JP2948153B2 - Pilot device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fly-by-wire control device for controlling the movement of an aircraft or the like by converting a control operation by a control stick into an electric signal.

[0002]

2. Description of the Related Art In a conventional fly-by-wire steering device, a spring and a damper are attached to a control stick in order to artificially create a feel (steering feeling) corresponding to a steering amount by a driver, and thereby a feeler is provided. Is applied to the control stick as a reaction force. In such a passive type steering device, since it consists of a combination of a spring and a damper, it is affected by inertia and natural frequency, etc.
In addition, there is a problem that resonance occurs in a vibration environment. The steering feeling from the aircraft response, for example, the movement of the aircraft,
There is a problem in that proper operation is difficult because the influence of the rudder movement and the air resistance are not fed back to the control stick. There is an active control device to solve the problem of the passive control device.

In an active control device, a control stick is provided with a sensor for detecting a displacement and a steering force of the control stick. Based on the detected steering force and displacement, a feel calculator calculates a feel given to the control stick. The calculated feel is applied to the control stick by the actuator. By using such a feel calculator, an arbitrary feel characteristic can be calculated, so that an optimum feel can be easily given to the control stick. In addition, a feedback effect can be provided by changing the feel according to the body response, and operability can be improved. However, with such an active control device, it is difficult to continue the control if the actuator should fail.

The control stick used in such passive and active control devices is normally provided with a gimbal device so as to be angularly displaceable in two axes.

FIG. 12 is a longitudinal sectional view showing the conventional gimbal device 1, FIG. 13 is a transverse sectional view of the gimbal device 1, and FIG. 14 is a sectional view taken along the line AA of FIG. is there. The gimbal device 1 has an inner gimbal 8 and an outer gimbal 9, and the control stick 2 is angularly displaceable about a first axis 6 perpendicular to the axis 5 of the control stick 2 by a pair of first shafts 3. Supported, the inner gimbal 8 is supported on the outer gimbal 9 by a pair of second shafts 4 having a second axis 7 perpendicular to the axis 5 and the first axis 6 of the control stick 2 so as to be angularly displaceable about the second axis 6. Is done.
With such a configuration, the control stick 2 is provided so as to be angularly displaceable about the first axis 7 and the second axis 6 perpendicular to the first axis.

When such a gimbal device 1 is used in an active control device, a first axis displacement sensor 11 and a second axis displacement sensor 11 are used to detect displacements of the first axis 3 and the second axis 4, respectively. Force sensor 1 which is provided with a displacement sensor 12 for use and further detects a control force applied to the control stick 2.
0 is provided at one end 2 a of the control stick 2. As such a steering force sensor 10, a multi-axis force sensor is used to detect two-axis steering force around the first axis 6 and the second axis 7 of the control stick 2.

[0007]

When the steering force sensor 10 detects the steering force acting on the control stick 2 around the first axis 6 and the second axis 7, the number of the steering force sensors 10 is one. , Cross-coupling (mutual influence) occurs, and it is difficult to accurately detect the steering force around each of the axes 6 and 7.

In order to give the control stick 2 a feel around the first axis 3 and the second axis 4, the first axis 3 and the second axis
It is necessary to provide an actuator for each shaft 4,
Since the first shaft 3 is supported only by the inner gimbal 8, an actuator that gives a feel to the first shaft 3 must be mounted on the inner gimbal 8. Therefore, the structure and weight of the inner gimbal 8 are increased, and the actuator that gives the feel to the second shaft is not so heavy.
Must be driven, which causes a problem that the configuration of the gimbal device is further increased.

Further, the feel given to the control column 2 must apply a reaction force enough to withstand the operation force of the operator to the actuator, so that the driving source becomes large, and the configuration is further enlarged.

It is an object of the present invention to provide a steering apparatus capable of accurately detecting a steering force, not increasing the configuration, and continuing the steering even if an actuator fails.

