JP2006522506A - Trimming for remote control - Google Patents

Abstract

The present invention relates to a trimming method combined with a remote control, for example for a flying object, for generating a trim value for a neutral position. For this purpose, at least one pre-generated control signal that matches a previously generated control position is used. Previous control signals can be stored continuously, from which an average value is formed. This average value can be used as a new trim value. The average calculation can occur over a time window. The time window can extend before and be defined in relation to the trimming moment. The trimming process can be initiated by an operator or automatically initiated.

Description

  The present invention relates to remote control with a trim device, and more particularly to a method and apparatus for trimming. Such a remote control device is used for a model aircraft, for example. Normally, control rods are provided as input elements, their input deviations are converted into control signals proportional to each other, and these control signals are transmitted to the controlled object, usually via radio transmission. In most cases, the control rod has a return spring for at least one of the movable axes, so that when it is released, a neutral control value is generated that corresponds to the neutral ladder position. Is done. Accurate adjustment of the neutral position is essential for useful control. Otherwise, disturbing off-drift will appear. For this purpose, the control input unit is usually provided with a trim device that can manually change the neutral value, and its adjustment value is mixed with the control value or superimposed on the control value. This superposition can be done electronically or mechanically. The purpose of trimming is to balance off-drift so that it is not necessary to manually correct for off-drift with constant response.

  Trim settings are often required during flight because small deviations, such as those caused by normal tolerances, already affect flight behavior. The user needs to adjust the trimming so that drift is not noticeable in the neutral state of the control rod. The problem is that it is difficult to adjust. This is mainly because several control axes can drift simultaneously and / or it is often impossible to let go of the control rods in flight, especially in helicopters.

  To allow pre-adjustment to be used for different situations, some programmable radio control transmitters allow switching between different pre-stored trim adjustment sets during flight. However, the pre-adjustment must be set manually. Radio controlled transmitters are known that can store trim adjustments by actuating a trim switch. Also in this case, in order to perform trim adjustment, the trim lever must be manually set in advance.

  DE 199 14 445 describes a control device that allows switching between “P control” (proportional) and “PID control” (with integrator) to stabilize the yaw operation of the helicopter. If trimming that is manually adjusted, which is conventionally included as a component of the transmission control signal to correct drift, is input to the input unit of the integrator, it is confused. This is because the integrator itself does not follow the drift. As compensation, the trimming already given is calculated back. To that end, the actual control signal, including trimming, is stored at the moment of switching and then subtracted from the control signal before being input to the integrator. At the moment of switching, the user must let go of the control rod or center it, so that only the trim value is transmitted. The device then avoids jumps in the output signal during switching. This device is configured to recalculate a given trimming, but is not configured to correct unknown drift due to the generation of the trimming.

  DE 100 19536 describes a cross trim assembly, each configured as a key input cross bar and having push buttons arranged in a cross shape. There, the trim value can be changed stepwise by operation.

  DE 441 9082 describes a device with two radio transmitters connected by cables for two operators, in which case the second operator is the first transmitter Can affect the trimming.

  The method mentioned does not provide a fundamental solution to the difficulties mentioned at the outset. This is because it is necessary to manually find and input the trim value.

  The object of the present invention is a method and apparatus for solving the above-mentioned problems, in which the trim operation is automated or at least simplified.

  For this purpose, at least one given control signal is used to form a new trim value, which control signal at least partly includes the deflection angle of the input element. This makes it possible to adopt the current or previously generated control position as a new trim position during the trim operation.

  The input element may also have several control axes and thus generate several separate control signals. The control signal may be the control position of the input element or the respective actuating element or ladder that occurred at least one moment before performing the adjustment process.

  The input element may be a control rod device or any other input device configured for control. Terms relevant to this specification, such as “deviation”, “position” and “center position” are valid for all quantities, so that at the input element, the control value is even non-mechanical. Even if it is achieved by a simple method, sampling is possible.

