JP2607205B2 - Multi-axis side stick controller for aircraft - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-axis side stick controller for use in an aircraft control device, and more particularly to a multi-axis side stick controller for an aircraft in which a mechanism for giving a steering feeling is downsized.

[0002]

2. Description of the Related Art A conventional aircraft control system mainly includes a rope control system, in which operation of control wheels and control sticks is transmitted via a cable (controller cable) and each control surface is moved by a hydraulic device. FIG. 8 is a schematic diagram showing an example of a conventional rope maneuvering system. When the control device 31 is operated in the direction of the arrow, the operation force is applied to the artificial sensation device 34 provided at the tip of the pulley 32.
And transmitted to the actuator control lever 35 by the cable 33. The actuator control lever 35 operates the hydraulic actuator 36 to control the direction of the steering surface 37.

[0003] In recent years, the FBW
A (Fly By Wire) system has been developed and is about to replace the rope control system. The FBW system converts the operation of a pilot's control stick into an electric signal, and operates each control surface with an actuator in accordance with the electric signal. FIG. 9 is a schematic diagram comparing a conventional control system and an FBW system. As shown in FIG. 2A, in the conventional control system, the operation force of the grip 51 operates the hydraulic actuator 54 by the controller cable 53, while the FBW system controls the operation amount of the grip 56 by an electric signal. The signal is transmitted to the computer 57, and the hydraulic actuator 59 is operated under the control of the computer 57.

[0004]

[0003] As a control device using an FBW system described in [0003], a side stick mechanism disclosed in Japanese Patent Application Publication No. -There is 404-G517 of Measurement System Company disclosed in Japanese Patent Application No. 289798, Heisei, but the former is large and cannot input multiple axes at the same time. There is a problem that it is difficult to set an ergonomically determined steering reaction force.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a steering device using an FBW system, a feeling mechanism for obtaining an ergonomically determined optimum operation feeling with respect to the operation force of a grip, and a sensor for sensing the operation force. A multi-axis side stick controller for aircraft, which achieves downsizing and weight reduction by integrating the parts, makes it easy to use the side stick method for the control stick, and improves operability and reliability Is to do.

[0006]