[0011]

SUMMARY OF THE INVENTION The present invention is based on a control force sensor for detecting a control force applied to a control stick, a displacement sensor for detecting displacement of the control stick, and a control method based on the detected control force and displacement. Feel calculating means for calculating the feel given to the control stick; an actuator for giving the calculated feel to the control stick; spring means for giving the feel to the control stick; and intermittent means for transmitting or blocking the feel from the actuator. And a steering device. According to the present invention, the control force applied to the control stick and the displacement of the control stick are detected by the control force sensor and the displacement sensor, respectively, and the feel calculating means calculates the feel based on the detected control force and displacement. The actuator applies the calculated feel to the control stick.
An active control device is constituted by these configurations, and usually the steering is performed by the active control device. Further, the control stick is provided with a spring means for giving a feel to the control stick, and the spring means and the control stick constitute a passive type control device. Therefore, when it is difficult to control the vehicle by the active control device due to a failure of the actuator, the passive control device can continue the control. In addition, since the control stick is provided with spring means, the spring force by the spring means acts on the control stick during the operation with the active type control device, thereby reducing the driving force of the actuator which gives the feel to the control stick. The size can be reduced and the size can be reduced.

[0012] Further, when it is difficult to properly control the vehicle due to a malfunction of the actuator during operation by the active type control device, the field from the actuator is cut off by the intermittent means.
The control stick is given a feel only by spring means,
Active pilots switch quickly to passive pilots. Thus, the maneuver can be continued.

Further, according to the present invention, the displacement center of the actuator and the displacement center of the control stick are provided at a predetermined distance from each other,
A transmission means for transmitting a feel from the actuator to the control stick is provided between the control stick and the actuator. According to the present invention, the feel from the actuator is transmitted to the control stick via transmission means such as a link mechanism. Therefore, it is not necessary to provide the actuator directly on the control stick, and the degree of freedom of arrangement is increased, and the configuration near the control stick can be reduced in size.

The transmission means of the present invention is provided for each control rod displacement axis, and the steering force sensor is attached to each transmission means provided for each control rod displacement axis. According to the present invention, since the steering force sensor is attached to the transmission means, it is possible to prevent a problem that the configuration of the control stick is increased by directly attaching the control force sensor to the control stick as in the related art. Further, since the steering force sensor is attached to each transmission means, it is possible to accurately detect the steering force for each displacement axis without cross-coupling.

The control stick of the present invention is also provided with a gimbal device having an outer and an inner gimbal which is supported so as to be angularly displaceable independently about two axes orthogonal to each other on the same plane. The slide member and the connecting member having a pair of bearings are provided at a connecting portion between the outer gimbal and the inner gimbal. According to the present invention, it is possible to separately provide the actuators for the feel on the inner gimbal and the outer gimbal, and the size and weight of the inner gimbal can be reduced. Further, by using the slide plate and the pair of bearings, the inner gimbal and the outer gimbal are smoothly connected.

Further, the connecting member of the present invention is characterized in that it is provided so as to be angularly displaceable about the axis of the control stick. According to the present invention, since the connecting member is connected so as to be angularly displaceable about the axis of the control stick, the follow-up movement to the slide plate is improved.

[0017]

FIG. 1 is a schematic view of a steering device 20 according to an embodiment of the present invention. The control device 20 includes a control stick 21, a feel calculator 24, an actuator 25, a clutch 29, and a link mechanism 30. Such a control device 20 is used, for example, in an aircraft for fly-by-wire.

The control force applied to the control stick 21 is detected by a control force sensor 22, and the displacement of the control stick 21 is detected by a displacement sensor 23. Feel calculator 24 is
The feel given to the control stick 21 is calculated based on the detected control force and displacement. The actuator 25 includes a servomotor 27, a speed reduction device 28, and a resolver 26 that detects the speed and displacement of the servomotor 27, and gives a feel to the actuator according to the feel calculated by the feel calculator 24. A displacement center P1 of the actuator 25 and a displacement center P2 of the control stick 21 are provided at a predetermined distance from each other, and between the actuator 25 and the control stick 21 is an intermittent means for transmitting and blocking a feel from the actuator. A link mechanism 30 is provided as transmission means for transmitting the feel from the clutch 29 and the actuator 25 to the control stick 21. The aforementioned steering force sensor 22 is attached to this link mechanism 30. Further, the link mechanism 30 is provided with a spring means 31,
The spring means 31 is connected to the control stick 21 via the link mechanism 30.
To give the feel.

The steering force detected by the steering force sensor 22 or the displacement detected by the displacement sensor 23 is converted into an electric signal, and the rudder is displaced via a hydraulic actuator or the like (not shown) to move the body equipped with the steering device 20. Control.

