Control unit in the active interceptor

Abstract

According to one aspect of the invention, there is provided a control unit in an active interceptor configurable to generate force feedback in a ganged active interceptor system, the control unit comprising a first connection configured to drive a motor when an action is performed, the motor in response generating an associated force feedback in the active interceptor, and a second connection configured to drive a remote motor in a remote active interceptor when an action is performed, the remote motor in response generating an associated feedback in the remote active interceptor.

Description

[Technical field]

[0001] The present invention relates to a control unit within an active inceptor that can be configured to generate force feedback in a linked active inceptor system. [Background technology]

[0002] An active interceptor is an electronic device used in a control system to receive operator input and provide force feedback to the operator that provides tactile information or warnings from the control system to the operator.

[0003] Some control systems include more than one active inceptor. In such systems, it may be desirable to communicate actions taken on one active inceptor to a second, ganged active inceptor by replicating or otherwise communicating the actions. An exemplary scenario involves a pilot and co-pilot in a cockpit operating a pair of ganged flight stick active inceptors. When a pull or other motion is applied to the first flight stick active inceptor, the motion is replicated as force feedback in the ganged flight stick active inceptor. Historically, this was accomplished by a mechanical linkage between the controllers, but active inceptors offer an electronic alternative that is advantageous in terms of efficiency and weight reduction. Typically, the force feedback is provided by a motor in the active inceptor.

[0004] Different control systems receive as inputs various possible actions. Thus, active inceptors are designed to receive inputs and provide feedback in various numbers of mechanical axes. A single axis inceptor receives inputs in a single mechanical axis and provides force feedback in that same axis. A dual axis inceptor receives inputs in two mechanical axes and provides force feedback in both. A separate motor is typically required to provide force feedback for each axis. Thus, a dual axis inceptor may require two motors, whereas a single axis inceptor may only require one. Thus, a dual axis inceptor typically requires more complexity and power than a single axis inceptor.

[0005] Current implementations of single-axis interceptors reuse architectures used in dual-axis interceptors that led to inefficiencies. Figure 1 shows a known architecture of a ganged single-axis active interceptor system 100. This architecture uses the same control components as the dual-axis interceptor system. The system consists of a single-axis interceptor 102 connected via a bus connection 126 to a remote single-axis interceptor 128 of the same configuration. A control unit 106, a second control unit 108, a first connection 110, a second connection 112, a third connection 114, and a fourth connection 116, a gearing system 120, and a single mechanical shaft 122.

[0006] The control unit 106 and the second control unit 108 are each configured with two connections. Each control unit is capable of driving a separate motor on each connection about a separate mechanical axis. The control unit 106 and the second control unit 108 can drive a motor 118 to provide feedback of a single mechanical axis 122.

[0007] Each of the control unit 106 and the second control unit 108 has the further capability of driving a second motor via connection 112 and connection 116, respectively. This capability is not used in this single axis inceptor system 100 because only one motor is needed to provide force feedback in a single axis. Additionally, each control unit 106, 108 may have unused voltage inputs (not shown) that increase the inefficiency of the configuration. Unnecessary circuitry and unused processing power creates power inefficiencies and unnecessary weight. Power and weight are significant concerns for vehicles and other control systems in which active inceptors are used. Additionally, there is a second active inceptor 128 of the same configuration in which inefficiencies may be duplicated. Summary of the Invention

[0008] According to one aspect of the invention, there is provided a control unit in an active interceptor configurable to generate force feedback in a ganged active interceptor system, the control unit comprising a first connection configured to drive a motor when an action is performed, the motor in response generating an associated force feedback in the active interceptor, and a second connection configured to drive a remote motor in a remote active interceptor when an action is performed, the remote motor in response generating an associated feedback in the remote active interceptor.

[0009] In one aspect, the active inceptor and the remote active inceptor are single axis active inceptors.

[0010] In one aspect, there is a bus connection between the active interceptor and the remote active interceptor.

[0011] In one aspect, the control unit sends a control change message from the control unit to a remote control unit.

[0012] In one aspect, the control unit sends a control change message to a remote control unit in response to a detected failure of the control unit.

[0013] In one aspect, a control unit relinquishes control of an associated single axis interceptor system to a remote control unit upon sending a change of control message.

