JP2000264292A - Maneuvering device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To set the feel characteristic of a maneuvering part any as desired. SOLUTION: This maneuvering device is composed of a stick 3 supported with possibility of angular displacement relative to a casing, a stick position sensor 4 to emit a stick position sensor Sθ upon sensing the angular displacement amount of the stick 3, a feel spring 6 to generate an operating force in compliance with the angular displacement amount by reference to the neutral position of the stick 3, a back drive unit 10 coupled with the stick 3 through the feel spring 6 and for moving the neutral point by driving the stick 3, a force sensor 5 to emit a stick force signal SF upon sensing the operating force of the stick 3, and a flight control computer and back drive control device for controlling the back drive unit 10 in conformity to the signals Sθ and SF so that the relation between the angular displacement amount of the stick 3 and the operating force meets the desired characteristic.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device suitable for an aircraft such as a helicopter, a vehicle, a robot manipulator, a data input device for a computer, and the like.

[0002]

2. Description of the Related Art In a conventional control device, a feeler mechanism is provided so that the reaction force increases as the control stick is increased, thereby improving pilot controllability. As this feel mechanism, a configuration in which a spring is attached to a swinging portion of the steering stick is generally adopted.

[0003]

In such a feel mechanism using a spring, the feel inclination is always constant. Since changing the feel inclination requires a major modification of replacing the spring, it is practically difficult to freely change the feel inclination according to the physique and preference of the pilot.

[0004] In addition, if the feel inclination is constant, the steering feeling according to the aircraft speed is not fed back to the control stick, so that the pilot may unconsciously operate beyond the operating limit of the aircraft.

[0005] It is an object of the present invention to provide a control device capable of arbitrarily setting the feel characteristics of a control section.

[0006]

SUMMARY OF THE INVENTION The present invention is directed to a control unit supported to be freely angularly displaceable with respect to a housing, and a control amount for detecting an angular displacement amount of the control unit and outputting a control amount signal. A sensor, an elastic member for generating an operating force corresponding to the amount of angular displacement based on the neutral point of the control unit, and the control unit connected to the control unit via the elastic member to move the neutral point by driving the control unit A back drive mechanism for causing the control unit to detect an operation force of the control unit, and an operation force sensor for outputting an operation force signal, based on a control signal from the control amount sensor and an operation force signal from the control force sensor. And a control unit for controlling the back drive mechanism so that the relationship between the amount of angular displacement of the control unit and the operation force has a desired characteristic.

According to the present invention, the operation force can be detected by attaching the operation force sensor to the control unit.
Further, using the maneuver amount signal from the maneuver amount sensor and the maneuver force signal from the maneuver force sensor, controlling the back drive mechanism so that the relationship between the angular displacement of the maneuver unit and the maneuver force has desired characteristics. Thus, the feel characteristics of the control unit can be set arbitrarily. For example, when the operator wants to change the feel inclination, it can be easily realized by adjusting the feel characteristics set by the control unit.

Further, the feel characteristics of the control unit are a combination of a constant feel inclination generated by the elastic member and a variable feel inclination generated by the back drive mechanism. Therefore, even if the back drive mechanism breaks down and the variable feel inclination is no longer generated, the feel inclination by the elastic member remains, so that the maneuverability can be maintained.

Also, the present invention provides a feel inclination Δ which is a ratio of an increment Δθ of the angular displacement θ of the control section to an increment ΔF of the operation force F.
F / Δθ is variable.

According to the present invention, it is possible to arbitrarily change the feel inclination ΔF / Δθ according to the physique and preference of the pilot, so that the controllability can be improved.

Further, the present invention is characterized in that when the angular displacement θ of the control section exceeds a predetermined range, the feel inclination ΔF / Δθ increases stepwise.

According to the present invention, since the human sensation is insensitive to a gradual change, the operator can set the angular displacement θ of the control unit to a predetermined value by increasing the feel inclination ΔF / Δθ stepwise. You can surely recognize that you have exceeded the range. It is preferable that the critical point is set in association with the operational limit of the airframe or the danger area, thereby improving the reliability of the operation and contributing to ensuring the safety of operation.

Further, the present invention is characterized in that the control unit changes the feel inclination ΔF / Δθ based on the vehicle speed signal.

According to the present invention, the operator can take the vehicle speed signal from the vehicle speed sensor provided on the vehicle and reflect it on the change in the feel inclination ΔF / Δθ, so that the driver can perform steering according to the change in the vehicle speed. You can recognize the feeling. For example, by setting the feel characteristics so as to increase the feel inclination as the body speed increases, agile maneuvering can be performed at low speed flight, and the maneuvering can be stabilized at high speed flight.