  The resulting control signal may be combined with or superimposed on the input element signal and the trim value according to the invention. This may be performed in a known manner, for example by adding values. Further, the trim value portion may depend on the control deviation. As the control deviation increases, the trim value portion may be reduced in such a way that the result of the maximum deviation does not depend on the trim value.

  The resulting signal is adapted to drive an actuating element such as, for example, a servo or other steering device. There is no longer any need to manually balance the trim values, and a separate trim device can be omitted entirely.

  In order to activate the trim operation as such due to a change between the old and new trim values, a corresponding change is caused in the resulting control signal and this control signal is sent to the control device or actuating element. The change may occur as a jump. The jump height may correspond to the difference between the old and new trim values. Even if the input element is unchanged, a repositioning of the control device during the trim operation will result. This is reasonable. This is because the user can cancel the deviation of the ladder given to the drift from the moment when the trim operation is started.

  Trimming may be performed simultaneously for several control channels or control axes. According to one embodiment of the invention, the trim operation may be manually activated by a trim button provided for this purpose, which is also easily possible during flight. Instead of a trim button, one or more control rods may be combined with a suitable switching device that can manually initiate a trim operation without releasing the rod. For this purpose, a switch mounted on the tip of the rod or a switching device that reacts to the push and pull of the rod may be provided. According to the invention, other activation methods are also possible, for example voice recognition.

  The trim value data set as determined in accordance with the present invention may be assigned and stored in one of several selectable data sets that can be recalled for different situations. When storing, the assignment may also be determined by the same switch that is also used to invoke the respective adjustment action.

  The device according to the invention can be combined with the transmission device in a configuration. Alternatively, the device may be partially or fully mounted on the controlled object and is operable based on the received control signal. The signal may optionally conform to a well-known transmission type, ie analog or digital.

  Trimming according to the present invention is applicable to unmixed or premixed control signals when the control functions are mixed, as is well known, for example, in control of swashplates or V-tails. Therefore, the term control signal may refer to the control value of each channel on both the input element side and the ladder side.

  Further, regarding the type of control signal used to generate the trim value, there are the following possibilities. That is, a) the control signal consists only of signals originating from input elements, for example control rods. (B) The trim value of the present invention is already included. And / or (c) manual trim values from conventional trim equipment are included.

  In the case of a), the new trim value may be calculated as the sum of the average value and the preceding trim value during the trim operation, so that the trim value changes incrementally. In the case of b), the average value may be used directly as the new trim value, and the previous trim value is completely replaced. In both variants, the same result can be obtained. Case c) occurs, for example, when a state-of-the-art remote control transmitter is used. The trim device according to the present invention may be mounted on the controlled body and can be connected to the output signal of the receiver. In case (c) (which may occur independently or in combination with (b)), a manual trim value during the trim operation is also included.

  In the following, further embodiments of the invention according to the dependent claims will be described, together with the resulting advantages.

  Past control values may also be used when buffering or delaying control signals used for the determination of trim values. Thus, trimming may also be triggered at a later time. Similarly, a short delay is appropriate to allow the control rod to be released before triggering the trim operation. The delay may be performed, for example, by continuously storing control values in a buffer.

  The trim value may be formed from the average value of each of several previous control positions or control signals. In this regard, arithmetic averages may be used, but other types of average value generation methods such as intermediate single values (intermediate values) may also be used. The average value generation method may be performed over a quasi-continuous time window.

  For this purpose, the values from a continuously stored sequence of previous control deviations located within the time window may be averaged. The time window may be defined in relation to the trim operation in time. It may start, for example, 5 seconds before the trim button is activated and end simultaneously with the activation of the trim button. However, if there is time to release the control rod to activate the trim button and the user chooses to do so, the trim result will not be affected if the trim result is not affected. It is better that the time window expires some time ago so that it is independent of the latest (new) control signal. There is no need to hold the bar indefinitely after trimming is achieved. Immediately after the start of the trim operation, the new trim value can take effect.

