WO2004068435A2

WO2004068435A2 - Trimming for remote control

Info

Publication number: WO2004068435A2
Application number: PCT/IB2004/000252
Authority: WO
Inventors: Stefan Reich
Original assignee: Stefan Reich
Priority date: 2003-02-01
Filing date: 2004-02-01
Publication date: 2004-08-12
Also published as: JP2006522506A; DE10304209B4; WO2004068435A3; JP4486956B2; DE10304209A1

Abstract

The invention relates to a method for trimming in conjunction with a remote control, for example, for flying objects, during which a trimming value is generated for a neutral control position. For this, at least one control signal that ensues beforehand is drawn upon that corresponds to a previously occurring control position. Former control signals can be continuously stored and an average value is formed therefrom. This average value can be used as a new trimming value. The averaging can ensue over a window of time. The window of time can extend before the moment of trimming and can be defined in relation thereto. The trimming process can be initiated by the operator or can also ensue automatically.

Description

Remote control trim

The invention relates to a remote control with a trimming device, and in particular to a method and devices for trimming. Such remote controls are e.g. used for flight models. Control sticks are usually present as transmitter elements, the deflection of which is converted in one or more control axes into corresponding proportional control signals which are transmitted to the steered object, usually by radio. Most of the time, the sticks have a return spring for at least one of their axes of movement, so that when released, an average value is given that should correspond to a neutral rudder position. The correct setting of the neutral position is crucial for sensible controllability, since otherwise disruptive drifts occur. For this purpose, the actuating unit is usually equipped with trimming devices with which the neutral value can be adjusted manually and the one-part value of which is overlaid or mixed with the control signal. The overlay can be done mechanically or electronically. The purpose of a trim is to compensate for drifting so that it does not have to be compensated by hand by constantly holding it up.

Since even slight deviations, such as those caused by normal tolerances, have an impact on flight behavior, it is often necessary to adjust the trim during the flight. The user has to sell the tinting until no drift can be seen when the control stick is neutral. The problem is that the adjustment is difficult - especially because several control axes can have a drift at the same time and / or because it is often not possible to release the control stick in flight, especially with the helicopter.

Some programmable remote control transmitters allow you to switch between different previously saved trim control sets during the flight in order to have appropriate presettings available for different situations. However, the presets must have been entered manually. Remote control transmitters are known whose trim setting can be saved by actuating a trim switch. Here, too, the trim sliders have to be set manually beforehand in order to carry out the trim adjustment.

DE 199 14445 describes a control device which can be switched between P control (proportional) and PID control (with integrator) for stabilizing yawing movements of a helicopter. A manually set trimming, as is usually present proportionately in the transmitted control signal to compensate for drifts, would be disruptive if it gets into the input of the integrator, because the integrator in turn is not subject to drift. To compensate, the trim already given is calculated back. For this purpose, the current control signal, which includes the trim, is saved at the switchover moment and from the control signal! subtracted before it gets into the integrator. At the moment of switching, the user has to let go of the stick or keep it neutral so that the trim value alone is transmitted. Then the device avoids a jump in the output signal when switching. This device is suitable for back-calculating a trim that has already been given manually, but is not suitable for compensating for an unknown drift by generating a trim.

DE 100 19536 describes a cross-trimming unit with buttons attached in a cross shape or designed as a push-button stick; the trim value can be adjusted step by step.

FIRMATI0N C0PY DE 441 9082 describes a device for two operators with two remote control transmitters which are connected by cables, the second operator being able to influence the trimming of the first transmitter.

The methods mentioned do not offer a basic solution to the difficulties mentioned at the outset, since the trim values have to be determined manually and entered separately.

The aim of the invention is a method and a device for solving the problems mentioned, the trimming process being automated or at least simplified.

For this, at least one given tax signal! used to form a new trim value, this control signal at least partially including the deflection on the encoder. This makes it possible for a current or a previous control position to be adopted as the new trim position during the trimming process.

