WO1996015514A1

WO1996015514A1 - Flight simulator with full roll rotation capability

Info

Publication number: WO1996015514A1
Application number: PCT/US1995/014975
Authority: WO
Inventors: Eduard Feuer; Ronald L. Brown
Original assignee: Eduard Feuer; Brown Ronald L
Priority date: 1994-11-16
Filing date: 1995-11-16
Publication date: 1996-05-23
Also published as: AU4284296A

Abstract

A flight simulator includes an occupant station (10) having seating (18) for one occupant and operating controls (20) for the occupant. A rotating axle assembly (30) is attached at one end to the occupant station and at an opposite end to a support frame (32). The rotating axle assembly accommodates rotation of the occupant station through at least 360° about the roll axis. The flight simulator includes a control computer (70) for receiving electrical signals from the control input, applying defined rules of motion, and for providing an output for control of the motor.

Description

FLIGHT SIMULATOR WITH FULL ROLL ROTATION CAPABILITY

Background of the Invention

1. Field of the Invention

The present invention relates generally to the field of amusement rides which simulate aircraft or space flight with visual presentations and motion. In particular the flight simulator provides for independent control of rotation about a pitch axis and roll axis including the capability for complete inversion of an occupant station simulating a cockpit.

2. Prior Art

Motion simulators for training and amusement are well known in the art. Aircraft simulators for use by the military and airlines incorporate highly sophisticated hydraulic drive systems often offering up to six axes of motion for relatively short dimensional excursions. Amusement rides offering motion simulation for automobiles, space flight, aircraft and other fantasy travel have typically employed technology very similar to the high fidelity training simulators while somewhat reducing complexity and cost. A typical system employs a platform having an occupant station which incorporates a means for visual simulation through motion picture or computer-generated scenery imaging. The occupant platform is mounted on or suspended from multiple hydraulic actuators which impart motion to the platform. The number and mounting location of the actuators is determined in engineering tradeoffs for size of the actuators and the equations of motion to be used for the simulation. Three actuator systems and six actuator systems are common with mounting in a triangular pattern on the motion platform.

The cost and complexity of such hydraulic systems can be excessive for many applications, particularly in the amusement field where a reduction in fidelity is allowable, however full range of motion is still desired. In addition, hydraulically operated systems such as those described cannot provide a complete inversion of the occupant station. Inversion of the occupant station may in certain cases reduce the fidelity of the motion simulation, however, particularly in the field of amusement rides a greater range of motion to provide excitement for a ride, even though strict equations of motion for a spacecraft or aircraft being simulated are not followed, may be preferable.

In addition to the hydraulic complexity required by the majority of flight simulators, roll rotation through 360° is not possible due to the constraints imposed by electronic signaling requirements for controls, displays, safety equipment and other features of the simulator.

Summary of the Invention

The flight simulator of the present invention incorporates an operator station having seating and operating controls for an occupant. A visual simulation system incorporating approximately 120° forward field of view is provided employing color projection from three projectors using reflected beams to semi-spherical screens on the cabin face separated by simulated window frames. A reflected beam system allows a compressed arrangement of the projectors relative to the screen reducing the necessary size for the operator station. The operator station is attached to a structural support through a rotating axle assembly providing unlimited angular rotation about a first axis, preferably the simulated roll axis of the operator station. The axle assembly is mounted through a transverse bearing pin which provides limited angular rotation about a second axis, preferably the pitch axis for the operator station. An axle running through the rotating axle assembly, with tapered roller bearings supporting the axle within a case or hub of the axle assembly, is attached to the operator station through a rigid flange. A motor and gear reduction system provides rotation of the axle within the case for rotational about the first axis. A linear actuator attached to a lever arm depending from the case bottom provides leverage for pivotal rotation of the axle about the second axis. The motor and linear actuator are controlled through digitally controlled hydraulic valves driven by a two axis motion controller. Inputs from the controls in the operator station are provided to a control computer which provides commands to the two axis motion controller for creating motion in the linear actuator and rotating axle derived from control equations responsive to the motion of the operator controls. A rotating electrical coupling concentric with the axle allows arrangement of the control computer system on board the operator station, with the coupling conducting motion control signals to the two axis motion controller, or mounting of the motion control computer off board on the support structure for*direct connection to the motion controller with signals from the operator control on board the operator station provided through the rotating coupling. Brief Description of the Drawings

Details of the present invention will be more clearly understood with reference to die following drawings:

FIG. 1 is a top view of a first embodiment of the invention employing a single seat operator station.

FIG. 2 is a side elevational view of the first embodiment of FIG. 1. FIG. 3 is a block diagram schematic of the control system for the first embodiment with off board mounting of the control computer.

FIG. 4 is a schematic of the control signals provided through the rotating coupling for the embodiment of FIG. 3.

FIG. 5 is a schematic block diagram of the control system arrangement for a second embodiment employing on board mounting of the control computer.

FIG. 6 is a schematic of the control signals for the embodiment of FIG. 5. FIG. 7 is a detail sectional side elevation view of the rotating axle assembly.

