CA2148481A1 - Position dependent rate dampening in an active hand controller - Google Patents
Position dependent rate dampening in an active hand controllerInfo
- Publication number
- CA2148481A1 CA2148481A1 CA002148481A CA2148481A CA2148481A1 CA 2148481 A1 CA2148481 A1 CA 2148481A1 CA 002148481 A CA002148481 A CA 002148481A CA 2148481 A CA2148481 A CA 2148481A CA 2148481 A1 CA2148481 A1 CA 2148481A1
- Authority
- CA
- Canada
- Prior art keywords
- control stick
- control
- dampening
- hand controller
- active hand
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/04—Initiating means actuated personally
- B64C13/042—Initiating means actuated personally operated by hand
-
- 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
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
- G05D1/0061—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20012—Multiple controlled elements
- Y10T74/20201—Control moves in two planes
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position Or Direction (AREA)
- Feedback Control In General (AREA)
Abstract
A control system for an active hand controller, for example, uses a control stick connected to and controlled by a motor. Electronics are provided to control the motor to eliminate oscillations due to motor torque and high gain due to breakout at the control stick when the control stick is at about its null position. Both hardware as well as software implementations can provide position dependent dampening to the control sticks such that when the control stick is located about a null position, a higher rate of dampening is provided than when the control stick is located outside the null position, when a lower rate of dampening is provided. The system provides a stable active hand controller control stick without degraded force and feel characteristics of the system.
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US07/957,427 US5347204A (en) | 1992-10-06 | 1992-10-06 | Position dependent rate dampening in any active hand controller |
PCT/US1993/010459 WO1995012153A1 (en) | 1992-10-06 | 1993-10-29 | Position dependent rate dampening in an active hand controller |
EP93925137A EP0677184B1 (en) | 1992-10-06 | 1993-10-29 | Position dependent rate dampening in an active hand controller |
DE69310770T DE69310770T2 (en) | 1993-10-29 | 1993-10-29 | POSITION-DEPENDENT DAMPING IN AN ACTIVE MANUAL CONTROL |
CA002148481A CA2148481C (en) | 1992-10-06 | 1993-10-29 | Position dependent rate dampening in an active hand controller |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US07/957,427 US5347204A (en) | 1992-10-06 | 1992-10-06 | Position dependent rate dampening in any active hand controller |
PCT/US1993/010459 WO1995012153A1 (en) | 1992-10-06 | 1993-10-29 | Position dependent rate dampening in an active hand controller |
CA002148481A CA2148481C (en) | 1992-10-06 | 1993-10-29 | Position dependent rate dampening in an active hand controller |
Publications (2)
Publication Number | Publication Date |
---|---|
CA2148481A1 true CA2148481A1 (en) | 1995-05-04 |
CA2148481C CA2148481C (en) | 2002-02-05 |
Family
ID=25677941
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA002148481A Expired - Fee Related CA2148481C (en) | 1992-10-06 | 1993-10-29 | Position dependent rate dampening in an active hand controller |
Country Status (3)
Country | Link |
---|---|
US (1) | US5347204A (en) |
EP (1) | EP0677184B1 (en) |
CA (1) | CA2148481C (en) |
Families Citing this family (39)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5414620A (en) * | 1993-08-09 | 1995-05-09 | Honeywell Inc. | Synthetic friction algorithm for a hand control element |
US5489830A (en) * | 1994-09-09 | 1996-02-06 | Mcdonnell Douglas Corporation | Control system with loadfeel and backdrive |
