DE1261581B - Control stick arrangement, especially for aircraft controls, in which the position of the control stick is scanned electromagnetically - Google Patents

Description

Control stick assembly, especially for aircraft controls, at which the position of the control stick is scanned electromagnetically The invention relates to a joystick arrangement, in particular for aircraft controls which the position of the joystick is scanned electromagnetically and electrical Control signals generated according to the size and direction of the stick deflection will.

It is known that the position of the control stick can be determined by means of a potentiometer to tap, whose slider is connected to the joystick and at a Movement of the joystick on the potentiometer resistor is moved. It offers certain constructive difficulties, in this way a two-dimensional movement of the joystick.

It is also an inductive tap for the macroscopic movement of a joystick known in two coordinates, at which the joystick is gimbaled at a relatively large distance from its lower end. To the The lower end of the joystick is a dome-shaped ferromagnetic body provided, the surface of which is curved around the pivot point of the control stick. The inductive tap has a core with a central leg and two around it around in two mutually perpendicular planes arranged pairs of legs on; their end faces on a spherical surface surrounding the dome-shaped body lie. An excitation winding sits on the central leg. On each of the other Pairs of legs sit against each other connected induction coils.

When the control stick is moved, the dome-shaped one shifts Body in one or both directions transverse to the thighs, creating the magnetic flux relocated and the inductive coupling between the excitation coil and the various Induction coils is changed. Each pair of induction coils then delivers a Output signal according to the stick deflection in a coordinate.

This known arrangement is relatively complex and bulky. The joystick must be stored in a Kandanic way, and the dome-shaped ferromagnetic body sits on a fairly long lever arm.

The invention is therefore based on the object, the storage of a To simplify and macroscopically movable control sticks in two coordinates to reduce the dimensions of the storage and contact part.

According to the invention this is achieved in that the control stick in a ball joint is mounted and that the joint ball for the most part consists of non-magnetic material and a layer of ferromagnetic material contains, which is surrounded by an inductive pick-up system, or in that the Control stick is mounted in a ball joint and that the joint ball has a magnet forms or contains, which is surrounded by a pick-up system from Hauwandler.

When the control stick is deflected, the Joint ball within the sensing elements: Due to electromagnetic irregularities the joint ball, this rotary movement can be picked up in two coordinates, without restricting or impairing the movement of the stick. The arrangement is extremely simple and space-saving in terms of design. It will namely practical storage and tapping in one component, namely the ball joint, united.

The fact that in one solution according to the invention, the joint ball consists predominantly of non-magnetic material and a layer made of ferromagnetic material, by an inductive pick-up system is surrounded, the ferromagnetic is displaced when the joint ball is rotated Layer relative to the tapping system, creating control signals in two coordinates which depend on the direction and magnitude of the twist. An advantageous one Formation of the inductive pick-up system results when the inductive pick-up system has four excitation windings, each offset from one another by 90 °, and if two pairs are used for tapping the control signals for each coordinate of pick-off coils are provided, which are connected to one another and diametrically to one another arranged opposite symmetrically to two excitation windings and with these inductively via the layer of ferromagnetic material coupled are. In the middle position of the joystick, the inductive coupling is between the excitation windings and the pick-up coils are the same for all pick-up coils. In all Tap coils will therefore induce the same voltage, and since the coils are in pairs are connected against each other, the output voltage for both coordinates is the for the sake of clarity, it should be assumed once as a pitch and roll movement, Zero. If now the joystick z. B. to initiate a nodding movement in the Level of one pair of excitation windings is moved, then the inductive one Coupling of one pair of "Nick" pick-up coils to the neighboring field winding enlarged as a result of the relocation of the ferromagnetic layer in the joint ball. The induced voltage is increased. From the. but the same reason will be the tension induced in the diametrically opposed pair of "nick" pick-up coils is diminished because of the inductive coupling between these coils and the neighboring one Excitation winding is reduced. Since the coil pairs are switched against each other, a "Nick" output signal is generated, which can be used as a control command, for example, to a Flight controller can be fed. The "roll" pick-up coils, on the other hand, do not generate any Output signal. With the assumed deflection of the joystick in the "Nick" direction the joint ball rotates around an axis in the middle between the two pick-up coils each "Roll" c pick-up coil pair. The ferromagnetic swivels around the same axis Layer and this creates the inductive coupling between one coil of each pair and the adjacent excitation coil is increased and the induced voltage is increased. The coupling of the other coil of each pair with the excitation coil is to the same extent decreased and the induced voltage decreased. The sum of the in the two The voltages generated by pairs of "roll" pick-off coils therefore remain unchanged, and since the two pairs of coils are connected against each other, the output signal remains the "roll" reels zero. The same naturally also applies to a pure "roll" deflection of the joystick with regard to the "Nick" pick-up coils. If the Sticks in an intermediate direction become both "nod" and "Roll" signals generated, with the stick at a certain deflection set signals are essentially independent of one another. The size of the The "roll" signal does not depend on the "nod" signal.

