EP0223631A1 - Electric motorized control device - Google Patents

Electric motorized control device Download PDF

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Publication number
EP0223631A1
EP0223631A1 EP86402070A EP86402070A EP0223631A1 EP 0223631 A1 EP0223631 A1 EP 0223631A1 EP 86402070 A EP86402070 A EP 86402070A EP 86402070 A EP86402070 A EP 86402070A EP 0223631 A1 EP0223631 A1 EP 0223631A1
Authority
EP
European Patent Office
Prior art keywords
control device
handle
control
torque motors
torque
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP86402070A
Other languages
German (de)
French (fr)
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EP0223631B1 (en
Inventor
Gérard Godon
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Societe dApplications des Machines Motrices SAMM SA
Original Assignee
Societe dApplications des Machines Motrices SAMM SA
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Publication date
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Publication of EP0223631A1 publication Critical patent/EP0223631A1/en
Application granted granted Critical
Publication of EP0223631B1 publication Critical patent/EP0223631B1/en
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/06—Elevating or traversing control systems for guns using electric means for remote control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04707—Mounting of controlling member with ball joint
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04748—Position sensor for rotary movement, e.g. potentiometer

Definitions

  • the present invention relates to a motorized electric control device and to a control system comprising at least two control devices, one of which is actuated manually and the other control device (s) are slaved to the actuation of the first.
  • a first operator subsequently called chief
  • the second operator called thereafter pointer
  • the chief to follow the target in his sight, communicates to the weapons a speed proportional to the angle of inclination of the handle of his control device. It is important that the chef is aware of the displacement of his handle (site and deposit) relative to the normal reference position (vertical handle) and that there are means of recalling this handle in this position.
  • the pointer engages the firing phase, if the handle of his device is tilted at the same angle as the handle of the chief's device, the disruptions in the control of weapons, when changing operators, minimized and firing is faster.
  • the invention proposes to provide a control device and a controlled control system for solving the problems of the prior art.
  • a motorized electric control device comprising a control handle, characterized in that it comprises two electric torque motors mounted in a frame and whose axes of rotation are perpendicular, two forks coupled at one end respectively on the shafts of the torque motors and offset with respect to these shafts, and through which the handle passes, the handle being mounted so as to pivot relative to the point of intersection of the axes of rotation of the torque motors, elastic means for returning the handle in a vertical position and an electrical circuit connected to the potentiometer outputs and to the electrical inputs of the torque motors to generate a resistive torque of the torque motors, proportional to their angular displacement relative to a determined position corresponding to the vertical position of the handle.
  • the invention also relates to a control system characterized in that it comprises at least two motorized electrical control devices, a first control device being intended to be actuated manually, and in that the external control inputs of the or other control devices are connected to the outputs of the rotary potentiometers of the first control device.
  • the control device 1 shown in FIGS. 1 and 2 comprises a lower cover 2a, an upper cover 2k fixed on either side of a plate 3 defining a housing intended to receive all of the control means fixed to this plate.
  • Two electric torque motors 4 and 5 are fixed to the support plate 3 so that their shafts 6 are located perpendicularly in the horizontal plane (see Fig. 2).
  • Each shaft 6 is mounted at each end in two ball bearings 7 fixed to the support plate by fixing rings 7a and screws 7h and is provided at the end directed towards the point of intersection of the axes of the two shafts, of a conical hoop coupling 8.
  • This coupling is intended to allow a backlash-free connection of each shaft end with a res fork pective 9, 10.
  • the forks 9 and 10 respectively consist of a cylindrical part 11 intended to come into engagement with the conical hoop coupling and of a curvilinear part 12, in the shape of an arc, offset with respect to the 'associated motor shaft, the amplitude of the offset being different for each fork which is provided with a central slot 13 (Fig.1) adapted to allow the passage of an operating handle 14.
  • the offset arrangement and the curvature ( radii of curvature starting from the same center) of the parts 12 are such that they can each describe a rotational movement on each side of the vertical position in which the handle 14 is represented.
  • the handle 14 is provided at its lower end with a ball joint 15 pivotally mounted in a housing 16 formed in the support plate 3 so that the center of the ball joint is located at the point of intersection of the axes of the two torque motors.
  • the support plate 3 has, in the upper part of the housing, a flared shape at 16a intended to limit the angular movement of the handle.
  • the central part of the handle 14 consists of a flare 14A on which a bellows 18 is pinched by a washer 19a and a flange 19b screwed onto the handle. The lower part of the bellows 18 is fixed to the upper cover 2Q.
  • the ends of the curved portions 12 are each connected by a connecting device 20 to the shaft 21 of a rotary potentiometer 22.
  • the housing of the potentiometer 22 is fixed to the support plate 2 by means of a fixing ring 23 fixed to its lower part by a screw 23a passing through the support plate 3.
  • the connecting device 20 is shown in detail in Fig.3.
  • This device includes a clamp 24 in which is housed the shaft 21 of the corresponding potentiometer 22, this shaft being tightened therein by means of a screw 25.
  • a pin 26 is housed between a projecting part 27 of the clamp and an elastic plate 28 making facing the projecting part 27 and fixed on one side of the clamp by the screw 25. This pin 26 is at its other end fitted into a hole in the end of the corresponding fork 9 or 10.
  • each potentiometer 22 is offset upwards relative to the axis of the shaft 6 carrying the fork 9 or 10 so that a rotation of 20 ° of the shaft on one side or the other of the point of rest causes a rotation of the potentiometer axis of approximately 30 * in the same direction of rotation and allows a sufficiently precise measurement of the rotation of the fork by variation of tension.
  • the handle 14 is provided at its upper end with a push button 14b which finds its application in a control system and whose function will be described with reference to Figure 4.
  • a spring 29 fork return in the absence of current in the device to a position corresponding to a vertical position of the handle 14 is fixed by one of its ends to a first sleeve 11A secured to the cylindrical part 11 of the fork 9 or 10 and by its other end to a second sleeve 11b surrounding a section of the cylindrical part 11 and secured by means of an annular spacer 7c to the fixing ring 7a of the ball bearing 7 located on the side of the fork 9 or 10
  • the potentiometers and the inputs of the torque motors are electrically connected to an electrical circuit 30 whose configuration and functions will also be described in detail with reference to Figure 4.
  • the forks 9 and 10 rotate simultaneously or separately around the axes of the torque motors, which causes both the shaft of the torque motor and the potentiometer to rotate associated.
  • Each motor is connected to the midpoint of the corresponding potentiometer, the end terminals of which are connected to a voltage source, not shown, by means of an electrical circuit, not shown, so that these paired motors receive a current which creates a resisting torque opposite and directly proportional to their angular displacement relative to a determined position corresponding to the vertical position of the handle.
  • This relationship of proportionality allows the operator to realize the importance of the pivoting movement of the handle relative to its vertical reference position.
  • the resisting torque also allows the handle to be returned to a vertical position, the torsion springs 29 cause the handle to return automatically to its vertical position in the absence of current in the device.
  • Such a control device can also be slaved to an electric remote control device by applying to the torque motors of this control device, via the electrical circuit 30, an electric current signal corresponding to a desired movement of the handle.
  • an electric current signal corresponding to a desired movement of the handle.
