• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Flight simulator and method for flight simulation, comprising a simulator cab (1) provided on a parallel-kinematics arrangement (6), wherein the simulator cab (1) has a maximum positive pitch, in which the roll axis (11) extends from the horizontal course by a first pitch angle (12). in the context of the kinematic possibilities of the parallel kinematic arrangement (6) as far as possible inclined upwards while maintaining possibly provided control reserves and the operator (3) is inclined backwards and wherein the first pitch angle (12) is greater than 25 °.
    公开号:AT516901A1
    申请号:T50178/2015
    申请日:2015-03-06
    公开日:2016-09-15
    发明作者:Rainer Schlüsselberger；Richard Jun Schlüsselberger；Michael Mayrhofer
    申请人:Amst-Systemtechnik Gmbh；
    IPC主号:
    专利说明:

    Flight simulator and flight simulation method
    The invention relates to a flight simulator and a method for flight simulation according to the preamble of the independent claims.
    Flight simulators are known and published in different embodiments. For example, flight simulators are known in which a simulator cab is arranged on a floor-standing Flexapod. A flexapod is an embodiment of a parallel kinematic arrangement in which, over the changes in length of individual linear motion devices, a carrier element can be moved relative to a base along six degrees of freedom. These six degrees of freedom correspond to three rotational and three translatory degrees of freedom.
    Such hexapods are standard assemblies and are used to move and control the simulator cabins. A disadvantage of conventional flight simulators is that the freedom of movement is limited by the special configuration of the hexapods. Thus, an inclination of the cabin about the pitch axis is limited to about ± 20 ° while maintaining conventional control reserves. This means that the person or the simulator cabin can be tilted a maximum of 20 ° to the rear and a maximum of 20 ° to the front. Consequently, the roll axis of the person or the simulator cabin can only be tilted less than 20 ° upwards or downwards, starting from a horizontal course, while maintaining conventional control reserves.
    However, this freedom of movement is not sufficient for the simulation of special flight situations. Such a special flight situation is, for example, a so-called "full stall", in which essentially a complete stall occurs at the relevant parts of the wings. To increase the freedom of movement complicated structures are proposed in the prior art, which should prevent a collision of the individual linear motion devices. In practice, however, such configurations can hardly prevail because control of these particular arrangements is too complex to be economically feasible in small lots. In conventional hexapods, however, control interfaces are present and known.
    The freedom of movement or the motion characteristics of conventional flight simulators based on hexapod (also called envelope) is designed using worst-case scenarios, the maximum positions of the simulator - only hypothetical - occur in these worst-case situations, but in real operation of the simulator almost never occurs. Simulating a real likely stall, conventional simulators tend to be far from the maximum freedom of movement of the hexapod, which in reality does not nearly exhaust the potentially available mobility of the hexapod.
    As a result, in conventional flight simulators based on hexapods, it is not possible to sufficiently simulate a full-stall sufficiently realistically, but only a starting or partial stall.
    The object of the invention is now to provide a flight simulator and a method for flight simulation, by which or by which the disadvantages of the prior art are overcome, whereby an improved flight simulation is possible. In particular, an inclination of the person by more than 20 ° or 25 ° is possible, so that, for example, a full stall stall can be sufficiently simulated true to the perception.
    The objects of the invention are achieved by the features of the independent claims.
    Optionally, the invention relates to a flight simulator comprising: - a simulator cabin, wherein in the simulator cabin a seat for an operator, optionally an image display device for displaying the simulated environment, and preferably at least one control element for generating simulation control data and in particular for controlling the simulated aircraft and for influencing a parallel kinematic arrangement comprising a base, a support element and a plurality of linear motion devices, wherein the support element is connected to the base via at least three, preferably six linear motion devices, and wherein the base is optionally connected to the floor and the Carrier element is connected or coupled to the simulator cab, so that the simulator cab is arranged on the parallel kinematic arrangement or floor-standing, wherein the simulator cab has a basic position, the i essentially corresponds to a stationary straight flight of the simulated aircraft and in which the roll axis of the simulated aircraft or the operator is substantially horizontal, wherein the simulator cabin has a maximum positive pitch, in which the roll axis starting from the horizontal course by a first pitch angle in the context of kinematic Possibilities of parallel kinematic arrangement in compliance with possibly provided control reserves as far as possible inclined upwards and the operator is thereby inclined backwards, the inclination is preferably about the pitch axis or about an axis parallel to the pitch axis, wherein the simulator cabin has a maximum negative pitch, in the starting from the horizontal course, the roll axis is inclined downwards by a second pitch angle within the scope of the kinematic possibilities of the parallel kinematic arrangement in compliance with possibly provided control reserves, and the operator is thereby inclined forward, the inclination preferably takes place about the pitch axis or about an axis parallel to the pitch axis, and wherein the first pitch angle is greater than 25 °.
    Optionally, it is provided that the amount of the first pitch angle is greater than the amount of the second pitch angle, or that the amount of the first pitch angle is greater by a differential angle than the amount of the second pitch angle. Optionally, it is provided that the inclination of the simulator cabin about the pitch axis or about an axis parallel to the pitch axis between the maximum negative pitch and the maximum positive pitch is done exclusively by operating the parallel kinematics.
    Optionally, it is provided that the linear motion devices are designed as linear motion devices with a controllable or adjustable variable length, wherein the length of the linear motion devices between or in the region of a minimum length and a maximum length, so that the carrier element relative to the base by changes in length of the linear motion devices by at least two Axis is pivotable and optionally has three pivot degrees of freedom and three translational degrees of freedom.
    Optionally, it is provided that the linear motion devices are arranged in pairs, with two linear motion devices forming a pair of linear motion devices being inclined relative to one another, so that in particular a hexapod is formed.
    Optionally, it is provided that the parallel kinematic arrangement has a parallel kinematic basic position, in which the base and the carrier element are substantially parallel, and in that the parallel kinematic arrangement is arranged in a position deviating from the parallel kinematic basic position when the simulator cab is arranged in its basic position.
