WO2002077727A9 - Dual input servo coupled control sticks - Google Patents
Dual input servo coupled control sticksInfo
- Publication number
- WO2002077727A9 WO2002077727A9 PCT/US2002/008593 US0208593W WO02077727A9 WO 2002077727 A9 WO2002077727 A9 WO 2002077727A9 US 0208593 W US0208593 W US 0208593W WO 02077727 A9 WO02077727 A9 WO 02077727A9
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- signal
- input device
- control system
- servo
- input
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
- G05D1/085—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability to ensure coordination between different movements
Definitions
- the present invention relates to an active control system for providing desired
- active control system further acts to reflect manual inputs applied at one of the input
- source such as an autopilot signal
- autopilot signal can be used to reflect motion onto both control
- variable gain velocity damping is also provided to reduce oscillations at or
- Aircraft flight control systems are an application where it is particularly important
- control stick or yoke which electrically interfaces with the mechanical systems for
- control stick in order to translate the pilot's input commands into electrical signals for
- sticks are provided, one to be operated by the pilot and a second to be operated by
- the system includes a pair of control sticks each of which is directly coupled
- a position signal from the first input device is fed back and combined with an autopilot or center position signal to
- This error signal is amplified and input to servo control electronics to generate excitation currents for a motor coupled to the control stick.
- this position feedback loop causes the motor to drive the control stick in a
- This signal is also amplified and summed with the error signal input to the
- the motor coupled to the first control
- the position signals from both the first and second control sticks are also in
- control stick are rectified by having the second control stick follow the position of the
- the system relies on the reconciled position of one stick as the signal to drive the
- a second embodiment disclosed by Hegg et al. further describes a torque
- variable damping to a servo control system in order to prevent oscillations due to
- the velocity feedback signal is subjected to position
- the gain of the amplifier is
- a position dependent switch is connected in series with
- control stick is in a second position range, the switch is closed and the gain of
- the amplifier is determined by the parallel combination of the two resistors.
- control stick is moved away from zero in order to improve the response
- present invention provides for multi-shaped force versus displacement profiles in a
- the present invention relates to an active control system for tactile feedback
- a manual input device such as a flight control stick used
- the invention provides desired force versus displacement characteristics to each of a pair of input devices, such as the pilot's
- Each input device is configured to receive a manual torque input for angularly
- Each input device may include more
- a single flight control stick may be configured to
- the device comprises multiple control axes, the active control system of the present
- a servo motor is coupled to each of the first and second input devices in a
- command signal supplied by an external system such as another side stick or the
- First and second servo control loops are associated with the first and second
- Each servo control loop comprises a position sensor for
- a force profile gain amplifier and a servo controller are also included in
- the force profile gain amplifier receives a
- the position error signal merely
- the gain of the force profile amplifier is variable, and is a function of the
- This technique ailows shaping of the force profile to include
- multiple segments of different shapes not limited to, but including: breakout regions, main gradient, soft stop, post-soft-stop gradient, and hard stop. All of these features
- a torque error signal is output from the force profile amplifier and input to the
- the servo controller converts the torque error signal to current for
- the polarity and magnitude of the motor drive current are such as to
- a cross-coupling feedback loop is also provided for reflecting the relative
- Each of the first and second servo control loops includes a velocity damping
- the cross-coupling feedback loop includes a relative position signal
- a relative velocity signal is included
- the relative velocity signal is obtained by taking
- a signal summing device adds the integrated
- Figure 1 is a block diagram of an active control system for providing a desired
- Figure 2 is a force versus displacement curve showing a typical force profile
- Figure 3 is a force versus displacement curve showing an alternate force
- Figure 1 is a force versus displacement curve showing another alternate force
- Figure 5 is a force versus displacement curve showing yet another alternate
- the present invention provides an active control system for coupling the
- system of the present invention may be applied independently to each input axis
- the active control system of the present invention provides desired tactile feedback
- control system provides a force versus displacement curve or "force profile” that emulates a mechanical spring system wherein the restorative force increases with
- compound force profiles may also be implemented. Further, if an auto-pilot system
- the system also reflects manual displacement of each
- Figure 1 shows a block diagram 100 of an active control system according to
- the present invention for controlling a pair of manual input devices such as a pair of
- cross-coupled feedback loop 110 shown in the center of the diagram provides
- a torque signal d applied by an operator e.g. a
- Input device 104 is mechanically coupled to the output of a servo motor 120 which is capable of delivering torque to the input
- mechanical transfer function includes the gear ratios of a gearbox (not shown) which
- the mechanical transfer function 124 outputs an angular velocity
- Position signal 148 may also be used to
- the angular position signal ⁇ is fed back to summing junction 112 to create a
- the angular position signal 148 is
- the resultant signal 132 comprises a
- the autopilot signal 130 is
- summing junction 112 is input to force profile gain amplifier 114.
- the force profile gain amplifier 114 defines the force versus position
- the horizontal axis represents angular displacement of
- a "breakout" force of 0.75 lbs. is provided.
- the control stick will not move from the null position unless a force in excess of 0.75 lbs. is applied to the input
- control stick increases linearly as the control stick is further displaced from the
- the force profile 300 comprises a compound profile. Up to
- control stick further. This additional force threshold is provided to alert the pilot that
- the amplified position error signal 134 output from force profile gain
- amplifier 30 is passed through summing junction 116 where it is combined with a
- the signal 134 represents the position error between the actual position of the
- the signal 136 output from summing junction 136 comprises a torque error signal which is input to the forward loop gain amplifier 118. Due to the
- gain amplifier 118 converts the torque error signal 136 to a motor excitation current
- motor 120 drives the motor in the direction that reduces the magnitude of the error
- the servo motor 120 drives input device 104 in the direction
- the velocity damping feedback loop begins with the input device angular
- amplified position error signal 134 The amount of gain applied by the damping
- profile amplifier 128 is dependent on the angular velocity of the input device 104 itself and angular velocity signal 127 is separately derived from the position signal
- the damping profile gain amplifier 128 provides an amount of
- the second servo control loop 106 is substantially identical to the first servo
- the second manual input device 108 receives manual input in the
- Input device 108 is mechanically coupled to the output of a servo
- the angular velocity signal is input to a position sensor 166 which generates a position signal ⁇ at 188.
