EP3130978B1 - Dispositif de commande dote de fonction d'arret haptique electromecanique - Google Patents

Dispositif de commande dote de fonction d'arret haptique electromecanique Download PDF

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Publication number
EP3130978B1
EP3130978B1 EP15180531.4A EP15180531A EP3130978B1 EP 3130978 B1 EP3130978 B1 EP 3130978B1 EP 15180531 A EP15180531 A EP 15180531A EP 3130978 B1 EP3130978 B1 EP 3130978B1
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EP
European Patent Office
Prior art keywords
operating
deflection
electric motor
operating device
operating element
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15180531.4A
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German (de)
English (en)
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EP3130978A1 (fr
Inventor
Alexander Cristea
Matthias Gschelak
Nikolaus Rades
Martin Eggensperger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
W Gessmann GmbH
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W Gessmann GmbH
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Priority to EP15180531.4A priority Critical patent/EP3130978B1/fr
Publication of EP3130978A1 publication Critical patent/EP3130978A1/fr
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Publication of EP3130978B1 publication Critical patent/EP3130978B1/fr
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/06—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for holding members in one or a limited number of definite positions only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels

Definitions

  • the WO 2013/116247 A1 discloses an operating device with a "force feedback trigger", which gives a user a haptic feedback depending on the signal of the device controlled by the operating device.
  • the disclosure DE 10 2012 024 846 A1 an adjustable automotive pedal assembly with a motor-controlled pedal lever.
  • the pedal lever is articulated by an electromechanical actuator unit.
  • US 5,381,080 A. discloses an operating device for manually entering information into an electronic device.
  • the control device is thus designed such that it at the latching deflection, ie at a predetermined deflection position of the operating element to / along the movement axis, the electric motor so controls that the mechanical behavior of the control corresponds to a classic - purely mechanical - latching in the detent displacement.
  • the operating device is designed so that it simulates the user by the interaction of the electric motor and control device on the detent locking, although at the detent displacement no (purely) mechanical locking the control element with another component of the control device exists.
  • the user thus feels when approaching the operating element to the locking deflection - regardless of the deflection, ie the direction of movement of the control element along / around its axis of movement - first generated by the electric motor assisting force and then (upon reaching / leaving the detent displacement) by the electric motor generated resistance, so that the user creates the haptic impression, the operating element be snapped or engaged in the locking deflection, as is the case when engaging a spring-loaded ball in a recess.
  • the operating element If the operating element is in the predetermined detent displacement or detent position, then the operating element can be moved in both directions of deflection of the operating element only against a force generated by the electric motor from the detent deflection.
  • control device of the operating device for storing the aforementioned parameters in the structurally simplest case, a storage medium, such as a digital memory module having.
  • control element can be deflected mechanically along or around one or more further axes of motion, with or without latching.
  • a detent with respect to the further movement axis (s) can be explained in the above Way simulated by electric motor or be realized purely mechanically in a conventional manner.
  • the operating device is preferably designed to control a device in the form of a machine, a ship, a rail vehicle, an aircraft, an industrial or construction vehicle, an industrial truck, a commercial vehicle, a crane or an application in the field of electro-hydraulics.
  • the control element is preferably in the form of a joystick (such as a compound drive or joystick), a lever or a (hand) steering wheel formed.
  • the force signal is greatest at two maxima, the two maxima being located in the detent environment.
  • the force signal preferably increases linearly from the detent displacement to the maxima.
  • the maxima can limit the latching environment in particular.
  • the force signal increases stepwise.
  • the maxima are spaced according to a preferred embodiment of the invention to the edge of the detent environment area.
