JPH0534669B2 - - Google Patents

Description

[Detailed description of the invention]

【0001】

[Industrial Application Field] The present invention relates to a simulator used for, for example, a simulator for aircraft pilot training, and is a simulation device that simulates the steering reaction force that a trainee senses when actually steering the aircraft. The present invention relates to a simulation control device equipped with a steering feel generating device that can be easily and faithfully simulated.

【0002】

[Prior Art] FIG. 4 is a schematic diagram of a conventional simulation control device of this type.
The steering feeling generation function unit 4A includes a steering reaction force generation function unit 4.
B and a control function section 4C are included, and together with a simulation control function section 4D including necessary functional members such as a stick (control stick), a simulated control device is configured. Here, the steering reaction force generation function section 4
What is included in B is a take-off arm 41 connected to the simulated maneuver function section 4D, a load cell 42 mechanically connected to the take-off arm 41, a hydraulic cylinder 43, and the load A leaf spring 44 that mechanically connects the cell 42 and the hydraulic cylinder 43 and converts the linear motion of the hydraulic cylinder 43 into rotational motion of the take-off arm 41, and controls the amount of oil flowing into the hydraulic cylinder 43. Servo valve 45, safety valve to prevent phenomena such as abnormal vibrations.
Valve 46 and the take-off arm 41
Hydraulic cylinder 4 is mechanically connected to the rotating shaft of
This is a potentiometer 47 that converts and displays the voltage at the position No. 3. Also included in the control function section 4C are a first servo controller 48 that receives a signal from the load cell 42, a steering feel simulation controller 49, and a second servo controller that provides a signal to the servo valve 45. It is 410.

[0003] When the simulated maneuver function 4D is operated, the operating force is detected by the load cell 42 which is mechanically connected to this via the take-off arm 41, and the operating force is detected from the load cell 42. A signal is generated. This operating force signal is guided to the first servo controller 48 in the control function section 4C, is appropriately amplified, and is then sent to the next stage steering feel simulation controller 49.
A can be added. This steering feeling simulation controller 49
is constructed with an analog circuit that represents the steering characteristics of the actual machine to be simulated, and calculates the target position of the steering control device based on the steering force and the corresponding steering reaction force. The resulting position signal is output to the second servo controller 410. The second servo controller 410 accepts this position signal and the signal corresponding to the current position from the potentiometer 47 and calculates an error signal between these signals, depending on the magnitude of this error signal. Servo valve 45
to drive. By driving the servo valve 45, the amount of oil flowing into the hydraulic cylinder 43 is controlled, and as shown in FIGS. 5a and 5b, the amount of oil flowing into the hydraulic cylinder 43 is controlled.
The take-off arm 41 is rotationally driven via a spring 44 and a load cell 42. As a result, the simulated steering function section 4D follows up to the target position calculated by the control function section 4C, thereby generating a steering reaction force corresponding to the operating force based on the trainee's steering operation.

【0004】

[Problems to be Solved by the Invention] Since the conventional simulation steering device was provided with a linear movement rotational movement conversion mechanism such as a leaf spring 44, the mechanical rigidity of the steering reaction force generation function section was limited (Fig. 5b). ,
This limited the response speed of the servo system. Further, the response speed of the potentiometer 47 used for detecting the position of the hydraulic cylinder 43 as a servo system is limited due to its accuracy and the position to be detected. Because of these response speeds,
For example, when operating the control device suddenly, there was a problem in that the fidelity of the simulation was low. In addition, the configuration of the control function unit 4C that calculates the drive signal to the servo valve 45 has a problem in that the fidelity of simulation is low in the conventional method of controlling the position of the control device due to the characteristics of the control device to be simulated. Furthermore, since the required calculation section of the steering feel simulation controller 49 in the conventional simulation control device is configured with an analog circuit, there is a limit to the improvement of calculation accuracy due to drift phenomena, etc. However, there were problems such as it was time-consuming to replace elements such as resistors and capacitors, and when the model of the actual machine to be trained was changed, the circuit had to be changed, making it cumbersome to handle.

[0005] This invention was made in order to solve the above-mentioned problems, and it improves the response speed of the servo system and adapts it to the characteristics of a control device that attempts to simulate the control function part. The object of the present invention is to obtain a simulated piloting device with improved simulation fidelity by enabling selection of a control method and by configuring a steering feel simulation controller using predetermined digital processing.