    Optionally, it is provided that the parallel kinematic arrangement has a parallel kinematic basic position, in which the base and the carrier element are substantially parallel, and that the base is inclined to the carrier element about the pitch axis or about an axis parallel to the pitch axis, when the simulator cab is arranged in its basic position ,
    Optionally, it is provided that the parallel kinematic arrangement has a parallel kinematic basic position, in which the base and the carrier element are substantially parallel, and in which the roll axis is a positive
    Differential angle is inclined upward, and in which the simulator cab is arranged in a different position from its basic position.
    Optionally, it is provided that the base is inclined upwards relative to a horizontal plane by a positive differential angle, or that the roll axis is inclined upward relative to the profile of the carrier element by a positive differential angle, or that the base faces a horizontal plane and the roll axis the course of the support element are inclined together upwards by a positive differential angle, wherein the differential angle is preferably indicated in a normal plane of the pitch axis.
    Optionally, it is provided that for the inclined positioning of the base relative to the horizontal plane, a wedge-shaped or a wedge-shaped wedge arrangement is provided, which is provided between the base and the bottom.
    Optionally, it is provided that for the inclined positioning of the roll axis with respect to the course of the support element, a wedge-shaped or a wedge-shaped wedge arrangement is provided, which is provided between the simulator cabin and support member.
    Optionally, it is provided that the wedge assembly is a rigid wedge assembly whose wedge angle is unchanged during the simulation.
    Optionally, it is provided that all linear motion devices have substantially the same minimum and maximum lengths and in particular have the same design, so that a symmetrical parallel kinematic arrangement is formed.
    Optionally, it is contemplated that a front linear motion device or a front linear motion device pair viewed along the line of sight of the operator has a greater maximum length than a rear linear motion device or a rear linear motion device pair, such that an asymmetrical parallel kinematic arrangement is formed.
    Optionally, it is contemplated that in the parallel kinematic principle, the pitch angle of a front linear motion device or a front linear motion device pair seen along the viewing direction of the operator is steeper than the angle of elevation of a rear linear motion device or a rear linear motion device pair such that an asymmetrical parallel kinematic arrangement is formed.
    If appropriate, it is provided that the second pitch angle is between -10 ° and -25 °, that the second pitch angle is between -10 ° and -22 °, and / or that the second pitch angle is between -19 ° and -21 ".
    If appropriate, it is provided that the first pitch angle is between 25 ° and 35 °, that the first pitch angle is between 28 ° and 35 °, that the first pitch angle is between 29 "and 35", that the first pitch angle between 30 ° and 35 ° is that the first pitch angle is between 32 ° and 35 °, and / or that the first pitch angle is between 29 ° and 31 ".
    Optionally, it is provided that the difference angle between about 2 ° and 20 °, between about 2 ° and 12 °, between about 3 ° and 10 °, between 4 ° and 8 ° and / or about 5 °.
    Optionally, it is provided that a turntable or a rotary ring is provided between the base and the base or between the carrier element and the simulator cabin, so that the simulator cab is rotatable about a vertical axis, in particular about the yaw axis.
    Optionally, it is provided that for the processing of simulation control data and for controlling the parallel kinematic arrangement, a control device is provided which comprises a control model, via the control device, the simulator cab can be brought from the maximum positive pitch to the maximum negative pitch, with the maximum positive pitch and the maximum negative pitch setting defines the pitching freedom of the simulator cab.
    Optionally, the invention relates to a method for flight simulation on a flight simulator according to one of the preceding claims, comprising the following steps: actuating the parallel kinematic arrangement so that the simulator cab is in its basic position, then actuating the parallel kinematic arrangement, so that the simulator cab can move from its basic position about the pitch axis or about an axis parallel to the pitch axis is inclined by a positive pitch angle of more than 25 ° to the rear. Optionally, it is provided that by a first operation of the parallel kinematic arrangement through which the simulator cabin in their
    A home position is simulated, a stationary straight flight is simulated, and that by a second operation of the parallel kinematic arrangement, by which the simulator cab is tilted from its home position about the pitch axis or about an axis parallel to the pitch axis by a positive pitch angle of more than 25 ° to the rear, a Full stall stall is simulated.
    If appropriate, it is provided that the simulator cab is tilted backwards only by actuating the parallel kinematics arrangement from the basic position about the pitch axis or about an axis parallel to the pitch axis by a positive pitch angle of more than 25 °.
    Optionally, it is provided that the positive pitch angle is 28 °, 29 °, 30 °, 31 °, 32 °, 33 °, 34 °, 35 ° or more.
    Optionally, it is provided that by a first operation of the parallel kinematic arrangement, through which the simulator cab is in its basic position, a stationary straight flight is simulated, and that by a second operation of the parallel kinematic arrangement through which the simulator cab from its home position about the pitch axis or a to the pitch axis parallel axis is inclined by a positive pitch angle of more than 25 ° backwards, a stall or a full stall stall is simulated, and that the simulated flight situation thereby used by a design for the freedom of movement or the movement characteristics of a conventional simulator worst case scenario deviates.
    Optionally, it is provided that a stationary straight flight is simulated by a first operation of the parallel kinematic arrangement, by which the simulator cab is in its basic position, wherein the simulated speed is less than the maximum speed of the simulated aircraft and in particular by more than 10% less as the maximum speed of the simulated aircraft, and that by a second operation of the parallel kinematic arrangement, by which the simulator cab is tilted from its home position about the pitch axis or about an axis parallel to the pitch axis by a positive pitch angle of more than 25 ° to the rear, a stall or a full stall stall is simulated, wherein the simulated stall speed is less than the maximum speed of the simulated aircraft and in particular more than 10% less than the maximum speed of the simulated aircraft Aircraft, and thus deviates from the worst-case scenario used to interpret the freedom of movement or the movement characteristics of a conventional simulator.
