WO1988009290A1 - Steering control - Google Patents

Steering control Download PDF

Info

Publication number
WO1988009290A1
WO1988009290A1 PCT/SE1988/000279 SE8800279W WO8809290A1 WO 1988009290 A1 WO1988009290 A1 WO 1988009290A1 SE 8800279 W SE8800279 W SE 8800279W WO 8809290 A1 WO8809290 A1 WO 8809290A1
Authority
WO
WIPO (PCT)
Prior art keywords
control stick
control
axis line
channel
steering
Prior art date
Application number
PCT/SE1988/000279
Other languages
French (fr)
Inventor
Knut Lennart NORDSTRÖM
Original Assignee
Saab-Scania Aktiebolag
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Saab-Scania Aktiebolag filed Critical Saab-Scania Aktiebolag
Publication of WO1988009290A1 publication Critical patent/WO1988009290A1/en

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
    • B64C13/0421—Initiating means actuated personally operated by hand control sticks for primary flight controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04714—Mounting of controlling member with orthogonal axes
    • G05G2009/04718—Mounting of controlling member with orthogonal axes with cardan or gimbal type joint
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04748—Position sensor for rotary movement, e.g. potentiometer
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04774—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional switches or sensors on the handle

Definitions

  • the present invention relates to a steering control which is arranged to produce electric signals through manual controlling movements, which serve to anouever an object in two control channels which object shall be precisely controlled by an opera- tor in two degrees of freedom.
  • the invention relates to the anoeuvering of an aircraft,. in which there are high demands on precision, quickness and sta ⁇ bility of manoevering.
  • Such a steering control comprises a body part that is formed with a resting surface on which the operator's hand can rest on effecting controlling movements, and a control stick extending outwards from the resting surface and comprising two control stick parts consecutively arranged in their longi ⁇ tudinal direction.
  • the inner control stick part is fixed relative to the body part while the outer control stick part, on which the control ⁇ ling movements are effected, is arranged to swing towards and from a neutral position relatively to the inner control stick part about a swinging centre or zone, which is located within the part of the control stick which is gripped by the operator's hand when it is supported by the resting surface, and which swinging centre or zone is defined by two axis lines, namely a first axis line for one of the channels, which in an aircraft constitutes its roll channel, and a second axis line for the other channel, which in an aircraft constitutes its pitch chan ⁇ nel, and which axis lines intersect preferably at right angles and forming a cardan link for hanging the outer control stick part on the inner control stick part, belonging to each control channel a signal transmitter which is separated from the control stick and connected to the outer control stick part through a movement transferring mechanism comprising elements extending inwards from said swinging centre or zone through the inner control stick part, so that each signal transmitter is
  • a steering control which comprises a control stick of the above- described construction is earlier known through the Swedish patent 8203350-7 (publ. No. 431432). Due to the small space within such a so-called mini-control stick the two transmitters according to the patent are arranged outside the control stick and are operationally interacting. In the transmission system there is a second cardan link, one of its axis lines being coaxial with the roll axis line for the cardan link of the control stick, and the other axis line being parallel to the pitch axis line of the control stick. The controlling movements in roll and pitch are transferred to .the transmitters in the form of swinging and displacement, respectively, in the movement transferring mechanism.
  • the steering control will be bulky, and particularly in the direction of the roll axis it will have a relatively large extension. Furthermore, due to the cradle, there will be a large movable mass about the roll axis, which has an un ⁇ favourable effect on the dynamic qualities of the steering control.
  • This method of construction also provides a steering control of high total weight, which is not desirable in aircraft.
  • An object of the present invention is to provide a steering control which will have the smallest possible dimensions and weight in addition to improved dynamic qualities in the roll channel.
  • Another object is to achieve greater freedom in locating the two signal transmitters to facilitate adaptation of the form of the steering control to the available space in a cockpit.
  • a further object is to produce a steering control which can be equipped with doubled control sticks, so that an operator can use optional hand to manipulate the steering control and simultaneously perform other operations with his free hand.