In the other solution according to the invention, the tapping takes place Movement of the joint ball in that the joint ball forms a magnet or contains, which is surrounded by a pick-up system made of Hall transducers.

It is known in machine tools the movement of a straight line To convert the push button with a Hall generator into a corresponding electrical signal. For this purpose, the Hall transducer is two between the mutually facing poles Horseshoe magnets arranged and with the pushbutton transverse to the direction of the magnetic Field lines can be moved. In the middle position, the Hall transducer is on its one Half from left to right and on its other half from right to left penetrated by the field lines, so that on average no @Hall voltage occurs. at a deflection from this central position produces one of these proportional Hall voltages. However, this arrangement is only for scanning a movement in one coordinate determined and suitable.

Some exemplary embodiments of the invention are shown in the figures and described below.

F i g. 1 shows a schematic side view, partly in section, a joystick assembly according to the invention; F i g. 2 shows schematically the Arrangement of the excitation and pick-up coils for the various coordinates (pitch and rolling motion); F i g. 3 shows a development of the joint ball of the control stick surrounding tap members; F i g. 4 shows in a representation similar to FIG. 1 a modified embodiment in which the pick-off elements of Hall converter be formed; F i g. 5 shows a section along the line V-V of FIG. 4 at Middle position of the control stick; F i g. 6 shows a further development of the arrangement according to FIG. 1.

In the arrangement according to FIG. 1 to 3, the joystick 10 has a joint ball 11 at its lower end. The joint ball 11 sits on a bearing shell 12 with a correspondingly hollow spherical bearing surface 13. A ring 14, which surrounds the control stick 10 at a distance, rests with a correspondingly hollow spherical ring surface 15 on the other side of the joint ball 11. The ring 14 is under the influence of a spring 16 and thus holds the joint ball 11 firmly and without play on the bearing surface 13.

The joint ball is made of a non-magnetic material, e.g. B. aluminum. But it contains a layer 17 made of ferromagnetic material. The layer 17 can be produced in such a way that a package of dynamo sheet is poured into the ball. Then the ball with the cast-in dynamo sheets is turned to its final shape or subjected to some other suitable surface treatment. The ball obtained in this way is smooth and easy to move in the bearing shell 12, and the arrangement forms a ball joint for the control stick 10 , which ensures mobility of the control stick in all directions. In order to inductively sense this movement of the joystick 10, the ball 11 is surrounded by an annular stator package 18 on which the excitation and pick-up coils sit, which are best shown in FIG. 2 can be seen. Four excitation coils 19, 20, 21 and 22 offset from one another by 90 ° are provided. These excitation coils are connected in series and are connected to an alternating voltage source between points 1 and 2 via a switch 23. On both sides of the excitation coils 19 and 21 are pairs of pick-off coils 24; 25 or 26, 27 ("Nick" pick-up coils). As one can see from FIG. 2 and 3 clearly recognizes, the coils 26 and 27 are connected in opposition to the coils 24 and 25. If the same voltages are induced in all coils 24 to 27, then the resulting signal voltage between points 3 and 4 is zero. In a corresponding manner, the excitation coils 20 and 22 pairs of pick-off coils 28, 29 and 30, 31 are arranged on both sides ("roll" pick-off coils). Here, too, the coils 30 and 31 are connected in opposition to the coils 28 and 29, so that if the induced voltages in all coils 28 to 31 are the same, the resulting signal voltage, which is picked up between points 5 and 6, is also zero.