When the clutch 29 is connected and the feel from the actuator 25 is applied to the control stick 21, the control device 20 functions as an active control device. The feel calculator 24 calculates the feel based on not only the steering force given to the control stick 21 and the displacement of the control stick 21, but also the body response such as the influence of the body movement, the rudder movement and the air resistance. Therefore, the pilot can receive the feedback effect of the body response from the control stick 21, and the maneuverability is improved.

The servo motor 27 gives a feel to the control stick 21 via a speed reducer 28, a clutch 29 and a link mechanism 30 according to the calculated feel. The speed and displacement of the servomotor 27 are detected by the resolver 26, and the detected displacement and speed of the servomotor 27 are input to the field calculator 24. In this way,
The servo motor 27 is feedback-controlled.

A detection signal from the steering force sensor 22 is input to the feel calculator 24 as a command signal, and a detection signal from the displacement sensor 23 is input to the feel calculator 24 as a feedback signal, so that the closed-loop controller can be controlled. It is possible to provide an active control device provided.

The link mechanism 30 is provided with a spring means 31, which gives a feel to the control stick 21 via the link mechanism 30. The feel given to the control stick 21 by the servomotor 27 requires a force enough to endure human power, but the control stick 21 is also given a feel by the spring means 31, thereby reducing the load on the servomotor 27. Become. Therefore, the size and power consumption of the servomotor 27 can be reduced.

When the clutch 29 is connected and functions as an active control device, if it becomes difficult to perform proper control due to, for example, a failure of the actuator 25, the cutoff signal is transmitted from the feel calculator 24 to the clutch 29. Is input, and the feel given to the control stick 21 from the actuator 25 is cut off. As a result, the control stick 21
Is provided only with the spring means 31 and functions as a passive steering device. Thus, the clutch 29
By interrupting the feel from the actuator 25, the active control device can be quickly switched to the passive control device and the vehicle can be continuously controlled.
Even if the clutch 29 is disengaged, the steering force sensor 22 and the displacement sensor 23 can detect the steering force and the displacement of the control stick 21. By inputting the steering force or the displacement, the fly-by-wire Can be continuously operated as a steering device.

In FIG. 1, only one link mechanism 30, one spring means 31, one clutch 29 and one actuator 25 are shown, but as described below, these components are used for the displacement axis of the control stick 21, That is, the first
In this embodiment, two shafts are provided for each of the axis 43 and the second shaft 44.

FIG. 2 is a longitudinal sectional view showing a control stick gimbal device 39 provided in the control device 20, FIG. 3 is a transverse sectional view of the control stick gimbal device 39, and FIG. 4 is a sectional view of FIG. FIG. 4 is a sectional view taken along line IV-IV. The control stick gimbal device 39 includes an inner support 40, an outer support 41, and an angular displacement transmitting member 49. The inner support 40 includes the control stick 21.
The control rod 21 is supported so as to be angularly displaceable about a first axis 43 perpendicular to the axis 42 of the control rod 21, and the outer support 41 is internally supported around an axis 42 of the control rod 21 and a second axis 44 perpendicular to the first axis 43. The body 40 is supported for angular displacement. The intersection of the axis 42, the first axis 43, and the second axis 44 of the control stick 21 is the displacement center P2 of the control stick 21.

One end 21 of the control stick 21 is slightly wider than the center.
A pair of first shaft members 45 having a first axis line 43 and being fixed to the control stick 21 is fixed to a position closer to a, and these first shaft members 45 are respectively mounted on the inner gimbal 50 and the ball bearings 51.
Is supported so as to be angularly displaceable. The inner support 4 including the inner gimbal 50 and the first shaft members 45
0 is configured. A pair of second shaft members 46a and 46b having a second axis 44 are fixed to the inner gimbal 50, and these second shaft members 46a and 46b are respectively connected to the outer gimbal 52 via ball bearings 53 by the second axis 44. It is rotatably supported around it. These second shaft members 4
The outer support body 41 includes the outer gimbal 52 and the outer support members 6a and 46b, and the second shaft members 46a and 46b form a displacement axis of the second axis of the control stick 21.

The angular displacement transmitting member 49 extends over a pair of shaft members 46a and 46b supported by the outer gimbal 52 of the outer support 41 so as to be angularly displaceable coaxially with the first axis 43, and between the shaft members 46a and 46b. And an angular displacement transmission member 49 having a slide plate 48 extending in an arc shape around the second axis 44. Each shaft member 47
a and 47b are supported by the outer gimbal 52 via a ball bearing 54 so as to be freely angularly displaceable. These shaft members 4
7a, 47b and the pair of first shaft members 45 constitute a displacement axis of the first axis of the control stick 21. Slide plate 48
Are supported by the shaft members 47a and 47b via a pair of support members 55, respectively. One end 2 of the control stick 21
1a is provided with a connecting member 56, which is mounted on the slide plate 48.