  • the control element is thereby initially weak when entering the detent environment and then attracted to a maximum more to Rastauslenkung.
  • the force signal drops linearly from the maxima to the nearest edge of the detent environment. hereby a structurally simple design of the operating device is achieved at the same time haptic very realistic detent.
  • control device is designed to output the force signal in an antisymmetric manner relative to the latching deflection. The user is thereby given a symmetrical haptic sensation when driving over the locking deflection or when moving out of the operating lever from the locking deflection in both deflection directions.
  • the operating device is embodied indirectly and / or directly for detecting the movement speed of the deflection of the operating element, the control device being designed for speed-dependent output of the control signals, by calculating the force signal with a speed-dependent damping signal, preferably by adding the speed-dependent damping signal to the force signal ,
  • the control device being designed for speed-dependent output of the control signals, by calculating the force signal with a speed-dependent damping signal, preferably by adding the speed-dependent damping signal to the force signal .
  • damping of the control element in the region of the detent deflection conveys a haptic particularly realistic perception of a mechanical locking the user.
  • the speed of movement of the deflection of the operating element can be carried out according to the invention directly by a speed measurement and / or indirectly by a time derivation of the position determination of the operating element.
  • the operating device can have a control element position sensor for determining the particular displacement of the operating element by the control device.
  • the control device can be designed to read the deflection by the electrical operating signal.
  • the operating-element position sensor is preferably designed for reading out the deflection of the operating element with a resolution of more than 10 bits, in particular more than 18 bits.
  • the control device is preferably clocked at more than 5 kHz, in particular at more than 10 kHz.
  • the operating device can be used on the one hand for very sensitive control tasks.
  • a tactile or tactile to be perceived as particularly precise latching of the operating lever in the detent deflection can be generated or simulated.
  • control device for determining the movement speed of the deflection of the operating element can be designed according to the invention for the time derivative of the signal of the operating element position sensor.
  • control device can determine the movement speed by temporally deriving the signal of the operating-element position sensor.
  • the operating device may comprise an electric motor position sensor for determining the rotor position of the electric motor, wherein the controller for controlling the rotor position is formed on the basis of the signal of the electric motor position sensor.
  • the electric motor can be controlled by the control device for direct or indirect oscillation of the operating element when the operating element is in a predetermined avoidance deflection range is located.
  • the oscillation of the electric motor is preferably achieved by rapid switching of the electric motor, which is directly connected to the operating element or indirectly - in particular via a transmission - with the operating element.
  • the control device may be designed to output a control signal when the operating element is located in a predetermined feedback deflection range in order to move the operating element indirectly or directly through the electric motor to a predetermined deflection position.
  • the unactuated by a user control is thus always guided in the return deflection range to the predetermined deflection position.
  • the operating device may have a cascade controller for adjusting the electric motor control in the avoidance deflection region and / or in the feedback deflection region.
  • the electric motor can be controlled particularly precisely by a current regulator of the control device.
  • the control signal of the control device is used in this case to control a current to the electric motor, wherein the current is correlated with the control signal.
  • the electric motor may be formed according to an embodiment of the invention in the form of a linear motor. According to an alternative embodiment, the electric motor is designed in the form of a rotary motor. In this case, the electric motor is further preferably designed in the form of a brushless electric motor.
  • the operating device of the electric motor in the form of a permanent magnetizing synchronous motor (PMSM) is formed.
  • PMSM permanent magnetizing synchronous motor