In order to achieve the above object, a multi-axis side stick controller for an aircraft according to the present invention is compatible with three-axis directions, and can perform forward / backward movement, left / right tilting movement and rotation (twist) operation. A possible grip portion, a force sensor base connected to a lower end portion of the grip portion and serving as a fulcrum of the grip portion, and the force sensor base portion such that elastic deformation occurs in operation of the grip portion in each axial direction. A pair of elastic members are provided symmetrically with respect to the center, corresponding to each axis, a sensor unit provided with a strain gauge for each of the elastic members, and a shaft connected to the lower end of the grip unit, A leaf spring-like front feeler spring, a leaf spring-like rearward feel spring having one end fixed and having elasticity in the vertical direction, and the shuff When the grip portion is not operated in the front-rear direction, the tip is in contact with the other end of the front-rear direction feeler spring, and when the grip portion is operated in the front-rear direction, A front-rear direction feeler mechanism unit including a front-rear direction roller arm unit for transmitting a reaction force to the grip unit by pressing the front-rear direction feel spring at the tip end,
One end is fixed so as to be arranged in a direction perpendicular to the front-rear direction feeler spring, and is attached to the leaf spring-like leftward feeler and the leaf spring-like rightward feeler spring having elasticity in the vertical direction and the shaft. When the grip is not operated in the left-right direction, the tip is in contact with the other end of the left-right feeler spring, and when the grip is operated in the left-right, the tip is A right-and-left feeler mechanism unit comprising a right-and-left roller arm unit for transmitting the reaction force to the grip unit by pressing the right-and-left feeler spring; and a base assembly fixed to rotate with the shaft. One end is fixed, and a leaf spring-like right torsion direction filter having elasticity in a direction perpendicular to the axis of the grip portion. When the grip portion is not operated in the torsional direction, the tip is in contact with the other end of the torsion direction feeler spring when the grip portion is not operated in the torsional direction. When the grip is operated in the torsional direction, the torsion direction feel comprises a torsional direction slider for transmitting the reaction force to the grip by pressing the torsion direction feel spring at the tip end. And a mechanical unit. Further, the present invention is connected to a grip portion corresponding to the four-axis direction and capable of operation of forward / backward movement, left / right tilting operation, rotation (twisting) and up / down movement, and a lower end portion of the grip portion, wherein the grip portion is connected. A force sensor base serving as a fulcrum, and a pair of elastic members provided symmetrically about the force sensor base so as to generate elastic distortion with respect to the operation of the grip in each axis direction, provided for each axis, Further, a sensor part provided with a strain gauge on each of the elastic members, a shaft connected to a lower end of the grip part, and a leaf spring-like forward feel spring having one end fixed and having elasticity in the vertical direction. And a leaf spring-like rear direction feeler spring and the shaft are attached to the shaft, and when the grip portion is not operated in the front-rear direction, the tip portion is the front-rear When the grip portion is operated in the front-rear direction when the grip portion is in contact with the other end of the direction feel spring, the tip portion pushes the front-rear direction feel spring and transmits the reaction force to the grip portion. A front-rear direction feeler mechanism comprising a front-rear direction roller arm, and a front-rear direction feeler spring, one end of which is fixed so as to be arranged in a right angle direction, and a leaf spring-like left-side feel having elasticity in a vertical direction. Attached to a spring and a leaf spring-like right direction feeler spring and the shaft, when the grip portion is not operated in the left-right direction, the tip is in contact with the other end of the left-right direction feeler spring, When the grip is operated in the left-right direction, the tip presses the left-right feel spring. A left and right feeler mechanism, which includes a left and right roller arm for transmitting the reaction force to the grip, a base assembly fixed to rotate with the shaft, and one end fixed; When attached to the leaf spring for the right torsion direction of the leaf spring and the leaf spring for the left torsion direction of the leaf spring having elasticity in the direction perpendicular to the axis and the base assembly, when the grip is not operated in the torsion direction, The tip is in contact with the other end of the torsion direction feel spring,
When the grip portion is operated in the torsion direction, a tip portion presses the torsion direction feel spring and a torsion direction feel mechanism portion including a torsion direction slider portion for transmitting a reaction force to the grip portion. When the shaft is pushed down by lowering the coil spring and the grip inserted into the lower part of the shaft, the upper end of the coil spring is pressed down, and the lower end of the coil spring is pushed up when the grip is raised. , And a vertical feel mechanism portion comprising an outer shaft portion for transmitting the reaction force to the grip portion. Further, the wiring inside the side stick controller in the present invention is configured to be performed by a flexible substrate.

[0007]

According to the above construction, the sensor section and each of the feel mechanism sections can be integrally formed, so that the number of parts can be reduced and the size and weight can be reduced. Further, the steering mechanism can set the steering reaction force individually for each axis.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in more detail with reference to the drawings. 1A and 1B are views showing the appearance of an aircraft multi-axis side stick controller according to the present invention, wherein FIG. 1A is a plan view, FIG. 1B is a side view, and FIG. A grip portion 1 is attached to an upper surface of a rectangular housing 2 and is installed on an aircraft such that the direction of arrow F is forward. The grip portion 1 can be operated in each axial direction with the force sensor base in the housing 2 as a fulcrum. FIG.
(D) is a figure for demonstrating operation with respect to each direction of a grip part. Arrow 1a is a front-back direction, and indicates a front direction and a rear direction. The arrow 1b is the left-right direction, indicating the right direction and the left direction. The arrow 1c is a torsion direction, indicating clockwise (CW direction) and counterclockwise (CCW direction). The arrow 1d is a vertical direction, indicating an upward direction and a downward direction.

FIGS. 2A and 2B show an embodiment of an aircraft multi-axis side stick controller according to the present invention. FIG. 2A is a front view showing a partial cross section, and FIG. 2B is a side view showing a partial cross section. is there. The grip (not shown) is the inner shaft 7
The gimbal mechanism 10 and the sensor 6 are attached to the inner shaft 7. The inner shaft 7 moves around the fulcrums G1 and G2. Also, only the inner shaft moves up and down. The interior of the housing 2 is roughly divided into a front-rear direction feel mechanism A, a left-right direction feel mechanism B, a torsion direction feel mechanism C,
It comprises a vertical feel mechanism D, a gimbal mechanism, a sensor, and electrical wiring.