  • both signal transmitters are separately arranged and each of them functioning about its own turning axle situated in the body part
  • the signal transmitter in said second channel having its turning axle fixed in a position that is displaced in a direction along the first axis line of the control stick from said element and extending at right angles to that direction
  • the signal transmitter in said first channel having its turning axle paral- lei to the first axis line
  • steering control the movement transferring mechanism comprises two links which are connected to said elements and which act upon the signal trans ⁇ mitters in a manner, such that the movement on the link that belongs to the first channel takes place without being acted upon by steering movements about the second axis line, whereas the movement on the link that belongs to the second channel is acted upon by steering movements in the first channel so that the link will have a certain obliqueness.
  • the signal transmitters which are comprised in the second channel can suitably be mounted at a distance from and within the first axis line in order to have a method of compact construction.
  • the link has according to a special characteristic of the invention an elastic compliance, alterna ⁇ tively a flexibility relative to the control stick element connected to the link.
  • both movement transferring mechanisms are mechanically interconnected through two coupling elements which extend laterally and are parallel to the second axis line, provided that no steering movements takes place in the first channel, one of which coupling elements is connected between the two links that belong to said first channel and is arranged to be displaced on steering movements relative to the first axis line of either control stick, and the other coupling element is turnable about a line that extends through the turning centre of the signal transmitter of the second channel, and is arranged to be turned round, like said signal transmitter, on steering movements relative to the second axis line.
  • Figure 1 shows a cut through a steering control according to the invention.
  • FIG 2 is a perspective "exograph" of the steering control in figure 1.
  • Figure 3 shows, also in perspective the steering control accor ⁇ ding to the invention in an embodiment with double control sticks.
  • 1 designates generally a control stick which is so formed that it can be gripped in a determined grip position by the pilot's hand.
  • the control stick comprises an outer movable control stick part 3 and an inner control stick part 4, which is fixed relative to an apparatus body 2 and which is intended to be gripped by the little finger of the hand.
  • the outer movable control stick part has a swinging centre 5 at a point where two axis lines _ and y intersect at right angles.
  • the X-axis corresponds in an aircraft to its roll axis and the ⁇ -axis to its pitch axis.
  • the outer movable control stick part 3 comprises an inner cardan link 6 provided in the upper section of the control stick part 4.
  • the cardan link is constituted in a known manner by a house in the shape of a ring (not shown) which is supported around the _x-axis on two pivots 7 mounted in the upper section of the inner rigid control stick part.
  • a central arm 9 rigidly connected to the outer movable control stick part 3, is supported around the ⁇ -axis by pivots 10.
  • the two control stick parts have between them complementary and spherical ⁇ ly formed surfaces facing each other, whose centres of curvature suitably coincide with said swinging centre 5.
  • control stick Due to the swinging centre 5 of the control stick being located within the control stick in the section which is gripped by the pilot's hand, the control stick can be operated merely through hand movements, whereby the pilot feels a great dis ⁇ solution in the control stick movements, and quick and precise controlling movements can be performed.
  • a plane 11 from which the*control stick extends outwards serves together with the inner rigid part 4 of the control stick as a rest and reference for the pilot's hand on performing control ⁇ ling movements.
  • the resting plane is shown as a plane surface but can have a different form for good adaptation to the under ⁇ side of the hand.
  • the level of the plane 11 can be varied through a resting means that is adjustable in elevation relative to the body 2.
  • the steering control In the front part of the steering control (to the left in figure 1) there are two signal transmitters 12 and 13, each of which can be combined, in a known manner, with a control stick force generating unit 14 and 15, respectively.
  • the house of the trans ⁇ mitters and the control stick force generators is rigidly mounted in the body part 2 while their turnable axles are connected to the outer movable part 3 of the control stick through mecha ⁇ nical movement transferring means.