  • FIG 4 is a block diagram of a control system comprising two control devices 1 and 1 'as described above and a first 1 of which is intended to be actuated manually by an operator, the second 1' being electrically connected to the first device so as to be subject to actuation performed on this first.
  • first and second control devices will be called hereinafter respectively chief or master control devices and pointer or slave control device.
  • master control devices For the purpose of simplification of manufacture, reduction of the cost and possibility of versatility, these control devices are identical, so that only the structure of the control device 1 will be described below, the components of the control device 1 ' corresponding to those of device 1 having the same references distinguished by the sign "'".
  • the control device 1 comprises a relay 31 connected to earth on the one hand, and to one of the terminals of the push button 14h on the other hand.
  • the other terminal of the push button 14b is connected to a first output terminal A of the control device, intended to be connected to a 27 volt voltage supply source, not shown.
  • a diode 32 is connected by its cathode to terminal A and by its anode to an output terminal 8.
  • a first closed contact 33 is connected between terminals A and B.
  • Each of the motors 34 and 35 is connected respectively to a potentiometer 36 and 37 by the mechanical connection described with reference to FIGS. 1 to 3 and shown diagrammatically in FIG. 4.
  • the outputs of potentiometers 36 and 37 are respectively connected to terminals of two switches 38 and 39, the middle terminals of which are respectively connected to device outputs C and D control, the third terminal being connected to ground.
  • the outputs of potentiometers 36 and 37 are also connected to output terminals E and F of the control device on the one hand, and to the negative inputs of two subtractor circuits 40 and 41 on the other hand.
  • the positive inputs of circuits 40 and 41 are respectively connected to the middle terminals of two switches 42 and 43, the other terminals of which are respectively connected to an input terminal G of the device and to ground, and to an input terminal H of the device and ground.
  • Terminals C and 0 constitute the servo output terminals
  • terminals E and F constitute the control output terminals
  • terminals G and H constitute the servo input terminals of the control device.
  • the outputs of the two subtractors 40 and 41 are respectively connected to filtering and amplification circuits 44 and 45 on which two open contacts 46 and 47 are respectively connected in parallel.
  • the outputs of the filtering circuits 44 and 45 are respectively connected to inputs of two amplifier circuits 48 and 49, the outputs of which are connected respectively to the input terminals of the torque motors 34 and 35.
  • Contacts 33, 46 and 47 and switches 38, 39, 42 and 43 are all controlled by the relay 31 and are, when the relay is not energized in the positions shown in Figure 4.
  • the two control devices 1 and 1 ' are interconnected by the following connections B-B', C-G ', D -H ', C'-G and D'-H.
  • the input terminal A is supplied with direct voltage of 27 volts unlike the terminal A 'due to the fact that in the example shown the control device 1 is the master device, while the control device 1 'is the pointer device.
  • the O'-H and C'-G connections only exist for the event that the control device 1 'becomes the main device by connecting the + 27 volt voltage source being connected to the input terminal A' or during the transition to the firing phase as will be explained in relation to the operation of the system.
  • the control output terminals EF and E '. F ' are intended respectively to be connected to the members (not shown) to be controlled by the control devices 1 and 1'.
  • the electrical circuit 30 mentioned with reference to FIG. 1 comprises the components 31 to 33 and 38 to 49.
  • the chief or pilot activates the button 14b in order to control the direction organs (for an airplane the site and the deposit) via the handle 14 and the control device 1.
  • the relay 31 is energized by the supply voltage of 27 volts and the contacts 33, 46, 47 and the switches 38, 39, 42 and 43 switch.
  • the positive inputs of the subtractor circuits 40 and 41 are grounded by switches 42 and 43 and the filters 44 and 45 are short-circuited by the contacts 46 and 47.
  • switches 38 and 39 allow sending to the control device 1 ' of the pointer or shooter, via the servo output terminals G 'and H' and the servo input terminals H 'and G', of the site and field servo signals from the outputs of potentiometers 36 and 37.
  • the contacts and switches of the control device of the shooter 1' thus remain in the position shown in Figure 4.
  • the maneuver. of the handle 14 along the axes of the motors separately or simultaneously, causes the rotation of the torque motors 34 and 35 and, by means of the forks 9 and 10 and of the connection device 20. the rotation of the rotary potentiometers of site 36 and of deposit 37. Since the positive inputs of the subtractor circuits 40 and 41 are grounded and the filters 44 and 45 are short-circuited, a negative signal is obtained at their output, the amplitude of which is that of the output control signal from the potentiometers 36 and 37 respectively. . Thus, the motors 34 and 35 respectively receive, through the intermediaries of the amplifiers 45 and 46, a current creating an opposing resistive torque and directly proportional to the inclinations of the handle along the respective axes 6.
  • the control signals applied to the inputs G 'and H' of the control device 1 ' are transmitted, via switches 42' and 43 'to the positive inputs of the subtractor circuits 40' and 41 '.
  • the circuits 40 ′ and 41 ′ respectively perform the subtraction of these servo signals and of the output signals from the site potentiometers 37 ′ and of the field 36 ′ respectively.
  • the output signals from these subtractor circuits 40 'and 41' are respectively applied to the torque motors 34 'and 35' via circuits 44 'and 45' and amplifiers 48 'and 49' respectively.
  • the application of this signal causes the rotation of the motors, forks, potentiometers and the pivoting of the handle according to the rotation of the forks.
  • the chef can therefore maneuver his control device by pushing the 14h pick-up button and send control signals to the steering members and servo signals to the control device 1 ' of the shooter via his control stick.
  • the chef feels on his own sleeve a force proportional to the angle of pivoting of the handle along the axes of the motors and he causes a displacement of the handle 14 ′ of the pointer control device identical to that of his own handle 14.
  • the push button 14'R for taking over the pointer control device has no effect on the control device of the chief.
  • the pointer feels, as soon as it makes a small movement of its stick relative to the position imposed by the device. command 1, the full resistant resistance of the torque motors indicating that it is guided by the chef. If the chef releases the push button 14k, the control input signals H 'and G' become zero and the handle 14 'of the control device 1' returns to its vertical position thanks to the return springs 29 '(not shown) .
  • the shooter control device 1 ′ is always in the optimal firing position when the leader engages in combat or pursuit by acting on his control stick 14 and by actuating the push button 14b.
  • the site and deposit control channels are reversed in the control devices 1 and 1 ′ in order to simplify the representation of the connections between these two devices. but it goes without saying that these devices can be manufactured identically.
  • each of the devices indifferently as master or shooter control devices by connecting the 27-volt voltage source to the input terminal A or A ', the other connections remaining unchanged.
  • the control outputs E and F of the leader's device and the control output terminals E 'and F' of the shooter's control device are connected to the orientation means of the control system.
  • the chef then releases the push button 14b. allowing the pointer thanks to the circuit 33 and the diode 32 ', to take charge of the system by actuation of its push button 14h.
  • the "slave" control device 1 'then becomes “master” and controls the control device 1 which nevertheless retains the priority of taking over the system from actuating the push button 14b. So when the firing phase is over, the chef can take over the system with his control stick 14 in the right position, which accelerates and secures the transfer of care.
  • the assembly constituted by the forks 9, 10 and the couplings with a conical hoop has been given only by way of nonlimiting example.
  • the forks 9, 10 constitute means for transforming the rotational movement of the shafts 6 of the torque motors 4, 5 into a pivoting movement of the control stick 14 and vice versa, and can be replaced by any equivalent suitable means.

