CN1776560A - 带有冗余传感器处理的操纵杆装置 - Google Patents

带有冗余传感器处理的操纵杆装置 Download PDF

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CN1776560A
CN1776560A CNA2005100996600A CN200510099660A CN1776560A CN 1776560 A CN1776560 A CN 1776560A CN A2005100996600 A CNA2005100996600 A CN A2005100996600A CN 200510099660 A CN200510099660 A CN 200510099660A CN 1776560 A CN1776560 A CN 1776560A
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CN1776560B (zh
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J·O·布洛奇
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Danfoss Power Solutions Inc
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/05—Means for returning or tending to return controlling members to an inoperative or neutral position, e.g. by providing return springs or resilient end-stops
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/06—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for holding members in one or a limited number of definite positions only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04774—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional switches or sensors on the handle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20201—Control moves in two planes

Abstract

一具有可枢转地连接于底座组件的手柄的操纵杆装置。该底座组件具有传感元件，传感元件可在手柄围绕底座组件枢转时检测其移动。一微处理器内置于基座组件和传感组件。该微处理器在将输出信号传送至远程控制器之前先对其进行验证。

Description

带有冗余传感器处理的操纵杆装置
相关申请的交叉引用
本申请要求于2004年8月30日提交的美国临时专利申请60/605466的优先权。
技术领域
本发明涉及一控制装置，更具体地说涉及用于控制重型机器的操纵杆装置。
用一操纵杆装置控制一件重型机器已经是很平常的事了。在这种配置中，操作员握住操纵杆装置并用它操纵机器或执行其他功能。另外，操纵杆装置可包含输入按钮以允许操作员控制机器的其他功能。例如，在一起重机中，操纵杆装置可包括输入按钮以允许操作员控制抬升臂的移动和定位。
这类操纵杆装置的缺点在于它们需要大量的电气连接。各输入源，包括任何输入按钮和手柄本身都需要电气连接。一般说，每路输入都需要电源连接和接地连接以提供电源和数据连接以发送一输出信号到位于远端的主控制器。结果，传统操纵杆装置一般使用很多导线和电缆，这倾向于笨重和损害空间。
Brandt等人的美国第6550562号专利公开一操纵杆控制器，它可沿一侧往另一侧或从前向后枢转。另外Brandt等人的装置具有多个用来控制交通工具的其他功能的输入按钮，诸如转弯信号、喇叭和抬升臂的特定动作。所有这些输入按钮电气连接在设于手柄内的微处理器。该微处理器合成这些输入并发送单列串行信号至位于远端的主控制器，该主控制器控制并驱动起重机或其他重型机器。
如上所述存在许多类型的制造的操纵杆。对现时的操纵杆装置，有些采用每轴两霍尔效应传感器以产生冗余传感。然而，迄今为止来自这类传感器的信息都在操纵杆本身的远端被处理。在电气装置对故障很敏感时远端处理是不利的。在有故障的情况下，装置既可发出一表示出错的信号也可发出一在正常预期操作范围内的错误或低劣信号。这第二种类型的信号对使用电子装置的系统提出一问题，由于系统无法区分是否信号是事实上系统的指令或这是一个错误信号。在电子操纵杆与位于远端的微控制器和作为系统一部分的交通工具协同使用的情况下，这类故障的结果(当操纵杆失效并发出一在操作范围内的错误信号或低劣信号，但不是所指令的信号)导致一不安全状态。由此在业内对操纵杆存在要求，即能阻止这类产生不安全状态的故障的发生。
因此，本发明的主要目的是提供一使用冗余传感器操纵杆装置和车载微处理器以确定是否装置上存在故障。
