Patent attributes
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 the stick to follow a specified motion. The control framework permits the electronic coupling of the 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.
