CN1048814C - 带有触觉反馈的交互旋转控制器系统 - Google Patents

带有触觉反馈的交互旋转控制器系统 Download PDF

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CN1048814C
CN1048814C CN93101137A CN93101137A CN1048814C CN 1048814 C CN1048814 C CN 1048814C CN 93101137 A CN93101137 A CN 93101137A CN 93101137 A CN93101137 A CN 93101137A CN 1048814 C CN1048814 C CN 1048814C
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winding
motor
microprocessor
control
rotation
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CN1077302A (zh
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D·N·拉金斯
G·T·吉田
T·L·赫尔马斯
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Ampex Systems Corp
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B19/00—Driving, starting, stopping record carriers not specifically of filamentary or web form, or of supports therefor; Control thereof; Control of operating function ; Driving both disc and head
    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B15/00—Driving, starting or stopping record carriers of filamentary or web form; Driving both such record carriers and heads; Guiding such record carriers or containers therefor; Control thereof; Control of operating function
    • G11B15/02—Control of operating function, e.g. switching from recording to reproducing
    • G11B15/026—Control of operating function, e.g. switching from recording to reproducing by using processor, e.g. microcomputer
    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B15/00—Driving, starting or stopping record carriers of filamentary or web form; Driving both such record carriers and heads; Guiding such record carriers or containers therefor; Control thereof; Control of operating function
    • G11B15/02—Control of operating function, e.g. switching from recording to reproducing
    • G11B15/10—Manually-operated control; Solenoid-operated control
    • G11B15/103—Manually-operated control; Solenoid-operated control electrically operated
    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B15/00—Driving, starting or stopping record carriers of filamentary or web form; Driving both such record carriers and heads; Guiding such record carriers or containers therefor; Control thereof; Control of operating function