  In order to generate a time window that is temporally related to the moment of activation of the trim operation, a continuous sequence of control signals may first be stored, in which case previous values may be overwritten. Next, an average value is generated from the remaining stored values. Typically, the radio link transmits each control signal at a repetition rate of 40 or 50 Hz. For average value generation, a smaller data storage rate is sufficient, for example, selecting 10 Hz or every fourth value.

  In practice, even if only individual values of the number of jumps are considered, the sum may be regarded as a quasi-continuous accumulation if they occur sequentially quickly enough, and each These time windows may be considered continuous in time as far as the results are concerned.

  The time window need not be a sharp edge. It may have a continuous and smooth boundary and / or be limited on one side only. In general, the averaging associated with the time window corresponds to the convolution of a function of the continuous control signal with the respective window function. It may also be described as an integral with a weighted window function. Average generation or integration may be performed by a continuous, time-related summation part, or by a low-pass part.

  The trim value may also be generated by a low pass function. The output value may be stored after the trim operation or may be used as a new trim value. This value corresponds to the average value of the time window, in which case the time window is not clearly limited (at least in the earlier time direction), however, individual values weighted differently according to the window function Matches the pulse response of the filter containing. A reasonable possibility to obtain a suitable low-pass part is one or several integration steps, in which case the output value is the input value as shown in FIG. 1 as a third-order low-pass part (20). Partly negative feedback.

  The described methods for calculating the stored individual values and the average value of the low-pass part are similar as far as the results are concerned. This is because both produce an average value. Both methods may also be combined with each other so that more values are detected in fewer memory locations. In general, the pulse response of the low-pass part matches the window function of the respective time window, so the same problem can be explained by different terms, low-pass filtering or average value generation associated with the time window, or generally as an integral operation.

  In particular, the described average method is advantageous for trimming aircraft such as model airplanes or helicopters. Due to the flight behavior, the result of the ladder deviation is integrated several times with respect to time. Therefore, in the case of a normal control operation, an anti-deviation needs to occur after the deviation. This is true in order to subsequently reach a straight flight attitude again, both in the case of a wrongly given deviation and in the case of the desired movement. Only the control deviation given to counter the drift lasts longer. A longer time window may be used during mean value generation as compared to the period of normal control deviation. When the time window contains several control deviations, these may be advantageously averaged, and finally also in the case of active control movements, only the part caused by drift remains and is therefore accurate. Result in a good trim value.

  In particular in the case of helicopters, in order to obtain a high degree of accuracy, it may be embodied as follows. During the control of the helicopter tilt, the input impulse or disturbance results in an increase in tilt, which in turn results in an increase in horizontal acceleration, which means a second increase in velocity, and thirdarily, the flight position. This leads to an increase in drift. Furthermore, in the case of inaccuracies meaning abrupt, jerky or delayed control actions, the resulting flight attitude depends mainly on the average value for these influence times. Even in the case of only a short amount of time, as soon as the control action reaches a stable flight, the control action is realized by an adjustment loop that is closed via the operator and thus contains just the right integral component. Thus, the average value according to the invention is precisely adjusted to a constant value that matches the desired neutral position. The accuracy improves with increasing effectiveness with increasing length of the average time window, but this effectiveness comes from the order of integration that the flight motion undergoes due to the control characteristics.

  A soft edge time window may be advantageous. Because in that case, control signals that change faster can be averaged without rounding errors. Otherwise, this rounding error can be caused by mixed modulation of higher frequency parts with sharp boundaries. Even if the time window does not have a sharp edge, the duration of the time window can be defined. In the case of calculating the average value generated by low-pass filtering, the window width may be defined by, for example, the filter window width, half-value width, or time constant.

