Source: http://www.google.com/patents/US4516063?dq=6246862
Timestamp: 2014-03-17 21:16:43
Document Index: 269339840

Matched Legal Cases: ['application No. 2', 'application No. 2', 'application No. 2', 'application No. 2', 'application No. 2', 'application No. 2', 'application No. 2']

Patent US4516063 - Control apparatus - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inAdvanced Patent SearchPatentsControl apparatus comprising a lever, foot pedal or other operating member which is coupled to an electrical stepper motor operable, under the control of a computer say, to generate detents and feel forces resisting the movement of the member and thereby impart information to the operator. For example,...http://www.google.com/patents/US4516063?utm_source=gb-gplus-sharePatent US4516063 - Control apparatusAdvanced Patent SearchPublication numberUS4516063 APublication typeGrantApplication numberUS 06/460,559Publication dateMay 7, 1985Filing dateJan 24, 1983Priority dateJan 22, 1982Fee statusLapsedPublication number06460559, 460559, US 4516063 A, US 4516063A, US-A-4516063, US4516063 A, US4516063AInventorsBrian Carr, Arthur Kaye, Philip A. LathamOriginal AssigneeBritish Aerospace Public Limited CompanyExport CitationBiBTeX, EndNote, RefManPatent Citations (8), Referenced by (50), Classifications (29), Legal Events (4) External Links: USPTO, USPTO Assignment, EspacenetControl apparatusUS 4516063 AAbstract Control apparatus comprising a lever, foot pedal or other operating member which is coupled to an electrical stepper motor operable, under the control of a computer say, to generate detents and feel forces resisting the movement of the member and thereby impart information to the operator. For example, a detent or position of marked resistance can be introduced into the movement range of say a car throttle pedal to indicate to the driver a pedal position giving optimum economy of fuel. The detent position can be changed within the overall range of pedal movement in dependence upon instant driving parameters such as speed. As well as detents, programmed and/or external condition dependent feel forces can be generated.
We claim: 1. A control device for enabling an operator to control associated apparatus to which, in use, the control device is connected, the control device comprising:a fixed support member; a control member supported by the support member and movable with respect thereto by said operator; output means connected to the control member and operable for transmitting to said associated apparatus control signals indicative of the position of said control member relative to the support member; an electrical stepper motor of which the stator part is connected to said support member and the mover part is connected to said control member; motor energization means which is connected to said stepper motor and which is operable for energizing said motor to generate, at least while said control member is at one or more discrete positions in its range of movement relative to the support member, an attractive force between the stator and mover parts of the motor tending to resist manual movement of the control member; and transducer means connected to said motor energization means and operable to sense at least one physical parameter affecting said associated apparatus and for causing said motor energization means to change said attractive force in depedence upon said at least one parameter. 2. Control apparatus according to claim 1, including position sensor means coupled to said control member for sensing the position thereof and connected to said motor energization means for supplying thereto signals indicating the position of the control member, said motor energization means being operable to increase the energizing of said motor when the control member is at one or more discrete detent positions within its range of movement relative to the support member whereby said operator will feel substantially greater resistance to movement of the control member through the or each such position than is felt when the control member is elsewhere in its range of movement, the motor energization means being further operable in response to said transducer means to vary the location of said one or more detent positions in dependence upon said ambient physical parameter.
3. Control apparatus according to claim 2, wherein said control member comprises a motor vehicle accelerator pedal, said transducer means is operable to sense pysical operating parameters of the vehicle engine, and said motor energization means is operable for calculating from said parameters an engine throttle setting optimised for fuel economy and to locate a said detent position in the range of movement of the accelerator pedal corresponding to said throttle setting.
4. Control apparatus according to claim 3, wherein said motor energization means is further operable for energizing said motor to a level which produces movement of said control member, said transducer means includes means for sensing the road speed of said vehicle, and the apparatus includes switch means connected to the motor energization means and operable for causing the motor energization means to vary the position of the control member to maintain said vehicle road speed at a constant value.
