JPH08258794A - Multi-stage and continuous trim device - Google Patents

Abstract

(57) [Summary] [Purpose] Trim correction is performed by selecting the trim speed, that is, the displacement speed of the movable part provided in the trim actuator. [Structure] The trim switch 18 for operating the trim actuator 17 has an operation piece 22.
However, the neutral position 23, which is arranged when not receiving an external force
Symmetrically with respect to the pitch directions E1, E2 and along the roll directions F1, F2, a plurality of contacts 24a, 24b,
25a, 25b and 26a, 26b, 27a, 27b
Are provided respectively. A plurality of contacts 24a, 24b provided in the same direction, for example, the up direction E1 in the pitch direction.
Are closed so that they represent different values os
a, for example contact 24a, can generate a signal osa representing "1" and contact 24b can generate a signal osa representing "2".

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is provided in an aircraft such as a helicopter, and when the aircraft is in a desired flight state, multistage and continuous trims are provided to reduce steering power to zero to reduce the steering force. Regarding the device.

[0002]

2. Description of the Related Art A large aircraft or the like is provided with a hydraulic actuator to reduce the force for the pilot to displace the control stick, for example, for the purpose of operating the rudder, and the pilot has a proper response from the control stick. An artificial sensory device is provided to obtain the force. Such a maneuvered aircraft is equipped with a trim actuator so that the steering holding force obtained as a reaction force by the artificial sensory device when the desired flight state is achieved becomes zero in the state where the rudder angle of the rudder is held. The trim actuator is configured to return the artificial sensation device to the initial state and reduce the steering force. The trim actuator has a base part connected to the airframe and a movable part displaceably provided with respect to the base part and connected to the artificial sensation device, and the movable part is extended / retracted with respect to the base part. As a result, the artificial sensory device is returned to the initial state.

FIG. 9 is a diagram schematically showing the trim switch 1. The trim switch 1 is a switch for operating the trim actuator and has an operation piece 2.
The operating piece 2 is provided symmetrically with respect to a neutral position 3 arranged when it is not receiving an external force, and contacts 4 and 5 are provided in the pitch direction indicated by arrows A1 and A2, respectively.
The contacts 6 and 7 are provided in the roll direction indicated by B2. For example, an external force indicated by an arrow C is applied to the operation piece 2 to displace the operation piece 2 in the right direction B2 of the roll direction to a position indicated by an imaginary line 8 so that the contact 7
Can be closed. The trim actuators are provided in the pitch directions A1 and A2 and the roll directions B1 and B2, respectively. For example, in the case of the trim actuators provided in the roll directions B1 and B2, for example, when the contact 6 is closed, the movable part is moved. The movable part is retracted with respect to the base, and when the contact 7 is closed, the movable part is extended with respect to the base.

FIG. 10 is a diagram showing changes over time when the trim actuator is operated by the trim switch 1. In FIG. 10 (1), the horizontal axis represents the time T and the vertical axis represents the output signal OS of the trim switch 1. Figure 10
In (2), the horizontal axis represents the time T and the vertical axis represents the displacement speed V of the movable portion with respect to the base portion. In FIG. 10 (3), the horizontal axis represents time T, and the vertical axis represents the displacement position P of the movable part with respect to the base. In FIG. 10 (4), the horizontal axis represents the time T and the vertical axis represents the steering holding force W for maintaining the steering angle of the rudder.

For example, a control stick (not shown) is set in the steering direction 1
For example, the contact 7 of the trim switch 1 is closed as described above in order to hold the control stick in that position when it is displaced to the right B2 in the roll direction. As shown in FIG. 10 (1), when the contact 7 is closed at time T1, the time T
Until the contact 7 is opened at 2, the output signal OS representing, for example, "1" is generated, and as shown in FIG. 10 (2), the displacement speed V = V1 corresponding to "1" represented by the output signal OS.
Then, from time T1 to time T2, the movable portion of the trim actuator extends with respect to the base portion. As a result, FIG.
As shown in 0 (3), the movable portion moves from the displacement position P = P1 to P = P with respect to the base portion from time T1 to time T2.
Move to 2. Due to this displacement of the movable part, the artificial sensation device is returned to the initial state, and the steering holding force W is reduced from W1 to zero during the period from time T1 to time T2 as shown in FIG. 10 (4). In this way, the steering force, that is, the holding force of the control stick is reduced.

