JPS6122638Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a transmitter for a radio-controlled device with improved operability.

A radio-controlled device that uses radio waves to remotely control a controlled object, such as a model car, airplane, or boat, uses an operating mechanism connected to an operating part of the controlled object, for example, in proportion to the amount of operation on the transmitter side. A so-called proportional system, in which a servo motor or the like is driven, is often used.

FIG. 1 is a block diagram for explaining the general operation of a transmitter of this type of radio control device.

Here, reference numeral 1 denotes a variable resistor section that is provided according to the number of operation parts on the side of the operated object to be operated, that is, the number of channels, and whose movable element is operated by a stick mechanism. 1 is read by the encoder section 3 in synchronization with one cycle of control, that is, the output of the clock pulse generator 2 which generates frame pulses, thereby forming a channel signal.

That is, as shown in the figure, a channel signal CH having a pulse interval corresponding to the output of each variable resistor of the variable resistor section 1 is formed, and this channel signal is introduced into the modulation section 4 to turn on and off the high frequency section 5. The configuration is such that the radio waves are modulated or frequency modulated and emitted from the antenna 6 as radio waves.

Incidentally, in this case, the amount of operation of the steering mechanism of the variable resistor section 1 and the amount of deflection of the operated portion on the steered object side, that is, the steering angle, are generally in a proportional relationship. That is, as shown in FIG. 2a, the output of the variable resistor section 1, and therefore the steering angle Mv of the operating part, has a relationship as shown by the solid line A in the figure with respect to the operating amount Ms of the steering mechanism. . Also, depending on the maneuvering mode, it may be necessary to perform fine control by reducing the rate of change of the drive amount Mv of the operating part with respect to the step operation amount Ms. There is also a transmitter in which the characteristics of the steering angle of the operating part can be changed as shown by the broken line B in the figure by operating a switch.

Then, in the state shown by the broken line B in the figure, where the drive amount of the operating part, that is, the rudder angle, is reduced, for example, a model airplane is caused to perform horizontal flight or slow roll, and in the state shown by the solid line A in the figure, it is made to perform spins, quick crawls, etc. Performance flights such as

However, if the steering angle is switched to two stages as shown in Figure 2a, for example, when various performance flights are performed continuously, or when the steering angle is switched to two stages as shown in Figure 2a to compensate for insufficient steering angle during landing attitude, etc. The drawback is that the operating feel of the mechanism changes, making it difficult to operate accurately.

As a means to improve the shortcomings of such a steering angle switching mechanism, for example, as shown in FIG. A mechanism in which the steering angle has an exponential characteristic has also been considered so that a large amount of change in the steering angle can be obtained near positions P ₁ and P ₂ .

However, in a mechanism having the characteristics shown in FIG. 2b, the movable element-output characteristic of the variable resistor section 1 itself must generally have an exponential characteristic.
Such a variable resistor itself is a special component and is quite expensive, and it is difficult to obtain one with stable or uniform characteristics.

The present invention has been developed in view of the above-mentioned circumstances, and is designed to reduce the amount of deflection, or so-called rudder angle, of the operated part of the steered object driven by the stick operation on the transmitter side. However, the rudder angle does not change near the neutral position of the stem mechanism, and the rudder angle changes around the maximum rudder angle to improve operability, especially when performing various performance flights. It is an object of the present invention to provide a transmitter for a radio-controlled device that can smoothly transition from a fast-moving performance to a slow-moving performance or vice versa.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a transmitter for a radio-controlled device according to the present invention will be described below with reference to the drawings.

FIG. 3 is a circuit configuration diagram of a main part showing an embodiment of a transmitter of a radio-controlled device according to the present invention.

Here, VR ₁ indicates one variable resistor of the variable resistor section whose movable element is driven by a stem mechanism (not shown). and OP ₁ is the resistance R ₁
An operational amplifier _OP2 , which together with ~ _R3 constitutes an inverting amplifier circuit, is an operational amplifier which constitutes a kind of half-wave rectifier circuit together with resistors _R4 through _R7 , and diodes _D1 and _D2 . In other words, in this circuit, the current is directed to the diode _D2 at the current summation point of the input applied through the resistor _R4 and the offset voltage applied through the resistor _R6 , that is, at the inverting input terminal of the operational amplifier _OP2 . While flowing, the output is fixed to the reference voltage Vr.

In the opposite case, that is, while the diode _D1 is conductive and current flows into the current addition point via the resistor _R5 , the circuit operates as a type of inverting amplifier circuit.

Here, in order to operate each operational amplifier with one power supply, in this embodiment, the reference voltage Vr is set to 1/2 of the power supply voltage Vcc, and the operational amplifier OP ₂
The offset voltage given to the power supply voltage Vcc
I'm taking it.