  • the movement transferring means 16 is a cradle which is connected to the ring of the cardan link 6 by a fork-shaped element 18.
  • the cradle has in its front part an ear 19 with a pivot 20 that is attached in the body part. Said pivot is connected to the turning axle which is common to the transmitter 12 and the control stick force generator 14.
  • the movement transferring means comprises a link 17, one end of which is flexibly connected to a central element 9 which extends from the control stick part 3 through the control stick part 4.
  • the other end of the link is similarly connected to an arm 21 , which is attached on the turning axle which is common to the transmitter 13 and the control stick power producer 15.
  • the connection of the link 17 to the element 9 and the arm 21 is performed through spherical ball bearings 22.
  • the controlling movements performed on the control stick 1 about the axis line x. - in the described application are transmitted by the means 16 to the signal transmitter 12 without being acted upon by steering movements that may take place simultaneously about the second axis line y_, i.e. in pitch.
  • Such a faithful movement transfer also occurs of the controlling movements about the y-axis via the link 17 to the signal transmitter 13, provided that no simultaneous steering movements take place about the 2 ⁇ _-axis, i.e. if the control stick 1 is in its neutral position.
  • the signal transmitters 12 and 13 are arranged to emit signals which are proportional to the steering movements transferred from the control stick in the roll and pitch channel, respec ⁇ tively.
  • a transmitter is used of the type RVDT (Rotary Variable Differential Trans ⁇ former) which emits an electric output signal that corresponds to the angle of deflection.
  • RVDT Rotary Variable Differential Trans ⁇ former
  • Other types of electric transmit- ters are conceivable, such as potentiometers, Hall-generators and the like.
  • Optic position detection is also conceivable, where the output signals are emitted as light signals via optic fibres.
  • a spring 23 and 24 can be arranged which provides returning forces on the movable parts in the steering control.
  • the spring 23 is in one end attached to the arm 21 of the pitch channel transmitter, and in its other end 23' to the apparatus body.
  • the spring 24 is in one end attached to a protrusion 25 on the link 16 while the opposite end 24' is attached to the body part.
  • the control stick power producers 14, 15 can be so-called torque motors, preferably brushless, whose rotor parts are direct coupled to respective transmission axle while the housings of the torque motors and thereby the stator parts are fixed in the body part.
  • the control stick force generating is intended to be controlled by the central computer of the aircraft which is arranged dependent on the flying situation, to drive the torque motors 14 and 15 so that they together with the returning forces from the springs 23 and 24 via the movement transferring parts 16-22 provide a counter-acting force opposing the steering deflec ⁇ tions whereby the pilot will have an optimal feel of the control stick force with respect to the steering movements.
  • the typical arrangement of the invention with the two signal transmitters provided in fixed positions in the body part entails that the extension of the steering control in the longitudinal direction of the aircraft has been reduced considerably compared with the earlier known steering control mentioned in the intro ⁇ duction.
  • this method of compact construction is achieved in that the pitch channel transmitter 13 (as well as the control stick power producer 15 which can be combined with the transmitter) has been placed in a withdrawn position under the corresponding units in the roll channel.
  • the roll channel transmitter and the control stick power producers may be located in other places within the body part separated from the x.-axis.
  • the turning axle of the transmitter shall however still be parallel to the Said units may e.g. be positioned under the link 17, whereby the link 16 is excluded and instead the fork- shaped element 18 extends further downwards so that its lower end can be connected to the signal transmitter and the control stick power producer in a similar manner to that in the pitch channel.
  • the steering control allows of a simply arranged doubling of the control stick.
  • Figure 3 shows such a steering control.
  • the body part 2' has here a larger extension laterally and a second control stick is provided in the right part.
  • Said second control stick is built-in and attached to the body part in the same way as the left control stick and can have the same construction as has been described with reference to figures 1 and 2.
  • both links 16 have protrusions 26 (also shown in figure 1 ) in which the ends of a coupling element 27 are supported. This element will therefore transfer the movements in roll between the left and right control stick.

