Active Inceptor Force Compensation for Inertial Feedback Lag

Solution Overview

Problem

Inertial forces in active inceptor systems limit the bandwidth and deteriorate the tactile feel, making the system feel sluggish, which affects the performance of user input devices and the vehicles they control.

Innovation Solution

A method to determine a total compensation force by estimating damping and inertial forces based on velocity and acceleration information, and applying a lag filter and saturation limit to improve accuracy and mitigate inertial effects.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If active inceptor systems are used to provide force feedback, then force feedback capability is achieved, but inertial forces limit bandwidth and deteriorate tactile feel

Engineering Contradiction:

Improveforce feedback capabilityVSAvoidbandwidth

Core Design Contradiction:

ReliabilityVSSpeed

Solution Approach 1:

The patent applies counterweight by calculating compensation forces that are equal and opposite to the inertial forces generated by the actuated mechanism. The compensation force Fc = -ma, where m is the mass and a is the acceleration, directly counteracts the inertial effects that limit bandwidth and degrade tactile feedback quality.

Inventive Principle:

Principle #8Anti-weight (Counterweight)

Solution Approach 2:

The patent converts the harmful inertial forces into a beneficial compensation signal. By measuring the actual acceleration and mass of the system, the controller calculates the inertial force and applies it as a compensation force in the opposite direction, transforming the problematic inertial effect into a means to achieve inertial compensation and improve bandwidth.

Inventive Principle:

Principle #22Blessing in disguise (Convert harm into benefit)

2Reliability

If active inceptor systems are used to provide force feedback, then force feedback capability is achieved, but inertial forces deteriorate tactile feel

Engineering Contradiction:

Improveforce feedback capabilityVSAvoidtactile feel

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The patent applies counterweight by calculating compensation forces that are equal and opposite to the inertial forces generated by the actuated mechanism. The compensation force Fc = -ma, where m is the mass and a is the acceleration, directly counteracts the inertial effects that limit bandwidth and degrade tactile feedback quality.

Inventive Principle:

Principle #8Anti-weight (Counterweight)

Solution Approach 2:

The patent converts the harmful inertial forces into a beneficial compensation signal. By measuring the actual acceleration and mass of the system, the controller calculates the inertial force and applies it as a compensation force in the opposite direction, transforming the problematic inertial effect into a means to achieve inertial compensation and improve bandwidth.

Inventive Principle:

Principle #22Blessing in disguise (Convert harm into benefit)

3Speed

If compensation force is applied to mitigate inertial effects, then bandwidth is improved, but system complexity increases

Engineering Contradiction:

ImprovebandwidthVSAvoidsystem complexity

Core Design Contradiction:

SpeedVSDevice complexity

Solution Approach 1:

The patent implements feedback by continuously measuring the acceleration of the input device, calculating the required compensation force based on the measured acceleration and known mass, and applying this compensation force through the actuator. This closed-loop feedback system enables inertial compensation that improves bandwidth while keeping the added complexity manageable through efficient sensor integration and real-time calculation.

Inventive Principle:

Principle #23Feedback

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enhances system bandwidth and improves the tactile feel of active inceptor systems by reducing inertial forces, leading to better performance of user input devices and the vehicles they control.

Implementation Method 1

obtaining damping force information based on velocity information of the grip portion (140)

Methodology Applied

Scientific EffectDamping: Damping

Implementation Method 2

obtaining inertial force information based on acceleration information of the grip portion (140)

Methodology Applied

Scientific EffectInertia: Inertia

Data Source

PatentEP3997551B1Force compensation method and device

Publication Date: 2025.07.30 BAE SYSTEMS PLC

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AI summary

A method to obtain total compensation force information of a user input device is disclosed. The method comprising obtaining velocity information of a portion of the user input device. Obtaining acceleration information of the portion of the user input device. Obtaining damping force information force based on the velocity information. Obtaining inertial compensation force information based on the acceleration information. Combining the damping compensation force and inertial compensation force to provide the compensation force information of the user input device.