[0014] In one aspect, relinquishing control further comprises the control unit being configured to allow the remote control unit to drive at least one of the motor and the remote motor.

[0015] In one aspect, in response to a detected fault, the control unit attempts a reset.

[0016] In one aspect, in response to a successful reset, the control unit switches to a passive role in the ganged single axis interceptor system, the passive role comprising monitoring control change messages from the remote control unit and receiving force feedback from the remote active interceptor.

[0017] In one aspect, the control unit continues to drive at least one of the motor and the remote motor if no fault is detected by the control unit.

[0018] In one aspect, there is a discrete link connection between the control unit of the active interceptor and the remote control unit of the remote active interceptor.

[0019] In one aspect, the bus connection and the discrete link are configured to enable the control unit to receive control change messages from the remote control unit and to enable the control unit to send control change messages to the remote control unit.

[0020] In one aspect, the bus connection is a control area network bus connection.

[0021] In one aspect, a first plurality of sensor data associated with an active inceptor and a second plurality of sensor data associated with a remote active inceptor are received.

[0022] In one aspect, there is a first redundant processor channel and a second redundant processor channel.

[0023] In one aspect, there is a DC voltage source for independently and controllably driving the motor and the remote motor.

[0024] In one aspect, an active interceptor is provided, the active interceptor comprising a motor, a control unit, where the motor is configured to be driven by a remote active interceptor, and a bus connection and a discrete link configured to enable the control unit to communicate with the remote active interceptor when connected.

[0025] In one aspect, an active inceptor system includes at least a first redundant motor winding and a second redundant motor winding, a control unit configured to drive a motor associated with the first redundant motor winding, and the second redundant motor winding configured to be driven by a remote active inceptor.

[0026] In one aspect, there are one or more sensors comprising at least one of: one or more temperature sensors that communicate one or more temperature values ​​to the control unit and the remote active interceptor; one or more motor resolvers that communicate one or more resolution values ​​of the motor to the control unit and the remote active interceptor; and one or more force transducers that collect one or more force values ​​from the operation to the control unit and the remote active interceptor.

[0027] In one aspect, a ganged active inceptor system is provided, comprising an active inceptor, a second active inceptor, a first connection of the active inceptor connected to a second motor of the second active inceptor, a second connection of the second active inceptor connected to the motor of the active inceptor, a bus connection of the active inceptor connected to the bus connection of the second active inceptor, and a discrete link connecting the active inceptor and the second active inceptor.

[0028] In one aspect, the active inceptor and the second active inceptor are linked controllers in a twin steering vehicle.

[0029] In one aspect, the interlocking control in a twin piloted vehicle is one of a helicopter yaw pedal and a helicopter collective lever.

[0030] In one aspect, a method for controlling force feedback in a ganged active inceptor system is provided, the method comprising driving, by a control unit in the active inceptor, at least one of a motor in the active inceptor and a second motor in a second active inceptor, in response to which the motor generates an associated force feedback in the active inceptor and / or the second motor generates an associated force feedback in the second active inceptor.

[0031] In one aspect, the second control unit monitors for control change messages from the control unit, the control unit detects a failure of the control unit, and in response to detecting the failure, the control unit relinquishes control and sends a control change message to the second control unit, and the second control unit takes over from the control unit to drive at least one of the motor and the second motor.

[0032] In one aspect, in response to detecting a failure of the control unit, the control unit resets, and in response to a successful reset, the control unit monitors for control change messages from a second control unit.

[0033] The invention will now be described, by way of example only, with reference to the drawings in which: [Brief description of the drawings]

[0034] [Figure 1] FIG. 1 is a schematic diagram illustrating a known ganged single axis interceptor system. [Diagram 2] FIG. 2 is a rear view illustrating an interlocking single axis interceptor system in the cockpit of a twin piloted vehicle according to the present invention. [Diagram 3] FIG. 1 is a schematic diagram of an exemplary ganged single axis interceptor system according to the present invention. [Figure 4] 1 is a schematic diagram of an exemplary single axis interceptor according to the present invention; [Diagram 5] 4 is a flow chart of an exemplary method for controlling force feedback in a ganged single axis interceptor system according to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0035] The present invention relates to a combination of active inceptors, each acting as a redundancy for the other, such that one active inceptor is configured to control and monitor the second active inceptor and vice versa. This means that there is no need for separate redundancy for each active inceptor, which brings several advantages. The present invention makes it possible to reduce the complexity of the active inceptors and increase their reliability. The present invention also features a lower overall component weight and power consumption, which is a key issue in many control systems. Furthermore, the system ensures the necessary level of security to deal with the failure of any component in the active inceptor in control, allowing another active inceptor to take control with minimal delay.