Detailed Description of the Invention

Referring to the drawings, FIG. 1 discloses a first embodiment of the invention for a single seat motion simulator. The operator station or seat capsule 10 incorporates a structural cage 12 mounted to a back plane 14. As best seen in FIG. 2, a floor 16 mounted within the cage supports a seat 18 for the occupant or patron. Operator controls in the form of an aircraft type stick 20 and throttle 21 are mounted proximate the seat for operation by the occupant.

A visual display for the occupant is provided by a projector system which incorporates three projectors 22a, 22b and 22c. Each projector provides three color imagery in a folded reflection arrangement by directing the projection substantially rearward to a first surface mirror 24a, 24b and 24c, respectively, which reflects the imagery to a semi-spherical screen 26. As shown in FIG. 1, three projectors provide three reflected images of approximately 40° each to three separate spherical screen segments 26a, 26b and 26c. The three screens are separated by simulated window frame posts 28 in the embodiment shown. Those skilled in the art will recognize that projection arrangements for seamless imagery projection by the three projectors may be employed.

The operator station is supported from the back plane by the axle assembly 30 which is attached to the structural support frame 32. The axle assembly incorporates a case 34 with bearings 36 supporting an axle 38 as best seen in detail in FIG. 7. The axle is rigidly attached to the occupant station back plane through a flange 40. A hydraulic motor 42 rotationally drives the axle through a planetary gear box 44 employed to obtain proper rotational speeds and mechanical advantage. A hydraulic brake assembly 46 is employed for positive positioning control. In a preferred embodiment the hydraulic motor comprises a Von Ruden model RSB04S while the planetary gear box comprises a Von Ruden series 300 providing a 10/1 gear reduction and the hydraulic brake comprises a Von Ruden B045228. Mounting of the rotating axle assembly to the support structure is accomplished through a transverse mounting pin 50 supported in a sleeve 52 welded to the case transverse to the rotational axis of the axle. The pin is supported in bearings 54 which are mounted in trunnions 55 on support arms 56 which are in turn attached to the remainder of the structural support and appropriately braced.

A lever arm 58 as best seen in FIGs. 2 and 7 is connected to the case and provides attachment for a linear actuator such as hydraulic cylinder 60 which is in turn pivotally mounted to the support frame.

Rotation about the first axis by driving of the axle with the hydraulic motor is unlimited due to the novel structural arrangement of the present invention. In the embodiment shown in the drawings where the first axis comprises a roll axis for the occupant station, simulation of complete 360° and greater rolls are possible. Rotation about the second axis transverse to the first axis is accomplished by actuation of the hydraulic cylinder. In the embodiment shown in die drawing, pitch rotation of approximately ± 60° is possible for total excursion of the operator station of approximately 120° in the pitch plane.

The simple mechanical structure of the present invention allows dramatic simulation of two axes of motion using only two motion sources, the hydraulic motor driving the axle for roll motion and the hydraulic cylinder providing the linear actuator for pitch motion.

Dramatic simulations are possible simulating extended zero or negative G motion not possible in conventional simulators. While fidelity of the equations of motion for simulation of an actual aircraft may be slightly compromised based on the unlimited roll capability. Use of the simulator as an amusement attraction is significantly enhanced by this feature. Control of the simulator is accomplished through a computer simulation system which employs inputs from the operator control stick and throttle as representing the desired motion. A first embodiment of the control system is shown in FIG. 4 wherein a control computer 70 is mounted off board from me operator station. Communications with the control CPU by the imaging system comprising the three projectors 22, the control stick 20 and a throttle 21 is accomplished through a rotatable coupling comprising a slip ring assembly 72. In the embodiment shown, the slip ring assembly comprises a 29 circuit slip ring carrying the signals disclosed in FIG. 4. 120v power for the projectors is provided through three connections on the slip ring. A switch reference voltage, a potentiometer reference voltage and a potentiometer common employ three rings while switch return circuits for door position switch, gun trigger, gun select and radar on/off comprise four rings. Pitch and roll potentiometer return signals from the control stick comprise two rings while the potentiometer return from the throttle comprises one ring. Audio communications are provided on two channels with an audio return on a third ring. A projector ground is provided and red, blue and green projection signals with horizontal sync are provided for each projector. In tiiis embodiment, die preferred slip ring is a Fabricast model 2462-3.627- 29-36U.

In d e embodiment shown in the drawings, motion of the seat capsule simulates the flight of an aircraft. Inputs from the control stick 20 in the occupant station are provided to die control computer which calculates position and motion equations in time sequence based on d e control inputs. The dirottle provides a positive or negative velocity component for the control equations. The equations of motion derived by the computer are provided to d e two axis motion control system 74, which provides servo control for digitally controlled valves in the hydraulic power unit 76 to drive die motor 44 and hydraulic cylinder 60 for roll and pitch motion respectively. The two channels of d e motion controller compare position information commanded by me computer with current encoded position and provide velocity commands to die hydraulics for motion control. In the present embodiment an XTAR flight dynamics computer system is employed to simulate aircraft flight. The XTAR flight dynamic system incorporates equations of motion to create occupant station position and motion to simulate aircraft flight. The visual display in the operator station is also controlled by die equations of motion provided by d e XTAR flight dynamics computer. Digital imagery is generated in the control computer and provided to d e projectors for display on die screens in the occupant station.