The encoder can also have several control axes and accordingly generate several separate control signals. The control signal can represent a control position of an encoder or a corresponding actuator or rudder, which occurred in at least one point in time until the adjustment process was carried out.

The transmitter can be a joystick device or any other input device suitable for control. Terms related to this, such as "deflection", "position" and "middle position", apply to old variables with which the control value can be scanned in the transmitter element, even if this is done differently than by mechanical means.

The resulting control signal can be composed or superimposed from the encoder signal and the trim value according to the invention. This can be done in a known manner, for example by adding the values. The proportion of the trim value can also be made dependent on the tax rate. The proportion of the trim value can be reduced with increasing tax rate so that the result at the end stop is independent of the trim value.

The resulting signal is suitable for controlling actuators, such as rowing machines or other steering elements. A manual Abgle ^'tch the trim values is no longer necessary, and for separate trimming devices may be dispensed with entirely.

In order for the trimming process to act as such, the resulting control signal, which is sent to the control element or steep link, should result in a corresponding change due to the change between the old and the new trimming value. The change can happen suddenly. The height of the jump can correspond to the difference between the old and new trim value. If the encoder remained unchanged, the control element would be adjusted during the trimming process. This makes sense because the user can let go of a rudder deflection previously given against the drift from the moment he triggers the trimming process.

The trimming can be done for several control channels or control axes simultaneously. In one embodiment of the invention, the trimming process can be triggered manually via a trim button provided for this purpose, which is also easily possible during the flight. Instead of a trim button, one or more joysticks can be combined with a suitable switching device, which enables the trimming process to be triggered manually without releasing the joystick. For this purpose, a switch built into the tip of the stick or a switching device reacting to the pull or pressure of the stick can be provided. According to the invention, other possibilities, for example voice recognition, are also possible for triggering. A trim value data record determined according to the invention can be assigned and stored in one of several selectable data records which can be called up for different situations. The assignment can be determined when saving using the same switch that is also used when calling up the relevant settings.

The device according to the invention can be structurally combined with the transmitting device. Alternatively, it can be partially or entirely on board the body to be controlled and act on the control signals received. Signals can correspond to any known analog or digital transmission type.

If control functions are mixed, as is customary, for example, for controlling the swash plate or V-tail, the trim according to the invention can take place on the unmixed or on the already mixed control signals. The term control signal can therefore refer to both the transmitter-side and the rudder-side channels or control values.

There are also the following options for the type of control signal used in the formation of the trim value: a) it consists exclusively of the signal originating from the transmitter, for example from the control stick, (b) the trim value of the present invention is already included, and / or (c ): a manual trim value from a conventional trim device is included

In case a), the new trim value can be calculated as the sum of the mean value and the previous trim value during the trimming process, so that the trim value is changed incrementally. In case b) the mean value can be used directly as the new trim value, whereby the previous trim value is completely replaced. The same result can be achieved with both variants.

Case c) occurs, for example, when a remote control transmitter according to the prior art is used. The trimming device according to the invention can be located on board and connected to the output signal of the receiver. In case (c) (which can occur independently or in combination with (b)), the manual trim value is also included in the trimming process.

Further refinements of the invention according to the subclaims, as well as the resulting advantages, are described below.

By using the control signal! a previous control value can also be consulted beforehand if it is temporarily stored or delayed. The trim can also be triggered at a later time. A short delay is also useful so that you can let go of the control sticks before you start the trimming process. The delay can take place, for example, by continuously storing control values in a buffer.

The trim value can be formed from an average of several past control positions or control signals. Here, an arithmetic averaging can advantageously be used, but also other types of averaging, for example the mean individual value. The averaging can take place over a quasi-continuous time window.

For this purpose, a value in the time window can be averaged from a continuously stored sequence of past tax fluctuations. The time window can be defined in relation to the trimming process. For example, it can start 5 s before the trim button is pressed ,,. "..