[0006]

Conventionally, the movable part of the trim actuator has a constant displacement speed, for example, V =
Since it can be displaced only by V1, it is desirable that the displacement speed V is large when a relatively large trim correction is necessary, and that the displacement speed V is small when a relatively small trim correction is required. Can not respond to. In other words, in the case of a large trim correction, it is desirable to make a correction at a large trim speed, that is, the displacement speed V in a short time, and in the case of a small trim correction, it is preferable to make a precise correction at a small trim speed. Then it is almost impossible.

It is theoretically possible to make any trim correction by shortening the operation time of the trim switch 1 even at a high trim speed, but in practice, the minimum operation time by the pilot is ergonomically limited. Therefore, it is, for example, about 0.16 seconds, and it is difficult to accurately correct the trim as described above. Therefore, there is a possibility that the trim may be corrected too much and a reverse reaction force may be generated.

On the other hand, another technique, for example, Japanese Unexamined Patent Publication No.
In -16891, the output signal generated by the trim switch is temporally operated to temporally change the displacement speed V as shown by a virtual line in FIG. 10 (2). However, when a large trim correction requires precise trim correction in succession, the trim switch 1 is temporarily turned off,
That is, it is necessary to return the operation piece 2 to the neutral position 3 and then close the "on" state, for example, the contact 7, which is inconvenient.

Accordingly, it is an object of the present invention to provide trim speed,
That is, it is an object of the present invention to provide a trim device capable of arbitrarily selecting the displacement speed of the movable portion.

[0010]

SUMMARY OF THE INVENTION The present invention comprises a base and a movable portion displaceable with respect to the base, and at least one
A trim actuator for reducing the holding force for holding the control stick that is displaced in one of the steering directions; and a trim switch that has a plurality of contacts symmetrically with respect to the neutral position along the steering direction. In the multistage trim device, the contact point is selectively opened and closed to select a displacement speed of the movable portion with respect to the base portion. The present invention also provides a trim actuator that has a base and a movable portion that is displaceable with respect to the base, and that reduces a holding force for holding a control stick that is displaced in at least one steering direction; And a continuous trim switch for generating a substantially continuous output signal corresponding to the operation amount from the neutral position, and corresponding to the output signal, the trim actuator is provided with a displacement speed with respect to the base of the movable part. It is a continuous trim device characterized by giving. Furthermore, the present invention provides a trim actuator having a base portion and a movable portion displaceable with respect to the base portion, and reducing a holding force for holding a control stick that is displaced in at least one steering direction; And a continuous trim switch that generates a substantially continuous output signal in response to the operation amount from the neutral position, and provides the trim actuator with the displacement position of its movable portion in response to the output signal. Is a continuous trim device. Furthermore, the trim actuator of the present invention is provided for each of a plurality of steering directions, and the continuous trim switch is capable of simultaneous output in at least two steering directions of the plurality of steering directions. It is characterized in that at least two trim actuators can be operated simultaneously. Furthermore, the present invention has three controls for one control stick.
It is characterized by comprising a continuous trim switch corresponding to one or more steering directions.

[0011]

According to the present invention, the trim switch for operating the trim actuator has a plurality of contacts symmetrically with respect to the neutral position along the steering direction, and selectively opens and closes the plurality of contacts. Thus, the displacement speed of the movable part of the trim actuator with respect to the base can be selected. With this, when a large trim correction is required, a large trim speed, that is, a moving portion displacement speed is selected and corrected in a short time, and when a small precision trim correction is required, a small trim speed is corrected accurately. be able to.

Further, according to the present invention, the continuous trim switch for operating the trim actuator can generate an output signal corresponding to the operation amount from the neutral position along the steering direction. Correspondingly, the displacement speed of the trim actuator relative to the base of the movable part can be provided. With this, when a large trim correction is required, a large trim speed, that is, a moving portion displacement speed is selected and corrected in a short time, and when a small precision trim correction is required, a small trim speed is corrected accurately. be able to. Moreover, the output signal is substantially continuous, and a substantially continuous trim speed can be selected.

Further in accordance with the present invention, the continuous trim switch for operating the trim actuator can generate an output signal corresponding to the operation amount from the neutral position along the steering direction. Correspondingly, the displacement position of the movable part of the trim actuator with respect to the base can be given. As a result, when a large trim correction is required, it can be corrected in a short time by a large operation amount of the trim switch, and when a small precision trim correction is required, it can be corrected accurately by a small operation amount of the trim switch. . Moreover, the output signal is substantially continuous, and the displacement position of the movable portion can be selected substantially continuously.