[0036] FIG. 2 shows a rear view of a ganged single-axis interceptor system 200 implemented in a twin-piloted vehicle with a ganged control. The ganged control can be a helicopter collective lever, a yaw pedal, or one of other known single-axis controls. The ganged single-axis interceptor system 200 includes a single-axis interceptor 206 located to the right of the seat 202, a remote single-axis interceptor 208 located to the right of the seat 204, an electrical connection 210, and a bus connection 212. Each interceptor includes a manual control 214, 216 for use by an operator. The single-axis interceptors 206, 208 communicate actions applied to the hand grips 214, 216 to the vehicle's control mechanisms. They also provide force feedback to the hand grips 214, 216 as tactile information or warnings for the control mechanisms. This can include replicating operator inputs in the ganged active interceptors.

[0037] In an initial configuration, the single axis interceptor 206 may be in an active mode controlling force feedback throughout the ganged single axis interceptor system 200. This includes controlling force feedback at the first hand grip 214 at the single axis interceptor 206 and at the remote hand grip 216 at the remote single axis interceptor 208. In one example, when a first operator performs a motion at the first hand grip 214, the single axis interceptor 206 controls force feedback at the remote hand grip 216 based on that motion.

[0038] Alternatively, when the second operator provides a motion at the remote handgrip 216, the single axis interceptor 206 controls and generates force feedback at the handgrip 214 based on the motion. The level of force feedback provided may be based on sensor data or other data associated with the motion.

[0039] Active interceptors are typically installed in critical control systems with high reliability requirements. These requirements may include the ability to handle component and / or software failures during operation. To provide redundancy, the remote single axis interceptor 208 can take over control of providing force feedback in the ganged single axis interceptor system 200 from the single axis active interceptor 206. The takeover may be triggered when a failure is detected in the control unit in the single axis interceptor 206, which then immediately relinquishes control. Upon detecting that the single axis interceptor 206 has relinquished control, the remote single axis interceptor 208 immediately takes over control of providing force feedback in the ganged single axis interceptor system 200. In the event of a failure, a control change message may be sent from the single axis interceptor 206 to the remote single axis interceptor to communicate the need for a takeover. If a fault is detected, the remote single axis interceptor 208 sends an indication of the fault to the first single axis interceptor. In response, the single axis interceptor 206 relinquishes control of the force feedback to the remote single axis interceptor 208 and may be reset. Meanwhile, the remote single axis interceptor 208 switches to an active mode and provides any necessary force feedback to the hand grips 214, 216. The takeover occurs quickly, such as within 10 ms of the fault being detected in the single axis interceptor 206, to ensure that there is no long-term loss of functionality. This transfer of control is described in more detail in subsequent figures.

[0040] Furthermore, at any point in time the active control device is known and this control device operates the vehicle, which is important to ensure that there is no time when the system does not know which controller is providing the active control.

[0041] 3 is a schematic diagram of an exemplary ganged single-axis interceptor system 300 in accordance with the present invention. The system includes a single-axis interceptor 302 and a remote single-axis interceptor 304. An external bus connection 330 may be configured to allow messages and / or other data to be sent and received between the single-axis interceptor 302 and the remote single-axis interceptor 304. A discrete link 332 directly connects the control unit 306 and the remote control unit 318 to provide reliability and redundancy for the bus connection 330.

[0042] The single axis interceptor 302 includes a control unit 306 configured to drive a motor 312 via a first connection 308. A first external connection 310 is configured to allow the control unit 306 to also drive a remote motor 324 in the remote single axis interceptor 304. A first gearing system 314 transfers motor force from the motor 312 to a force feedback at a first mechanical axis 316. A second external connection 320 is connected to the motor 312 to allow the motor 312 to be driven by the remote single axis interceptor 304.

