Steer-by-wire tiller with position feel system

• US 6,732,979 B1
• Filed: 08/28/2003
• Issued: 05/11/2004
• Est. Priority Date: 08/28/2003
• Status: Expired due to Fees

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Kilner, Jerome R., Valaas, Andrew M.
• Primary Examiner(s): Jordan, Charles T.
• Assistant Examiner(s): Holzen, Stephen
• Application Number:
  US10/652,538
• Time in Patent Office: 257 Days
• Field of Search: 244/236, 180/401, 180/402, 180/403, 701/41, 701/42, 701/43
• US Class Current: 244/236
• CPC Class Codes: B64C 25/50 Steerable undercarriages; Shimmy-damping

Abstract

A system and a method for generating a signal to control a steering mechanism and an aircraft using the system are disclosed. A tiller module includes a moveable tiller base configured to moveably respond to a steering signal. The tiller module also includes a tiller coupling configured to couple the tiller with the moveable tiller base and further configured to generate a tiller differential signal indicative of a steering force applied to the tiller relative to a position of the moveable tiller base. A tiller controller is configured to receive the tiller differential signal and a steering mechanism position signal. The tiller controller is further configured to generate the steering signal to direct a steering mechanism to conform with the steering force and to direct the moveable tiller base of each tiller module to a feedback position representative of a current position of the steering mechanism.

Claims

1. A system for generating a signal to control a steering mechanism, the system comprising:

a tiller module configured to receive a tiller, the tiller module including;

a moveable tiller base configured to moveably respond to a steering signal; and

a tiller coupling configured to couple the tiller with the moveable tiller base and further configured to generate a tiller differential signal indicative of a steering force applied to the tiller relative to a position of the moveable tiller base; and

a tiller controller configured to receive the tiller differential signal and a steering mechanism position signal, the tiller controller being further configured to generate the steering signal to direct a steering mechanism to conform with the steering force and to direct the moveable tiller base to a feedback position representative of a current position of the steering mechanism.

2. The system of claim 1, wherein the tiller coupling includes a centering spring mechanism configured to receive the tiller and allow movement of the tiller relative to the moveable tiller base within a predetermined displacement range.

3. The system of claim 2, wherein the tiller input coupling includes a tiller position transducer configured to measure a displacement of the tiller and generate the tiller differential signal.

4. The system of claim 1, wherein the tiller input coupling includes a force transducer configured to generate the tiller differential signal as a function of a strain resulting from the steering force applied to the tiller relative to the position of the moveable tiller base.

5. The system of claim 1, wherein the tiller includes a rotatable handle.

6. The system of claim 5, wherein the moveable tiller base includes a rotatable base moveable by a motor receiving the steering signal.

7. The system of claim 1, wherein the tiller controller converts the tiller differential signal into the steering signal such that the moveable tiller base is moved to cause the tiller to be aligned to a position representative of the steering mechanism position signal.

8. The system of claim 7, wherein the tiller controller integrates the tiller differential signal such that a rate of change of the steering signal is proportional to a magnitude of the steering force.

9. The system of claim 1, wherein the tiller controller further includes a steering signal decay function such that a reduction in the tiller differential signal causes a resulting reduction in the steering signal causing the steering mechanism and the moveable tiller base to return toward a neutral position.

10. The system of claim 1, wherein the tiller controller further includes a position limiter restricting the tiller such that the feedback position of the tiller is representative of the current position of the steering mechanism.

11. The system of claim 1, wherein the tiller module further comprises a plurality of tiller module components including at least one of a servo motor, a gear head, an amplifier, and a position sensor.

12. The system of claim 11, wherein the tiller module farther includes a plurality of redundant tiller module components operable to duplicate functions of at least some of the tiller module components.

13. The system of claim 1, wherein the tiller controller further comprises a plurality of tiller controller components including at least one of a summer, an integrator, and a gain device.

14. The system of claim 13, wherein the tiller controller further includes a plurality of redundant tiller controller components operable to duplicate functions of at least some of the tiller controller components.

15. The system of claim 1, wherein the system includes a secondary tiller controller operable to replace functions of the tiller controller.

16. The system of claim 1, wherein the tiller module includes:

a first tiller module having a first moveable tiller base configured to receive a first tiller that is configured to receive a first steering force; and

a second tiller module having a second moveable tiller base configured to receive a second tiller that is configured to receive a second steering force.