    Optionally, the invention relates to a control model and / or control method for any motion simulator, such as a motion simulator with a hexapod, a single-arm centrifuge, a multi-arm centrifuge, a single- or multi-arm centrifuge with movable carriage, wherein the motion simulator simulates an aircraft, a helicopter , a vehicle and / or a ship, in particular for the simulation of any means of locomotion, is suitable, and wherein the control model and / or the control method according to FIG. 4, according to the description associated with FIG. 4 and / or according to the entire description is or are trained.
    Optionally, the base is rigidly connected to the ground. Optionally, the support element is rigidly connected to the simulator cab.
    Optionally, the flight simulator is designed in all embodiments as a so-called "full flight flight simulator" in which the operator can control an aircraft in a simulated environment by using the controls and in which the sensory impressions occurring in the relevant real flight situation for the operator sufficient or optimal perceptual be simulated. Optionally, it is provided that the wedge angle of the wedge arrangement corresponds to the differential angle.
    For clarity, some terms are defined below:
    The roll axis corresponds to that axis, which essentially follows the line of sight with a relaxed, straight-ahead view. In particular, the roll axis is a horizontal axis, which follows, for example, an aircraft in stationary straight-ahead flight.
    The yaw axis is in particular that axis which is normal to the roll axis and in particular runs substantially perpendicular or lies in a vertical plane.
    The pitch axis is the axis normal to the two aforementioned axes. In particular, the pitch axis is a horizontal axis that runs from left to right or from right to left. By definition, the pitch axis, the yaw axis and the roll axis preferably coincide with each other at a point or in an area. This point or area is preferably in the region of the head of the operator. Optionally, however, this point or area is located in a region remote from the person's head. The course of the axes are determined in particular by the properties of the aircraft to be simulated.
    Optionally, the parallel kinematic arrangement is configured or adapted such that the front linear motion devices allow increased lift or increased freedom of movement of the simulator cab. In the front, in all embodiments, the direction is assumed that is prevailing in the basic position of the simulator for the operator. For example, in one embodiment, a centrally arranged linear motion device pair is provided as the hexapod at the front. In the rear region of the parallel kinematic arrangement, two linear movement devices are arranged laterally spaced from the vertical central longitudinal plane. However, if necessary, the simulator cab is also rotated 90 °, 180 ", or any other angle to that configuration. The front linear motion devices are always those linear motion devices that are located in the home position from the operator's point of view in the normal position.
    Optionally, therefore, the simulator cab in its basic position at the front two linear motion devices, in particular a linear motion device pair and have four rear linear motion devices, in particular two Linearbewegungsvorrichtungspaare.
    In a 180 "twisted configuration, the simulator cab may be equipped in the front with four linear motion devices, particularly two pairs of linear motion devices, and at the rear with two linear motion devices, in particular a linear motion device pair.
    These two configurations apply in particular to a parallel-kinematics arrangement designed as a hexapod. In the basic position, the simulator cab is preferably positioned symmetrically on the hexapod or on the parallel kinematic arrangement so that the freedom of movement to the left and to the right is symmetrical in the case of a rolling movement about the roll axis.
    1 shows a schematic oblique view of a parallel kinematic arrangement, FIGS. 2a, 2b, 2c and 2d show schematic side views of different embodiments of flight simulators according to the invention and, in each case underneath, a schematic view of the attachment points of the parallel kinematic arrangements Fig. 3 shows a schematic side view of a possible embodiment of the invention, and Fig. 4 shows an exemplary control model for a device according to the invention.
    Unless otherwise indicated, the reference numerals correspond to the following components: simulator cab 1, seat 2, operator 3, image display device 4, control element 5, parallel kinematic arrangement 6, base 7, linear motion device 8, support element 9, floor 10, roll axis 11, first pitch angle 12, second Pitch angle 13, differential angle 14, pitch axis 15, length (linear motion device) 16, front linear motion device 17, rear linear motion device 18, turntable 19, yaw axis 20, wedge assembly 21, flight model 22, perceptual model 23, objective function 24, constraint (s) 25, optimal control or optimal control algorithm 26, perception model 27, simulator kinematics model 28, components of the flight simulator 29 to be controlled, optional feedback 30, control inputs 31.
    1 shows a schematic oblique view of a conventional hexapod and in particular of the kinematic configuration of a conventional hexapod, this hexapod optionally being able to be used as a parallel kinematic arrangement 6 in a flight simulator according to the invention.
    The parallel kinematic arrangement 6 comprises a base 7, a carrier element 9 and a plurality of linear motion devices 8. The linear motion devices 8 each have a variable length 16. The linear motion devices 8 are formed in all embodiments, for example as a hydraulic cylinder. Optionally, these linear motion devices 8 in all embodiments, however, as electrically driven linear motion devices or optionally as a pneumatically driven
    Be formed linear motion devices. The linear motion devices 8 can be controlled or extended from a minimum length to a maximum length. Also in any intermediate position, the linear motion devices 8 can be stopped, so that a certain length 16 is given. Due to the controlled change in length of the linear motion devices 8, the carrier element 9 can be moved relative to the base. In particular, an inclination of the carrier element 9 relative to the base 7 about three axes of rotation and a translational movement along three degrees of freedom is possible. Optionally, the linear motion devices 8 engage along a circle on the carrier element 9 and / or on the base 7. In particular, these points of application can be provided regularly, symmetrically, rotationally symmetrically, rotationally symmetrically or in a predetermined pattern on the base 7 and / or on the carrier element 9. For example, two linear motion devices 8 are arranged in pairs, so that a pair of linear motion device is formed. The two linear motion devices 8 of a linear motion device pair are preferably not parallel to one another - in particular, they are skewed or inclined relative to one another.
