CN101962074B

CN101962074B - Control rod

Info

Publication number: CN101962074B
Application number: CN 201010504999
Authority: CN
Inventors: J·D·科普
Original assignee: Moog Inc
Current assignee: Moog Inc
Priority date: 2007-08-08
Filing date: 2007-08-08
Publication date: 2013-08-14
Anticipated expiration: 2027-08-08
Also published as: CN101962074A

Abstract

The invention provides a control rod, which comprises a supporting part, a connecting rod, a plurality of position sensors, a plurality of springs, a magnetic brake and a damper, wherein the connecting rod has a handle and is arranged on the supporting part; the position sensors are arranged on the supporting part and are connected with the connecting rod at different positions of the connecting rod; each position sensor is suitable for generating an input signal of the function of the position of the connecting rod relative to the position of the supporting part; the springs act between the supporting part and the connecting rod for influencing the acting force, namely the feel property, of the connecting rod; the magnetic brake acts between the supporting part and the connecting rod for allowing an operator to apply a force onto a handle for moving the handle away from a zero position; and the damper acts between the supporting part and the connecting rod for damping the speed of the handle.

Description

A kind of control stalk

The application is for dividing an application, its female case application is patent application, and its application number is 200780039192.5, and denomination of invention is " be applicable to the control stalk of fly-by-wire flight control system and be used for wherein connecting rod ", the applying date is on August 8th, 2007, and international publication number is WO2009/020453.

Technical field

Present invention relates in general to be applicable to and detect and the manual command of operating personal is passed to control stalk (for example joystick, the side lever etc.) field in response to the object of this instruction campaign (for example aerofoil surface etc.), relate to for this control stalk being installed in the connecting rod through improveing on the suitable support and relating to the complex spring through improvement that is particularly suitable for wherein.A kind of special applications expection is passed to various aerofoil surface by fly-by-wire flight control system with chaufeur or copilot's instruction.

Background technology

Joystick is the known device that the manual input instruction of chaufeur is passed to various aircraft flight control surfaces.In their early stage forms, joystick is installed on the driving compartment base plate between chaufeur two legs usually.They are mounted to usually and make that this bar can be around representing the axis of pitch of aircraft and two orthogonal axis of axis of roll are made compound pivoting action.Yet the position of these joysticks and size often interfere with other device and freedom, and need sizable space that the range of movement of allowing of handle is provided.

Originally, this joystick is connected with various aerofoil surface with hawser by mechanical linkage.These male parts are unnecessarily heavy and huge, and are not easy to allow redundant.

Along with performance, control and the complexity raising of aircraft, developed telex system.In these systems, the various manual input that gives joystick handle at first is converted into electric signal, and they are passed to one or more computing machines along various redundant paths then, passes to the motor and the actuator that are positioned at the various aerofoil surface motions of control at a distance then.Therefore, passed alternative from the mechanical transfer of joystick and post wheel from the fax of the conv that is associated with this bar.

In recent years, side lever is developed.They are installed in the handrail front that is positioned on chaufeur and the outside, copilot seat usually.Chaufeur is sitting on the seat on the left side usually, and the copilot is on the right on the seat.Therefore, the side lever of chaufeur is usually on its left side, and copilot's side lever is usually on its right.Therefore, chaufeur is placed on its left arm on the handrail on its left side usually, and will control its side lever with its left hand, and the copilot is placed on its right arm on the handrail on its right usually, and will control its side lever with its right hand.Under many circumstances, joystick is detected as the function (referring to for example US Patent 5,125,602 and 5,291,113) of position about the inclination of suitable axis.In other cases, it is detected as the function of power or moment (referring to for example US Patent 6,028,409; 5,694,010 and 5,347,204).

In these side levers some are installed on the gimbal, to allow making omnidirectional or compound pivotal movement (referring to for example US Patent 5,291,113 and 5,694,014) around axis of pitch and axis of roll.

Side lever is counted as " passive " or " initiatively " usually." passive " side-stick unit (" PSSU ") detects chaufeur or copilot's pitching and the function of the relevant control stalk of rolling instruction conduct about the tilt displacement of this suitable axis.These instructions are provided for one or more flight-control computers then, and these computing machines are then controlled the motion of various aerofoil surface with pitching and the rolling of control aircraft.This control stalk can offer computing machine with the redundant instruction signal.In these devices some use various springs to give motive power-sensation gradient to give the control stalk handle, thereby offer sense of touch and the sensation (referring to for example US Patent 5,125,602) of chaufeur and the various states of copilot.