- position signal 188 is fed back to summing junction 152 to form a position feedback
- the position signal is subtracted from the autopilot signal 130 at summing
- junction 152 is input to force profile gain amplifier 154 which operates in an identical
- the position feedback signal 188 is input to the force profile gain amplifier 154
- the amplified position error signal 174 output
- summing junction 156 comprises a torque error signal which is input to the forward
- the forward loop gain amplifier converts the torque error
- dampening loop of the second servo control loop 106 operate in the same manner
- the position signals 148 and 188 are further input to summing junction 192 which
- the position error signal 204 is
- summing junction 194 subtracts the velocity signal 186 of second
- Velocity error signal 206 is in turn
- This signal 212 is amplified by the cross-coupling gain amplifier
- the cross-coupling-signal 114 is
- control loop 106 controlling the force versus displacement characteristics of the
- the position gain amplifier 196 amplifies the position error between the first
- the position error integral gain amplifier 198 accumulates the position error over time and outputs a signal
- the cross-coupling gain amplifier 202 The cross-coupling gain amplifier 202
- cross-coupling feedback signal 114 is subtracted from the position error signal 134 of
- signal 114 could be
- the gain of cross-coupling gain amplifier 202 may be set very high to provide a very stiff response to discrepancies between the position of the two input
- the active control system of the present invention provides
- system provides a tactile indication at each input device of what is occurring at the
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/815,117 | 2001-03-22 | ||
US09/815,117 US6459228B1 (en) | 2001-03-22 | 2001-03-22 | Dual input servo coupled control sticks |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2002077727A1 WO2002077727A1 (en) | 2002-10-03 |
WO2002077727A9 true WO2002077727A9 (en) | 2004-04-08 |
Family
ID=25216914
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2002/008593 WO2002077727A1 (en) | 2001-03-22 | 2002-03-20 | Dual input servo coupled control sticks |
Country Status (2)
Country | Link |
---|---|
US (1) | US6459228B1 (en) |
WO (1) | WO2002077727A1 (en) |
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US6805325B1 (en) * | 2003-04-03 | 2004-10-19 | Rockwell Scientific Licensing, Llc. | Surface plasma discharge for controlling leading edge contamination and crossflow instabilities for laminar flow |
US7272473B2 (en) * | 2004-09-17 | 2007-09-18 | The Boeing Company | Methods and systems for analyzing system operator coupling susceptibility |
FR2888009B1 (en) * | 2005-06-30 | 2007-09-07 | Dassault Aviat | CONTROL DEVICE HAVING TWO SLEEVES COUPLED TO ALLOW PLACEMENT OF CONTROLLED ORGANS IN DESIRED POSITIONS |
CA2637331A1 (en) * | 2006-01-17 | 2007-07-26 | Gulfstream Aerospace Corporation | System and method for an integrated backup control system |
WO2007084679A2 (en) | 2006-01-17 | 2007-07-26 | Gulfstream Aerospace Corporation | Apparatus and method for backup control in a distributed flight control system |
US8725321B2 (en) * | 2006-05-17 | 2014-05-13 | Textron Innovations Inc. | Flight control system |
US9340278B2 (en) | 2006-05-17 | 2016-05-17 | Textron Innovations, Inc. | Flight control system |
US7701161B2 (en) * | 2006-10-02 | 2010-04-20 | Honeywell International Inc. | Motor balanced active user interface assembly |
US7658349B2 (en) * | 2006-10-26 | 2010-02-09 | Honeywell International Inc. | Pilot flight control stick haptic feedback system and method |
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US8469317B2 (en) * | 2010-10-22 | 2013-06-25 | Woodward Mpc, Inc. | Line replaceable, fly-by-wire control columns with push-pull interconnect rods |
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US9004218B2 (en) * | 2013-06-23 | 2015-04-14 | Cnh Industrial America Llc | Joystick with improved control for work vehicles |
FR3012112B1 (en) * | 2013-10-22 | 2017-04-21 | Ratier Figeac Soc | METHOD FOR MONITORING THE OPERATION OF AN AIRCRAFT DRIVING DEVICE AND AIRCRAFT DRIVING DEVICE SO MONITORED |
FR3031959B1 (en) * | 2015-01-27 | 2017-02-17 | Ratier Figeac Soc | METHOD AND DEVICE FOR CONJUGATING CONTROL RODS |
US9969484B2 (en) * | 2015-02-26 | 2018-05-15 | Grant Norwitz | Adjustable height cyclic control assembly and method |
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CN111055998A (en) * | 2019-12-31 | 2020-04-24 | 中国航空工业集团公司沈阳飞机设计研究所 | Active control method and device for airplane steering column |
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-
2001
- 2001-03-22 US US09/815,117 patent/US6459228B1/en not_active Expired - Fee Related
-
2002
- 2002-03-20 WO PCT/US2002/008593 patent/WO2002077727A1/en not_active Application Discontinuation
Also Published As
Publication number | Publication date |
---|---|
WO2002077727A1 (en) | 2002-10-03 |
US6459228B1 (en) | 2002-10-01 |
US20020135327A1 (en) | 2002-09-26 |
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