    • G11B15/18—Driving; Starting; Stopping; Arrangements for control or regulation thereof
    • G11B15/1808—Driving of both record carrier and head
    • G11B15/1875—Driving of both record carrier and head adaptations for special effects or editing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23053—Knob with tactile feedback, representing clicks, detents programmed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23379—Knob, delivering pulses, digipot, electronic potentiometer
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35459—Knob, handle, handwheel delivers pulses, electronic handwheel, digipot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37023—Step motor used as measuring device and as drive motor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37396—Tactile feedback, operator feels reaction, force reflection
    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B2220/00—Record carriers by type
    • G11B2220/90—Tape-like record carriers
    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B27/00—Editing; Indexing; Addressing; Timing or synchronising; Monitoring; Measuring tape travel
    • G11B27/02—Editing, e.g. varying the order of information signals recorded on, or reproduced from, record carriers
    • G11B27/022—Electronic editing of analogue information signals, e.g. audio or video signals
    • G11B27/024—Electronic editing of analogue information signals, e.g. audio or video signals on tapes
    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B27/00—Editing; Indexing; Addressing; Timing or synchronising; Monitoring; Measuring tape travel
    • G11B27/02—Editing, e.g. varying the order of information signals recorded on, or reproduced from, record carriers
    • G11B27/022—Electronic editing of analogue information signals, e.g. audio or video signals
    • G11B27/028—Electronic editing of analogue information signals, e.g. audio or video signals with computer assistance
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H3/00—Mechanisms for operating contacts