Abstract

A steering control, which through manual controlling movements about two axis lines (x, y) produces electric signals in two control channels for manoeuvering an aircraft or other object, has a control stick (1) that comprises an inner part (4) attached in a body part, and an outer swingable part (3) arranged to swing about a swinging centre (5). The control stick is so designed that said centre will be located inside the hand when it grips around the control stick and rests against a resting surface (11). The controlling movements are transmitted from the outer control stick part (3) via links (16, 17) to signal transmitters (12, 13), each functioning about its own turning axle, which two turning axles are separately fixed relative to the body part, one of the signal transmitters (12) having its turning axle parallel to one of the axis line (x) of the control stick and the other transmitter (13) having its turning axle situated at a distance from said axis line (x) and parallely to the other axis line (y).

Description

Steering control
The present invention relates to a steering control which is arranged to produce electric signals through manual controlling movements, which serve to anouever an object in two control channels which object shall be precisely controlled by an opera- tor in two degrees of freedom. Preferably but not exclusively the invention relates to the anoeuvering of an aircraft,. in which there are high demands on precision, quickness and sta¬ bility of manoevering.
Such a steering control is known and comprises a body part that is formed with a resting surface on which the operator's hand can rest on effecting controlling movements, and a control stick extending outwards from the resting surface and comprising two control stick parts consecutively arranged in their longi¬ tudinal direction.
The inner control stick part is fixed relative to the body part while the outer control stick part, on which the control¬ ling movements are effected, is arranged to swing towards and from a neutral position relatively to the inner control stick part about a swinging centre or zone, which is located within the part of the control stick which is gripped by the operator's hand when it is supported by the resting surface, and which swinging centre or zone is defined by two axis lines, namely a first axis line for one of the channels, which in an aircraft constitutes its roll channel, and a second axis line for the other channel, which in an aircraft constitutes its pitch chan¬ nel, and which axis lines intersect preferably at right angles and forming a cardan link for hanging the outer control stick part on the inner control stick part, belonging to each control channel a signal transmitter which is separated from the control stick and connected to the outer control stick part through a movement transferring mechanism comprising elements extending inwards from said swinging centre or zone through the inner control stick part, so that each signal transmitter is acted upon by the controlling movements, which are performed by the operator by means of swinging movements on the outer control stick part and said elements about the actual axis line, whereupon electric signals corresponding to the controlling movements are produced by the signal transmitters.
A steering control which comprises a control stick of the above- described construction is earlier known through the Swedish patent 8203350-7 (publ. No. 431432). Due to the small space within such a so-called mini-control stick the two transmitters according to the patent are arranged outside the control stick and are operationally interacting. In the transmission system there is a second cardan link, one of its axis lines being coaxial with the roll axis line for the cardan link of the control stick, and the other axis line being parallel to the pitch axis line of the control stick. The controlling movements in roll and pitch are transferred to .the transmitters in the form of swinging and displacement, respectively, in the movement transferring mechanism.
D e to the fact that the second cardan link comprises a cradle, which swings about the roll axis line and carries the pitch signal transmitter, and a control stick force generating unit, which is described in the patent, arranged at the second cardan link, the steering control will be bulky, and particularly in the direction of the roll axis it will have a relatively large extension. Furthermore, due to the cradle, there will be a large movable mass about the roll axis, which has an un¬ favourable effect on the dynamic qualities of the steering control. This method of construction also provides a steering control of high total weight, which is not desirable in aircraft.