    Optionally, in all embodiments in a symmetrical parallel-kinematics arrangement 6 or in the case of a symmetrical hexapod, all linear-movement devices 8 are of identical construction or of the same length or with the same length range. Thus, the linear motion devices 8 all have a minimum length and a maximum length, which minimum and maximum lengths may be the same for all linear motion devices 8, if necessary. The base 7 is preferably formed floorstanding or connected to the ground. The carrier element 9 is preferably designed to carry the object to be moved, for example the simulator cab 1. In particular, the simulator cab 1 (not shown) is connected to the carrier element 9. Preferably, the parallel kinematic arrangement 6 is formed floor-standing. Optionally, the base 7 is connected to the floor 10. The floor 10 may be in all embodiments, for example, the floor of a Simulatorhalle or a foundation.
    FIG. 2a shows a possible embodiment of the flight simulator according to the invention in a schematic side view. A simulator cab 1 with a seat 2 for a
    Operator 3, an image display device 4 and with controls 5 is arranged on a parallel kinematic arrangement 6. The seat is for receiving the operator 3. The image display device 4 is adapted and / or arranged to display the simulated environment and / or other information. The operating elements 5 are suitable and / or configured to generate control signals, so that the operator can influence the simulation. For example, the controls 5 are modeled in all embodiments of the controls of the aircraft to be simulated. By operating these controls 5, the simulated aircraft can be moved and / or controlled in the simulated environment. Via a data processing system, the control data can be processed to control or regulate the parallel kinematic assembly 6. By changing the position or the inclination of the simulator cab 1 and the seat 2 provided therein, the operator 3 acceleration states can be played, which are similar or similar to those of the simulated flight situations. In the present embodiment, the parallel kinematic assembly 6 is formed as a symmetric parallel kinematic assembly 6. It comprises a base 7, which is formed substantially horizontally following the floor 10. Furthermore, the parallel-kinematics arrangement 6 comprises a carrier element 9, which likewise runs essentially horizontally in the present position. In particular, the carrier element 9 extends substantially parallel to the base 7. This position of the parallel kinematic arrangement 6 corresponds to the parallel kinematic basic position. In this position, preferably all linear motion devices 8 have the same length 16. The coupling points of the linear movement devices 8 are preferably distributed symmetrically, evenly or regularly on the circumference at the base 7 or on the carrier element 9. By changing the length of the linear motion devices 8, the position of the simulator cab 1 can be changed. In the present embodiment, a wedge assembly 21 is provided between the simulator cab 1 and the support member 9. This wedge assembly 21 is shown schematically as a wedge. However, it may be a wedge-acting arrangement in all embodiments. For example, the simulator cab 1 may comprise a rigid bottom plate or a rigid bottom support which is provided on one side, in particular in the front region, spaced from the carrier element 9 via a spacer element, so that the simulator cab 1 is inclined relative to the carrier element 9. This oblique position preferably takes place about the pitch axis or about an axis parallel to the pitch axis. The angle of this inclination optionally corresponds to the differential angle 14 in all embodiments.
    The simulator cab 1 is in the illustrated position of Fig. 2a is not in its normal position, but is inclined by a certain angle about the pitch axis to the rear, and in particular inclined to the differential angle 14 to the rear. The pitch axis 15 is projecting in this view. It is located in particular at the intersection of the roll axis 11 and the yaw axis 20.
    This position corresponds for example to a position by which a longitudinal acceleration of the aircraft or a climb of the aircraft is simulated in the simulated environment.
    The parallel kinematic arrangement 6 comprises in the present embodiment six linear motion devices 8, with which the parallel kinematic arrangement 6 is designed as a flexapod. Three of the linear motion devices 8 are not shown because they are aligned behind the three visible linear motion devices 8.
    The features of FIG. 2b essentially correspond to the features of FIG. 2a, the wedge arrangement 21 according to the embodiment of FIG. 2b being provided between the base 10 and the base 7. In this embodiment or in this position, the parallel kinematic arrangement 6 is in its parallel kinematic basic position, in which, as in FIG. 2 a, all linear motion devices 8 have the same length 16. In the present embodiment, the entire parallel-kinematics assembly 6 is tilted at an angle with the parallel-kinematics assembly 6 tilted about the pitch axis or about an axis parallel to the pitch axis. In particular, the parallel kinematic arrangement 6 is tilted back by the differential angle 14. The simulator cab 1 is not in its normal position, but is also inclined backwards. The parallel-kinematics arrangement 6 of FIG. 2b is likewise designed as a symmetrical parallel-kinematics arrangement.
    To simulate a stationary straight-ahead flight, in which the simulator cab 1 is in its basic position, the length of the linear motion devices 8 is now changed such that the simulator cab 1 or the operator 3 is set substantially horizontally. In particular, in the configurations according to FIGS. 2 a and 2 b respectively, the front linear movement devices 17 are shortened in relation to the rear linear movement devices 18 such that the simulator cab 1 is arranged in its basic position. In this basic position, the roll axis 1 preferably runs horizontally. The yaw axis 20 preferably runs essentially vertically.
    With this configuration, the simulator cab 1 is in its normal position and the parallel kinematic assembly 6 outside the parallel kinematic basic position, with the inventive effect that the freedom of movement of an inclination about the pitch axis 15 is increased upward, wherein in the present configuration of Figs. 2a and If appropriate, the freedom of movement of a tilt about the pitch axis is reduced downwards in FIG. In particular, the freedom of movement of a positive inclination about the pitch axis is increased upward by the differential angle 14 and downsized by the differential angle.
    FIG. 2 c shows a further embodiment of a flight simulator in a schematic side view, wherein the elements and features of FIG. 2 c essentially correspond to the features of FIGS. 2 a and 2 b. According to the present embodiment of Fig. 2c, the front linear motion devices 17 are made longer than the rear linear motion devices 18. In particular, this means that the maximum lengths of the front linear motion devices 17 are greater than the maximum lengths of the rear linear motion devices 18. Also, this can provide freedom of movement be improved to the pitch axis upwards.
