发明名称 |
APPARATUS AND METHOD FOR CONTROLLING A FORCE-ACTIVATED CONTROLLER |
摘要 |
A servo controlled system is disclosed for providing simulated feel equivalent to that of traditional mechanical hand controllers using servomotors. Position and force sensor signals are processed and used in a feedback loop that controls the motor mechanically connected to the stick. The overall feedback loop is comprised of a low-level motor feedback loop, and high-level force feel loop. The two loops have associated performance parameters that can be specified independently. The high-level feel force loop is comprised of a static and dynamic performance components. Static and dynamic performance components can be specified independently. The system allows variable and/or additional force cues to be specified externally to the system and felt by the operator. The system also allows external signal to backdrive the stick to follow a specified motion. The control framework permits the electronic coupling of the motion and applied forces of pilot and co-pilots in a dual arrangement while retaining the above-mentioned features. It also allows asymmetric force feel gradients to be implemented for each stick, or for a stick relative to a second one. A zero breakout or detent can be provided at the stick null displacement. For cross-coupled sticks, the detent can be shared as in a mechanically cross-coupled system, implemented independently on each stick, or any combination of these two. The control framework also provides the simulation of mechanical compliance in the cross-coupling of the two sticks in case of a jam or of force fight between the pilots, and automatic de-coupling of the sticks. |
申请公布号 |
WO03040844(A2) |
申请公布日期 |
2003.05.15 |
申请号 |
WO2002CA01686 |
申请日期 |
2002.11.06 |
申请人 |
BOMBARDIER INC.;TESSIER, CLAUDE;MARTINEAU, JONATHAN |
发明人 |
TESSIER, CLAUDE;MARTINEAU, JONATHAN |
分类号 |
B64C13/04;B64C13/10;B64C13/12;B64C13/46;B64C13/50 |
主分类号 |
B64C13/04 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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