Backdriven Active Inceptor Input Filtering for Stable Machine Control
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Solution Overview
Problem
Existing control systems for machines with active inceptors that provide backdrive functionality often result in unintended movement due to inadvertent operator input when the inceptor is backdriven, leading to potential machine instability and operator confusion.
Innovation Solution
A control system with a variable operator interface (VOI) that detects and compares operator control inputs with zero-force detent rates to determine variances, interpreting inadvertent inputs and modifying them using command modifiers such as an operator on inceptor detector (OID), variable inceptor command deadzone (VICD), variable asymmetric breakout force (VABF), and detent rate limiter (DRL) to limit or eliminate unintended machine movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If backdrive capability is provided to active inceptors to give tactile cues to the operator, then the operator receives feedback about machine state and can maintain control, but inadvertent contact between the operator's limb and the backdriven inceptor is amplified by the control system causing unintended machine movement
Solution Approach 1:
The system continuously monitors inceptor position and compares it with commanded position to detect inadvertent inputs. The control system uses feedback loops to identify when operator limb contact occurs and applies corrective actions to prevent unintended machine movement while maintaining legitimate backdrive feedback functionality
Solution Approach 2:
A command modifier acts as an intermediary between the inceptor input and the machine control system. This intermediary layer filters and evaluates inputs, distinguishing between intentional operator commands and inadvertent limb contact, thereby preventing harmful amplification of unintended inputs
2Force
If the control system amplifies backdriven inceptor input to provide tactile feedback, then the operator receives enhanced force cues about machine state, but inadvertent operator contact is also amplified causing unintended machine movement
Solution Approach 1:
The control system applies different processing to different aspects of the inceptor signal. Intentional control inputs receive amplification for tactile feedback, while inadvertent inputs are detected and suppressed. The system locally modifies signal processing based on the nature of the input detected
Solution Approach 2:
The control system performs preliminary detection and evaluation of inceptor inputs before amplification occurs. By identifying inadvertent contact early in the signal chain, the system can prevent amplification of harmful inputs while maintaining amplification for legitimate operational feedback
Data Source
AI summary
A control system having a variable operator interface (VOI) is disclosed, and includes one or more processors and a memory coupled to the processors. The memory stores program code causing the control system to detect an existence and first direction of an operator control input to one or more active inceptors being backdriven from an operator on inceptor detector (OID). The control system is caused to compare the first direction of the operator control input with a second direction of one or more zero-force detent rates to determine a variance and interprets the operator control input as inadvertent based on the variance. In response to interpreting the operator control input as inadvertent, the control system is caused to limit the operator control input to reduce or substantially eliminate movement of the machine caused by inadvertent input by modifying the operator control input based on one or more command modifiers.