The pick-off coils are connected to the adjacent excitation coils 19 to 22 inductively coupled, namely the magnetic circuit is in each case via the laminated core 17 of the joint ball 11 is closed. In the middle position of the control stick you have symmetrical relationships. The same voltage is induced in all pick-up coils, and the output signals are zero. If now the joystick 10, as shown in FIG. 1, is deflected in the "roll" direction from its central position, then comes the laminated core 17 of the joint ball continues to overlap with the pole faces of the stator assembly 18. The magnetic resistance in the coil 22 with the pick-up coils 30 or 31 coupling magnetic circuits is reduced, and that in the coils 30 and. 31 induced voltages are increased. In contrast, the laminated core moves 17 from the area of the pole faces in the coils 20 and 28 or 29. The inductive Coupling between the excitation coil 20 and the pick-up coils 28 and 29 is reduced, the induced voltage is reduced. Since the coils 30 and 31 correspond to the coils 28 and 29 are switched in the opposite direction, a resulting signal voltage arises between the Points 5 and 6, according to the size and phase of the deflection of the control stick 10 corresponds in the "roll" direction. On the other hand, it occurs between terminals 3 and 4 no voltage; because the magnetic fluxes between the excitation coil 21 and the pick-off coils 26 and 27 change in exactly the same way as between the excitation coil 19 and the pick-up coils 24 and 25, respectively. In the coil pair 24 and 25 and the one connected against it Coil pairs 26 and 27 are thus induced the same voltages, which cancel each other out. Also the sum of the induced in coils 24 and 25 or 26 and 27 of a pair Chip. voltage practically does not change with this deflection of the control stick, there, as shown in FIG. 1 can be seen, the inductive coupling between the excitation coil 19 increases with the pick-up coil 24 to the same extent as the coupling with the pick-up coil 24 increases to the same extent as the coupling with the pick-off coil 25 decreases and the two pick-up coils are connected in series.

In the case of a pure “nodding” deflection, a is created in the same way Signal at terminals 3 and 4 and no signal at terminals 5 and 6. With one intermediate deflection of the control stick 10 creates a "nick" - as well as a "roll" signal without the signals influencing each other.

If the control stick 10 is in the middle position, then no output signal should appear. Since this is difficult to achieve even with the best adjustment of the tapping system, a switch 23 is provided in the excitation line. The switch 23 resiliently seeks to go into the open position. However, when the control stick 10 is deflected, it is transmitted by a transmission element 32, which is shown in FIG. 1 is only shown schematically and is supported on the joint ball 11 , held in the closed position. When the control stick 10 is in its central position, the transmission member 32 can move into a recess 33 in the ball 11 and releases the switch 23. This interrupts the excitation circuit and it is certain that no more control signals will be generated. Instead of being in the excitation circuit, the switch 23 could also be in the signal circuits.

F i g. 4 and 5 show an arrangement in which the sensing members are formed by four Hall transducers. Hall transducers are platelets, mostly made of semiconductor material, to which a voltage is applied in one direction. If the plate is vertical is penetrated by a magnetic field, then arises transversely to the direction the applied voltage is a voltage whose magnitude and polarity depend on the strength and direction of the magnetic field depends.

In Fig. 4 and 5, corresponding parts are provided with the same reference numerals as in FIG. 1 to 3. The joint ball 11 here contains a magnet 34 in the middle, which has two pole shoes 35 and 36, which form part of the ball 11 and are separated from one another by a gap 37 that narrows towards the outside. The ball 11 is surrounded by a ferromagnetic casing or yoke body 38 which, together with the non-magnetic bearing body 12, forms a cup-shaped receptacle for the ball 11. The yoke body 38 has an approximately square internal cross section. In the middle of the four sides are four Hall transducers 39, 40, 41, 42. Then two opposing 39 and 41 or 40 and 42 are connected to one another. The pair 39 and 41 provide the "nick" signals, the pair 40 and 42 the "roll" signals.

The magnetic circuit of the magnet 34 runs from its north pole Via the pole piece 35, the yoke body 38, the pole piece 36 to the south pole of the magnet. The flow of force is established through the square inner cross section of the yoke body 38 mainly concentrated in the middle of the sides where the Hall transducers 39, 40, 41, 42 are located.

