CA2148481A1 - Position dependent rate dampening in an active hand controller - Google Patents

Position dependent rate dampening in an active hand controller

Info

Publication number
CA2148481A1
CA2148481A1 CA002148481A CA2148481A CA2148481A1 CA 2148481 A1 CA2148481 A1 CA 2148481A1 CA 002148481 A CA002148481 A CA 002148481A CA 2148481 A CA2148481 A CA 2148481A CA 2148481 A1 CA2148481 A1 CA 2148481A1
Authority
CA
Canada
Prior art keywords
control stick
control
dampening
hand controller
active hand
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002148481A
Other languages
French (fr)
Other versions
CA2148481C (en
Inventor
William W. Gregory
James W. Kauffman
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honeywell Inc
Original Assignee
William W. Gregory
James W. Kauffman
Honeywell Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to US07/957,427 priority Critical patent/US5347204A/en
Application filed by William W. Gregory, James W. Kauffman, Honeywell Inc. filed Critical William W. Gregory
Priority to PCT/US1993/010459 priority patent/WO1995012153A1/en
Priority to EP93925137A priority patent/EP0677184B1/en
Priority to DE69310770T priority patent/DE69310770T2/en
Priority to CA002148481A priority patent/CA2148481C/en
Priority claimed from PCT/US1993/010459 external-priority patent/WO1995012153A1/en
Publication of CA2148481A1 publication Critical patent/CA2148481A1/en
Application granted granted Critical
Publication of CA2148481C publication Critical patent/CA2148481C/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/04—Initiating means actuated personally
    • B64C13/042—Initiating means actuated personally operated by hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
    • G05D1/0061—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20201—Control moves in two planes

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position Or Direction (AREA)
  • Feedback Control In General (AREA)

Abstract

A control system for an active hand controller, for example, uses a control stick connected to and controlled by a motor. Electronics are provided to control the motor to eliminate oscillations due to motor torque and high gain due to breakout at the control stick when the control stick is at about its null position. Both hardware as well as software implementations can provide position dependent dampening to the control sticks such that when the control stick is located about a null position, a higher rate of dampening is provided than when the control stick is located outside the null position, when a lower rate of dampening is provided. The system provides a stable active hand controller control stick without degraded force and feel characteristics of the system.
CA002148481A 1992-10-06 1993-10-29 Position dependent rate dampening in an active hand controller Expired - Fee Related CA2148481C (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
US07/957,427 US5347204A (en) 1992-10-06 1992-10-06 Position dependent rate dampening in any active hand controller
PCT/US1993/010459 WO1995012153A1 (en) 1992-10-06 1993-10-29 Position dependent rate dampening in an active hand controller
EP93925137A EP0677184B1 (en) 1992-10-06 1993-10-29 Position dependent rate dampening in an active hand controller
DE69310770T DE69310770T2 (en) 1993-10-29 1993-10-29 POSITION-DEPENDENT DAMPING IN AN ACTIVE MANUAL CONTROL
CA002148481A CA2148481C (en) 1992-10-06 1993-10-29 Position dependent rate dampening in an active hand controller

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US07/957,427 US5347204A (en) 1992-10-06 1992-10-06 Position dependent rate dampening in any active hand controller
PCT/US1993/010459 WO1995012153A1 (en) 1992-10-06 1993-10-29 Position dependent rate dampening in an active hand controller
CA002148481A CA2148481C (en) 1992-10-06 1993-10-29 Position dependent rate dampening in an active hand controller

Publications (2)

Publication Number Publication Date
CA2148481A1 true CA2148481A1 (en) 1995-05-04
CA2148481C CA2148481C (en) 2002-02-05

Family

ID=25677941

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002148481A Expired - Fee Related CA2148481C (en) 1992-10-06 1993-10-29 Position dependent rate dampening in an active hand controller

Country Status (3)

Country Link
US (1) US5347204A (en)
EP (1) EP0677184B1 (en)
CA (1) CA2148481C (en)