Within the housing 7 are contained the stator 10 and mover 11 of a linear stepper motor of the kind disclosed in our patent application No. 2,073,887A. The stator 10 consists of an elongate cylindrical member 12 made of magnetisable material and formed with a series of annular recesses to leave defined intervening pole teeth 13. The recesses are filled with non-magnetic material 14, such as copper, and the whole is covered by a thin plating 15 of material having good sliding properties, chromium for example. Meanwhile the stator 10 comprises a cylindrical housing within which is mounted an electro-magnetic pole assembly. This pole assembly is not shown but, as described in patent application No. 2,073,887 to which attention is directed, it may comprise two ring-shaped poles each carrying a winding and each having two spaced sets of annular grooves in its internal surface to define respective sets of pole teeth. Between the poles is a magnet assembly including a rare-earth permanent magnet. The pitch and spacing of the mover pole tooth sets and the stator pole tooth pitch are such that, by properly sequencing the energisation of the mover windings, the mover can be stepped along the stator between adjacent ones of a series of positions at which the reluctance to flow of magnetic flux energy between mover and stator is a minimum. While the mover is at one of these minimum reluctance positions, the force needed to move it out of that position depends on the level of energisation applied to the windings. Thus, as mentioned in the aforementioned patent application, the resistance to manual movement of the mover can be varied to give a desired level of "feel" in that movement and/or, when the mover is being manually moved through one or more predetermined positions in its range, the winding energisation can be increased from a normal standing level so as to generate a marked resistance or "detent" at that or those positions.
Within the housing 7, the mover 10 is coupled to a position encoder 18 which, in this case takes the form of a potentiometer with a resistive and a conductive track formed on a fixed substrate 19 and a bridging contact 20 movable with the mover 10 so as to bridge the tracks at a position dependent upon the position of the mover and thereby give a resistance value between the track end terminals which is also dependent upon the mover position. The encoder may have more than one pair of tracks and bridging contact in order to give a degree of redundancy. Alternatively, any other suitable form of position encoder may be used, for example any of those disclosed in patent application No. 2,073,887A.
In general, i.e. including in relation to the apparatus and possible applications and modifications hereinbefore described and the apparatus and possible applications and modifications described in patent application No. 2,073,887A, the "feel unit", i.e. the electric motor-like device which generates the desired movement resistance and/or detents and which may also be operable to drive the movement of a movable member, may be incorporated in an overall system such as that shown in FIG. 3 where reference 100 indicates the feel unit and an energisation controller 101 is operable to supply driving/control signals for this unit on the basis of information received by the controller both from a position sensing device 102 coupled to the feel unit and from a suitable input/output interface unit 103 which interfaces the overall system to external influences. Thus, the position at which the moving member of the feel unit 100 in relation to the stationary member feels a detent force, and the magnitude of that force, may be controlled by the motor controller 101. The detent force may operate for a defined proportion of the available travel of the moving member at the same or a varying force level. Signals from external sources are sent to the electronic interface unit 103 and operated upon according to requirement, to produce signals for the motor control unit 101 which will define the magnitude, position and characteristic form of the detent. For example in the case of an aircraft throttle box, the position of say a "MAX DRY" detent i.e. a throttle position at which there is attained maximum thrust without say any afterburning system or other thrust supplement system in operation, can be varied as a function of altitude.
As mentioned in No. 2,073,887A, the handle or grip portion of an aircraft throttle-box may incorporate control switches, for example a switch for operating a reverse-thrust mechanism of the aircraft. In this case, and any other where switches and/or indicators are incorporated in or connected to the "movable" member of the feel unit, the need for wiring coupled to the movable member may be removed by use of a wireless data transmission system between the mover and fixed data processing circuitry incorporated in the unit, for example mounted on the "stator" of the unit. Thus, as shown in FIG. 4, the switch information could be encoded by circuit 104 onto an AC signal which is fed into a coil 105 mounted in the moving member and wound around magnetic bar 106 along which the moving member travels. Another coil 107 attached to the stationary member would also be wound around the magnetic bar in a fixed position and would receive the encoded alternating signal and pass it to the data processing circuitry 108 for analysis.
It may be desirable for a control device such as a microprocessor based computer system which is controlling a stepper motor to receive an indication that the mover of the motor has in fact executed a step or series of steps commanded by the control device. For this purpose, application No. 2,073,887A disclosed the idea of comparing the e.m.f. appearing across each motor winding with a waveform corresponding to what would appear across the motor winding if the commanded step were executed (this waveform is different to that which appears if the step is not executed because of the influence of movement-induced e.m.f.).