Further in accordance with the present invention, the trim switch is capable of simultaneous output in at least two steering directions, and the simultaneous output allows at least two trim actuators to operate simultaneously. As a result, at least two steering direction trim corrections can be performed at the same time, and the operation time can be shortened.

Further in accordance with the present invention, one control stick
Continuous trim switches are provided for more than two steering directions. As a result, trim correction of three or more steering directions can be performed with one hand, and another operation can be performed with the other hand.

[0016]

1 is a schematic view showing a multistage trim device 10 according to an embodiment of the present invention. FIG. 1 (1) shows an initial state and FIG. 1 (2) shows a rudder 11 by a control stick 12. FIG. 1C shows a state where the trim actuator 17 is operated by the trim switch 18. In a large aircraft or the like, a hydraulic actuator 13 is provided in order to reduce the force that the pilot displaces, for example, the control stick 12 for the purpose of operating the rudder 11. The control stick 12 is provided in a body (not shown) so as to be capable of angular displacement, and is connected to the hydraulic actuator 13 by a servo input link 14 realized by an electric continuous mechanism such as a fly-by-wire system or a mechanical link mechanism. Be connected. The hydraulic actuator 13 has a base portion 13a connected to the machine body and a movable portion 13b displaceably provided on the base portion 13a, and by displacing the control stick 12, a command given via a servo input link 14 is used. , Movable part 13
b is extended / reduced with respect to the base portion 13a. Movable part 13
b is connected to a rudder operation link 15 that is connected to the rudder 11, and the rudder angle of the rudder 11 is operated by the extension / retraction operation of the movable portion 13b with respect to the base 13a.

However, since the reaction force to be applied to the control stick 12 by the air surrounding the rudder 11 is absorbed by the action of the hydraulic actuator 13, it becomes difficult for the pilot to grasp the control feeling. In order to deal with this, an artificial sensation device 16 that provides a proper reaction force to the control stick 12 is provided. The artificial sensation device 16 is realized by, for example, a compression and / or extension coil spring, and one end thereof is connected to the servo input link 14 and the other end thereof is connected to a trim actuator 17 described later. When the servo input link 14 is displaced by operating the control stick 12,
The spring, which is the artificial sensation device 16, is displaced, and its restoring force acts as a reaction force.

The reaction force obtained as the steering holding force obtained by the artificial sensation device 16 of such a maneuvered aircraft is set to zero while the steering angle of the rudder 11 is held, and is the holding force of the control rod 12. Multi-stage trim device 1 to reduce steering force
0 is provided. The multistage trim device 10 includes a control stick 12
A trim actuator 17 for reducing the holding force of the trim actuator 17 and a trim switch 18 for operating the trim actuator 17 are provided. The trim actuator 17 has a base portion 17a connected to the machine body and a movable portion 17b displaceable with respect to the base portion 17a.
7b is connected to the other end of the artificial sensation device 16.

From the initial state shown in FIG. 1 (1), that is, the state in which the rudder 11 is not operated by the control stick 12, the control stick 12 is indicated by arrow E1 as shown in FIG. 1 (2), for example. When displaced in the up direction of the pitch direction, the servo input link 14 is displaced in the arrow D1 direction,
The hydraulic actuator 13 is driven and the rudder angle of the rudder 11 is operated as indicated by the arrow D2. At the same time, the connection point 19 of the artificial sensation device 16 with the servo input link 14 is displaced with the displacement amount L in the same direction D1. As a result, the spring, which is the artificial sensation device 16, is expanded with the displacement amount L, and the restoring force acts on the control stick 12 as a reaction force.

FIG. 2 is a perspective view showing a trim switch 18 provided on the control stick 12. In order to reduce the reaction force applied by the artificial sensation device 16 to zero, the trim switch 18 is operated in the direction E1 corresponding to the up direction E1 of the pitch direction to perform the trim actuator 17.
To operate. How the trim switch 18 is operated is detected by the detection unit 20, and the output signal osa generated from the detected trim switch 18 is given to the drive unit 21 that drives the trim actuator 17, and the drive unit 21 outputs the output signal osa. , The trim actuator is driven so that the movable portion 17a is displaced at the displacement speed v corresponding to the output signal osa. Like this, trim switch 1
1, the trim actuator 17 is operated, and FIG.
By extending the movable portion 17b with respect to the base portion 17a as shown in (3), the artificial sensation device 16 is returned to the initial state, that is, the state where no external force is applied,
The holding force of the control stick 12, that is, the control force is reduced.

