CN106470898B - 操纵装置 - Google Patents

操纵装置 Download PDF

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CN106470898B
CN106470898B CN201580028126.2A CN201580028126A CN106470898B CN 106470898 B CN106470898 B CN 106470898B CN 201580028126 A CN201580028126 A CN 201580028126A CN 106470898 B CN106470898 B CN 106470898B
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signal
control unit
force
value
actuator
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CN106470898A (zh
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A·泰勒
J·H·比恩
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BAE Systems PLC
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    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/04—Initiating means actuated personally
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    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
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    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
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  • Aviation & Aerospace Engineering (AREA)
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  • General Physics & Mathematics (AREA)
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  • Position Input By Displaying (AREA)

Abstract

本发明涉及一种主动型操纵装置和用于操作机器的方法。该装置包括具有抓握部的杆部件，该杆部件相对壳体枢转地安装。其还包括位置传感器，以响应杆部件位置并用于产生表示杆部件位置的信号。设置于杆部件上的力传感器响应由用户施加于所述杆的力并用于产生表示用户施加于所述杆的力的信号。该装置还包括控制单元，可操作地接收分别来自位置传感器和力传感器的位置信号和力信号。所述控制单元根据预定关系可操作地处理所述信号，以确定表示施加到所述杆部件的力相对于所述杆部件的位移的值FD。控制单元还可操作地根据值FD产生用于与机器通信的机器控制信号，其为位置信号和力信号的函数。

Description

操纵装置
技术领域
本发明涉及一种用于操作机器的操纵装置。
背景技术
已知使用杆控制器来控制机器，例如陆地、海上或空中交通工具。特别地，飞行器配备有被动杆式控制器(即，操纵杆(inceptors)或“控制杆”)。
对于飞行器，目前使用的有两种类型的侧杆控制器，其为飞行员提供交通工具的控制系统(例如其飞行控制系统)。一种类型是“被动的”，而另一种类型是“主动的”。