FIG. 3 is a perspective view of the mechanism shown in FIG. 2 focusing on the sensor section, the twisting feel mechanism section and the vertical feel mechanism section. The sensor unit 6 includes leaf springs 20 and 21 for the torsion direction implanted before and after the base 6a, and the other end of each of the leaf springs 20 and 21 for the torsion direction. Front and back and up and down leaf springs 1 combined so as to face at right angles
8 and 19, and left and right leaf springs 22 and 23 implanted on both side surfaces of the base 6a. The other ends of the left and right leaf springs 22 and 23 and the other ends of the front and rear and up and down leaf springs 18 and 19 are respective side walls of the gimbal mechanism (not shown in FIG. 3).
Respectively. Strain gauges 22a, 22b, 23a, and 23 are provided on the surfaces of the left and right leaf springs 22 and 23 and the torsion leaf springs 20 and 21, respectively.
b, 20a, 20b, 21a and 21b are attached. Further, two strain gauges 18a, 1 are provided on each surface of the leaf springs 18 and 19 for the front-rear direction and the vertical direction.
8b, 18c, 18d, 19a, 19b, 19c and 19d are attached. A bridge circuit is formed by four strain gauges for each axis, and the operating force in each axis direction is output as an electric signal.

A gimbal mechanism 10 is used as shown in FIG. 4 in order to give each axis a degree of freedom in the front-rear direction and the left-right direction, thereby enabling independent operation in each direction and simultaneous operation in these two directions. The sensor unit 6 described above is incorporated in the gimbal mechanism. By thus integrating the sensor section and the feel mechanism section, the number of parts can be reduced, and the size and weight can be reduced. In the twisting direction and the vertical direction, the movement of the shaft connected to the grip portion is directly related to the feel. In addition, the reaction force must be transmitted to the sensor unit 6. In principle, a building block system may be adopted and stacked like a building block. However, it is necessary to integrate or semi-integrate these two feel mechanisms in order to reduce the weight and size. Therefore, FIG.
As shown in FIG. 7, the twisting direction feel mechanism C is shaped so as to sandwich the vertical direction feel mechanism D. Each component is arranged at a position where the feel mechanism does not interfere with displacement in each direction.

Next, in order to further reduce the size and weight, all the wirings in the controller according to the present invention are constituted by flexible circuit boards. Note that this flexible circuit board is not shown in each drawing. In the case of a four-axis quadruple system, a total of 180 or more power lines, signal lines, and the like are required. For example, for one electric wire (300 mm), even if 1.5 g is used, 180 electric wires become 270 g. In addition, there is no room for space in order to make the device compact, and in addition, since it moves in each direction of the four axes, a structure that requires less space can be obtained. It is expected that the size of the side stick controller according to the present invention will be increased by a factor of 1.5 when wires are used as before. Also, depending on the connection method of the electric wires, it is expected that the electric wires play a role of a spring and considerably affect the feel of each axis. In the present invention, as a result of using a flexible circuit board, the total weight was 8 g.

Hereinafter, the feel mechanism of each shaft will be described in detail with reference to FIGS. FIG. 4 is a side view in which the housing part on the side is omitted to explain the operation principle in the front-rear direction. FIG. 3A shows the state of the feel mechanism unit before the front-rear direction is operated, and FIG. 3B shows the operation state when the front-rear direction is also operated. A roller arm 11 is attached to a gimbal mechanism 10 attached to the inner shaft 7. When the inner shaft 7 moves back and forth about the fulcrum G1, the roller arm 11 moves around the fulcrum G1. One end of a feeler spring 12 is fixed to the side wall of the housing 2 so that the leaf spring-shaped surface faces in the vertical direction, and a surface near the other end of the leaf spring is in contact with the roller arm 11. Operate the grip part 1 in the front-back direction (front direction)
Then, the inner shaft 7 connected to the grip part 1 moves the gimbal mechanism part 10, and the roller arm 11 presses the feel spring 12 as shown in FIG.
The operation force is transmitted to the grip unit 1 by the reaction force of the feel spring 12 due to this. At this time, the leaf springs 18 and 1 for the vertical direction of the sensor unit 6 in the gimbal mechanism unit 10
9 is distorted, and an electric signal proportional to the operation force is output.