FIG. 3 is a diagram schematically showing the trim switch 18. The trim switch 18 has an operation piece 22, and the operation piece 22 is symmetrical with respect to a neutral position 23 arranged when no external force is applied, and is a pitch which is a steering direction indicated by arrows E1 and E2. A plurality of (2 in this embodiment) contacts 24a, 24b, 25a, 25b along the direction
Are provided, and a plurality (two in this embodiment) of contacts 26a, 26b, 27a, 27b are provided along the roll direction which is another steering direction indicated by arrows F1 and F2. For example, an external force indicated by an arrow G is applied to the operation piece 22 so that the operation piece 22 is moved in the E1 direction by a virtual line 28.
By displacing to the position indicated by a, the contact 2
4a can be closed, and the contact 24b can be closed by further displacing to the position shown by the provisional wire 28b. The trim actuators 17 are provided in the pitch directions E1 and E2 and the roll directions F1 and F2, respectively. For example, when the trim actuators 17 provided in the pitch directions E1 and E2 are taken as examples, the contacts 24a and 24b are closed. The movable portion 17b is extended with respect to the base portion 17a, and when the contacts 25a and 25b are closed, the movable portion 17b is retracted with respect to the base portion 17a. Moreover, the plurality of contacts 24 provided in the same direction, for example, the up direction E1 of the pitch direction.
a and 24b are closed to generate a signal osa representing a different value, for example, the contact 24a generates a signal osa representing a "1" and the contact 24b a signal osa representing a "2".
Can occur.

FIG. 4 is a diagram showing a change with time when the trim actuator 17 is operated by the trim switch 18. In FIG. 4 (1), the horizontal axis represents time ta and the vertical axis represents the output signal osa of the trim switch 18. In FIG. 4B, the horizontal axis represents time ta and the vertical axis represents the displacement speed va of the movable portion 17b with respect to the base portion 17a. In FIG. 4C, the horizontal axis represents time ta and the vertical axis represents the displacement position pa of the movable portion 17b with respect to the base portion 17a. In FIG. 4 (4), the horizontal axis represents the time ta and the vertical axis represents the steering holding force wa for holding the steering angle of the rudder.

For example, when the control stick 12 is displaced in the pitch direction up direction E1, which is one of the steering directions, in order to hold the control stick 12 at that position, for example, the trim switch 18 pitch direction up direction E1. The contact point 24a or 24b provided along is closed. FIG.
As shown in (1), when the contact 24b is closed at time ta1, until the contact 24a is closed at time ta2,
An output signal osa representing "2" is generated, and as shown in FIG. 4 (2), the trim actuator 17 is operated from time ta1 to ta2 at the displacement speed v = va2 corresponding to "2" represented by the output signal osa. The movable portion 17b extends from the base portion 17a. Further, as shown in FIG. 4 (1), when the contact 24a is closed at time ta2, the output signal osa representing "1" is generated until the contacts 24a and 24b are opened at time ta3, and FIG. As shown in, the displacement speed v = va1 corresponding to "1" represented by the output signal osa
Then, from the time ta2 to the time ta3, the movable portion 17b of the trim actuator 17 extends with respect to the base portion 17a.

As a result, as shown in FIG. 4 (3),
During the period from time ta1 to time ta2, the movable portion 17b moves from the displacement position p = pa1 to p = pa2 with respect to the base portion 17a.
The movable portion 17b is displaced with respect to the base portion 17a from the displacement position p = pa2 to p = pa3 between time ta2 and time ta3. Due to the displacement of the movable portion 17b, as shown in FIG. 4 (4), the steering holding force w is changed to the time ta1.
From the time ta2 to the time ta2, and further from the time ta2 to the time ta3, wa
Decrease from 2 to zero. In this way, the steering force, that is, the holding force of the control stick 12 is reduced.

As described above, the multistage trim device 10 according to the present invention has the plurality of contacts 24a, 24b, 25a, 25b symmetrically provided at the neutral position 22 with respect to the operation direction of the trim switch 18, for example, the pitch directions E1, E2. It selectively opens and closes to provide a base 17 for the trim actuator 17.
The displacement speed v of the movable portion 17b with respect to a can be selected. Accordingly, when a large trim correction is required, a large trim speed, that is, the displacement speed v = va2 of the movable portion 17b is corrected in a short time, and when a small precision trim correction is required, a small trim speed (v = va2 Since it can be corrected accurately with va1),
For example, by preventing problems such as the reaction force in the opposite direction being generated due to excessive trim correction, the pilot can make suitable trim correction according to the situation, improving convenience.
Operability is improved.