  • the electric motor is particularly wear-resistant and has high torques in a compact design. More preferably, the electric motor has an external rotor design.
  • the output of the force on the operating element takes place in a rotary electric motor, preferably in the form of a torque of the electric motor.
  • control of the electric motor can be effected even more precisely if the control device is designed to control the electric motor by means of vector commutation.
  • the operating device has no mechanical locking of the operating element.
  • the operating device may have a mechanical friction brake which indirectly or directly brakes the deflection of the operating element.
  • the mechanical friction brake prevents a change in position of the operating element in the event of a power failure.
  • the constant friction torque of the mechanical friction brake generates a high-quality haptic feeling for the user.
  • the operating device is designed such that the behavior of the friction brake takes into account the temperature and the wear during the control of the electric motor by the control device.
  • the electric motor can be connected directly to the operating element, ie, it can be motion-coupled.
  • the electric motor may be connected by a transmission of the operating device with the operating element.
  • the transmission may have one or more gears.
  • the transmission according to the invention is preferably designed in the form of a toothed belt transmission.
  • the control element may be formed according to the invention in the form of a pivot lever, a rotary handle, a slide control or a plunger.
  • the control device preferably generates a force signal which indirectly causes a force on the operating element by the electric motor, which pulls the operating element for the detent deflection when the Operating element is located in a limited detent environment around the detent displacement.
  • the force signal is preferably greatest at maxima in the detent environment.
  • the maxima are preferably spaced apart from the edge of the detent environment, wherein the force signal in particular increases linearly from the edge of the detent environment to the respective closest maxima.
  • the output of the control signal is preferably antisymmetric to the latching deflection.
  • the output of the control signal preferably takes place as a function of the speed of the operating element.
  • a speed-dependent damping signal is further preferably generated by the control device, which is offset with the force signal to the control signal.
  • the speed-dependent damping signal is added to the force signal, so that as a result the control device outputs the control signal as the sum of the force signal and the speed-dependent damping signal to the electric motor.
  • the speed-dependent damping signal is only offset between the maxima with the force signal.
  • a control element position sensor of the operating device measures the deflection position of the operating element, in particular with a resolution of more than 10 bits, particularly preferably with a resolution of more than 18 bits.
  • the control device is preferably clocked at more than 5 kHz, in particular at more than 10 kHz.
  • a time derivative of the signal of the operating element position sensor preferably takes place in the control device.
  • control of the rotor position of the electric motor is based on a signal of an electric motor position sensor of the operating device.
  • the electric motor is preferably activated for direct or indirect oscillation of the operating element.
  • the electric motor can be moved in a predetermined return deflection range of the operating element to a predetermined deflection position.
  • the output of the force on the control i. the output of the assisting force and the resisting force is preferably in the form of an assisting torque of the electric motor.
  • the control of the electric motor is preferably carried out by means of vector commutation.
  • the operating device is further preferably indirectly or directly braked by a mechanical friction brake of the operating device.
  • Fig. 1 shows a control device 10 for control tasks, with a manually operable control element 12.
  • This change in the electrical resistance can be determined or read by the connection of electrical lines to a - here electrical - connection 16 of the operating device.
  • the connection 16 is - as in Fig. 1 indicated - connected to a device 18 to be controlled by the operating device 10.
  • the device 18 to be controlled can be designed, for example, in the form of a drive of a vehicle, such as a ship or a rail-bound vehicle.
  • the operating device can basically be used in active control mode and / or in passive tracking mode.