WO 2004/068435

and end when the trim button is pressed; it is better, however, to end shortly before, so that the determined trim value is independent of the last (current) control signal, so that the user has time to release the joystick at will to actuate the trim button, without affecting the trim result. After trimming, the stick no longer has to be held anyway. The new trim value can come into effect immediately after the trimming process has been triggered.

In order to generate a time window in relation to the time at which the trimming process is triggered, a continuous sequence of the control signal can first be stored, with older values being overwritten. The mean value is then formed from the remaining stored values. Usually, a radio link transmits each control signal with a repetition rate of 40 or 50 Hz. A lower data rate, for example 10 Hz or a readout of every fourth value, is sufficient for the averaging.

Even if only a discrete number of individual values are taken into account in practice, if these follow one another quickly enough, the sum of these values can be regarded as a quasi-continuous integration, and a corresponding time window can be regarded as coherent in its effect.

The time window does not have to be sharply limited; it can have continuous boundaries and / or be limited only on one side. In general, the averaging over a time window corresponds to a convolution of the function of the continuous control signal with a corresponding window function. It can also be described as an integration, weighted via a window function. The averaging or integration can be done by a continuous accumulation over time or by a low pass.

The trim value can also be formed by a low-pass function. Its initial value can be saved from the trimming process and used as a new trimming value. This value corresponds to an average value over a time window, which in this case is not sharply delimited, at least earlier, but corresponds to the impulse response of the filter, which contains the individual values weighted differently according to the window function. A sensible way of representing a suitable low-pass filter is through one or more integration stages, output value (s) being / are proportionally coupled to the input value, as shown in FIG. 1 as a three-level low-pass filter (20).

The described methods of averaging from stored individual values and the low pass are similar in their effect, since both generate an average. Both methods can also be combined with each other, which means that more values are recorded with less storage space. Because the impulse response of a low pass generally corresponds to the window function of a corresponding time window, the same situation can be described with the different terms low pass freezing, averaging over a time window or generally as an integration process.

A described mean value method is particularly advantageous for trimming missiles such as model aircraft or helicopters. Due to the flight behavior, the effect of rudder deflections is integrated several times. For this reason, a counter-deflection must take place in the case of normal tax movements after a deflection. This applies both to inadvertently given rashes and to intentional movements in order to then return to a straight flight position. Only those tax fluctuations that are given to counteract a drift last longer. When calculating the mean, a longer time window can be used in relation to the duration of usual tax distributions. If the time window is multiple Includes tax advisory notices, these can advantageously be mitigated, so that even with lively tax movements only that portion remains that is caused by drifting, and thus results in an exact trimming value.

The high level of accuracy achieved, especially in helicopters, can also be justified as follows: When tilting a helicopter, control impulses or disturbances over time add up to an increasing inclination, which in turn leads to increasing horizontal acceleration, i.e. a two-speed increase and this a three-degree increasing flight position drift. Even with imprecise, i.e. hasty, jerky or delayed control movements, the resulting flight position depends primarily on the mean time value of these influences. As soon as the control movements have led to a stable flight even for a short time, they have been brought about by a control loop which is closed by the operator and therefore contain an exactly fitting integral component. The mean value according to the invention has therefore adjusted itself precisely to that constant value which corresponds to a desired neutral position. The accuracy improves with increasing length of the mean time window in a high power, the power resulting from how many degrees the integration is that the flight movement is subject to due to the control characteristic.

A time window with running limits can be advantageous, since then alternating control signals are also averaged without rounding errors, which otherwise occur due to the meter modulation of the higher frequency components with the sharp limits. A duration of the time window can also be defined if it has no clear boundaries. In the case of averaging generated by low-pass filtering, the window width can be defined, for example, by a half-value width or a time constant of the filter.