Of course, as another embodiment of the present invention, 1
With respect to one steering direction, three or more contacts may be provided symmetrically with respect to the neutral position to further improve operability.

FIG. 5 is a perspective view showing a continuous trim switch 31 provided in a continuous trim device 30 according to another embodiment of the present invention. The continuous trim device 30 is a trim switch 18 of the multi-stage trim device 10 of the embodiment shown in FIGS.
Instead, a continuous trim switch 31 is provided. The continuous trim switch 31 has a pitch direction indicated by arrows H1 and H2 which are steering directions and arrows J1 and J which are other steering directions.
2, a continuous switch 32 for performing trim correction in the roll direction, and arrow K1, which is another steering direction.
And a continuous switch 33 for performing trim correction in the yaw direction indicated by K2.

The continuous switch 32 is composed of, for example, a variable rotation resistance or a rotary encoder, and has a spherical operation piece 34, and the operation piece 34 is arranged in a pitch direction from a neutral position which is arranged when no external force is applied. H1, H2
Displacement, that is, rotation along, generates a substantially continuous output signal osb that represents a substantially continuous value corresponding to the amount of displacement, that is, the amount of rotation. In addition, the operation piece 34
Is displaced from the neutral position in the roll directions J1 and J2 to generate a substantially continuous output signal osb representing a substantially continuous value corresponding to the displacement amount.

Moreover, as shown in FIG. 6, the displacement amount y is displaced in the down direction H1 in the pitch direction from the neutral position (0), the displacement amount x is in the right direction J2 in the roll direction, and the displacement is performed at the point z at the same time. Can be made. That is, the continuous switch 32 operates in the pitch direction H which is two steering directions.
1, H2 and the roll directions J1, J2 can be simultaneously output, and the two trim actuators 17 can be simultaneously operated by the simultaneous output. As a result, the two steering directions, that is, the pitch directions H1 and H
2 and the roll directions J1 and J2 can be corrected at the same time, and the operation time can be shortened.
The pilot can spend time on other operations. Moreover, it is easy to make corrections at the same time as the pilot's feeling, that is, the operation of the control stick 12, and the operability is improved.

The continuous switch 33 is composed of, for example, a variable rotation resistor or a rotary encoder,
The operation piece 35 has a cylindrical operation piece 35, and the operation piece 35 moves from the neutral position, which is arranged when no external force is applied, to the yaw direction K1,
By displacing, that is, rotating along K2, a substantially continuous output signal osb representing a substantially continuous value corresponding to the amount of displacement, that is, the amount of rotation is generated. These continuous switches 32 and 33 can use continuous switches with a light operating force as compared with the conventional switches that require an operating force of about 1 pound, and can be operated with an index finger, for example. As shown in 5, one control stick 12
Three or more (three in this embodiment) steering directions, that is, pitch directions H1 and H2, roll directions J1, J2 and K1,
A continuous trim switch 31 corresponding to K2 can be provided.

For example, in a helicopter adopting the fly-by-wire system, a side stick controller for controlling three or more directions with one control stick 12 may be used, but the continuous trim as described above is used. By providing the switch 31, trim correction in three or more steering directions can be performed with one hand, and it is easy to correspond to the feeling of the pilot, that is, the operation of the control stick 12, and the operability is improved. Furthermore, since the other hand can be used to perform other operations, operability is improved and a plurality of operations can be performed efficiently. Moreover, it is not necessary to provide the trim switch, that is, the continuous trim switch 31, at a position different from the control stick 12.

Further, in the continuous trim device 30, the trim actuator 17 has a movable portion 17b which is displaceable with respect to the base portion 17a at a substantially continuous displacement speed vb, and the trim actuator 17 has a pitch direction H1. H
2, the roll directions J1 and J2, and the yaw directions K1 and K2, respectively.
Taking the trim actuator 17 provided on the No. 2 as an example, for example, the operation piece 34 has the up direction H2 in the pitch direction.
When the movable portion 17b is displaced with respect to the base portion 17a at a displacement speed vb corresponding to the displacement amount and is displaced in the down direction H1 in the pitch direction, the displacement corresponding to the displacement amount. Moving part 17 at speed vb
b is configured to be degenerated with respect to the base 17a.

Other parts having the same constructions as those of the embodiment shown in FIGS. 1 to 4 are designated by the same reference numerals and the description thereof will be omitted.