Operational amplifier _OP3 , resistors _R8 to _R11 , diodes
D ₃ and D ₄ are a kind of half-wave rectifier circuit, similar to the circuit formed by the operational amplifier OP ₂ described above, and in this case, the offset voltage (in this example, the ground voltage) is connected via the resistor R ₁₀ . ) is given, that is, at the inverting input _terminal (-), the output is fixed to the reference voltage Vr while current flows into the current summing point via diode _D4 . On the other hand, while current flows from the inverting input terminal (-) of operational amplifier _OP3 toward resistor _R9 , it operates as an inverting amplifier circuit.

That is, the circuit constituted by the operational amplifiers OP ₂ and OP ₃ constitutes a waveform conversion circuit in order to obtain a predetermined polygonal characteristic for the output of the variable resistor VR ₁ .

Furthermore, OP ₄ is an operational amplifier that constitutes an adder circuit together with resistors R ₁₂ to R ₁₅ , and OP ₅ is an operational amplifier that constitutes an adder circuit together with resistors R ₁₂ to _{R 15} .
This is an operational amplifier that together constitutes an inverting amplifier circuit. Also, AS ₁ and AS ₂ are analog switches,
When a "1" signal is applied to the terminal marked with a circle, it becomes conductive, and when a "0" signal is applied, it is cut off. S
is a switch that constitutes a switch circuit section together with the analog switches AS ₁ and AS ₂ , has fixed contacts Sa and Sb, and has a power supply voltage given by a resistor R ₁₉ .
It switches between Vcc and ground potential to control opening and closing of the analog switches AS ₁ and AS ₂ . IN is an inverter.

VR ₂ is a variable resistor that divides the output of the operational amplifier OP ₅ and the output of the analog switch AS ₁ and outputs it to _the movable element.
The output is introduced into the encoder section as a voltage for forming a channel signal for aileron control or rudder control, for example.

Next, the operation in the above-described configuration will be explained.

By manipulating the mover of the variable resistor VR ₁ with the steering mechanism, its output changes within the range of the maximum manipulated variable P ₁ -P ₂ as shown by the solid line A in FIG. 4a. Then, the output of the variable resistor VR ₁ is inverted by an inverting amplifier circuit consisting of an operational amplifier OP ₁ , so that the polarity is inverted as shown by the broken line B in FIG.

The output of this operational amplifier _OP1 is introduced into a half-wave rectifier circuit consisting of an operational amplifier _OP2 .

Therefore, the output of this operational amplifier OP ₁ is resistor
If it is greater than the offset voltage Oa for the operational amplifier OP ₂ determined by the addition ratio of R ₄ and R ₆ , it is clipped and fixed to the reference voltage Vr as shown by the dashed line C in FIG. 4B. However, if the operating amount of the step increases further and the output of operational amplifier OP ₁ becomes less than the offset voltage Oa, the circuit consisting of operational amplifier OP ₂ becomes an inverting amplifier circuit as described above, so the output of this circuit ends up being The characteristics are as shown by the dashed line C in FIG. 4B over the entire operating range P ₁ -P ₂ of the stick mechanism. In this case, the rise point of the output characteristic can be arbitrarily set by adjusting the value of the resistor _R6 , but is generally selected to be about 80% of the maximum manipulated variable P.

On the other hand, the output of the operational amplifier _OP1 is also introduced into a circuit consisting of the operational amplifier _OP3 via a resistor _R8 . Here, as shown in FIG. 4b, as long as the output of the operational amplifier _OP1 is greater than the offset voltage Ob determined by the addition ratio of the resistors _R8 and _R10 , the circuit consisting of the operational amplifier _OP3 is It operates as an inverting amplifier, and when it becomes smaller than the offset voltage Ob, it is clipped to the reference voltage Vr, so that its output eventually has the characteristics shown by the two-dot chain line D in FIG. 4B.

The outputs of the circuit consisting of operational amplifiers OP ₂ and OP ₃ are added via resistors R ₁₂ and R ₁₃ to operational amplifier OP ₄ as shown by the solid line H in FIG. 4c.

On the other hand, in solid line maneuvering, sudden maneuvering conditions,
For example, when performing a spin or a quick crawl when piloting a model airplane, it is necessary to increase the steering angle of the aileron control section, and in this case, switch S is switched to fixed contact Sa. Then close analog switch AS ₁ and close analog switch AS _2.
to open.

However, in this condition, the variable resistor VR ₂
The output of the operational amplifier OP 4, indicated by the solid line E in Fig. 4c, and the operational amplifier OP ₄ , indicated by the broken line B, are connected to both ends of the stator.
The output of OP ₁ is given, and the partial pressure is mixed depending on the position of the mover.

Therefore _, the output of _the variable resistor VR ₂ is, as shown by the solid line in _FIG .
In this case, the steering angle changes at a constant rate of change, and as it approaches the maximum operating positions P ₁ and P ₂ , the steering angle rapidly changes toward the maximum steering angle.