Abstract

La présente invention concerne un dispositif de commande électrique motorisé comportant un manche de commande (14), caractérisé en ce qu'il comporte deux moteurs couples électriques (4, 5) dont les axes de rotation sont perpendiculaires, deux fourches (9, 10) accouplées à une de leurs extrémités, respectivement sur les arbres des moteurs couples et décalées par rapport à ces arbres, le manche étant monté de manière à pivoter par rapport au point d'intersection des axes de rotation des moteurs couples, des moyens élastiques de rappel du manche dans une position verticale, des potentiomètres rotatifs (22) dont l'axe de rotation est fixé aux autres extrémités des fourches (9, 10) et dont les sorties électriques constituent les sorties de commande du dispositif et un circuit électrique (30) relié aux sorties des potentiomètres et aux entrées électriques des moteurs couples pour engendrer un couple résistant opposé et proportionnel à l'inclinaison du manche (14) à la position verticale.The present invention relates to a motorized electric control device comprising a control handle (14), characterized in that it comprises two electric torque motors (4, 5) whose axes of rotation are perpendicular, two forks (9, 10) coupled to one of their ends, respectively on the shafts of the torque motors and offset with respect to these shafts, the handle being mounted so as to pivot relative to the point of intersection of the axes of rotation of the torque motors, elastic return means of the handle in a vertical position, rotary potentiometers (22) whose axis of rotation is fixed to the other ends of the forks (9, 10) and whose electrical outputs constitute the control outputs of the device and an electrical circuit (30) connected to the potentiometer outputs and to the electrical inputs of the torque motors to generate an opposing resistive torque proportional to the inclination of the handle (14) in the vertical position.

Description

La présente invention est relative à un dispositif de commande électrique motorisé et à un système de commande comportant au moins deux dispositifs de commande dont l'un est actionné manuellement et le ou les autres dispositifs de commande sont asservis à l'actionnement du premier.The present invention relates to a motorized electric control device and to a control system comprising at least two control devices, one of which is actuated manually and the other control device (s) are slaved to the actuation of the first.

Dans les tourelles de chars, on utilise actuellement une liaison mécanique par bielle pour actionner le dispositif de commande du pointeur à partir d'un dispositif de commande chef. Le système ainsi réalisé est lourd et encombrant, et n'est pas approprié à son utilisation dans un habitacle réduit d'une tourelle.In tank turrets, a mechanical connection by connecting rod is currently used to actuate the pointer control device from a chief control device. The system thus produced is heavy and bulky, and is not suitable for its use in a reduced cabin of a turret.

Par ailleurs dans les systèmes d'armes utilisés dans les combats entre avions ou entre chars, deux opérateurs étant souvent nécessaires, un premier opérateur, appelé par la suite chef, a pour rôle de repérer et de suivre la cible (face d'acquisition) au moyen d'un viseur à grand champ et le deuxième opérateur, appelé par la suite pointeur, a pour fonction d'affiner la poursuite de la cible au moyen d'un viseur à fort grossissement et de déclencher le tir (phase de tir). Le chef, pour suivre la cible dans son viseur, communique aux armes une vitesse proportionnelle à l'angle d'inclinaison de la poignée de son dispositif de commande. Il est important que le chef soit conscient du déplacement de son manche (site et gisement) par rapport à la position normale de référence (manche vertical) et qu'il existe des moyens de rappel de ce manche dans cette position. Enfin, quand le pointeur engage la phase de tir, si le manche de son dispositif est incliné du même angle que le manche du dispositif du chef, les perturbations de commande des armes, lors du changement d'opérateur, sont minimisées et le déclenchement du tir est plus rapide.In addition, in the weapons systems used in combat between airplanes or between tanks, two operators being often necessary, a first operator, subsequently called chief, has the role of locating and following the target (acquisition side) by means of a large field sight and the second operator, called thereafter pointer, has the function of refining the pursuit of the target by means of a high magnification sight and of launching the shooting (shooting phase) . The chief, to follow the target in his sight, communicates to the weapons a speed proportional to the angle of inclination of the handle of his control device. It is important that the chef is aware of the displacement of his handle (site and deposit) relative to the normal reference position (vertical handle) and that there are means of recalling this handle in this position. Finally, when the pointer engages the firing phase, if the handle of his device is tilted at the same angle as the handle of the chief's device, the disruptions in the control of weapons, when changing operators, minimized and firing is faster.

Pour que ces systèmes de commande soient efficaces, légers et peu encombrants, il est nécessaire de disposer d'un ensemble compact entraînant un jeu minimum.For these control systems to be effective, light and space-saving, it is necessary to have a compact assembly resulting in minimum play.

L'invention se propose de réaliser un dispositif de commande et un système de commande asservis permettant de résoudre les problèmes de la technique antérieure.The invention proposes to provide a control device and a controlled control system for solving the problems of the prior art.

Elle a donc pour objet un dispositif de commande électrique motorisé comportant un manche de commande, caractérisé en ce qu'il comporte deux moteurs couples électriques montés dans un bâti et dont les axes de rotation sont perpendiculaires, deux fourches accouplées à une extrémité respectivement sur les arbres des moteurs couples et décalées par rapport à ces arbres, et à travers lesquelles passe le manche, le manche étant monté de manière à pivoter par rapport au point d'intersection des axes de rotation des moteurs couples, des moyens élastiques de rappel du manche dans une position verticale et un circuit électrique relié aux sorties de potentiomètres et aux entrées électriques des moteurs couples pour engendrer un couple résistant des moteurs couples, proportionnel à leur déplacement angulaire par rapport à une position déterminée correspondant à la position verticale du manche.It therefore relates to a motorized electric control device comprising a control handle, characterized in that it comprises two electric torque motors mounted in a frame and whose axes of rotation are perpendicular, two forks coupled at one end respectively on the shafts of the torque motors and offset with respect to these shafts, and through which the handle passes, the handle being mounted so as to pivot relative to the point of intersection of the axes of rotation of the torque motors, elastic means for returning the handle in a vertical position and an electrical circuit connected to the potentiometer outputs and to the electrical inputs of the torque motors to generate a resistive torque of the torque motors, proportional to their angular displacement relative to a determined position corresponding to the vertical position of the handle.

L'invention a également pour objet un système de commande caractérisé en ce qu'il comporte au moins deux dispositifs de commande électrique motorisé, un premier dispositif de commande étant destiné à être actionné manuellement, et en ce que les entrées de commande extérieures du ou des autres dispositifs de commande sont reliées aux sorties des potentiomètres rotatifs du premier dispositif de commande.The invention also relates to a control system characterized in that it comprises at least two motorized electrical control devices, a first control device being intended to be actuated manually, and in that the external control inputs of the or other control devices are connected to the outputs of the rotary potentiometers of the first control device.

L'invention sera mieux comprise à l'aide de la description qui va suivre, donnée à titre d'exemple et faite en se référant aux dessins annexés sur lesquels :

  • - la Fig.1 est une vue de dessus, capot supérieur enlevé, d'un dispositif de commande selon l'invention;
  • - la Fig.2 est une vue en coupe selon la ligne II-II de la Fig.1 ;
  • - la Fig.3 est une vue détaillée du dispositif d'accouplement entre un potentiomètre et une fourche, utilisé dans le dispositif de commande de la Fig.1 ; et
  • - la Fig.4 est un schéma synoptique d'un système de commande comportant deux dispositifs de commande selon l'invention.
The invention will be better understood with the aid of the description which follows, given by way of example and made with reference to the appended drawings in which:
  • - Fig.1 is a top view, upper cover removed, of a control device according to the invention;
  • - Fig.2 is a sectional view along line II-II of Fig.1;
  • - Fig.3 is a detailed view of the coupling device between a potentiometer and a fork, used in the control device of Fig.1; and
  • - Fig.4 is a block diagram of a control system comprising two control devices according to the invention.

Le dispositif de commande 1 représenté sur les Fig.1 et 2 comprend un capot inférieur 2a, un capot supérieur 2k fixés de part et d'autre d'une plaque 3 définissant un logement destiné à recevoir l'ensemble des moyens de commande fixé à cette plaque.The control device 1 shown in FIGS. 1 and 2 comprises a lower cover 2a, an upper cover 2k fixed on either side of a plate 3 defining a housing intended to receive all of the control means fixed to this plate.