" initiatively " side-stick unit (" ASSU ") is similar to PSSU, but also combines be coupled chaufeur and copilot's the position of side lever of motor.If chaufeur is just leaving his joystick at ACTIVE CONTROL aircraft and copilot's hand, then copilot's bar will back be driven to follow and be repeated all places motion of the bar that chaufeur gives him.Take this, chaufeur and copilot's bar will walk abreast and as one man tilt simultaneously, and it is the same to be subordinated to the other side seemingly.On the contrary, if the copilot is just leaving his bar at the hand of ACTIVE CONTROL aircraft and chaufeur, then the position command that the copilot gives his bar will be followed and repeat to the bar of chaufeur.This is known as " copy the position again " (referring to for example US Patent 5,125,602) or " electronics intersect driving compartment interconnection " sometimes (referring to for example US Patent 5,456,428) or be called for short " cross-coupled " (referring to for example US Patent 5,694,014).

If aircraft is provided with autopilot, then autopilot can produce and offer the motor that is associated with chaufeur and copilot's control stalk to return the electric signal that drives these two control stalks.

Also knownly various feedback forces sensations are provided for this side lever, it has simulated aerofoil surface to the opposing " sense " of various inputs instructions or the transformation between the various serviceability, perhaps even vibration in emergency circumstances.Also this control stalk of known damping freely leaves the manual command position (referring to for example US Patent 5,125,602 to stop this bar under the situation that will unclamp this bar at operating personal; 6,459,228 and 4,069,720).The disclosure of each of above-mentioned patent together is incorporated herein with the form of reference.

Yet post wheel, joystick and the side lever of developing up to now comprises various mechanical linkages and the male part of friction, backlash (backlash) etc. being introduced the control stalk motion.It is heavy and huge that these designs are considered to.They have been considered to interfere the continuously smooth transmission of manual incoming signal from the control stalk to the flight-control computer of chaufeur, have interfered the continuously smooth transmission of returning the various electric signal that drive control stalk for motion and application force according to e-command.

Therefore, think and have a kind of verified and demand that long-term exposure arrives, that is: provide be applicable to " passive " and " initiatively " fly-by-wire flight control system through the improvement control stalk, be used for this control stalk through improvement together use through the connecting rod of improvement and may be used for wherein the compound torsion springs through improvement.

Summary of the invention

By only corresponding component, part or the surface of nonrestrictive purpose reference disclosed embodiment with illustrative, the present invention roughly provides a kind of control stalk 20 through improvement, be used for control stalk through the connecting rod 27 of improvement with through the complex spring 38 of improvement.

In one aspect, the invention provides the improvement part that is installed on the strut member 21 and is suitable for controlling the control stalk 20 of object (not shown) motion.This improvement part roughly comprises: strut member 21; With connecting rod 27, it is used for handle 24 is installed on the strut member with about two orthogonal axis x _U1～x _U1And x _U2～x _U2Optionally make compound pivoting action, thereby provide input to control stalk.This connecting rod comprises: be installed in first gimbal 22 on the strut member; Be installed in the upper component 23 on first gimbal, this upper component has the handle 24 that is arranged on first gimbal top, and has the bottom 25 that is arranged on first gimbal below; Intermediate member 26; Second gimbal 28 that connects upper component and intermediate member; With lower member 29, one of intermediate member and lower member are installed in intermediate member and the lower member another movably, in order to allow the relative motion between intermediate member and the lower member when handle moves with respect to strut member; The 3rd gimbal 30 that lower member is linked to each other with strut member; With elastic component 31, such as the post spring, it is configured to the direction of relative movement between bias voltage intermediate member and the lower member.This handle can be firmly grasped and optionally be moved to provide input to connecting rod with respect to strut member.

Elastic component 31 can be configured to apply the application force of eliminating all backlash from connecting rod substantially.This elastic component can promote handle and shift to zero-bit with respect to strut member.

This improvement part can also comprise that (for example aerofoil surface and at least one

conv

32,32,32, wherein conv is installed in the position of a part that detects connecting rod on the strut member and produces the electric signal that is directly proportional with this position of detecting object to be moved.Handle is suitable for moving to cause conv to be provided for making the command signal of movement of objects with respect to strut member.

This improvement part can also comprise a plurality of

springs

33,33,34,34 that act between strut member and the connecting rod.These springs have different application force-deflection characteristics.In these springs at least one can be complex spring 38.