Families Citing this family (39)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5414620A (en) * 1993-08-09 1995-05-09 Honeywell Inc. Synthetic friction algorithm for a hand control element
US5489830A (en) * 1994-09-09 1996-02-06 Mcdonnell Douglas Corporation Control system with loadfeel and backdrive
US5797564A (en) * 1995-05-15 1998-08-25 The Boeing Company System for backdrive of flight deck controls during autopilot operation
US5722620A (en) * 1995-05-15 1998-03-03 The Boeing Company Aircraft pitch-axis stability and command augmentation
US5694014A (en) * 1995-08-22 1997-12-02 Honeywell Inc. Active hand controller redundancy and architecture
US5745647A (en) * 1995-09-15 1998-04-28 Smith & Nephew, Inc. Method and apparatus for automatically controlling and scaling motor velocity
GB9706447D0 (en) * 1997-03-27 1997-10-15 British Aerospace Electronic control apparatus
SE508672C2 (en) * 1997-12-30 1998-10-26 Saab Ab Device and method for controlling thrust in a mechanical steering system for an aircraft
DE20114544U1 (en) 2000-12-04 2002-02-21 Cascade Microtech Inc wafer probe
US6459228B1 (en) * 2001-03-22 2002-10-01 Mpc Products Corporation Dual input servo coupled control sticks
AU2002340656A1 (en) * 2001-11-06 2003-05-19 Bombardier Inc. Apparatus for controlling a joystick having force-feedback
US6942057B2 (en) * 2001-11-21 2005-09-13 Delphi Technologies, Inc. Feel control for active steering
US20030183728A1 (en) * 2002-03-29 2003-10-02 The Boeing Company Aircraft control surface controller and associated method
US6679458B2 (en) * 2002-06-10 2004-01-20 The Boeing Company Split detent tactile cueing vehicle control system
WO2004074094A2 (en) 2003-02-15 2004-09-02 Gulfstream Aerospace Corporation System and method for aircraft cabin atmospheric composition control
US7057404B2 (en) 2003-05-23 2006-06-06 Sharp Laboratories Of America, Inc. Shielded probe for testing a device under test
US7463956B2 (en) * 2003-07-03 2008-12-09 The Boeing Company Constant vertical state maintaining cueing system
DE202004021093U1 (en) 2003-12-24 2006-09-28 Cascade Microtech, Inc., Beaverton Differential probe for e.g. integrated circuit, has elongate probing units interconnected to respective active circuits that are interconnected to substrate by respective pair of flexible interconnects
KR20070058522A (en) 2004-09-13 2007-06-08 캐스케이드 마이크로테크 인코포레이티드 Double sided probing structures
US7656172B2 (en) 2005-01-31 2010-02-02 Cascade Microtech, Inc. System for testing semiconductors
US7535247B2 (en) 2005-01-31 2009-05-19 Cascade Microtech, Inc. Interface for testing semiconductors
US7229047B1 (en) 2005-08-30 2007-06-12 Cessna Aircraft Company Aircraft roll disconnect mechanism
EP1977292A2 (en) * 2006-01-17 2008-10-08 Gulfstream Aerospace Corporation System and method for an integrated backup control system
BRPI0706613A2 (en) * 2006-01-17 2011-04-05 Gulfstream Aerospace Corp apparatus and method for backup control in a distributed video control system
US20070235594A1 (en) * 2006-04-06 2007-10-11 Honeywell International, Inc. Pilot flight control stick feedback system
US7764072B2 (en) 2006-06-12 2010-07-27 Cascade Microtech, Inc. Differential signal probing system
US7723999B2 (en) 2006-06-12 2010-05-25 Cascade Microtech, Inc. Calibration structures for differential signal probing
US7403028B2 (en) 2006-06-12 2008-07-22 Cascade Microtech, Inc. Test structure and probe for differential signals
US20090222148A1 (en) * 2006-06-21 2009-09-03 Calspan Corporation Autonomous Outer Loop Control of Man-Rated Fly-By-Wire Aircraft
JP5309138B2 (en) * 2007-08-08 2013-10-09 ムーグ インコーポレーテッド Control stick suitable for use in fly-by-wire flight control system and connecting mechanism used therefor
US7876114B2 (en) 2007-08-08 2011-01-25 Cascade Microtech, Inc. Differential waveguide probe
US9156546B2 (en) * 2008-03-11 2015-10-13 The Boeing Company Active-inceptor tactile-cueing hands-off rate-limit
US8134328B2 (en) * 2008-04-23 2012-03-13 Honeywell International Inc. Active pilot inceptor with self warm-up
DE102010022200A1 (en) * 2010-05-20 2011-11-24 Liebherr-Aerospace Lindenberg Gmbh Joystick System
US9004218B2 (en) * 2013-06-23 2015-04-14 Cnh Industrial America Llc Joystick with improved control for work vehicles
EP3194665B1 (en) 2014-07-31 2019-12-25 CNH Industrial Italia S.p.A. Active force/vibration feedback control method and apparatus for a movable machine
US10196131B2 (en) * 2016-02-16 2019-02-05 The Boeing Company Hydraulic system and method for an aircraft flight control system
JP7244985B2 (en) * 2017-05-19 2023-03-23 川崎重工業株式会社 Operating device and operating system
EP3650354B1 (en) * 2018-11-12 2021-11-03 Ratier-Figeac SAS Thrust control assembly

