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WO2024255964A1 - Simulateur de vol - Google Patents

Simulateur de vol Download PDF

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Publication number
WO2024255964A1
WO2024255964A1 PCT/DE2024/100521 DE2024100521W WO2024255964A1 WO 2024255964 A1 WO2024255964 A1 WO 2024255964A1 DE 2024100521 W DE2024100521 W DE 2024100521W WO 2024255964 A1 WO2024255964 A1 WO 2024255964A1
Authority
WO
WIPO (PCT)
Prior art keywords
movements
simulator
movement device
movement
cockpit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/DE2024/100521
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German (de)
English (en)
Inventor
Markus LANKES
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Individual
Original Assignee
Individual
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Filing date
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Publication of WO2024255964A1 publication Critical patent/WO2024255964A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/12—Motion systems for aircraft simulators
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/12—Motion systems for aircraft simulators
    • G09B9/14—Motion systems for aircraft simulators controlled by fluid actuated piston or cylinder ram

Definitions

  • the invention relates to a flight simulator which is used to simulate movements of a real aircraft, preferably for training or instruction purposes. It relates in particular to a flight simulator for simulating movements of an air taxi or flying taxi designed in the form of a so-called VTOL (Vertical Take-Off and Landing).
  • VTOL Very Take-Off and Landing
  • the invention is not limited to the aforementioned intended use, i.e. to simulating movements of an air taxi or flying taxi. Rather, the simulator can also be prepared and used to simulate movements of any other aircraft (aircraft), civil and military.
  • Flight simulators have been around for a long time and are used extensively in practice, particularly for the education and training of pilots, but also of other crew members where appropriate. For example, they are used to train prospective pilots for the simulation of flights prior to their first real flight in order to practice the operating actions and behaviors that are important for piloting. They not only make it possible to address the psyche of the person using them and train their cognitive abilities, but also to allow the person concerned to experience the physical influences that affect them during different flight movements and maneuvers.
  • flight simulators are often very adaptable when it comes to training on newly introduced types of aircraft and, where appropriate, even on completely new types of aircraft. Of course, in individual cases, more extensive modifications to such a flight simulator are still necessary.
  • a typical feature of the flight behavior of air taxis or flying taxis based on the VTOL concept is the fact that they are generally inclined slightly downwards in the direction of flight, i.e. at their nose, during flight, namely at an angle of typically 12 to 16°.
  • flight simulators are mostly based on the use of rod kinematics standing on the ground or on a horizontally aligned surface, with a simulator cockpit modeled on a real aircraft attached to the ends of the rods. Movements used to simulate flight movements are transmitted to the aforementioned simulator cockpit, which are generated by the movement device or the rod kinematics.
  • hexapods are predominantly used here, which are rod kinematics formed by six rods mounted on swivel joints and which can be extended and retracted hydraulically, electrically or pneumatically, and which transmit movements in the six degrees of freedom that exist for a rigid body to a simulator cockpit arranged on top of them.
  • the object of the invention is therefore to provide a flight simulator which solves or avoids the aforementioned problems.
  • a flight simulator should be particularly suitable for use in factory halls with a standard construction height and for simulating the flight behavior of air or flight taxis which are based on the VTOL principle but may also be very differently designed in their respective construction and have a nose which is generally inclined downwards in the direction of flight.
  • the flight simulator proposed to solve the problem includes an open or closed simulator cockpit, a motion system for simulating movements of the simulator cockpit and a control device that controls the motion system.
  • the term cockpit or simulator cockpit is used here as a generic term and refers to a simulator cabin (closed simulator cockpit) or a simulator cockpit (open simulator cockpit).
  • the proposed solution refers expressly to both possibilities (closed simulator cabin, preferably with built-in cockpit or just an open cockpit), especially since the respective variant used in the practical implementation of the solution (cabin or cockpit) or the respective concrete design of the simulator cockpit is irrelevant to the invention. Therefore, in the following, we will generally refer to a simulator cockpit.
  • the motion system of the proposed simulator is designed to impart movements to the simulator cockpit attached to it using the six degrees of freedom that exist for a rigid body (6 DoF).
  • the simulator cockpit which is preferably modeled on the cabin or cockpit of a real aircraft, such as the cabin of an air taxi / flying taxi - also known as urban air mobility - can be equipped with various technical devices inside.
  • the simulator cockpit or part of it simulates the cockpit of a corresponding aircraft, on which at least one person who is to be trained in the use of the aircraft can use the control units and controls provided for this purpose to carry out actions to control the simulated aircraft and to carry out procedures in the cockpit and flight maneuvers.
  • several displays are arranged in or on the simulator cockpit or a projection system in front of it, on which or which the at least one training person (hereinafter referred to as one person for the sake of simplicity) can be shown images of the respective environment of the aircraft during a flight in the form of virtual reality.
  • the training can also be carried out using VR or MR glasses worn by the training person, which replace or supplement the displays.
  • the movement system already mentioned consists of two movement devices according to the proposed solution.
  • the movement system also consists of a second movement device connected to movable free ends of the first movement device, which is designed as a pendulum and rotation kinematics. This second movement device serves to generate movements with respect to the three degrees of freedom given for non-translational movements.