    • H01H2003/008—Mechanisms for operating contacts with a haptic or a tactile feedback controlled by electrical means, e.g. a motor or magnetofriction

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  • Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
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  • Control Of Stepping Motors (AREA)
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Abstract

用于根据操作员输入控制状态的设备，包括一个连到步进电动机转轴的旋钮，该电动机装有正交的，中心抽头分别接地而形成各绕组第一和第二分绕组的第一和第二定子绕组，一对第一分绕组根据旋钮的任一方向旋转经由脉冲控制系统将脉冲输入到微处理器，而微处理器则向制动控制系统提供指令信号。在微处理器的控制下，施加的力可间断地用于模拟一个机械定位装置，或一制动用的恒定力，向操作员提供触角反馈。

Description

带有触觉反馈的交互旋转控制器系统
本发明涉及磁带录像系统，更具体地说，涉及一个利用触觉反馈用的步进电动机的旋转控制调节器供上述系统使用。
专业磁带录像及编辑设备包括各种各样的操作人员操纵的控制装置，除按钮控制装置外，还兼有旋转型和直线型的控制装置。在磁带放像设备中，某些功能或状态是在操作人员手控之下开始的，例如磁带高速运转方式、突然转向或改变放像速度，在这场合，把单一的旋钮用于多重功能，而各个功能要求旋钮具有一组不同的机械特性。
在使用这种旋转控制装置的过程中，最好该装置具备“感觉”能够反映出控制或所完成操作的类型。特别是，当由操作员手控旋转通过一个给定的角位移，或以一个给定的转速，到达预定的角位置时，或者当加速旋转，自始至终理想地使用触觉时，操作员应接收移动延伸和限制的触觉反馈。
在1985年12月24日授予Williams并转让给本发明的受让人Ampex公司，题为“动态响应的控制装置和系统”的美国专利第4560983号所显示和描述的一个这样的装置中，用一个从测速计接受信息以控制粒子制动器操作的控制系统，把一个旋钮和一个旋转轴、一个测速计以及一个粒子制动器连接在一起，由此向操作员提供触觉反馈。
在题为“控制受控设备的运转状态用的系统”的美国专利第4859922号中显示和描述了另一个这样的装置，该专利于1989年8月22日授予Tauchenitz等人。该专利公开了一个设备控制系统该系统包括一个操作旋钮，该旋钮具有一个相对于它的旋转轴同心定位的环形线圈，和一个与线圈磁耦合和与旋转钮机械耦合的制动器，该制动器在预定的角偏转之内是有效的。同旋转钮关联的旋转方向、从起始点或零位旋转(即角偏转)和旋转轴的轴向偏移(即移动)被检测或扫描，并导出了旋钮移动信号，该信号被耦合到一个电子处理系统。
在磁带录像系统中完成触觉的传统方法是使用同磁性粒子制动器耦合的光学编码器，而且把二者组装成一个单元。编码器的输出被译码成方向信息，粒子制动器被用来通过调节器向操作员提供制动或反馈信息。这种装置不仅在装配方面而且元件成本也是非常昂贵的。
这种现有技术的装置要求增加这类调节器成本的特殊结构，此外，这样的装置不仅在结构而且操作方面势必变得复杂化。
按照本发明，提供了一种新改进的装备有触觉反馈的旋转控制器系统，该控制器系统利用一个通过控制钮耦联作为旋转用的步进电动机。
本发明的上述及其他目的是通过将一个旋转钮连接到一个步进电动机转子的旋转轴而达到的，该步进电动机含有相位相差90°的第一和第二定子绕组，而各个绕组是中心抽头接地的提供各绕组的第一和第二绕组部分。一对第一绕组部分被用来在旋转钮旋转的状态下(不论朝那一个方向)从步进电动机经由一个脉冲控制系统向一个微处理器提供脉冲输入，同时，微处理器向一个制动控制系统提供指令信号，该制动控制系统包括一个模拟直流压控电源。该压控电源本身又是在与一对第二绕组部分有关的电路中。根据微处理器的命令，借助于激励另一对绕组部分把力和转矩施加到转子上，在力与旋转钮的旋转方向相反情况下，力是与施加到电动机上的功率成比例的。在微处理器的控制下，力可用于提供制动或者在给定的旋转钮的一个或更多的角位移的位置上暂时地用于模拟机械制动力。
本发明的其他目的，特征和优点将随着结合附图阅读本说明书而变得更明显，附图中，相同的标号指示相同的元件。
图1是按照本发明的交互旋转控制器系统的一个方框图；
图2A和图2B(总起来称为图2)是图1旋转控制器系统中逻辑线路的更详细方框图的两个部分。以下描述本发明的实施例。系统概述