Before the trimming process is triggered, the relevant values as control signals! or as a preliminary trim signal, temporarily stored, or also stored as a longer sequence. There must be no time reference between the time the values were saved and the moment the trimming process was carried out. A trim process with trimm values that have been carried out can also be triggered at a later point in time, for example after the landing has taken place. For this purpose, a coherent period of time with smoother control movements can be selected from the stored sequence and used to form the trim value. The selection can already be made during the flight, so that the preliminary storage required until the trimming process does not have to comprise a complete sequence, but can be limited to one or a few already calculated mean values. The selection can also be limited to the times at which a flight took place, for example due to the position of the gas and / or rotor blade position. At least one of the selection criteria mentioned can also be used to automatically trigger a trimming process. This means that the trimming process does not have to be triggered manually

In one embodiment of the invention, which enables a self-updating trim, the trim value is continuously adjusted or updated. This can be done in constantly repeating steps. The trim values are derived from averaging. The longer the time window for the average value formation or the time constant of the low pass, the slower the trim values change. If the averaging takes place on the untrimmed control signal (case a), the composite output value can be represented as the sum of the input value and an integrating time average of this sum, if the averaging is done from the signal already contained in the automatic trim value (case b), this can (recursively) are represented as the sum of the input value and a time-limited average of this sum. In both cases, a continuously integrating disadvantage behavior can be achieved.

In general, the trim value is formed from at least one control signal, the averaging not being mandatory. Without averaging, there is the advantage that the setting is made without delay, which makes the method suitable for making a basic setting visually before starting.

Usually, donors for whom no middle position is relevant, e.g. for gas or rotor blade collective adjustment on the helicopter, no return spring. It is sensible to exclude their control signals from automatic trimming.

In one embodiment, a control signal containing the position of the transmitter and, if applicable, the trim slide can be included negatively in the new trim value during the trim process. A current deflection can be subtracted from the trim value. The subtraction can be based on the previous trim value

This design enables the user to set the sender and, if necessary, conventional trim sliders to a new desired or neutral position before starting the trimming process. Thus, a current position of trim sliders and / or transmitters can be assigned to a fixed rudder position, such as a middle position or an idle position. For example, a

Signal from a remote control transmitter already given according to the state of the art, which should correspond to a neutral middle position, can be taught in as a neutral zero signal by the trimming process. This is useful, for example, in the case of a trimming device on board the controlled body.

Such trimming can also be triggered when the aircraft is on the ground. This variant is also suitable for re-setting the neutral position for trim sliders. The user only has to push the trim lever to the desired neutral position before actuating the trim button.

This embodiment also has the effect that the total signal output and thus the rudder position in question changes immediately by a difference during the trimming process. This embodiment can be combined with the previously described trim by addition, or can be used independently of it. tf? c J.) Gl S- & LX

The two embodiments can be combined by adding an average value on the one hand and subtracting a current control value on the other hand. In this way, on the one hand, a neutral position on the encoder side can be redefined, for example, to invalidate a previously given manual trim, and, on the other hand, a new trim value can be added, for example, to compensate for a currently existing drift during the flight. Both processes can be combined in such a way that they take place simultaneously and / or are triggered by a common button. In this case too, a change in the trim value can cause the resulting signal to be output to a control element.

Two separate trim value memories can be provided to implement the combination. Both values can be saved simultaneously or at different times; the trim values can also be added to the overall signal in steps one after the other in the signal path or all at once. A common memory can also be used for both trim values; The required mixture of both trim values can be written as a difference in these. The current encoder deflection from averaged control signal and the difference is used for the new trim value.

The combination described can advantageously be used if the signal from conventional trim sliders is included in the averaging (case c) in order to avoid double action (conventional trim slide plus trim according to the invention) after the automatic trimming process has taken place. When initiating the trimming process, the user must bring the stick into the middle position, but not the trim slide. The combination described can advantageously also be used to enable trimming also of those functions for which no return spring is provided on the encoder in order to find a central position, for example by releasing it, for example in a helicopter the collective blade adjustment. A change in the is avoided if the user leaves the stick in its position during the trimming process. This solution is particularly useful if the climbing function is to be excluded from the trimming for the reasons mentioned, but for the trimming process according to the invention there are only signals that have already been mixed in the transmitter, as is customary, for example, for controlling the swashplate with its pitch. , Roll and climb function.