In certain steering control applications, e.g. in airliners, it is desi-rable to double the control stick in the steering control to enable the pilot to perform the controlling movements with optional hand or both hands. Such a double-control-stick arrangement in a steering control according to the patent re¬ quires a second cardan link provided at the second control stick, which geometrically is analogous to the cardan link comprised in the cradle. To meet the condition that the control¬ ling movements on the second control stick shall be faithfully transferred to the signal transmitters at the cradle it would further be needed some kind of a rigid mechanical element pro¬ vided between the two links that would follow in the pitch movements performed by the pilot on either control stick. Such a doubled steering control will be compjicated and unnecessarily heavy and bulky.
An object of the present invention is to provide a steering control which will have the smallest possible dimensions and weight in addition to improved dynamic qualities in the roll channel.
Another object is to achieve greater freedom in locating the two signal transmitters to facilitate adaptation of the form of the steering control to the available space in a cockpit.
A further object is to produce a steering control which can be equipped with doubled control sticks, so that an operator can use optional hand to manipulate the steering control and simultaneously perform other operations with his free hand.
These objects are achieved according to the characteristics of the invention by a steering control in which both signal transmitters are separately arranged and each of them functioning about its own turning axle situated in the body part, the signal transmitter in said second channel having its turning axle fixed in a position that is displaced in a direction along the first axis line of the control stick from said element and extending at right angles to that direction, and the signal transmitter in said first channel having its turning axle paral- lei to the first axis line, and in which steering control the movement transferring mechanism comprises two links which are connected to said elements and which act upon the signal trans¬ mitters in a manner, such that the movement on the link that belongs to the first channel takes place without being acted upon by steering movements about the second axis line, whereas the movement on the link that belongs to the second channel is acted upon by steering movements in the first channel so that the link will have a certain obliqueness.
The signal transmitters which are comprised in the second channel can suitably be mounted at a distance from and within the first axis line in order to have a method of compact construction.
To admit of said obliqueness of the link that is comprised in the second channel, the link has according to a special characteristic of the invention an elastic compliance, alterna¬ tively a flexibility relative to the control stick element connected to the link.
In a particular embodiment of the invention, which comprises double control sticks, both movement transferring mechanisms are mechanically interconnected through two coupling elements which extend laterally and are parallel to the second axis line, provided that no steering movements takes place in the first channel, one of which coupling elements is connected between the two links that belong to said first channel and is arranged to be displaced on steering movements relative to the first axis line of either control stick, and the other coupling element is turnable about a line that extends through the turning centre of the signal transmitter of the second channel, and is arranged to be turned round, like said signal transmitter, on steering movements relative to the second axis line.
The invention will now be described more particularly with reference to the accompanying drawing.
Figure 1 shows a cut through a steering control according to the invention.
Figure 2 is a perspective "exograph" of the steering control in figure 1.
Figure 3 shows, also in perspective the steering control accor¬ ding to the invention in an embodiment with double control sticks.
In the three figures the same details have been given the same numbers.
In the following the steering control will be described in an application for aircraft with two control channels, each of which has a signal transmitter to which steering movements are transferred from a control stick. The signal transmitters transform the movements to electric signals which are emitted to servo units for manoeuvering the control surfaces of the aircraft.
On the drawing, 1 designates generally a control stick which is so formed that it can be gripped in a determined grip position by the pilot's hand. The control stick comprises an outer movable control stick part 3 and an inner control stick part 4, which is fixed relative to an apparatus body 2 and which is intended to be gripped by the little finger of the hand. The outer movable control stick part has a swinging centre 5 at a point where two axis lines _ and y intersect at right angles. The X-axis corresponds in an aircraft to its roll axis and the ^-axis to its pitch axis.
