Apparatus and method for controlling a force-activated controller
First Claim
1. An apparatus fir controlling coupling between first and second force-activated control members, comprising:
- a first sensor connected to the first control member, wherein the first sensor senses a first value of a parameter indicative of a first force applied to the first control member and generates a first force signal;
a second sensor connected to the second control member, wherein the second sensor senses a second value of a parameter indicative of a second force applied to the second control member and generates a second force signal;
a first high level controller comprising a first trajectory generator in communication with the first sensor and the second sensor for receiving the first force signal and the second force signal and generating trajectory signal data based at least in part on a combination of the first force signal and the second force signal;
a first drive controller connected to the first control member, wherein the first drive controller moves the first control member responsive to the trajectory signal data; and
a second drive controller connected to the second control member, wherein the second drive controller moves the second control member responsive to the trajectory signal data.
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Accused Products
Abstract
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 die stick to follow a specified motion. The control framework permits the electronic coupling of 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.
5 Citations
40 Claims
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1. An apparatus fir controlling coupling between first and second force-activated control members, comprising:
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a first sensor connected to the first control member, wherein the first sensor senses a first value of a parameter indicative of a first force applied to the first control member and generates a first force signal; a second sensor connected to the second control member, wherein the second sensor senses a second value of a parameter indicative of a second force applied to the second control member and generates a second force signal; a first high level controller comprising a first trajectory generator in communication with the first sensor and the second sensor for receiving the first force signal and the second force signal and generating trajectory signal data based at least in part on a combination of the first force signal and the second force signal; a first drive controller connected to the first control member, wherein the first drive controller moves the first control member responsive to the trajectory signal data; and a second drive controller connected to the second control member, wherein the second drive controller moves the second control member responsive to the trajectory signal data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40)
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Specification