FIG. 7 is a diagram showing changes over time when the trim actuator 17 is operated by the trim switch 31. In FIG. 7A, the horizontal axis represents time tb and the vertical axis represents the output signal osb of the trim switch 31. In FIG. 7 (2), the horizontal axis represents time tb and the vertical axis represents the displacement speed vb of the movable portion 17b with respect to the base portion 17a. In FIG. 7 (3), the horizontal axis represents time tb and the vertical axis represents the displacement position pb of the movable portion 17b with respect to the base portion 17a. In FIG. 7 (4), the horizontal axis represents time tb, and the vertical axis represents the steering holding force wb for holding the steering angle of the rudder.

For example, when the control stick 12 is displaced in the up direction H2, which is one of the steering directions, in order to hold the control stick 12 at that position, for example, the continuous switch 32 of the continuous trim switch 31 is pitched. It is displaced along the up direction H2. As shown in FIG. 7 (1), the operation piece 34 is displaced from the time tb1, an output signal osb representing a value corresponding to the displacement amount is generated, and the time tb1 is generated.
The operation piece 34 is displaced to the position where the signal osb representing "osb1" is generated in b2, and the operation piece 34 is displaced from the time tb2 to the time tb3.
Until then, the output signal osb representing "osb1" is generated. Correspondingly, as shown in FIG. 7 (2), the movable portion 17b of the trim actuator 17 is moved to the base portion 17a from the time tb1 to the time tb2 at the gradually increasing displacement velocity vb corresponding to the value represented by the output signal osb. The movable portion 17b is displaced at a displacement velocity vb = vb1 corresponding to "osb1" during the period from time tb2 to time tb3. In the case of making such a large trim correction, the operation piece 34 is largely displaced to displace the movable portion 17b at a large displacement speed vb, and as shown in FIG. 7C, the movable portion 17b is displaced to the displacement position pb1. To pb2, w
The steering holding force decreases from b1 to wb2.

Further, as shown in FIG. 7A, time t
The displacement amount of the operation piece 34 is reduced from b3 to time tb4, and the operation piece 34 is displaced to the position where the signal osb representing “osb2” is generated at time tb4, and the time tb4.
From the time to the time tb5, the output signal osb representing "osb2" is generated. Correspondingly, as shown in FIG. 7 (2), at the gradually decreasing displacement velocity vb corresponding to the value represented by the output signal osb, from time tb3 to tb4,
The movable portion 17b is extended, and the displacement speed vb = vb2 corresponding to "osb2" is obtained from time tb4 to time tb5.
The movable portion 17b is extended. When performing such a small trim correction, the displacement amount of the operation piece 34 is reduced,
The movable part 17b is displaced at a small displacement velocity vb, and
As shown in (3), the movable portion 17b is displaced from the displacement position pb2 to pb3, and as shown in FIG. 7 (4), wb
The steering holding force decreases from 2 to wb3.

From time tb5 to time tb6 when the holding force becomes almost zero, the displacement of the operating piece 34 is gradually reduced, and as shown in FIG. 7 (2), the movable portion 17b becomes smaller. It is extended at the displacement speed vb. by this,
As shown in FIG. 7 (3), the movable portion 17b moves to the displacement position pb.
The displacement is changed from 3 to pb4, and the steering holding force w is reduced from wb3 to zero as shown in FIG. 7 (4). In this way,
The steering force, that is, the holding force of the control stick 12 is reduced.

As described above, in the continuous trim device 30 according to the present invention, with respect to the operation direction of the continuous trim switch 31, for example, the pitch directions H1 and H2, the output signal osb corresponding to the operation amount from the neutral position causes the movable portion 17b to move. A displacement velocity vb corresponding to the base portion 17a can be given. With this, when a large trim correction is required, a large trim speed, that is, the displacement speed vb of the movable portion 17b is selected and corrected in a short time, and when a small precision trim correction is required, the small trim speed vb is used. Therefore, the pilot can make a suitable trim correction according to the situation, which improves convenience and operability. Moreover, the output signal is substantially continuous, and it is possible to select a substantially continuous trim speed, so it is possible to prevent problems such as over-correction of the trim and resulting in a reaction force in the opposite direction. The technician can make a suitable trim correction according to the situation, improving convenience and operability.

Further, as another embodiment of the present invention, FIG.
The amount of displacement of the operation pieces 34 and 35 provided in the continuous trim switch 31 of the embodiment shown in FIG.
It may be made to correspond to the displacement position pc of the movable part 17 b provided in the No. 7. The other parts having the same configurations as those of the above-described embodiments are designated by the same reference numerals, and the description thereof will be omitted.

