Research On Motion Planning And Upper Computer Control Of Helicopter Simulator

Facing the huge requirement of automatic facilities in most enterprises related to industry,military,computer technology and other fields,military and civil helicopters are widely used in the market.Therefore,the research on the automation equipment for simulating helicopter flight is particularly important.The research can not only be used indoors without the influence of weather,environment and other factors,but also improve the safety and reduce the cost in the actual flight,and it is controlled by software to make the operation more convenient.This topic studies a helicopter position simulator which can simulate the movements of helicopter take-off and landing indoors.This paper mainly designs the trajectory planning and host computer control system of the simulator to realize the smooth processing of motion trajectory and the design of system software.The specific research contents are as follows:The operation principle of helicopter simulator is analyzed by using parameters of manufacturing and structure,control and driving scheme of the simulator are briefly designed according to its operation principle.Generating the scheme of software and workflow after analyzation of the upper computer control system requirements.The forward and inverse kinematics of the helicopter simulator is analyzed by D-H method,and the workspace of the simulator is obtained by Monte-Carlo method according to the analysis results.The location points of the simulator are planned and compared by using cubic polynomial and quintic polynomial curves with intermediate points respectively,so as to meet the continuous speed and acceleration during the movement of the simulator without exceeding the constraints.Considering the force of the motor in the movement process of the simulator,the dynamic analysis of the simulator is carried out to verify that the selected motor can provide the corresponding torque in the actual movement process.The upper computer control system software of helicopter simulator based on Visual Studio is designed.Instructions and data transmission along upper computer,motion controller and central control model is realized by multi-threaded network communication.Display of the experimental data and parameter-curves is based on TeeChart controlling model.The data storage and query of the simulator data management module are realized by using ADO technology of SQL Server database.In addition,the software interface of each part of the upper computer control system is designed.Build the helicopter simulator experimental platform,test the system environment function and system software function,and verify the feasibility of the upper computer control system software of the simulator.The design of host computer control system software meets the needs of users.