公开(公告)号：US09284044B2

公开(公告)日：2016-03-15

申请号：US14394466

申请日：2013-04-15

申请人： SAGEM DEFENSE SECURITE

发明人： Geoffrey Beggiora ,  Jerome Piaton ,  Guillaume Mercier ,  Yann Vendenbaviere

IPC分类号： B64C13/04 ,  G01C23/00 ,  B64C13/46 ,  G06F3/01 ,  G06F3/038

CPC分类号： B64C13/46 ,  B64C13/04 ,  G06F3/016 ,  G06F3/038

摘要： The invention concerns a device for the active control of a force feedback for a control device, comprising a calculator, a position sensor (3) configured to provide the calculator with an effective position signal (Pm) of the control device, and an actuator (2) ensuring the displacement of the control device at the command of the calculator, the calculator being configured to use the effective position signal and modulate a setpoint current (lc) delivered to the actuator to ensure the position feedback of the displacement of the control device, characterized in that the calculator is further configured to create at least one saturation terminal (Bsat+, Bsat−) according to a predetermined function of the value of the effective position signal of the position/force law kind, and to saturate the setpoint current using the at least one saturation terminal.

摘要翻译： 本发明涉及用于主动控制用于控制装置的力反馈的装置，包括计算器，位置传感器（3），其被配置为向计算器提供控制装置的有效位置信号（Pm）和致动器（ 2）确保控制装置在计算器的命令下的位移，计算器被配置成使用有效位置信号并调制输送到致动器的设定值电流（lc），以确保控制装置的位移反馈 其特征在于，计算器还被配置为根据位置/力定律类型的有效位置信号的值的预定函数创建至少一个饱和端子（Bsat +，Bsat-），并且使用 所述至少一个饱和端子。

公开(公告)号：US09193439B2

公开(公告)日：2015-11-24

申请号：US14195419

申请日：2014-03-03

申请人： Cessna Aircraft Company

发明人： Steven G. Hagerott ,  Stephen Eddy ,  Jeremy Phillip Taylor

IPC分类号： B64C13/30 ,  B64C13/46

CPC分类号： B64C13/30 ,  B64C13/46

摘要： An improved flight control system is described, providing for increased or reduced pilot input forces necessary to cause desired control surface deflections.

摘要翻译： 描述了改进的飞行控制系统，其提供增加或减少导致所需控制表面偏转所必需的先导输入力。

公开(公告)号：US20150159739A1

公开(公告)日：2015-06-11

申请号：US14097517

申请日：2013-12-05

申请人： Honeywell International Inc.

发明人： Paul T. Wingett ,  Steve Abel ,  Steven Talbert Forrest

IPC分类号： F16H25/18 ,  F16G11/04

CPC分类号： F16G11/04 ,  B64C13/04 ,  B64C13/46 ,  F16G11/044 ,  F16H19/005 ,  F16H19/0672 ,  G05G5/03 ,  G05G2009/04718 ,  Y10T24/3969 ,  Y10T74/18848

摘要： A rope drive anchoring assembly includes a pulley, a rope, and a rope connector. The pulley is adapted to be rotationally mounted and has an inner surface, an outer surface, and a fastener opening extending between the inner and outer surfaces. The rope engages at least a portion of the outer surface of the pulley and is adapted to receive a drive torque, which causes the pulley to rotate. The rope connector couples the rope to the pulley, and includes a fastener, a threaded bolt, and a spring. The fastener extends through the fastener opening, and has a first end, a second end, an outer surface, and an opening through which the rope extends. The threaded bolt is threaded onto the fastener threads, and the spring is disposed between the threaded bolt and the inner surface of the pulley.

摘要翻译： 绳索驱动器锚固组件包括滑轮，绳索和绳索连接器。 滑轮适于被旋转地安装并且具有内表面，外表面和在内表面和外表面之间延伸的紧固件开口。 绳索与滑轮的外表面的至少一部分接合，并且适于接收驱动扭矩，这导致皮带轮旋转。 绳索连接器将绳索耦合到滑轮，并且包括紧固件，螺栓和弹簧。 紧固件延伸穿过紧固件开口，并且具有第一端，第二端，外表面和绳索延伸通过的开口。 螺纹螺纹拧入紧固螺纹上，弹簧设置在螺栓与滑轮的内表面之间。

公开(公告)号：US20150081139A1

公开(公告)日：2015-03-19

申请号：US14394466

申请日：2013-04-15

申请人： SAGEM DEFENSE SECURITE

发明人： Geoffrey Beggiora ,  Jerome Piaton ,  Guillaume Mercier ,  Yann Vendenbaviere

IPC分类号： B64C13/46 ,  B64C13/04

CPC分类号： B64C13/46 ,  B64C13/04 ,  G06F3/016 ,  G06F3/038

摘要： The invention concerns a device for the active control of a force feedback for a control device, comprising a calculator, a position sensor (3) configured to provide the calculator with an effective position signal (Pm) of the control device, and an actuator (2) ensuring the displacement of the control device at the command of the calculator, the calculator being configured to use the effective position signal and modulate a setpoint current (lc) delivered to the actuator to ensure the position feedback of the displacement of the control device, characterised in that the calculator is further configured to create at least one saturation terminal (Bsat+, Bsat−) according to a predetermined function of the value of the effective position signal of the position/force law kind, and to saturate the setpoint current using the at least one saturation terminal.