  Prior to initiating the trim operation, the associated value may be temporarily buffered as a control signal or pre-trim signal, or stored as a longer sequence. There is no need to provide a temporal relationship between the moment of storing these values and the moment of performing the trim operation. A trim operation using a trim value determined during flight may also be activated at a later time, for example after a landing has taken place. For this purpose, a continuous time section with a milder control action may be selected from the stored sequence and used for trim value generation. This selection may have already occurred during the flight, so the pre-requirement required before the trim operation need not include the complete sequence, but one or several already calculated averages It may be limited to a value. Furthermore, the selection may be limited to the time the flight took place, for example by throttle position and / or rotor blade position. Furthermore, the trim operation may be automatically activated using at least one of the mentioned selection criteria. Therefore, it is not necessary to manually start the trim operation.

  According to one embodiment of the invention that allows trimming to update itself autonomously, the trim value is continuously adjusted or updated. This may be done in a permanently iterative step. Naturally, the trim value results from the average value generation. The longer the mean value generation time window or low-pass time constant, the slower the trim value changes. If average value calculation is applied to the non-trim control signal (case a), the combined output value may be expressed as the sum of the input values and the time-related integral average of this sum. If average value generation is achieved based on a signal that already contains an auto-trim value (case b), the output value is the sum of the input values and the time-limited average of this sum (recursively) To). In both cases, a continuous integral readjustment operation can be obtained.

  Generally, the trim value is generated from at least one generated control signal, but generation of an average value is not essential. The result is that the adjustment is achieved without delay even if no mean value is generated, so that the method is configured to perform a basic adjustment according to the signal before the start. .

  Normally, for example for throttle adjustment or helicopter overall rotor blade adjustment, the input element whose central position is irrelevant does not comprise a return spring. It is reasonable to exclude the control signal from automatic trimming.

  In one embodiment, control signals including the position of the input element and possibly the trim slider may be included negatively into the new trim value during the trim operation. The current deviation may be subtracted from the trim value. The subtraction may be performed based on the previous trim value. This embodiment allows the user to guide the input element and the trimmable slider to a new desired target or neutral position before initiating a trim operation. Thus, the actual position of the trim slider and / or input element may be assigned to a determined ladder position, such as a center position, idling position, and the like. For example, a signal from a remote control transmitter already provided by the state of the art and corresponding to the neutral center position may be learned (teach-in) by a trim operation as a neutral zero signal. For example, this is reasonable if the trim device is mounted on the controlled body.

  Such activation of the trim operation may be accomplished while the airplane is on the ground. Furthermore, this variant is also configured to redetermine the neutral position in the case of a trim slider. For this purpose, the user need only slide the trim lever to the desired neutral position before operating the trim button.

  Further, according to the present embodiment, during the trim operation, the overall signal to be output is immediately changed by the difference together with the respective ladder positions thereby. This embodiment may be combined with the previously described trimming by addition or used independently thereof.

  The combination of both embodiments may be achieved such that the mean value is added on the one hand and the current control value is subtracted on the other hand. Thereby, on the one hand, the neutral position on the input element side may be newly defined, for example, to invalidate the previously given manual trimming, and on the other hand, it may be added to the new trim. A value may be marked, for example, to correct drifts that actually exist during flight. Both processes may be combined in such a way that they occur simultaneously and / or are activated by a share button. In this case as well, the final signal output to the control device may be shifted by correcting the trim value.

  To realize this combination, two separate trim value memories may be provided. Both values may be stored simultaneously or at different times. Furthermore, the mixing of trim values into the overall signal may be accomplished in sequenced steps in the signal path or may be accomplished immediately. A shared memory for both trim values may be provided. In these, the required mix of both trim values may be written as a difference. In this situation, the current input element deviation may be subtracted from the averaged control signal and the difference may be used for the new trim value.