The outer movable control stick part 3 comprises an inner cardan link 6 provided in the upper section of the control stick part 4. The cardan link is constituted in a known manner by a house in the shape of a ring (not shown) which is supported around the _x-axis on two pivots 7 mounted in the upper section of the inner rigid control stick part. In the cardan ring a central arm 9, rigidly connected to the outer movable control stick part 3, is supported around the ^-axis by pivots 10. The two control stick parts have between them complementary and spherical¬ ly formed surfaces facing each other, whose centres of curvature suitably coincide with said swinging centre 5.
Due to the swinging centre 5 of the control stick being located within the control stick in the section which is gripped by the pilot's hand, the control stick can be operated merely through hand movements, whereby the pilot feels a great dis¬ solution in the control stick movements, and quick and precise controlling movements can be performed.
A plane 11 from which the*control stick extends outwards serves together with the inner rigid part 4 of the control stick as a rest and reference for the pilot's hand on performing control¬ ling movements. The resting plane is shown as a plane surface but can have a different form for good adaptation to the under¬ side of the hand. For adaptation to hands of different width' the level of the plane 11 can be varied through a resting means that is adjustable in elevation relative to the body 2.
In the front part of the steering control (to the left in figure 1) there are two signal transmitters 12 and 13, each of which can be combined, in a known manner, with a control stick force generating unit 14 and 15, respectively. The house of the trans¬ mitters and the control stick force generators is rigidly mounted in the body part 2 while their turnable axles are connected to the outer movable part 3 of the control stick through mecha¬ nical movement transferring means.
In the roll channel the movement transferring means 16 is a cradle which is connected to the ring of the cardan link 6 by a fork-shaped element 18. The cradle has in its front part an ear 19 with a pivot 20 that is attached in the body part. Said pivot is connected to the turning axle which is common to the transmitter 12 and the control stick force generator 14.
In the pitch channel the movement transferring means comprises a link 17, one end of which is flexibly connected to a central element 9 which extends from the control stick part 3 through the control stick part 4. The other end of the link is similarly connected to an arm 21 , which is attached on the turning axle which is common to the transmitter 13 and the control stick power producer 15. Preferably, the connection of the link 17 to the element 9 and the arm 21 is performed through spherical ball bearings 22.
It deserves to be pointed out that the controlling movements performed on the control stick 1 about the axis line x. - in the described application, the roll axis of the aircraft - are transmitted by the means 16 to the signal transmitter 12 without being acted upon by steering movements that may take place simultaneously about the second axis line y_, i.e. in pitch. Such a faithful movement transfer also occurs of the controlling movements about the y-axis via the link 17 to the signal transmitter 13, provided that no simultaneous steering movements take place about the 2<_-axis, i.e. if the control stick 1 is in its neutral position. If such a steering movement does take place simultaneously with the controlling movements about the ^-axis, the steering movement is acted upon in such a way that the link 17 instead of being displaced with retained direction will be swung out laterally by the element 9 whereby the link 17 will have a certain obliqueness in its movement. This obliqueness, is admitted of by the spherical bearings 22. If the connection of the link to the arms 9 and 21 is done by simple pivots it must be seen to that the link is given an elasticity such that said obliqueness gives a bend without hindering the mechanism in its movement. Since a steering control of this kind functions with a maximum control stick deflection in the roll channel of the size ±5 , the effect that the oblique¬ ness of the link 17 has on the transfer of movement to the signal transmitter 12 can normally be neglected. Otherwise there can be a compensation when processing the signal from the transmitter.