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3270260A (en) * 1963-11-18 1966-08-30 Measurement Systems Inc Stick-operated diaphragm control
US3617849A (en) * 1970-08-14 1971-11-02 Teledyne Inc Motor control damping circuit
US3820712A (en) * 1973-03-12 1974-06-28 Ibm Electronic tachometer
US3819999A (en) * 1973-06-18 1974-06-25 Bendix Corp Closed loop control system including an integrator and limiting means therefore
US4049223A (en) * 1976-06-21 1977-09-20 The United States Of America As Represented By The Secretary Of The Navy Constant altitude auto pilot circuit
US4096426A (en) * 1976-08-09 1978-06-20 Sperry Rand Corporation Non-linear error signal attenuator for servo system
US4150803A (en) * 1977-10-05 1979-04-24 Fernandez Carlos P Two axes controller
DE2807902C2 (en) * 1978-02-24 1980-04-30 Messerschmitt-Boelkow-Blohm Gmbh, 8000 Muenchen Control device with active force feedback
US4284929A (en) * 1978-10-27 1981-08-18 The United States Of America As Represented By The Secretary Of The Navy Ambulator control circuitry
US4242622A (en) * 1979-05-14 1980-12-30 R & I Patent Corporation Stabilized non-linear servomechanism
US4321517A (en) * 1979-12-03 1982-03-23 Storage Technology Corporation Resonance suppression method
JPS56102449A (en) * 1979-12-31 1981-08-15 Fanuc Ltd Device for controlling orientation of main spindle
US4536746A (en) * 1982-09-30 1985-08-20 The Mercado Venture Transducer for converting three dimensional mechanical input displacements into a corresponding electrical output signal
US4733214A (en) * 1983-05-23 1988-03-22 Andresen Herman J Multi-directional controller having resiliently biased cam and cam follower for tactile feedback
US4651272A (en) * 1985-06-03 1987-03-17 Vickers, Incorporated Power transmission
US4774651A (en) * 1985-06-03 1988-09-27 Vickers, Incorporated Power transmission
US5116180A (en) * 1988-07-18 1992-05-26 Spar Aerospace Limited Human-in-the-loop machine control loop
US5076517A (en) * 1989-08-14 1991-12-31 United Technologies Corporation Programmable, linear collective control system for a helicopter
US5109165A (en) * 1990-12-11 1992-04-28 Gaymar Industries, Inc. Failsafe feedback control system

Also Published As

Publication number Publication date
CA2148481C (en) 2002-02-05
US5347204A (en) 1994-09-13
EP0677184B1 (en) 1997-05-14
EP0677184A1 (en) 1995-10-18

Similar Documents

Publication Publication Date Title
CA2148481A1 (en) Position dependent rate dampening in an active hand controller
JPS6483454A (en) Control method or front-wheel steering angle
EP0279507A3 (en) Control system for motor vehicle suspension unit
CA2113648A1 (en) Adaptive Control System Input Limiting
AU669531B2 (en) Agglomerated hydrophilic complexes with multi-phasic release characteristics
EP0389192A3 (en) Fluctuation stabilizing apparatus
CA2310256A1 (en) Tilting vehicle
CA2115145A1 (en) Emulsifier, Emulsion Composition, and Powder Composition
EP0209400A3 (en) Six-axis joystick control
GB2319007A (en) Apparatus for controlling the steering angle of a vehicle
EP0349230A3 (en) Alarm apparatus
CA2005035A1 (en) Cuff device
CA2116236A1 (en) Helicopter engine control having lateral cyclic pitch anticipation
EP0370395A3 (en) Method of controlling the path of balls in an oscillating bearing
WO1993003531A1 (en) Dynamic braking resistor system
AU1050488A (en) Active control of vibration
ES2000824A6 (en) Suspension system for a vehicle.
CA2197468A1 (en) Integrator management for redundant active hand controllers
AU7463394A (en) Steering post for a work machine
EP0698745A3 (en) Digital control method and apparatus for rotary member supported by magnetic bearing
EP0566747A4 (en)
CA2126410A1 (en) Mounting of an Axle Spindle of an Agricultural Implement
EP0351146A3 (en) Steer angle adjusting for a vehicle
HUT52766A (en) Fungicide compositions containing 2,5-disubstituted 1,3,4-thiadiazol derivatives as active components and process for producing the active components
CA2109363A1 (en) Composite System Course Control Method and Apparatus

Legal Events

Date Code Title Description
EEER Examination request
MKLA Lapsed