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1. 发明授权

EP0767935B1 INTEGRATOR MANAGEMENT FOR REDUNDANT ACTIVE HAND CONTROLLERS 失效
标题翻译：冗余主动控制器的集成器管理
公开(公告)号：EP0767935B1
公开(公告)日：1998-09-02
申请号：EP95926130.6
申请日：1995-06-29
申请人： HONEYWELL INC.
发明人： GREGORY, William, W. , LANCE, Wayne, E. , HEGG, Jeffrey, W.
IPC分类号： G05D1/00
CPC分类号： G05D1/0077 , G05D1/0061

2. 发明授权

EP0677185B1 ACTIVE HAND CONTROLLER FEEDBACK LOOP 失效
标题翻译：主动手控反馈回路
公开(公告)号：EP0677185B1
公开(公告)日：1999-01-20
申请号：EP94900468.3
申请日：1993-10-29
申请人： HONEYWELL INC.
发明人： GREGORY, William, W. , HEGG, Jeffrey, W. , LANCE, Wayne, E.
IPC分类号： G05D1/00 , B64C13/46
CPC分类号： G05B19/409 , G05B2219/35438 , G05B2219/37396 , G05D1/0061 , H01H2003/008 , Y10T74/20201
摘要： An active hand controller system is provided wherein a feedback loop detects the position of a control stick to control a motor driving the control stick to thereby provide certain force feel characteristics to the control stick. The feedback loop includes a detector for detecting force exerted for the control stick to generate a signal indicative of the force or torque being applied to the control stick. In a more specific aspect, the invention includes the use of variable reluctance transformers, preferably in a push/pull configuration to detect the forces being exerted on the control stick.
摘要翻译：提供一种主动手控制器系统，其中反馈回路检测控制手柄的位置以控制驱动控制手柄的马达，从而为控制手柄提供一定的力感特性。反馈回路包括检测器，用于检测施加给控制杆的力以产生指示施加到控制杆的力或扭矩的信号。在更具体的方面，本发明包括使用可变磁阻变压器，优选地以推/拉配置来检测施加在控制棒上的力。

3. 发明公开

EP0767935A1 INTEGRATOR MANAGEMENT FOR REDUNDANT ACTIVE HAND CONTROLLERS 失效
标题翻译：冗余主动控制器的集成器管理
公开(公告)号：EP0767935A1
公开(公告)日：1997-04-16
申请号：EP95926130.0
申请日：1995-06-29
申请人： HONEYWELL INC.
发明人： GREGORY, William, W. , LANCE, Wayne, E. , HEGG, Jeffrey, W.
IPC分类号： G05D1
CPC分类号： G05D1/0077 , G05D1/0061
摘要： A redundant active hand controller system has first and second motors connected to a common shaft. A compensator which differentiates a motor command signal from a first proportional and integral controller, differentiates a motor command signal from a second proportional and integral controller and subtracts the first differentiated motor command signal from the second differentiated motor command signal to provide a correction signal. The correction signal is summed with the error signal into the first proportional and integral controller to correct for slight differences in the integral control function of the first and second proportional and integral controllers.
摘要翻译：冗余主动手控制器系统具有连接到公共轴的第一和第二电动机。一个补偿器，用于区分来自第一比例积分控制器的电动机指令信号，对来自第二比例积分控制器的电动机指令信号进行微分，并从第二微分电动机指令信号中减去第一微分电动机指令信号以提供校正信号。校正信号与误差信号相加到第一比例积分控制器中，以校正第一和第二比例积分控制器的积分控制功能的微小差异。

4. 发明公开

EP0677185A1 ACTIVE HAND CONTROLLER FEEDBACK LOOP 失效
标题翻译： RUCKKOPPLUNGSSCHLEIFEFUR AKTIVHANDSTEUERKNUPPEL。
公开(公告)号：EP0677185A1
公开(公告)日：1995-10-18
申请号：EP94900468.0
申请日：1993-10-29
申请人： HONEYWELL INC.
发明人： GREGORY, William, W. , HEGG, Jeffrey, W. , LANCE, Wayne, E.
IPC分类号： G05B19 , G05D1
CPC分类号： G05B19/409 , G05B2219/35438 , G05B2219/37396 , G05D1/0061 , H01H2003/008 , Y10T74/20201
摘要： An active hand controller system is provided wherein a feedback loop detects the position of a control stick to control a motor driving the control stick to thereby provide certain force feel characteristics to the control stick. The feedback loop includes a detector for detecting force exerted for the control stick to generate a signal indicative of the force or torque being applied to the control stick. In a more specific aspect, the invention includes the use of variable reluctance transformers, preferably in a push/pull configuration to detect the forces being exerted on the control stick.

5. 发明公开

EP0677184A1 POSITION DEPENDENT RATE DAMPENING IN AN ACTIVE HAND CONTROLLER 失效
标题翻译： POSITIONSABHANGIGE衰减手主动控制。
公开(公告)号：EP0677184A1
公开(公告)日：1995-10-18
申请号：EP93925137.0
申请日：1993-10-29
申请人： HONEYWELL INC.
发明人： GREGORY, William, W. , KAUFFMAN, James, W.
IPC分类号： B64C13 , G05D1
CPC分类号： B64C13/04 , G05D1/0061 , Y10T74/20201
摘要： 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.

6. 发明授权

EP0677184B1 POSITION DEPENDENT RATE DAMPENING IN AN ACTIVE HAND CONTROLLER 失效
标题翻译： POSITIONSABHANGIGE衰减手主动控制
公开(公告)号：EP0677184B1
公开(公告)日：1997-05-14
申请号：EP93925137.7
申请日：1993-10-29
申请人： HONEYWELL INC.
发明人： GREGORY, William, W. , KAUFFMAN, James, W.
IPC分类号： G05D1/00
CPC分类号： B64C13/04 , G05D1/0061 , Y10T74/20201
摘要： 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.

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