Deux moteurs couples électriques 4 et 5 sont fixés sur la plaque de support 3 de manière que leurs arbres 6 soient situés perpendiculairement dans le plan horizontal (voir Fig.2). Chaque arbre 6 est monté à chaque extrémité dans deux roulements à bille 7 fixés à la plaque de support par des bagues de fixation 7a et des vis 7h et est muni à l'extrémité dirigée vers le point d'intersection des axes des deux arbres, d'un accouplement à frette conique 8. Cet accouplement est destiné à permettre une liaison sans jeu de chaque extrémité d'arbre avec une fourche respective 9, 10. Les fourches 9 et 10 sont respectivement constituées d'une partie cylindrique 11 destinée à venir en prise avec l'accouplement à frette conique et d'une partie curviligne 12, en forme d'arc, décalée par rapport à l'arbre du moteur associé, l'amplitude du décalage étant différente pour chaque fourche qui est munie d'une fente centrale 13 (Fig.1) adaptée pour permettre le passage d'un manche de manoeuvre 14. La disposition décalée et la courbure (rayons de courbure partant du même centre) des parties 12 sont telles qu'elles puissent chacune décrire un mouvement de rotation de chaque côté de la position verticale dans laquelle est représenté le manche 14. Le manche 14 est muni à son extrémité inférieure d'une rotule 15 montée à pivotement dans un logement 16 ménagé dans la plaque de support 3 de telle manière que le centre de la rotule soit situé au point d'intersection des axes des deux moteurs couples. La plaque de support 3 a, dans la partie supérieure du logement, une forme évasée en 16a destinée à limiter le débattement angulaire du manche. La partie centrale du manche 14 est constituée d'un évasement 14A sur lequel est pincé un soufflet 18 par une rondelle 19a et une collerette 19b vissée sur le manche. La partie inférieure du soufflet 18 est fixée sur le capot supérieur 2Q.Two electric torque motors 4 and 5 are fixed to the support plate 3 so that their shafts 6 are located perpendicularly in the horizontal plane (see Fig. 2). Each shaft 6 is mounted at each end in two ball bearings 7 fixed to the support plate by fixing rings 7a and screws 7h and is provided at the end directed towards the point of intersection of the axes of the two shafts, of a conical hoop coupling 8. This coupling is intended to allow a backlash-free connection of each shaft end with a res fork pective 9, 10. The forks 9 and 10 respectively consist of a cylindrical part 11 intended to come into engagement with the conical hoop coupling and of a curvilinear part 12, in the shape of an arc, offset with respect to the 'associated motor shaft, the amplitude of the offset being different for each fork which is provided with a central slot 13 (Fig.1) adapted to allow the passage of an operating handle 14. The offset arrangement and the curvature ( radii of curvature starting from the same center) of the parts 12 are such that they can each describe a rotational movement on each side of the vertical position in which the handle 14 is represented. The handle 14 is provided at its lower end with a ball joint 15 pivotally mounted in a housing 16 formed in the support plate 3 so that the center of the ball joint is located at the point of intersection of the axes of the two torque motors. The support plate 3 has, in the upper part of the housing, a flared shape at 16a intended to limit the angular movement of the handle. The central part of the handle 14 consists of a flare 14A on which a bellows 18 is pinched by a washer 19a and a flange 19b screwed onto the handle. The lower part of the bellows 18 is fixed to the upper cover 2Q.

Les extrémités des parties curvilignes 12 sont chacune reliées par un dispositif de liaison 20 à l'arbre 21 d'un potentiomètre rotatif 22. Le boîtier du potentiomètre 22 est fixé à la plaque de support 2 par l'intermédiaire d'un anneau de fixation 23 fixé à sa partie inférieure par une vis 23a passant à travers la plaque de support 3.The ends of the curved portions 12 are each connected by a connecting device 20 to the shaft 21 of a rotary potentiometer 22. The housing of the potentiometer 22 is fixed to the support plate 2 by means of a fixing ring 23 fixed to its lower part by a screw 23a passing through the support plate 3.

Le dispositif de liaison 20 est représenté en détail à la Fig.3. Ce dispositif comprend une pince 24 dans laquelle vient se loger l'arbre 21 du potentiomètre 22 correspondant, cet arbre étant serré dedans par l'intermédiaire d'une vis 25. Un pion 26 est logé entre une partie en saillie 27 de la pince et une plaque élastique 28 faisant face à la partie en saillie 27 et fixée sur un des côtés de la pince par la vis 25. Ce pion 26 est à son autre extrémité emmanché dans un trou ménagé dans l'extrémité de la fourche correspondante 9 ou 10. L'axe de chaque potentiomètre 22 est décalé vers le haut par rapport à l'axe de l'arbre 6 portant la fourche 9 ou 10 de sorte qu'une rotation de 20° de l'arbre d'un côté ou de l'autre du point de repos entraine une rotation de l'axe de potentiomètre d'environ 30* dans le même sens de rotation et permet une mesure suffisamment précise de la rotation de la fourche par variation de tension.The connecting device 20 is shown in detail in Fig.3. This device includes a clamp 24 in which is housed the shaft 21 of the corresponding potentiometer 22, this shaft being tightened therein by means of a screw 25. A pin 26 is housed between a projecting part 27 of the clamp and an elastic plate 28 making facing the projecting part 27 and fixed on one side of the clamp by the screw 25. This pin 26 is at its other end fitted into a hole in the end of the corresponding fork 9 or 10. The axis of each potentiometer 22 is offset upwards relative to the axis of the shaft 6 carrying the fork 9 or 10 so that a rotation of 20 ° of the shaft on one side or the other of the point of rest causes a rotation of the potentiometer axis of approximately 30 * in the same direction of rotation and allows a sufficiently precise measurement of the rotation of the fork by variation of tension.

Comme on peut le voir sur la Figure 2. le manche 14 est muni à son extrémité supérieure d'un bouton-poussoir 14b trouvant son application dans un système de commande et dont la fonction sera décrite en référence à la Figure 4. Un ressort 29 de rappel de fourche en l'absence de courant dans le dispositif jusqu'à une position correspondant à une position verticale du manche 14 est fixé par une de ses extrémités sur un premier manchon 11A solidaire de la partie cylindrique 11 de la fourche 9 ou 10 et par son autre extrémité à un deuxième manchon 11b entourant une section de la partie cylindrique 11 et solidaire par l'intermédiaire d'une entretoise annulaire 7c à la bague de fixation 7a du roulement à billes 7 situé du côté de la fourche 9 ou 10. Les potentiomètres et les entrées des moteurs couples sont connectés électriquement à un circuit électrique 30 dont la configuration et les fonctions seront également décrites en détail en référence à la Figure 4.As can be seen in Figure 2. the handle 14 is provided at its upper end with a push button 14b which finds its application in a control system and whose function will be described with reference to Figure 4. A spring 29 fork return in the absence of current in the device to a position corresponding to a vertical position of the handle 14 is fixed by one of its ends to a first sleeve 11A secured to the cylindrical part 11 of the fork 9 or 10 and by its other end to a second sleeve 11b surrounding a section of the cylindrical part 11 and secured by means of an annular spacer 7c to the fixing ring 7a of the ball bearing 7 located on the side of the fork 9 or 10 The potentiometers and the inputs of the torque motors are electrically connected to an electrical circuit 30 whose configuration and functions will also be described in detail with reference to Figure 4.