现参阅附图，尤其是图1，该图显示交互旋转控制器系统的一个方框图，总的用10表示该控制系统，它包括一个经由旋转轴16与旋转控制钮14机械连接的步进的电动机12。步进的电动机12是市场上买得到的步进电动机，其详情对全面理解本发明是不必要的。控制微处理器20经由联络路径17与脉冲控制系统22进行双向通讯联系，并经由联络通道18向制动控制系统24提供输出，而两个系统22和24都与分别用26和28表示的步进电动机绕组相连接。各个线圈(即绕组)一般是相同的，为了90度的电相位关系，两个绕组26，28以相位相差1/4周期的结构装配在步进的电动机12内部。绕组26在27处配置有接地的中心抽头引线，而绕组26的外部引线30和32则用电气的方法分别接到脉冲控制系统22和制动控制系统24。同样地，绕组28具备一个接地的中心抽头引线34，而外部引线36和38则用电气的方法分别接到脉冲控制系统22和制动控制系统24。在装备了接地中心抽头情况下，各个绕组26，28就各自形成第一和第二半绕组线圈或部分绕组线圈26a，26b和28a，28b。
正如即将予以描述的，绕组26和28的相应一套绕组部分26a和28a各自接收从制动控制系统24来的信号，该控制系统24把直流电压加到电动机绕组部分26a，28a以构成制动，另一方面，脉冲控制系统22依据旋转轴16的旋转经由控制旋转钮14识别并计算绕组的脉冲，而且根据速度、方向和角位置编制或译出来自第二组绕组部分26b和28b的脉冲，供微处理器20使用。换句话说，各个绕组26，28的一半被用来制动，各绕组的另一半按照现有的旋转状态、旋转角以及控制旋转钮14的旋转速度和加速度被用来产生输入到微处理器的信号和脉冲。
图2是该设备的更详细的方框图，其中某些部分已用虚线围绕以划出包括在制动控制系统24和脉冲控制系统22内的各自元件。在图2中合适的场合，采用了相同的标号。微处理器20具有一组从它那里输出到制动控制系统24的第一引线，这些就是引线40，41和42，它们共同组成通信路径18。输出线47和输入引线50(一个八位数字线路)共同组成在微处理器20和脉冲控制系统22之间的双向通信路径17。制动控制系统
三个引线40，41和42分别从微处理器向制动控制系统24提供信号用于“定位中”(detenton)系统、““制动中”(brake on)”以及“制动和定位都结束”。各引线40～42依次分别通过一般是相同的限流电阻52、54和56接到控制晶体管58、60和62的基极上，各个控制晶体管一般是相同的共发射极形式的NPN晶体管，也就是说，它的发射极被接地。正如即将予以阐明的，控制晶体管58、60和62是处于电压源控制器70(例如直流电压源)和绕组26，28的两个平分或部分绕组26a，28a之间的有关电路中。根据来自微处理器20经过引线40～42的输入特性，将在某一受控的电压电平下、在某一受控的持续时间内和在某一受控的电压形式下，随操作员相对于控制旋转钮14的操作而定，从电压源控制器70供给直流功率。
电压源控制器70包括一个经过引线71的输入VIN，该输入与正的直流电压电源72(约为24伏V+)联结并通过一个隔直流或平流电容器73接地。出现在引线75上的输出VOUT是处在与晶体管58，60和62的集电极有关的电路中，以不仅向晶体管58，60和62的集电极而且也向一个PNP隔直流或绕组隔离晶体管80的发射极供给可控的和受控的正偏压，晶体管80的基极通过偏压电阻76与引线75联结，并经由限流电阻78与晶体管62的集电极联结。隔直流或绕组隔离晶体管80的集电极经由二极管82，84与一组半绕组26a，28a联结，二极管82，84分别与绕组26，28的引线32，38联结。
电压源控制器70包括一个电压控制或经由引线86可以接通的调节输入接点ADJ，该接点ADJ通过偏压电阻88和85分别接到两个晶体管58和60的集电极上。也就是说，电压源控制器70的ADJ输入接点是处在分别与定位和制动控制晶体管58和60的集电极至发射极的通道相关的电路内。引线86经由电阻87接到电压源控制器70的输出引线75。这样，引线86就处在一方面是由定位控制晶体管58的电阻88和87组成的分压器的中点所确定的电位上，另一方面是由制动控制晶体管60的电阻87和85组成的分压器的中点所确定的电位上。
从控制和灵敏度的观点来看，可改变电阻85的阻值和电阻88的阻值以提供所需的任一输出电压或比例。这个理由在于控制晶体管60是制动晶体管，对它来说，希望提供功率较高用于控制输出的输出脉冲。另一方面，晶体管58是定位控制晶体管，并且提供给定的持续时间较短的间歇脉冲控制以模拟控制旋转钮14在预定角位置上定位的力或动作，这些数值和指令都处在微处理器20的控制下。
