飞行模拟器操纵负荷系统的无源性设计

Passivity Design for the Control Loading System of a Flight Simulator

操纵负荷系统是飞行员与飞行模拟器之间的接口装置。提出了这种人在回路的实时控制系统的一种新的设计思想,这种设计将无源性与阻抗的概念结合,并将系统阻抗的频率特性作为定量设计的手段。基于频率分析,控制器设计中应增加一个阻尼项,使传递到操作员手上的阻抗与飞行环境的阻抗相匹配。并指出,系统中的力伺服系统的阻尼比应在0.5～0.8范围内以满足这个虚拟环境的无源性要求。操纵负荷系统的无源性可保证整个仿真系统的稳定性。所提出的设计思想还可推广应用于其他各种虚拟环境的设计。

The control loading system of a flight simulator is an interface between the human operator and the flight simulator.A novel design idea is proposed for such a man-in-loop real time control system.It is pointed out that the design must be based on the combination of passivity with the concept of impedance,and the frequency response of the impedance of the system is used as a quantified design tool in the design.Based on the frequency analysis,an additional damping term is included in the controller design so that the resulting impedance transmitted to the operator＇s hand is matched closely to the flight environment impedance.It is also pointed out that the damping ratio of the force servo of the control loading system must be in the range of 0.5-0.8 to meet the passivity requirement of the virtual environment.The passivity of the control loading system can ensure the stability of the whole system.The proposed design methodology can also be used to design various virtual environments.