Variable servo loop compensation in an active hand controller
First Claim
1. An active hand controller system for use with a flight control computer providing a force scaling command signal, said active hand controller system having a first hand controller means connected to a first actuator means, comprising:
- rate detecting means for providing a rate signal from said first actuator means;
torque detecting means for providing a first torque signal from said first hand controller means;
position detecting means for providing a first position signal from said first actuator means; and
processing and control means for accepting said rate signal, said first torque signal said first position signal, and said force scaling command signal and providing a drive signal to said first actuator, said processing and control means including a plurality of parameters, each said parameter being adjustable to a value, said plurality of parameter values determining a relationship of said drive signal to said rate signal, said torque signal, said position signal and said force scaling command signal; and
state detecting and parameter controlling means for accepting and processing according to a first sequence, said first torque signal, said first position signal, and said force scaling command signal, and providing a plurality of control parameter adjustment signals to adjust said adjustable control parameters to a plurality of values, said plurality of values having a relationship to said torque signal, said position signal and said force scaling command signal.
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Accused Products
Abstract
A state detector and loop compensation parameter controller for use with an active hand controller system having a single hand controller or having first and second hand controllers, processing and control means for the hand controllers and a flight control computer. The state detector and loop compensation parameter controller accepts a plurality of inputs and provides a plurality of adjustment signals to the processing and control means to improve the performance of the active hand controller system.
44 Citations
25 Claims
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1. An active hand controller system for use with a flight control computer providing a force scaling command signal, said active hand controller system having a first hand controller means connected to a first actuator means, comprising:
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rate detecting means for providing a rate signal from said first actuator means; torque detecting means for providing a first torque signal from said first hand controller means; position detecting means for providing a first position signal from said first actuator means; and processing and control means for accepting said rate signal, said first torque signal said first position signal, and said force scaling command signal and providing a drive signal to said first actuator, said processing and control means including a plurality of parameters, each said parameter being adjustable to a value, said plurality of parameter values determining a relationship of said drive signal to said rate signal, said torque signal, said position signal and said force scaling command signal; and state detecting and parameter controlling means for accepting and processing according to a first sequence, said first torque signal, said first position signal, and said force scaling command signal, and providing a plurality of control parameter adjustment signals to adjust said adjustable control parameters to a plurality of values, said plurality of values having a relationship to said torque signal, said position signal and said force scaling command signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. In an active hand controller system of the type for use with a flight control computer providing a force scaling command, said active hand controller system having a first hand controller means connected to a first actuator means, a second hand controller means connected to a second actuator means, first torque detecting means for detecting torque at said first hand controller and providing a first torque signal, second torque detecting means for detecting torque at said second hand controller and providing a second torque signal, first position detecting means for detecting position at said first actuator and providing a first position signal, rate detecting means for detecting rate at said first actuator and providing a rate signal, processing and control means for accepting said first and second torque signals, said first position signal, said rate signal and said flight command signal and providing a drive signal to said first actuator, said processing and control means having a plurality of control parameters, said plurality of control parameters determining a relationship of said drive signal to said torque signals, said position signals, said rate signal and said force scaling command signal, the improvement comprising:
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second position detecting means for detecting position at said second actuator and providing a second position signal, said plurality of control parameters being adjustable, and; state detecting and parameter controlling means for accepting and processing according to a first sequence, said first and second torque signals, said first and second position signals, and said force scaling command signal, and providing a plurality of control parameter adjustment signals to adjust said adjustable control parameters to a plurality of values, said plurality of values having a relationship to said torque signals, said position signals and said force scaling command signal. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17)
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18. An active hand controller system for use with a flight control computer providing a force scaling command signal, said active hand controller system having a first hand controller means connected to a first actuator means, a second hand controller means connected to a second actuator means, comprising:
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rate detecting means for providing a rate signal from said first actuator means; torque detecting means for providing a first torque signal from said first hand controller means; torque detecting means for providing a second torque signal from said second hand controller means; position detecting means for providing a first position signal from said first actuator means; position detecting means for providing a second position signal from said second actuator means; processing and control means for accepting said rate signal, said first and second torque signals, said first position signal, and said force scaling command signal and providing a drive signal to said first actuator, said processing and control means including a plurality of parameters, each said parameter being adjustable to a value, said plurality of parameter values determining a relationship of said drive signal to said rate signal, said torque signals said position signal and said force command signal; and state detecting and parameter controlling means for accepting and processing according to a first sequence, said first and second torque signals, said first and second position signals, and said force scaling command signal, and providing a plurality of control parameter adjustment signals to adjust said adjustable control parameters to a plurality of values, said plurality of values having a relationship to said torque signals, said position signals and said force scaling command signal. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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Specification