对阻塞或绕组隔离晶体管80来说，控制是在选通晶体管62不导电时与制动控制晶体管60和定位控制晶体管58一致的情况下起作用，该选通晶体管62是在PNP阻塞或绕组隔离晶体管80的基极至发射极的通道上被接入。发射极至基极的偏压是由在电压源控制器70的引线75上输出电压VOUT的值经由电阻76所确定的。阻塞或绕组隔离晶体管80的基极至集电极偏压是经由选通晶体管62的集电极至接地的发射极通道而建立的，因选通晶体管62受与它有串联关系的电阻78所限制。于是电阻76和78形成一个分压器，在这两个电阻的连接点上的值形成加到晶体管80的基极电压。电阻76的阻值数量级大约比电阻78的阻值大六倍以上(10000欧姆对1560欧姆)，结果是，随着选通晶体管62导通(表示一个都截止的信号“BOTH OFF”)，阻塞晶体管80的基极接近于地电位，造成轻微电流贯穿阻塞或绕组隔离晶体管80以便在控制旋转钮14上提供少量的阻力，从而在步进电动机12产生任何脉冲之前，起始旋转时就向控制旋转钮14提供起始的轻微阻力。用阻塞晶体管80的理由与步进电动机12的特性有关。如果两个绕组都被短路，亦即把半绕组的端点接在一起，对步进电动机12的翻转或旋转，进而对控制旋转钮14均有很大的阻力。这晶体管80使电路系统不能影响被短路的绕组状态。按照本发明，使用步进电动机12作为操作员输入控制装置，经由控制旋转钮14，制动控制系统24向分绕组26a和28a供给受控的和可变换用途的功率，因而通过控制旋转钮向操作员提供触觉反馈，既用于制动又用于定位。冲控制系统
往微处理器20输入时，其他分绕阻26b和28b向第一和第二比较电路90和92提供脉冲信号，它们的输出作为脉冲计数器/译码器95的第一和第二输入，计数器/译码器95响应步进的电动机12的旋转轴16的旋转经由引线50向微处理器20提供八位输出。由于分绕组26b和28b在相位上相差1/4周期，得到了方向信息、以及角速度信息、角位移信息和角加速度信息。计数器/译码器95是一个正交译码器，包括数字滤波器、正交译码器，以及具有从两个相位不同的输入信道来的平行输出的计数器的组合。
比较电路90和92构成第一和第二脉冲控制通道的部件，用于从分绕组26b和28b供给脉冲输入信号，为了在计数器/译码器95内转换成相应计数，各个脉冲输入信号彼此相位差为90度(在相位上相差1/4周期)。比较电路90和92的具体电路系统和作用通常是相同的，而比较电路90经由引线36通过串接电阻96和98在其正相输入端接收一输入。比较电路90的反相输入端被接地。两个电阻96和98的连接点接到两个串接二极管100，102的阳极至阴极的连接线上，该二极管100，102形成一个限幅器，并在负偏压(-5伏)和相同数量正偏压之间共同被加上反相偏压，这两个偏压跟比较电路90用的偏压值相同。这是为防止高电压峰值从电动机进入比较电路90。高阻值反馈电阻104把比较电路90的输出与其正相输入端相互连接。该输出是通过电阻106从引线108上提供给计数器/译码器95的一个输入通道CHA的。箝位二极管110，其阳极接地而阴极接到引线108上，并向计数器/译码器95提供一个TTL输入。
同样地，比较电路92经由引线30通过串接电阻110和112接收一输入至其正相输入端。比较电路92的反相输入端被接地。两个电阻110和112的连接点接到由两个串接二极管114，116所组成的第二限幅器的阳极至阴极的接线上，二极管114，116在负偏压(-5伏)和相同数量正偏压之间共同被加上反相偏压，该偏压跟比较电路92用的偏压值相同。高阻值反馈电阻118把比较电路92的输出与其正相输入端相互连接。该输出通过电阻120经引线122提供给计数器/译码器95的第二输入通道CHB。箝位二极管124以其阳极接地而阴极接到引线122上，以向计数器/译码器95提供一个TTL输入。
计数器/译码器95经由引线47及两个输入通道(CHA和CHB)分别经过引线122和108从微处理器20接收高频时钟信号，该时钟信号是分别来自半绕组26b和28b的相移脉冲流。计数器/译码器经过引线50向微处理器20输送八位输出。系统操作
使用时，当控制钮14处在它的起点或零位，计数器/译码器95的输出就在予置电平或零电平上。当控制旋转钮14进而步进的电动机12的转子被旋转时，来自步进的电机12分绕组26b和28b，带有相位差的输出脉冲流出现在引线30和36上。除了相位与第一方向不同相以指示旋转的前进方向以外，脉冲流是相同的。脉冲的频率将由控制旋转钮14的转速确定。该脉冲通过比较电路90和92，在那里，输入电压电平被箝制，若够大的话，分别借助于箝位二极管装置100，102和114，116，并分别加上箝位二极管110和124，真输出把电压箝制在所需工作电平上。
相移脉冲流是串行输入到两个通道，各自经引线108和122分别输入CHB和CHA直至计数器/译码器95。计数器/译码器95对高频输入脉冲流进行数字滤波，并译出相位信息，和对脉冲计数从而经过通信通道17(引线50)向微处理器20提供并行输出。出现在引线50上的八位输出包括给微处理器20的有关控制旋转钮14移动参数的二进制计数信息，即相对控制旋转钮旋转前的最终位置的速度、加速度、方向及角位置。计数器/译码器95包括一个复位输入RST，其功能是从微处理器20接受指令，以把计数器/译码器95内部的计数器复位置零。这最好是在完成控制钮14的各个旋转增量之后进行，同时微处理器20储存最终位置信息作为基准点用于任一连接的增量旋转。对计数器/译码器的其他输入包括选择(SEL)和允许输出(OE)，图中未显示它们的连接关系。这两个输入经由微处理器20接受指令，以便如操作所需允许输入和能够输出。