  As an advantageous method of performing the above combination, when the average value generation includes a signal of a normal trim slider (case c), the double operation (the normal trim slider and the book) are performed after the automatic trim operation occurs. Trimming according to the invention may be avoided. When the user activates the trim operation, the user needs to guide the bar to the center position instead of the trim slider. As an advantageous method of performing the above combination, trimming of such a function may be possible, but the center position is set on the input element side by releasing, for example, as in the example of the collective pitch of the helicopter. There is no return spring to find. A shift is avoided if the user keeps the bar in place during the trim operation. This solution is also particularly reasonable if the elevation control function is excluded from trimming for the reasons described above, but for trim processing according to the present invention, for example, a swash plate Only signals already mixed by the transmitter are available, such as those commonly used to drive in function yaw, roll and lift.

  It is reasonable to extract positive and negative weighted trim values from the control signal at different times, for example after landing, in combination with the described trimming. The trimming on the servo side is determined by the stored control value obtained during the flight, but the neutral point learning on the input element side may be achieved simultaneously.

  Further, the trim value may be defined by a control shift performed between the start and end of key press. In one embodiment, during a key press, the input element may be shifted in the following manner. That is, initially the method is such that when the ladder is placed in the desired target position and the button is released, the input element is in the desired position for this purpose. For this purpose, a trim value is generated so that the signal containing the deviation of the input element occurring at the start of operation is subtracted and the signal containing the deviation occurring at the end of operation is added. Is done. Addition and subtraction may be accomplished based on old trim values. In the opposite variant, the input element may be shifted by the amount of correction to be performed while the trim button is pressed. For this purpose, addition and subtraction are accomplished in the reverse order. Similarly, in these variants, some or all of the existing functions may be achieved with a single button. Thereby, in any case, only functions activated during the trim operation are newly trimmed. These variations may also be combined with the average value generation described above or used independently of it. The latter is advantageous for vehicles and ships whose control action does not feature an average value calculation process, or for functions that do not include a return spring as described above.

  Several modes of trimming have been described. In the preferred embodiment, the possibility to select various modes or combinations thereof is provided.

  The device according to the invention may be configured with a microprocessor. The trim value generation operation and the trim operation may be accomplished in a program-controlled manner. In the case of a state-of-the-art programmable transmitter, the programmable microprocessor is simply a conventional component, so that according to the invention, the existing hardware with the respective software that controls the execution of the method according to the invention. Can generate the possibility of updating. One of the existing buttons can be programmed as a trim button.

  Accordingly, an embodiment of the present invention comprises a storage medium that contains at least a portion of the software that performs or controls the method steps and that is implemented in a remote control transmitter. It is possible to connect to the transmitter and populate its contents with this transmitter. As a result, a normal transmitter may be updated or modified so that it handles the characteristics according to the invention.

  As mentioned above, in addition to the storage medium, on the one hand, a value storage device is required in order to be able to generate an average value. On the other hand, according to the invention, during the determination of the trim value, the generation of the average value is omitted, so that the trim value determined during the trim operation even if the trim value is derived only from a given control signal. A storage device is also required to hold the value. Usually such a memory already exists in the hardware provided by the state of the art. It is only necessary to pass the control signal derived from the control rod to the trim value memory.

  One or several capacitors may be used as the value memory. Thereby, in the case of a known analog electronic configuration, an integrator, a low-pass unit and / or a holding memory (sample and hold) according to the invention may be realized.

  The present invention may also be embodied in a mechanical manner. For this purpose, a separating device may be provided in a mechanical device including a spring-charged resetting mechanism to achieve the zero point, but this separating coupler is temporarily used during trim operation. Reset or reset in such a way that replacement can be achieved if necessary in the mechanical connection path from the control rod to the transmitter device via the resetting mechanism, which may be disconnected or temporarily connected Connected to the mechanism. The new trim position may be achieved by a spring force or a control force that is applied against specifically provided friction. The new mechanical zero is determined by the control deviation that is current at the moment of adjustment. During the trim operation, the resetting device may shift from its position that defines the relationship between the movable input element and the fixed reference of the housing, and later again predetermined by the current input element position. It may be held in a new position. Conversely, the replacement may be made specifically to oppose a given friction force, while the coupling is simply connected for trimming.