A second embodiment of die control system employing on board mounting of die control computer is shown in FIG. 5. The occupant station or capsule control computer 78 is mounted on board die occupant station. Control inputs provided by d e operator control stick and throtUe as previously described are available directly to an I/O card in the capsule control computer. Similarly, die capsule control computer provides image data for die projectors to be displayed on die screens in d e occupant station. Placement of me control computer on board using a Pentium^® based processor allows substantially unlimited expansion of the control input capability for the system. As shown in FIG. 6, a plurality of controls can now be available including pitch velocity and roll velocity from the control stick, missiles, bombs, shield, etc. from switch controls, and velocity and reverse dirust from the throttle. Expansion of die occupant station to a two seat configuration is easily accomplished allowing additional inputs from a second joy stick in die system providing signals such a vertical control beaming retinal and additional bombs and shield controls. A standard I/O card 80 interfaces the capsule control computer to die various control signals.

Returning to FIG. 5, placing of die control computer on board allows simplification of die rotating electrical coupling system to a slip ring 82 widi a reduced number of circuits. Communication from the capsule control computer employs standard four wire Ethernet^® communication for all control functions. This allows the use of an eleven circuit slip ring which employs three circuits for 120v AC power, four circuits for die Ediernet^®, two individual circuits for safety interlocks such as a door switch, and two capsule to control console audio communication lines. A preferred slip ring for use in die second embodiment is a Maurey Instruments model SR 2775-6-11-3.627 slip ring connector system.

The Ethernet* communication from die capsule control computer is provided to die motion controller 84 which in die second embodiment comprises a 486 processor. The motion control system interfaces widi die digitally controlled hydraulic valves for control of die motor and linear actuator as previously described.

For use of the second embodiment in an amusement arcade, an administrative computer 86 is employed for communication widi die motion controller on a bus 88 having die capacity to communicate widi a plurality of motion control computers. The administrative CPU may provide system interlocks to activate die motion controllers for each of a plurality of motion simulators. Having now described die invention in detail as required by the patent statutes, diose skilled in die art will recognize modifications and substitutions to die elements of the embodiments shown. Such modifications and substitutions are within the scope and intent of die invention as defined in die following claims.

Claims

WHAT IS CLAIMED IS

1. A motion simulator comprising: an occupant station incorporating seating for at least one occupant and at least one control input operable by die occupant; a support frame; a rotating axle assembly interconnecting die support frame and die occupant station, die rotating axle assembly providing rotation of die occupant station tiirough at least 360° about a roll axis, the rotating axle assembly including a drive axle rotating about die roll axis and rigidly connected to die occupant station, a motor driving d e axle for rotational motion, and a rotatable electrical coupling concentric wid die axle and rotatable tiirough at least 360° about die roll axis; and a control computer receiving an electrical signal from die control input tiirough the rotatable coupling, applying defined rules of motion based on position of the occupant station and die control input, and providing an output for control of die motor proportional diereto.

2. A simulator as defined in claim 1 wherein die rotating axle assembly is interconnected to said support frame tiirough a pivot and additionally provides rotatation of die occupant station about a pitch axis and further comprises: an actuator for rotating said axle assembly in said pitch axis; a second control input operable by the occupant; said control computer receiving a second electrical signal from die second control input, applying equations of motion to said second control input based on current position of the occupant station, and providing an output for control of die actuator for rotating the axle assembly in die pitch axis corresponding diereto.

3. A simulator as defined in claim 2 further comprising visual simulation means mounted in the occupant station and providing a display corresponding to outputs of die control computer widi image data provided by said control computer to the visual simulation means through said rotatable electrical coupling.

4. A motion simulator comprising: an occupant station incorporating seating for at least one occupant and at least one control input operable by die occupant; a support frame; a rotating axle assembly interconnecting die support frame and d e occupant station, the rotating axle assembly providing rotation tiirough at least 360° about a roll axis, die rotating axle assembly including a drive axle rotating about die roll axis and rigidly connected to die occupant station, a motor driving die axle for rotational motion, and a rotatable electrical coupling concentric with die axle and rotatable tiirough at least 360° about d e roll axis; and a control computer on board die occupant station receiving an electrical signal from the control input, applying defined rules of motion based on position of the occupant station and die control input, and providing an output tiirough the rotatable coupling for control of the motor proportional diereto.

5. A simulator as defined in claim 4 wherein die rotating axle assembly is interconnected to said support frame tiirough a pivot and additionally provides rotatation of d e occupant station about a pitch axis and further comprises: an actuator for rotating said axle assembly in said pitch axis; a second control input operable by the occupant; said control computer receiving a second electrical signal from die second control input, applying equations of motion to said second control input based on current position of the occupant station, and providing an output through said rotatable coupling for control of the actuator for rotating die axle assembly in die pitch axis corresponding diereto.