    FIG. 2 d shows a further embodiment of a flight simulator according to the invention in a schematic side view, the components essentially corresponding to the components of the preceding embodiments. In the present embodiment, all the linear motion devices 8 have the same maximum length. However, the pitch angle of the front linear motion devices 17 is steeper than the pitch angle of the rear linear motion devices 17. Also, the freedom of movement can be increased upward. In particular, in the illustrated below the oblique view schematic representation of the points of application of the linear motion devices 8 is shown that the points of application of the front linear motion devices are moved closer to the center in order to achieve a steeper installation angle.
    Fig. 3 shows a schematic side view of the embodiment of Fig. 2a, with the simulator cab 1 is in its normal position. The components and features of the flight simulator shown in Fig. 3 correspond substantially to the features of the previous embodiments. The roll axis 11 extends in the present representation is substantially horizontal. The parallel kinematic arrangement 6 is in a position deviating from the parallel kinematic basic position. In particular, the carrier element 9 is inclined by a certain angle, in particular by the difference angle 14.
    By virtue of this configuration, the simulator cab 1 or the roll axis 11 can be inclined upwards by a first pitch angle 12 and inclined downwards by a second pitch angle 12, wherein the first pitch angle 12 is preferably greater than 25 °. In particular, the amount of the first pitch angle 12 is greater than the amount of the second pitch angle 13, which results in an asymmetrical freedom of movement of the simulator cabin at a tilt about the pitch axis 15.
    Optionally, a turntable or a rotary ring 19 is provided. About this turntable or rotary ring simulator cab 1 can be rotated relative to the bottom 10. The turntable 19 may be provided for example between simulator cab 1 and carrier element 9. Optionally, the turntable 19 is provided between the bottom 10 and the base 7.
    4 shows a schematic structure of a control model, in particular of a control circuit for controlling and / or controlling a flight simulator, wherein the control circuit is preferably at least part of the data processing device, and in particular a control device and / or a control device, which is preferably computer-implemented. The control model or the control loop is suitable for controlling a flight simulator in real time, in particular a so-called "full flight flight simulator", or for controlling the movements of the simulator. Such a control model may be used for a flight simulator according to the present embodiments.
    However, the control model may also be used to control and / or regulate other motion simulators, such as single-arm centrifuges, two-arm centrifuge traversing carriages, one-arm centrifuge traversing carriages or other motion simulators.
    In order to simulate any means of locomotion, such as a vehicle, a ship, a helicopter, etc., a model corresponding to the means of transport to be simulated can be used in all embodiments of the control model instead of the flight model. To simulate different types of aircraft or a specific type of aircraft, the aircraft model may correspond to or be adapted to the particular aircraft to be simulated.
    By replacing the motion simulator or the components to be controlled of the flight simulator 29 and the simulator kinematics model 28, the motion filter or the control model can be applied to any flight simulator or motion simulator. The restrictions 25 are preferably also adapted.
    The control model preferably comprises control inputs 31, which are generated in particular by the operating element 5 or by the operating elements 5, a flight model 22, a perception model 23, a target function 24, an optimal control algorithm or an optimal control algorithm 26, restrictions 25, a perception model 27 and a simulator kinematics model 28 The components of the flight simulator 29 to be controlled or regulated are connected to the control loop. An advantage of this control model, also referred to as a motion filter, is that the deviation between real motion and simulated motion is minimized according to the objective function. Based on the control data 31 of the operator, the flight model 22 calculates the movements acting on the operator, which are further processed in the perception model 23 for calculating the movements perceived by the pilot. The movements to be simulated are converted into corresponding specifications for the flight simulator and supplied in particular to the simulator kinematics model 28, whose output data are in turn further processed by a perceptual model 27 into the movements perceived or to be perceived by the operator. The difference of the output data of the two perception models 23 and 27 is optimized or minimized, so that the entire motion filter or the entire control model causes an optimal simulation. By actively taking into account the restrictions 25, the working space of the simulator can be utilized in the best possible way. An interpretation based on "worst case scenarios" is therefore no longer mandatory. The restrictions are, for example, kinematic limits of the motion platform or the flight simulator.
    Optionally, the two Behnemungsmodelle 23, 27 are identical in all embodiments.
    Optionally, real occurring motion data of the flight simulator are returned via a feedback loop 30 to the control loop. Optionally, the perception models can also be omitted, with which the output data of the flight model 22 and / or the Simulatorkinematikmodells 28 are fed directly to the target function 24. The dashed lines thus correspond to alternative embodiments, which may be provided in addition to the respective solid lines or as a substitute.
    The control model disclosed in FIG. 4 and in the further description allows real-time control of flight simulators, in which a perceptual simulation is improved or made possible.
    The invention is particularly determined by the features of the claims and not limited to the embodiments shown. In particular, combinations of the features disclosed in the embodiments are also part of the invention. Thus, for example, parallel kinematics arrangements can be used whose linear motion devices are identical or of identical construction. In particular, the minimum lengths and the maximum lengths of all linear motion devices may be approximately equal. Also in this embodiment, the front linear motion devices can be set up steeply, so that an increase in the freedom of movement is achieved upwards about the pitch axis. In addition, an inclination of the simulator cab to the carrier element and / or an inclination of the entire parallel kinematic arrangement can be provided. Also, an inclination of parts of the parallel kinematic assembly in combination with extended front linear motion devices may correspond to the inventive idea.