US5797564A (en) * | 1995-05-15 | 1998-08-25 | The Boeing Company | System for backdrive of flight deck controls during autopilot operation |
US5722620A (en) * | 1995-05-15 | 1998-03-03 | The Boeing Company | Aircraft pitch-axis stability and command augmentation |
US5694014A (en) * | 1995-08-22 | 1997-12-02 | Honeywell Inc. | Active hand controller redundancy and architecture |
US5745647A (en) * | 1995-09-15 | 1998-04-28 | Smith & Nephew, Inc. | Method and apparatus for automatically controlling and scaling motor velocity |
GB9706447D0 (en) * | 1997-03-27 | 1997-10-15 | British Aerospace | Electronic control apparatus |
SE508672C2 (en) * | 1997-12-30 | 1998-10-26 | Saab Ab | Device and method for controlling thrust in a mechanical steering system for an aircraft |
DE20114544U1 (en) | 2000-12-04 | 2002-02-21 | Cascade Microtech Inc | wafer probe |
US6459228B1 (en) * | 2001-03-22 | 2002-10-01 | Mpc Products Corporation | Dual input servo coupled control sticks |
AU2002340656A1 (en) * | 2001-11-06 | 2003-05-19 | Bombardier Inc. | Apparatus for controlling a joystick having force-feedback |
US6942057B2 (en) * | 2001-11-21 | 2005-09-13 | Delphi Technologies, Inc. | Feel control for active steering |
US20030183728A1 (en) * | 2002-03-29 | 2003-10-02 | The Boeing Company | Aircraft control surface controller and associated method |
US6679458B2 (en) * | 2002-06-10 | 2004-01-20 | The Boeing Company | Split detent tactile cueing vehicle control system |
WO2004074094A2 (en) | 2003-02-15 | 2004-09-02 | Gulfstream Aerospace Corporation | System and method for aircraft cabin atmospheric composition control |
US7057404B2 (en) | 2003-05-23 | 2006-06-06 | Sharp Laboratories Of America, Inc. | Shielded probe for testing a device under test |
US7463956B2 (en) * | 2003-07-03 | 2008-12-09 | The Boeing Company | Constant vertical state maintaining cueing system |
DE202004021093U1 (en) | 2003-12-24 | 2006-09-28 | Cascade Microtech, Inc., Beaverton | Differential probe for e.g. integrated circuit, has elongate probing units interconnected to respective active circuits that are interconnected to substrate by respective pair of flexible interconnects |
KR20070058522A (en) | 2004-09-13 | 2007-06-08 | 캐스케이드 마이크로테크 인코포레이티드 | Double sided probing structures |
US7656172B2 (en) | 2005-01-31 | 2010-02-02 | Cascade Microtech, Inc. | System for testing semiconductors |
US7535247B2 (en) | 2005-01-31 | 2009-05-19 | Cascade Microtech, Inc. | Interface for testing semiconductors |
US7229047B1 (en) | 2005-08-30 | 2007-06-12 | Cessna Aircraft Company | Aircraft roll disconnect mechanism |
EP1977292A2 (en) * | 2006-01-17 | 2008-10-08 | Gulfstream Aerospace Corporation | System and method for an integrated backup control system |
BRPI0706613A2 (en) * | 2006-01-17 | 2011-04-05 | Gulfstream Aerospace Corp | apparatus and method for backup control in a distributed video control system |
US20070235594A1 (en) * | 2006-04-06 | 2007-10-11 | Honeywell International, Inc. | Pilot flight control stick feedback system |
US7764072B2 (en) | 2006-06-12 | 2010-07-27 | Cascade Microtech, Inc. | Differential signal probing system |
US7723999B2 (en) | 2006-06-12 | 2010-05-25 | Cascade Microtech, Inc. | Calibration structures for differential signal probing |
US7403028B2 (en) | 2006-06-12 | 2008-07-22 | Cascade Microtech, Inc. | Test structure and probe for differential signals |
US20090222148A1 (en) * | 2006-06-21 | 2009-09-03 | Calspan Corporation | Autonomous Outer Loop Control of Man-Rated Fly-By-Wire Aircraft |
JP5309138B2 (en) * | 2007-08-08 | 2013-10-09 | ムーグ インコーポレーテッド | Control stick suitable for use in fly-by-wire flight control system and connecting mechanism used therefor |
US7876114B2 (en) | 2007-08-08 | 2011-01-25 | Cascade Microtech, Inc. | Differential waveguide probe |