[0043] The remote single axis interceptor 304 includes a remote control unit 318 configured to drive a remote motor 324 via a second connection 322. A second external connection 320 is configured to allow the remote control unit 318 to drive the motor 312 in the single axis interceptor 302. A remote gearing system 326 is configured to transfer motor power from the remote motor 324 at a second mechanical axis 328. The first external connection 310 is configured to allow the remote motor 324 to be driven by the single axis interceptor 302.

[0044] The control unit 306 and the remote control unit 318 may be functionally equivalent. Each of them has the ability to drive the motor 312 and / or the remote motor 324. In an initial configuration, the control unit 306 is configured to drive the motor 312 via the first connection 308 and the remote motor 324 via the first external connection 310. The motors are driven to generate associated force feedback at the single axis inceptor 302 and the remote single axis inceptor 304. The force feedback may be determined based on the motion at either single axis inceptor.

[0045] To drive the motors and generate feedback, each of the control units has the ability to send power to the motor 312 and the remote motor 324 via connections 308, 310, 320, 322. To power both motors, the control unit 306 and the remote control unit 318 may also include a DC voltage source. The DC voltage source within each control unit controllably powers the two motors that are independently associated with the determined force feedback.

[0046] The force feedback provided at the first mechanical axis 316 and the second mechanical axis 328 may provide tactile information based on the motion of either the single axis interceptor 302 or the remote single axis interceptor 304. As described above, only one of the control unit 306 and the remote control unit 318 controls the single axis interceptor system at a time. To prepare the force feedback, a first plurality of sensor data may be collected from the single axis interceptor 302 and a second plurality of sensor data may be collected from the remote single axis interceptor 304. The sensor data is collected from one or more sensors associated with the active interceptor. The first plurality of sensor data and the second plurality of sensor data may be communicated to the control unit 306 and the remote control unit 318 to determine the motion response of the coupled single axis interceptor system. The motion response may then be used to determine feedback and monitor for control unit failures. Further details regarding the sensors internal to the single axis interceptor are provided in a later section.

[0047] As explained, active interceptors have high reliability requirements, and providing redundancy can help meet these requirements. During operation, the control unit 306 monitors the remote control unit 318 for failures, and in response, the remote unit 318 monitors the control unit 306 for failures. The control unit 306 is initially in an active role, driving both the motor 312 and the remote motor 324 and may provide the necessary force feedback. In this case, the remote control unit 318 plays a passive or hot standby role, monitoring the operational response of the control unit 306 for possible failures, without driving the motors and providing force feedback. In this role, the remote control unit 318 is ready to take over driving the motor 312 and the remote motor 324 in the event of a failure in the control unit 306. The remote control unit 318 has the ability to drive the motor 312 via a second external connection 320 and the remote motor via a second connection 322.

[0048] The motor 312 and the remote motor 324 are configured to be driven by either the control unit 306 or the remote control unit 318. To achieve this, the motor 312 and the remote motor 324 may include one or more redundant motor windings. The control unit 306 may be connected to a first redundant winding of the motor 312 via a connection 308 and to a first redundant winding of the remote motor 324 via an external connection 310. Meanwhile, the remote control unit 318 may be connected to a second redundant winding of the motor 312 via a connection 320 and to a second redundant winding of the remote motor 324 via a second connection 322. Alternatively, a controllable switch or other method known to those skilled in the art may be used to selectively receive power input at the motor 312 and the remote motor 324. With the above configuration, the remote control unit 318 may take over driving the motor 312 and / or the remote motor 324 in the event of a failure of the control unit 306. The motor windings of the motors 312, 324 are configured such that in the event of a failure of one motor winding, the second motor winding can still be powered to drive the motor and therefore control the force feedback.

[0049] To monitor for failures of the control unit 306, there is continuous communication of messages to and from the control unit 306 and the remote control unit 318 via a bus connection 330. The messages communicate which control unit is currently controlling and whether one of the control units has relinquished control. Sensor data and other data may also be communicated via the bus connection 330 to cross-check detected failures. The bus connection 330 may be a Control Area Network Bus "CANBus" connection or one of other bus connection architectures known to those skilled in the art. Messages and sensor data are also passed between the single axis interceptor 302 and the remote single axis interceptor 304 via a discrete link 332 to provide redundancy for the bus connection 330.

