[0028] Wherein, the present invention further includes, before step S1, determining whether control stick force calibration is necessary according to the following content, and executing step S1 if necessary: This may be determined by the crew's feedback that the stick is heavy / light, or when replacing an assembly related to the control stick C / L, or further, when the related QTG data of the control stick exceeds the tolerance.

[0029] The preset angle range is 6.1 to 7.7 degrees.

[0030] The rod force value in the present invention is the force actually measured, that is, the force measured at the force application end using the force measuring device of the present invention, and is expressed as (F actual).

[0031] The stick force at each position recorded by the sensor, i.e., the force measured by the force sensor at the force-receiving end of the simulator control stick, can be obtained by the simulator software and is represented by (FS).

[0032] The standard column force parameters of the actual aircraft are the column forces at the corresponding positions of the actual aircraft, that is, the standard column force model of the B737 aircraft model, which is a relatively fixed, known force that cannot be changed, and the column force parameter model of the simulator is implemented with reference to the standard of the actual aircraft, represented as (FA).

[0033] The actual flight force feedback of a standard aircraft instructor is a relative subjective force feedback, which is the deviation value of the actual flight force of a real aircraft by the same instructor (standard stick force of the real aircraft + one relative fixed force). It is affected by different factors such as different stick forces of the real aircraft, different stick forces of the simulator, and the physical condition of the standard instructor. The amount of deviation to a large or small value is expressed by ∇ real, and a large deviation is a negative value, and a small deviation is a positive value.

[0034] Regarding the deviation force such as friction force, there exists a certain force deviation such as friction force between the force at the end of the simulator control stick and the measured force of the sensor, which is expressed as (F1).

[0035] The units of all the above forces are (lbf).

[0036] The interrelationships between the forces are as follows:

[0037] 1. The relative relationship between the sensor's measurement force FS and the standard rod force FA of an actual aircraft. If it is on the neutral boundary, FA-2<=FS<=FA+2, If it is in another position, (FA-5<=FS<=FA+5) or (0.99FA<=FS<=1.01FA), FS can meet the CAAC certification requirements within the above range.

[0038] 2. The relationship between the sensor's measuring force and the actual measuring force is: F1 = F real - FS, F1 is a force value including friction force, torque conversion, etc. Since it is a relatively unfixed value and does not have a large reference, it is listed here only to make it easier to understand the relationship between the two forces.

[0039] F1 includes the actual flight force feedback ∇actual of the aircraft standard instructor.

[0040] In the present invention, the force measuring device moves the control stick, and the control stick is kept at a preset elevator position. The sensor connected inside the control stick records the stick force at each position. The force measuring device ensures that the force applied to move the control stick is within a preset range, where the stick force includes a first stick force and a second stick force. Specifically, Using a force measuring device to move the control stick backward, and maintain the control stick at a preset elevator position, and using a sensor connected inside the control stick to record the first stick force at each position, while using the force measuring device to ensure that the force applied to move the control stick is within a first preset range; The force measuring device moves the control stick forward, and the control stick is held at a preset elevator position, and a sensor connected inside the control stick records the second stick force at each position, and the force measuring device ensures that the force applied to move the control stick is within a second preset range; It is determined whether the first and second rod forces are rod forces at the corresponding positions of the actual aircraft, and if not, proceed to step S5, and if yes, proceed to step S6.

[0041] Among them, the first preset range is as shown in Table 1.

[0042] [Table 1]

[0043] Among them, the second preset range is as shown in Table 2.

[0044] [Table 2]

[0045] The method given above was performed when the C / L was connected and hydraulic pressure was applied.

[0046] Below we provide a method for inspecting the simulator control column force when the C / L is connected and the hydraulic system is not pressurized.

[0047] In step A1, slowly move the control column aft and hold it between 3.59 inches (91.19 mm) and 3.69 inches (93.73 mm) above the trailing edge of the elevator. In step A2, the specific parameters can be monitored on the IOS-simulator maint Index-flight control page or the aircraft's EICAS; In step A3, using a force measuring device, ensure that the force fixing the control stick is between 11 lbf (48.93 N) and 53 lbf (235.76 N); In step A3, the control stick is centered, In step A4, the captain slowly moves the control column forward and holds it between 3.64 inches (92.46 mm) and 3.74 inches (95.00 mm) below the trailing edge of the elevator. In step A5, a force measuring device is used to ensure that the force fixing the control stick is between 19 lbf (84.52 N) and 63 lbf (280.24 N).