    For a further description of a possible application, an exemplary simulation procedure is described:
    Starting point is, for example, the cruise of a civilian airliner. Due to various reasons, such as atmospheric disturbances, sensor defects, pilot errors, etc., in a first step, the airspeed in the simulation can be reduced inadmissible. This has the consequence that the angle of attack must be increased so that a descent of the aircraft can be prevented. If this situation now leads to a fully developed stall, a so-called stall, then angles of attack of, for example, more than 25 ° can occur. In the simulation, this angle of attack is simulated almost exactly by the flight simulator in order to achieve a realistic simulation. Preferably, a simulation of a stall is required to about 10 ° above the critical angle for a meaningful workout. Thus, the flight simulator should be suitable to realize or simulate incidence of about 25 ° and preferably from about 30 ° -35 °. The pilot will then in response to the stall now the aircraft down in a kind of dive, for example, to about -15 ° to -20 ° convict, so adjust the flow conditions and the airspeed back to the normal range. This is followed by a targeted and careful interception of the aircraft. In this maneuver, for example, maximum pitch angles occur around the pitch axis from + 30 ° to + 35 ° and from -15 ° to -20 °. These are simulated almost exactly on the flight simulator. An exact replica of the angle often does not occur in practice, since other acting on the person accelerations, such as a speed reduction, ie a delay, or an increase in speed, ie an acceleration, are simulated via an inclination of the simulator cabin. These inclinations are, for example, in the range of a maximum of 3-5 °, which are deducted or added to the simulated attitude.
    Optionally, the flight simulator is configured in all embodiments such that the simulator cabin has a maximum pitch, in which the roll axis inclined from the horizontal course by a first or second pitch angle in the context of kinematic possibilities of the parallel kinematic arrangement, if necessary, while maintaining the control reserves up or down is. The kinematic possibilities are limited, for example, by the construction of the parallel kinematic arrangement. However, in flight simulators, these kinematic possibilities are only partially exploited, so that a tax reserve is maintained.
    To control the flight simulator controls are provided in the simulator cab. These controls are for example simulated controls of the simulated aircraft. In all embodiments, a cockpit may be provided in the simulator cab, which corresponds to the cockpit of the aircraft to be simulated.
    In the simulator, control signals are passed to a data processing device, in particular to a control device and / or a regulating device, by operating the operating elements. The data processing device, the control device and / or the control device may comprise one or more program-controlled computers and be configured at least partially according to FIG. 4. In particular, a computer-implemented mathematical flight model is stored, which corresponds to a virtual movement model of the aircraft to be simulated. The simulation control data, such as, for example, the data of the operating elements or possibly also disturbing influences such as environmental influences or targeted artificial disturbances are transmitted to this computer-implemented flight model, where the reactions of the model to the control data, preferably in real time, are calculated. The data of the flight model include, for example, acceleration, speed and / or position data that would act on the operator in the simulated environment, but also in reality.
    In the simulation it is of primary importance to simulate the person the acceleration parameters or the position parameters as perceptually as possible. For this purpose, a possibly computer-implemented perception model can also be stored in the data processing device. This model includes parameters of how certain acceleration states or changes are perceived by the operator. If appropriate, the control data of the operating elements are thus forwarded to the flight model and to the perceptual model, where they are preferably processed in real time in order to effect a perceptual control of the simulator. This regulation is preferably a real-time control which, in particular, also takes into account data of the kinematic restriction of the parallel kinematic arrangement and of the flight simulator. The data output by the controller is preferably directed to the parallel kinematic assembly to control or regulate its movement.
    In addition, an optionally computer-implemented model of the simulator kinematics and / or the movement characteristics of the parallel kinematics arrangement can also be stored. The control data is fed to this model to simulate the motion of the simulator in the computer-implemented model. The simulation of the parallel kinematic arrangement and the output variables of this simulation can also be fed to a computer-implemented perceptual model. In order to optimize the simulation, the difference between the output data of the perceptual model of the model aircraft and the perceptual model of the simulator model can subsequently be optimized or minimized. The optimized control data is then used to control the real parallel kinematic arrangement. If appropriate, real data of the flight simulator, in particular position data or acceleration data are also returned and returned to the control device via the perceptual model. The parameters of the perceptual model can be individually adapted to the operator. The two perceptual models can be identical.
    In an exemplary control model, as described for example in FIG. 4, the simulator control data of the operating elements are thus routed to an optionally computer-implemented aircraft model, from which the responses of the simulated aircraft to the operation are then calculated. The output variables are, for example, position or acceleration data. These are supplied to the possibly computer-implemented perception model in order to obtain parameters which correspond to the perceptions of the operator. The control loop preferably also includes an optionally computer-implemented model of the simulator kinematics whose output data is in turn supplied to a possibly computer-implemented perception model whose output data substantially correspond to the perceptual data generated by the simulator kinematics. The difference between the perception data due to the control inputs and the perception data of the simulator kinematics is preferably minimized. Furthermore, these data form an input variable for the control loop. The control loop is with the
    Parallel kinematic arrangement connected to the control of the parallel kinematic arrangement. The aim of the algorithm is not primarily to minimize the physical motion deviation, but to minimize the sensation deviation while maintaining the necessary constraints, while also minimizing physical drift. By actively taking into account the restrictions, the working space of the simulator or of the parallel kinematics arrangement can be utilized in the best possible way. An interpretation based on "worst-case scenarios" is no longer necessary. Instead of the physical motion simulation, the motion sensation is replicated, whereby a more realistic simulation result is achieved. Sensation is a subjective criterion, that is, every person perceives movement differently. The perception model reflects a basic characteristic of human perception and can be adapted to individual perception by means of individual parameterization. The system operator may also have the option of reacting to operator feedback or pilot feedback during simulation in order to be able to adjust the system behavior accordingly. The motion filter is not bound to a specific kinematic structure of the motion platform. Through adjustments, the algorithm can also be transferred to other platforms, such as single-arm centrifuges or multi-arm centrifuges. In contrast to the offline mode can in the real-time application of the present scheme, in particular the scheme of FIG. 4, the pilot
    Control plane actively what the usual in motion simulation term "closed loop mode" justified. Based on the control inputs of the operator is calculated a reference trajectory, which, however, may only be known up to the current time - a future course can be forecast if necessary. The path of the motion platform can be calculated in real time according to this specification. The treatment of these two requirements-on the one hand to be able to solve the optimization task in real time and on the other hand to follow an unknown reference motion in the best possible way, is an advantage of the present control, in particular the control according to FIG. 4. The real-time method is based on the idea of "model-based predictive Control (MPC), a control method that calculates optimal control quantities using a process model and constraints. The term MPC does not describe a special control algorithm, but describes a class of model-based control methods that solve in real time a dynamic optimization problem on a moving horizon. Using a process model, the effects of current and future manipulated variables are predicted and optimized according to a desired target function.