Mounted within box 1 next to lever 5 is the stator rod 7 of a linear stepper motor of the kind disclosed and illustrated in our patent application No. 2,073,887A. The rod is fixed by having its ends 8, which are stepped, entered into respective holes in the ends of the box. The moving element or `mover` 9 of the stepper motor has a projecting peg 10 which extends into a slot 11 in the lever 5. Thus, as the lever 5 is manually moved, the mover 9 moves with it along rod 7 and, if the mover 9 is driven along rod 7, it moves the lever 5. As in application No. 2,073,887A, during manual movement of lever 5, the stepper motor may be operable to provide a fixed, variable or programmed degree of `feel` to the manual movement.
FIGS. 7, 8, and 9 of the drawings show respective further control devices in diagrammatic form. In FIG. 3, a box 30 with a slotted top contains a rotary stepper motor 31 of which the rotor (not shown) is coupled to one end of a ball screw 32. The other end of the screw 32 is coupled to the input shaft of a rotary position encoder 33 and the screw carries, engaged with the screw so that it moves back and forth along the screw when the latter rotates, a rider member 34 having a grip lever 35 extending therefrom and out of the slot in the top of the box. As before then, motor 31 can rotate to move lever 35 and to exert the desired control action via encoder 33, the operation of the motor nevertheless being manually overridable by forced manual movement of the lever. Also, when the lever is being manually moved normally, the motor can provide the required degree or variation of feel to that movement.
FIG. 9 shows a box 50, again with a slotted top, and containing a rotary stepper motor 51 and a rotary position encoder 52 each coupled to a toothed-belt wheel 53. A toothed belt 54 is entrained round the wheels 53 and couples them together and the belt is also coupled to a rider 55 from which a manual operating lever 56 extends through the slot in box 50.
In order to interface the throttle box to the autopilot computers, the engine speed control computer, and local controllers for the various items to be controlled by the switches on grip portion 303, an interface/control unit 310 is provided. This is This is powered by its own dual redundant power supply unit 311 from respective independent aircraft power source channels A and B and it comprises a series of digital interface units 312 to 317 and central processor unit 318 which may comprise a microprocessor based computer system. The interface unit 312 interfaces unit 318 to the stepper motor and hence of course is constructed to provide appropriate energisation signals for driving the motor as known in the art, or for providing reduced level energisation signals to produce the aforementioned feel and detent forces. The other interface units handle various control and information signals. Thus, unit 313 is connected between the unit 318 and the grip switches, unit 314 passes the position encoder signals to the unit 318 from encoder 302, unit 315 transfers to the unit 318 from the autopilot or to the autopilot from unit 318 signals indicative of whether the throttle box is in its manual or automatic state of operation, and the interface units 316 and 317 are respectively parallel input and output interfaces which connect the unit 318 to aircraft data buses (not shown), these data bases also communicating with the aircraft autopilot, throttle control computers and local controllers as known in the art.