In the control stalk of improvement, when handle moves apart zero-bit, range of movement between intermediate member and the lower member can be between the pivot axis of (a) first and second gimbals distance (namely, distance A among Fig. 4) and (b) function of the ratio of the distance between the pivot axis of the second and the 3rd gimbal (that is, among Fig. 4 apart from B).(i) connect between the dummy line of dummy line and the pivot axis that (ii) is connected the second and the 3rd gimbal of pivot axis of first and second gimbals the drift angle (namely, angle C among Fig. 4) can be substantially equal to (a) upper component with respect to the drift angle of the dummy line of the pivot axis that connects the first and the 3rd gimbal (namely, angle A among Fig. 4) with drift angle (that is, angle B in Fig. 4) sum of (b) lower member with respect to the dummy line of the pivot axis that is connected the first and the 3rd gimbal.

This improvement part can also comprise magnetic brake 35, and it acts between strut member and the connecting rod and to require applying application force at handle handle is moved apart zero-bit.

This improvement part can also comprise damper 36, and it acts between strut member and the connecting rod speed with the damping handle.This damper can be eddy current retarder.

This improvement part can also comprise the motor (not shown), and it acts between strut member and the connecting rod so that connecting rod moves as the function of the signal that offers motor.

Control stalk through improvement can be installed on the aircraft with fax control system, and should can be installed on chaufeur position and the copilot position through the control stalk of improvement.Chaufeur and copilot's control stalk can cross-coupled with together mobile.This aircraft can have autopilot, the signal that chaufeur and copilot's control stalk can provide in response to autopilot and together mobile.

On the other hand, the invention provides the improvement part of the control stalk 20 that is suitable for controlling object of which movement.This improvement part comprises: strut member 21; Pivotally be installed in the upper component 23 on the strut member, this upper component has the bottom 25 of the hinge connector below that is arranged on itself and strut member; Intermediate member 26, it has the top that pivots and be connected with the bottom of upper component, and has the bottom; With lower member 29, it has the bottom that pivotally is installed on the strut member, and has top; Wherein, the bottom of intermediate member is installed in the lower member movably, so that the top of upper component will form intermediate member and lower member with respect to the pivoting action of strut member with respect to the pivoting action of strut member; With elastic component 31, it is configured to the direction of relative movement between bias voltage intermediate member and the lower member.

Upper component can be installed on the strut member with the axis x about the mid-length that is positioned at upper component _U1～x _U1Or x _U2～x _U2Make pivoting action, upper component can have and is arranged on this axis top and is set up top as handle 24, and this handle can be by promptly and optionally handle to provide input to connecting rod.

Upper component can be mounted to respect to strut member about two orthogonal axis x _U1～x _U1And x _U2～x _U2Make compound pivoting action.

The application force that is applied by elastic component can promote upper component and move towards zero-bit with respect to strut member.This elastic component can be configured to apply the application force of roughly eliminating all backlash from connecting rod.The application force that is applied by elastic component can be adjustable.

When upper component moves apart zero-bit, range of movement between intermediate member and the lower member can be pivot axis between (a) upper component and the strut member and the distance between the pivot axis between intermediate member and the strut member (namely, size A among Fig. 4) and (b) function of the ratio of the pivot axis between intermediate member and the strut member and the distance between the pivot axis between lower member and the strut member (that is the size B among Fig. 4).(i) connect between the dummy line of dummy line and the pivot axis that (ii) is connected the second and the 3rd gimbal of pivot axis of first and second gimbals the drift angle (namely, angle C among Fig. 4) can be substantially equal to (a) upper component with respect to the drift angle of the dummy line that connects pivot axis between upper component and the strut member and the pivot axis between lower member and the strut member (namely, angle A among Fig. 4) and (b) lower member is with respect to drift angle (that is the angle B among Fig. 4) sum of the dummy line that connects pivot axis between upper component and the strut member and the pivot axis between lower member and the strut member.

Upper component and strut member can be by Hooke's couplings, be connected such as gimbal mechanism 22.

Intermediate member 26 can be mounted to respect to upper component about two vertical axis x _M1～x _M1And x _M2～x _M2Make compound pivoting action.

Upper component and intermediate member can be by Hooke's couplings, be connected such as gimbal mechanism 28.

Lower member 29 can be mounted to respect to strut member about two orthogonal axis x _L1～x _L1And x _L2～x _L2Make compound pivoting action.

Lower member and strut member can be by Hooke's couplings, be connected such as gimbal mechanism 30.

The bottom of intermediate member can be slidably received within the top of lower member.

Elastic component can help the application force-sensation gradient shank portion.

