直升机座舱操纵装置舒适性建模与仿真

建立了完整的5自由度人体上肢舒适操纵优化模型。建模时综合考虑了人体上肢生理结构及其运动特性,提出了基于RULA方法的人体上肢舒适操纵优化模型的建模方法。基于层次化、模块化的建模原则,整个仿真模型最终在SimMechanics平台上得到了实现。采用测定直升机飞行员人体数据,与CATIA仿真结果对比,验证了模型的合理性和有效性,得出了平面布局内直升机总距杆操纵舒适度分布曲线,结果可为直升机座舱操纵界面优化设计提供参考。     

直升机飞行训练系统的研究与应用

直升机飞行训练系统具有安全、经济、可复现且不受气象条件影响等特点。针对直升机飞行训练的实时仿真问题,开发了一套基于六自由度并联平台和虚拟现实(VR)技术的直升机飞行训练系统。该系统可使飞行员在控制操纵杆体验模拟飞行时,同时具有体感和观感的沉浸感。以六自由度并联平台为运动模拟平台,建立与直升机姿态对应的运动学反解模型;结合VR视景,可以逼真地模拟直升机在实际飞行中的各种环境和动作。该系统可以帮助飞行员完成训练科目,具有承担部分训练工作的功能。该系统可为直升机飞行训练提供新方向。     

基于2003年标准数据的中国飞行员人体模型

首先介绍了CATIA 软件中的人体模型及其功能; 然后对软件中的加拿大、法国、韩国、日本人体数据进行了分析; 在此基础上就软件中建立新人体模型需要的人体数据与2003 年测量得到的中国飞行员的人体数据做了比较; 最后对中国飞行员人体数据做了选择和补充, 同时在CATIA 平台上建立了中国飞行员人体模型。该模型可以满足主机厂所在初步总体阶段的工效分析、评价工作。     

某型舰载直升机飞行模拟器飞行仿真系统设计

对某型舰载直升机飞行模拟器飞行仿真系统进行了设计研究.给出了某型舰载直升机飞行模拟器飞行仿真系统的模型框架.定义了建模过程中所涉及的主要坐标系,研究与分析了与主旋翼相关的诱导速度、挥舞角、拉力、扭矩的计算方法,给出了舰载直升机部件气动建模思路.最后,结合舰载直升机数据,对直升机飞行模拟器飞行仿真系统对舰载机飞行员的操纵响应进行了仿真分析.设计的舰载直升机飞行模拟器飞行仿真系统已经成功应用到了某型舰载直升机飞行模拟器上,具有仿真度高、实时性好等特点,起到了良好的训练效果,得到了舰载直升机飞行教员和学员的认可.     

基于神经网络预测的微型直升机偏航控制模型

为更好地设计微型直升机的控制系统,必须建立其动力学模型.以微型直升机偏航控制为例,由于微型直升机复杂的动力学特性以及直升机微型化后的特殊性,用传统建模方法很难建立出令人满意的模型.基于神经网络的预测功能,将实验系统获得的数据作为训练样本,可得到神经网络预测模型.该模型可根据当前的控制指令和偏航角度预测出下一时刻直升机的偏航角度,从而为设计直升机控制系统提供依据.     

直升机神经网络模型辨识研究

研究直升机飞控系统的控制问题,直升机是强耦合的非线性系统,直升机的模型的建立是研究整个飞控系统的基础.为改善飞行姿态误差,提高稳定性,建立其较为精确的动力学模型对于设计、验证飞行控制系统具有重要意义.根据直升机动力学方程的形式,建立了一种基于BP神经网络的非线性辨识模型,利用典型状态下的试飞数据作为样本,采用LM优化学习算法对神经网络进行训练,并用其他飞行状态的数据对模型进行验证.计算结果表明,证明所建立的神经网络模型具有较好的拟合精度与泛化能力,能够较好地反映直升机的动态特性,并为设计提供依据.     

基于图像的头盔瞄准系统虚拟仿真技术研究

研究飞行员头盔控制问题,头盔瞄准技术越来越多地应用于战斗机和直升机地面飞行模拟训练和实际作战.为了使目标瞄准线转为控制信号,实现目标识别的准确性,提出通过对单目视觉测量方法和四点定位模型采用图像式头盔瞄准具的系统结构及工作机理,实现定位模型方程.结合当今虚拟现实与仿真技术,设计并开发了头盔瞄准系统仿真平台.在VC开发环...     

