高动态飞行模拟器运动规划算法

High-dynamic flight simulator motion planning algorithm

摘要

针对飞行模拟器进行高过载仿真的需求，提出一种基于运动参数规划的过载模拟算法。通过建立大臂角速度与过载值的动态关系模型，推导出上升段和平稳段的运动方程解析解。针对卸载段参数求解难题，通过构建包含过载、过载变化率与角加速度的数据库，采用线性插值方法解决数据不完整性问题。实验结果表明：该算法在单向过载模拟中实现左右向误差低至 10⁻¹⁶ g 量级，胸背向和头足向误差均优于现有算法；在三轴复合过载模拟中，虽然误差随过载变化率增大有所波动，但各轴向过载误差严格控制在模拟训练规范要求的阈值内，展现出良好的动态跟踪精度。该算法的各数据对比显著优于传统的雅可比椭圆函数法和二维插值法。对比分析验证了算法在动态过载变化率和多轴耦合条件下的优越性，为高精度动态过载仿真提供了有效解决方案。

Abstract

To address the requirements of high-G simulation in flight simulators, this paper proposes a G-load simulation algorithm based on motion parameter planning. By establishing a dynamic relationship model between the angular velocity of the main arm and the G-load values, analytical solutions for the motion equations in the ascent and steady phases are derived. For the parameter-solving challenges in the unloading phase, a database containing G-load, G-load rate, and angular acceleration is constructed, and linear interpolation is employed to resolve data incompleteness. Experimental results demonstrate that the proposed algorithm achieves lateral-directional errors as low as 10⁻¹⁶ g in unidirectional G-load simulation, with anteroposterior and cephalocaudal errors surpassing existing literature. In triaxial composite G-load simulation, although errors fluctuate with increasing G-load rates, all axial errors remain strictly within the thresholds specified by simulation training standards, exhibiting excellent dynamic tracking precision. The proposed algorithm significantly outperform traditional methods such as the Jacobi elliptic function approach and two-dimensional interpolation. The analysis validates the algorithm’s superiority under varying G-load rates and multi-axis coupling conditions, providing an effective solution for high-precision dynamic G-load simulation.

关键词

动态飞行模拟器 / 过载模拟 / 运动规划 / 三自由度动力学

Key words

dynamic flight simulator / G-load simulation / motion planning / three-degree-of-freedom dynamics

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基金资助

体系与人工智能实验室开创基金项目(HLJGGG20240327517-14)