This improvement part can also comprise: at least one

primary importance sensor

32,32,32, and its bottom that is installed on the strut member and engages upper component is to provide first output signal as the bottom of upper component about the function of the position of one of axis; At least one

second displacement pickup

32,32,32 possibly, its be installed on the strut member and the bottom that engages upper component to provide second output signal as the bottom of upper component about another the function of position in the axis.

This improvement part can also comprise: first upper springs 33, and such as complex spring, it acts between upper component and the strut member and makes handle about one of axis motion necessary forces with influence; Second upper springs 33 possibly, such as complex spring, it acts between upper component and the strut member and makes handle about another motion necessary forces in the axis with influence.

This improvement part can also comprise: first middle springs 34, and such as complex spring, it acts between intermediate member and the strut member and makes handle about one of axis motion necessary forces with influence; Second middle springs 34 possibly, such as complex spring, it acts between intermediate member and the strut member and makes handle about another motion necessary forces in the axis with influence.This first middle springs provides significant change on application force-sensation gradient with the variation of alert operator in the handle displacement.

This improvement part can also comprise that for the hinder device 35 that applies low-force at intermediate member wherein said application force is that operating personal is firmly grasped the power that handle will overcome its disengaging zero-bit.This hinder device can comprise a plurality of magnets that are installed on strut member and the intermediate member.

This improvement part can also comprise damper 36, and it acts on the lower member speed with the damping handle.This damper can be eddy current retarder.

On the other hand, the invention provides a kind of control stalk 20, it roughly comprises: strut member 21; Connecting rod 27, it has handle 24 and is installed on the strut member; With a plurality of position transdusers 32,32,32, its be installed on the strut member and on the diverse location of connecting rod engagement link, each in this position transduser all is suitable for producing as the output signal of connecting rod position with respect to the function of the position of strut member; A plurality of

springs

33,33,34,34, it acts between strut member and the connecting rod to influence the application force-sense quality of connecting rod; Magnetic brake 35, it acts between strut member and the connecting rod and to require operating personal to apply application force to handle handle is moved apart zero-bit; With damper 36, it acts between strut member and the connecting rod speed with the damping handle.

Itself can have independent application force-offset characteristic in these springs each, and the application force-sense quality of connecting rod can be the function of the various independent application force-offset characteristic of these springs.In a preferred embodiment, the application force-sense quality of connecting rod is the function of summation of the geometry of the various independent application force-offset characteristic of spring and connecting rod.

This spring can promote handle makes it move towards zero-bit with respect to strut member, and one of spring can be configured to apply the application force of roughly eliminating all backlash from connecting rod.

Aspect another, the invention provides a kind of complex spring 38, it roughly comprises: first tubular portion 40, it has the first wall that extends between first end 41 and second end 42; At least one first fluting 43, described fluting runs through first wall and is defined between the relative slotted wall so that when first and second ends rotate relatively, this spring will have a kind of effect force-displacement behavior when slotted wall is spaced, and will have another kind of effect force-displacement behavior when slotted wall contacts with each other; With the third effect force-displacement behavior when first and second ends are crooked with respect to the other side in common plane.

First fluting can be along the direction elongation parallel with the longitudinal axis of first tubular portion.Can have a plurality of first flutings, and these flutings can be spaced apart from each other about first tubular portion along circumference.

This spring can also comprise second tubular portion 44, and it is arranged in first tubular portion and has second wall that extends between second end 42 and the 3rd end 45.Second tubular portion can have at least one second fluting 46, and it runs through second wall and is defined between the relative slotted wall.Second fluting can extend along the direction parallel with the longitudinal axis of second tubular portion, and a plurality of second fluting can be spaced apart from each other along circumference about second tubular portion.

The 3rd end 45 can be arranged near first end 41.

Therefore, overall goal of the present invention provides a kind of control stalk through improvement.

Another target provides the connecting rod through improvement for control stalk.

Another target provides a kind of complex spring through improvement, and it is particularly suitable for being used in the control stalk.

These and other target and advantage will become apparent from written explanation, accompanying drawing and the appending claims of above-mentioned and this moment.