被动型操纵杆具有由弹簧和阻尼器提供的固定的力/感知特性，但是不向飞行员提供关于飞行器的当前情况的触觉提示。使用被动型侧杆的飞行控制系统依靠飞行器控制系统内的飞行控制规则来使飞行器保持在安全的操作范围内。也就是说，飞行控制系统不允许超过飞行器的极限，无论飞行员通过杆控制向系统输入何种指令。这种情况有时被称为“无忧”处理。
主动型操纵杆更为复杂。除了用于提供复原力/感知特性的弹簧和阻尼器之外，它们还具有伺服致动器机构，其允许操纵杆的力/感知特性在整个飞行过程中连续地改变。
被动型或主动型操纵杆的运动产生位置信息，其被解释用于控制交通工具。如果操纵杆机构卡住(例如，由于机械故障)，则操作者不能移动操纵杆，因此不会产生位置数据，并且交通工具不能被控制。
对于陆上或水上交通工具，这种情况虽然严重，但可以通过关闭交通工具以便停止以减轻这个问题。对于许多飞行器，可以通过提供第二组控制来减轻该问题，这是常见的，因为许多飞行器具有两个飞行控制位置，并且同时出现故障的机会非常小。
然而，对于仅具有一组控制器或仅配备一个飞行员的飞行器，存在客户需要进一步减轻操纵杆卡住的问题。
因此，迫切期望提供一种安全的操纵装置，其在操纵杆变为物理上不可移动且因此不能为飞行器控制系统产生位置输入的情况下，提供对交通工具(例如飞行器)的控制。
发明内容
根据本发明，提供如所附权利要求中阐述的装置和方法。本发明的其它特征将根据从属权利要求以及下面的描述而变得显而易见。
因此，可以提供一种用于操作机器的主动型操纵装置，所述装置包括：具有抓握部分的杆部件，所述杆部件相对于壳体可枢转地安装；位置传感器，其响应于杆部件位置并产生指示杆部件位置的信号；设置在所述杆部件上的力传感器，其响应于用户产生的施加到所述操作杆的力，并产生表示所述力的信号；控制单元，其可操作地分别从所述位置和力传感器接收所述位置和力信号；根据预定关系可操作地处理所述信号，以确定表示施加到所述杆部件的力相对于所述杆部件的位移的值FD；并且可操作地根据值FD产生用于与机器通信的机器控制信号，其为位置信号和力信号的函数。
当值FD低于预定公差极限时，控制单元可以根据力信号和位置信号可操作地产生控制信号。
当值FD低于预定公差极限时，控制单元可以根据位置信号而不是力信号可操作地产生控制信号。
当值FD超过预定公差极限时，控制单元可以根据力信号而不是位置信号可操作地产生控制信号。
杆部件可以与致动器连接，该致动器可操作地响应来自控制单元的信号。
响应于从控制单元接收的信号，致动器可以可操作地推动杆部件到预定位置。
响应于从控制单元接收的信号，致动器可以可操作地相对于壳体被锁定在适当位置，从而将杆部件锁定就位。
响应于从控制单元接收的信号，致动器可以可操作地被禁用。
杆部件可以可操作地以第一方向和第二方向上枢转，第一方向垂直于第二方向。
可以提供一种包括如前述权利要求中任一项所述的操纵装置的交通工具控制装置。
还可以提供一种操作用于控制根据本发明的机器的操纵装置的方法，包括以下步骤：分别从位置和力传感器接收位置和力信号；确定表示施加到杆部件的力相对于杆部件的位移的值FD，根据值FD产生用于与机器通信的机器控制信号，其为位置信号和力信号的函数。
当值FD低于预定公差极限时，控制单元可以根据力信号和位置信号产生控制信号。
在产生机器控制信号的步骤期间，控制单元可以向力信号施加第一可变增益乘数，并且可以向位置信号施加第二可变增益乘数，根据位置信号，增益乘数的值相对于彼此而变化。
当值FD低于预定公差极限时，控制单元可以根据位置信号而不是力信号产生控制信号。
当值FD超过预定公差极限时，控制单元可以根据力信号而不是位置信号产生控制信号。
控制单元可以根据值FD产生用于控制与杆部件连接的致动器的信号。
当控制单元确定值FD超过预定公差极限时，控制单元可以产生指示致动器将杆部件推动到预定位置的信号。
当控制单元确定值FD超过预定公差极限时，控制单元可以产生相对于壳体锁定致动器的信号，从而相对于壳体锁定杆部件。
当控制单元确定值FD超过预定公差极限时，控制单元可产生禁用致动器的信号。
因此，提供了一种操纵装置以及操纵装置的操作方法，其在正常操作中向用于控制机器的控制系统提供位置输入，但是在杆部件不能移动的情况下，操纵杆可操作地以基于施加到所述杆部件的力向用于控制所述机器的控制系统提供输入。
附图说明
本发明的实施例将参考随附的附图进行描述，其中：
图1表示根据本发明的操纵杆系统的第一实施例；以及
图2表示根据本发明的操纵杆系统的第二实施例。