  When mounted on a controlled body, control signals for one or several channels of the receiver may be supplied to the device, and the output signal of the device may be directed to the servo. When mounted and implemented, the method may be combined in a rational manner with a stabilizing device such as a tail rotor gyro system, for example in the case of a helicopter. Each device may also be combined in a configuration.

  The present invention may also be combined with measurement and adjustment systems for flight attitude adjustment and stability, or with other control assistance devices. However, the present invention may be used in an advantageous manner, completely independent of them.

  The control signal used for the average value may also be a control signal output by an adjusting device such as a stabilizer. Such an activation signal typically includes, or at least, is derived from, a manual control signal as well. Since the activation signal is the final control value according to the integration process given by the flight movement, the adjustment device can then replace the above adjustment loop running through the operator. The trimming method according to the invention may also be applied to the input value of the stabilizer as well.

  In addition to the control signal, in order to trim a flight equipped with a flight stabilization instrument, measurements from the flight instrument may also be stored during the flight, and the trim value may be determined from the measurement. Such stored values may include measurements that are valid for a stable flight attitude. They may also be used for calibration of control systems provided with instruments and / or adjustment loops in addition to ladder trimming.

  In the following, the operation will be further described with reference to the example embodiments with reference to FIGS. The same components in different figures have the same reference numerals.

  FIG. 1 shows a block diagram of a first exemplary embodiment, in which method steps are controlled by a program and executed by a microprocessor, and the respective hardware is implemented in a transmitting device. The control rod (1) acts as an input element and its signal is converted into a digital value (3a) by the A / D converter (2). This value may be selectively processed with a function (4) that produces a gradual, e.g. exponential control curve. Reasonably, this value may also include a zero threshold at its center position that equalizes the mechanical tolerance of the input element (1). The control signal (3c) that is input to the transmitter (6) and transmitted is on the one hand of this modifiable input element signal (3b), on the other hand as a mixture of trim values (33) according to the invention, and , Combined with an adder (5), possibly in addition to a common trim value from the trimming input element (10). The signal (3c) transmitted in combination is retrieved by the receiver (7) and reaches the servo (8). Here, since the signal (3c) is generally displayed as a signal representing the control position, the encoding or actual signal format may of course be different, for example in the transmitter and the servo, respectively.

  In order to generate the trim value (33) according to the invention, the transmitted control value (3c) is branched and processed in the low-pass function part (20). The low pass section (20) may consist of several integrator steps (21, 22, 23) that are negatively fed back in series, resulting in a third order low pass section in the illustrated example. The output value (20a) is an average value of a sequence of control values (3c) transmitted in the past. The time window applied to the average value generation is determined by the time constant or step response of the filter (20), respectively, and, reasonable, extends over a few seconds.

  To initiate the trim operation, the user presses the trim button (30) and the signal is coupled as a trigger to a register or value store (31). Thereby, the average value (20a) is loaded into the register (31) as a new trim value. If the button is not activated, the old value remains in the register.

  In the limiter (32), the trim value may limit the maximum and minimum values to limit the trim range.

  For the additional control channel, the same algorithm as described above may be configured in parallel, but in that case the trim button (30) is also the same as the transmitter module (6) and receiver module (7). Shared.

  Alternatively, the common trim slider (10) signal may be mixed directly in front of the transmitter module (6). Thereafter, the position is not taken into account for the average value generation, and the trim slider may be used independently.

  FIG. 3 shows a similar embodiment, but here the same components are arranged differently and the input of the low-pass part (20) is connected directly to the unmixed input element signal (3b), as a result The integrated control signal comes only from the input element (1). In this case, the memory 31 is of a type that loads the sum of the input value and the previous value during storage. For this purpose, its own addition operation part (35) may be implemented. In this situation, the limiting unit (32) may be provided in the input unit of the memory (31). Therefore, even a strong trimming error limited during a single trimming can be leveled in a cumulative manner by repeated trimming. After performing the trim operation, signal 30c may cancel the integrator of low-pass section 20 or reset it to the neutral value, so that only the new value is used during the new trim operation. The superimposition of the first result is avoided.