Description of drawings

Fig. 1 is that this view shows when handle is in its zero-bit with respect to strut member, the position of upper component, intermediate member and lower member through the scheme drawing of a kind of form of the mechanical linkage of the control stalk of improvement;

Fig. 2 is the scheme drawing of structure shown in Figure 1, but shows the position of upper component, intermediate member and lower member when handle has moved to the non-zero position;

Fig. 3 shows the rough schematic view of the angle between the various link components when handle has moved to the non-zero position;

Fig. 4 shows the application force that acts on the various link components and the rough schematic view of moment when handle has moved to the non-zero position;

Fig. 5 is the rough schematic view of control stalk connecting rod, and it shows various springs, sensor and the damper that acts between strut member and the various member;

Fig. 6 is a suite line chart of application force (ordinate) Vs angle of rotation (abscissa) characteristic of the soft stop of basic spring, second spring and differential function, post spring, and addition or the superpositing function of above-mentioned all springs are shown;

Fig. 7 is the axonometric drawing through a kind of form of the compound torsion springs of improvement;

Fig. 8 is the lateral plan of spring shown in Figure 7;

Fig. 9 is the horizontal sectional drawing of roughly obtaining at the line 9-9 of Fig. 8;

Figure 10 is that wherein handle is illustrated and tilts to the non-zero position, the figure shows the compactedness of the packing of this specific embodiment through the axonometric drawing of the business form of the control stalk of improvement.

The specific embodiment

At first should clearly realize that: run through this several accompanying drawings all the time, same reference number is used for sign identical structural constituent, part or surface, and these elements, part or surface itself can be further described or be explained that this specific embodiment is its component part by whole printed instructions.Unless otherwise indicated, otherwise these accompanying drawings are used for reading (for example structure of cross hatch, parts, ratio, angle etc.) together in conjunction with specification sheets, and should be counted as the part of whole printed instructions of the present invention.In the following description, term " level ", " vertically ", " left side ", " right side ", "up" and "down" and the derivative (for example " on even keel ", " to the right ", " up " etc.) that describes part of speech and adverbial word thereof only refer to when specific accompanying drawing during towards the reader, shown in the orientation of structure.Similarly, term " upcountry " and " outwards " are often referred to the orientation of relative its outrigger shaft in surface or S. A. (according to circumstances).

Referring now to accompanying drawing,, the invention provides some improvement to control stalk.This control stalk can be the control setup that is used for the Long-distance Control object of joystick, side lever or some other types.In the accompanying drawings, the control stalk through improvement is depicted as for the side lever of aircraft with the various aerofoil surface on the control aircraft.Yet this does not just schematically limit the scope of appended claims.

In Fig. 1,2 and 5, show a kind of mechanical linkage form through the control stalk of improvement substantially.

Referring now to Fig. 1 and 2,, is illustrated with the control stalks through improvement of 20 indications generally and is installed in generally with on 21 suitable support of indicating.In aircraft environment, control stalk 20 will be installed in the aircraft cockpit usually, be used for controlling the motion of distant objects (such as wing flap, yaw rudder and aileron etc.).

Structure shown in Fig. 1 and 2 has schematically been described connecting rod (27), and it comprises three gimbal mechanism." gimbal " herein is a kind of like this device: this device has two rings, and it is installed into and is in the right angle so that object can keep hanging therein, and irrelevant with the motion of the strut member that this object is installed.It is to allow to make a big class joint of compound pivoting action and a kind of specific type in the attaching parts around two orthogonal axis.Other joint and attaching parts in this big class comprise Hooke's coupling, allow relative another member of a member to make the ball and cocket joint of omnidirectional's pivoting action, and analogue.More specifically, this connecting rod through improvement roughly comprises first or go up gimbal 22.Upper component 23 is installed on first gimbal, and first gimbal is installed on the strut member and is used for about orthogonal axis x _U1～x _U1And x _U2～x _U2Compound pivotal movement.This upper component has the handle 24 that is located at first gimbal top, and has the bottom 25 that is located at first gimbal below.This connecting rod is illustrated and comprises that also intermediate member 26 and second gimbal, 28, the second gimbals 28 connect the lower marginal end portion of the upper marginal end portion of intermediate members and upper component and are used for about orthogonal axis x _M1～x _M1And x _M2～x _M2Compound pivotal movement.This device also is shown having lower member 29.One of lower member and intermediate member are installed in intermediate member and the lower member another movably.In the structure that illustrates, the lower marginal end portion of intermediate member 26 slidably and telescopically be contained in the lower member 29, but in case of necessity this structure can put upside down.The lower marginal end portion of lower member 29 is installed on the strut member by the 3rd gimbal 30, and wherein the 3rd gimbal is used for about orthogonal axis x _L1～x _L1And x _L2～x _L2Compound pivotal movement.Coil spring 31 is configured to act between lower member and the intermediate member.This spring is compressed all the time, and the lasting intermediate member that promotes moves downward with respect to lower member.The actual effect that produces like this is to eliminate roughly all backlash from this three member linkage.