The signal transmitters 12 and 13 are arranged to emit signals which are proportional to the steering movements transferred from the control stick in the roll and pitch channel, respec¬ tively. In the preferred embodiment, here shown, a transmitter is used of the type RVDT (Rotary Variable Differential Trans¬ former) which emits an electric output signal that corresponds to the angle of deflection. Other types of electric transmit- ters are conceivable, such as potentiometers, Hall-generators and the like. Optic position detection is also conceivable, where the output signals are emitted as light signals via optic fibres.
In order to retain the control stick in a desired neutral posi- tion when it is not acted upon by the pilot's controlling forces a spring 23 and 24 can be arranged which provides returning forces on the movable parts in the steering control. To have an ergonomicly correct spring constant It requires a certain length of the springs. For the purpose of space-saving the springs have been designed with semi-circular sections that move freely from the housing of the control stick power producers 14, 15. The spring 23 is in one end attached to the arm 21 of the pitch channel transmitter, and in its other end 23' to the apparatus body. The spring 24 is in one end attached to a protrusion 25 on the link 16 while the opposite end 24' is attached to the body part.
The control stick power producers 14, 15 can be so-called torque motors, preferably brushless, whose rotor parts are direct coupled to respective transmission axle while the housings of the torque motors and thereby the stator parts are fixed in the body part.
The control stick force generating is intended to be controlled by the central computer of the aircraft which is arranged dependent on the flying situation, to drive the torque motors 14 and 15 so that they together with the returning forces from the springs 23 and 24 via the movement transferring parts 16-22 provide a counter-acting force opposing the steering deflec¬ tions whereby the pilot will have an optimal feel of the control stick force with respect to the steering movements.
The typical arrangement of the invention with the two signal transmitters provided in fixed positions in the body part entails that the extension of the steering control in the longitudinal direction of the aircraft has been reduced considerably compared with the earlier known steering control mentioned in the intro¬ duction. In the described example of embodiment this method of compact construction is achieved in that the pitch channel transmitter 13 (as well as the control stick power producer 15 which can be combined with the transmitter) has been placed in a withdrawn position under the corresponding units in the roll channel.
In order to further improve possibilities of adaptation on building-in the steering control, the roll channel transmitter and the control stick power producers may be located in other places within the body part separated from the x.-axis. The turning axle of the transmitter shall however still be parallel to the
Figure imgf000011_0001
Said units may e.g. be positioned under the link 17, whereby the link 16 is excluded and instead the fork- shaped element 18 extends further downwards so that its lower end can be connected to the signal transmitter and the control stick power producer in a similar manner to that in the pitch channel. For use in e.g. larger airliners or transport category aero¬ planes where two-hand as well as optional one-hand manouevering might be appropriate, the steering control allows of a simply arranged doubling of the control stick.
Figure 3 shows such a steering control. The body part 2' has here a larger extension laterally and a second control stick is provided in the right part. Said second control stick is built-in and attached to the body part in the same way as the left control stick and can have the same construction as has been described with reference to figures 1 and 2.
In the embodiment according to figure 3 both links 16 have protrusions 26 (also shown in figure 1 ) in which the ends of a coupling element 27 are supported. This element will therefore transfer the movements in roll between the left and right control stick.
From the right end on the axis y on the control stick force generating unit 15 of the left steering control and through a hold on the arm 21 ' of the right steering control is provided another coupling element 28, the right end of which is supported in the right wall of the body part 2'. Through the element 28 pitch movements will therefore also be transferred from one control stick to the other.
The invention has been described above in an application for aircraft only. However, within the scope of the invention lie applications in other vehicles and objects also, such as bucket loaders, digging machines, submarine vessels, among others, which must be steered in at least two degrees of freedom.