  • a user of the operating device 10 receives a haptic feedback from an electric motor 20 during the actuation of the operating element 12 Fig. 1 is the electric motor 20 directly connected to the operating element 12, so that the operating element on the motor shaft (not shown) of the electric motor 20 is arranged and connected to this rotationally fixed.
  • Fig. 2 shows an alternative embodiment of the operating device 10.
  • An electric motor 20 is in this embodiment of the operating device 10 indirectly - via a transmission 22 - connected to the control element 12.
  • the transmission 22 may be formed in particular in the form of a toothed belt transmission.
  • Fig. 3a shows a further operating device 10 with two operating elements 12a, 12b in the form of pivoting levers.
  • the deflection of the first operating element 12a is damped by a first mechanical friction brake 24a .
  • FIG. 3b shows the operating device 10 according to Fig. 3a in a rear view, wherein it can be seen that the second control element 12b is damped by a second mechanical friction brake 24b .
  • the deflection of the second operating element 12b which can be set or selected by a user of the operating device 10, is identified by a double arrow 26 .
  • the deflection of the operating element 12b can take place in a first direction 28a and in a second direction 28b opposite to the first direction 28a. Between the directions 28a, 28b, the user can determine a detent 30 .
  • the latching extension 30 is in Fig. 3b indicated by a cross.
  • the latching deflection 30 represents a position of the second operating element 12b, in which the user is given the haptic impression of a latching or a latching point.
  • the second operating element 12b may have a plurality of latching deflections 30 during its deflection.
  • the locking extension 30 and the several locking deflections 30 is / are not generated by mechanical components of the operating device 10 in the sense of a classic mechanical detent, but force-based or torque-based by an electric motor 20 (see, for example. FIGS. 1 and 2 ) generated.
  • the electric motor 20 is preferably designed as a brushless electric motor.
  • the control of the electric motor 20 is effected by a control device whose operation is described below with respect to Fig. 4 is explained.
  • Fig. 4 shows the basic structure of an operating device 10.
  • the operating device 10 has an electronic part and a mechanical part.
  • the electronic part is diagonally hatched.
  • the mechanical part is marked with crossed lines.
  • the mechanical part further optionally comprises the gear 22 and beyond the mechanical friction brake 24.
  • the electric motor 20 may, as explained above, be coupled directly or indirectly with the control element 12 mechanically movable ,
  • the operating element 12 can be actuated by a user 32 , that is to say in FIG FIG. 1 shown movement axis 14 rotatable.
  • the operating element can also be translationally adjustable along a movement axis.
  • a respective deflection position of the operating element 12 can be detected by a control element position sensor 34 .
  • a respective position or rotational position of the rotor of the electric motor 20 can be detected by an electric motor position sensor 36 .
  • the information of the position sensors 34, 36 are detected by a control device 38 .
  • the control device 38 controls the Electric motor 20.
  • the control device 38 has a current regulator 40 and a vector commutation 42 .
  • the vector commutation 42 is designed to carry out a pulse width modulation.
  • the output of the vector commutation 42 is applied to a three-phase H-bridge 44 to ultimately drive the electric motor 20.
  • the electronic part further has shunts 46 , at which voltages drop, which are detected by a current measurement 48 and supplied to the current controller 40 for motor control.
  • the output of the vector commutation 42 is determined by a microcontroller 50 of the controller 38.
  • the microcontroller 50 has a cascade controller 52 , which determines the output of the current regulator 40 by selecting the operating mode - represented here by a circle 54 .
  • the cascade controller 52 has, for example, three operating modes 56a, 56b, 56c .
  • the operating modes can be predefined or variably changed in the control device. If the operating element 12 is located in a first deflection range, a detent is simulated by way of example in the operating mode 56a.
  • the electric motor 20 is excited to oscillate in accordance with the operating mode 56b.
  • the user 32 is signaled that he is in a prohibited or dangerous deflection range with respect to the device 18 (see Fig. 1 ) is located.
  • the cascade controller 52 is in the operating mode 56c, in which the operating element 12 is returned by the electric motor 20 to a predetermined position. This corresponds to a return of the operating element 12 in a predetermined zero position.
  • the assignment of the operating modes 56a-c to certain deflection ranges is effected by a position indication 58.