Avec un tel dispositif de commande lorsque le manche pivote autour de sa rotule 15, les fourches 9 et 10 tournent simultanément ou séparément autour des axes des moteurs couples, ce qui provoque la rotation à la fois de l'arbre du moteur couple et du potentiomètre associés. Chaque moteur est relié au point milieu du potentiomètre correspondant dont les bornes d'extrémité sont reliées à une source de tension non représentée, par l'intermédiaire d'un circuit électrique non représenté, de telle manière que ces moteurs couples reçoivent un courant qui crée un couple résistant opposé et directement proportionnel à leur déplacement angulaire par rapport à une position déterminée correspondant à la position verticale du manche. Cette relation de proportionalité permet à l'opérateur de se rendre compte de l'importance du mouvement de pivotement du manche par rapport à sa position verticale de référence. Le couple résistant permet également le rappel du manche vers une position verticale, les ressorts de torsion 29 entrainent un retour automatique du manche dans sa position verticale en l'absence de courant dans le dispositif.With such a control device when the handle pivots around its ball joint 15, the forks 9 and 10 rotate simultaneously or separately around the axes of the torque motors, which causes both the shaft of the torque motor and the potentiometer to rotate associated. Each motor is connected to the midpoint of the corresponding potentiometer, the end terminals of which are connected to a voltage source, not shown, by means of an electrical circuit, not shown, so that these paired motors receive a current which creates a resisting torque opposite and directly proportional to their angular displacement relative to a determined position corresponding to the vertical position of the handle. This relationship of proportionality allows the operator to realize the importance of the pivoting movement of the handle relative to its vertical reference position. The resisting torque also allows the handle to be returned to a vertical position, the torsion springs 29 cause the handle to return automatically to its vertical position in the absence of current in the device.

Un tel dispositif de commande peut également être asservi à un dispositif de télécommande électrique en appliquant aux moteurs couples de ce dispositif de commande, par l'intermédiaire du circuit électrique 30, un signal de courant électrique correspondant à un déplacement désiré du manche. Un tel système est applicable dans un but didactique pour permettre la simulation d'une phase d'acquisition et/ou d'une phase de tir dans des écoles de formation de pilotes et de tireurs.Such a control device can also be slaved to an electric remote control device by applying to the torque motors of this control device, via the electrical circuit 30, an electric current signal corresponding to a desired movement of the handle. Such a system is applicable for educational purposes to allow the simulation of an acquisition phase and / or a shooting phase in training schools for pilots and shooters.

La Figure 4 est un schéma synoptique d'un système de commande comportant deux dispositifs de commande 1 et 1' tels que décrits précédemment et dont un premier 1 est destiné à être actionné manuellement par un opérateur, le deuxième 1' étant connecté électriquement au premier dispositif de manière à être asservi à l'actionnement effectué sur ce premier. Ces premier et deuxième dispositifs de commande seront appelés ci-après respectivement dispositifs de commande chef ou maitre et dispositif de commande pointeur ou esclave. Dans un but de simplification de fabrication, de diminution du coût et de possibilité de polyvalence, ces dispositifs de commande sont identiques, de sorte que seule la structure du dispositif de commande 1 sera décrit par la suite, les composants du dispositif de commande 1' correspondant à ceux du dispositif 1 ayant les mêmes références distinguées par le signe "'".Figure 4 is a block diagram of a control system comprising two control devices 1 and 1 'as described above and a first 1 of which is intended to be actuated manually by an operator, the second 1' being electrically connected to the first device so as to be subject to actuation performed on this first. These first and second control devices will be called hereinafter respectively chief or master control devices and pointer or slave control device. For the purpose of simplification of manufacture, reduction of the cost and possibility of versatility, these control devices are identical, so that only the structure of the control device 1 will be described below, the components of the control device 1 ' corresponding to those of device 1 having the same references distinguished by the sign "'".

Le dispositif de commande 1 comprend un relais 31 relié à la masse d'une part, et à une des bornes du bouton poussoir 14h d'autre part. L'autre borne du bouton poussoir 14b est reliée à une première borne de sortie A du dispositif de commande, destinée à être connectée une source d'alimentation en tension de 27 volts non représentée. Une diode 32 est connectée par sa cathode à la borne A et par son anode à une borne de sortie 8. Un premier contact fermé 33 est connecté entre les bornes A et B. Chacun des moteurs 34 et 35 est relié respectivement à un potentiomètre 36 et 37 par la liaison mécanique décrite en regard des Figures 1 à 3 et représentée schématiquement sur la Figure 4. Les sorties des potentiomètres 36 et 37 sont respectivement reliées à des bornes de deux commutateurs 38 et 39 dont les bornes milieu sont respectivement reliées à des sorties C et D du dispositif de commande, la troisième borne étant reliée à la masse. Les sorties des potentiomètres 36 et 37 sont également connectées à des bornes de sorties E et F du dispositif de commande d'une part, et aux entrées négatives de deux circuits soustracteurs 40 et 41 d'autre part. Les entrées positives des circuits 40 et 41 sont connectées respectivement aux bornes milieu de deux commutateurs 42 et 43 dont les autres bornes sont respectivement connectées à une borne d'entrée G du dispositif et à la masse, et à une borne d'entrée H du dispositif et à la masse. Les bornes C et 0 constituent les bornes de sortie d'asservissement, les bornes E et F constituent les bornes de sortie de commande et les bornes G et H constituent les bornes d'entrée d'asservissement du dispositif de commande. Les sorties des deux soustracteurs 40 et 41 sont connectées respectivement à des circuits de filtrage et d'amplification 44 et 45 sur lesquels sont respectivement connectés en parallèle deux contacts ouverts 46 et 47. Les sorties des circuits de filtrage 44 et 45 sont respectivement connectées à des entrées de deux circuits amplificateurs 48 et 49 dont les sorties sont connectées respectivement aux bornes d'entrée des moteurs couples 34 et 35. Les contacts 33, 46 et 47 et les commutateurs 38, 39, 42 et 43 sont tous commmandés par le relais 31 et se trouvent, lorsque le relais n'est pas excité dans les positions représentées sur la Figure 4. Les deux dispositifs de commande 1 et 1' sont reliés entre eux par les connections suivantes B-B',C-G', D-H', C'-G et D'-H. La borne d'entrée A est alimentée en tension continue de 27 volts contrairement à la borne A' en raison du fait que dans l'exemple représenté le dispositif de commande 1 est le dispositif chef, tandis que le dispositif de commande 1' est le dispositif pointeur. Les liaisons O'-H et C'-G n'existent que pour l'éventualité où le dispositif de commande 1' deviendrait le dispositif chef en reliant la source de tension + 27 volts étant reliée à la borne d'entrée A' ou lors du passage en phase de tir comme cela sera expliqué en relation avec le fonctionnement du système. Les bornes de sortie de commande E F et E'. F' sont destinées respectivement à être connectées aux organes (non représentés) devant être commandés par les dispositifs de commande 1 et 1'. Le circuit électrique 30 mentionné en référence à la Figure 1 comprend les composants 31 à 33 et 38 à 49.The control device 1 comprises a relay 31 connected to earth on the one hand, and to one of the terminals of the push button 14h on the other hand. The other terminal of the push button 14b is connected to a first output terminal A of the control device, intended to be connected to a 27 volt voltage supply source, not shown. A diode 32 is connected by its cathode to terminal A and by its anode to an output terminal 8. A first closed contact 33 is connected between terminals A and B. Each of the motors 34 and 35 is connected respectively to a potentiometer 36 and 37 by the mechanical connection described with reference to FIGS. 1 to 3 and shown diagrammatically in FIG. 4. The outputs of potentiometers 36 and 37 are respectively connected to terminals of two switches 38 and 39, the middle terminals of which are respectively connected to device outputs C and D control, the third terminal being connected to ground. The outputs of potentiometers 36 and 37 are also connected to output terminals E and F of the control device on the one hand, and to the negative inputs of two subtractor circuits 40 and 41 on the other hand. The positive inputs of circuits 40 and 41 are respectively connected to the middle terminals of two switches 42 and 43, the other terminals of which are respectively connected to an input terminal G of the device and to ground, and to an input terminal H of the device and ground. Terminals C and 0 constitute the servo output terminals, terminals E and F constitute the control output terminals and terminals G and H constitute the servo input terminals of the control device. The outputs of the two subtractors 40 and 41 are respectively connected to filtering and amplification circuits 44 and 45 on which two open contacts 46 and 47 are respectively connected in parallel. The outputs of the filtering circuits 44 and 45 are respectively connected to inputs of two amplifier circuits 48 and 49, the outputs of which are connected respectively to the input terminals of the torque motors 34 and 35. Contacts 33, 46 and 47 and switches 38, 39, 42 and 43 are all controlled by the relay 31 and are, when the relay is not energized in the positions shown in Figure 4. The two control devices 1 and 1 'are interconnected by the following connections B-B', C-G ', D -H ', C'-G and D'-H. The input terminal A is supplied with direct voltage of 27 volts unlike the terminal A 'due to the fact that in the example shown the control device 1 is the master device, while the control device 1 'is the pointer device. The O'-H and C'-G connections only exist for the event that the control device 1 'becomes the main device by connecting the + 27 volt voltage source being connected to the input terminal A' or during the transition to the firing phase as will be explained in relation to the operation of the system. The control output terminals EF and E '. F 'are intended respectively to be connected to the members (not shown) to be controlled by the control devices 1 and 1'. The electrical circuit 30 mentioned with reference to FIG. 1 comprises the components 31 to 33 and 38 to 49.