[0050] When the control unit 306 is in control, the remote control unit 318 receives messages from the control unit 306 via the bus connection 330 communicating that the control unit 306 is controlling the force feedback for the single axis interceptor system 300. The control unit 306 can detect a failure in its operation and immediately relinquish control of the force feedback upon detection of the failure. As part of relinquishing control, the control unit 306 sends a control change message to the remote control unit 318. The control change message informs the remote control unit 318 that the control unit 306 is no longer controlling the force feedback and that the remote control unit 318 needs to take over. The control change message is sent from the control unit 306 to the remote control unit 318 via both the bus connection 330 and the discrete link 332 for redundancy. The control unit 306 relinquishes control of the force feedback by no longer driving the motor 312 or the remote motor 324, thus allowing the remote control unit 318 to drive the motor. As long as no indication of a fault is determined in the control unit 306, the control unit continues to play an active role in the ganged single axis interceptor system 300. After failing and relinquishing control, the control unit 306 may optionally be reset to attempt to address the fault.

[0051] In response to receiving a failure and control change message, the remote control unit 318 assumes an active role in the ganged single axis interceptor system 300. In the active role, the remote control unit 318 begins to provide any necessary force feedback in both the single axis interceptor 302 and the remote single axis interceptor 304 by driving the motor 312 and the remote motor 324. After assuming control, the remote control unit 318 sends a message to the control unit 306 indicating that it is now controlling the force feedback for the single axis interceptor system 300. If the reset is successful, the control unit 306 switches to a passive or hot standby role in the ganged single axis interceptor system 300. As with the remote control unit 318, the passive role comprises continuously preparing an operational response and monitoring for a control change message from the remote control unit 318 relinquishing control of the force feedback in the single axis interceptor system 300.

[0052] Both the control unit 306 and the remote control unit 318 continuously determine the operational response of the ganged single axis inceptor system 300 based on any user actions taken or other factors such as sensor data or signals from a flight computer. Preparing the operational response allows the passive control unit to take over quickly in the event of a failure. For example, takeover can occur within 10 ms of failure detection. Thus, the single axis inceptor system of FIG. 3 provides the necessary control unit redundancy while also providing reduced weight and power consumption, as well as increased efficiency, compared to the known architecture of FIG. 1. The weight and power consumption improvements provided by the ganged single axis inceptor system 300 require fewer control units and internal connections. Efficiency is improved as a result of reduced wasted control capacity, as the control unit 306 and the remote control unit 318 are used closer to the limits of their processing capacity.

[0053] 4 is a detailed schematic diagram of an exemplary single axis interceptor 302 in accordance with the present invention. The first single axis active interceptor 302 further includes a first redundant processing channel 402 and a second redundant processing channel 404 within the control unit 306; a first pair of temperature sensors 406 and a second pair of temperature sensors 408; a first motor resolver 414 and a second motor resolver 412; a first pair of force transducers 410 and a second pair of force transducers 418, and a first pair of position sensors 416 and a second pair of position sensors 420.

[0054] In the control unit 306, the first processor channel 402 and the second processor channel 404 provide redundancy within the control unit 306. In initial operation, the first processing channel 402 may be in control and determine the operational response of the control unit 306. The second processing channel 404 may continuously monitor the operational response for possible failures. In response to a failure of the first processing channel 402 or the second processing channel 404, the control unit 306 relinquishes control of the single axis interceptor system 300 and sends a control change message to the remote control unit 318. This configuration provides an additional layer of redundancy for the ganged single axis interceptor system 400 in addition to the redundancy between the control unit 306 and the remote control unit 318 described above. The first processing channel 402 and the second processing channel 404 may comprise dissimilar hardware and implement dissimilar software to further improve reliability.

[0055] As described, external connections 310 and 320 are used to transfer power between the single active interceptor 302 and the remote active interceptor 304 to drive the motors. They may also carry sensor data between the single axis interceptor 302 and the remote single axis interceptor 304. The sensor data may be used to determine the operational response of the ganged single axis interceptor system 400 at both the single axis interceptor 302 and the remote single axis interceptor 304 and to cross-check any detected faults.