Mechanical linkage shown in Figure 1 is on middle position or the zero-bit with respect to strut member.On this position, all three

members

23,26 and 29 the longitudinal axis be vertical alignment all.In Fig. 2, uppermost handle is illustrated with respect to strut member and is tilted to the left, along with and what come is the moving right of lower marginal end portion of upper component.It is also noted that: this motion is about axis x by intermediate member and lower member _L2～x _L2Pivoting action, intermediate member provide with respect to the additional compression displacement of the axial motion of lower member and spring 31.

As mentioned above, though it is that form with chaufeur and copilot's side lever realizes that the present invention is illustrated, those skilled in the art can realize this mechanism of easy to understand with the form of the control stalk that is used for the control object of joystick or some other types.Object itself can be the aerofoil surface of aircraft, perhaps other object.

Fig. 3 is the further rough schematic view of connecting rod when handle leaves zero-bit.Though gimbal mechanism allows the compound pivotal movement about two orthogonal axis, the embodiment that schematically shows in Fig. 3 has only described motion about a this axis to each gimbal.The last pivotal point x of first gimbal _U2Indication, the medial pivot point x of second gimbal _M2Indication, the pivotal point x of following gimbal _L2Indication, thus consistent with top name.When being in zero-bit, medial pivot point x _M2With following pivotal point x _L2Between connection with

reference number

26,29 the indication (this is the effective array length of intermediate member and lower member), and when the non-zero position shown in being in reference number 26 ', 29 ' indication.

When handle was in its zero-bit, connecting rod vertically alignd, and this clearly show that in Fig. 1.In Fig. 3, the distance between head lamp brush guard pivot and the

central pivot

31,32 is indicated with distance A, central pivot and following pivot x _M2, x _L2Between distance use apart from B and indicate.When handle from null displacement to the non-zero position of 24 ' indication the time, the lower end of upper component will put to the 25 ' position of indicating, intermediate member and lower member will move to the replacement position of indicating with 26 ', 29 '.Angle A represents that mobile handle departs from the angle of zero-bit.Angle B is represented the angle of intermediate member and lower member 26 ', 29 ' axis runout zero-bit.Angle C is angle A and B sum.Intermediate member was with respect to the extension of lower member when size dx was illustrated in intermediate member and lower member from null displacement to the non-zero position, and this further compression by spring 31 provides.About angle B and C and as follows apart from the equation of dx:

AngleB = \tan^{- 1} [\frac{\sin (AngleA) \times A}{B + (A - \cos (AngleA) \times A)}]

AngleC=AngleA+AngleB

dx = [\frac{\sin (AngleA) \times A}{\sin (AngleB)}] - B

Referring now to Fig. 4,, the directed force F that is applied by the hand of chaufeur _uArm by handle will be about last pivotal point X apart from GRP _U2Moment M in the formation _uThe application force that applies at second pivotal point will be the function apart from a and b.About central pivot x _M2Moment be computable.Similarly, the application force that applies at medial pivot point also is computable.These relations are represented by following equation:

F_{U} = \frac{M_{U}}{GRP}

F_{L} = \frac{M_{U} \times a}{GRP \times b}

M _M=-F _M×(GRP+A)-F _M×A

M _M=-F _U×[(GRP+A)+A]

F_{M} = \frac{M_{M}}{(GRP + 2 \times A)}

Therefore, when handle moves apart zero-bit, range of movement between intermediate member and the lower member be between the pivot axis of (a) first and second gimbals distance (namely, distance A among Fig. 4) and (b) function of the ratio of the distance between the pivot axis of the second and the 3rd gimbal (that is, among Fig. 4 apart from B).Connect between the dummy line of dummy line and the pivot axis that is connected the second and the 3rd gimbal of axis of first and second gimbals the drift angle (namely, angle C among Fig. 4) is substantially equal to upper component with respect to the drift angle of the dummy line of the pivot axis that connects the first and the 3rd gimbal (namely, angle A among Fig. 4) with the drift angle (that is, angle B in Fig. 4) of lower member with respect to the dummy line of the pivot axis that is connected the first and the 3rd gimbal.

Fig. 5 is the scheme drawing through the control stalk 20 of improvement, but further shows attached with it various springs, sensor and damper.In Fig. 5, connecting rod 27 is illustrated again and comprises upper component 23, intermediate member 26 and the lower member 29 with last handle 24 and underarm 25.The lower marginal end portion of intermediate member is depicted as telescopically and is contained in the lower member 29.Coil spring 31 continues to promote intermediate member and moves downward with respect to lower member.In Fig. 5, connecting rod is illustrated and only is mounted to motion in one plane, and this is for the purpose of simplifying the description.Upper component 23 is installed on the strut member 21 with about axis x _U2Make pivoting action.The lower marginal end portion that the upper marginal end portion of intermediate member pivotally connects upper component is with about axis x _M2Make pivoting action.At last, lower member 29 pivotally is installed on the strut member with about axis x _L2Motion.Should be expressly understood: this structure can comprise three gimbals, though the details of these gimbals is not completely shown.