FIG. 3 is a diagram of a system for generating one or more detents and/or a feel force in association with the movement of a control member, and
Patent CitationsCited PatentFiling datePublication dateApplicantTitleUS3693066 *Aug 24, 1970Sep 19, 1972Computervision CorpNatural feeling common drive plotter-digitizerUS4021715 *Jan 9, 1975May 3, 1977U.S. Philips CorporationMotor drive for the displacement of a section of an X-ray examination apparatusUS4106728 *Jan 17, 1977Aug 15, 1978Sperry Rand CorporationFail safe force feel systemUS4278920 *Jul 31, 1978Jul 14, 1981The Bendix CorporationMethod and apparatus for generating position or path control programs using force feedbackUS4345195 *Aug 8, 1980Aug 17, 1982Sperry CorporationStrapdown multifunction servoactuator apparatus for aircraftUS4367436 *Oct 19, 1979Jan 4, 1983Thomson-CsfAssisted manual designation system for an optical or optronic radar director theodolite deviceUS4426607 *Mar 12, 1982Jan 17, 1984Sperry CorporationDifferential linkage apparatus for an aircraft series servoactuator apparatusGB2073887A * Title not available* Cited by examinerReferenced byCiting PatentFiling datePublication dateApplicantTitleUS4800721 *Feb 13, 1987Jan 31, 1989Caterpillar Inc.Force feedback leverUS5062596 *Aug 8, 1990Nov 5, 1991British Aerospace PlcControl apparatusUS5064031 *Sep 18, 1989Nov 12, 1991Atsugi Unisia CorporationMotor operated actuator with position encoder for stopping actuator at desired positionUS5091656 *Oct 27, 1989Feb 25, 1992Storz Instrument CompanyFootswitch assembly with electrically engaged detentsUS5334997 *Dec 22, 1992Aug 2, 1994David ScallonFoot-operated computer controlUS5531402 *Mar 23, 1995Jul 2, 1996Dahl; Robert M.Wireless flight control systemUS5613652 *Oct 21, 1994Mar 25, 1997Safe Flight Instrument CorporationAircraft auto throttle systemUS5969495 *Dec 31, 1997Oct 19, 1999Daewood Heavy Industries America CorporationAccelerator device for electromotive vehiclesUS6179829Aug 28, 1997Jan 30, 2001Bausch & Lomb Surgical, Inc.Foot controller for microsurgical systemUS6459226 *Jan 4, 2001Oct 1, 2002Ge Medical Systems Global Technology Company, LlcMethod and apparatus for accurate powered deceleration and immobilization of manually operated mechanismUS6525432 *Apr 3, 2000Feb 25, 2003Robert Bosch GmbhMethod and device for operating a dispersed control system in a motor vehicleUS6679458 *Jun 10, 2002Jan 20, 2004The Boeing CompanySplit detent tactile cueing vehicle control systemUS6917867 *Apr 10, 2003Jul 12, 2005Caterpillar IncOperator input device with tactile feedbackUS6937929 *Oct 12, 2004Aug 30, 2005Alps Electric Co., Ltd.Force-feedback input deviceUS7241263Sep 30, 2004Jul 10, 2007Scimed Life Systems, Inc.Selectively rotatable shaft couplerUS7413543Mar 29, 2004Aug 19, 2008Scimed Life Systems, Inc.Endoscope with actively cooled illumination sourcesUS7440825Jun 14, 2006Oct 21, 2008The Boeing CompanyConstant vertical state maintaining cueing systemUS7463956Jul 3, 2003Dec 9, 2008The Boeing CompanyConstant vertical state maintaining cueing systemUS7479106Sep 30, 2004Jan 20, 2009Boston Scientific Scimed, Inc.Automated control of irrigation and aspiration in a single-use endoscopeUS7578786Sep 30, 2004Aug 25, 2009Boston Scientific Scimed, Inc.Video endoscopeUS7591783Sep 30, 2004Sep 22, 2009Boston Scientific Scimed, Inc.Articulation joint for video endoscopeUS7597662May 8, 2006Oct 6, 2009Boston Scientific Scimed, Inc.Multi-fluid delivery systemUS7641032Dec 21, 2005Jan 5, 2010Eaton CorporationClutch pedal control system for an external activation clutch brakeUS7832535Nov 18, 2009Nov 16, 2010Eaton CorporationMethod of controlling an external activation clutch brakeUS7846107May 13, 2005Dec 7, 2010Boston Scientific Scimed, Inc.Endoscopic apparatus with integrated multiple biopsy deviceUS7948192 *Jul 30, 2008May 24, 2011Hamilton Sundstrand