[0015]

FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is a block diagram showing an electrical configuration thereof. The control stick 3 is supported by a housing (not shown) via a gimbal mechanism or the like so as to be angularly displaceable in the forward and backward pitch directions and the left and right roll directions. Here, the control system of the pitch axis is exemplified, but the present invention can also be applied to control of a roll axis and other axes,
Alternatively, the present invention can be similarly applied to a control pedal operated by a foot.

The upper part of the stick 3 becomes the grip 2 for the pilot to grip. A stick position sensor 4 for detecting the angular displacement θ of the stick 3 is provided on the rotation axis of the stick 3. The stick position signal Sθ output from the stick position sensor 4 is input to the flight control computer 30 as a signal indicating the amount of operation.

A force sensor 5 for detecting an operation force and outputting a stick force signal SF is provided on the swing arm 3a which is linked with the stick 3. Swing arm 3a
The end of the back drive unit (Back Drive Unit)
The drive spring 7 is connected to the drive arm 7 and a feel spring 6 is interposed between the two. Feel spring 6
By giving an elastic force based on a spring constant to the swing arm 3a with the position of the drive arm 7 as the origin, a certain feel is generated on the stick 3. The position where the stick 3 stands still with the hand released from the grip 2 is a neutral point, and this neutral point changes according to the position of the drive arm 7. Conversely, the back drive unit 10 is
By actively controlling the position of, automatic control in a hand-off state becomes possible.

The back drive unit 10 has a back drive motor 11 for supplying the driving force of the drive arm 7.
And a gear mechanism for connecting the drive arm 7 and the back drive motor 11, a back drive unit position sensor 15 for detecting the position of the drive arm 7 and outputting a back drive position signal SB, and the like.
The gear mechanism includes a differential (differential) gear 13 and a final gear 14. The differential gear 13 has two input shafts, a first input shaft is connected to the back drive motor 11, and a second input shaft is connected to the electromagnetic brake 12. Normally, when the back drive function is operated, the electromagnetic brake 12 is in a connected state, and by fixing the second input shaft of the differential gear 13, the torque of the back drive motor 11 is transmitted to the final gear 14 as it is. When the back drive function is desired to be turned off, when the electromagnetic brake 12 is released, the second input shaft of the differential gear 13 is rotated freely, and the transmission from the back drive motor 11 to the final gear 14 is interrupted. The arm 7 is also free.

A trim switch for instructing a back drive operation and a mag switch for canceling the back drive operation are attached around the grip 2, and output a switch signal SA indicating a switch state.

The flight control computer 30 shown in FIG. 2 has a function of electrically controlling a control system based on signals from various sensors and a host computer. Here, the stick position signal Sθ, the switch signal SA, and the aircraft speed signal SV from the aircraft speed sensor 31 are input, and various command signals are output to the back drive control device 20 that controls the back drive unit 10. Position command signal C for automatically piloting
s and a mode command signal Cm for instructing various modes of the back drive.

The back drive control device 20 includes a subtraction unit 2
1, a BDU control law calculation unit 22, 23, a mode logic unit 24, a motor drive unit 25 for driving the back drive motor 11, an electromagnetic brake drive unit 26 for driving an electromagnetic brake, and the like.

The subtraction unit 21 includes a flight control computer 30
And subtracts the back drive position signal SB from the control position command signal Cs from the controller to output a difference position signal SD. B
The DU control law calculation unit 22 converts the difference position signal SD based on the difference position signal SD and the stick force signal SF from the force sensor 5 such that the relationship between the angular displacement of the control unit and the operation force has a variable feel characteristic. Fix it. The mode logic unit 24 manages the operation mode of the back drive unit 10 based on the switch signal SA and the mode command signal Cm. The BDU control law calculation unit 23 performs the BDU control according to the mode signal from the mode logic unit 24.
The drive signal of the back drive motor 11 is output based on the corrected difference position signal from the control law calculation unit 22.

Next, the operation will be described. FIG. 3 is an explanatory diagram showing a steering state based on the feel characteristics of only the feel spring 6. When the drive arm 7 of the back drive unit 10 is stopped at a fixed position, as shown in FIG. 3 (ii), when the feel spring 6 has a natural length, the stick 3 stops at the neutral position. Next, FIG.
When the stick 3 is tilted forward, the feel spring 6 expands in accordance with the angular displacement of the stick 3, and an elastic force corresponding to the amount of expansion is generated as an operation force. Conversely, when the stick 3 is tilted backward as shown in FIG. 3 (iii), the feel spring 6 contracts in accordance with the angular displacement of the stick 3, and an elastic force corresponding to the contraction is generated as an operating force. I do.