It can be seen that the lines of force in the area of the north pole and the pole piece 35 from the inside to the outside, in the area of the south pole and the pole piece 36 from the outside to run inside. The Hall transducers are in the middle position of the joystick not or evenly at the top from the inside to the outside and at the bottom from the outside to the inside interspersed with magnetic lines of force. The house voltage generated is therefore zero. Any voltages that do occur compensate each other because of the mutual connection the transducers 39 and 41 as well as 40 and 42. If, however, as in FIG. 4 shown, the Control stick 10 is deflected in "roll" direction, then the converter 42 is im Area of the South Pole interspersed with lines of force that run from the outside to the inside, while the lines of force through the transducer 40 in the area of the north pole from the inside to go outside. The Hall voltages have opposite signs and add up because of the mutual connection. So you get an output signal.

Otherwise, the mode of operation is similar to that of FIG. 1 to 3. With For the sake of clarity, the "Nick" and "Roll" movements are the two to be controlled Sizes have been designated. It is evident, however, that the invention did not arise control of aircraft is restricted. You can z. B. a Control the crane. The joystick according to the invention is also suitable for remote control of everyone Kind of usable.

With the arrangement of the ball-and-socket joint, which takes up little space it is possible according to FIG. 6 to be stored centrally in another tap and thus the command control of the aircraft around all three axes at one point unite. The additional tap consists of a rotatable one in a known manner Control iron (43), through the rotation of which the excitation flow in the stator windings (44) is controlled.

Such a concentrated arrangement is particularly recommended for controls of vertically take off and vertically landing aircraft. at Takeoff and landing is generally the aircraft first with the additional Pick-up turned in the wind direction, which then no longer applies during the further landing process is changed while shifting the aircraft's center of gravity to the center of the Landing point takes place via the roll and pitch movement of the stick pick-up.

The concentric additional signal generator also has a switch that interrupts the control current in the middle position.

Claims (7)

Claims: 1. Control stick arrangement, in particular for aircraft controls, in which the position of the joystick is scanned electromagnetically and electrical Control signals generated according to the size and direction of the stick deflection that the control stick (10) is in a ball joint is mounted and that the joint ball (11) for the most part consists of non-magnetic material and a layer (13) made of ferromagnetic Contains material which is surrounded by an inductive pick-up system (18 to 31). 2. Control stick assembly, especially for aircraft controls, in which the Position of the joystick is scanned electromagnetically and electrical control signals are generated according to the size and direction of the stick deflection, characterized in that the control stick (10) is mounted in a ball joint is and .that the joint ball (11) forms or contains a magnet (34), which is of a pick-up system made of Hall transducers (39 to 42) is surrounded. 3. Joystick assembly according to claim 1, characterized in that the inductive pick-up system has four excitation windings (19 to 22), which are offset from each other by 90 °, and that for Picking up the control signals for each coordinate two pairs of pick-up coils (24, 25; 26, 27 or 28, 29; 30, 31) are provided, which are connected to one another and arranged diametrically opposite one another symmetrically to two excitation windings and inductively coupled to them via the layer (13) made of ferromagnetic material are. 4. SteuerknüppeIanordnung according to claim 3, characterized in that the Layer of ferromagnetic material consists of a package (13) of dynamo sheets, which are poured into the joint ball (11) and turned off together with this spherical are. 5. Control stick arrangement according to one of claims 1 to 4, characterized in that that the joint ball (11) by a ring (14) ,. which encloses the control stick (10) and resiliently rests against the joint ball (11) with a hollow spherical surface (13), is held in a correspondingly spherical bearing shell (12). 6. Joystick assembly with Hall pick-up system according to Claim 5, characterized in that the bearing shell (12) merges into a cup-shaped back yoke body (38), which the joint ball (11) surrounds, and that Hall transducer (39 to 42) between the yoke body (38) and the magnetic Joint ball (11) in pairs diametrically opposite one another and connected against one another are arranged so that they are in the middle position of the control stick (10) of the same magnetic fluxes of force are permeated. 7. Control stick arrangement according to claim 6, characterized in that the Hall transducers are symmetrical to the central plane between the north and south poles of the magnet (34) in the middle position of the control stick. Considered publications: German Auslegeschriften No. 1 102 245, 1063 691, 1133 012.