CorporationDual redundant variable field permanent magnet dynamoelectric machineUS7955255Apr 20, 2006Jun 7, 2011Boston Scientific Scimed, Inc.Imaging assembly with transparent distal capUS7967759Jan 19, 2006Jun 28, 2011Boston Scientific Scimed, Inc.Endoscopic system with integrated patient respiratory status indicatorUS8052597Aug 30, 2005Nov 8, 2011Boston Scientific Scimed, Inc.Method for forming an endoscope articulation jointUS8083671Sep 29, 2005Dec 27, 2011Boston Scientific Scimed, Inc.Fluid delivery system for use with an endoscopeUS8097003May 13, 2005Jan 17, 2012Boston Scientific Scimed, Inc.Endoscopic apparatus with integrated variceal ligation deviceUS8118732Sep 30, 2004Feb 21, 2012Boston Scientific Scimed, Inc.Force feedback control system for video endoscopeUS8197400Sep 28, 2005Jun 12, 2012Boston Scientific Scimed, Inc.Selectively rotatable shaft couplerUS8199187Sep 30, 2005Jun 12, 2012Boston Scientific Scimed, Inc.Adapter for use with digital imaging medical deviceUS8202265Apr 20, 2006Jun 19, 2012Boston Scientific Scimed, Inc.Multiple lumen assembly for use in endoscopes or other medical devicesUS8332079 *Aug 24, 2010Dec 11, 2012Class 1, Inc.Apparatus and method for remotely controlling vehicle engine speedUS8353860Sep 30, 2005Jan 15, 2013Boston Scientific Scimed, Inc.Device for obstruction removal with specific tip structureUS8357148Sep 29, 2005Jan 22, 2013Boston Scientific Scimed, Inc.Multi-functional endoscopic system for use in electrosurgical applicationsUS8425408Sep 17, 2009Apr 23, 2013Boston Scientific Scimed, Inc.Articulation joint for video endoscopeUS8435172Dec 8, 2008May 7, 2013Boston Scientific Scimed, Inc.Automated control of irrigation and aspiration in a single-use endoscopeUS8475366Aug 24, 2009Jul 2, 2013Boston Scientific Scimed, Inc.Articulation joint for a medical deviceUS8535219Mar 31, 2010Sep 17, 2013Boston Scientific Scimed, Inc.Fluid manifold for endoscope systemUS8585715Dec 14, 2011Nov 19, 2013Boston Scientific Scimed, Inc.Endoscopic apparatus with integrated variceal ligation deviceUS8608648Nov 22, 2011Dec 17, 2013Boston Scientific Scimed, Inc.Articulation jointUS8622894Dec 30, 2011Jan 7, 2014Boston Scientific Scimed, Inc.Articulation jointUS20110046815 *Aug 24, 2010Feb 24, 2011Class 1, Inc.Apparatus and method for remotely controlling vehicle engine speedUS20110288736 *Aug 1, 2011Nov 24, 2011Bayerische Motoren Werke AktiengesellschaftEnergy-Optimized Acceleration Control for Motor VehiclesEP1481836A1May 28, 2004Dec 1, 2004Renault s.a.s.Return force generation system and method for vehicle pedalEP2362291A1 *Feb 25, 2011Aug 31, 2011Guillemot CorporationJoystick with at least one intermediate blocking positionWO2003072385A1 *Feb 13, 2003Sep 4, 2003Christian ReimannAccelerator pedal unit* Cited by examinerClassifications U.S. Classification318/685, 318/628, 123/480, 701/104, 244/223International ClassificationG05B19/10, B60K26/02, G05D3/00, G05G5/03, G05D1/00, B64C13/46, G05G9/047, B64D31/02, B64D31/04Cooperative ClassificationG05G2009/04766, G05D1/00, B64C13/46, B64D31/02, B64D31/04, G05B19/106, G05G5/03, B60K26/021European ClassificationG05D1/00, B64D31/04, G05G5/03, G05B19/10S, B64D31/02, B64C13/46, B60K26/02BLegal EventsDateCodeEventDescriptionJul 27, 1993FPExpired due to failure to pay maintenance feeEffective date: 19930509May 9, 1993LAPSLapse for failure to pay maintenance feesOct 28, 1988FPAYFee paymentYear of fee payment: 4Nov 5, 1984ASAssignmentOwner name: BRITISH AEROSPACE PUBLIC LIMITED COMPANY, 100 PALLFree format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNORS:KAYE, ARTHUR;CARR, BRIAN;LATHAM, PHILIP A.;REEL/FRAME:004324/0063Effective date: 19830621RotateOriginal ImageGoogle Home - Sitemap - USPTO Bulk Downloads - Privacy Policy - Terms of Service - About Google Patents - Send FeedbackData provided by IFI CLAIMS Patent Services©2012 Google