FIG. 5 is a front view in which the front housing portion is omitted for explaining the operation principle in the left-right direction.
Indicates the state of the feel mechanism before being operated in the left and right direction,
(B) similarly shows the operation state when operated in the left-right direction (right direction). The gimbal mechanism 10 attached to the inner shaft 7 has the roller arm 1
3 is attached. When the inner shaft 7 moves left and right (rightward) about the fulcrum G2, the roller arm 13 is moved.
Moves about the fulcrum G2. One end of the feel spring 14 is fixed to the end of the gimbal mechanism 10 so that the surface of the leaf spring faces up and down, and the surface near the other end of the leaf spring is in contact with the roller arm 13. I have. When the grip unit 1 is operated in the left-right direction (right direction), the inner shaft 7 connected to the grip unit 1 moves the gimbal mechanism unit 10 and the roller arm 13
Presses the feel spring 13 as shown in FIG. The operation force is transmitted to the grip unit 1 by the reaction force of the feel spring 13 due to this. At this time, the left and right leaf springs 22 and 23 of the sensor section 6 in the gimbal mechanism section 10 are distorted, and an electric signal proportional to the operation force is output. Similar mechanisms are provided on the opposite side of the inner shaft 7 so that a similar feel can be obtained also in the rearward and leftward operations in the front-rear direction and left-right direction feel mechanisms.

FIG. 6 is a plan view showing the vicinity of the torsion direction feel mechanism for explaining the principle of operation in the torsion direction.
(A) shows the state of the feel mechanism before being operated in the torsional direction, and (b) shows the operating state when it is also operated in the torsional direction (CW direction). FIG. 3 is also referred to in the description of the torsional direction feel mechanism unit and the below-described vertical direction feel mechanism unit. A base assembly 8 is fixed to a lower end of the inner shaft 7. A pin 3 is implanted in the base assembly 8 in parallel with the inner shaft 7, and a slider 4 is attached to the pin 3. The slider 4 has a linear ball bearing incorporated therein and is in sliding contact with the pin 3. When the slider 4 is operated in the vertical direction, the slider 4 can escape between the pin 3 and the slider 4 in the operation direction. . One end of the feel spring 5 is fixed to the sensor part 6 so that the leaf spring-shaped surface is oriented at right angles to the axis of the inner shaft 7. A pair of the feel springs 5 are provided so as to sandwich the vertical feel mechanism. The protrusion 4 a of the slider 4 is in contact with the inner surfaces of the other ends of the pair of feel springs 5. Twist direction of grip part 1 (CW direction)
, The base assembly 8 rotates, and the slider 7 causes the feel spring 5 to bend via the pin 3. The operation force is transmitted to the grip 1 by the reaction force of the feel spring 5 due to this. Since one end of the feel spring 5 is connected to the sensor unit 6, the leaf springs 20 and 21 for the torsion direction of the sensor unit 6 are distorted, and an electric signal proportional to the operation force is output.

FIG. 7 is a partial sectional view showing the vicinity of a vertical feel mechanism for explaining the operation principle in the vertical direction.
(A) shows the state of the feel mechanism unit before being operated in the up-down direction, (b) shows the operation state when it is similarly operated down in the up-down direction, and (c) shows the operation state also operated in the up-down direction. Respectively shows the operation state when the operation is performed. Sensor part 6
A coil spring 25 is fitted into the inner shaft 7 at the lower portion of the inner shaft 7, and the coil spring 25 is housed in the outer shaft portion 9. The outer shaft 9 is connected to the lower surface of the sensor 6. The upper and lower ends of the coil spring 25 are configured to abut on the inner shaft 7 via retainers 16 and 17. When the grip portion 1 is operated downward, the retainer 16 is pushed down as shown in FIG. Lower retainer 1
7 does not move, the coil spring 25 contracts, and the operating force is transmitted to the grip unit 1 by the reaction force. on the other hand,
When the grip 1 is operated upward, the retainer 17 is pushed up by the ring 6 as shown in FIG.
Since the upper retainer 16 does not move, the coil spring 25 contracts, and the operation force is transmitted to the grip 1 by the reaction force. At this time, the movement of the outer shaft portion 9 is transmitted to the sensor portion 6, the vertical leaf springs 18 and 10 of the sensor portion 6 are distorted, and an electric signal proportional to the operation force is output.

Although not shown in the figure, a breakout force mechanism is added to the mechanism of each shaft as a measure against vibration. In addition, by providing a damper mechanism in the mechanism section, it is possible to prevent resonance of the grip and unexpected steering due to body vibration.