【0006】

[Means for Solving the Problems] In order to solve the above-mentioned problems, the present invention provides a steering feeling generating device that includes a steering reaction force generation function section using a servo mechanism and a controller section that controls the steering reaction force generation function section. In the simulation control device in which the functional part is connected to the simulated maneuvering function part via the steering reaction force generation function part, the hydraulic cylinder of the steering reaction force generation function part is supported perpendicularly to the axial direction of the hydraulic cylinder. A rotary support part that is rotatable around the support part, a hydraulic cylinder of the steering reaction force generating function part, and the simulated maneuvering function part are mechanically connected to each other to detect the operating force of the simulated maneuvering function part. a non-contact position sensor that detects the position of the hydraulic cylinder; and a non-contact position sensor that receives the operating force from the operating force detection means and obtains a position command signal through a predetermined digital calculation from the non-contact position sensor. The error signal is obtained by the position signal of
Alternatively, upon receiving the position information from the non-contact position sensor, a steering reaction force is obtained by predetermined digital calculation, and an error speed signal is obtained by using the operation force from the operation force detection means, and an error position signal or an error speed signal is obtained. The present invention is characterized in that it has a control function section that performs drive control of the hydraulic cylinder by any one of the following.

[0007]

[Function] According to the present invention, the calculation processing necessary for the simulated maneuver is performed digitally, and the rotating support part and the non-contact position sensor enable high-speed response as a servo system, and the characteristics of the maneuvering device to be simulated. , it becomes possible to select the control method of the pilot device to obtain the optimal configuration.

[0008]

[Example] An example of the present invention will be described below. FIG. 1 is a schematic configuration diagram of the embodiment device, and FIGS. 2a and 2b are operation explanatory diagrams of the control function section in the embodiment device.

[0009] First, referring to FIG. 1, the steering feeling generation function section 1A includes a steering reaction force function section 1B and a control function section 1C.
Together with this, a simulated control device is constructed. here,
What is included in the steering reaction force generation function section 1B is:
The take-off arm 11 connected to the simulated maneuver function section 1D, this take-off arm 11
A load cell 12 is mechanically connected between the load cell 12 and the hydraulic cylinder 13, and a rotary support that supports the hydraulic cylinder 13 at right angles to the axial direction and allows the hydraulic cylinder 13 to rotate around the supported part. Part 14
Also, a servo valve 15 for controlling the amount of oil flowing into the hydraulic cylinder 13, and a safety valve 1 for preventing occurrence of phenomena such as abnormal vibrations.
6, and a non-contact position sensor 17 that detects the position of the hydraulic cylinder 13. Note that the rotation support part 14
is a linear/rotational conversion mechanism with increased rigidity, and as shown in FIGS. 3a and 3b, the hydraulic cylinder 13 converts linear motion of the hydraulic cylinder 13 into rotational motion of the take-off arm 11 13. In this way, the hydraulic cylinder 13
By rotatably supporting the take-off arm 11, load cell 12, and hydraulic cylinder 13, the mechanical connection between the take-off arm 11, load cell 12, and hydraulic cylinder 13 can be made like a single rod, which increases the mechanical rigidity of this connection part. The response speed of the servo system can be increased. Further, the non-contact position sensor 17 includes a probe 17a and a magnet 17b. It has a specific combination. The magnet 17b is attached to the load cell 12 so that it can be moved along with the movement of the piston shaft 13a. The magnet 17b has an annular shape, and the rod of the probe 17a passes through a hole in the center without contact. When the piston of the hydraulic cylinder 13 moves,
A magnet 17b mechanically coupled thereto moves outside the rod of the probe 17a and the distance L from the probe 17a is measured. In addition, the control function section 1C
Includes servo controller 1
8 and a steering feel simulation controller 19A.

[0010] Next, the operation will be explained. In both the position control method and the steering reaction force control method, when the trainee operates the simulated maneuvering function section 1D, a corresponding operating force signal is sent to the load controller which is mechanically connected to this via the take-off arm 11. This operating force signal is detected by the cell 12 and is sent to the control function unit 1C.
The signal is guided to the internal servo controller 18, where it is suitably amplified and then added to the next-stage steering feel simulation controller 19A. This steering feel simulation controller 19A is configured with a microcomputer programmed with a required program to represent the steering characteristics of the actual machine to be simulated.
In the case of the position control method, the trainee controls the simulated maneuver function section 1.
Based on the steering force applied via D and the corresponding steering reaction force, the target position of the simulated control device being operated is calculated, and this position signal and the current position from the non-contact position sensor 17 are calculated. accept the signals corresponding to and calculate the error signal between these signals,
The servo valve 15 is driven depending on the magnitude of this error signal.

[0011] Furthermore, in the case of the steering reaction force control method, the difference between these signals is An integral operation is performed to calculate the speed signal as the acceleration signal of the simulated pilot device being operated. Depending on the magnitude of this signal, the servo valve 15 is driven and the position of the hydraulic cylinder 13 is determined.

[0012] In both the position control method and the steering reaction force control method, the servo valve 15 controls the amount of oil flowing into the hydraulic cylinder 13.
The take-off arm 11 connected to the hydraulic cylinder 13 is driven. As a result, the simulated maneuvering function unit 1D follows up to the desired position calculated by the steering feel simulation controller 19A in the control function unit 1C, thereby causing a steering reaction corresponding to the steering force based on the trainee's maneuvering operation. force will be generated.