[0056] The first temperature sensor pair 406 collects temperature data from the motor 312. The control unit 306 can use this temperature data to detect overheating or other temperature thresholds of the motor 312. The first temperature pair can be positioned to collect temperature data at a first redundant winding of the motor 312. Notable temperature data can indicate overheating of the motor 312 resulting from mechanical or electrical failure of the motor, environmental factors, or other issues. The temperature sensors allow for faults in the motor windings to be detected. Such a fault in the motor winding associated with any control unit will cause that control unit to detect the fault and therefore relinquish control. The second temperature sensor pair 408 can perform the same function as the first temperature sensor pair 406, but can communicate sensor data to the remote single-axis interceptor 304.

[0057] The first motor resolver 414 and the second motor resolver 412 collect motor resolution data for the motor 312. The first motor resolver communicates the motor position data to the control unit 306. The second motor resolver 412 communicates the motor position data to the remote single axis interceptor 304 via a second external connection 320. The motor resolution data guides the commutation of the motor to apply phase power at the correct timing. The motor position data can be used by the control unit 306 in combination with other sensor data to determine the operational response of the coupled single axis control system 400 in the control unit 306 and the remote control unit 318.

[0058] As described, motion applied to any interceptor in the ganged single axis interceptor system 400 can be used to determine the force feedback applied to the single axis interceptor system 300. Force data from the user motion is collected to partially determine the required force feedback. A first force transducer pair 410 and a second force transducer pair 418 can collect force data from motion inputs applied to the single axis interceptor 302. The first force transducer pair 410 communicates the force data to the control unit 306. The second force transducer pair 418 communicates the force data to the remote control unit 318 via the external connection 320. The control unit 306 and the remote control unit 318 can use the force data to partially determine the motion response of the ganged single axis interceptor system and generate the force feedback therein.

[0059] The position sensors 416, 420 provide an independent source of position data for the single axis active interceptor 302. In addition to the motor resolver, the position sensors provide reliability and redundancy for the position data. They are especially important when the first gearing system 314 includes an optional clutch. When the clutch is engaged, the hand grip 214 of the single axis interceptor 302 is decoupled from the motor 312. Thus, the position of the hand grip 214 cannot be determined without further position sensing. The first pair of position sensors 416 can communicate the collected position data for the single axis interceptor 302 to the control unit 306. Meanwhile, the second pair of position sensors 420 can communicate position data from the same source to the remote control unit 318.

[0060] It will be appreciated that the single axis interceptor shown in FIG. 4 has an equivalent remote single axis interceptor 304 which has additional components of the same configuration as the single axis interceptor 302, although not shown in detail.

[0061] 4 shows an example number of each type of sensor, it will be understood that any number of each type of sensor may be included. When multiple sensors are provided, each processing channel of each control unit may have a dedicated sensor for redundancy purposes.

[0062] FIG. 5 illustrates a method of controlling force feedback in a ganged single axis interceptor system. At 502, a control unit in an active interceptor drives a motor in the active interceptor. The motor is driven such that the motor can provide force feedback in the first active interceptor when an operation is performed in the ganged single axis interceptor system. The feedback can also be determined based on sensor data or other data such as a signal from a flight computer. The control unit also drives a remote motor in a remote single axis interceptor to provide force feedback in the remote single axis interceptor when needed. The force feedback provided is determined based on the motion response of the ganged single axis interceptor system generated by the control unit. Initially, the control unit periodically sends a message to a remote control unit in the remote single axis interceptor. The message communicates that the control unit is currently controlling the single axis interceptor system and is therefore providing force feedback.

[0063] At 504, the remote control unit monitors for messages from the control unit. Messages may be received by the remote control unit via a bus connection between the active interceptor and the remote active interceptor and a discrete link between the control unit to provide redundancy. Even while not actively controlling the feedback, the remote control unit independently determines the motion response of the ganged single axis interceptor system. In this way, the remote control unit is ready to control the force feedback when needed. The remote control unit determines the motion response from the same sensor data or other information as the control unit. If the same sensor data is used, the sensor data may be received from separate sensors to provide redundancy.