It can make sense to take the positive and negative trim values from the control signal at different times, for example in combination with the described trim after landing. While the servo-side trim is determined by the stored control values obtained from the flight, a neutral point on the encoder side can be taught in at the same time.

The trim value can also be defined by a control shift between the start and end of the button press: in one embodiment, the transmitter can be moved while the button is pressed so that the rudders are in the desired position first, and when the button is released, the transmitter is in his desired position. For this purpose, the trim value is generated by subtracting a signal that contains the current encoder deflection at the moment the actuation begins and adding a signal that contains the current deflection at the end of the actuation. Addition and subtraction can take place from the old trim value.

In the reverse variant, the encoder can be shifted by the correction to be made while the trim button is held down. For this purpose, addition and subtraction take place in reverse. In these variants, too, several or all of the existing functions can be trimmed using just a single button. Only those functions are trimmed that are moved during the trimming process. These variants can also be combined with the described averaging or used independently of it. The latter is advantageous for vehicles and ships whose control behavior is not characterized by averaging, or for functions which, as described above, do not have a return spring.

Several modes of trimming have been described. In a preferred embodiment, a selection option from different modes or combinations thereof is provided.

A device according to the invention can be constructed with a microprocessor. The processes of obtaining the trim value and the trimming process can be program-controlled. Since a programmable microprocessor is usually used as a component in programmable transmitters according to the prior art, a possibility can be created according to the invention for retrofitting existing hardware with appropriate software, which controls the implementation of the method according to the invention. One of the existing buttons can be programmed as a trim button.

One embodiment of the invention accordingly consists of a storage medium, on which at least parts of software are accommodated, which carry out or control the method steps, and which can be connected to a remote control transmitter, installed or its content can be loaded therein. A conventional transmitter can hereby be roasted or converted so that it has the properties according to the invention.

In addition to the storage medium, a value memory may be necessary on the one hand in order to be able to form an average as described. On the other hand, according to the invention, a memory is also required if averaging is dispensed with when determining the trim value, that is to say the trim value is only derived from a given control signal, namely in order to record the trim value determined during the trimming process. Such a memory is usually already present in the hardware given in the prior art. It is only necessary that from the Steuerknü ^p pel originating or derived Steuersl ^π na! to be transferred to the trim value memory.

One or more capacitors can also serve as the value memory; an integrator, low-pass filter and / or hold memory (sample & hold) according to the invention can be realized with this in the known analog-electronic arrangement.

The invention can also be carried out mechanically. For this purpose, a mechanical device that includes a spring-loaded back control mechanism to achieve a zero position can be provided with a disconnect clutch, which can either be temporarily released or temporarily connected during the trimming process, and which is coupled to the reset mechanism in such a way that instead A shift can optionally take place in the mechanical connection path from the control stick via the backing mechanism to the transmission device. A new trim position can be set by a control force applied against the spring force or against a specially provided friction; the new mechanical zero position is determined by the current control deflection at the time of setting. During the trimming process, the reset device can be shifted from its position, which defines the relationship between the movable encoder and the housing-related fixed point, and can then be held in a new position, which is predetermined by the current encoder position. Conversely, displacement can also take place against a specially provided friction force, while the coupling is only connected for trimming.

When installed on board the controlled body, the control signals of one or more channels can be fed from the receiver into the device and the output signal! the device to the rowing machines. When installed on board, the method can be meaningfully combined with a stabilization system, for example the gyro system for stabilizing the tail rotor of the helicopter. The corresponding devices can be structurally combined.

