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.
LIU Yanwen, WANG Guangxiong, LI Jia
. Passivity Design for the Control Loading System of a Flight Simulator[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2011
, 32(12)
: 2303
-2309
.
DOI: CNKI:11-1929/V.20110526.1757.023
[1] 王行仁. 飞行实时仿真系统及技术[M]. 北京: 北京航空航天大学出版社, 1998: 119-134. Wang Xingren. Real-time flight simulation systems and techniques[M]. Beijing: Beihang University Press, 1998: 119-134. (in Chinese)
[2] 石旭东, 张发, 荆涛, 等. 飞行模拟机电动操纵负荷系统控制与仿真[J]. 电机与控制学报, 2010, 14(5): 73-78. Shi Xudong, Zhang Fa, Jing Tao, et al. Control and simulation of electric loading system of flight simulator[J]. Electric Machines and Control, 2010, 14(5): 73-78. (in Chinese)
[3] 卢颖, 王勇亮, 王占林, 等. 基于电动式力伺服的纵向操纵人感仿真系统[J]. 系统仿真学报, 2003, 15(4): 505-507. Lu Ying, Wang Yongliang, Wang Zhanlin, et al. Force-feeling simulation system of longitudinal control based on the electro-motive force servo[J]. Journal of System Simulation, 2003, 15(4): 505-507. (in Chinese)
[4] Park J H, Kim T K, Yoon T S. Systematic control parameter tuning for actuator in control loading system//IEEE International Conference on Industrial Technology. 2006: 1762-1767.
[5] 沈东凯, 华清, 王占林. 基于神经网络的电动加载系统[J]. 航空学报, 2002, 23(6): 525-529. Shen Dongkai, Hua Qing, Wang Zhanlin. Motor-driven load system based on neural networks[J]. Acta Aeronautica et Astronautica Sinica, 2002, 23(6): 525-529. (in Chinese)
[6] 付家才, 刘宪华, 马天楚. 飞行模拟器电动式操纵负荷系统控制策略[J]. 黑龙江科技学院学报, 2010, 20(5): 367-370. Fu Jiacai, Liu Xianhua, Ma Tianchu. Control strategies of electric powered control loading system in flight simulator[J]. Journal of Heilongjiang Institute of Science & Technology, 2010, 20(5): 367-370. (in Chinese)
[7] Zhao J S, Shen G, Han J W. Application of adaptive inverse control in control loading system of flight simulator based on rapid prototyping of RT-LAB//3rd International Symposium on Systems and Control in Aeronautics and Astronautics. 2010: 649-653.
[8] Salcudean S E, Hashtrudi-Zaad K, Tafazoli S, et al. Bilateral matched-impedance teleoperation with application to excavator control[J]. IEEE Control Systems, 1999, 19(6): 29-37.
[9] Hashtrudi-Zaad K, Salcudean S E. Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation[J]. IEEE Transactions on Robotics and Automation, 2002, 18(1): 108-114.
[10] 王裕基, 孙富春, 刘华平, 等. 无环境力反馈的四通道双边控制[J]. 控制理论与应用, 2011, 28(3): 315-320. Wang Yuji, Sun Fuchun, Liu Huaping, et al. Four-channel bilateral control without environmental force feedback[J]. Control Theory & Applications, 2011, 28(3): 315-320. (in Chinese)
[11] Lee K, Lee D Y. Adjusting output-limiter for stable haptic rendering in virtual environments[J]. IEEE Transactions on Control Systems Technology, 2009, 17(4): 768-779.
[12] Colgate J E, Schenkel G. Passivity of a class of sampled-data systems: application to haptic interfaces[J]. Journal of Robotic Systems, 1997, 14(1): 37-47.
[13] 刘彦文, 李佳, 何朕, 等. 遥操作系统力觉接口的无源性设计[J]. 控制理论与应用,2011, 28(7): 994-998. Liu Yanwen, Li Jia, He Zhen, et al. Passivity design of a haptic interface for the remote servo manipulator[J]. Control Theory & Applications, 2011, 28(7): 994-998. (in Chinese)
[14] 刘彦文, 王广雄, 李佳, 等. 力控制系统的设计问题[J]. 电机与控制学报, 2011, 15(4): 98-102. Liu Yanwen, Wang Guangxiong, Li Jia, et al. Design problems of force control systems[J]. Electric Machines and Control, 2011, 15(4): 98-102. (in Chinese)
[15] 暮春棣, 梅生伟, 申铁龙. 非线性系统鲁棒控制理论的一些新进展[J]. 控制理论与应用, 2001, 18(1): 1-6. Mu Chundi, Mei Shengwei, Shen Tielong. New developments in robust nonlinear control theory[J]. Control Theory & Applications, 2001, 18(1): 1-6. (in Chinese)
[16] Kokotovic＇ P V, Arcak M. Constructive nonlinear control: a historical perspective[J]. Automatica, 2001, 37(5): 637-662.
[17] Stein G. Respect the unstable[J]. IEEE Transactions on Control Systems, 2003, 23(4): 12-25.
CJA