[0064] At 506, a fault is detected by the control unit. The fault may be determined by comparing the motion responses of the ganged single axis interceptor system determined by the two processing channels in the control unit. If there is a difference between the two motion responses, a fault has occurred in the control unit. The fault may also be triggered or verified by the control unit from sensor data or other data. For example, a fault in a motor winding in a motor associated with the control unit may also cause a fault in the control unit. In response to the detected fault, the control unit immediately relinquishes control of the single axis interceptor system, including driving the motor and the remote motor, and thus no longer provides force feedback. The control unit also sends a control change message to the remote control unit. The control change message communicates to the remote control unit that the control unit is relinquishing control of the single axis interceptor system.

[0065] At 508, in response to receiving the control change message at the remote control unit, the remote control unit takes over driving the motor and the remote motor. This means that the remote control unit now provides force feedback to the ganged single axis interceptor system. This is accomplished by the remote control unit now driving the motor of the single axis interceptor and the remote motor of the remote single axis interceptor, which was previously performed by the control unit. This takeover is rapid, since the operational response was continuously determined by the remote control unit, which has already received the control change message. The remote control unit provides force feedback in the ganged single axis interceptor system, typically within 10 ms of a failure being detected in the control unit.

[0066] A reset of the control unit may be attempted to attempt to recover from the fault at 510. Those skilled in the art will recognize other techniques for recovering a failed control unit for different fault types.

[0067] If the control unit is successfully reset at 512, the control unit can switch to a passive or hot standby mode, the role previously played by the remote control unit. This means that the control unit does not drive the motor or the remote motor. The control unit monitors messages from the remote control unit in the same manner previously played by the remote control unit. In this passive role, the control unit continuously determines operational responses based on the same sensor or other data as the remote control unit. The control unit is ready to take over in the event of a control change message from the remote control unit that is currently actively controlling the force feedback in the ganged single axis interceptor system.

[0068] The exemplary system of Figures 2-4 and the method of Figure 5 describe an initial operation in which the control unit drives the motors in both active inceptors to provide force feedback. In an alternative embodiment, the initial operation includes a control unit and a remote control unit, each driving a single motor in its own active inceptor. In such a setup, a failure will cause the failing control unit to relinquish control of the motor it drives and send a control change message to the other control unit accordingly.

[0069] In an alternative embodiment of the system of Figures 2-4 and the method of Figure 5, information may be provided to the single axis active interceptor as force feedback originating from an external source. Such a source may be a flight computer, a remote network computer, or other source. Such signals are provided to the operator as stick resistance, soft stops, and other motion cues at both handgrips 214, 216 of the active interceptor.

[0070] Although the above aspects have been described in the context of vehicle control mechanisms, and more specifically, aircraft control mechanisms, those skilled in the art will recognize that the systems and methods described may be applied to other control systems.

[0071] In an alternative embodiment to that depicted in Figure 2, the active inceptors may be organized in a front-to-back position rather than side-by-side. In a further alternative, there may be two active inceptors in the same seat and controlled by a single operator. This is particularly useful when the system's electronic controller and actuators are in separate locations.

[0072] The sensors depicted in Figure 4 are merely examples of sensors that may be included in the claimed system. Those skilled in the art will recognize that other sensor types and numbers may be necessary or may be more relevant to a different control system.

[0073] The method described in relation to Figure 5 may be stored on a machine-readable medium as instructions that, when executed, cause a processing means to perform the method of Figure 5.

Claims

1. A control unit in an active interceptor configurable to generate force feedback in a coupled active interceptor system, comprising: a first connection configured to drive a motor when an action is performed, the motor responsively generating an associated force feedback at the active interceptor; a second connection configured to drive a remote motor in a remote active interceptor when the action is taken, and in response, the remote motor generates the associated feedback in the remote active interceptor; A control unit comprising:

2. 2. The control unit of claim 1, wherein the active inceptor and the remote active inceptor are single axis active inceptors.

3. 3. A control unit as claimed in claim 1 or 2, further comprising a bus connection between said active inceptor and said remote active inceptor.

4. The control unit of claim 3 , wherein the control unit sends control change messages from the control unit to a remote control unit.