The present invention can be combined with measurement and control systems for attitude control or stabilization or with other control aids; however, it can advantageously also be used completely independently of this.

The tax signal used for the mean value! can also the control signal emitted from a control device! be, such as that of a stabilization device. In such a Steuesigna! the manual control signals are usually also included or at least derived it from it. Because it is the final manipulated values that are subject to the integration process given by the flight behavior, the control device can then replace the control circuit described above which runs over the operator. A trimming method according to the invention can also be applied to the input values of the stabilization.

To trim a missile equipped with flight instruments for stabilization, in addition to the control signals, measured values from flight instruments can also be stored during the flight and trim values can be determined from these. Such stored values can include the measurement values applicable for a stable flight position. In addition to trimming the rudders, they can also be used to calibrate the instruments and / or a control system formed with a control loop

The function is further explained below using exemplary embodiments with reference to FIGS. 1 to 3. The same components in different figures have the same reference numerals.

FIG. 1 shows a block diagram of a first exemplary embodiment, the method steps being program-controlled in a microprocessor, and the corresponding hardware being built into the transmitter. The control stick (1) serves as the transmitter element, the signal of which is converted into a digital value (3a) by means of an AD converter (2). This value can optionally be subjected to a function (4) which generates a progressive, for example exponential control curve. It may also be useful to include a Nu !! sehwe !! & to compensate the mechanical tolerance of the encoder (1) in the middle. The control signal (3c) that arrives in the transmitter (6) and is to be transmitted is composed via the addition (5) as a mixture of this, possibly modified, encoder signal! (3b) and on the other hand the trim value (33) according to the invention, and possibly additionally with a conventional trim value from the trim transmitter (10). The composite and sent Signa! (3c) is restored by the receiver (7) and fed to the rowing machine (8). Ais Signa! (3c) here is a signa representing the tax position! referred to, the coding or actual signal form can be quite different, for example in the transmitter and in the rowing machine.

To produce the trim value (33) according to the invention, the transmitted control value (3c) is branched off and subjected to a low-pass function (20). The low-pass filter (20) can be constructed from several successive and negative feedback! Integrator = steps (21, 22, 23) and results in the example shown! a third degree low pass. Its output value (20a) is an average value from the course of the past transmitted control value (3c). The time window that is used in the averaging is determined by the time constant or the step response of the filter (20) and expediently extends to a few seconds.

To trigger the trimming process, the user presses the trim button (30), the signal of which is coupled as a trigger to the register or value memory (31). As a result, the mean (20a) will exist as nαiiαr Trimmι «; αf + in rlαc Pαrticf-ar /" ϊl \ παl-arlpr. Ohr-tα RαH-Hmir ..-. Riar Tαct-s lαiht in the αri'ϊ ar om old value ,

The trim value can be limited to a maximum and minimum value in the limiter (32) in order to limit the trim range.

The same algorithm described is constructed in parallel for further control channels, although the trim button (30) is common, as are the transmitter module (6) and receiver module (7). The signal from the conventional trim slide (10) can alternatively be mixed in directly in front of the transmitter module (6). Then its position is not taken into account in the mean value calculation and it can be used independently.

Figure 3 shows a similar embodiment with the same components arranged differently, the input of the low pass (20) directly to the unmixed encoder signal! (3b) is connected so that the integrated control signal! comes exclusively from the encoder (1). In this case, the memory 31 is designed such that it loads the sum of the input value and its previous value when it is saved. For this purpose, a separate add-on (35) can be implemented. A limitation (32) can also be provided at the input of the memory (31). This means that even strong trim errors that have been limited with one trim can be compensated for by accumulating trims. After the trimming process has been carried out, the integrators of the low-pass filter 20 can be cleared via signal 30c or reset to a neutral value, so that when the trimming process is carried out again, only fresh values are used and a doubling of the first effect is avoided.