FIG. 5 shows the control stick 21 showing the vicinity of the connecting member 56.
FIG. 6 is a side view of the connecting member 56.
The connecting member 56 is formed with a pair of insertion holes 57 through which the slide plate 48 is inserted. The connecting member 64 has a substantially short cylindrical shape, and is connected to an upper portion of the connecting portion 64 and is formed at one end 21 a of the control stick 21. And a shaft 65 inserted into the insertion hole 58.
The shaft 65 of the connecting member 56 is supported by the control stick 21 via a pair of roller bearings 59 so as to be angularly displaceable about the axis 42. A ball bearing 60 is provided at an upper end of the shaft 65, and an inner ring 61 of the ball bearing 60 is fixed to the shaft 65, and an outer ring 62 is fixed to the control stick 21. Thus, the connecting member 56
Denotes an axis 42 of the control stick 21 at one end 21 a of the control stick 21.
Since it is provided so as to be freely angularly displaced around, the operator can angularly displace the control stick 21 in an arbitrary direction.

The connecting portion 64 of the connecting member 56 is provided with two pairs of cylindrical bearings 63 for holding the slide plate 48 therebetween. Therefore, the connecting member 56 is mounted on the slide plate 48 in a state where it can be displaced along the slide plate 48 and the displacement in the direction perpendicular to the slide plate 48 is restricted.

The angular displacement of the control stick 21 of the control stick gimbal device 39 around the first axis 43 is as follows.
Is transmitted to the angular displacement transmitting member 49 via the connecting member 56 provided at the one end 21a of the second member 21a. Accordingly, the outer gimbal 5 projects outward from the outer gimbal 52 and
The control stick 2 is supported by one of the shaft members 47a supported by the control rod 2.
The angular displacement about the first axis 43 with respect to the first outer gimbal 52 can be taken out. The angular displacement of the control stick 21 about the second axis 44 with respect to the outer gimbal 52 is
It can be taken out by one second shaft member 46a protruding outward from the outer gimbal 52. Therefore, it is not necessary to provide the inner gimbal 50 with the actuator 25 that gives the control stick 21 a feel around the first axis line 43, and the feel around the first axis line 43 is externally transmitted via one shaft member 47 a of the angular displacement transmission member 49. Can be given. Thus, the control stick gimbal device 39 is provided.
Can be downsized. The feel of the control stick 21 around the second axis 44 is provided by the actuator 25 via one second shaft member 46a.

FIG. 7 is a simplified front view showing the inside of the control device 20 showing a structure for giving a feel to the control stick 21 around the first axis 43, and FIG. 8 is a right side view thereof. 7 and 8, for convenience of illustration, the second axis 4
The structure for giving a feel to the control stick 21 around 4 is omitted. An actuator 25a, a link mechanism 30a, and a spring means 31a for giving a feel to the control stick 21 around the first axis 43 are housed in a housing 70, and a gimbal device 39 having the control stick 21 is provided above the housing 70. This housing 7
A cover body 69 is provided so as to cover 0.

A link mechanism 30a is connected to one shaft member 47a of the angular displacement transmitting member 49 for transmitting the angular displacement of the control stick 21 about the first axis 43, and the link mechanism 30a is connected to the link mechanism 30a.
A feeling about the first axis 43 is given to the control stick 21 from the actuator 25a via the. Link mechanism 30
a has a first arm 71a, a joint rod 72a and a second arm 73a, one end of the first arm 71a is fixed to one shaft member 47a of the angular displacement transmitting member 49, and the other end of the first arm 71a is a joint. One end of the rod 72a is connected via a pin 78a so as to be angularly displaceable, and the other end of the joint rod 72a is connected to one end of a second arm 73a via a pin 79a so as to be angularly displaceable. Second arm 7
The other end of 3a is connected to the spring means 31a via a pin 80a so as to be angularly displaceable, and the center of the second arm 73a is fixed to one shaft 86 of the clutch 29a. An actuator 25a is connected to the other shaft of the clutch 29a, and the clutch 29a can transmit and cut off the displacement of the actuator 25a.