17. The system of claim 16, wherein the first tiller module generates a first tiller differential signal and the second tiller module generates a second tiller differential signal, the tiller controller summing the first tiller differential signal and the second tiller differential signal such that the steering signal is generated to direct the steering mechanism to conform with a composite of the first steering force and the second steering force.

18. The system of claim 17, wherein the steering signal causes both the first moveable tiller base and the second moveable tiller base to the feedback position representative of the current position of the steering mechanism.

19. A system for generating a signal to control a steering mechanism, the system comprising:

a plurality of tiller modules, each of the tiller modules including;

a moveable tiller base configured to moveably respond to a steering signal; and

a tiller coupling configured to receive a tiller and couple the tiller with the moveable tiller base and further configured to generate a tiller differential signal reflecting a steering force applied to the tiller relative to a position of the moveable tiller base; and

a composite tiller controller including;

a receiver configured to receive each of the tiller differential signals and a steering mechanism position signal;

a summing device configured to sum the tiller differential signals to generate a composite tiller differential signal to represent a composite steering force of a plurality of steering forces; and

a signal generator configured to generate the steering signal to direct the steering mechanism to conform with the composite steering force and direct each of the moveable tiller bases to a feedback position representative of a current position of the steering mechanism.

20. The system of claim 19, wherein at least one of the tiller modules includes a centering spring mechanism configured to receive the tiller and allow movement of the tiller relative to the moveable tiller base within a predetermined displacement range.

21. The system of claim 20, wherein the tiller input coupling includes a tiller position transducer configured to measure a displacement of the tiller and generate the tiller differential signal.

22. The system of claim 19, wherein the tiller input coupling includes a force transducer configured to generate the tiller differential signal as a function of a strain resulting from the steering force applied to the tiller relative to the position of the moveable tiller base.

23. The system of claim 19, wherein the tiller includes a rotatable handle.

24. The system of claim 23, wherein the moveable tiller base includes a rotatable base moveable by a motor receiving the steering signal.

25. The system of claim 19, wherein the tiller controller converts the composite tiller differential signal into the steering signal such that the moveable tiller base is moved to cause the tiller to be aligned to a position representative of the steering mechanism position signal.

26. The system of claim 25, wherein the tiller controller integrates the composite tiller differential signal such that a rate of change of the steering signal is proportional to a magnitude of the composite steering force.

27. The system of claim 19, wherein the tiller controller further includes a steering signal decay function such that a reduction in the tiller differential signal causes a resulting reduction in the steering signal causing the steering mechanism and the moveable tiller base to return toward a neutral position.

28. The system of claim 19, wherein the tiller controller further includes a position limiter restricting the tiller such that the feedback position of the tiller is representative of the current position of the steering mechanism.

29. The system of claim 19, wherein the tiller module further comprises a plurality of tiller module components including at least one of a servo motor, a gear head, an amplifier, and a position sensor.

30. The system of claim 29, wherein the tiller module further includes a plurality of redundant tiller module components operable to duplicate functions of at least some of the tiller module components.

31. The system of claim 19, wherein the tiller controller further comprises a plurality of tiller controller components including at least one of a summer, an integrator, and a gain device.

32. The system of claim 31, wherein the tiller controller further includes a plurality of redundant tiller controller components operable to duplicate functions of at least some of the tiller controller components.

33. The system of claim 19, wherein the system includes a secondary tiller controller operable to replace functions of the tiller controller.

34. An aircraft comprising:

a fuselage;

at least one engine;

at least one wing;

a plurality of control surfaces;

main landing gear;

nose gear; and

a system for generating a signal to control a steering mechanism, the system comprising;

a tiller module configured to receive a tiller, the tiller module including;

a moveable tiller base configured to moveably respond to a steering signal; and

a tiller coupling configured to couple the tiller with the moveable tiller base and further configured to generate a tiller differential signal indicative of a steering force applied to the tiller relative to a position of the moveable tiller base; and

a tiller controller configured to receive the tiller differential signal and a steering mechanism position signal, the tiller controller being further configured to generate the steering signal to direct a steering mechanism to conform with the steering force and to direct the moveable tiller base to a feedback position representative of a current position of the steering mechanism.

35. The aircraft of claim 34, wherein the tiller coupling includes a centering spring mechanism configured to receive the tiller and allow movement of the tiller relative to the moveable tiller base within a predetermined displacement range.