  • Fig. 5a shows a fictitious ball 60, which penetrates into a notional recess 62 .
  • the fictitious ball 60 and the notional recess 62 correspond to the haptic feedback of an operating device 10 according to the invention (see FIGS. 1 to 4 ).
  • Fig. 5a illustrates the case that the electric motor 20 (see FIGS. 1 to 4 ) simulates an undamped detent.
  • the ball 60 vibrates felt about the detent displacement 30.
  • the latching behavior according to Fig. 5a arises when a control signal of the control device 38 (see Fig. 4 ) composed only of a force signal, the damping of the operating device 10 (see FIGS. 1 to 4 ) at least compensated. Without damping passes over the user-operated control element 12, 12a, 12b (see FIGS. 1 to 4 ) namely always the locking projection 30th
  • Fig. 5b shows the fictitious ball 60 and the notional recess 62 according to Fig. 5a in the event that by the electric motor 20 (see FIGS. 1 to 4 ) on the operating element 12, 12a, 12b (see FIGS. 1 to 4 ) acting force the mechanical (total) friction of the operating device 10 (see FIGS. 1 to 4 ) does not compensate or exceed.
  • the mechanical friction of the operating device 10 is conditioned by an always existing bearing and air friction.
  • the mechanical friction of the operating device 10 by a mechanical friction brake 24a, 24b intends to be strengthened.
  • the fictitious ball 60 does not feel precisely latched in the present case in the region of the latching deflection 30.
  • Fig. 5c shows the fictitious ball 60 and the notional recess 62 in the event that the electric motor 20 (see FIGS. 1 to 4 ) one of the control element 12, 12 a, 12 b (see FIGS. 1 to 4 ) provides speed-dependent active damping.
  • Such a speed-dependent active damping achieves a stable and at the same time precise latching in the latching deflection 30.
  • Fig. 6a shows a control signal S of the controller 38 (see Fig. 4 ), plotted as a function of the deflection a of a control element 12, 12a, 12b (see FIGS. 1 to 4 ).
  • a linearly rising control signal S is output, so that the operating element 12 is attracted to the latching deflection 30.
  • the control signal S here acts antisymmetrically to the latching deflection 30.
  • End points 64a, 64b define a latching environment 66. In the latching environment 66, there are equidistant to the latching deflection 30 maxima 68a, 68b.
  • the control signal S drops linearly from the maxima 68a, 68b to the end points 64a, 64b.
  • the control signal S according to Fig. 6a consists exclusively of a force signal K.
  • the behavior of the operating device 10 is - depending on the strength of the mechanical friction of the operating device 10 - in the FIGS. 5a and 5b shown.
  • Fig. 6b shows - how Fig. 6a the control signal S of the control device 38 (see Fig. 4 ) in response to the deflection a of the operating element 12, 12a, 12b (see FIGS. 1 to 4 ). Dashed is that Force signal K applied, the force signal K according to Fig. 6a equivalent. In addition to the force signal K shows Fig. 6b dash-dotted line a speed-dependent damping signal D. The solid line is the control signal S again. The control signal S is the sum of the force signal K and the speed-dependent damping signal D. The speed-dependent damping signal D acts only between the two maxima 68a, 68b.
  • the speed-dependent attenuation signal D is a behavior of the operating device 10 (see FIGS. 1 to 4 ) according to Fig. 5c achieved in which the operating element 12, 12 a, 12 b in the rest environment 66 without actuation by a user 32 (see Fig. 4 ) locked precisely in the locking projection 30.
  • the invention relates in summary to an operating device 10 for controlling a device 18 by a user 32.
  • the operating device 10 has an operating element 12, 12a, 12b, which can be deflected by the user 32, so that the operating device 10 generates or modifies an electrical signal to control the device 18.
  • the operating device 10 has an electric motor 20 which is at least indirectly connected to the operating element 12, 12a, 12b.
  • the electric motor 20 is designed to support and brake the actuation of the operating element 12, 12 a, 12 b by the user 32.
  • the operating device 10 further has a control device 38, which is designed to control the electric motor 20 so that the user 32 receives the haptic impression of a mechanical detent at a preset detent displacement 30.
  • the control device 38 is preferably designed such that the electric motor 20 is controlled so that the Operating element 12, 12a, 12b is attracted in the immediate vicinity of the latching deflection 30 to the latching deflection 30.
  • the deflection region, in which the control element 12, 12 a, 12 b is attracted to the latching deflection 30, is preferably symmetrical to the latching deflection 30.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)