The speed reducer 28a of the actuator 25a is constituted by a ball screw, and the screw shaft 74 of the ball screw is rotatably supported by the base 91, and the coupling 8
It is fixed to the output shaft of the servomotor 27a via 5a. A nut 76 screwed to the screw shaft 74 has a rod 76
Is pivotally connected to the other end of the rod 76. The other end of the rod 76 is connected to a cylinder 7 fixed to the other shaft of the clutch 29a.
7 is provided so as to be freely inserted and ejected. In this embodiment, the clutch 29a
Is the displacement center P1a of the actuator 25a.
Also works as

The spring means 31a has a compression coil spring 8 inside.
4 and a rod 82 inserted into the cylinder 83. One end of the cylinder 83 is connected to the other end of the second arm 73a so as to be angularly displaceable by a pin 80, and one end of a rod 82 is inserted into the bottom, which is the other end of the cylinder 83. The other end of the rod 82 is connected to the housing 70 via a pin 81 so as to be angularly displaceable. The cylinder 83 has a small diameter at the center in the longitudinal direction via a stepped portion 87. When the control stick 21 is in the neutral position as shown in FIG. 7, one end of the rod 82 is arranged at the center of the cylinder 83. You. A large diameter portion 88 having a large diameter is formed at one end of the rod 82. An annular locking member 89 is fitted into the rod 82, and the locking member 89
Of the rod 82 or the stepped portion 87 of the cylinder 83, the locking member 89 and the cylinder 8
The compression coil spring 84 is interposed between the compression coil spring 84 and the bottom of the third coil 3. When the control stick 21 is in the neutral position, the compression coil spring 8
The locking member 89 is locked by the large diameter portion 88 of the rod 82 and the stepped portion 87 of the cylinder 83 by the spring force of No. 4.

Therefore, when a compressive force acts on the spring means 31a, the rod 82 is further inserted into the cylinder 83. At this time, the compression coil spring 84 is connected to the stepped portion 87 of the cylinder 83 via the locking member 89 and the cylinder 8.
3 between the bottom. Thereby, the spring means 3
1a gives a spring force in a direction against the compression force.

Conversely, when a tensile force acts on the spring means 31, the rod 82 is ejected, and the compression coil spring 84 moves between the large-diameter portion 88 of the rod 82 and the bottom of the cylinder 83 via the locking member 89. Compressed. As a result, the spring means 31 applies a spring force in a direction against the tensile force. In this manner, the spring means 31 allows the compression coil spring 84 to be compressed regardless of whether the tension or compression force is applied,
Since the spring force is applied in a direction against the tension and the compression force, the compression coil spring 84 is prevented from being expanded and plastically deformed.

The joint rod 72 of the link mechanism 30a
Is provided with a steering force sensor 22a. Link mechanism 30
a, the length between the shaft member 47a of the first arm 71a and the pin 78a and the length between the shaft 86a of one clutch of the second arm 73a and the pin 79a are selected to be equal to each other;
The length between the pin 78a and the pin 79a of the joint rod 72a, the shaft member 47a and one shaft 8 of the clutch.
6a are also selected to be equal to each other. As a result, the force around the first axis 43 acting on the control stick 21 acts as a tensile and compressive force on the joint rod 72a of the link mechanism 30a. Therefore, the pulling and compressing forces acting on the joint rod 72a are controlled by the steering force sensor 2.
By detecting by 2a, the control force around the first axis 43 acting on the control stick 21 can be accurately detected.

The other shaft member 47b of the angular displacement transmitting member 49
Is connected to a displacement sensor 23a via a displacement sensor link mechanism 90a, and the displacement sensor 23a detects an angular displacement of the control stick 21 around the first axis 43.
Since the control stick gimbal device 39 can extract the angular displacement of the control stick 21 around the first axis 43 with respect to the outer gimbal 52 by the angular displacement transmitting member 49, there is no need to attach the displacement sensor 23a to the inner gimbal 50. 8, it can be provided outside the gimbal device 39. Thus, the gimbal device 39 can be reduced in size and weight.

Further, since the control stick gimbal device 39 and the actuator 25a are connected by the link mechanism 30a, the actuator 25a and the control stick 21 can be arranged in the vertical direction (the vertical direction in FIG. 7). The configuration of the control device 20 is prevented from increasing in the plane direction perpendicular to the control stick 21. Therefore, the control device 20 is prevented from interfering with other devices.