5. The control unit of claim 4 , wherein the control unit sends the control change message to the remote control unit in response to a detected failure of the control unit.

6. 6. The control unit of claim 5, wherein said control unit relinquishes control of said ganged single axis interceptor system to said remote control unit upon sending said control change message.

7. The control unit of claim 6 , wherein relinquishing control further comprises the control unit being configured to allow the remote control unit to drive at least one of the motor and the remote motor.

8. A control unit according to any one of claims 5 to 7, wherein in response to the detected fault the control unit attempts a reset.

9. In response to a successful reset, the control unit switches to a passive role in the ganged single axis interceptor system, the passive role comprising: monitoring for control change messages from said remote control unit; receiving force feedback from the remote active interceptor; The control unit of claim 8 , comprising:

10. The control unit of claim 5 , wherein the control unit continues to drive at least one of the motor and the remote motor if no fault is detected by the control unit.

11. A control unit according to any preceding claim, further comprising a discrete link connection between the control unit of the active interceptor and the remote control unit of the remote active interceptor.

12. The bus connection and the discrete link connection include enabling said control unit to receive said control change message from said remote control unit; enabling said control unit to send said control change message to said remote control unit; The control unit of claim 11 configured to:

13. A control unit according to any one of claims 3 to 12, wherein the bus connection is a control area network bus connection.

14. A control unit according to any preceding claim, wherein the control unit receives a first plurality of sensor data associated with the active inceptor and a second plurality of sensor data associated with the remote active inceptor.

15. a first redundant processor channel; a second redundant processor channel; A control unit according to any one of claims 1 to 14, further comprising:

16. A control unit according to any preceding claim, further comprising a DC voltage source for independently and controllably driving the motor and the remote motor.

17. A motor; A control unit according to any one of claims 1 to 16, wherein the motor is configured to be driven by a remote active interceptor; a bus connection and a discrete link configured to enable the control unit to communicate with the remote active interceptor when connected; An active interceptor comprising:

18. the motor includes at least a first redundant motor winding and a second redundant motor winding; the control unit is configured to drive the motor associated with the first redundant motor winding; 20. The active interceptor of claim 17, wherein the second redundant motor winding is configured to be driven by the remote active interceptor.

19. and one or more sensors, the one or more sensors comprising: one or more temperature sensors that communicate one or more temperature values ​​to said control unit (306) and to said remote active interceptor; one or more motor resolvers that communicate one or more resolution values ​​of the motor to the control unit and to the remote active interceptor; one or more force transducers for collecting one or more force values ​​from said motion to said control unit and to said remote active interceptor; 19. An active interceptor according to claim 17 or 18, comprising at least one of:

20. An active interceptor according to any one of claims 17 to 19; A second active interceptor according to any one of claims 17 to 19; a first connection of the active inceptor connected to a second motor of the second active inceptor; a second connection of the second active inceptor connected to a motor of the active inceptor; a bus connection of the active interceptor connected to a bus connection of the second active interceptor; a discrete link connecting the active inceptor and the second active inceptor; An interlocking active interceptor system comprising:

21. 21. The ganged active inceptor system of claim 20, wherein the active inceptor and the second active inceptor are ganged control devices in a twin steering vehicle.

22. 22. The ganged active inceptor system of claim 21, wherein the ganged control device in the twin piloted vehicle is one of a helicopter yaw pedal and a helicopter collective lever.

23. 1. A method for controlling force feedback in a coupled active interceptor system, comprising: A method comprising driving at least one of a motor in the active inceptor and a second motor in a second active inceptor by a control unit in the active inceptor, and in response, the motor generating an associated force feedback in the active inceptor and / or the second motor generating an associated force feedback in the second active inceptor.

24. a second control unit monitoring control change messages sent from said control unit; the control unit detecting a failure of the control unit; in response to detecting the fault, the control unit relinquishes control of the associated active inceptor system and sends the control change message to the second control unit, the second control unit taking over driving the at least one of the motor and the second motor from the control unit; 24. The method of claim 23, further comprising:

25. a reset by the control unit in response to detecting the failure of the control unit; in response to a successful reset, the control unit monitoring the control change message from the second control unit; 25. The method of claim 24, further comprising:

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