以战术协同为目标的直升机运动性能仿真

为了在直升机模拟作战平台上实现任务规划和战法推演.使模拟直升机能够具有和真实飞机相同的运动特性.从直升机战法模拟这个工程应用的角度出发,通过直升机已知的部分飞行性能特点,运用滑流理论推导出一套直升机旋翼需用功率及可用功率的计算方法.并根据工程应用对直升机性能需求的侧重点,运用飞行动力学建立直升机运动的简化模型.最后用编程工具进行仿真.并将直升机的功率分析应用到其运动模型之中.仿真结果表明该方法是可行的.     

小型四旋翼直升机的建模与仿真控制

针对实现对小型四旋翼直升机的飞行控制,为提高飞行性能和加强稳定性,根据四旋翼直升机特有的机械结构和飞行原理,利用牛顿-欧拉方程建立了小型四旋翼直升机的飞行动力学数学模型,而且对该型进行了合理的简化.同时在Matlab/Simulink仿真环境下,采用直升机动力学模型搭建了模块化、层次化的系统仿真图,并通过PID控制算法对直升机悬停状态进行仿真,实现了直升机姿态控制.仿真结果表明在具有小扰动的条件下,模型能够仿真小型四旋翼直升机的飞行状态,满足直升机飞行姿态的控制要求.     

基于最小二乘与自适应免疫遗传算法的小型无人直升机系统辨识

针对小型无人直升机不稳定、强耦合、非线性的特点,建立了小型无人直升机悬停状态下飞行动力学模型.设计了一种基于最小二乘与自适应免疫遗传算法(LS-AIGA)的辨识算法,根据辨识实验的需要研制了机载微小型导航、制导与控制系统(MGNC).利用飞行实验数据,根据本文的辨识算法,对所建立模型中未知参数进行了辨识.最后对得到的模型进行了验证与分析,结果表明模型辨识数据与真实飞行实验数据匹配较好,所建立模型能够反映小型无人直升机动力学特性.     

基于Matlab和VxWorks的飞控测试系统的实现

给出了一种动态测试某飞机飞行控制系统（自动驾驶仪）的新方法。基于Matlab的RTW工具箱提供的实时目标接口功能，采用VxWorks作为运行平台，利用Matlab的SimuLink工具箱建立了飞机模型，并把模型下载到运行VxWorks的PC/104目标机中，从而快速开发了某飞机自动驾驶仪的实时测试系统，测试结果验证了该方法的可行性。     

基于H-anim的数字化人机设计研究*

为实现数字化人机工程,引入数字化人体模型来统一表达人机测量尺度、肢体动作特征和作业空间范围等人机要素,并提出基于H-anim的数字化人体建模方法,结合VRML原型节点建立了三维的,具有真实感的人体尺寸模型,利用EAI技术仿真人体动作行为。最后,以机床为对象,构建了计算机辅助人机设计系统,实现了操作空间的可见性、可及性与宜人性人机评价。     

基于LQR的直升机悬停控制律设计与仿真

建立了某型直升机数学模型,并将该模型分解为纵向模型和横侧向模型两部分,提出了悬停控制律应该达到的稳态指标;以该型直升机为被控对象,采用输出反馈线性二次型调节器(LQR)技术设计了由纵向控制律和横侧向控制律组成的悬停控制律,使得直升机能取得满意的悬停性能指标;以该型直升机模型、执行器模型以及设计的悬停控制器构成全数字闭环仿真系统进行控制律仿真验证;仿真结果表明,文中设计的悬停控制律正确有效,能够较好地实现直升机的悬停功能,另外,由于该悬停控制律是基于输出反馈的,在工程上也比较容易实现。     

Mathematical Modeling and Experimental Identification of an Unmanned Helicopter Robot with Flybar Dynamics

This paper presents a mathematical model for a model‐scale unmanned helicopter robot, with emphasis on the dynamics of the flybar. The interaction between the flybar and the main rotor blade is explained in detail; it is shown how the flapping of the flybar increases the stability of the helicopter robot as well as assists in its actuation. The model helicopter has a fast time‐domain response due to its small size, and is inherently unstable. Therefore, most commercially available model helicopters use the flybar to augment stability and make it easier for a pilot to fly. Working from first principles and basic aerodynamics, the equations of motion for full six degree‐of‐freedom with flybar‐degree of freedom are derived. System identification experiments and results are presented to verify the mathematical model structure and to identify model parameters such as inertias and aerodynamic constants. © 2004 Wiley Periodicals, Inc.     