FIG. 8 is a diagram showing changes with time when the trim actuator 17 is operated by the trim switch 31. In FIG. 8A, the horizontal axis represents time tc and the vertical axis represents the output signal osc of the trim switch 31. In FIG. 8 (2), the horizontal axis represents time tc and the vertical axis represents the displacement speed vc of the movable portion 17b with respect to the base portion 17a. In FIG. 8 (3), the horizontal axis represents time tc and the vertical axis represents the displacement position pc of the movable portion 17b with respect to the base portion 17a. In FIG. 8 (4), the horizontal axis represents the time tc, and the vertical axis represents the steering holding force wc for holding the steering angle of the rudder.

For example, in order to hold the control stick 12 at the position when the control stick 12 is displaced in the up direction H2 of the pitch direction which is one of the control directions, a continuous switch 32 of the continuous trim switch 31 is provided. The operated operation piece 34 is displaced along the up direction H2 in the pitch direction. As shown in FIG. 8 (1), the operation piece 3 starts from time tc1.
4 is displaced, an output signal osc representing a value corresponding to the displacement amount is generated, and the operation piece 3 is operated at a constant speed until time tc2.
4 is displaced. Correspondingly, as shown in FIG. 8C, the base portion 17a of the movable portion 17b provided in the trim actuator 17 corresponds to the value represented by the output signal osc.
The displacement position pc for is given. That is, tc1
The moving speed of the movable part 17b is vc = vc1
Is stretched. In the case of performing such a large trim correction, the operation piece 34 is displaced at a large speed, and the movable portion 17b is displaced at a large displacement speed vc corresponding to the displacement amount, as shown in FIG. 8 (3). Then, the movable portion 17b is displaced from the displacement position pc1 to pc2, and the steering holding force is reduced from wc1 to wc2 as shown in FIG. 8 (4).

Further, as shown in FIG. 8 (1), time t
The operation piece 34 is gradually displaced from c2 to time tc3, and the movable portion 17b is displaced corresponding to the value represented by the output signal osc as shown in FIG. 8C. That is, t
From c2 to tc3, the movable portion 17b is gradually extended at vc at a displacement speed that is gradually reduced. In the case of performing such a small trim correction, the operation piece 34 is displaced at a small speed, and the small displacement speed v is corresponding to the displacement amount.
The movable part 17b is gradually displaced by c, the movable part 17b is displaced from the displacement position pc2 to pc3 as shown in FIG. 8 (3), and the steering holding from wc2 to zero is performed as shown in FIG. 8 (4). The power is reduced. In this way, the steering force, that is, the holding force of the control stick 12 is reduced.

As described above, in the other continuous trim device 30 according to the present invention, with respect to the operation direction of the continuous trim switch 31, for example, the pitch directions H1 and H2, the movable portion 17b is driven by the output signal osc corresponding to the operation amount from the neutral position. It is possible to give a displacement position pc corresponding to the base portion 17a of the. As a result, when a large trim correction is required, it can be corrected in a short time by a large operation amount of the trim switch, and when a small precision trim correction is required, it can be corrected accurately by a small operation amount of the trim switch. Therefore, the pilot can make a suitable trim correction according to the situation, which improves convenience and operability. In addition, since the output signal osc is substantially continuous and the displacement position pc of the movable portion can be selected substantially continuously, for example, the trim correction may be excessively performed to cause a reverse reaction force. In addition, the pilot can make a suitable trim correction according to the situation, can select a more suitable displacement position, and can directly select and command the displacement position pc. That is, a feeling similar to the operation of the control stick is obtained, and the operability is further improved. Further, for example, in an aircraft or the like in which a fly-by-wire system is adopted, when the main control is disabled for some reason, it can be used as a backup control signal, and further safety can be secured.

[0044]

As described above, according to the present invention, when a large trim correction is needed, a large trim speed is used for a short time correction, and when a small precision trim correction is needed, a small trim speed is used. Therefore, the pilot can make a suitable trim correction according to the situation, which improves convenience and operability.

Further, when the continuous trim switch is used, the output signal is substantially continuous, and the substantially continuous trim speed can be selected. Therefore, a more suitable trim speed can be selected. Operability is improved.