In Fig. 5, the motion of upper component 23 is detected by triple redundance position transduser (it is respectively with 32 indications).Three in these position transdusers are arranged on the relative position of diameter.In leaving the plane of paper, also the either side at upper component has other three position transdusers.The function of these position transdusers be detect and definite upper component with respect to the banking motion scope of strut member.Provide triplex level redundancy by three in these position transdusers.

In this position transduser, exist respectively with the 33 a plurality of relative compound torsion springs of indicating.Similarly, two relative torsion springs shown in Figure 5, and in leaving the plane of paper, have two other relative spring.The function of these springs is that the banking motion for handle provides certain application force-sensation resistance.The structure of these compound torsion springs illustrates in greater detail with operating among Fig. 7-9, and is described below.

Other torsion spring with 34,34 indications acts between upper component and the intermediate member so that certain second spring function and soft stop to be provided.This structure can also comprise that it applies certain application force with the inevitable requirement chaufeur makes connecting rod move apart zero-bit with the magnetic brake of 35 indications.

Still referring to Fig. 5, the relative eddy current retarder with 36 indications is configured to act between strut member and the lower member respectively, with the movement rate of damp connecting lever.Similarly, in fact have four rate damping devices that are oppositely arranged in couples.

Fig. 6 has illustrated the independent function of various springs shown in Figure 5, and with way of illustration clean function owing to their stack has been described.Basic spring function is depicted as the straight line between ordinate (application force) and the abscissa (swing).Second spring 34 provides soft stop and differential (differential), as Fig. 6 indication.Shown in having, post spring 31 acts on force-displacement behavior.The curve that is designated as " net work energy " is by other four the curve stacks shown in Fig. 6 are obtained.Fig. 6 has illustrated and can select described various spring meticulously so that their characteristic can be given needed any net work energy when being applied.

Referring now to Fig. 7-9,, one of compound torsion springs is generally with 38 indications.This spring is shown having mounting flange 39, and it is suitable for being connected on the suitable construction (depending on its application).This spring also has first tubular portion that is connected on the flange (its with 40 indications), and it has first end 41 that is connected on the flange and begins to extend to second end 42 to the right from this first end.This first tubular portion is shown having at least one the vertical fluting with 43 indications.In the form that illustrates, first tubular portion has a plurality of this flutings, and these flutings are opened along the circle spacing with respect to first tubular portion.

This spring can also have second tubular portion 44 in first tubular portion 40.Second tubular portion on second end 42 with the first tubular portion physical connection, and in first tubular portion, extend to the 3rd end 45 left.Second tubular portion 44 has the fluting 46 of at least one longitudinal extension.In the form that illustrates, have a plurality of this flutings, and these flutings are spaced apart from each other along circumference about second tubular portion.The purpose of these flutings provides following ability, that is: when before physics contacts each other at relative slotted wall, being applied to torsion on the spring that is between first end and the 3rd end, have a kind of effect force-displacement behavior, and after this slotted wall is in contact with one another, have second kind of effect force-displacement behavior.In fact, these two tubular portions are the mode mechanical connections of connecting, though second tubular portion is arranged in first tubular portion.Take these two tubular portions to compare, the circumference spacing between the wall of the relative longitudinal extension of fluting can be identical, also can be different, and this will depend on needed special effect force-displacement behavior.In addition, a specific characteristic of the spring through improveing is that it is not simple torsion spring.On the contrary, it can be used as torsion spring, also can (such as the paper plane) go up crooked on the plane.Various torsion springs shown in Figure 5 can optionally be designed to provide needed specific effect force-displacement behavior, to help the overall net work energy of device.Another specific characteristic of complex spring is: by have interior pipe out of position at outer tube, make the spring axially compact.This provides lot of advantages, and is because it makes it possible to control stalk is located in small-sized packing or the housing, just as shown in Figure 10 such.

Therefore, the invention provides control stalk through improvement, be used for wherein through the connecting rod of improvement with through the complex spring of improvement.

