Aeronautics and astronautics – Aircraft control – Pilot operated
Patent
1996-04-10
1998-04-07
Grant, William
Aeronautics and astronautics
Aircraft control
Pilot operated
244234, 244236, 318628, B64C 1304, B64C 1346
Patent
active
057354901
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
1. Field of the Invention
This invention relates to control devices having a control stick which moves with at least one degree of freedom, usually by translation along an axis, or even more commonly by pivoting about an axis of rotation. This displacement can be combined with other displacements along other axes, actuating other controls. It will be understood that the control stick may be an aircraft control stick, but may also be a manipulator for driving various vehicles, or a control lever for a machine or a game.
2. Description of the Prior Art
Generally speaking, electrical control has been substituted for the mechanical control performed by control sticks, and this has enabled mini-joysticks to be created by eliminating any mechanical transmission directly associated with the joystick.
Since the control is electrical, the mechanical reaction of the control mechanism and of the controlled members (for example, the rudder and ailerons of an aeroplane) is no longer felt by the user through the joystick. It has become apparent that it is worth reproducing an artificial feeling of mechanical reaction in the joystick.
Various mechanical return devices have been proposed, for example using springs. U.S. Pat. No. 5,059,882 to Marcillat et at. discloses a device in which the displacement of the joystick determines a reaction force by means of an electromechanical actuator controlled according to a predetermined force vs. position law.
SUMMARY OF THE INVENTION
The object of the invention is to provide a new control device which is applicable to control sticks in which control is effected by means of the displacement of the stick with at least one degree of freedom (such as pivoting or translation). In the present invention: irreversible actuator controlled by a computer; to the stick, and for supplying force data to the computer; representing the actual position of the stick; and displacement of the stick) and servos the position of the actuator and of the stick as a function of the force and position data by means of a position vs. force law entered in the computer.
Since the actuator is irreversible, it resists movement of the stick due to the force applied by the user. The measurement of this force is transformed by the force detector into a suitable signal and is converted by the computer according to the predefined position vs. force law of the stick. This enables the actuator to be controlled so as to displace the stick to a position which will correspond to the force applied.
It is clear that the successive stages into which the operation is split in fact occur in quick succession. Thus, the user has the impression that the stick is moving with the force, and reacting with a reaction force, similarly to a visco-elastic system.
As used herein, "position detector" refers to means for supplying data which is representative of the position of the stick. The position detector need not necessarily be a specific component; in particular, it can be integrated into the drive mechanism before the stick.
The above-referenced position detector, or another independent detector, can be used to output a control signal.
The measurement of the force applied to the stick can also be used to control the steering of the vehicle or the machine. In this way, even if the actuator were unable to operate for any reason, and the stick stayed jammed in some position, steering would still be possible by simply varying the force applied to the stick.
It will be understood that the invention can be applied to servo control of movement in two axes of rotation, or in more than one axis of translation, and not just a single one. The axes can be de-coupled and independent, and the servo feedbacks can be different.
Preferably the measurement of the force applied to the stick is made by measurement of deformation or displacement of a deformable elastic device which is interposed between the stick and the actuator. The elastic device can be a leaf spring. For example, the leaf spring may be fixed to the st
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Berthet Jean-Louis
Bondivenne Eric
Grant William
Ratier-Figeac
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