具体实施方式
图1表示构成本发明的交通工具控制系统的一部分的被动型操纵装置10的实施例。
操纵杆10用于操作机器，例如，静态设备、陆上交通工具、水上交通工具或空中交通工具。在图1和图2所示的实施例中，所示出的系统适于驾驶飞行器。
操纵杆包括杆壳体11和杆部件12(或“控制杆”、“侧杆”或仅为“杆”)，它们设置成杆部件12在枢转点13枢转地安装于杆壳体11。在所示的实施例中，枢转点13用于将杆部件12分为容纳于杆壳体11内的第一部件部14，以及杆壳体11外部的第二部件部15。通常地，杆壳体11固定于具有被动型主动型操纵装置10的交通工具。枢转点13使杆部件12相对于杆壳体11枢转，如箭头16、17所示方向。控制杆12围绕枢转点13枢转安装，从而其可以第一方向和第二方向中的至少一个方向移动，所述第二方向与第一方向成直角。即，杆部件12相对于壳体11枢转安装。第一方向可以为“x”方向(即，左右方向，如图1所示)，或者可以为“y”方向，如图1所示实际上进出页面。通过这种方式，控制杆在使用时可以在俯仰和滚转方向控制飞行器。
在第二部件部15和杆壳体11之间具有护套(gaiter)18，用于禁止不必要的外来材料进入到杆壳体11内。在第二部件部15的远离枢转点13一端，具有适于通过被动型主动型操纵装置10的操作者接合的把手(或抓握部)19，从而操作者可以沿箭头16所示的“x”方向和与所示方向成直角的方向(即，沿“y”方向)移动杆部件12。
实体20可以与位于远离枢转点13端部的第一部件部14连接。实体20被设置为，在外加速力作用于杆部件12和相关的把手19的情况下，作为杆部件12围绕枢转点13移动的平衡。
还与位于实体20和枢转点13之间的第一部件部14连接的是第一连杆21。第一连杆21的第一端22枢接于第一部件部14，而其第二端23枢接到第二连杆24。第二连杆24在第一端25枢接于第一连杆21，而第二连杆24的第二端26固定连接于位置传感器28的输出驱动轴，所述位置传感器用于响应杆部件位置并产生表示杆部件位置的信号。所述位置传感器28还包括固定连接于杆壳体11的壳体29。
位置传感器28可以响应在“x”方向和“y”方向的信号。另外，提供两个这样的位置传感器28，一个位置传感器用于响应“x”方向的移动，另一个位置传感器用于响应“y”方向的移动。
对于上述描述的附加或可替代的特征可以形成装置10的一部分，且这些特征可以不同的形式在附图中示出。例如，杆部件12与位置传感器的连接和/或杆部件12相对于壳体11可枢转的装置可以有不同的构造。
在杆部件12上还提供有力传感器32，用于响应由用户施加于杆部件12的力并产生表示由用户施加于杆部件12的力的信号。力传感器32可以设置在把手19的下面，并且，在一个实施例中，可以通过对作用于杆部件12材料的压力和/或应变敏感而响应在“x”方向和“y”方向的力。
还具有控制单元40，其可操作地分别通过连接线34、36接收来自位置传感器28和力传感器32的位置信号和力信号。在所示系统用于飞行器的实施例中，控制单元40可以是飞行控制计算机。
如图1所示，控制单元40输出包含信息和数据的信号到如图2所示的通常由48、50、52表示的交通工具的部件，从而控制交通工具。
图2表示包括主动型操纵杆100的本发明的装置的实施例。特征如由操纵装置100操作的支撑壳体和机器未示出，以避免模糊该装置更多相关特征的细节。在该实施例中，杆部件12以截断形式示出。即，杆部件12可以如图1所示进一步延长(即，更长)。在该实施例中杆部件12具有基部114和从基部延伸的抓握部116，正如其名称所示，抓握部是由操作者，例如飞行员操纵的部分。尽管图2所示为平面管，以及图1的实施例，但是抓握部116可以包括符合人体工程学的把手以易于操作，以及用于交通工具操作的按钮。
杆部件12的基部114包括具有第一基部部件118和第二基部部件120的万向节设置(gimbal arrangement)，杆部件12从所述第一基部部件118延伸。杆部件12仅沿一个方向从第一基部部件118延伸。也就是说，杆部件12止于基部部件118的顶端，而不延伸到基部114的下面。第一基部部件118枢接于第二基部部件120以使杆部件12和第一基部部件114与第二基部部件120无关地围绕第一旋转轴122旋转。第二基部部件120枢转安装以使杆部件12、第一基部部件118和第二基部部件120一起围绕第二旋转轴124旋转。力传感器32设置在杆部件12上。设置在杆部件12上的力传感器32用于响应并可操作地产生表示用户施加于杆12的力的信号。