HELIX: A helicopter diagnostic system based on qualitative physics

Future helicopter requirements, including expanded missions and single-pilot operation, will greatly increase the demands placed on the pilot. To meet these requirements without overwhelming the pilot, novel approaches to cockpit automation must be devloped. To assess the feasibility of applying Artificial Intelligence technology to helicopter cockpit automation, an expert system for status monitoring and diagnosis designated HELIX (HELicopter Integrated eXpert) has been developed.At the heart of the HELIX program is a Qualitative Reasoning System (QRS). The QRS is a general mechanism to support the creation of hierarchical device models and reasoning about device behaviour using Qualitative Physics. The HELIX qualitative model is represented as a set of constraints that define the normal behaviour of the engines, transmission, flight controls, and rotors of the helicopter. Aircraft health is assessed by determining whether observations (sensor readings and pilot control inputs) are consistent with the constraints of the model. If an inconsistency is detected, a process of systematic constraint suspension is used to test various failure hypotheses.Critical to the efficient operation of the HELIX program is the hierarchical model representation, which enables reasoning at various levels of abstraction. Using a top-down approach, the diagnostic process exploits the hierarchy by beginning fault isolation with the most reduced form of the model. To refine the diagnosis, a branch of the hierarchy may be expanded until a component-level diagnosis is made. The hierarchy also greatly reduces the complexity of multiple failure diagnosis. Rather than considering combinations of failures in all leaf components, the diagnosis can be restricted to combinations of branches in the hierarchy.HELIX has been successfully tested on a variety of simulated failures. By representing only the normal behaviour of the helicopter and testing hypotheses by constraint suspension, HELIX has been able to diagnose single or multiple failures without prior knowledge of failure modes. The approach represents a promising technique for automating the qualitative reasoning required to diagnose novel failures and may form the basis for extensive automation both in airborne and ground-based diagnostic systems.     

Helicopter pilots’ views of air traffic controller responsibilities: a mismatch

Abstract

Controllers and pilots must work together to ensure safe and efficient helicopter flight within the London control zone. Subjective ratings of pilot perception of controller responsibility for five key flight tasks were obtained from thirty helicopter pilots. Three types of airspace were investigated. Results indicate that there is variation in pilot understanding of controller responsibility compared to the formal regulations that define controller responsibility. Significant differences in the perception of controller responsibility were found for the task of aircraft separation in class D airspace and along helicopter routes. Analysis of the patterns of response suggests that task type rather than the airspace type may be the key factor. Results are framed using the concept of a shared mental model. This research demonstrates that pilots flying in complex London airspace have an expectation of controller responsibility for certain flight tasks, in certain airspace types that is not supported by aviation regulation.

Practitioner Summary: The responsibility for tasks during flight varies according to the flight rules used and airspace type. Helicopter pilots may attribute responsibility to controllers for tasks when controllers have no responsibility as defined by regulation. This variation between pilot perceptions of controller responsibility could affect safety within the London control zone.     

Helicopter pilot suits for offshore application. A survey of thermal comfort and ergonomic design

The objective of this study was to determine the existing problems associated with helicopter pilot survival suits currently in use. A survey was conducted of helicopter pilots from both Canadian commercial and military disciplines. Pilots commented on eight different types of survival suits. Reduced thermal comfort as well as lack of ventilation were the two most common criticisms of the pilot suits. The 'greenhouse' effect, common to helicopter cockpits, results in hot working ambients both in summer and winter. The air cooling mechanisms employed in summer may cause a 'chilling' effect following an on-ground stand-by where cockpit temperatures may reach 40 degrees C. Thermal stress may also be induced with high cockpit temperatures caused by the sun's radiation in winter and summer. Suit design was another area considered. 72% and 86% of military and commercial pilots respectively felt their freedom of movement was hindered by their survival suits. Certain designs were considered more hazardous than others with regard to clips and hooks catching switches on the control panel. Difficulty in donning suits appeared to be a universal problem irrespective of type of suit used. Lack of comfort and movement in addition to thermal stress may lead to reduced time to fatigue and, thus, occurrence of errors and accidents. The results of this survey reflect the inadequacies of the helicopter pilot survival suits presently in use. It is suggested that evaluation of these suits be made on the basis of their ventilation capabilities, ergonomic design and thermal properties in a variety of ambient environments.