  • the simulator cockpit is movably attached to the second movement device, which is designed as a pendulum and rotation kinematics.
  • the first movement device of the movement system is at least designed to generate movements in the three degrees of freedom provided for translational movements
  • other movement modes supported by the first movement device in addition to the translational movements are also used, but, again controlled by the control device, some or all of these movement modes are only available to a limited extent with regard to their angular range.
  • the first movement device is preferably designed as a rod kinematics, wherein the second movement device of the movement system is a connecting plate (a mechanical interface) is movably connected to the free rod ends of this rod kinematics.
  • the rods of the rod kinematics are each mounted on a swivel joint in the area of the contact surface and their length can be changed by means of a drive.
  • the first movement device or the rod kinematics is designed to be able to impart at least movements in the three degrees of freedom given for translational movements to the simulator cockpit attached to it via the second movement device. These are movements in the X direction (forwards or backwards) and in the Y direction (left or right) of the horizontal plane of the contact surface for this first movement device and movements in the orthogonal Z direction, i.e. upward or downward movements or lifting and lowering movements. Such movements can be realized or provided, for example, with the help of a tripod movement device.
  • a hexpod i.e. a 6-support movement device or a 6-rod kinematics, whereby this option is particularly preferred due to the high flexibility it provides.
  • a hexapod it is possible to use such a hexapod to impart movements in all six degrees of freedom that exist for a rigid body to a simulator cockpit attached to it.
  • a corresponding hexapod is controlled by the control device belonging to the simulator in such a way that the hexapod either only imparts movements to the simulator cockpit with respect to the three translational degrees of freedom possible for a rigid body or, in the case of non-translational movements also being made available, preferably (not mandatory - can be made dependent on the location of the simulator and the spatial conditions there), at least for pitching movements generated by the hexapod, the angular range is limited compared to the angular range provided for this purpose by the second movement device.
  • Movements in the three other degrees of freedom given for non-translational (i.e. rotational) movements are, following the basic principle of the solution presented, transferred to the simulator cockpit attached to it by the second movement device belonging to the movement system, designed as a pendulum and rotation kinematics. These are movements which are referred to as pitch, roll or yaw.
  • the aforementioned movements are a tilt (pitch) of the simulator cockpit at the front or back, a lateral roll (roll) of the simulator cockpit or a rotation (yaw) of the simulator cockpit around the Z axis, namely around a vertical axis, along or parallel to which the simulator cockpit moves up and down.
  • the second movement device i.e. the movement device that generates the movements in the three non-translational degrees of freedom, is formed by a circular (at least almost forming a full circle) guide element that extends parallel to the contact surface of the first movement device and by two circular segment-shaped guide elements that extend orthogonally or transversely to one another.
  • the latter are also referred to as arc-shaped in the patent claims and below to distinguish them from the aforementioned circular or at least almost fully circular guide element for yaw.
  • the two arcuate guide elements which are themselves movably mounted and guided in or on the first-mentioned circular guide element, are preferably concave in shape with respect to their cross-section in the direction of extension.
  • these two form circular segments which are mounted on the first-mentioned circular guide element with the first movement device or the Rod kinematics connected guide element and standing upright on the circular guideway formed by this, also each have a guideway.
  • a first of the two arcuate guide elements is mounted on the other (second) arcuate guide element in such a way that the first guide element and with it the simulator cabin can perform movements along the other (second) arcuate guide element.
  • the second arcuate or circular segment-shaped guide element is in turn movably mounted and guided in or on the guide element, which forms at least approximately a full circle, preferably also has a concave cross-section and is connected to the free ends of the first movement device or the rod kinematics.
  • it is irrelevant which of the two intersecting arcuate guide elements is considered to be the first or second guide element.
  • the above ordinal numbers or ordinal words do not indicate any order in this respect.
  • the two circular segment-shaped guide elements can jointly carry out a rotary movement, which is guided along this circular guide element, which extends parallel to the contact surface of the first movement device.
  • the simulator cabin which is fixed to it but is movable, is guided in or on the curved guide element, which is movably guided in or on the other curved guide element extending transversely to it.
  • the special design of the simulator according to the invention described results in an overall flat construction that is also suitable for use in workshops with a standard height of 3.80 m.
  • the other elements (other guide elements or simulator cabin) guided in or on the guide elements (circular guide element and curved guide elements) are within this Guide elements preferably movable by means of linear drives controlled accordingly by the simulator's control system.
  • the simulator cabin is movable in or on an upper of the two arcuate (circular segment-shaped) guide elements - guided by the relevant guide element - whereby this arcuate guide element in turn is movable in or on the other lower arcuate (circular segment-shaped) extending transversely to it, which in turn is movable together with the first-mentioned arcuate guide element in or on the circular (at least almost forming a full circle) guide element.
