Position dependent rate dampening in an active hand controller

Details Position dependent rate dampening in an active hand controller Position dependent rate dampening in an active hand controller

G - Physics

05

D

G05D 19/02 (2006.01) B64C 13/04 (2006.01) G05D 1/00 (2006.01)

Patent

CA 2148481

A control system for an active hand controller, for example, uses a control stick connected to and controlled by a motor. Electronics are provided to control the motor to eliminate oscillations due to motor torque and high gain due to breakout at the control stick when the control stick is at about its null position. Both hardware as well as software implementations can provide position dependent dampening to the control sticks such that when the control stick is located about a null position, a higher rate of dampening is provided than when the control stick is located outside the null position, when a lower rate of dampening is provided. The system provides a stable active hand controller control stick without degraded force and feel characteristics of the system.

Un système de commande destiné à un dispositif de commande manuel actif, par exemple, utilise un manche de commande relié à un moteur par lequel il est commandé. Des éléments électroniques servent à commander le moteur pour éliminer les oscillations dues au couple du moteur et un gain élevé du à un décrochage au niveau du manche de commande lorsque celui-ci est presque en position zéro. Aussi bien le matériel que des logiciels peuvent permettre d'obtenir un amortissement dépendant de la position, pour un manche de commande, tel que lorsque le manche de commande est presque en position zéro, on obtient un taux d'amortissement plus élevé que lorsque le manche de commande est éloigné de sa position zéro, position dans laquelle le taux d'amortissement est plus bas. Grâce à ce système l'on obtient un dispositif de commande manuel actif stable, en l'occurrence un manche de commande, sans que les qualités du système relatives aux forces et aux sensations ne soient diminuées.

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