Au cours d'un combat entre avions ou entre chars, le chef ou pilote, actionne le bouton 14b afin de commander des organes de direction (pour un avion le site et le gisement) par l'intermédiaire du manche 14 et du dispositif de commande 1. Lorsque le bouton poussoir 14b est actionné, le relais 31 est excité par la tension d'alimentation de 27 volts et les contacts 33, 46, 47 et les commutateurs 38, 39, 42 et 43 basculent. Les entrées positives des circuits soustracteurs 40 et 41 sont mises a la masse par les commutateurs 42 et 43 et les filtres 44 et 45 sont cour- circuités par les contacts 46 et 47. Les potentiomètres 36. 37. 36', 37, les filtres 44. 45 et 44'. 45' et les amplificateurs 48, 49 et 48, 49' étant alimentés par des sources de tension de ± 15 volts et de + 27 volts (non représentées), les commutateurs 38 et 39 permettent d'envoyer vers le dispositif de commande 1' du pointeur ou tireur, par l'intermédiaire des bornes de sortie d'asservissement G' et H' et des bornes d'entrée d'asservissement H' et G', des signaux d'asservissement de site et de gisement à partir des sorties des potentiomètres 36 et 37. La sortie A' n'étant pas reliée à la source de tension de 27 volts et le contact 33 étant ouvert, le relais 31' ne peut pas être excité même par actionnement du bouton poussoir 14'b. de sorte qu'il est impossible d'envoyer à partir du dispositif de commande 1', des signaux d'asservissement vers le dispositif de commande du chef 1. Les contacts et commutateurs du dispositif de commande du tireur 1' restent ainsi dans la position représentée sur la Figure 4.During a fight between planes or between tanks, the chief or pilot, activates the button 14b in order to control the direction organs (for an airplane the site and the deposit) via the handle 14 and the control device 1. When the push button 14b is actuated, the relay 31 is energized by the supply voltage of 27 volts and the contacts 33, 46, 47 and the switches 38, 39, 42 and 43 switch. The positive inputs of the subtractor circuits 40 and 41 are grounded by switches 42 and 43 and the filters 44 and 45 are short-circuited by the contacts 46 and 47. The potentiometers 36. 37. 36 ', 37, the filters 44, 45 and 44 '. 45 'and amplifiers 48, 49 and 48, 49' being supplied by voltage sources of ± 15 volts and + 27 volts (not shown), switches 38 and 39 allow sending to the control device 1 ' of the pointer or shooter, via the servo output terminals G 'and H' and the servo input terminals H 'and G', of the site and field servo signals from the outputs of potentiometers 36 and 37. The output A 'not being connected to the voltage source of 27 volts and the contact 33 being open, the relay 31' cannot be energized even by actuation of the push button 14'b . so that it is impossible to send from the control device 1 ', control signals to the control device of the leader 1. The contacts and switches of the control device of the shooter 1' thus remain in the position shown in Figure 4.

Pendant l'actionnement du bouton 14b, la manoeuvre. du manche 14 selon les axes des moteurs séparément ou simultanément, provoque la rotation des moteurs couples 34 et 35 et, par l'intermédiaire des fourches 9 et 10 et du dispositif de liaison 20. la rotation des potentiomètres rotatifs de site 36 et de gisement 37. Les entrées positives des circuits soustracteurs 40 et 41 étant à la masse et les filtres 44 et 45 étant courtcircuités, on obtient à leur sortie un signal négatif dont l'amplitude est celle du signal de commande de sortie des potentiomètres 36 et 37 respectivement. Ainsi, les moteurs 34 et 35 reçoivent respectivement, par l'intérmédiaire des amplificateurs 45 et 46, un courant créant un couple résistant opposé et directement proportionnel aux inclinaisons du manche selon les axes 6 respectifs.During the actuation of the button 14b, the maneuver. of the handle 14 along the axes of the motors separately or simultaneously, causes the rotation of the torque motors 34 and 35 and, by means of the forks 9 and 10 and of the connection device 20. the rotation of the rotary potentiometers of site 36 and of deposit 37. Since the positive inputs of the subtractor circuits 40 and 41 are grounded and the filters 44 and 45 are short-circuited, a negative signal is obtained at their output, the amplitude of which is that of the output control signal from the potentiometers 36 and 37 respectively. . Thus, the motors 34 and 35 respectively receive, through the intermediaries of the amplifiers 45 and 46, a current creating an opposing resistive torque and directly proportional to the inclinations of the handle along the respective axes 6.

Les signaux d'asservissement appliqués aux entrées G' et H' du dispositif de commande 1' sont transmis, par l'intermédiaire des commutateurs 42' et 43' aux entrées positives des circuits soustracteurs 40' et 41'. Les circuits 40' et 41' effectuent respectivement la soustraction de ces signaux d'asservissement et des signaux de sortie des potentiomètres de site 37' et de gisement 36' respectivement. Les signaux de sortie de ces circuits soustracteurs 40' et 41' sont respectivement appliqués aux moteurs couples 34' et 35' par l'intermédiaire des circuits 44' et 45' et des amplificateurs 48' et 49' respectivement. L'application de ce signal entraine la rotation des moteurs, des fourches, des potentiomètres et le pivotement du manche en fonction de la rotation des fourches. Lorsque les signaux de sortie des potentiomètres 36' et 37' atteignent la valeur des signaux d'entrée d'asservissement, c'est-à-dire lorsque la tension de sortie des soustracteurs devient nulle, les moteurs couples 34' et 35' ne sont plus alimentés et ne tournent plus et maintiennent le manche dans une position représentative des signaux d'entrée d'asservissement et donc identique à la position du manche du dispositif de commande 1. Les circuits 44' et 45' et les amplificateurs 48' et 49' assurent un gain de boucle suffisant pour permettre la précision et la stabilité nécessaires de la position du manche 14' par rapport à celle du manche 14.The control signals applied to the inputs G 'and H' of the control device 1 'are transmitted, via switches 42' and 43 'to the positive inputs of the subtractor circuits 40' and 41 '. The circuits 40 ′ and 41 ′ respectively perform the subtraction of these servo signals and of the output signals from the site potentiometers 37 ′ and of the field 36 ′ respectively. The output signals from these subtractor circuits 40 'and 41' are respectively applied to the torque motors 34 'and 35' via circuits 44 'and 45' and amplifiers 48 'and 49' respectively. The application of this signal causes the rotation of the motors, forks, potentiometers and the pivoting of the handle according to the rotation of the forks. When the output signals from potentiometers 36 'and 37' reach the value of the servo input signals, that is to say when the output voltage of the subtractors becomes zero, the torque motors 34 'and 35' do not are more energized and no longer rotate and maintain the handle in a position representative of the servo input signals and therefore identical to the position of the handle of the control device 1. The circuits 44 'and 45' and the amplifiers 48 'and 49 'provide sufficient loop gain to allow the necessary precision and stability of the position of the handle 14' relative to that of the handle 14.