  • the radii of the arcuate guide elements of the second movement device are dimensioned according to the geometry of an aircraft whose flight behavior is to be simulated. From a practical point of view, these radii are dimensioned in such a way that they determine the height of a common pendulum point, namely the height of the point around which the simulator cockpit oscillates in relation to the pendulum point of the real aircraft (aircraft) both when simulating rolling movements and when simulating tilting movements.
  • the height of this pendulum point is determined by the radius of one arcuate guide element with regard to the simulation of rolling movements and by the radius of the other arcuate guide element with regard to the simulation of tilting movements.
  • a decisive advantage of the described construction is that the radii of the two curved guide elements can be dimensioned in such a way that the aforementioned common pendulum point for rolling and tilting movements, unlike the already mentioned solution according to the document EP 2 715 702 B1, as is typical for VTOL in particular, is above the Simulator cockpit.
  • the height of the pendulum point can be variably set during the planning and construction phase of a corresponding simulator in accordance with the flight behavior of the aircraft to be simulated - namely by dimensioning the radii of the arcuate guide elements of the second movement device to provide non-translational movements.
  • the simulator cabin can be arranged above the circular guide element and guided movably or below this circular guide element, i.e. hanging on one of the arc-shaped guide elements.
  • Fig. 1 A first possible embodiment of the simulator according to the invention with a hexapod in a frontal view of the simulator cockpit
  • Fig. 2 the embodiment according to Fig. 1 in a frontal view of the simulator cockpit performing a rolling movement
  • Fig. 3 the embodiment according to Figures 1 and 2 in a side view with the simulator cockpit executing a pitch movement
  • Fig. 4 the embodiment according to Figures 1 to 3 in a plan view
  • Fig. 5 a variant similar to the embodiment according to Figures 1 to 4.
  • Fig. 1 shows a possible embodiment of the flight simulator according to the invention in a frontal view of the simulator cockpit 1, which in the example shown is the closed cabin of an air taxi.
  • the simulator essentially consists of a movement system 2; 3, 4, 5 and the simulator cockpit 1 attached to it, as well as a control device (not shown in the illustration) and drives controlled by it (also not shown).
  • the movement system 2; 3, 4, 5 is designed to impart movements to the simulator cockpit with respect to the six degrees of freedom (6DoF) possible for a rigid body.
  • 6DoF six degrees of freedom
  • the movement system 2; 3, 4, 5 consists of two movement devices, one of which
  • the first movement device 2 designed here as a hexapod, transmits at least movements in the three translational degrees of freedom given to a rigid body to the simulator cabin 1, which is fixed to the movement system 2; 3, 4, 5 but can move along the curved guide element 4.
  • the known hexapod (movement device 2) is a rod kinematics, the six rods of which are each mounted on the floor or on a horizontal base surface (support surface) via universal joints 7i; 72; 7s; ..., 76 and whose length can be changed using linear drives (not shown as described).
  • this second movement device 3, 4, 5 is implemented by two arcuate or circular segment-shaped guide elements 3, 4 that extend transversely to one another, which in turn are movably mounted on an almost fully circular guide element 5 (not visible here - see Fig. 4).
  • the simulator cabin 1 is movably guided in or on the upper of the two arcuate guide elements 3, 4, for example with the aid of roller, sliding or ball bearings, and can therefore move out of or into the plane of the drawing in or on this guide element 4, as shown in the illustration shown.
  • This upper curved guide element 4 is in turn movably mounted in or on the second circular movement element 3 extending transversely underneath.
  • the movable mounting can be implemented by means of roller, slide or ball bearings running, for example, within the concave guide element 3.
  • Both curved guide elements 3, 4 together are movably mounted in or on the almost fully circular guide element 5 located underneath (see Fig. 4).
  • the guide element 5 can impart movements in the three rotational degrees of freedom, i.e. yaw movements, roll movements and tilt movements, to the simulator cockpit 1.
  • FIG. 2 the embodiment according to Fig. 1 is also shown in a frontal view of the simulator cockpit 1, whereby rolling movements for the simulator cockpit 1 are simulated by movements of the upper arched guide element 4 along the lower arched guide element 3.
  • the simulator cockpit 1 here simulator cabin
  • the simulator cockpit 1 is tilted sideways against the vertical, as can be seen from the illustration.
  • Fig. 3 shows the embodiment according to Figures 1 and 2 again in a side view, whereby in the illustration, for the sake of simplicity, only two of the six rods of the hexapod forming the first movement device 2 are shown.
  • the simulator cockpit 1 is inclined downwards with its tip, i.e. the bow, by a corresponding movement within the upper circular segment-shaped guide element 4, thus performing a pitching movement.
  • Fig. 4 shows the embodiment of Figures 1 to 3 again in a top view of the overall arrangement.
  • the control device (not shown) operates the movement system 2 in such a way that movements in the three translational degrees of freedom are generated by the hexapod, whereby movements using the three rotational (non-translational) degrees of freedom are not supported or only supported to a limited extent by the hexapod.
  • pitching movements of the simulator cockpit 1 caused at least by the movement device 2 can preferably be restricted in their angular range compared to the movements transmitted to the simulator cockpit 1 by the second movement device 3, 4, 5 in the three non-translational degrees of freedom.
  • the movements generated by the first movement device 2 and by the second movement device 3, 4, 5 in relation to the three rotational (non-translational) degrees of freedom are therefore superimposed on one another by the control system in a reinforcing manner, although the risk of the simulator cockpit 1 touching the ground, which was mentioned at the beginning when describing the prior art, can be avoided by means of an angular restriction of the first movement device 2, at least with regard to pitching movements.
  • Fig. 5 shows a variant of the embodiment of the simulator according to the invention previously explained with reference to Figs. 1 to 4.
  • the second movement device 3, 4, 5 and with it the simulator cabin 1 are mounted hanging downwards on the first movement device 2.