    权利要求:
    Claims (26)
    [1]
    claims
    A flight simulator comprising: a simulator cab (1), wherein in the simulator cab a seat (2) for an operator (3), an image display device (4) for displaying the simulated environment, and at least one control element (5) for generating simulation control data and in particular for controlling the simulated aircraft and for influencing the simulation by the operator (3), - a parallel kinematic arrangement (6) comprising a base (7), a carrier element (9) and a plurality of linear motion devices (8) the support element (9) is connected to the base (7) via at least three, preferably six linear movement devices (8), and wherein the base (7) is connected to the floor (10) and the support element (9) to the simulator cabin (1) or coupled, so that the simulator cab (1) on the parallel kinematic arrangement (6) is arranged, wherein the simulator cab (1) has a basic position, which is substantially a stationary Straight flight of the simulated aircraft corresponds and in which the roll axis (11) of the simulated aircraft or the operator (3) is substantially horizontal, wherein the simulator cabin (1) has a maximum positive pitch, in which the roll axis (11) starting from the horizontal course by a first pitch angle (12) within the kinematic possibilities of the parallel kinematic arrangement (6) as far as possible inclined upwards in compliance with possibly provided control reserves and the operator (3) thereby inclined backwards, wherein the simulator cabin (1) has a maximum negative pitch position in which the roll axis (11) starting from the horizontal course by a second pitch angle (13) in the context of kinematic possibilities of the parallel kinematic arrangement (6) is adhered to compliance with optionally provided control reserves down and the operator (3) thereby inclined forward is, characterized in that the first pitch angle (12) is greater than 25 °.
    [2]
    2. Flight simulator according to claim 1, characterized in that the amount of the first pitch angle (12) is greater than the amount of the second pitch angle (13), or that the amount of the first pitch angle (12) by a differential angle (14) is greater than the amount of the second pitch angle (13).
    [3]
    3. Flight simulator according to claim 1 or 2, characterized in that the inclination of the simulator cabin about the pitch axis (15) or about a pitch axis (15) parallel axis between the maximum negative pitch position and the maximum positive pitch position exclusively by operating the Parallelkinematic arrangement (6 ) he follows.
    [4]
    4. flight simulator according to one of claims 1 to 3, characterized in that the linear motion devices (8) as linear movement devices (8) with a controllable or adjustable variable length (16) are formed, wherein the length (16) of the linear motion devices (8) between or is in the range of a minimum length and a maximum length, so that the carrier element (9) relative to the base (7) by changes in length of the linear motion devices (8) is pivotable about at least two axes and optionally has three pivot degrees of freedom and three translational degrees of freedom.
    [5]
    5. Flight simulator according to one of claims 1 to 4, characterized in that the linear motion devices (8) are arranged in pairs, wherein two linear motion device forming a pair of linear motion devices (8) are inclined to each other, so that in particular a hexapod is formed.
    [6]
    6. flight simulator according to one of claims 1 or 5, characterized in that the parallel kinematic arrangement (6) has a Parallelkinematikgrundstellung in which the base (7) and the carrier element (9) extend substantially parallel, and that the parallel kinematic arrangement (6) in one of the parallel kinematic basic position deviating position is arranged when the simulator cab (1) is arranged in its normal position.
    [7]
    7. Flight simulator according to one of claims 1 to 6, characterized in that the parallel kinematic arrangement (6) has a Parallelkinematikgrundstellung in which the base (7) and the carrier element (9) extend substantially parallel, and that the base (7) for Carrier element (9) about the pitch axis (15) or about an axis parallel to the pitch axis (15) axis is inclined when the simulator cab (I) is arranged in its normal position.
    [8]
    8. Flight simulator according to one of claims 1 to 7, characterized in that the parallel kinematic arrangement (6) has a Parallelkinematikgrundstellung in which the base (6) and the carrier element (9) extend substantially parallel, and in which the roll axis (11) by a positive differential angle (14) is inclined upwards, and in which the simulator cab (1) is arranged in a position deviating from its normal position.
    [9]
    9. flight simulator according to one of claims 1 to 8, characterized in that - the base (7) relative to a horizontal plane by a positive differential angle (14) is inclined upwards, - or that the roll axis (11) relative to the course of the support element (9) is inclined upward by a positive differential angle (14), or that the base (7) opposite to a horizontal plane and the roll axis (II) relative to the course of the carrier element (9) together by a positive differential angle (14) are inclined above, wherein the difference angle (14) in a normal plane of the pitch axis (15) is indicated.
    [10]
    10. Flight simulator according to one of claims 1 to 9, characterized in that for the inclined positioning of the base (7) relative to the horizontal plane, a wedge-shaped or wedge-shaped wedge arrangement (21) is provided, between the base (7) and the ground (10) is provided.
    [11]
    11. Flight simulator according to one of claims 1 to 10, characterized in that for the inclined positioning of the roll axis (11) relative to the course of the carrier element (9) a wedge-shaped or wedge-shaped wedge assembly (16) is provided which between the simulator (1 ) and the carrier element (9) is provided.
    [12]
    12. Flight simulator according to one of claims 10 and 11, characterized in that the wedge assembly (16) is a rigid wedge assembly whose wedge angle is unchanged during the simulation.
    [13]
    13. Flight simulator according to one of claims 1 to 12, characterized in that all linear motion devices (8) have substantially the same minimum and maximum lengths and in particular are of identical construction, so that in particular a symmetrical parallel kinematic arrangement (6) is formed.