Claims

Claims
1. A steering control of a kind which is arranged to produce electric signals through manual controlling movements, which serve to manoeuver in two control channels an aircraft or other object that shall be precisely controlled by an operator in two degrees of freedom, and which steering control com¬ prises a body part (2), that is formed with a resting surface (11) on which the operator's hand can rest on effecting controlling movements, a control stick (1) extending outwards from the resting surface (11) and comprising two control stick parts consecutively arranged in their longitudinal direction, of which the inner control stick part (4) is fixed relative to the body part (2) while the outer control stick part (3), on which the controlling movements are effect¬ ed, is arranged to swing towards and from a neutral position relatively to the inner control stick part about a swinging centre or zone (5), which is located within the part of the control stick which is gripped by the operator's hand when it is supported by the resting surface (11), and which swinging centre or zone (5) is defined by two axis lines, namely a first axis line (x) for one of the channels, which in an aircraft constitutes its roll channel, and a second axis line (y) for the other channel, which in an aircraft constitutes its pitch channel, and which axis lines intersect, preferably at right angles, and forming a cardan link for hanging the outer control stick part on the inner control stick part, belonging to each control channel a signal trans¬ mitter (12, 13) which is separated from the control stick and connected to the. outer control stick part (3) through a movement transferring mechanism comprising elements (9, 18) extending inwards from said swinging centre or zone through the inner control stick part, so that each signal transmitter (12) is acted. upon by the controlling movements, which are performed by the operator by means of swinging movements on the outer control stick part (3) and said elements (9, 18) about the axis line (x, y) in question, whereupon electric signals corresponding to the controlling movements are pro¬ duced by the signal transmitters, c h a r a c t e r i z e d in that both signal transmitters (12, 13) are separately arranged, each of which functioning about its own turning axle located separately in the body part (2), the signal transmitter (13) in said second channel having its turning axle fixed in a position that is displaced in a direction along the first axis line (x) of the control stick from said elements (9, 18) and extending at right angles to that direction, the signal transmitter (12) in said firsl channel having its turning axle parallel to the first axis line (x), and in that the movement transferring mechanism comprises two links (16, 17) which are connected to said elements (9, 18) and which act upon the signal transmitters in a manner, such that the movement on the link (16) that belongs to the first channel takes place without being acted upon by steering movements about the second axis line (y), whereas the movement 6n the link (17) that belongs to the second channel is acted upon by steering movements in the first channel so that the link (17) will have a certain obliqueness.
2. A steering control according to claim 1, c h a r a c¬ t e r i z e d in that the signal transmitter (13) in the second channel is mounted at a distance from and within the first axis line (x).
3. A steering control according to claim 1 or claim 2, c h a¬ r a c t e r i z e d in that the link (17) in the second channel has an elastic compliance, alternatively a flexibility relative to the element (9) connected to the link, to admit of said obliqueness.
4. A steering coritrol according to any one of claims 1-3 in which the control stick and the movement transferring mecha- nism are doubled so that the controlled object shall be manoeuverable through controlling movements with optional hand, one of the control sticks being mounted beside the other and having its first axis line (x) extending parallelly to the first axis line of the other control stick, while the second axis line (y) for both control sticks coincide when the control sticks are in the neutral position, c h a¬ r a c t e r i z e d in that both movement transferring mechanisms are mechanically connected by means of two coupling elements (27, 28) which extend laterally and are parallel to the second axis line (y), when the control sticks are in the neutral position, of which coupling elements one
(27) is connected between the two links that belong to said first channel and is arranged to be displaced laterally on steering movements relative to the first axis line (x) of either control stick, and the other coupling element
(28) is turnable about a line (y1) that extends through the turning centre of the signal transmitter (13) of the second channel, and is arranged to be turned round, like said signal transmitter, on steering movements relative to the second axis line (y).
PCT/SE1988/000279 1987-05-26 1988-05-24 Steering control WO1988009290A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE8702202A SE8702202D0 (en) 1987-05-26 1987-05-26 MOTORIZED
SE8702202-6 1987-05-26

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1655200A2 (en) 2004-11-03 2006-05-10 Eaton Corporation Operator control device
US20090031840A1 (en) * 2007-07-31 2009-02-05 Cowling David A Control device
US8079281B2 (en) 2006-05-12 2011-12-20 Bae Systems Plc Active stick apparatus

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3409252A (en) * 1966-09-19 1968-11-05 Nasa Usa Controllers

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3409252A (en) * 1966-09-19 1968-11-05 Nasa Usa Controllers

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1655200A2 (en) 2004-11-03 2006-05-10 Eaton Corporation Operator control device
US8079281B2 (en) 2006-05-12 2011-12-20 Bae Systems Plc Active stick apparatus
US20090031840A1 (en) * 2007-07-31 2009-02-05 Cowling David A Control device
US8505406B2 (en) * 2007-07-31 2013-08-13 Wittenstein Aerospace And Simulation Ltd. Control device

Also Published As

Publication number Publication date
SE8702202D0 (en) 1987-05-26

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