US9156546B2 (en) * | 2008-03-11 | 2015-10-13 | The Boeing Company | Active-inceptor tactile-cueing hands-off rate-limit |
US8134328B2 (en) * | 2008-04-23 | 2012-03-13 | Honeywell International Inc. | Active pilot inceptor with self warm-up |
DE102010022200A1 (en) * | 2010-05-20 | 2011-11-24 | Liebherr-Aerospace Lindenberg Gmbh | Joystick System |
US9004218B2 (en) * | 2013-06-23 | 2015-04-14 | Cnh Industrial America Llc | Joystick with improved control for work vehicles |
EP3194665B1 (en) | 2014-07-31 | 2019-12-25 | CNH Industrial Italia S.p.A. | Active force/vibration feedback control method and apparatus for a movable machine |
US10196131B2 (en) * | 2016-02-16 | 2019-02-05 | The Boeing Company | Hydraulic system and method for an aircraft flight control system |
JP7244985B2 (en) * | 2017-05-19 | 2023-03-23 | 川崎重工業株式会社 | Operating device and operating system |
EP3650354B1 (en) * | 2018-11-12 | 2021-11-03 | Ratier-Figeac SAS | Thrust control assembly |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3270260A (en) * | 1963-11-18 | 1966-08-30 | Measurement Systems Inc | Stick-operated diaphragm control |
US3617849A (en) * | 1970-08-14 | 1971-11-02 | Teledyne Inc | Motor control damping circuit |
US3820712A (en) * | 1973-03-12 | 1974-06-28 | Ibm | Electronic tachometer |
US3819999A (en) * | 1973-06-18 | 1974-06-25 | Bendix Corp | Closed loop control system including an integrator and limiting means therefore |
US4049223A (en) * | 1976-06-21 | 1977-09-20 | The United States Of America As Represented By The Secretary Of The Navy | Constant altitude auto pilot circuit |
US4096426A (en) * | 1976-08-09 | 1978-06-20 | Sperry Rand Corporation | Non-linear error signal attenuator for servo system |
US4150803A (en) * | 1977-10-05 | 1979-04-24 | Fernandez Carlos P | Two axes controller |
DE2807902C2 (en) * | 1978-02-24 | 1980-04-30 | Messerschmitt-Boelkow-Blohm Gmbh, 8000 Muenchen | Control device with active force feedback |
US4284929A (en) * | 1978-10-27 | 1981-08-18 | The United States Of America As Represented By The Secretary Of The Navy | Ambulator control circuitry |
US4242622A (en) * | 1979-05-14 | 1980-12-30 | R & I Patent Corporation | Stabilized non-linear servomechanism |
US4321517A (en) * | 1979-12-03 | 1982-03-23 | Storage Technology Corporation | Resonance suppression method |
JPS56102449A (en) * | 1979-12-31 | 1981-08-15 | Fanuc Ltd | Device for controlling orientation of main spindle |
US4536746A (en) * | 1982-09-30 | 1985-08-20 | The Mercado Venture | Transducer for converting three dimensional mechanical input displacements into a corresponding electrical output signal |
US4733214A (en) * | 1983-05-23 | 1988-03-22 | Andresen Herman J | Multi-directional controller having resiliently biased cam and cam follower for tactile feedback |
US4651272A (en) * | 1985-06-03 | 1987-03-17 | Vickers, Incorporated | Power transmission |
US4774651A (en) * | 1985-06-03 | 1988-09-27 | Vickers, Incorporated | Power transmission |
US5116180A (en) * | 1988-07-18 | 1992-05-26 | Spar Aerospace Limited | Human-in-the-loop machine control loop |
US5076517A (en) * | 1989-08-14 | 1991-12-31 | United Technologies Corporation | Programmable, linear collective control system for a helicopter |
US5109165A (en) * | 1990-12-11 | 1992-04-28 | Gaymar Industries, Inc. | Failsafe feedback control system |
-
1992
- 1992-10-06 US US07/957,427 patent/US5347204A/en not_active Expired - Lifetime
-
1993
- 1993-10-29 CA CA002148481A patent/CA2148481C/en not_active Expired - Fee Related
- 1993-10-29 EP EP93925137A patent/EP0677184B1/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
CA2148481C (en) | 2002-02-05 |
US5347204A (en) | 1994-09-13 |
EP0677184B1 (en) | 1997-05-14 |
EP0677184A1 (en) | 1995-10-18 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
EEER | Examination request | ||
MKLA | Lapsed |