In order to enable continuous trimming, memory (31) can be updated in a continuous sequence. With addition 35, this corresponds to a further integration process. Another possibility is to omit or bypass memory (31) and also to remove the negative feedback of the last integrator in the low pass (20) so that it accumulates the values without any time limit, and these values to the output signal! be added.

For a variant according to claim 14 or 15, a second register (not shown) can be provided in addition to register 31, which, however, only loads when the key (30) is released. Both registers receive the undelayed control signal (3b) as an input value. The values of both registers can be subtracted from each other and used as a trim value.

FIG. 2 shows a further exemplary embodiment in which the trimming process takes place in the signal path of the received signals behind the receiver. The corresponding device can be on board the controlled body. A signal (3d) is sent, which is composed of the signal (3b) from the control stick (1) and optionally that of the trim transmitter (10). This corresponds to a conventional transmitter signal. For example, it can be encoded according to PPM or PCM methods and is restored (3d) in the receiver (7). It can then be converted into arithmetic values and processed in a program-controlled processor. The processing includes a mixture or addition (55), in which a trim value (33) according to the invention from the register (31) is mixed in. The mixed control signal (3c) can be fed to the rowing machine (8).

In this example, the trim value (33) is generated by branching values of the output control signal (3c) and storing them in a memory (56) as a continuous sequence. The memory thus contains a certain number of past control values from a past time limit. Stored values can move up when updating, rejecting the oldest value, or the oldest value can be overwritten directly. The device for averaging used in FIGS. 1 and 3 can also be used here and vice versa.

In order to trigger the trimming process, the user can press a trim button (31) on the transmitter, the button signal (31a) being transmitted in a separate remote control channel. When the signal (31a) arrives, an average (58) is formed from the stored values (56c to 56x) by addition (57) and loaded into the register (31), whereby the trim value (33) is updated. When averaging, the most recent spoke vertices (56a), (56b) are ignored, so that the period of the measured values used is spaced from the trimming process.

Furthermore, a separate trim button (30 b) can be attached in the flying device. This button can be pressed after landing. For this purpose, as described earlier, a longer or more recent sequence of a past flight is stored in the memory 56 and / or a subtractive interference is provided. For this purpose, the current received signal (3d) can additionally be mixed negatively into the input of the memory (31) (not shown), for this purpose it can be subtracted from the mean (58).

Claims

Expectations

1) Trimming method for remote control using encoder elements to generate continuously or quasi-continuously variable control signals, the absence of a control deflection on the encoder corresponding to a neutral position in which a neutral control signal is emitted, the value of which, hereinafter referred to as the trim value, can be adjusted in a trimming process , wherein a previous trim value is replaced by a new trim value and the value of the total signal output is adjusted, characterized in that the new trim value is derived from at least one given control signal which at least partially includes the deflection on the encoder.

2) Method according to claim 1, characterized in that the control signal is buffered or recorded before the trimming process is carried out and which is used to derive the trimming value.

3) Method according to claim 1 or 2, characterized in that the new trim value is formed from an average of a plurality of signals given or occurring at different times before the trimming process is carried out.

4) Method according to one of the preceding claims, characterized in that an average is formed from a sequence of control signals that have occurred during a time window, and that the new trim value is derived from this average value, and the duration of the time window is greater than the duration of the usual tax swings.

5) Method according to claim 4, characterized in that the time window is defined in terms of time to the triggering time of the trimming process.

6) Method according to one of the preceding claims, characterized in that the mean value is formed by the continuous control signal is subjected to low-pass filtering or generally an integration process

7) Method according to one of claims 2 to 6, characterized in that a sequence of continuous control signals is evaluated according to a criterion that evaluates the strength and / or frequency of control movements carried out therein, and that at least one time window is selected from the sequence in which the tax movements made are minimal.

8) Method according to one of claims 2 to 7, characterized in that the trimming process takes place independently by the trimming value being obtained from past control signals as a continuously, quasi-continuously or step-by-step updated average value and being added continuously to the control signal.