FIG. 9 shows the control stick 21 around the first axis 43.
Control device 2 for explaining a state when a feel is given to a vehicle
FIG. When the control lever 21 is operated around the first axis 43 in the direction of arrow B1 (clockwise direction in FIG. 9) by the operator, a feel is given in the opposite direction, that is, in the direction of arrow B2. When a feel is applied as a reaction force in the direction of arrow B2, the screw shaft 74 is rotationally driven by the servomotor 27a and the nut 75
Is displaced in the direction of arrow B3. The rod 76 connected to the nut 75 drives the other shaft of the clutch 29a via a cylinder 77 to perform angular displacement in the direction of arrow B4.
When functioning as the active type steering device, the other shaft of the clutch 29a and the one shaft 86a are connected, whereby the one shaft 86a of the clutch 29a and the second arm 73a of the link mechanism 30a are indicated by arrows. Angular displacement driving is performed in the B4 direction. The angular displacement of the second arm 73a is transmitted to the control rod 21 via the joint rod 72a, the first arm 71a, and the angular displacement transmitting member 49, whereby the control rod 21 is given a feel in the direction of the arrow B2. .
At this time, the spring means 31 is connected to the other end of the second arm 73a.
a, and the control means 21 has an arrow B
When the control lever 21 is displaced in one direction, the spring force is applied in a direction in which the control stick 21 is displaced to the neutral position, that is, a direction in which the control stick 21 is displaced in the direction of the arrow B2. That is, the spring force of the spring means 31a acts in the same direction as the feel given to the control stick 21 by the actuator 25a. Therefore, when functioning as an active control device, the spring means 31a
The spring force acts in a direction in which the load on the servomotor 27a of the actuator 25a is reduced, whereby the power consumption and the size of the servomotor 27 can be reduced.

In the state where the clutch 29a is connected as described above, the feel is given to the control stick 21 from the actuator 25a, and the control stick 21 functions as an active control device. If the actuator 25a is out of order due to malfunction or the like, the feel transmitted from the actuator 25a to the control stick 21 is cut off by the clutch 29a.
Feel is given only from this, and it functions as a passive control device. As a result, the steering can be continued.

In the case where a feel is given to the control stick 21 in the direction opposite to the arrow B2, the control motor 21a is driven in the reverse rotation direction to the control stick 21 by the same operation as described above. Arrow B around axis 43
The feel is given in the direction of arrow B1 opposite to 2.

FIG. 10 shows the control stick 21 around the second axis 44.
FIG. 11 is a simplified left side view showing the inside of the control device 20 showing a configuration for giving a feel to the vehicle, and FIG. 11 is a front view thereof. In FIGS. 10 and 11, for convenience of illustration,
A configuration for giving a feel to the control stick 21 around the first axis 43 is partially omitted. The configuration for providing the feel around the second axis 44 has substantially the same configuration as the configuration for providing the feel around the first axis 43 shown in FIGS. 7 and 8, and the corresponding components have the same reference numerals. And the description is omitted by replacing the subscript a with b.

In the configuration in which the feel is provided around the second axis 44, a reduction gear 28b composed of a gear reduction gear is used instead of the reduction gear 28a composed of a ball screw. Even in such a configuration, it is possible to quickly switch from the active control device to the passive control device by disconnecting the clutch 29b.

[0046]

As described above, according to the present invention, the control device has both functions of an active control device in which the control stick is given a feel by the actuator and a passive type control device in which the feel is given by the spring means. For example, when it becomes difficult to perform proper steering due to a failure of the actuator, for example, the passive type steering apparatus can continue the steering. In addition, since the control stick is provided with a spring means, the driving force of the actuator is reduced by the spring means when functioning as an active control device, thereby reducing the driving force of the actuator and miniaturizing the actuator. be able to.

Further, since an intermittent means for transmitting and interrupting the feel from the actuator is provided, when the actuator is broken down, the feel from the actuator is interrupted by the intermittent means, so that the active type steering device can quickly become the passive type steering device. Switch to
Maneuvering can be continued.

Since the transmission means is provided between the control stick and the actuator, it is not necessary to mount the actuator directly on the control stick, and the configuration near the control stick can be reduced in size.

Further, since the steering force sensor is attached to the transmitting means, the structure of the control stick can be reduced in size, and the steering force can be accurately detected.