本发明的另一目的是提供一能够安全地中断操纵杆功能的操纵杆装置。
本发明的又一目的是提供一操纵杆装置，该操纵杆装置能继续使操纵杆工作并发送一出错信号以表示该信号不再被验证。
对业内人士来说，这些和那些目的是很明显的。
发明概述
一具有可枢转地连接于底座组件的手柄组件的操纵杆装置。底座组件具有传感元件，该传感元件在围绕底座组件枢转的同时检测手柄组件的移动。一微处理器内置于底座组件和传感元件。该微处理器在将输出信号传送至远端控制器之前先对其进行验证。
附图简述
图1是本发明的操纵杆装置的立体图。
图2是图1所示操纵杆的主视图。
图3是图1所示操纵装置的侧视图。
图4示出当传感器输入正确(公称)时和的曲线。
图5示出了假设来自霍尔传感器的输入值如表2所示时和的图表。
图6示出了算法中包括空档位置情况下和的极值的情况下的图表。
图7示出了算法将空档位置引入和极值的计算中的情况下的图表。
具体实施方式
参照图1-3，这里公开一包括可枢转地连接于底座组件14的手柄组件12的操纵杆装置10。该手柄组件12的形状可根据特定应用场合与操作者的手相适应。
手柄组件12包括一个或多个输入按钮16用于控制特定功能。输入按钮16较佳地为数字输入。或者，输入也可以是比例或模拟输入17。
微处理器18内置于手柄组件12。微处理器18可与输入按钮16和互连装置20进行电子通信。微处理器18接收来自输入按钮16的信号并输出单列串行通信数据流到互连装置20。串行通信数据流可以是标准结构，诸如RS232或CAN，但也可包括任何定制设计方案。
手柄组件12通过一柔性部件22可枢转地连接于底座组件14。该柔性部件22使手柄组件12相对于底座组件14前后枢转和从一侧向另一侧枢转。
底座组件14包括一安装盘24，该安装盘24使操纵杆装置10可被固定于操作者所希望的任何位置上。
传感元件26内置于底座组件14，传感元件26在其围绕底座组件14枢转时检测手柄组件12的移动。
微处理器28内置于底座组件14，微处理器28通过互连装置20、传感元件26以及位于远端的主控制器(未图示)与手柄微处理器18进行电子通信。微处理器28将单列串行通信信号流传送到位于远端的主控制器，远端主控制器用来驱动控制致动器(未图示)和其他控制重型机器功能的设备。串行通信数据流可以是标准结构，诸如RS232或CAN，但也可包括任何定制设计方案。
一外部互连装置30位于底座14上并在底座微处理器28和位于远端的主控制器之间进行电子通信。具体地说是一接合于外部互连装置30并将操纵杆装置10连接于位于远端的主控制器的电缆(未图示)。
多个微处理器可与所有输入按钮和传感元件进行电气通信，以使单列串行通信数据流从操纵杆装置传递到位于远端的主控制器。
较佳地，在一给定的旋转轴线上使用两霍尔效应传感器26。各传感器26位于磁体附近。当操纵杆10沿其中心枢转时，传感器26测量磁场的变化。一传感器测量磁场围绕特殊轴线的变化，另一个则测量磁场围绕相同轴线(与前一轴线差180°)的变化。
由于磁场的几何特性，两传感器的输出是相反的。如果第一霍尔效应传感器测量到产生一递增的输出的磁场的变化，那么第二传感器将测量到产生一递减的输出的磁场变化。例如，当用于操纵杆的来自传感器的输出被设为电源的50％或5伏电源的2.5伏，这是很典型的。当操纵杆沿传感器所定位的轴线枢转时，霍尔效应传感器输出将呈正比地增加。因此当操纵杆10顺时针旋转时，来自传感器的输出将从电源电压的50％递增至51％至52％直到100％(这取决于应用于传感器的设置和旋转量)。第二传感器从磁体的另一侧检测到相同的磁场，由此观察到一递减的输出。当操纵杆10沿同样顺时针方向旋转时，传感器的输出将从电源电压的50％递减至49％至48％直到0％(这取决于应用于传感器的设置和旋转量)。
这两个传感器26均电气连接于一安装于操纵杆10的微处理器28。微处理器28比较来自(2)霍尔效应传感器的输出以确保两信号均落在相似的范围内。只要发现这是真的，操纵杆运行正常。如果处理器28在读取时检测到不一致，则将操纵杆10置于一安全的电气状态，即来自操纵杆的输出被锁定为电中性。
车载微处理器28同样可被编程以智能地判定是否由于故障而需完全令操纵杆停止，或是否操纵杆10的运作能够理想地进行下去。软件算法能检查并比较是否(2)霍尔效应传感器处于正常操作范围内。如果一传感器(在该情况下为传感器A)处于正常范围而另一(传感器B)在正常范围外，则可使操纵杆基于传感器A的输入而工作。然后微处理器28可发送一有效信号和一报警或误差以表示信号未经验证。
如下所述的算法处理来自冗余传感器26的信息。来自传感器26的信号必需具有相反的斜率。当主传感器信号从高到低变化时副传感器信号从低到高变化。如下所述的算法对X轴和Y轴均适用。
当操纵杆10工作时，算法将来自各冗余传感器26的输入相加，其结果应接近一恒定值的和，该和与给定的值比较以检查是否和在有效区内。允许和有一定程度的偏差。如果和掉出有效极值之外，则信号在CAN总线上在正常消息中被发送，另外发送一DM1消息。
表1示出当传感器输入正确(公称)时和的曲线。主副传感器输入显示在传感器信号中可能存在某些非线性。有相反的斜率。当主传感器信号从高到低变化时副传感器信号从低到高变化。如下所述的算法对X轴和Y轴均适用。