FIG. 4 is an explanatory diagram showing a steering state with strong feel characteristics using the back drive unit 10 together. As shown in FIG. 4 (ii), when the drive arm 7 of the back drive unit 10 is stopped at the same position as in FIG. 3 (ii), the stick 3 stops at the neutral position.

Next, as shown in FIG.
Is tilted forward, the feel spring 6 extends in accordance with the angular displacement of the stick 3, and the drive arm 7 of the back drive unit 10 is angularly displaced downward.
Therefore, the extension amount of the feel spring 6 is shown in FIG.
And the elastic force of the feel spring 6 increases accordingly, so that the operating force also increases.

Next, as shown in FIG. 4 (iii), when the stick 3 is tilted backward, the feel spring 6 contracts in accordance with the angular displacement of the stick 3, and the drive arm 7 of the back drive unit 10 moves upward. Angular displacement.
Therefore, the contraction amount of the feel spring 6 is shown in FIG.
i), and the elastic force of the feel spring 6 increases accordingly, so that the operating force also increases.

By controlling the operation of the back drive unit 10 in accordance with the angular displacement of the stick 3 and changing the position of the drive arm 7 in the direction opposite to the movement of the stick 3, a large feeling inclination is given as a whole. Can be.

FIG. 5 is an explanatory diagram showing a steering state with a weak feel characteristic using the back drive unit 10 together. As shown in FIG. 5 (ii), when the drive arm 7 of the back drive unit 10 is stopped at the same position as in FIG. 3 (ii), the stick 3 stops at the neutral position.

Next, as shown in FIG.
Is tilted forward, the feel spring 6 extends in accordance with the angular displacement of the stick 3, and the drive arm 7 of the back drive unit 10 is angularly displaced upward.
Therefore, the extension amount of the feel spring 6 is shown in FIG.
And the elastic force of the feel spring 6 is also reduced accordingly, so that the operating force is reduced.

Next, as shown in FIG. 5 (iii), when the stick 3 is tilted backward, the feel spring 6 contracts in accordance with the angular displacement of the stick 3, and the drive arm 7 of the back drive unit 10 moves downward. Angular displacement.
Therefore, the contraction amount of the feel spring 6 is shown in FIG.
i), and the elastic force of the feel spring 6 decreases accordingly, so that the operating force decreases.

By controlling the operation of the back drive unit 10 in accordance with the amount of angular displacement of the stick 3 and causing the position of the drive arm 7 to follow the same direction as the movement of the stick 3, a small feeling inclination is given as a whole. Can be.

FIG. 6 is a graph showing an example of the feel characteristics. The horizontal axis indicates the angular displacement θ of the stick 3 and the vertical axis indicates the operating force F of the stick 3, and the ratio ΔF / Δθ between the increment Δθ of the angular displacement θ and the increment ΔF of the operating force F means the feel inclination. Although the case where the angular displacement θ is positive is shown, when the angular displacement θ is negative, the operation force F is also negative, so that the same feel characteristics are obtained.

A line L3 corresponds to FIG. 3 and shows the feel characteristics of only the feel spring 6. Line L4 is shown in FIG.
, The feel inclination ΔF /
Δθ is shown. Line L5 corresponds to FIG. 5 and shows a smaller feel slope ΔF / Δθ than line L3.

Since the feel characteristics of the stick 3 can be arbitrarily changed by changing the feel inclination ΔF / Δθ as described above, the feel can be set according to the physique and preference of the pilot, and the maneuverability can be improved. .

It is also possible to associate the adjustment of the feel inclination ΔF / Δθ with the vehicle speed signal SV from the vehicle speed sensor 31. For example, by setting the feel characteristics such that the feel inclination increases as the vehicle speed increases, agile maneuvering can be performed during low-speed flight, and stable maneuvering can be ensured during high-speed flight.

FIG. 7 is a graph showing another example of the feel characteristics. The horizontal axis indicates the angular displacement θ of the stick 3, and the vertical axis indicates the operating force F of the stick 3. This feel characteristic indicates that the feel inclination ΔF / Δθ changes in accordance with the angular displacement θ. When the angular displacement θ is in the range from zero to a predetermined angular displacement θa, a small feel inclination ΔF / Δθ is shown.
When the angular displacement θ exceeds the angular displacement θa, the feel inclination Δ
F / Δθ increases stepwise. Therefore, it is possible for the pilot to gradually incline the stick 3 and experience that the operating force F strongly changes at a certain position. By setting this position in association with the operation limit of the aircraft or the danger area, the reliability of the operation is improved.