第一致动器126通过第一基部部件118与杆部件12连接。第二致动器128通过第二基部部件120与杆部件12连接。两个致动器可操作地响应来自于控制单元40的信号，以向杆部件提供位置反馈。例如，两个致动器可以用于防止飞行员移动操纵杆到由控制单元40确定的不希望的位置。在实施例中所示出的第一致动器126通过第一臂130与第一基部部件118连接。所述臂130包括连杆130a和连杆130b，二者在可枢转接头131处连接，这样臂130被铰接。臂130通过轴承132与第一基部部件118连接。第二致动器128通过第二臂144与第二基部部件120连接。第二臂144包括连杆144a、连杆144b以及连杆144c。连杆144a和连杆144b在可枢转接头136a处连接，而连杆144b和连杆144c在可枢转接头136b处连接。因此，臂144包括两个铰接。连杆144c刚性连接到第二基部部件120。在该实施例中所示出的两个致动器126、128中，每个致动器包括保持于壳体内的电动机以及从壳体延伸出的轴。臂130、144分别与各自的轴可固定地连接。第一致动器126的轴的旋转将导致杆12以第一方向(图2所示为“x”)围绕第一旋转轴122旋转，同样地，第二致动器128的轴的旋转将导致杆12以第二方向(图2所示为“y”)围绕第二旋转轴124旋转。在可替代的实施例中，致动器也可以设置为液压装置，或任何其他合适类型的致动器。
第一旋转轴122与第二旋转轴124垂直。同样地，第一方向“x”与第二方向“y”相互垂直。
第一基部部件118或第二基部部件120中的至少一个具有位置感器28(示于不同的位置，如28a、28b)，其被构造为产生表示它们各自旋转轴的旋转角度的位置信号。位置传感器28可操作地产生实际杆部件位置数据。因此，第一基部部件18可以具有第一位置传感器28a，而第二基部部件120可以具有第二位置传感器28b。
控制单元40被构造为通过连接线例如，所示的线172、174、176分别接收来自于力传感器32和位置传感器28a、28b的信号。在信号经由线162、164通过控制单元40之前，处理器150将操纵杆100和控制单元40串联以处理和/或过滤来自于传感器32、28的数据。
控制单元40将包含各种信息的信号输出到如图2所示通常由48、50、52表示的交通工具的部件，并由此控制交通工具。
在图1和图2所示的实施例中，控制单元40根据预定关系可操作地处理所述信号，以确定表示施加到所述杆部件12的力相对于所述杆部件12的位移的值FD。控制单元40也可操作地根据值FD产生用于与机器通信的机器控制信号，其为位置信号和力信号的函数。
操纵杆和控制单元40(飞行控制计算机)可以设置为单独的单元，并且，在实践中，可以相互间隔设置位于交通工具的不同区域。控制单元40也可以完成其他功能以及处理本文描述的信号数据。由此操纵杆10、100与控制单元40可以组合来提供飞行控制系统。
对于主要部件，使用上述操纵装置的机器的控制是相同的。
综上所述，根据本发明用于控制机器的操作操纵装置的方法包括：接收分别来自于位置传感器28和力传感器32的位置信号和力信号；确定表示施加到所述杆部件的力相对于所述杆部件的位移的值FD，以及根据值FD产生用于与机器通信的机器控制信号，其为位置信号和力信号的函数。该方法将在下面进行详细描述。
控制单元40可操作地处理分别来自于位置传感器28和力传感器32的位置信号和力信号。位置信号表示杆部件相对于基准位置的角度。传感器用于随时产生信号除非特别关闭。控制单元使用这些信号以确定表示施加到所述杆部件12的力相对于所述杆部件12的位移的值FD。也就是说，控制单元40使用信号来确定值FD，当杆部件12相对于基准位置(例如，空“中心”位置)从一个角度移动到另一个角度时，该值FD正比于施加到所述杆部件12的力。该值FD可以被确定为随着杆的移动(例如，对于一次移动的一小部分)而递增。
根据值FD、并根据位置信号和/或力信号，控制单元40可操作地产生用于与机器通信的控制信号。
当控制单元40确定值FD低于预定公差极限时，控制单元40可以根据力信号和位置信号产生机器控制信号。而当在预定公差极限内操作时，操纵装置10、100则被视为正常工作。