摘要翻译： 本发明涉及用于主动控制用于控制装置的力反馈的装置，包括计算器，位置传感器（3），其被配置为向计算器提供控制装置的有效位置信号（Pm）和致动器（ 2）确保控制装置在计算器的命令下的位移，计算器被配置成使用有效位置信号并调制输送到致动器的设定值电流（lc），以确保控制装置的位移反馈 其特征在于，计算器还被配置为根据位置/力定律类型的有效位置信号的值的预定函数创建至少一个饱和端子（Bsat +，Bsat-），并且使用 所述至少一个饱和端子。

公开(公告)号：US20130099064A1

公开(公告)日：2013-04-25

申请号：US13278387

申请日：2011-10-21

申请人： Igor Cherepinsky

发明人： Igor Cherepinsky

IPC分类号： B64C13/46

CPC分类号： B64C13/503 ,  B64C13/04 ,  B64C13/46

摘要： A system for adjusting tactile cues includes a controller having an axis and a cross-axis; an axis tactile cue generated in response to the position of the controller along the axis; a position scaling unit scaling a cross-axis controller position to generate a scaled cross-axis controller position; a force scaling unit scaling a cross-axis controller force to generate a scaled cross-axis controller force; a combiner combining the scaled cross-axis controller position and the scaled cross-axis controller force to generate an adjustment factor; and an adjuster adjusting the axis tactile cue in response to the adjustment factor to generate an adjusted axis tactile cue.

摘要翻译： 用于调节触觉提示的系统包括具有轴和横轴的控制器; 响应于控制器沿着轴的位置产生的轴线触觉提示; 缩放横轴控制器位置以产生缩放的横轴控制器位置的位置缩放单元; 力定标单位缩放交叉轴控制器力以产生缩放的横轴控制器力; 组合器，其组合缩放的横轴控制器位置和缩放的横轴控制器力以产生调整因子; 以及调节器，以响应于调节因子调节轴的触觉提示以产生调整的轴触觉提示。

公开(公告)号：US08050780B2

公开(公告)日：2011-11-01

申请号：US10494563

申请日：2002-11-06

申请人： Claude Tessier ,  Jonathan Martineau

发明人： Claude Tessier ,  Jonathan Martineau

IPC分类号： G05B19/18

CPC分类号： B64C13/503 ,  B64C13/04 ,  B64C13/10 ,  B64C13/12 ,  B64C13/46

摘要： A servo-controlled system is disclosed for providing simulated feel equivalent to that of traditional mechanical hand controllers. Processed position and force sensor signals are used in a feedback loop that controls the motor mechanically connected to the stick. The feedback loop comprises a low-level motor feedback loop, and high-level force feel loop. The latter comprises static and dynamic performance components. The system allows variable and additional force cues to be specified externally to the system and felt by the operator, and/or external signal to backdrive the stick to follow a specified motion. The control framework permits the electronic coupling of the motion and applied forces by pilots in a dual arrangement while retaining the above-mentioned features. It simulates cross-coupling mechanical compliance due to force fight between pilots, detents and asymmetric force feel gradients. Parameters associated with loops and performance components can be specified independently.

摘要翻译： 公开了一种用于提供与传统机械手控制器相当的模拟感觉的伺服控制系统。 加工位置和力传感器信号用于控制机械连接到杆的马达的反馈回路中。 反馈回路包括低电平电机反馈回路和高级力感圈。 后者包括静态和动态性能组件。 该系统允许在系统外部指定可变和额外的力线索，并由操作员感觉到，和/或外部信号来反向驱动棒以遵循指定的运动。 控制框架允许在保持上述特征的同时以双重布置的方式使飞行员的运动和施加的力的电子耦合。 它模拟由于飞行员，制动器和不对称力感觉梯度之间的力作用而产生的交叉耦合机械依从性。 可以独立指定与循环和性能组件相关联的参数。

公开(公告)号：US07701161B2

公开(公告)日：2010-04-20

申请号：US11676845

申请日：2007-02-20

申请人： Casey Hanlon ,  James I. Kern ,  Douglas C. Smith ,  David Cowling

发明人： Casey Hanlon ,  James I. Kern ,  Douglas C. Smith ,  David Cowling

IPC分类号： G05B13/00

CPC分类号： B64C13/04 ,  B64C13/46 ,  G05G2009/04766 ,  Y10T74/20012

摘要： An active user interface assembly includes a user interface, and one or more feedback motors coupled to the user interface. The one or more feedback motors, when energized, supply a feedback force to the user interface that opposes user interface movement. One of the feedback motors is disposed such that its center of gravity is located at a position relative to the user interface to mass balance the user interface when it is in the null position. The configurations allow for the center of gravity of a feedback motor to be positioned in a manner that alleviates the need for counterbalance weights.

