液压操纵负荷系统惯性补偿方法研究

Inertia Compensation of Hydraulic Control Loading System

操纵负荷系统是飞行模拟器的"飞行"操纵系统,其主要作用是逼真的复现驾驶飞机时的操纵力感。其中,惯性力感是高级别模拟器必须模拟的力感之一,当操纵负荷系统自身的机构惯量比较大时,要模拟较小的惯性力感就必须要补偿机构的部分惯量。为此提出了基于力回路的惯性补偿控制方法,在不对硬件做任何改动的情况下,实现了操纵负荷系统的惯性补偿。首先给出了基于力回路操纵负荷系统的控制系统结构并建立了数学模型,然后通过推导力感特性揭示出惯性补偿原理并进行了稳定性分析,提出了稳定条件,最后通过实验验证了所提出的惯性补偿方法的稳定性和有效性。

Control Loading System（CLS） is the ＂flight＂ control system of Flight Simulator（FS）,and its task is to reproduce the control forces a pilot feels when flying a real aircraft in a FS.Inertia force is one of the forces which must be reproduced in a high level FS,and it is necessary to compensate inertia mass in order to simulate a smaller inertia mass than a CLS’s.A force-loop based inertia compensation method is presented,with which part of inertia mass of a CLS can be compensated without making any modification to the CLS’s hardware.First,the architecture of a force-loop based CLS is presented,and a block diagram model of the CLS is set up.Next deriving the transfer function representing the force feel of the CLS illuminates the principle of inertia compensation,followed analyzing stability of the method,and then a stability condition is put forward.At last,the method is experimentally proved to be valid.