Avec un tel système de commande, le chef peut donc manoeuvrer son dispositif de commande en enfonçant le bouton poussoir 14h de prise en charge et envoyer des signaux de commande vers des organes de direction et des signaux d'asservissement vers le dispositif de commande 1' du tireur par l'intermédiaire de son manche de commande. Le chef ressent sur son propre manche un effort proportionnel à l'angle de pivotement du manche selon les axes des moteurs et il provoque un déplacement du manche 14' du dispositif de commande du pointeur identique à celui de son propre manche 14. Pendant cette opération le bouton poussoir 14'R de prise en charge du dispositif de commande du pointeur est sans effet sur le dispositif de commande du chef. En raison du gain de boucle important obtenu grâce aux circuits 44', 45' et aux amplificateurs 48' et 49', le pointeur ressent, dès qu'il effectue un petit déplacement de son manche par rapport à la position imposée par le dispositif de commande 1, le plein effort résistant des moteurs couples lui indiquant qu'il est guidé par le chef. Si le chef relâche le bouton poussoir 14k, les signaux d'entrée de commande H' et G' deviennent nuls et le manche 14' du dispositif de commande 1' revient dans sa position verticale grâce aux ressorts de rappel 29' (non représenté). Ainsi, le dispositif de commande 1' du tireur se trouve toujours dans la position de tir optimale lorsque le chef engage un combat ou une poursuite en agissant sur son manche de commande 14 et en actionnant le bouton poussoir 14b.With such a control system, the chef can therefore maneuver his control device by pushing the 14h pick-up button and send control signals to the steering members and servo signals to the control device 1 ' of the shooter via his control stick. The chef feels on his own sleeve a force proportional to the angle of pivoting of the handle along the axes of the motors and he causes a displacement of the handle 14 ′ of the pointer control device identical to that of his own handle 14. During this operation the push button 14'R for taking over the pointer control device has no effect on the control device of the chief. Due to the significant loop gain obtained thanks to circuits 44 ', 45' and amplifiers 48 'and 49', the pointer feels, as soon as it makes a small movement of its stick relative to the position imposed by the device. command 1, the full resistant resistance of the torque motors indicating that it is guided by the chef. If the chef releases the push button 14k, the control input signals H 'and G' become zero and the handle 14 'of the control device 1' returns to its vertical position thanks to the return springs 29 '(not shown) . Thus, the shooter control device 1 ′ is always in the optimal firing position when the leader engages in combat or pursuit by acting on his control stick 14 and by actuating the push button 14b.

Sur la Figure 4 les voies de commande de site et de gisement sont inversées dans les dispositifs de commande 1 et 1' afin de simplifier la représentation des connections entre ces deux dispositifs. mais il va de soi que ces dispositifs peuvent être fabriqués de manière identique. Ainsi, il est possible d'utiliser chacun des dispositifs indifféremment comme dispositifs de commande chef ou tireur en connectant la source de tension de 27 volts à la borne d'entrée A ou A', les autres connections restant inchangées. Dans un cas comme dans l'autre, les sorties de commande E et F du dispositif du chef et les bornes de sortie de commande E' et F' du dispositif de commande du tireur sont connectées aux moyens d'orientations du système à commande.In FIG. 4, the site and deposit control channels are reversed in the control devices 1 and 1 ′ in order to simplify the representation of the connections between these two devices. but it goes without saying that these devices can be manufactured identically. Thus, it is possible to use each of the devices indifferently as master or shooter control devices by connecting the 27-volt voltage source to the input terminal A or A ', the other connections remaining unchanged. In either case, the control outputs E and F of the leader's device and the control output terminals E 'and F' of the shooter's control device are connected to the orientation means of the control system.

Pour un fonctionnement télécommandé d'un dispositif de commande 1 ou 1', il suffit de connecter les bornes d'entrée d'asservissement G et H ou 6'-H' à un dispositif électrique de commande extérieur quelconque.For remote control operation of a 1 or 1 'control device, simply connect the servo input terminals G and H or 6'-H' to any external electrical control device.

Lorsque la phase de tir doit être effectuée, le chef l'annonce au pointeur qui prend en main son manche de commande 14'. Le chef relâche alors le bouton poussoir 14b. permettant au pointeur grâce au circuit 33 et la diode 32', de prendre en charge le système par actionnement de son bouton poussoir 14h. Le dispositif de commande "esclave" 1' devient alors "maitre" et asservit le dispositif de commande 1 qui conserve cependant la priorité de la prise en charge du système de l'actionnement du bouton poussoir 14b. Ainsi lorsque la phase de tir est terminée le chef peut reprendre en charge le système avec son manche de commande 14 en bonne position ce qui accélère et sécurise le transfert de prise en charge.When the firing phase must be carried out, the chief announces it to the pointer who takes control of his control stick 14 '. The chef then releases the push button 14b. allowing the pointer thanks to the circuit 33 and the diode 32 ', to take charge of the system by actuation of its push button 14h. The "slave" control device 1 'then becomes "master" and controls the control device 1 which nevertheless retains the priority of taking over the system from actuating the push button 14b. So when the firing phase is over, the chef can take over the system with his control stick 14 in the right position, which accelerates and secures the transfer of care.

L'ensemble constitué par les fourches 9, 10 et les accouplements à frette conique n'a été donné qu'à titre d'exemple non limitatif. Les fourches 9, 10 constituent des moyens de transformation du mouvement de rotation des arbres 6 des moteurs couples 4, 5 en un mouvement de pivotement du manche de commande 14 et inversement, et peuvent être remplacées par tout moyens appropriés équivalent.The assembly constituted by the forks 9, 10 and the couplings with a conical hoop has been given only by way of nonlimiting example. The forks 9, 10 constitute means for transforming the rotational movement of the shafts 6 of the torque motors 4, 5 into a pivoting movement of the control stick 14 and vice versa, and can be replaced by any equivalent suitable means.

Claims (9)