[0048] In the present invention, the control stick is moved forward and backward, and the forward and backward directions are defined as follows.

[0049] The direction of the nose is forward and the opposite direction is aft.

[0050] On the other hand, in the actual flight process, the pilot mostly operates the control stick in a pressurized state (in the air, when the aircraft is operating normally) (when the aircraft is on the ground, the pilot does not operate the control stick on the ground). Therefore, this invention mainly refers to the control stick force in a pressurized state, and MQTG also mainly refers to this state.

[0051] Rod force in an unpressurized situation occurs only in special circumstances, such as when the aircraft's hydraulic system fails, and the force sensation at this time is often influenced by the pilot's emotions (such as when the aircraft fails and emotions fluctuate), so it is only for reference.

[0052] As shown in FIGS. 2 to 5, referring to FIGS. 2, 3 and 4, the simulator control stick force measurement device includes a control stick connection device 1 and a force measurement plane 2, Both ends of the control stick connection device 1 are attached to the control stick, and a force measurement plane 2 is attached between the two ends of the control stick connection device 1, and the plane on which the force measurement plane 2 is located is inclined relative to the plane on which the control stick connection device 1 is located, and a force measuring device is attached to the force measurement plane 2, and the force measuring device is used to measure the control stick force.

[0053] The simulator control stick force measuring device of the present invention is applied to a B737 simulator, and the control stick connecting device 1 thereof is an accessory force measuring device designed mainly according to the size parameters of the B737 simulator control stick, and has the characteristics of perfectly matching the B737 simulator control stick, no gap, easy attachment and detachment, etc.

[0054] In the measurement device, the force measurement plane 2 is designed to be inclined, and the magnitude of the inclination angle is calculated according to the neutral position angle of the control stick of the actual aircraft and the installation angle of the measurement device, ensuring that the force measurement plane 2 is completely parallel to the control stick. This inclination angle design avoids force measurement errors caused by angle problems during force measurement and ensures force measurement accuracy.

[0055] The device itself is designed and manufactured according to 1:1 modeling of the B737 simulator control stick, and in particular the inclination design of the force measurement plane 2 and the selectable measurement positions of the multiple holes designed therein ensure the accuracy of the control stick force measurement and eliminate deviations caused by misalignment of the force measuring device.

[0056] The control stick connection device 1 of the present invention is an accessory force measurement device designed primarily for the size parameters of a B737 simulator control stick. The force measurement plane 2 is parallel to the control stick, and the force measuring device is a push / pull force measuring device mounted directly on the center axis of the control stick. By pushing and pulling the control stick back and forth, the pilot's actual force sensation during training can be measured. This is used as a reference for comprehensive stick force calibration, combined with the forces measured by the force sensor of the simulator's control mechanism, the standard stick force parameters of a real aircraft, and the actual flight force feedback of a standard instructor. This improves the realism of simulator control stick control, optimizes training effects, and contributes to flight safety. Based on these findings, a simulator control stick force parameter standard is formulated.

[0057] The calibration of the control stick force is based on the premise of meeting the CCAR simulator certification requirements. According to the Manufacturer's Simulator Quality Test Guide (MQTG), the tolerance range for control stick force is + / - 5 lbf or 10% force difference, preferably within the envelope of the actual aircraft control stick force parameters. Based on this premise, the present invention combines the stick force data measured at the force application end with the actual flight force feedback of the standard instructor, and compensates for the offset amount of the force measured by the force sensor of the simulator's control mechanism to accurately calibrate the control stick force. Finally, by collating the statistics of the calibration stick force data from multiple simulators, a stick force standard for the B737 simulator is formed, improving flight efficiency and contributing to flight safety.

[0058] As a further interpretation of the present invention, referring to Figs. 4 and 5, the control stick connecting device 1 comprises a first cover plate 11 and a second cover plate 12; The two first cover plates 11 are fixed symmetrically on both sides of the force measurement plane 2 along the center of the force measurement plane 2, and the first cover plate 11 and the second cover plate 12 are removably fixed; A gap 13 is provided between the first cover plate 11 and the second cover plate 12, and the control stick connecting device 1 is attached to the control stick through the gap 13.