[0018]

As described above, according to the present invention, in the stick controller using the FBW system, the sensor unit for detecting the operation amount in each axis direction and the four-axis feel mechanism unit are integrally configured. As compared with the conventional stick controller, the number of parts can be reduced and the size and weight can be reduced, and the stick controller can be suitably used as a side stick controller. 4 according to the invention
If the axis side stick controller is used for a rotary wing aircraft, four-axis steering can be performed with one hand, and the burden on the pilot for the steering is greatly reduced. And when you fly NOE (Nap of The Earth)
It will demonstrate its power. In addition, when adopted for fixed wing aircraft, CCV (Control Configured Vehicle)
Maneuvering is possible, and the kinetic performance of the aircraft can be improved.

[Brief description of the drawings]

FIG. 1 is a view showing the appearance of a multi-axis side stick controller for an aircraft according to the present invention, wherein (a) is a plan view thereof,
(B) is a side view thereof, and (c) is a front view thereof.

FIGS. 2A and 2B are partially enlarged views of a feel mechanism portion of each shaft according to the present invention, wherein FIG. 2A is a side view showing a partial cross section, and FIG. 2B is a front view showing a partial cross section.

FIG. 3 is a perspective view of an internal structure showing an embodiment of a multi-axis side stick controller for an aircraft according to the present invention.

FIGS. 4A and 4B are side views in which a side housing portion is omitted to explain the operation principle in the front-rear direction; FIG. 4A shows a state of a feel mechanism before being operated in the front-rear direction; The operation state when operated in the direction (forward) is shown.

FIGS. 5A and 5B are front views in which a front housing portion is omitted to explain the principle of operation in the left-right direction. FIG. 5A shows the state of the feel mechanism before being operated in the left-right direction, and FIG. The operation state when operated in the direction (rightward) is shown.

FIGS. 6A and 6B are plan views showing the vicinity of a twisting direction feeler mechanism for explaining the principle of operation in the twisting direction. FIG. 6A shows a state of the feeler mechanism before being operated in the twisting direction.
(B) respectively shows the operation state when operated in the twisting direction (CW direction).

FIGS. 7A and 7B are partial cross-sectional views showing the vicinity of a vertical feel mechanism in order to explain the principle of operation in the vertical direction. FIG. 7A shows the state of the feel mechanism before being operated in the vertical direction, and FIG.
Indicates an operating state when operated in the vertical direction (downward), and (c) indicates an operating state when operated in the vertical direction (upward).

FIG. 8 is a schematic diagram showing an example of a conventional aircraft control system.

9 (a) and (b) show a conventional control system and F
It is a schematic diagram for explaining the composition of each BW system.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Grip (control stick) 2 Housing 3 Pin 4 Slider 5, 12, 14 Feel spring 6 Sensor part 7 Inner shaft 8 Base assembly 9 Outer shaft part 10 Gimbal mechanism part 11, 13 Roller arm 15 Outer gimbal 16, 17 Retainer 18, Reference Signs List 19 leaf springs for front-rear direction and up-down direction 20, 21 leaf springs for torsion direction 22, 23 leaf springs for left-right direction 25 coil spring 26 ring A front-back direction feel mechanism section B left-right feel mechanism section C twist-direction feel mechanism section D up / down Direction feel mechanism

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yoshio Nojima 1-35-1 Izumi Honcho, Komae-shi, Tokyo Inside Tokyo Aviation Instruments Co., Ltd. (72) Inventor Seiji Maeda 1-35-1 1-3 Izumi-Honmachi, Komae-shi, Tokyo No. Tokyo Air Keiki Co., Ltd. (72) Inventor Kazuo Murata 1-35-1, Izumi Honmachi, Komae City, Tokyo Tokyo Air Keiki Co., Ltd. (56) References JP 1-289798 (JP, A) JP Hei 2-254097 (JP, A) JP 56-10239 (JP, B2)

Claims (3)