摘要翻译： 活动用户界面组件包括用户界面和耦合到用户界面的一个或多个反馈电机。 一个或多个反馈电机通电时，向用户界面提供反对用户界面移动的反馈力。 反馈电动机中的一个被布置成使得其重心位于相对于用户界面的位置，以在用户界面处于零位置时大量平衡。 该配置允许反馈电动机的重心定位成减轻对平衡重量的需要。

公开(公告)号：US20100025539A1

公开(公告)日：2010-02-04

申请号：US12182839

申请日：2008-07-30

申请人： Casey Hanlon ,  Dave Eschborn

发明人： Casey Hanlon ,  Dave Eschborn

IPC分类号： B64C13/46 ,  G05G1/08 ,  F16H57/08

CPC分类号： B64C13/04 ,  B64C13/10 ,  B64C13/46 ,  G05G9/047 ,  G05G2009/04718 ,  G05G2009/04766 ,  Y10T74/20498

摘要： An active control stick assembly is provided. In one embodiment, the active control stick assembly includes a housing assembly, a control stick coupled to the assembly housing for rotation about at least a first rotational axis, a first artificial force feel (AFF) motor disposed in the housing assembly, and a first traction drive mechanically coupling the first AFF motor to the control stick. A controller is operatively coupled to the first AFF motor. The controller is configured to selectively activate the first AFF motor to supply a torque through the first traction drive and acting on the control stick about the first rotational axis.

摘要翻译： 提供主动控制杆组件。 在一个实施例中，主动控制杆组件包括壳体组件，耦合到组件壳体的控制杆，用于围绕至少第一旋转轴线旋转，设置在壳体组件中的第一人造力感觉（AFF）电动机，以及第一 牵引驱动器将第一AFF马达机械地联接到控制杆。 控制器可操作地耦合到第一AFF电动机。 控制器被配置为选择性地激活第一AFF电动机以通过第一牵引驱动器提供扭矩并且围绕第一旋转轴线作用在控制杆上。

公开(公告)号：US20090302171A1

公开(公告)日：2009-12-10

申请号：US11924413

申请日：2007-10-25

申请人： Dean R. Wilkens

发明人： Dean R. Wilkens

IPC分类号： B64C13/04 ,  B64C13/10

CPC分类号： B64C13/10 ,  B64C13/46 ,  B64C13/503

摘要： A variable rate limit is implemented in an active inceptor haptic feedback control system. The rate limit is modulated based on a rate error between an aircraft rate command supplied from the active inceptor, and actual aircraft rate. As the rate error increases, the rate limit is reduced, which limits inceptor movement and provides haptic feedback to a user when the rate error is exceeded.

摘要翻译： 可变速率限制在主动受体触觉反馈控制系统中实现。 速率限制基于从主动接收器提供的飞行器速率命令与实际飞行器速率之间的速率误差来调制。 随着速率误差的增加，速率限制被降低，这限制了受体移动，并且当超过速率误差时向用户提供触觉反馈。

公开(公告)号：US20090049948A1

公开(公告)日：2009-02-26

申请号：US11631083

申请日：2005-06-27

申请人： Daniel Hors ,  Yvon Joncour

发明人： Daniel Hors ,  Yvon Joncour

IPC分类号： B64C13/04 ,  G05G5/03

CPC分类号： B64C13/04 ,  B64C13/46 ,  Y10T74/20201 ,  Y10T74/20636

摘要： A device for artificially restoring an opposing force for a device for remotely controlling an aircraft control surface, the device comprising: an actuator member (1) mounted to pivot about an axis (2) and entrain a rotary shaft (3); a stationary finger (8) parallel to said shaft (3) and supported at a radial distance from the shaft; a moving finger (5) secured to the shaft and supported at the same radial distance as the stationary finger, both fingers being parallel to the shaft; a slab (9) supported at the same radial distance as the fingers and disposed beside them; a first spring (11) between the stationary finger and the slab; and a second spring (10) between the moving finger and the slab.

摘要翻译： 一种用于人造地恢复用于远程控制飞行器控制表面的装置的相对力的装置，所述装置包括：致动器构件，其安装成围绕轴线2枢转并夹带旋转轴; 与所述轴（3）平行的固定的指状物（8），并与所述轴的径向距离被支撑; 固定在所述轴上并以与所述固定指状物相同的径向距离支撑的移动指状物（5），两个手指平行于所述轴; 以与手指相同的径向距离支撑并放置在它们旁边的板坯（9）; 固定指和平板之间的第一弹簧（11）; 以及在所述移动手指和所述板之间的第二弹簧（10）。