[0013] Next, referring to FIG. 2, the control function unit 1C in the above-described embodiment device will be explained.

[0014] In the position control method shown in FIG.
Fp is applied to the steering feel simulation controller 19A consisting of a microcomputer via the first amplifier A1 of the servo controller 18, but at this time, the operating force Fp is applied in advance to an analog digital ( A/D) has been converted. This operating force Fp is calculated by adding and amplifying the steering reaction force Fr, which depends on various parameters such as friction force and spring force, to obtain acceleration ^d2.
δ/dt ² , velocity dδ/dt by an integral calculation, and position δ by a second integral calculation, and as a result, a position command signal δc is obtained, which is digitally converted by means not shown.・Servo after analog (D/A) conversion
It is added to the controller 18. In this servo controller 18, the position command signal δc is connected to the non-contact position sensor 1 via the second amplifier A2.
A subtraction process is performed between the current position signal δa from 7 and the resulting error signal ε is provided to the servo valve 15 via the summing amplifier Σ.

[0015] As described above, the position control method is applied when the influence of inertia added to the control device to be simulated is large.

[0016] In addition, in the case of the steering reaction force control method shown in FIG. Various reaction forces that depend on various parameters such as spring force and friction force are obtained from the speed, and necessary arithmetic processing is performed between these forces, and as a result, a steering reaction force Fr is obtained. This steering reaction force Fr is D/A
After being converted, it is added to the servo controller 18, and in this servo controller 18,
Subtraction processing is performed between the steering reaction force Fr signal and the operating force Fp from the load cell 12, and addition and
The amplifier A3 converts it into an acceleration signal, the integrator 1/S performs an integration operation, and the resulting error velocity signal is provided to the servo valve 15.
In this way, the steering reaction force control method is applied when the influence of inertia added to the steering device to be simulated is small.

【0017】

Effects of the Invention As explained above, the simulated piloting device according to the present invention is a simulated piloting device in which a steering feeling generating function section consisting of a steering reaction force generating function section and a control function section is connected to a simulated maneuvering function section. wherein the hydraulic cylinder of the steering reaction force generation function section is rotatably supported, a high-performance non-contact position sensor is provided, and the control function section is configured in a manner that can control the position of the steering device or the steering reaction force, In addition, since the steering feel simulation controller of the control function section is constructed using digital calculation processing, it is possible to reduce the discomfort caused when the control device is suddenly operated, and to create a control system that is optimal for the steering force characteristics of the actual aircraft to be simulated. Since it is possible to easily change the steering reaction force, the steering reaction force can be more faithfully simulated regardless of the characteristics of the steering device.

[Brief explanation of drawings]

FIG. 1 is a schematic configuration diagram of an embodiment of the present invention.

FIG. 2 is an explanatory diagram of the operation of the control function unit of the present invention, FIG. 2a is an explanatory diagram of the operation of the position control method, and FIG. 2b
FIG. 2 is an explanatory diagram of the operation of the steering reaction force control method.

3A and 3B are explanatory views of the operation of the steering reaction force generation function section of the present invention, FIG. 3a is a diagram of a predetermined position state, and FIG. 3b is a diagram of another position state.

FIG. 4 is a schematic configuration diagram of a conventional device.

FIG. 5 is an explanatory diagram of the operation of the steering reaction force generation function section of the conventional device, FIG. 5a is a diagram of a predetermined position state, and FIG. 5b
is a diagram of another position state.

[Explanation of symbols]

1A...Steering feeling generation function section 1B...Steering reaction force generation function section 1C...Control function section 1D...Simulation control function section 14...Rotation support part 17...Non-contact position sensor 19A...Steering feeling simulation controller.

Claims (1)

[Claims] 1. A steering feeling generation function section including a steering reaction force generation function section using a servo mechanism and a control function section that controls the steering reaction force generation function section performs a simulated maneuver via the steering reaction force generation function section. In the simulation control device connected to the functional section, a rotation support section that supports the hydraulic cylinder of the steering reaction force generating functional section perpendicularly to the axial direction so that the hydraulic cylinder can rotate around the support section; an operating force detection means located between the hydraulic cylinder of the steering reaction force generating function section and the simulated maneuvering function section to perform mechanical coupling and detecting the operational force of the simulated maneuvering function section; and detecting the position of the hydraulic cylinder. a non-contact position sensor; and a position command signal is obtained by predetermined digital calculation in response to the operating force from the operating force detection means, and an error position signal is obtained from the position signal from the non-contact position sensor; Upon receiving the position information from the non-contact position sensor, a steering reaction force is obtained by predetermined digital calculation, and an error speed signal is obtained by using the operation force from the operation force detection means, and either an error position signal or an error speed signal is obtained. and a control function section that performs drive control of the hydraulic cylinder.