1 - Dispositif de commande électrique motorisé comportant un manche de commande (14), caractérisé en ce qu'il comporte deux moteurs couples électriques (4, 5; 34, 35) dont les axes de rotation sont perpendiculaires, deux fourches (9, 10) accouplées à une de leurs extrémités (11), respectivement sur les arbres (6) des moteurs couples et décalées par rapport à ces arbres, et à travers lesquelles passe le manche, le manche étant monté de manière à pivoter par rapport au point d'intersection des axes de rotation des moteurs couples, des moyens élastiques de rappel (29) du manche dans une position verticale, des potentiomètres rotatifs (22; 36, 37) dont l'axe de rotation accouplé aux autres extrémités (12) des fourches (9, 10) est parallèle aux arbres des moteurs et dont les sorties électriques constituent les sorties de commande du dispositif et un circuit électrique (30) relié aux sorties des potentiomètres et aux entrées électriques des moteurs couples pour engendrer un couple résistant des moteurs couples, proportionnel à leur déplacement angulaire par rapport à une position déterminée correspondant a la position verticale du manche (14).1 - Motorized electric control device comprising a control handle (14), characterized in that it comprises two electric torque motors (4, 5; 34, 35) whose axes of rotation are perpendicular, two forks (9, 10 ) coupled to one of their ends (11), respectively on the shafts (6) of the torque motors and offset with respect to these shafts, and through which the handle passes, the handle being mounted so as to pivot relative to the point d intersection of the axes of rotation of the torque motors, elastic return means (29) of the handle in a vertical position, rotary potentiometers (22; 36, 37), the axis of rotation of which is coupled to the other ends (12) of the forks (9, 10) is parallel to the shafts of the motors and whose electrical outputs constitute the control outputs of the device and an electrical circuit (30) connected to the outputs of the potentiometers and to the electrical inputs of the torque motors to generate a resisting torque torque motors, proportional to their angular displacement relative to a determined position corresponding to the vertical position of the handle (14). 2 - Dispositif de commande selon la revendication 1, caractérisé en ce que chaque axe (6) de chaque moteur couple est accouplé à la fourche associée par l'intermédiaire d'un accouplement à frette conique (8).2 - Control device according to claim 1, characterized in that each axis (6) of each torque motor is coupled to the associated fork via a coupling with a conical hoop (8). 3 - Dispositif de commande selon la revendication 1 ou 2, caractérisé en ce que les fourches (9, 10) sont curvilignes et que leurs rayons de courbure partent du même centre.3 - Control device according to claim 1 or 2, characterized in that the forks (9, 10) are curvilinear and that their radii of curvature depart from the same center. 4 - Dispositif de commande selon l'une quelconque des revendications 1 à 2, caractérisé en ce que le circuit électrique (30) comprend deux éléments soustracteurs (40, 41) dont les entrées négatives reliées respectivement aux sorties des potentiomètres rotatifs (36, 37) et dont les entrées positives sont connectées aux bornes d'entrée d'asservissement (6, H) du dispositif pour provoquer une rotation des moteurs couples (34, 35) proportionnelle à des signaux de commande extérieurs.4 - Control device according to which one conch of claims 1 to 2, characterized in that the electrical circuit (30) comprises two subtracting elements (40, 41) whose negative inputs connected respectively to the outputs of the rotary potentiometers (36, 37) and whose positive inputs are connected to the servo input terminals (6, H) of the device for causing rotation of the torque motors (34, 35) proportional to external control signals. 5 - Système de commande caractérisé en ce qu'il comporte au moins deux dispositifs de commande électrique motorisés selon l'une quelconque des revendications précédentes, un premier dispositif de commande (1). alimenté en tension, étant destiné à être actionné manuellement, et en ce que les entrées d'asservissement (G', H') du ou des autres dispositifs de commande (1') sont reliées aux sorties des potentiomètres rotatifs (36, 37) du premier dispositif de commande.5 - Control system characterized in that it comprises at least two electric motorized control devices according to any one of the preceding claims, a first control device (1). supplied with voltage, being intended to be actuated manually, and in that the servo inputs (G ', H') of the other control device (s) (1 ') are connected to the outputs of the rotary potentiometers (36, 37) of the first control device. 6 - Système de commande selon la revendication 5, caractérisé en ce que le circuit électrique (30) de chaque dispositif de commande (1.1') comporte un relais de prise en charge (31,31) connecté en série avec un bouton poussoir de prise en charge (14b. 14b) disposé à l'extrémité supérieure du manche (14) et destiné à être alimenté en tension et, à l'état actionné, à exciter le relais (31, 31') pour autoriser la transmission des signaux d'asservissement aux autres dispositifs de commande (1.1') non alimentés et pour interdire l'alimentation en tension de ces dispositifs de commande.6 - control system according to claim 5, characterized in that the electrical circuit (30) of each control device (1.1 ') includes a take-over relay (31,31) connected in series with a push-button under load (14b. 14b) arranged at the upper end of the handle (14) and intended to be supplied with voltage and, in the actuated state, to energize the relay (31, 31 ') to authorize the transmission of the signals d 'slaving to other control devices (1.1') not supplied and to prohibit the supply of voltage to these control devices. 7 - Système de commande selon la revendication 5 ou 6, caractérisé en ce que le circuit électrique (30) de chaque dispositif de commande (1, et 1') comprend en outre des moyens d'amplification (48, 49 , 48', 49') connectés entre les éléments soustracteurs et les entrées des moteurs couples et permettant d'obtenir au niveau des moteurs couples, un couple résistant opposé et proportionnel aux mouvements du manche.7 - control system according to claim 5 or 6, characterized in that the electrical circuit (30) of each control device (1, and 1 ') further comprises amplification means (48, 49, 48', 49 ') connected between the subtracting elements and the inputs of the torque motors and making it possible to obtain, at the level of the torque motors, an opposite resistive torque and proportional to the movements of the handle. 8 - Dispositif de commande selon l'une des revendications 5 à 7, caractérisé en ce que le circuit électrique (30) de chaque dispositif de commande (1, 1') comporte une diode (32, 32') connectée au bouton poussoir de prise en charge (14b, 14'b) pour autoriser la prise en charge du système par un des dispositifs non alimentés en tension en réponse au relâchement du bouton poussoir du premier dispositif et à l'actionnement du bouton poussoir dudit dispositif.8 - Control device according to one of claims 5 to 7, characterized in that the electrical circuit (30) of each control device (1, 1 ') comprises a diode (32, 32') connected to the push button of support (14b, 14'b) to authorize the support of the system by one of the devices not supplied with voltage in response to the release of the push button of the first device and the actuation of the push button of said device. 9 - Système de commande selon la revendication 8, caractérisé en ce que le circuit électrique (30) de chaque dispositif de commande (1,1') comporte un circuit de filtrage et d'amplification (44, 45, 44',45') connectés en série avec les moyens d'amplifications (48, 49, 48', 49'b) lorsque le relais de prise en charge est à l'état non excité.9 - Control system according to claim 8, characterized in that the electrical circuit (30) of each control device (1,1 ') comprises a filtering and amplification circuit (44, 45, 44', 45 ' ) connected in series with the amplification means (48, 49, 48 ', 49'b) when the take-over relay is in the non-energized state.
EP86402070A 1985-09-27 1986-09-19 Electric motorized control device Expired - Lifetime EP0223631B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8514391 1985-09-27
FR8514391A FR2590044B1 (en) 1985-09-27 1985-09-27 MOTORIZED ELECTRICAL CONTROL DEVICE

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EP0223631A1 true EP0223631A1 (en) 1987-05-27
EP0223631B1 EP0223631B1 (en) 1991-01-23

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US (1) US4772836A (en)
EP (1) EP0223631B1 (en)
JP (1) JPS6274109A (en)
DE (1) DE3677146D1 (en)
FR (1) FR2590044B1 (en)

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DE19926784A1 (en) 1999-06-11 2000-12-14 Wittenstein Gmbh & Co Kg Device for controlling a device
JP3710653B2 (en) * 1999-08-10 2005-10-26 ホシデン株式会社 Multi-directional input device
JP3664665B2 (en) * 2001-06-01 2005-06-29 株式会社カワサキプレシジョンマシナリ Joystick device
CN102589351B (en) * 2012-03-07 2014-11-26 成都信息工程学院 Digitizing collection device and detection method based on antiaircraft gun operation parameter of weather modification
JP6641211B2 (en) * 2016-03-23 2020-02-05 大裕株式会社 Heavy equipment remote control
JP6778982B2 (en) * 2017-08-25 2020-11-04 東芝三菱電機産業システム株式会社 Operation system for cargo handling equipment

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Also Published As

Publication number Publication date
DE3677146D1 (en) 1991-02-28
FR2590044A1 (en) 1987-05-15
EP0223631B1 (en) 1991-01-23
FR2590044B1 (en) 1988-01-29
JPH0511322B2 (en) 1993-02-15
US4772836A (en) 1988-09-20
JPS6274109A (en) 1987-04-04

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