Claims (11)

  1. Organe de manoeuvre (10) pour la commande/régulation d'un dispositif (18), sachant que l'organe de manoeuvre (10) présente ce qui suit :
    a) un élément de manoeuvre (12, 12a, 12b) pouvant être dévié mécaniquement autour/le long d'un axe de déplacement (14) par un utilisateur (32) ;
    b) une connexion (16) pour délivrer un signal de manoeuvre corrélé à la déviation de l'élément de manoeuvre (12, 12a, 12b) et destiné à la commande/régulation du dispositif ;
    c) un moteur électrique (20) pour solliciter indirectement ou directement en force l'élément de manoeuvre (12, 12a, 12b) ;
    et
    d) un organe de commande (38) pour délivrer des signaux de commande (S) pour la commande du moteur électrique (20) ;
    sachant que l'organe de commande (38) est conçu pour, à une déviation d'enclenchement prédéfinie (30) de l'élément de manoeuvre (12, 12a, 12b), commander au moteur électrique (20) de simuler un enclenchement, par le fait que l'organe de commande (38) génère un signal de force (K) qui produit indirectement par le moteur électrique (20) une force sur l'élément de manoeuvre (12, 12a, 12b), sachant que la force tire l'élément de manoeuvre (12, 12a, 12b) autour/le long de l'axe de déplacement en direction de la déviation d'enclenchement (30) lorsque l'élément de manoeuvre (12, 12a, 12b) se trouve dans une plage prédéfinie d'environnement d'enclenchement (66) autour de la déviation d'enclenchement (30), sachant que le signal de force (K) est le plus grand à deux maximums (68a, 68b) qui se trouvent dans la plage d'environnement d'enclenchement (66),
    caractérisé en ce que l'organe de manoeuvre (10) est conçu indirectement et/ou directement pour détecter la vitesse de déplacement de la déviation (a) de l'élément de manoeuvre (12, 12a, 12b),
    et en ce que l'organe de commande (38) est conçu pour délivrer le signal de commande (S) en fonction de la vitesse, par le fait qu'il calcule avec le signal de force (K) un signal d'amortissement (D) fonction de la vitesse.
  2. Organe de manoeuvre selon la revendication 1, selon lequel les maximums (68a, 68b) se trouvent à distance du bord de la plage d'environnement d'enclenchement (66).
  3. Organe de manoeuvre selon la revendication 1, selon lequel l'organe de manoeuvre (10) est conçu pour calculer le signal d'amortissement (D) fonction de la vitesse avec le signal de force (K) uniquement entre les maximums (68a, 68b).
  4. Organe de manoeuvre selon l'une des revendications précédentes, selon lequel l'organe de manoeuvre (10) présente un capteur (34) de position d'élément de manoeuvre pour déterminer la déviation (a) de l'élément de manoeuvre (12, 12a, 12b) par l'organe de commande (38).
  5. Organe de manoeuvre selon la revendication 4, selon lequel l'organe de commande (38) est conçu pour former la dérivée en fonction du temps du signal du capteur (34) de position d'élément de manoeuvre afin de déterminer la vitesse de déplacement de la déviation (a) de l'élément de manoeuvre (12, 12a, 12b)
  6. Organe de manoeuvre selon l'une des revendications précédentes, selon lequel l'organe de manoeuvre (10) présente un capteur (36) de position de moteur électrique pour déterminer la position du rotor du moteur électrique (20), sachant que l'organe de commande (38) est conçu pour réguler la position du rotor sur la base du signal du capteur (36) de position de moteur électrique.
  7. Organe de manoeuvre selon l'une des revendications précédentes, selon lequel, dans une plage prédéfinie de déviation à éviter de l'élément de manoeuvre (12, 12a, 12b), le moteur électrique (20) peut être commandé par l'organe de commande (38) pour l'oscillation indirecte ou directe de l'élément de manoeuvre (12, 12a, 12b).
  8. Organe de manoeuvre selon l'une des revendications précédentes, selon lequel, dans une plage prédéfinie de déviation de retour de l'élément de manoeuvre (12, 12a, 12b), l'organe de commande (38) est conçu pour délivrer un signal de commande (S) afin de déplacer l'élément de manoeuvre (12, 12a, 12b) par le moteur électrique (20) à une position prédéfinie de déviation.
  9. Organe de manoeuvre selon l'une des revendications précédentes, selon lequel le moteur électrique (20) est réalisé sous la forme d'un moteur électrique sans balais.
  10. Organe de manoeuvre selon l'une des revendications précédentes, selon lequel l'organe de manoeuvre (10) ne présente pas d'enclenchement purement mécanique de l'élément de manoeuvre (12, 12a, 12b).
  11. Organe de manoeuvre selon l'une des revendications précédentes, selon lequel l'organe de manoeuvre (10) présente un frein mécanique à friction (24a, 24b) qui freine indirectement ou directement la déviation (a) de l'élément de manoeuvre (12, 12a, 12b).
EP15180531.4A 2015-08-11 2015-08-11 Dispositif de commande dote de fonction d'arret haptique electromecanique Active EP3130978B1 (fr)

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EP15180531.4A EP3130978B1 (fr) 2015-08-11 2015-08-11 Dispositif de commande dote de fonction d'arret haptique electromecanique

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EP15180531.4A EP3130978B1 (fr) 2015-08-11 2015-08-11 Dispositif de commande dote de fonction d'arret haptique electromecanique

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EP3130978A1 EP3130978A1 (fr) 2017-02-15
EP3130978B1 true EP3130978B1 (fr) 2019-07-10

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Cited By (1)

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