[0059] As a further interpretation of the present invention, in Figs. 4 and 5, the first cover plate 11 and the second cover plate 12 are removably fixed, and the structure thereof is as follows: The first cover plate 11 has a screw hole to be screwed to a bolt, and the bolt is attached to the second cover plate 12.

[0060] In particular, the present invention can automatically adjust the width of the gap 13 between the first cover plate 11 and the second cover plate 12 according to the above, thereby improving the adaptability of the device.

[0061] As a further interpretation of the present invention, in FIGS. 4 and 5, the screw holes are provided centrosymmetrically along the center line of the first cover plate 11.

[0062] As a further explanation of the present invention, referring to FIG. 5, a plurality of force measurement holes 21 are opened in the force measurement plane 2, and force measuring devices are removably mounted in the force measurement holes 21.

[0063] Among them, a number of selectable force measuring device mounting positions are designed on the center line of the force measurement plane 2, and in the force measurement process, the force measuring device can be mounted according to the actual center position of the control stick so as to measure the control stick force more accurately. By measuring at multiple positions and averaging them, a more accurate stick force can be obtained.

[0064] In this embodiment, the force measurement holes 21 of the present invention are preferably five, and those skilled in the art may design more or fewer force measurement holes 21 according to actual needs, and any number of force measurement holes 21 falls within the scope of protection of the present invention.

[0065] As a further interpretation of the present invention, referring to FIG. 5, the force measuring device passes through the force measuring hole 21 and abuts against the force measuring device connector, and the force measuring device connector and the force measuring hole 21 are removably fixed.

[0066] The force measuring hole 21 is a screw hole, and the force measuring instrument connector is actually a screw, which is screwed into the force measuring hole 21 to achieve fixation.

[0067] As a further interpretation of the present invention, referring to FIG. 2, the connecting lines of the center points of the plurality of force measuring holes 21 overlap the symmetry axes of both ends of the control stick connecting device 1 .

[0068] Specifically, in the present invention, the connecting line between the center points of the plurality of force measurement holes 21 is parallel to one side of the force measurement plane 2 and overlaps with the center line of the force measurement plane 2, so that the measured force can be made more uniform and accurate.

[0069] As a further interpretation of the present invention, referring to FIG. 3, the angle at which the plane on which the force measurement plane 2 is located is inclined relative to the plane on which the control stick connecting device 1 is located can be calculated based on the neutral position angle of the control stick of an actual aircraft and the mounting angle of the measuring device.

[0070] In describing the present invention, terms indicating directions or positional relationships, such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," are based on the directions or positional relationships shown in the drawings, and are merely for ease of description and do not indicate or suggest that the device or element must necessarily have a specific orientation, be configured and operated in a specific orientation, and should not be understood as limiting the present invention. Furthermore, the terms "first," "second," and "third" are merely for describing objects and should not be understood as indicating or suggesting relative importance.

[0071] Furthermore, in the description of the present invention, unless otherwise clearly defined and limited, the terms "attach," "connect," and "couple" should be understood in a broad sense, and may refer to, for example, a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, or internal communication between two elements. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention according to specific circumstances.

[0072] The term "comprises" or any other similar term is intended to cover a non-exclusive inclusion, whereby a process, method, product, or apparatus / device comprising a set of elements not only includes those elements, but also includes other elements not expressly listed or inherent in those processes, methods, products, or devices.

[0073] Although the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, it is readily understood by those skilled in the art that the scope of protection of the present invention is of course not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent modifications or substitutions to the relevant technical features, and all of the technical solutions after these modifications or substitutions will fall within the scope of protection of the present invention.