    [14]
    14. Flight simulator according to one of claims 1 to 12, characterized in that along the line of sight of the operator (3) seen front linear motion device (8) or a front Linearbewegungsvorrichtungspaar has a greater maximum length, as a rear linear motion device (8) or a rear Linear motion device pair, so that an asymmetrical parallel kinematic arrangement (6) is formed.
    [15]
    15. Flight simulator according to one of claims 1 to 14, characterized in that in the parallel kinematic basic setting of the installation angle of a line along the line of sight of the operator (3) seen front linear motion device (8, 17) or a front Linearbewegungsvorrichtungspaars is steeper than the installation angle of a rear linear motion device (8, 18) or a rear linear motion device pair, so that an asymmetric parallel kinematic device (6) is formed.
    [16]
    16. Flight simulator according to one of claims 1 to 15, characterized in that the second pitch angle (13) between -10 ° and -25 "is that the second pitch angle (13) is between -10 ° and -22", or that the second pitch angle (13) is between -19 ° and -21 °.
    [17]
    17. Flight simulator according to one of claims 1 to 16, characterized in that the first pitch angle (12) is between 25 ° and 35 ", that the first pitch angle (12) is between 28 ° and 35 °, that the first pitch angle (12 ) between 29 ° and 35 ", the first pitch angle (12) is between 30 ° and 35", the first pitch angle (12) is between 32 ° and 35 ", or the first (12) pitch angle is between 29 ° and 31 °.
    [18]
    18. Flight simulator according to one of claims 1 to 17, characterized in that the difference angle (14) between about 2 ° and 20 °, between about 2 ° and 12 °, between about 3 ° and 10 °, between 4 ° and 8 " or about 5 ".
    [19]
    19. Flight simulator according to one of claims 1 to 18, characterized in that between the bottom (10) and the base (7) or between the Trägerelemenet (9) and the Simulatorkabine (1) a turntable (19) or a rotary ring (19 ) is provided so that the simulator cab (1) about a Flochachse, in particular about the yaw axis (20) is rotatable.
    [20]
    20. Flight simulator according to one of claims 1 to 19, characterized in that for the processing of simulation control data and for controlling the parallel kinematic arrangement, a control device is provided, via which the simulator cab (1) can be brought from the maximum positive pitch position to the maximum negative pitch position, wherein is defined by the maximum positive pitch and the maximum negative pitch the pitching freedom of the simulator cab.
    [21]
    21. A method for flight simulation on a flight simulator according to one of the preceding claims, comprising the following steps: actuating the parallel kinematic arrangement so that the simulator cab is in its basic position, then actuating the parallel kinematic arrangement, so that the simulator cab can be moved from its basic position about the pitch axis or around the pitch axis Pitch axis parallel axis is inclined by a positive pitch angle of more than 25 ° to the rear.
    [22]
    22. The method according to claim 21, characterized in that by a first operation of the parallel kinematic arrangement, through which the simulator cab is in its normal position, a stationary straight flight is simulated, and that by a second operation of the parallel kinematic arrangement through which the simulator cab from its basic position about the pitch axis or about an axis parallel to the pitch axis is inclined by a positive pitch angle of more than 25 ° to the rear, a full stall stall is simulated.
    [23]
    23. The method according to claim 21 or 22, characterized in that the simulator cab is tilted exclusively by operating the parallel kinematic arrangement of the basic position about the pitch axis or about an axis parallel to the pitch axis by a positive pitch angle of more than 25 ° to the rear.
    [24]
    24. The method according to any one of claims 21 to 23, characterized in that the positive pitch angle 26 °, 27 °, 28 °, 29 °, 30 °, 31 °, 32 °, 33 °, 34 °, 35 ° or more ,
    [25]
    25. The method according to any one of claims 21 to 24, characterized in that by a first operation of the parallel kinematic arrangement, through which the simulator cab is in its normal position, a stationary straight flight is simulated, and that by a second operation of the parallel kinematic arrangement, through which Simulator cab is tilted from its home position about the pitch axis or about an axis parallel to the pitch axis by a positive pitch angle of more than 25 ° to the rear, a stall or a full stall stall is simulated, and that the simulated flight situation thereby from one to the interpretation deviates from the freedom of movement or the movement characteristics of a conventional simulator worst-case scenario.
    [26]
    26. The method according to any one of claims 21 to 25, characterized in that by a first operation of the parallel kinematic arrangement, by which the simulator cab is in its normal position, a stationary straight-ahead flight is simulated, wherein the simulated speed is less than the maximum speed of the simulated Aircraft and in particular by more than 10% less than the maximum speed of the simulated aircraft, and that by a second operation of the parallel kinematic arrangement, by which the simulator cab from its home position about the pitch axis or about an axis parallel to the pitch axis by a positive pitch angle of more is tilted 25 ° backwards, a stall or a full stall stall is simulated, the simulated stall velocity being less than the maximum speed of the simulated aircraft, and in particular more than 10% less than that e maximum speed of the simulated aircraft, and thus deviates from a worst-case scenario used to interpret the freedom of movement or the movement characteristics of a conventional simulator.
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    同族专利:
    公开号 | 公开日
    WO2016142268A1|2016-09-15|
    CN107430826A|2017-12-01|
    EP3266015B1|2021-06-16|
    US10713971B2|2020-07-14|
    CA2977320A1|2016-09-15|
    US20180047298A1|2018-02-15|
    PL3266015T3|2021-12-20|
    AT516901B1|2018-07-15|
    EP3266015A1|2018-01-10|
    RU2737246C2|2020-11-26|
    SG11201707208TA|2017-10-30|
    RU2017133970A|2019-04-08|
    RU2017133970A3|2019-08-20|
    CN107430826B|2020-08-28|
    ES2885862T3|2021-12-15|
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