在产生机器控制信号时，控制单元40根据杆部件12位移的量而改变其对于力信号和位置信号的灵敏性。也就是说，在产生机器控制信号的步骤期间，控制单元向力信号施加第一可变增益乘数，而向位置信号施加第二可变增益乘数，根据杆位移的量，增益乘数的值相对于彼此而改变。
例如，用于产生机器控制信号的函数为，当杆部件12移动的量相对较小时(即，当用户对杆部件的位置进行小的调整时)，力信号在控制机器方面，比位置信号具有更大的权重(即，第一可变乘数设定为相对较高，而第二可变乘数设定为相对较低)。当杆部件处于中心位置(即，“空”位置)时，函数为，仅根据力信号，且独立于位置信号(即，第二可变乘数设定为零)来控制机器。随着位移量的增加，施加于力信号和位置信号的相对权重(即，增益)改变，从而基于力信号和位置信号，或仅基于位置信号对机器进行控制。
附加地或替代地，当正常操作被动型操纵杆，或以主动模式正常操作主动型操纵杆，且控制单元确定了值FD低于预定公差极限时，控制单元根据位置信号而不是力信号产生控制信号。
如果杆部件12被卡住，例如由于磨损、损坏或外来物质而引起的对于连杆移动的阻力增加，杆部件12移动每一度的力(force per degree of movement)将超过预定公差极限。当值FD超过预定公差极限时，控制单元40根据力信号而不是位置信号产生控制信号。由于已确定这一点，控制单元40将仅基于力信号产生控制信号以控制机器。
如上所述参考图2，控制单元40产生用于控制与杆部件12连接的致动器的信号，致动器控制信号基于值FD而确定。
当控制单元40确定了值FD超过预定公差极限时，控制单元40产生指示致动器推动杆部件到预定位置的信号。例如，预定位置可以是空操纵杆位置(即，中心，或对于飞行器而言“直且水平”)。因此，当杆部件12变得非常难以移动时，致动器将杆部件12移动到符合人体工程学的位置以利于用户操作机器。致动器126、128可操作地缓慢地(即，以几秒钟)向后驱动杆部件至空位置。
当控制单元40确定了值FD超过预定公差极限时，控制单元产生相对壳体锁定致动器的信号，从而相对壳体锁定杆部件13。因此，在已确定杆部件存在问题时，很难去移动，但也不是不可移动，致动器将锁定到一个位置，从而杆部件12最终相对于壳体而固定就位，且因此通过使用力信号而不是位置信号对机器进行控制。
当控制单元确定了值FD超过预定公差极限时，控制单元产生禁用致动器的信号。也就是说，为了减少至致动器的电流，以及为操作操纵杆带来稳定性和确定性，致动器将被关闭。这种情况可以在致动器被锁定就位之后，或独立于致动器被锁定就位而发生。
同样地，致动器126、128(当存在时)所需的用于获得所希望的杆位置的电流量可以用于确定杆部件12是否被卡住，即使尚未完全被卡住。在此情况下，控制单元40将响应于由致动器汲取的测量的电流，根据力信号和位置信号、仅位置信号、或仅力信号产生控制信号。
这种结构是有利的，因为虽然在罕见的情况下，操纵杆会失去位置输入以控制机器(如上所述)，但是其不可能同时失去位置和力输入。卡住的操纵杆和力传感器信号的丢失的双重事件的概率是非常小的，例如，基本小于1x 10-9pfh。因此，力传感器32针对杆部件变为不能移动提供了有用的缓解。
因此，提供力传感器32于杆部件12内/上，对于上述任何潜在的卡点(例如，上述杆部件枢接点，朝向或位于杆部件的把手之下)是有利的，这是因为通过飞行员施加于杆部件12的力可以通过独立于由操纵杆10、100产生的位置数据而检测到。
因此，提供一种即使有卡住的操纵杆10、100也能控制机器的装置和方法。在一个实施例中，其中该机器为飞行器，这将是特别有利的，因为即使在操纵杆卡住的情况下，其能够增加飞行器安全返回地面的可能性。
虽然这在单人驾驶的飞行器中显然是有利的，但是本发明的装置也可以用于具有多于一组的驾驶控制的飞行器。
注意涉及与本申请相关的、与本申请同时或之前提交的所有文件，并且与本说明书一起向公众公开的所有文件，所有这些文件的内容通过引用并入本文。
本说明书公开的所有特征(包括随附的权利要求书、摘要和附图)，和/或如此公开的任何方法或工艺的所有步骤可以任何组合方式进行结合，除非这些组合中至少某些特征和/或步骤是相互排斥的。