Further, according to the present invention, trim correction in at least two steering directions can be performed at the same time, and the operation time can be shortened, so that the pilot can spend time for other operations. Moreover, it is easy to make corrections at the same time as the pilot's feeling, that is, the operation of the control stick, and the operability is improved. Furthermore, trim corrections in three or more steering directions can be performed with one hand, and it is easy to correspond to the feeling of the pilot, that is, the operation of the control stick, and the operability is improved. In addition, since the other hand can be used to perform other operations, operability is improved and a plurality of operations can be performed efficiently.

[Brief description of drawings]

FIG. 1 is a schematic view showing a multistage trim device 10 of an embodiment of the present invention, FIG. 1 (1) shows an initial state, and FIG.
(2) shows a state where the rudder 11 is operated by the control stick 12, and FIG. 1 (3) shows a state where the trim actuator 17 is operated by the trim switch 18.

FIG. 2 is a perspective view showing a trim switch 18 provided on the control stick 12.

FIG. 3 is a diagram schematically showing the trim switch.

FIG. 4 is a diagram showing a change over time when the trim actuator 17 is operated by the trim switch 18 of the present embodiment. FIG. 4 (1) shows an output signal o of the trim switch 18.
4 (2) shows the displacement speed va of the movable portion 17b.
4 (3) shows the displacement position pa of the movable portion 17b, and FIG. 4 (4) shows the steering holding force wa.

FIG. 5 is a perspective view showing a control stick 12 including a continuous trim device 30 according to another embodiment of the present invention.

FIG. 6 is a view for explaining an operation state of an operation piece 34 included in a continuous trim switch 31 included in the trim device 30.

7 is a diagram showing a change with time when the trim actuator 17 is operated by the continuous trim switch 31, and FIG. 7 (1) shows an output signal osb of the trim switch 31.
7 (2) shows the displacement speed vb of the movable portion 17b, FIG. 7 (3) shows the displacement position pb of the movable portion 17b,
FIG. 7 (4) shows the steering holding force wb.

FIG. 8 is a trim switch 31 according to an embodiment of the present invention.
FIG. 9 is a diagram showing a change with time when the trim actuator 17 is operated by the trim switch 3, and FIG.
8 (2) shows the output signal osc of FIG.
8 (3) shows the displacement position pc of the movable portion 17b, and FIG. 8 (4) shows the steering holding force wc.

FIG. 9 is a diagram schematically showing a trim switch 1.

10 is a diagram showing a change over time when a trim actuator is operated by a trim switch 1. FIG.
(1) shows the output signal OS of the trim switch 1, and FIG.
0 (2) shows the displacement speed V of the movable part, FIG. 10 (3) shows the displacement position P of the movable part, and FIG. 10 (4) shows the steering holding force W.

[Explanation of symbols]

 10 Multi-stage trim device 11 Rudder 12 Control stick 13 Hydraulic actuator 16 Artificial sensation device 17 Trim actuator 18 Trim switch 22, 34, 35 Operating piece 31 Continuous trim switch 32, 33 Continuous switch

Claims (5)

[Claims] 1. A trim actuator having a base portion and a movable portion displaceable with respect to the base portion, and reducing a holding force for holding a control stick that is displaced in at least one steering direction; and a trim actuator along the steering direction. And a trim switch having a plurality of contacts symmetrically with respect to the neutral position, and selectively opening and closing the plurality of contacts to select a displacement speed with respect to the base of the movable part. Trim device. 2. A trim actuator having a base portion and a movable portion displaceable with respect to the base portion, and reducing a holding force for holding a control stick that is displaced in at least one steering direction; and a trim actuator along the steering direction. And a continuous trim switch that generates a substantially continuous output signal corresponding to the operation amount from the neutral position, and the trim actuator is provided with a displacement speed with respect to the base portion in response to the output signal. A continuous trim device characterized by giving. 3. A trim actuator having a base portion and a movable portion displaceable with respect to the base portion, and reducing a holding force for holding a control stick that is displaced in at least one steering direction; and a trim actuator along the steering direction. And a continuous trim switch that generates a substantially continuous output signal in response to the operation amount from the neutral position, and provides the trim actuator with the displacement position of its movable portion in response to the output signal. A continuous type trim device. 4. The trim actuator is provided for each of a plurality of steering directions, and the continuous trim switch is capable of simultaneously outputting in at least two steering directions of the plurality of steering directions.
4. The continuous trim device according to claim 2, wherein at least two trim actuators can be simultaneously operated by the simultaneous output. 5. The continuous trim device according to claim 2, wherein one control stick is provided with continuous trim switches corresponding to three or more steering directions.