Therefore, by switching the switch S to the fixed contact Sa side, the vehicle can immediately move from a state that requires normal maneuvering such as horizontal flight or fine control such as slow roll to a state that requires large steering angle such as spin or quick crawl. It becomes possible to shift to a maneuver that
In other words, if you switch the switch S to the fixed contact Sa side before starting operations that require fast movements,
without sacrificing the operating feel during normal flight.
It becomes possible to take a large steering angle near the maximum operating position of the steering mechanism.

In this case, the polarity of the output of variable resistor VR ₂ will be as shown by the solid line in Figure 4 d, but the opposite polarity may be required depending on the direction of deflection of the operated part on the controlled object side. There are cases. In this case, the output of the variable resistor VR ₂ is connected to the operational amplifier OP ₅ , and the resistors R ₁₆ to _{R 18}
The polarity may be inverted as shown by the dashed line G in FIG. 4d using an inverting amplifier circuit consisting of the following, and then introduced into the encoder section.

On the other hand, if you want to set the rate of change of the steering angle small in order to perform fine control over the entire operating range of the steering mechanism P ₁ - _{P 2} during steady maneuvering, etc., move the switch S to the fixed contact Sb side. Switch to. In this case, analog switch _AS1 is cut off and analog switch _AS2 is turned on.

Therefore, across the stator of the variable resistor VR ₂ are the output of the operational amplifier OP ₁ , indicated by the dashed line B in FIG. 4a, and the reference voltage via the analog switch AS ₂ .
Vr is applied. These two voltages are mixed and divided by the variable resistor VR ₂ according to the position of the movable element and output, so the output is the voltage of the stem mechanism as shown by the broken line H in Fig. 4d. A steering angle characteristic with a constant slope can be obtained over the entire operating range.

That is, regardless of whether the switch S is at the fixed contact point Sa or Sb, the rate of change in the steering angle is constant within the set operating range _P3 to _P4 of the steering mechanism. Therefore, near the neutral position of the steering mechanism, the change in the steering angle relative to the amount of operation of the steering mechanism is the same, so the steering angle can be adjusted without disturbing the operational feeling.
This makes it possible to perform accurate maneuvering operations.

By the way, in the above-mentioned embodiment, a kind of half-wave rectifier circuit using an operational amplifier forms a waveform conversion circuit section that forms a signal for changing the inclination of the steering angle. teeth,
It is also possible to use other well-known clip circuits. Furthermore, depending on the direction of the inserted part of the steered object, an inverting amplifier circuit may be inserted at an appropriate location to convert the signal polarity. In addition, the present invention is not limited to the embodiments described above and shown in the drawings, but can be implemented with various modifications without changing the gist thereof.

As described above, the transmitter of the radio-controlled device according to the present invention converts the output of the variable resistor section operated by the stick mechanism into a waveform so that the waveform suddenly rises near the maximum operating position of the stick mechanism. Alternatively, a falling signal is formed, and by operating a switch, a signal corresponding to the output of the waveform conversion circuit section and a signal at a constant level are mixed with a signal corresponding to the output of the variable resistor section, and the voltage is divided, and a channel signal is generated. The configuration is such that it is used as an input to the encoder section that creates the .

Therefore, in the transmitter of the radio-controlled device according to the present invention, even if a switch is operated on the transmitter side to change the steering angle, the amount of deflection of the operating part relative to the amount of operation of the steering mechanism remains within the set range. Since it is constant, the operator's operating feeling does not become distorted, and it is possible to perform accurate control operations, making it extremely easy to operate.

Furthermore, there is no need to use special components, and the device can be manufactured cheaply and easily, with great advantages in terms of manufacturing.

[Brief description of the drawings]

FIG. 1 is a diagram for explaining the general configuration of a transmitter of a radio-controlled device, FIGS. 2 a and b are diagrams for explaining the steering angle characteristics of a transmitter of a conventional radio-controlled device, and FIG. The figure is a circuit diagram of a main part showing an embodiment of a transmitter for a radio-controlled device according to the present invention, and FIGS. 4a to 4d are diagrams for explaining the operation of the embodiment. VR ₁ , VR ₂ ... variable resistor, OP ₁ to _{OP 4} ... operational amplifier, S ... switch, AS ₁ , AS ₂ ... analog switch, D ₁ to _{D 4} ... diode.

Claims (1)

[Scope of utility model registration request] In a transmitter of a radio-controlled device that forms a signal for driving an operating part of a controlled object according to an operating position in a variable resistor part operated by a stick mechanism, the output of the variable resistor is within a set range. In some cases, a waveform conversion circuit unit outputs a signal at a certain level, and outputs a signal corresponding to the output of the variable resistor when the output of the variable resistor exceeds the set range, and this waveform conversion circuit. a switch circuit section that switches and derives either a signal corresponding to the output of the variable resistor section or a signal at a constant level, and a signal corresponding to the output of the switch circuit section and a signal corresponding to the output of the variable resistor section. A transmitter for a radio-controlled device that includes a voltage dividing circuit unit that outputs mixed partial pressure.