本说明书公开的每个特征(包括随附的权利要求书、摘要和附图)可由用于相同、等同或类似目的的替代特征替换，除非另有明确说明。因此，除非另有明确说明，所公开的每个特征仅是一系列等效或类似特征的一个示例。
但是本发明不限于前述实施例的细节。本发明延伸到本说明书中所公开的任意新颖的一个特征，或特征的任意新颖的组合，或如此公开的任意步骤或工艺的任意新颖的一个步骤或工艺，或步骤或工艺的任意新颖的组合。

Claims (19)

1.一种用于操作机器的主动型操纵装置，该装置包括：
具有抓握部的杆部件，该杆部件相对壳体枢转地安装；
位置传感器，其响应杆部件位置并用于产生表示杆部件位置的信号；
设置于杆部件上的力传感器，其响应由用户施加于所述杆部件的力并用于产生表示用户施加于所述杆部件的力的信号；以及
控制单元，其可操作地：
接收分别来自位置传感器和力传感器的位置信号和力信号；
根据预定关系处理所述信号，以确定表示施加到所述杆部件的力相对于所述杆部件的位移的值FD，所述值FD正比于所述力信号；和
根据所述值FD产生用于与机器通信的机器控制信号，其为位置信号和力信号的函数。
2.根据权利要求1所述的主动型操纵装置，其中，当所述值FD低于预定公差极限时，所述控制单元根据所述力信号和所述位置信号可操作地产生控制信号。
3.根据权利要求1所述的主动型操纵装置，其中当所述值FD低于预定公差极限时，所述控制单元根据所述位置信号而不是所述力信号可操作地产生控制信号。
4.根据权利要求1所述的主动型操纵装置，其中，当所述值FD超过预定公差极限时，所述控制单元根据所述力信号而不是所述位置信号可操作地产生控制信号。
5.根据权利要求1所述的主动型操纵装置，其中，所述杆部件与致动器连接，所述致动器可操作地响应来自所述控制单元的信号。
6.根据权利要求5所述的主动型操纵装置，其中，响应于从所述控制单元接收的信号，所述致动器可操作地将所述杆部件推至预定位置。
7.根据权利要求5所述的主动型操纵装置，其中：
响应于从所述控制单元接收的信号，所述致动器相对于所述壳体可操作地被锁定在适当位置，从而将所述杆部件锁定就位。
8.根据权利要求5所述的主动型操纵装置，其中，响应于从所述控制单元接收的信号，所述致动器可操作地被禁用。
9.根据前述任一项权利要求所述的主动型操纵装置，其中，所述杆部件可操作地以第一方向和第二方向进行枢转，所述第一方向与所述第二方向垂直。
10.一种包括前述任一项权利要求所述的主动型操纵装置的交通工具控制装置。
11.一种操作如权利要求1～9中任一项所述的主动型操纵装置用于控制机器的方法，包含如下步骤：
分别从所述位置传感器和所述力传感器接收位置信号和力信号；
确定表示施加到所述杆部件的力相对于所述杆部件的位移的值FD，所述值FD正比于所述力信号；
根据所述值FD产生用于与机器通信的机器控制信号，其为位置信号和力信号的函数。
12.根据权利要求11所述的方法，其中：
当所述值FD低于预定公差极限时，所述控制单元根据所述力信号和所述位置信号产生控制信号。
13.根据权利要求12所述的方法，其中：
在产生机器控制信号的步骤期间，所述控制单元向力信号施加第一可变增益乘数，并且
向位置信号施加第二可变增益乘数，
根据位置信号，所述增益乘数的值相对于彼此而改变。
14.根据权利要求11所述的方法，其中：
当所述值FD低于预定公差极限时，所述控制单元根据所述位置信号而不是所述力信号产生控制信号。
15.根据权利要求11所述的方法，其中：
当所述值FD超过预定公差极限时，所述控制单元根据所述力信号而不是所述位置信号产生控制信号。
16.根据权利要求11所述的方法，其中所述控制单元根据所述值FD产生用于控制与所述杆部件连接的致动器的信号。
17.根据权利要求16所述的方法，其中：
当所述控制单元确定所述值FD超过预定公差极限时，所述控制单元产生指示所述致动器将所述杆部件推至预定位置的信号。
18.根据权利要求16所述的方法，其中：
当所述控制单元确定所述值FD超过预定公差极限时，所述控制单元产生相对于壳体锁定所述致动器的信号，从而相对于所述壳体锁定所述杆部件。
19.根据权利要求16所述的方法，其中：
当所述控制单元确定所述值FD超过预定公差极限时，所述控制单元产生禁用所述致动器的信号。
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