Research On Force-feel Control System Of Helicopter Simulator

Helicopter simulator is a kind airborne test equipment which can simulate the helicopter movement on the ground and in the air.Pilots can improve their basic skills of driving helicopter by using helicopter simulator.In the meantime,helicopter simulator can also improve their skills to face the special flight situations such as extreme weather and Mechanical faults.As an interactive interface between the pilots and the helicopter simulator,helicopter force-feel system helps pilots feel the force.During the flight of the helicopter simulator,the pilot needs to control the joystick of the helicopter simulator and will feel the real-time feedback force.At the moment,we should make sure that the force the pilot feels is equal to the force in the real helicopter.Helicopter force-feel system develops slowly and needs to be improved in China.The helicopter force-feel systems which are low-cost and high-end is very difficult to develop.It leads to the technology monopoly of the developed countries.Thus,this paper researches the force which the pilot feels and its implementation to Design a helicopter force-feel system based on the 2-dof joystick in the helicopter simulator.This force-feel system can simulate the force in the real helicopter.The main contents of this paper are:(1)Established a joystick model.Based on dynamic analysis of the 2-dof joystick in the helicopter simulator,the expression about driving torque of the motor,gravity torque,friction torque,control torque and angles are carried out.(2)Established a friction model of the joystick and identified the dynamic parameters of the joystick.The friction model of the joystick is established based on the Stribeck friction model and is revised by Sigmoid function.Experimental data are processed as based on a curve fitting algorithm and a genetic algorithm for identifying the dynamic parameters in the Stribeck friction model.(3)Designed a force-feel control algorithm to make torque tracking between control torque and desired torque.The force-displacement mathematical model is given.A force-feel control algorithm is designed based on impedance control.The gravity torque and friction torque are compensated by the adaptive compensation.It can improve the tracking effect of the position controller.(4)Designed software and completed the torque tracking experiment.The software is designed based on Qt in Windows which can establish communication between servo motors,sensor and computer on the Ethernet.Current,speed and position of the motors and force signal are collected by the software.An experiment is designed to compare feed forward compensation with adaptive compensation.And the force-feel control algorithm is used to complete the torque tracking experiment to verify the feasibility of the control algorithm.