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

L'invention concerne un simulateur de vol doté d'un poste de pilotage de simulateur (1), d'un système de mouvement (2 ; 3, 4, 5) servant à simuler des mouvements du poste de pilotage de simulateur (1), et d'un dispositif de commande qui commande ce dernier. Le système de mouvement (2 ; 3, 4, 5) est conçu pour transférer des mouvements vers le poste de pilotage de simulateur (1), qui est fixé sur celui-ci de façon mobile, à l'aide des six degrés de liberté qui existent pour un corps rigide. Il est constitué d'un premier dispositif de déplacement (2) destiné à être disposé sur une surface de contact horizontale et servant à générer des mouvements de translation dans les trois degrés de liberté donnés, et d'un second dispositif de déplacement (3, 4, 5) qui se présente sous la forme d'un système cinématique pendulaire et rotatif, qui est relié de façon mobile à des extrémités libres mobiles (61 ; 62 ; 63 ; ..., 6n) dudit dispositif de mouvement (2) et qui sert à générer des mouvements dans les trois degrés de liberté pour les mouvements non de translation. Le second dispositif de mouvement (3, 4, 5), auquel est fixé le poste de pilotage de simulateur (1), est constitué d'un élément de guidage circulaire (5) sur lequel deux éléments de guidage incurvés (3, 4) s'étendant orthogonalement l'un par rapport à l'autre sont montés et guidés de manière mobile.
PCT/DE2024/100521 2023-06-12 2024-06-12 Simulateur de vol Pending WO2024255964A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102023115291 2023-06-12
DE102023115291.2 2023-06-12

Publications (1)

Publication Number Publication Date
WO2024255964A1 true WO2024255964A1 (fr) 2024-12-19

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Family Applications (1)

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PCT/DE2024/100521 Pending WO2024255964A1 (fr) 2023-06-12 2024-06-12 Simulateur de vol

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20010041326A1 (en) * 2000-05-12 2001-11-15 Zeier Bruce E. Simulator for aircraft flight training
DE102016002322A1 (de) * 2016-02-26 2017-08-31 Hüseyin Keskin Fahr- und/oder Flugsimulator
EP2715702B1 (fr) 2011-05-23 2017-11-08 AMST-Systemtechnik GmbH Dispositif de déplacement spatial de personnes
CN114307101A (zh) * 2021-12-31 2022-04-12 武汉大学 模拟飞行系统

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20010041326A1 (en) * 2000-05-12 2001-11-15 Zeier Bruce E. Simulator for aircraft flight training
EP2715702B1 (fr) 2011-05-23 2017-11-08 AMST-Systemtechnik GmbH Dispositif de déplacement spatial de personnes
DE102016002322A1 (de) * 2016-02-26 2017-08-31 Hüseyin Keskin Fahr- und/oder Flugsimulator
CN114307101A (zh) * 2021-12-31 2022-04-12 武汉大学 模拟飞行系统

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