36. The aircraft of claim 35, wherein the tiller input coupling includes a tiller position transducer configured to measure a displacement of the tiller and generate the tiller differential signal.

37. The aircraft of claim 34, wherein the tiller input coupling includes a force transducer configured to generate the tiller differential signal as a function of a strain resulting from the steering force applied to the tiller relative to the position of the moveable tiller base.

38. The aircraft of claim 34, wherein the tiller includes a rotatable handle.

39. The aircraft of claim 38, wherein the moveable tiller base includes a rotatable base moveable by a motor receiving the steering signal.

40. The aircraft of claim 34, wherein the tiller controller converts the tiller differential signal into the steering signal such that the moveable tiller base is moved to cause the tiller to be aligned to a position representative of the steering mechanism position signal.

41. The aircraft of claim 40, wherein the tiller controller integrates the tiller differential signal such that a rate of change of the steering signal is proportional to a magnitude of the steering force.

42. The aircraft of claim 34, wherein the tiller controller further includes a steering signal decay function such that a reduction in the tiller differential signal causes a resulting reduction in the steering signal causing the steering mechanism and the moveable tiller base to return toward a neutral position.

43. The aircraft of claim 34, wherein the tiller controller further includes a position limiter restricting the tiller such that the feedback position of the tiller is representative of the current position of the steering mechanism.

44. The aircraft of claim 34, wherein the tiller module further comprises a plurality of tiller module components including at least one of a servo motor, a gear head, an amplifier, and a position sensor.

45. The aircraft of claim 44, wherein the tiller module further includes a plurality of redundant tiller module components operable to duplicate functions of at least some of the tiller module components.

46. The aircraft of claim 34, wherein the tiller controller further comprises a plurality of tiller controller components including at least one of a summer, an integrator, and a gain device.

47. The aircraft of claim 46, wherein the tiller controller further includes a plurality of redundant tiller controller components operable to duplicate functions of at least some of the tiller controller components.

48. The aircraft of claim 34, wherein the system includes a secondary tiller controller operable to replace functions of the tiller controller.

49. The aircraft of claim 34, wherein the tiller module includes:

a first tiller module having a first moveable tiller base configured to receive a first tiller that is configured to receive a first steering force; and

a second tiller module having a second moveable tiller base configured to receive a second tiller that is configured to receive a second steering force.

50. The aircraft of claim 49, wherein the first tiller module generates a first tiller differential signal and the second tiller module generates a second tiller differential signal, the tiller controller summing the first tiller differential signal and the second tiller differential signal such that the steering signal is generated to direct the steering mechanism to conform with a composite of the first steering force and the second steering force.

51. The aircraft of claim 50, wherein the steering signal causes both the first moveable tiller base and the second moveable tiller base to the feedback position representative of the current position of the steering mechanism.

52. A method for generating a signal to control a steering mechanism, the method comprising:

moving a moveable tiller base in response to a steering signal;

generating a tiller differential signal reflecting a steering force applied to a tiller relative to a position of the moveable tiller base; and

generating the steering signal by comparing the tiller differential signal with a steering mechanism position signal, directing the steering mechanism to conform with the steering force, and directing the moveable tiller base to a feedback position representative of a current position of the steering mechanism.

53. The method of claim 52, further comprising allowing movement of the tiller relative to the moveable tiller base within a predetermined displacement range.

54. The method of claim 53, further comprising measuring the tiller differential signal by measuring a displacement of the tiller relative to the moveable tiller base.

55. The method of claim 52, wherein the tiller differential signal is measured as a function of a strain resulting from the steering force applied to the tiller relative to the position of the moveable tiller base.

56. The method of claim 52, wherein the tiller includes a rotatable handle.

57. The method of claim 56, wherein a motor moves the rotatable base in response to receiving the steering signal.

58. The method of claim 57, further comprising converting the tiller differential signal into the steering signal such that the moveable tiller base is moved to cause the tiller to be aligned to a position representative of the steering mechanism position signal.

59. The method of claim 58, further comprising integrating the tiller differential signal such that a rate of change of the steering signal is proportional to a magnitude of the steering force.

60. The method of claim 52, further comprising applying a steering signal decay function such that a reduction in the tiller differential signal causes a resulting reduction in the steering signal, thereby causing the steering mechanism and the moveable tiller base to return toward a neutral position.

61. The method of claim 52, further comprising applying a position limiter restricting movement of the tiller such that the feedback position of the tiller is representative of the current position of the steering mechanism.

