飛行模擬器之力感控制系統研製

Design and Implementation of a Force Feedback Control System for Flight Simulation

本文旨在設計一具有力量迴授功能之力感控制系統，用以模擬飛機於不同姿態操控中操縱桿之反作用力，實現不可回復（irreversible）方式之力感特性。本系統採用飛行力感模型與力回饋控制器分開設計之策略。力感模型是以兩個質量機械系統來模擬飛機之真實操縱機構（非線性力量與位置特性），並採用力感量測設備取得真實系統位置─力量特性曲線，以獲得模型所需之參數值，建立力感模型。力回饋控制器採用阻抗理論及模型跟隨控制觀念，以馬達伺服系統模擬質量─阻尼彈簧系統之功能，在不同位置控制時達成力量模擬控制，呈現真實動態力回饋特性。實驗數據證實本系統之可行性與有效性。本文所提的系統與設計可推廣應用於坦克、車輛、船舶、遊戲機與醫學復健器材等之動態模擬系統建置。

This paper develops methodologies and techniques for design andimplementation of a force feedback control system in flight simulators with“irreversible” control loading features. Such a system is designed so thatthe pilot is accurately aware of the actual flight conditions, thus generatingappropriate control commands to correct the aircraft attitude. In order toshow real dynamic force feedback characteristics, an inner loop system isproposed, based on impedance control theory. The model follows theimpedance control approach in order to let the force feedback model equalthe mass-damper-spring system, thereby achieving force and positioncontrol at the same time. The outer loop system is designed using two massmechanical systems, employing control loading measuring equipment toobtain force-position curves and parameters of the real system. With the established inner loop and outer loop systems, any desired dynamic controlloading features can be easily obtained by changing the outer loop systemmodel. Several experimental results are shown to illustrate the feasibilityand efficacy of the proposed system. This type of force feedback controlsystem is particularly useful in constructing simulators for tanks,helicopters, aircraft, ships, vehicles and even games.