  In order to enable continuous trimming, the memory (31) may be updated in a continuous sequence. This, together with the adder 35, corresponds to a further integration process. Another possibility is to omit or bypass the memory (31) and remove the last integrator decoupling in the low-pass part (20), so that the low-pass part (20) The values are accumulated without associated restrictions and these values are added to the output signal.

  For the variant according to claim 14 or 15, a second register (not shown) may be provided in addition to the register 31, however, the second register has the button (30) released. It is loaded only when Both registers acquire the non-delay control signal (3b) as an input value. The values in both registers may be subtracted from each other and used as trim values.

  FIG. 2 shows a further exemplary embodiment, where the trim operation is performed behind the receiver in the signal path of the received signal. The corresponding device may be mounted on the controlled body. A signal (3d) which is a combination of the signal (3b) from the control rod (1) and the signal of the trimming input element (10) is transmitted as necessary. This corresponds to a common transmitter signal. This signal may, for example, be encoded by the PPM method or the PCM method and is recovered (3d) in the receiver (7). This signal can then be converted to a calculated value and processed in a program-controlled processor. This process includes mixing or adding (55) and mixing the trim value (33) according to the invention from the register (31). The mixed control signal (3c) may be supplied to the servo (8).

  In this example, the trim value (33) is generated in that the value of the output control signal (3c) is branched as a continuous sequence and stored in the memory (56). Therefore, the memory includes a certain number of past control values from the past time period. In the case of an update, the stored values may be tracked and each oldest value discarded or directly overwritten by the oldest value. The configuration used in FIGS. 1 and 3 for average value generation may also be used here, and vice versa.

  To initiate the trim operation, the user may press the trim button (31) on the transmitter, and the button signal (31a) is transmitted on his remote control channel. When the signal (31a) arrives, the average value (58) is generated from the memory values (56c to 56x) by the adder (57) and loaded into the register (31), thereby the trim value (33). Is updated.

  Since the latest memory values (56a), (56b) are ignored during the mean value generation, the time interval of the measurement values used is separated from the trim operation.

In addition, its own trim button (30b) may be placed on a device that flies together. This button may be activated after landing. For this purpose, as described above, the memory 56 stores a longer or even dated sequence of past flights and / or provides subtractive mixing as claimed in claim 12. For this purpose, the signal (3d) just received may be additionally mixed in the negative direction to the input (not shown) of the memory (31). It may be subtracted from the average value (58) for this purpose.

Claims (24)

