Backdriven Inceptor Damping Control for Stable Operator Input
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing control systems for machines with backdriven inceptors struggle to differentiate between intentional and unintentional operator inputs, leading to potential instability and reduced controllability due to amplification of inadvertent contact.
Innovation Solution
A variable rate damping control system that calculates a variable gain based on the amplitude of operator commands, applying a maximum gain for small-amplitude inputs to dampen movement and a minimum gain for large-amplitude inputs, using inline actuators to adjust the machine's movement accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If backdriven inceptors are used to provide tactile cues and backdrive capability, then operator awareness and control input accuracy are improved, but inadvertent contact by the operator's limb is amplified by the control system leading to potential instability
Solution Approach 1:
The control system dynamically adjusts the damping coefficient based on the detected operator input magnitude. When small-amplitude movements are detected (likely inadvertent contact), the system increases damping to suppress amplification and maintain stability. When large-amplitude movements are detected (intentional commands), the system reduces damping to maintain responsiveness and control accuracy.
Solution Approach 2:
The system changes the damping parameter dynamically based on the amplitude of operator commands. By monitoring the magnitude of inceptor movements and adjusting the damping coefficient accordingly, the system adapts its response characteristics to differentiate between inadvertent contact and intentional control inputs, resolving the contradiction between stability and measurement precision.
2Force
If the control system amplifies backdriven inceptor signals to enhance operator awareness, then tactile feedback is improved, but inadvertent small-amplitude inputs are also amplified causing instability
Solution Approach 1:
The control system applies different damping characteristics to different amplitude ranges of operator inputs. Small-amplitude inputs (likely inadvertent) receive high damping to suppress harmful amplification, while large-amplitude inputs (intentional) receive low damping to maintain proper tactile feedback and control response. This localized quality adjustment resolves the contradiction between providing adequate tactile feedback and preventing instability from inadvertent contact.
Data Source
AI summary
A control system for a machine having variable rate damping based control (VRDC) is disclosed, and includes one or more processors and a memory coupled to the processors storing data comprising a database and program code that, when executed by the processors, causes the control system to receive an inceptor position from one or more active inceptors and calculate an operator command based on at least the inceptor position. The control system is caused to determine an amplitude of the operator command. The control system is caused to determine a variable gain based on the amplitude of the operator command and determines an actuation command based on the variable gain. The control system sends the inline actuators the actuation command. The inline actuators actuate into a total actuator position to variably damp movement of the machine as a function of the magnitude of the operator command.