62. The method of claim 52, further comprising providing a plurality of tiller module components configured to move the moveable tiller base in response to the steering signal and generate the tiller differential signal, the plurality of tiller module components including at least one of a servo motor, a gear head, an amplifier, and a position sensor.

63. The method of claim 62, further comprising providing a plurality of redundant tiller module components operable to duplicate functions of at least some of the tiller module components.

64. The method of claim 52, further comprising providing a plurality of tiller controller components configured to generate the steering signal, the tiller controller components including at least one of a summer, an integrator, and a gain device.

65. The method of claim 64, further comprising providing a plurality of redundant tiller controller components operable to duplicate functions of at least some of the tiller controller components.

66. The method of claim 52, further comprising providing a secondary tiller controller operable to replace functions of the tiller controller.

67. The method of claim 52, further comprising receiving a first tiller configured to receive a first steering force into a first moveable tiller base and receiving a second tiller configured to receive a second steering force into a second moveable tiller base.

68. The method of claim 67, further comprising generating a first tiller differential signal indicative of a first steering force applied to the first tiller and generating the second tiller differential signal indicative of a second steering force applied to a second tiller, such that the steering signal is generated to direct the steering mechanism to conform with a composite of the first steering force and the second steering force.

69. The method of claim 68, wherein the steering signal causes both the first moveable tiller base aid the second moveable tiller base to move to the feedback position representative of the current position of the steering mechanism.

70. A method for generating a signal to control a steering mechanism, the method comprising:

moving a plurality of moveable tiller bases in response to a plurality of steering signals;

generating a plurality of tiller differential signals reflecting a plurality of steering forces applied to a plurality of tillers relative to positions of the plurality of respective moveable tiller bases; and

generating the plurality of steering signals by summing the plurality of tiller differential signals to generate a composite tiller differential signal;

comparing the composite tiller differential signal and a steering mechanism position signal;

directing the steering mechanism to conform with a composite steering force of the plurality of steering forces; and

directing the plurality of moveable tiller bases to a feedback position representative of a current position of the steering mechanism.

71. The method of claim 70, further comprising allowing movement of the plurality of tillers relative to the plurality of respective moveable tiller bases within a predetermined displacement range.

72. The method of claim 71, further comprising measuring each of the plurality of tiller differential signals by measuring displacements of the plurality of tillers relative to the plurality of the respective moveable tiller bases.

73. The method of claim 70, wherein each of the plurality of tiller differential signals is measured as a function of stains resulting from the plurality of steering forces applied to the tillers relative to the positions of the plurality of respective moveable tiller bases.

74. The method of claim 70, wherein each of the plurality of tillers includes a rotatable handle.

75. The method of claim 74, wherein a motor moves each of the plurality of the respective rotatable bases in response to receiving the steering signal.

76. The method of claim 70, further comprising converting the plurality of the tiller differential signals into the steering signal such that each of the plurality of the moveable tiller bases is moved to cause each of the plurality of tillers to be aligned to a position representative of the steering mechanism position signal.

77. The method of claim 76, further comprising integrating the plurality of tiller differential signals such that a rate of change of the steering signal is proportional to a magnitude of the composite steering force.

78. The method of claim 70, further comprising applying a steering signal decay function such that a reduction in the tiller differential signal causes a resulting reduction in the steering signal causing the steering mechanism and the plurality of moveable tiller bases to return toward a neutral position.

79. The method of claim 70, further comprising applying a position limiter restricting movement of the plurality of tillers such that the feedback position of the plurality of tillers is representative of the current position of the steering mechanism.

80. The method of claim 70, further comprising providing a plurality of tiller module components configured to move the moveable tiller base in response to the steering signal and generate the tiller differential signal, the plurality of tiller module components including at least one of a servo motor, a gear head, an amplifier, and a position sensor.

81. The method of claim 80, further comprising providing a plurality of redundant tiller module components operable to duplicate functions of at least some of the tiller module components.

82. The method of claim 70, further comprising providing a plurality of tiller controller components configured to generate the steering signal, the tiller controller components including at least one of a summer, an integrator, and a gain device.

83. The method of claim 82, further comprising providing a plurality of redundant tiller controller components operable to duplicate functions of at least some of the tiller controller components.

84. The method of claim 70, further comprising providing a secondary tiller controller operable to replace functions of the tiller controller.