Improve

The present invention's expection can be carried out multiple changes and improvements.For example, though a kind of form has been utilized three gimbal mechanical linkage with various members, can replace the attaching parts that uses other type.In fact, this attaching parts can be simplified to a kind of ball and cocket joint, Hooke's coupling or some other joints.In fact, allow handle to make compound pivoting action about orthogonal axis though the major advantage of these forms is this joint and attaching parts, in replacing structure, can use the connecting rod of other type.In some cases, connecting rod may be subjected to the influence of the geometry of these connections.

It is effective especially eliminate roughly all backlash from connecting rod on that the post spring is considered to.In fact, it continues the bias voltage connecting rod to eliminate the backlash sense.Yet though wish to have this post spring, it is not absolute crucial.

Dissimilar springs, sensor and damper shown in Figure 6 can be associated with the different parts of connecting rod.Though main spring 33 is associated with upper component and second spring is associated with intermediate member, this structure is not to change, but can change.The position of eddy current retarder also can be changed.Similarly, also changes and improvements as required of the position of breakaway detents 35.

It is unique that compound torsion springs also is considered to.This spring is considered to a kind of like this complex spring, and it operationally is configured to not only to resist about the reversing of its axis x-x, but also resists bending on specific plane, and wherein specific plane such as (but being not limited to) is the paper plane.In its simplest form, torsion spring only has a tubular portion, and wherein this tubular portion is provided with at least one but the fluting of preferred a plurality of longitudinal extensions that separate along circumference.The function of these flutings is to make spring and have a kind of effect force-displacement behavior when second end rotates with respect to first end before slotted wall is in contact with one another, and has the second different effect force-displacement behaviors after slotted wall is in contact with one another.By fluting is opened along the circle spacing about first tubular portion, spring is more symmetrical, and all has the characteristic of similar opposing bending on any specific direction.This spring can also have the second portion of putting upside down in first.Persons skilled in this art will readily appreciate that on second end common first and second parts that connect are with the mode of series connection mechanical connection each other.Yet the inside of putting upside down mutually or second portion allow a kind of structure of compactness, and this to be considered under the limited situation of shell dimension (such as in aircraft) particularly useful.

Therefore, though illustrated and described several simplification of the present invention and detailed embodiment gradually, and their several improvement and change have been discussed, but those skilled in the art will readily recognize that and can carry out various other changes and improvements, and do not break away from by following claim definition and the spirit of the present invention distinguished.

Claims

1. control stalk, it comprises:

Strut member;

Connecting rod, described connecting rod has the upper component that is installed on the described strut member, to move around first pivot axis, described upper component has and is installed in described first pivot axis top and is set up top as handle, and described upper component has the bottom that is arranged in described first pivot axis below;

Intermediate member, described intermediate member has the top of the bottom that is connected to described upper component, and to move around second pivot axis, described intermediate member has the bottom;

Lower member, described lower member has the bottom that is installed in pivotally on the described strut member, to move around the 3rd pivot axis;

The bottom of wherein said intermediate member movably is installed in the described lower member, makes the top of described upper component will produce described intermediate member and lower member with respect to the pivoting action of described strut member with respect to the pivoting action of described strut member;

Elastic component, described elastic component are arranged to the direction of relative movement between the described intermediate member of bias voltage and the lower member;

Wherein when described upper component moves apart zero-bit, be distance and (b) function of the ratio between the distance of described second pivot axis and described the 3rd pivot axis between (a) described first pivot axis and described second pivot axis at the range of movement between described intermediate member and the described lower member;

A plurality of position transdusers, it is installed on the described strut member and engages described connecting rod at the diverse location of described connecting rod, and each in the described position transduser all is suitable for producing as the output signal of described connecting rod position with respect to the function of the position of described strut member;

A plurality of springs, it acts between described strut member and the connecting rod to influence the application force-sense quality of described connecting rod;

Magnetic brake, it acts between described strut member and the connecting rod and to require operating personal to apply application force to described handle described handle is moved apart zero-bit; With

Damper, it acts between described strut member and the connecting rod speed with the described handle of damping.

2. control stalk as claimed in claim 1, it is characterized in that, in the described spring each has its application force-offset characteristic alone, and the application force-sense quality of wherein said connecting rod is the function of the various application force-offset characteristics separately of described spring.

3. control stalk as claimed in claim 2 is characterized in that, the application force-sense quality of described connecting rod be described spring various separately application force-offset characteristic and the function of the summation of the geometry of described connecting rod.

4. control stalk as claimed in claim 1 is characterized in that, described spring promotes described handle and moves towards zero-bit with respect to described strut member.

5. control stalk as claimed in claim 1 is characterized in that, described elastic component is arranged to apply the application force of eliminating all backlash from the described connecting rod basically.