Inceptor apparatus

Patent metadata

Field	Value
Publication number	US-9658639-B2
Application number	US-201314653594-A
Country	US
Kind code	B2
Filing date	Dec 2, 2013
Priority date	Dec 20, 2012
Publication date	May 23, 2017
Grant date	May 23, 2017

Abstract

An inceptor apparatus and method for operating a machine, the operation of the machine providing an output from at least one inertial sensor. The apparatus comprises a stick member having a base portion, and a grip portion extending from the base portion in only one direction. The apparatus further comprises at least one sensor for generating actual stick member position data, and a control unit configured to receive an inertial force signal from the or each inertial sensor and the actual stick member position data. The control unit is operable generate a first stick member position compensation signal in dependence upon the inertial force signal and actual stick member position data.

First claim

The invention claimed is:

1. An inceptor apparatus for operating a machine and having multiple modes of operation, the operation of the machine providing an output from at least one inertial sensor, the apparatus comprising:
a stick member having a base portion, and a grip portion extending from the base portion in only one direction;
at least one sensor for generating actual stick member position data; and
a control unit configured to receive an inertial force signal from the at least one inertial sensor and the actual stick member position data, the control unit being operable in all modes of operation to generate a first stick member position compensation signal in dependence upon the inertial force signal and actual stick member position data, the modes of operation including an active mode to counter inertial force acting on the grip portion using one or more actuators, and a passive mode to compensate inertial force acting on the grip portion even if the stick member is not acted upon by the one or more actuators to counter inertial forces.

2. An inceptor apparatus as claimed in claim 1 wherein:
a first actuator of the one or more actuators is coupled to the base portion,
the control unit is operable to output the first stick member position compensation signal to the first actuator,
the first actuator being operable in response to the first stick member position compensation signal to apply a force to the base portion in a first direction in the active mode to counter the inertial force acting on the grip portion in a direction opposite to the first direction to thereby urge the stick member to a desired stick member position.

3. An inceptor apparatus as claimed in claim 2 wherein a second actuator of the one or more actuators is coupled to the base portion, wherein:
the control unit being operable to generate a second stick member position compensation signal in dependence upon the inertial force signal and actual stick member position data,
the control unit also being operable to output the second stick member position compensation signal to the second actuator,
the second actuator being operable in response to the second stick member position compensation signal to apply a force to the base portion in a second direction in the active mode to counter the inertial force acting on the grip portion in a direction opposite to the second direction to thereby urge the stick member to the desired stick member position.

4. An inceptor apparatus as claimed in claim 2 , wherein:
the at least one sensor comprises a force sensor,
and the actual stick member position data comprises a grip signal generated by the force sensor, the grip signal being indicative of force exerted on the grip portion in the first direction.

5. An inceptor apparatus as claimed in claim 4 wherein the first actuator is coupled to the base portion via an arm, and the force sensor is provided on the arm.

6. An inceptor apparatus as claimed in claim 1 , wherein:
the at least one sensor comprises a position sensor,
and the actual stick member position data comprises a position signal generated by the position sensor.

7. An inceptor apparatus as claimed in claim 3 , wherein the control unit is operable to output the first and second stick member position compensation signals to the machine to thereby control the machine as desired by a user.

8. An inceptor apparatus as claimed in claim 3 wherein the base portion of the stick member comprises a gimbal arrangement having:
a first base member pivotably coupled to a second base member to permit the stick member and first base member to rotate about a first axis of rotation independently of the second base member, to allow the stick member to move in the first direction; and
the second base member being pivotably mounted such that the stick member, first base member and second base member are rotatable about a second axis of rotation together to allow the stick member to move in the second direction;
wherein the first actuator is coupled to the stick member via the first base member, and the second actuator is coupled to the stick member via the second base member.

9. A method of operating an inceptor apparatus for operating a machine, the operation of the machine providing an output from at least one inertial sensor, the inceptor apparatus including: a stick member having a base portion and a grip portion extending from the base portion; a control unit; and at least one sensor for generating actual stick member position data; wherein the method comprises:
receiving, by the control unit, an inertial force signal from the at least one inertial sensor and the actual stick member position data; and
generating, by the control unit, a first stick member position compensation signal in dependence upon the inertial force signal and actual stick member position data, wherein generating the first stick member position compensation signal can be carried out in both an active mode of operation and a passive mode of operation, the active mode to counter inertial force acting on the grip portion using one or more actuators, and the passive mode to compensate inertial force acting on the grip portion even if the stick member is not acted upon by the one or more actuators to counter inertial forces.

10. A method as claimed in claim 9 wherein the inceptor apparatus further comprises a first actuator coupled to the base portion, the method further comprising:
outputting, by the control unit, the first stick member position compensation signal to the first actuator; and
responding, by the first actuator, to the first stick member position compensation signal to apply a force to the base portion in a first direction to counter inertial force acting on the grip portion in a direction opposite to the first direction, to thereby urge the stick member to a desired stick member position.

11. A method as claimed in claim 10 wherein the inceptor apparatus further comprises a second actuator coupled to the base portion, the method further comprising:
generating, by the control unit, a second stick member position compensation signal in dependence upon the inertial force signal and actual stick member position data;
outputting, by the control unit, the second stick member position compensation signal to the second actuator; and
responding, by the second actuator, to the second stick member position compensation signal to apply a force to the base portion in a second direction to counter inertial force acting on the grip portion in a direction opposite to the second direction, to thereby urge the stick member to the desired stick member position.

12. A method as claimed in claim 10 , wherein the at least one sensor comprises a force sensor, the method further comprising:
generating, by the force sensor, a grip signal, wherein the actual stick member position data comprises the grip signal, for communication to the control unit, the grip signal being indicative of force exerted on the grip portion in the first direction.

13. A method as claimed in claim 9 , wherein the at least one sensor comprises a position sensor, the method further comprising:
generating, by the position sensor, an actual stick position signal, wherein the actual stick member position data comprises the actual stick position signal, for communication to the control unit.

14. An inceptor apparatus as claimed in claim 4 , wherein:
the at least one sensor comprises a position sensor,
and the actual stick member position data comprises a position signal generated by the position sensor.

15. An inceptor apparatus as claimed in cl

Assignees

• Bae Systems Plc

Inventors

• Taylor Adam
• Desalvo Keith Michael

Classifications

• G05G9/047

  the controlling member being movable by hand about orthogonal axes, e.g. joysticks {(for switches H01H25/04)} · CPC title

• G05G2009/04766

  providing feel, e.g. indexing means, means to create counterforce · CPC title

• G05G2009/04718

  with cardan or gimbal type joint · CPC title

• G05G5/03 Primary

  Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce (arrangements for indicating the position of the controlling member G05G1/015) · CPC title

• B64C13/0421

  control sticks for primary flight controls · CPC title