Claims

1. 1. A method for calibrating simulator control column forces, the method comprising: Step S1: energizing the simulator to activate the hydraulic system and pressurize the elevator hydraulic systems A and B; Step S2: moving the control stick back and forth to bring the simulator to a neutral position, while ensuring that the angle between the axis of the control stick and the axis of the vertical position is within a preset angle range; Step S3: attaching a simulator control stick force measuring device to the simulator control stick, and attaching force measuring devices to multiple positions on the force measuring plane (2) of the simulator control stick force measuring device, moving the control stick using the force measuring device, and maintaining the control stick at a preset elevator position, and recording the stick force at each position using a sensor connected inside the control stick, and at this time, using the force measuring device to ensure that the force applied when moving the control stick is within a preset range; Step S4: determining whether the stick force at each position is the stick force at the corresponding position of the actual aircraft, and if not, proceeding to step S5, and if yes, proceeding to step S6; Step S5: calibrating the elevator force based on the position parameters for elevator positions corresponding to a different column force from the column force at the corresponding position of the actual aircraft, and proceeding to step S4 after the calibration; Step S6: obtain actual flight force feedback of the aircraft standard instructor and determine whether the stick force is normal, and if so, proceed to step S7; if not, proceed to step S5; Step S7: moving the control stick to different angles using the force measuring device according to different positions of the force measuring plane (2), recording the stick force values ​​displayed on the force measuring device for each angle, comparing them with data corresponding to a simulator that has been verified as normal, excluding the abnormal data, and calculating the average value of the remaining stick force values ​​at multiple angles and positions as the simulator standard stick force parameters, forming an industry standard; The simulator control stick force measurement device comprises a control stick connection device (1) and a force measurement plane (2); Both ends of the control stick connecting device (1) are attached to a control stick, a force measuring plane (2) is attached between both ends of the control stick connecting device (1), the plane on which the force measuring plane (2) is located and the plane on which the control stick connecting device (1) is located are inclined, a force measuring device is attached to the force measuring plane (2), and the force measuring device is used to measure the control stick force; The control stick connecting device (1) comprises a first cover plate (11) and a second cover plate (12), The two first cover plates (11) are fixed symmetrically on both sides of the force measurement plane (2) along the center of the force measurement plane (2), and the first cover plate (11) and the second cover plate (12) are removably fixed; A gap (13) is provided between the first cover plate (11) and the second cover plate (12), and the control stick connecting device (1) is attached to the control stick through the gap (13); The first cover plate (11) and the second cover plate (12) are removably fixed, and the structure thereof is as follows: The first cover plate (11) has a screw hole to be screwed to a bolt, and the bolt is attached to the second cover plate (12). A method for calibrating simulator control stick forces, comprising:

2. The force measuring device moves the control stick, and the control stick is kept at a preset elevator position. The sensor connected inside the control stick records the stick force at each position. The force measuring device ensures that the force applied to move the control stick is within a preset range, where the stick force includes a first stick force and a second stick force. Specifically, Using a force measuring device to move the control stick rearward, and maintain the control stick at a preset elevator position, a sensor connected inside the control stick records a first stick force at each position, and the force measuring device ensures that the force applied to move the control stick is within a first preset range; Using the force measuring device to move the control stick forward, and to hold the control stick at a preset elevator position, a sensor connected inside the control stick records the second stick force at each position, and the force measuring device ensures that the force applied to move the control stick is within a second preset range; Determine whether the first and second rod forces are rod forces at corresponding positions of an actual aircraft; if not, proceed to step S5; if yes, proceed to step S6; 2. The simulator control column force calibration method according to claim 1.

3. The screw holes are provided symmetrically along the center line of the first cover plate (11).

2. The simulator control column force calibration method according to claim 1.

4. A plurality of force measurement holes (21) are formed in the force measurement plane (2), and force measuring devices are removably attached in the force measurement holes (21).

2. The simulator control column force calibration method according to claim 1.

5. The force measuring device passes through the force measuring hole (21) and abuts against the force measuring device connector, and the force measuring device connector is removably fixed to the force measuring hole (21).

5. The simulator control column force calibration method according to claim 4.

6. A line connecting the center points of the plurality of force measurement holes (21) overlaps with the symmetry axis of both ends of the control stick connecting device (1).

5. The simulator control column force calibration method according to claim 4.

7. The angle at which the plane on which the force measurement plane (2) is located and the plane on which the control stick connecting device (1) is located is calculated based on the neutral position angle of the control stick of an actual aircraft and the mounting angle of the measuring device.

2. The simulator control column force calibration method according to claim 1.

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