  A trimming method for remote control using an input element for generating a variable control signal continuously or quasi-continuously, wherein a state in which no control deviation exists in the input element corresponds to a neutral position, and neutral control When a signal is output, its value, hereinafter referred to as the trim value, can be adjusted during the trim operation, the previous trim value is replaced with a new trim value, and the value of the output overall signal is shifted A trimming method for remote control, wherein a new trim value is derived from at least one given control signal that at least partially includes the deviation in the input element.   The method of claim 1, wherein the control signal is temporarily buffered or recorded and used to derive the trim value prior to performing the trim operation.   3. A method according to claim 1 or 2, characterized in that the new trim value is formed from the average value of several signals given or generated at different times before performing the trim operation.   An average value is formed from a sequence of control signals generated during a time window, the new trim value is derived from this average value, and the period of the time window is longer than the period of the normal control deviation The method according to any one of claims 1 to 3.   The method of claim 4, wherein the time window is defined in a temporal relationship at the time of activation of the trim operation.   6. A method according to any one of the preceding claims, characterized in that the average value is formed by the continuous control signal undergoing a low pass filtering or generally an integration process.   According to a criterion for evaluating the intensity and / or frequency of the control action achieved in the control signal, a sequence of continuous control signals is analyzed and from the sequence at least one of the achieved control actions is minimal 7. A method according to any one of claims 2 to 6, characterized in that a time window is selected.   The trim operation is automatically achieved, and the trim value is obtained as an average value that is continuously, quasi-continuously or stepwise updated in the past control signal, and in the control signal The method according to any one of claims 2 to 7, characterized in that it is added continuously.   9. A method according to any one of the preceding claims, characterized in that the trim operation is operable for a control signal of several common control channels.   The control signal used for determining the trim value represents the deviation of the input element, and the sum of the old trim value and the averageable control signal is used as a new trim value. A method according to any one of the preceding claims, characterized in that it is characterized.   The control signal used for determination of the trim value includes the previous trim value, and the averageable control signal is used as a new trim value. The method according to any one of 10 above.   12. The control signal comprising the input element and the position of the trimable slider is included in the new trim value in a negative direction during the trim operation. The method described in 1.   In the combined trim value, on the one hand, the latest control signal present during at least part of the trim operation is included in the negative direction, and on the other hand, the averaged control signal is included in the positive direction. The method according to claim 12, wherein: 14. A method according to any one of the preceding claims, wherein the trim action is activated by actuating a switch and during the action a user drags the input element in a desired correction direction. Because
The new trim value is generated by subtracting the signal including the latest deviation of the input element at the start of operation, and the signal including the latest deviation of the input element is added at the end of the operation. And how to. The trim operation is activated by a switch operation, and during the operation, the user drags the position of the input element and / or trim slider on the side of the input element from the currently required position to the desired neutral position. 15. A method according to any one of claims 1-14, comprising:
A method wherein the new trim value is generated, a signal including the latest position is added at the start of operation, and a signal including the latest position is subtracted at the end of the operation. An apparatus for remote control and trimming having an input element, a microprocessor and a transmission unit,
A switch suitable for initiating a trim operation, a memory for storing or integrating values, a storage or integration of signals each including at least one control deviation provided by an input element of at least one control channel; and A device for remote control and trimming, characterized in that it comprises a storage medium having software adapted to execute or control the trim value formed thereby to the control signal.   The apparatus includes, as hardware, a remote control transmitter configured by state-of-the-art technology, and at least a part of the program sequence or software necessary for performing the storage of control values is the hardware 17. A device according to claim 16, characterized in that it comprises a storage medium arranged in such a way that it is adapted for its operation.   At least that portion of the software, designated for each storage or integration of the given control signals, is contained on a data carrier in such a way that the user can implement the data on a remote control transmitter that already exists. Device according to claim 16 or 17, characterized in that   Storing or integrating in a memory a control signal derived from at least one input element of the remote control transmitter and depending on a given control deviation; and said storing or integrating signal with a trim value A data carrier comprising: program code for controlling or executing a step that can be added to a control signal that is continuously transmitted.   An output for connecting to a control device or servo, an input configured to accommodate the reception control signal or to be connected to a receiver, and a signal dependent on a given control deviation A memory configured to store or integrate automatically, generate or integrate the average value of these signals, hold the result from the trim operation, and output the held value to the signal to be output. Device for remote control and trimming, characterized by additional programming.   An output for connecting to a control device or servo, an input that is configured to accommodate the reception control signal or to be connected to a receiver, and a control signal for at least two control axes. An apparatus for remote control and trimming, characterized by a memory device that continuously stores or integrates and an adder or mixer that adds the result to the output signal.   Device according to claim 20 or 21, characterized in that it is integrated with a receiver configured for remote transmission.   Device according to claim 20, 21 or 22, characterized in that it is constructed in one piece with the stabilization system. An input element having a control rod and a position encoder, wherein a reset mechanism in which a spring force is used is included for trimming with the input element included to obtain a zero,
The mechanical connection path from the control rod to the transmitting device via the resetting mechanism with respect to the connection path from the control rod to the position encoder and the transmitting device, which can be released or connected during the trim operation An apparatus for trimming, characterized by a separating clutch coupled to the resetting mechanism in such a way that selective replacement occurs in

Images