该信息由微处理器20解释，包括在软件内的或在存储器内的在其他事情中与预置角位置有关的信息，该预置角位置相当于控制旋转钮14的定位位置。为响应这信息，微处理器20经过引线40-42分别给“定位中”、制动中“或”二者都结束”的控制晶体管58、60和62输出二进制指令。为响应来自计数器/译码器95的计数(和相位)信息的一致性以表示所需或所储存的预置角位置，可以通过引线40发出指会给定位控制晶体管58，随后电压源控制器70将给步进的电动机12的半绕组26a和28a提供静态直流电压，如果输送的功率值是很小的值而且持续时间内是在模拟定位，这就产生与旋转方向相反的短暂转矩或力。
如果由系统请求达到指令极限时，微处理器20将经引线41发出二进制输出指令给制动控制晶体管60，随后，电压源控制器70会给步进的电动机12的半绕组26a和28a提供较大功率。为了更快速地移动控制旋转钮14，微处理器20在引线40和41上同时产生指令，以命令电压源控制器70给绕组26a和28a提供较大功率，从而给步进的电动机12提供与控制旋转钮14的转动速度相反的较大转矩，或者响应控制旋转钮14转到一个接近实际应用中最大程度旋转角位置而给步进的电动机12提供更大转矩。
按照本发明，现已提供了一个低价的市场上可买到的步进的电动机12作为对微处理器20的一个输入(经由控制旋转钮14)，用于影响与控制旋转钮14的移动方向相反的转矩，以便向操作员提供具有可控的制动转矩持续时间以模拟定位、用于持续旋转的适度连续制动力、或阻止高速加速的更大转矩、或指出接近旋转极限的触觉。
尽管已经显示和描述了一个较好的实施例，不言而喻，其他各式各样修改和改进可以在本发明的精神和范围内形成。

Claims (7)

1.一种旋转控制器系统，包括：
具有轴(16)以及第一和第二绕组(26，28)的电动机(12)；
借助于所述轴与所述电动机(12)耦合并使其转动的手控可转动控制旋转钮(14)；
微处理器(20)；
耦合到所述绕组，并根据所述控制旋转钮的转动，向所述微处理器提供代表所述控制旋转钮的运动参数的信号的脉冲控制系统(22)；以及
制动控制系统(24)，耦合到所述微处理器以及所述绕组的部分上，用于从所述微处理器上接收命令并激励所述绕组的所述部分，以在所述轴上提供一个与所述控制旋转钮的转动方向相反的力；
其特征在于：
绕组(26，28)都分成两个相应部分，其一连到脉冲控制系统(22)，而另一个则连到制动控制系统(24)上，这样，每个绕组的一部分被用于将参数信令到微处理器上，而每个绕组的另一部分用于对电动机旋转的制动，另外，由制动控制系统(24)所提供的力，针对由控制旋转钮的手控转动所提供的电动机的转动来制动电动机。
2.如权利要求1的旋转控制器系统，其特征在于所述电动机(12)是一个步进电动机，且所述微处理器修正用于制动电动机的力的量及其出现，从而模拟出一种恒定力或一种周期性的电动机转动前的抵抗转矩。
3.如权利要求2的旋转控制器系统，其特征在于，所述运动参数包括移动速度、方向和转角之一。
4.如权利要求2的旋转控制器系统，其特征在于，所述绕组(26，28)是正交的。
5.如权利要求2的旋转控制器系统，其特征在于，所述手控可转动控制旋转钮(14)包括一个耦合到电动机(12)的轴(16)上的控制钮。
6.如权利要求2的旋转控制器系统，其特征在于，所述脉冲控制系统包括两个比较器(90，91)，其每一个具有耦合到各绕组(26，28)之一的第一部分上的输入，所述信令装置还包括一个计数器/译码器(95)，用于接收所述比较器的输出，以根据所述信号中的相位差提供相对于旋转方向的信息。
7.如权利要求2所述旋转控制器系统，其特征在于，所述每个绕组(26，28)的第一和第二部分是由接地的相应抽头分开的。
CN93101137A 1992-04-10 1993-01-21 带有触觉反馈的交互旋转控制器系统 Expired - Fee Related CN1048814C (zh)

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EP0565143A2 (en) 1993-10-13
EP0565143A3 (zh) 1994-04-20
TW223715B (zh) 1994-05-11
MX9207613A (es) 1994-05-31
ATE164470T1 (de) 1998-04-15
DE69317591T2 (de) 1998-11-05
US5189355A (en) 1993-02-23
KR100270132B1 (ko) 2000-10-16
CN1077302A (zh) 1993-10-13
JPH06131744A (ja) 1994-05-13
DE69317591D1 (de) 1998-04-30
KR930022071A (ko) 1993-11-23
EP0565143B1 (en) 1998-03-25

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