Active human-machine interface system without a force sensor

• US 7,750,593 B2
• Filed: 06/08/2007
• Issued: 07/06/2010
• Est. Priority Date: 10/26/2006
• Status: Expired due to Fees

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Tillotson, John K.
• Primary Examiner(s): IP, SHIK LUEN PAUL
• Application Number:
  US11/760,023
• Publication Number:
  US 20080100252A1
• Time in Patent Office: 1,124 Days
• Field of Search: 318/567, 318/628, 318/630, 318/632, 318/568.11, 345/156, 345/161, 345/166, 700/85
• US Class Current: 318/611
• CPC Class Codes: B64C 13/0421 control sticks for primary flight controls
• CPC Class Codes: B64C 13/0423 yokes or steering wheels for primary flight controls
• CPC Class Codes: B64C 13/044 operated by feet, e.g. pedals
• CPC Class Codes: B64C 13/12 Dual control apparatus
• CPC Class Codes: B64C 13/507 with artificial feel

Abstract

An active human-machine interface system is implemented without a force sensor. The system includes a user interface that is configured to receive user input and, upon receipt thereof, to move to a position. A position sensor is coupled to the user interface and is operable to sense user interface position and supply a position signal representative thereof. A motor is coupled to the user interface and to receive motor current. In response to the motor current the motor supplies a feedback force to the user interface at a magnitude proportional to the motor current. A control circuit is coupled to receive at least the position signal and a signal representative of the motor current and controls the motor current supplied to the motor.

Claims

1. An active human-machine interface system, comprising:

a user interface configured to receive user input and, upon receipt thereof, to move to a position;

a position sensor coupled to the user interface, the position sensor operable to sense user interface position and supply a position signal representative thereof;

a motor coupled to the user interface, the motor further coupled to receive motor current and operable, upon receipt thereof, to supply a feedback force to the user interface at a magnitude proportional to the motor current; and

a control circuit configured to control the motor current supplied to the motor, the control circuit comprising;

a counter coupled to receive the position signal and operable, in response thereto, to supply an absolute position signal representative of user interface absolute position,

a force versus position determination function coupled to receive the absolute position signal and operable, in response thereto, to supply a force feedback signal representative of the feedback force,

a differentiator coupled to receive the absolute position signal and operable, in response thereto, to supply a velocity signal representative of a rate of change of the absolute position,

a damping factor function coupled to receive the velocity signal and operable, in response thereto, to supply a damping factor signal representative of a damping factor,

a motor current command function coupled to receive the force feedback signal and the damping factor signal and operable, in response thereto, to supply a motor current command signal, and

a commutation control function coupled to receive (i) the position signal, (ii) the signal representative of the motor current, and (iii) the motor current command signal and operable, in response thereto, to supply the motor current to the motor.

2. The system of claim 1, wherein:

the motor comprises a stator and a rotor, the rotor coupled to the user interface; and

the position sensor is coupled to the motor rotor, whereby the position signal is further representative of the motor rotor position.

3. The system of claim 1, wherein the commutation control function implements a non-trapezoidal motor commutation scheme.

4. The system of claim 3, wherein the non-trapezoidal motor commutation scheme is a sine commutation scheme.

5. The system of claim 1, wherein:

the system is adapted for use in an aircraft; and

the force versus position determination function is further coupled to receive a signal representative of aircraft flight conditions and is further responsive thereto to supply the force feedback signal.

6. The system of claim 5, wherein the damping factor function is further coupled to receive the signal representative of aircraft flight conditions and is further responsive thereto to supply the damping factor signal.

7. The system of claim 1, wherein the user interface is a first user interface, the position signal is a first position signal, and wherein the control circuit further comprises:

a position deviation determination function coupled to receive (i) the first position signal and (ii) a second position signal that is representative of a second user interface position, the position determination function operable, in response to the first position signal and the second position signal, to supply a position deviation signal representative of a deviation between the first and second user interface positions.

8. The system of claim 7, wherein the motor current command function is coupled to receive the position deviation signal and is further responsive thereto to supply the motor current command signal.

9. The system of claim 1, wherein:

the position signal is further representative of a position command, the position command representative of a desired position of a controlled device; and

the control circuit is adapted to receive a signal representative of a sensed parameter associated with the controlled device and is further operable, in response to this signal, to control the motor current supplied to the motor.

10. The system of claim 1, further comprising:

a gear set coupled between the motor and the user interface.

11. The system of claim 10, further comprising:

an absolute position sensor coupled between the user interface and the gear set and operable, to sense absolute user interface position and supply an absolute position signal representative thereof.

12. An active human-machine interface system, comprising:

a user interface configured to receive user input and, upon receipt thereof, to move to a position;

a motor including a rotor and a stator, the rotor coupled to the user interface, the stator coupled to receive motor current, the motor operable, in response to the motor current supplied to the stator, to supply a feedback force to the user interface at a magnitude proportional to the motor current;

a user interface position sensor coupled between the user interface and the motor and operable, to sense user interface position and supply a user interface position signal representative thereof;

a rotor position sensor coupled to the motor rotor and operable to supply a rotor position signal representative thereof; and

a control circuit configured to control the motor current supplied to the motor stator, the control circuit comprising;

a counter coupled to receive the rotor position signal and operable, in response thereto, to supply an absolute position signal representative of user interface absolute position; and

a force versus position determination function coupled to receive the absolute position signal and operable, in response thereto, to supply a force feedback signal;

a differentiator coupled to receive the absolute position signal and operable, in response thereto, to supply a velocity signal representative of a rate of change of the absolute position;

a damping factor function coupled to receive the velocity signal and operable, in response thereto, to supply a damping factor signal;

a motor current command function coupled to receive (i) the force feedback signal and (ii) the damping factor signal and operable, in response thereto, to supply a motor current command signal; and

a current sense and commutation control function coupled to receive (i) the user interface position signal, (ii) the absolute position signal, (iii) the signal representative of the motor current, and (iv) the motor current command signal and operable, in response thereto, to supply the motor current to the motor stator.

13. The system of claim 12, wherein:

the system is adapted for use in an aircraft; and

the force versus position determination function is further coupled to receive a signal representative of aircraft flight conditions and is further responsive thereto to supply the force feedback signal.

14. The system of claim 13, wherein the damping factor is further coupled to receive the signal representative of aircraft flight conditions and is further responsive thereto to supply the damping factor signal.

15. The system of claim 13, wherein the user interface is a first user interface, the user interface position signal is a first user interface position signal, and wherein the control circuit further comprises:

a position deviation determination function coupled to receive (i) the first user interface position signal and (ii) a second user interface position signal that is representative of a second user interface position, the position determination function operable, in response to the first and second user interface position signals, to supply a position deviation signal representative of a deviation between the first and second user interface positions,

wherein the motor current command function is coupled to receive the position deviation signal and is further responsive thereto to supply the motor current command signal.