Further, in the control stick gimbal device, it is not necessary to provide a feel actuator on the inner gimbal, thereby reducing the size and weight of the gimbal device.

Since the connecting member mounted on the slide plate is clamped by the bearing, the displacement can be transmitted to the slide plate with high accuracy.

Since the connecting member is connected to one end of the control stick so as to be angularly displaceable around the axis of the control stick, the follow-up to the slide plate is improved.

[Brief description of the drawings]

FIG. 1 is a schematic view of a control device 20 according to an embodiment of the present invention.

FIG. 2 is a longitudinal sectional view of a control stick gimbal device 39.

3 is a cross-sectional view of the control stick gimbal device 39. FIG.

FIG. 4 is a cross-sectional view taken along the line IV-IV of FIG. 2;

5 is a cross-sectional view of the control stick 21 showing the vicinity of the connecting member 56. FIG.

FIG. 6 is a side view of the connecting member 56.

FIG. 7 is a simplified front view showing the inside of the steering device 20 showing a configuration for giving a feel to the control stick 21 around the first axis 43.

FIG. 8 is a right side view schematically showing the inside of the control device 20 showing a configuration for giving a feel to the control stick 21 around the first axis 43.

9 is a front view of the inside of the control device 20 for explaining a state when a feel is given to the control stick 21 around the first axis 43. FIG.

FIG. 10 is a left side view schematically showing the inside of the control device 20 showing a configuration for giving a feel to the control stick 21 around the second axis 44.

FIG. 11 is a front view of the inside of the control device 20 showing a configuration for giving a feel to the control stick 21 around the second axis 44.

FIG. 12 is a longitudinal sectional view showing a conventional gimbal device 1.

FIG. 13 is a cross-sectional view of the gimbal device 1.

FIG. 14 is a sectional view taken along line AA of FIG. 1;

[Explanation of symbols]

 REFERENCE SIGNS LIST 20 control device 21 control stick 22, 22a, 22b control force sensor 23, 23a, 23b displacement sensor 24 feel calculator 25, 25a, 25b actuator 26 resolver 27, 27a, 27b servo motor 28, 28a, 28b reduction device 29, 29a , 29b Clutch 30, 30a, 30b Link mechanism 31, 31a, 31b Spring means 39 Gimbal device for control stick 40 Inner support 41 Outer support 43 First axis 44 Second axis 47a, 47b Shaft member 48 Slide plate 49 Angular displacement Transmission member 56 Connecting member

────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Hiroyuki Uebayashi 2 Kawasaki-cho, Kakamigahara-shi, Gifu Prefecture Inside the Commuter Helicopter Advanced Technology Laboratory Co., Ltd. (56) References JP-A-59-8598 (JP, A) 5-282062 (JP, A) Japanese Utility Model 7-45038 (JP, U) Japanese Utility Model 7-43785 (JP, U) Table 9-502675 (JP, A) US Patent 4,345,195 (US, A) US Patent 4607202 (US, A) US Patent 4,964,445 (US, A) US Patent 5,024,241 (US, A) US Patent 5125602 (US, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B64C 13 / 46

Claims (5)

(57) [Claims] 1. A control sensor for detecting a control force applied to a control stick, a displacement sensor for detecting displacement of the control stick, and calculating a feel to be applied to the control stick based on the detected control force and displacement. Feel calculation means, an actuator for giving the calculated feel to the control stick, spring means for giving the feel to the control stick, and intermittent means for transmitting or blocking the feel from the actuator. Pilot device. 2. A displacement center of the actuator and a displacement center of the control stick are provided at a predetermined distance from each other, and a transmission means for transmitting a feel from the actuator to the control stick is provided between the control stick and the actuator. The control device according to claim 1, wherein the control device is operated. 3. The transmission means is provided for each displacement axis of the control stick, and the control force sensor is attached to each transmission means provided for each displacement axis of the control stick.
A control device as described. 4. The control sticks are orthogonal to each other on the same plane.
A gimbal device having outer and inner gimbals that are independently pivotally supported about two axes, and are supported so as to be angularly displaceable about the two axes, and a connecting portion between the outer gimbal and the inner gimbal includes a slide plate; The control device according to any one of claims 1 to 3, further comprising a connecting member having a pair of bearings. 5. The control device according to claim 4, wherein the connecting member is provided so as to be angularly displaceable about an axis of the control stick.