9) Method according to one of the preceding claims, characterized in that the trimming process for control signals of several control channels can be triggered together.

10) Method according to one of the preceding claims, characterized in that the control signal used to derive the trim value represents the deflection of the transmitter element and that the sum of the old trim value and the, if averaged, control signal is used as the new trim value. 11) Method according to one of the preceding claims, characterized in that the control signal used to derive the trim value! contains the previous trim value and this, if necessary averaged, control signal is used as the new trim value.

12) Method according to one of the preceding claims, characterized in that the control signal containing the position of the encoder and possibly the trim slide is negatively related to the new trim value during the trim process.

13) Method according to claim 12, characterized in that in a composite trim value, on the one hand, a current control signal, which is present at the moment of actuation of at least part of the trimming process, is included negatively, and on the other hand, an averaged control signal is included positively.

14) Method according to one of the preceding claims, wherein the trimming process is triggered by actuation of the switch and the user pulls the encoder in the direction of the desired correction during operation, characterized in that the new trim value is generated by a signal that the at the moment of Actuation begins with the current encoder deflection, is subtracted and a signal that contains the current deflection at the end of the actuation is added.

15) Method according to one of the preceding claims, wherein the trimming process is triggered by switch actuation and the user pulls the position of the encoder and / or trim slide from the currently required position into a desired neutral position on the encoder side, characterized in that the new trim value is generated is added by subtracting a signal that contains the position that is current at the moment the actuation begins and a signal that includes the position that is current at the end of the actuation.

16) Device for remote control and trimming with transmitter elements, microprocessor and transmitter unit, characterized by the following components: a switch suitable for triggering a trimming process, a memory for storing or integrating values, and a storage medium with software that is suitable for storing or to integrate or control signals, which signals contain at least one control deflection, given at a transmitter element, of at least one control channel, and to add a trim value formed thereby to the control signal.

17) Device according to claim 16, characterized in that it contains as hardware a remote control transmitter constructed according to the state of the art and contains a storage medium on which at least part of the program sequence or software required to carry out the control value storage is stored, that it is suitable for operation in the given hardware.

18) Device according to claim 16 or 17, characterized in that at least the portion of the software which is provided for storing or integrating the given control signals is accommodated on a data carrier in such a way that the data by the user into an already existing Remote control transmitter device can be introduced. 19) Data carrier, characterized in that it contains a program code for controlling or executing the following method steps: control signals which are derived from at least one transmitter element of a remote control transmitter and which depend on a control deflection given therein, are stored or integrated in a memory; the stored or integrated signal can be added to a continuously transmitted control signal as a trim value.

20) Device for remote control and trimming, characterized by an output for connection to control elements or steering gear, an input to which the received control signals are applied or which is set up to connect to a receiver, a memory which is set up to continuously store signals or to integrate, which depend on a given tax rate, and a programming, which is suitable to carry out an averaging or integration of these signals and to record the result from this in a trimming process and the recorded value to the output signal! add.

21) Device for remote control and trimming, characterized by an output for connection to control elements or steering gear, an input to which the received control signals are applied or which is set up for connection to a receiver, a memory device which continuously stores control signals for at least two control axes or integrated, and an adding or mixing device, which adds the results to the output signals.

22) Device according to claim 20 or 21, characterized in that it is structurally combined with a receiver provided for remote transmission.

23) Device according to claim 20, 21 or 22, characterized in that it is structurally combined with a stabilization system.

24) Device for trimming using an encoder with joystick and displacement transducer, which includes a spring-loaded resetting mechanism for achieving a zero position, characterized by a disconnect coupling that can either be released or connected during the trimming process, and that in this way with the resetting mechanism is coupled that in the mechanical connection path from the control stick via the reset mechanism to the transmission device, a shift can optionally take place relative to the connection path from the control stick to the displacement transducer and the transmission device.