当操纵杆10工作时，算法将来自各冗余传感器26的输入相加，其结果应接近一恒定值的和，该和与给定的值比较以检查是否和在有效区内。允许和有一定程度的偏差。如果和掉出有效极值之外，则信号在CAN总线上在正常消息中被发送，另外发送一DM1消息。
表1示出当传感器输入正确(公称)时和的曲线。主副传感器输入显示在传感器信号中可能存在某些非线性。
校准中：校准例程将如何计算和与和的极值的说明如下。
  动作(操作子)   动(内部操纵杆)  例子(取自图4的值)   注释
  1   移动控制杆至右方满刻度   测量主副传感器并存储在EEPROM中，计算和  主＝4副＝1和＝5   在点2和3处测量
  2   移动控制杆至左方满刻度   测量主副传感器并存储在EEPROM中，计算和  主＝1副＝4和＝5   在点1和4处测量
  3   计算和必需落在其内的极值  和的有效区域＝和+-x，xV   +-x，xV＝使用来自先前的经验值。极值(+-)必需足够大以避免由于传感器输出的非线性而产生的故障
                              表1
和的有效区如图4所示。当操纵杆工作时，对霍尔传感器的各采样/测量，其输入将与和的有效区域进行比较。
当传感器信号偏离正常值时；如假设来自霍尔传感器的输入值将如表2，图5示出了相应的图表。
  主传感器   副传感器   结果和跨距
  最大   最小   最大   最小
  4.5   0.5   3.5   1.5   最大跨距
                  表2
即使有远离正常输出的传感器值，算法将检测出是否传感器其中之一有故障。一信号上的误差必需是在超过极值之前就有一定的幅度(算法的灵敏性)。
极值应设定为使算法不会产生“不想要的”误差，即传感器的非线性必需包括在极值范围内。开始时应将这些极值设得范围广些，然后慢慢地最小化，如同经验的获取一样。
如果霍尔传感器26非线性度很高，则对冗余传感器算法的校准例程进行扩展以包含更多校准点，而不是仅包括端点和，相关图表请参见图6。
如果非线性度不是已知的，如上面提到的那样，算法应将空档位置引入和极值的计算中，相关图表如图7所示。
在工作时，操纵杆装置10被安装在操作者可触及的范围内并用来控制重型机器之类设备的移动。操作者握住操纵杆装置10并根据操作者的输入影响重型机器的移动。如所描述的那样，操作者触发一个或多个输入按钮16和17将数据信号发送至手柄微处理器18。手柄微处理器18通过互连装置20将来自输入按钮16的信号作为单列串行通信数据串传递到底座微处理器28。如所述那样，操作者相对于底座组件14枢转手柄组件12，由此从传感元件26触发输出信号。底座微处理器28通过互连装置20接收来自传感元件26的信号以及来自手柄微处理器18的串行通信数据流以基于前述标准处理一输出信号。底座微处理器28通过外部互连装置30和相关电缆将一单列串行通信数据流传输至位于远端的主控制器。基于操作者对操纵杆装置10的操控，主控制器控制并驱动控制致动器(未图示)和其他控制重型机器的设备。
要注意操纵杆装置10可在没有手柄微处理器18的情况下工作。在这种设置中，输入按钮16直接连接于底座微处理器28，底座微处理器28接收来自输入按钮16和传感元件26的输入并传送单列串行通信数据流到位于远端的主控制器，而主控制器驱动控制致动器(未图示)和其他控制重型机器的设备。
另外，底座微处理器28可直接驱动控制致动器(未图示)和其他控制重型机器的设备。在这种设置中，底座微处理器28将输出信号直接传送至控制致动器和其他控制重型机器的设备。
因此可知本发明提供一操纵杆装置，它使用冗余传感器和一车载微处理器以判定是否设备发生故障。另外，本发明提供一能够安全地中断操纵杆功能的操纵杆装置。最后，本发明提供一操纵杆装置，它能使操纵杆继续工作并发出一误差消息以表示该信号是可不再验证的。

Claims (5)

1.一操纵杆装置，包括：
一可枢转地连接于底座组件的手柄组件；
内置于底座组件的传感元件，所述传感元件在围绕底座组件枢转时检测手柄组件的移动；以及
一内置于底座组件并连接于手柄组件和传感元件的微处理器，其中所述微处理器在传输输出信号前对来自传感元件的输出信号进行验证。
2.如权利要求1所述装置，其特征在于，一第二微处理器内置于手柄组件并连接于底座微处理器。
3.如权利要求1所述装置，其特征在于，当微处理器检测到不一致时，微处理器发出一将操纵杆电气锁定在一空档的输出信号。
4.如权利要求1所述装置，其特征在于，当检测到故障时，微处理器发出一令操纵杆停止的输出信号。
5.如权利要求1所述装置，其特征在于，当传感元件中的一个的运作落在正常范围之外时，微处理器发送一有效输出信号和一报警信号。
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CN104834210A (zh) * 2015-03-24 2015-08-12 上海新跃仪表厂 一种基于双位置传感器的冗余控制方法
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CN107643682A (zh) * 2017-08-23 2018-01-30 中车青岛四方机车车辆股份有限公司 用于切换司控器冗余信号的控制方法和装置

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