[0037]

As described above in detail, according to the present invention, by controlling the back drive mechanism so that the relationship between the angular displacement of the control unit and the operation force has a desired characteristic, the feel characteristic of the control unit can be improved. Can be set arbitrarily,
Drivability can be significantly improved.

Further, even if the back drive mechanism fails, the feel inclination by the elastic member continues, so that the maneuverability can be maintained safely.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing one embodiment of the present invention.

FIG. 2 is a block diagram illustrating an electrical configuration according to an embodiment of the present invention.

FIG. 3 is an explanatory diagram showing a steering state based on the feel characteristics of only the feel spring 6;

FIG. 4 is an explanatory diagram showing a maneuvering state with strong feel characteristics using the back drive unit 10 together.

FIG. 5 is an explanatory diagram showing a maneuvering state with a weak feel characteristic using the back drive unit 10 together.

FIG. 6 is a graph showing an example of a feel characteristic.

FIG. 7 is a graph showing another example of the feel characteristics.

[Explanation of symbols]

 Reference Signs List 2 grip 3 stick 3a swing arm 4 stick position sensor 5 force sensor 7 drive arm 10 back drive unit 11 back drive motor 12 electromagnetic brake 15 back drive unit position sensor 20 back drive control device 30 flight control computer 31 aircraft speed sensor

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[Procedure amendment]

[Submission date] December 24, 1999 (1999.12.
24)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0006

[Correction method] Change

[Correction contents]

[0006]

SUMMARY OF THE INVENTION The present invention is directed to a control unit supported to be freely angularly displaceable with respect to a housing, and a control amount for detecting an angular displacement amount of the control unit and outputting a control amount signal. A sensor, an elastic member for generating an operating force corresponding to the amount of angular displacement based on the neutral point of the control unit, and the control unit connected to the control unit via the elastic member to move the neutral point by driving the control unit A back drive mechanism for causing the control unit to detect an operation force of the control unit, and an operation force sensor for outputting an operation force signal, based on a control signal from the control amount sensor and an operation force signal from the control force sensor. A control unit for controlling the back drive mechanism so that the relationship between the amount of angular displacement of the control unit and the operation force has a desired characteristic, wherein an increment Δθ of the amount of angular displacement θ of the control unit and the operation force F The slope of the feel Δ
A steering apparatus characterized in that F / Δθ is variable.

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0009

[Correction method] Deleted

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0010

[Correction method] Change

[Correction contents]

Further, since the feel inclination ΔF / Δθ can be arbitrarily changed according to the physique and preference of the operator, the maneuverability can be improved.

[Procedure amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0037

[Correction method] Change

[Correction contents]

[0037]

As described above in detail, according to the present invention, by controlling the back drive mechanism so that the relationship between the angular displacement of the control unit and the operation force has a desired characteristic, the feel characteristic of the control unit can be improved. Can be set arbitrarily,
Drivability can be significantly improved. In addition, since the feel inclination ΔF / Δθ can be arbitrarily changed according to the physique or preference of the operator, the maneuverability can be improved.

Claims (4)

[Claims] 1. A control unit supported to be angularly displaceable with respect to a housing, a control amount sensor for detecting a control amount of angular displacement of the control unit and outputting a control amount signal, and a neutral point of the control unit. An elastic member for generating an operation force according to the amount of angular displacement on the basis of, a back drive mechanism connected to the control unit via the elastic member, and driving the control unit to move the neutral point; An operation force sensor for detecting an operation force of the control unit and outputting an operation force signal, and an angular displacement amount of the control unit based on the operation amount signal from the operation amount sensor and the operation force signal from the operation force sensor. A control unit for controlling the back drive mechanism so that a relationship between the back drive mechanism and the operation force has a desired characteristic. 2. The steering apparatus according to claim 1, wherein a feel inclination ΔF / Δθ, which is a ratio of an increment Δθ of the angular displacement θ of the control section to an increment ΔF of the operation force F, is variable. 3. The steering apparatus according to claim 2, wherein when the angular displacement θ of the steering section exceeds a predetermined range, the feel inclination ΔF / Δθ increases in a stepwise manner. 4. The control device according to claim 2, wherein the control unit changes the feel inclination ΔF / Δθ based on the vehicle speed signal.