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WO2009016361A3 - Control device - Google Patents

Control device Download PDF

Info

Publication number
WO2009016361A3
WO2009016361A3 PCT/GB2008/002582 GB2008002582W WO2009016361A3 WO 2009016361 A3 WO2009016361 A3 WO 2009016361A3 GB 2008002582 W GB2008002582 W GB 2008002582W WO 2009016361 A3 WO2009016361 A3 WO 2009016361A3
Authority
WO
WIPO (PCT)
Prior art keywords
stick
actuator
pivot axis
sensor
reference frame
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.)
Ceased
Application number
PCT/GB2008/002582
Other languages
French (fr)
Other versions
WO2009016361A2 (en
Inventor
David Anthony Cowling
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.)
Wittenstein High Integrity Systems Ltd
Original Assignee
Wittenstein Aerospace and Simulation Ltd
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 claimed from GBGB0714916.4A external-priority patent/GB0714916D0/en
Application filed by Wittenstein Aerospace and Simulation Ltd filed Critical Wittenstein Aerospace and Simulation Ltd
Priority to GB1001509.7A priority Critical patent/GB2463625B/en
Priority to DE112008002046T priority patent/DE112008002046T5/en
Publication of WO2009016361A2 publication Critical patent/WO2009016361A2/en
Publication of WO2009016361A3 publication Critical patent/WO2009016361A3/en
Anticipated expiration legal-status Critical
Ceased 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
    • B64C13/0421—Initiating means actuated personally operated by hand control sticks for primary flight controls
    • 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
    • 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
    • B64C13/10—Initiating means actuated personally comprising warning devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H13/00—Switches having rectilinearly-movable operating part or parts adapted for pushing or pulling in one direction only, e.g. push-button switch
    • H01H13/50—Switches having rectilinearly-movable operating part or parts adapted for pushing or pulling in one direction only, e.g. push-button switch having a single operating member
    • H01H13/56—Switches having rectilinearly-movable operating part or parts adapted for pushing or pulling in one direction only, e.g. push-button switch having a single operating member the contact returning to its original state upon the next application of operating force
    • H01H13/58—Switches having rectilinearly-movable operating part or parts adapted for pushing or pulling in one direction only, e.g. push-button switch having a single operating member the contact returning to its original state upon the next application of operating force with contact-driving member rotated step-wise in one direction
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04762—Force transducer, e.g. strain gauge
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Position Or Direction (AREA)
  • Mechanical Control Devices (AREA)

Abstract

A control device comprising: a reference frame (6a, 6b); a stick (3, 4); a pivot (7, 11) mounting the stick to the reference frame and defining a pivot axis (x); and an actuator (1, 2) for rotating the stick about the pivot axis. Mass balance is achieved by offsetting the centres of mass of the actuator and the stick from the pivot axis. A sensor is provided for sensing a force applied to the stick. The sensor is arranged to detect the output of the actuator whereby the sensor is substantially insensitive to g induced moments about the pivot axis caused by acceleration of the device. Typically a line joining the centres of mass of the actuator and the stick substantially passes through the pivot axis. The actuator is a rotary actuator having a stator coupled to the stick and a rotor coupled to the reference frame.
PCT/GB2008/002582 2007-07-31 2008-07-28 Control device Ceased WO2009016361A2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
GB1001509.7A GB2463625B (en) 2007-07-31 2008-07-28 Control device
DE112008002046T DE112008002046T5 (en) 2007-07-31 2008-07-28 control device

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GB0714916.4 2007-07-31
GBGB0714916.4A GB0714916D0 (en) 2007-07-31 2007-07-31 Control device
US11/844,939 2007-08-24
US11/844,939 US8505406B2 (en) 2007-07-31 2007-08-24 Control device

Publications (2)

Publication Number Publication Date
WO2009016361A2 WO2009016361A2 (en) 2009-02-05
WO2009016361A3 true WO2009016361A3 (en) 2009-04-16

Family

ID=39876851

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2008/002582 Ceased WO2009016361A2 (en) 2007-07-31 2008-07-28 Control device

Country Status (2)

Country Link
GB (1) GB2463625B (en)
WO (1) WO2009016361A2 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9352824B2 (en) 2014-01-23 2016-05-31 Woodward Mpc, Inc. Line replaceable, fly-by-wire control column and control wheel assemblies with a centrally connected line replaceable disconnect and autopilot assembly
WO2018101890A1 (en) * 2016-12-02 2018-06-07 National University Of Singapore Electronic input device
EP3722767A1 (en) * 2019-04-10 2020-10-14 Ecole Polytechnique Federale De Lausanne (EPFL) EPFL-TTO Device for measuring a force exerted on an object
DE102020108223A1 (en) * 2020-03-25 2021-09-30 Wittenstein Se Base system

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4383455A (en) * 1980-10-21 1983-05-17 Kobe Steel, Limited Arm with gravity-balancing function
EP0085518A1 (en) * 1982-01-22 1983-08-10 British Aerospace Public Limited Company Control apparatus
JPH0857783A (en) * 1994-08-23 1996-03-05 Kawasaki Heavy Ind Ltd Operating device
WO2001054587A1 (en) * 2000-01-26 2001-08-02 Massachussets Institute Of Technology Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus
US20030030621A1 (en) * 1993-07-16 2003-02-13 Rosenberg Louis B. Force feeback device including flexure member between actuator and user object
US6708580B1 (en) * 1999-06-11 2004-03-23 Wittenstein Gmbh & Co. Kg Device for controlling an apparatus

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4383455A (en) * 1980-10-21 1983-05-17 Kobe Steel, Limited Arm with gravity-balancing function
EP0085518A1 (en) * 1982-01-22 1983-08-10 British Aerospace Public Limited Company Control apparatus
US20030030621A1 (en) * 1993-07-16 2003-02-13 Rosenberg Louis B. Force feeback device including flexure member between actuator and user object
JPH0857783A (en) * 1994-08-23 1996-03-05 Kawasaki Heavy Ind Ltd Operating device
US6708580B1 (en) * 1999-06-11 2004-03-23 Wittenstein Gmbh & Co. Kg Device for controlling an apparatus
WO2001054587A1 (en) * 2000-01-26 2001-08-02 Massachussets Institute Of Technology Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus

Also Published As

Publication number Publication date
GB2463625A (en) 2010-03-24
GB2463625B (en) 2012-05-23
GB201001509D0 (en) 2010-03-17
WO2009016361A2 (en) 2009-02-05

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