(57) [Claims] 1. A corresponding to three axial directions, is connected before and after倒動operation, and which can operate the grip portion of the laterally tilting operation and rotating (twisting), the lower end portion of the grip portion, the fulcrum of the grip portion A force sensor base portion, and a pair of elastic members provided symmetrically about the force sensor base portion so as to be elastically distorted with respect to the operation of the grip portion in each axis direction, corresponding to each axis, a sensor unit formed by providing a strain gauge in each elastic member, a shaft which is provided continuously underneath end of the grip portion, one end is fixed, the leaf spring-like front having elasticity in the vertical direction
Feel spring and leaf spring
Attached to Le spring and the shaft, when the grip portion is not being operated in the longitudinal direction is in a state where the top portion is in contact with the other end of the longitudinal direction for field spring, the grip portion is operated in the longitudinal direction when in the that is, the longitudinal direction roller arm or Ranaru longitudinal direction for feel mechanism for tip transmits the reaction force to the grip portion is pressed against the front-rear direction for field spring, for the longitudinal direction One end is fixed so as to be arranged at right angles to the feel spring, and it has elasticity in the vertical direction
Leaf spring type left direction feel spring and leaf spring type right
Mounted in a direction for feel spring and the shaft, when the grip portion is not operated in the horizontal direction is in a state where the top portion is in contact with the other end of the lateral direction field spring, the grip portion is the left-right direction when operated, the left and right direction roller arm or Ranaru lateral direction feel mechanism for tip transmits the reaction force to the grip portion is pressed against the lateral direction field spring, together with the shaft fixed base ASSY, one end is fixed so as to rotate, plate spring right torsion field directional having elasticity in the direction perpendicular to the axis of the grip portion
Springs and leaf springs
Attached to the ring and the base ASSY, when the grip portion is not operated in the torsional direction, in a state where the tip portion is in contact with the other end of the torsion direction for feel springs, operated in the direction the grip portion is torsionally when in the that is, the twist direction slider portion or Ranaru torsional feel mechanism for tip transmits the reaction force to the grip portion is pressed against the twisting direction for field spring, that it is composed of Features a multi-axis side stick controller for aircraft. 2. A corresponding to four axially back and forth倒動operation, lateral tilt operation, and rotates (twist) and which can operate the grip portion of the vertical movement, the lower end portion of the grip portion is connected to the grip A force sensor base serving as a fulcrum of the portion, and a pair of elastic members are provided corresponding to each axis so as to be symmetrical about the force sensor base so that elastic deformation occurs in operation of the grip in each axial direction. and further wherein the resilient member sensor unit formed by providing a strain gauge, a shaft which is provided continuously underneath end of the grip portion, one end is fixed, the leaf spring-like front having elasticity in the vertical direction
Feel spring and leaf spring
Attached to Le spring and the shaft, when the grip portion is not being operated in the longitudinal direction is in a state where the top portion is in contact with the other end of the longitudinal direction for field spring, the grip portion is operated in the longitudinal direction It has been time, a longitudinal direction roller arm or Ranaru longitudinal direction feel mechanism for tip transmits the reaction force to the grip portion is pressed against the front-rear direction for field spring, feel for the front-rear direction One end is fixed so that it is arranged at right angles to the spring, and has elasticity in the vertical direction
Leaf spring type left direction feel spring and leaf spring type right
Mounted in a direction for feel spring and the shaft, when the grip portion is not operated in the horizontal direction is in a state where the top portion is in contact with the other end of the lateral direction field spring, the grip portion is the left-right direction when operated, the left and right direction roller arm or Ranaru lateral direction feel mechanism for tip transmits the reaction force to the grip portion is pressed against the lateral direction field spring, together with the shaft fixed base ASSY, one end is fixed so as to rotate, plate spring right torsion field directional having elasticity in the direction perpendicular to the axis of the grip portion
Springs and leaf springs
Attached to the ring and the base ASSY, when the grip portion is not operated in the torsional direction, in a state where the tip portion is in contact with the other end of the torsion direction for feel springs, operated in the direction the grip portion is torsionally It has been time, a torsional direction slider portion or Ranaru torsional feel mechanism for tip transmits the reaction force to the grip portion is pressed against the twisting direction for field spring, fitted to the lower portion of the shaft if the interpolated coil spring
Pressing the upper end of the coil spring when pushed down the shaft is lowered to grip the beauty downward, pushing up the lower end of the coil spring when raising the grip upwardly and transmits the reaction force to the grip portion, respectively aircraft multiaxial side stick controllers and the outer shaft portion or Ranaru vertically feel mechanism, characterized in that it is composed of for. 3. The multi-axis side stick controller for an aircraft according to claim 1, wherein the wiring inside the side stick controller is performed by a flexible board.