1、_ SAE Technical Standards Board Rules provide that: “This report is published by SAE to advance the state of technical and engineering sciences. The use of this report is entirely voluntary, and its applicability and suitability for any particular use, including any patent infringement arising there
2、from, is the sole responsibility of the user.” SAE reviews each technical report at least every five years at which time it may be revised, reaffirmed, stabilized, or cancelled. SAE invites your written comments and suggestions. Copyright 2013 SAE International All rights reserved. No part of this p
3、ublication may be reproduced, stored in a retrieval system or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of SAE. TO PLACE A DOCUMENT ORDER: Tel: 877-606-7323 (inside USA and Canada) Tel: +1 724-776-497
4、0 (outside USA) Fax: 724-776-0790 Email: CustomerServicesae.org SAE WEB ADDRESS: http:/www.sae.org SAE values your input. To provide feedback on this Technical Report, please visit http:/www.sae.org/technical/standards/ARP5764 AEROSPACE RECOMMENDED PRACTICE ARP5764 Issued 2013-02 Aerospace Active In
5、ceptor Systems for Aircraft Flight and Engine Controls RATIONALE Active Inceptor Systems are a class of pilot cockpit controllers that include a programmable servo actuator controlled feel-force system, and are being developed and flight tested for both fixed and rotary wing aircraft, some of which
6、are entering service. This Aerospace Recommended Practice fulfills the need for a document which defines the general characteristics and requirements for these feel-force control systems. FOREWORD Advances in flight control technology have helped optimize the performance of modern aircraft, and incl
7、ude selectable changes in aircraft configuration and extensive flight control system augmentation. Pilots require uniform and predictable aircraft response during changes in the configuration and flight conditions. This requirement is being addressed by active cockpit controllers, also known as Acti
8、ve Inceptors, which function as programmable, servo actuator controlled, feel-force systems. Active cockpit controllers may include a variety of pilot controls; side sticks, center sticks, engine controls, yaw controls, and cyclic and collective controllers. TABLE OF CONTENTS 1. SCOPE 3 1.1 Purpose
9、. 3 2. REFERENCES 3 2.1 Applicable Documents 3 2.1.1 SAE Publications . 3 2.1.2 RTCA Publications 3 2.1.3 ATA Publications . 4 2.1.4 U.S. Government Publications 4 2.1.5 FAA Publications . 4 2.1.6 EASA Publications 5 2.1.7 ASTM Publications 5 2.2 Definitions . 5 2.2.1 Cockpit Controllers 5 2.2.2 Spe
10、cific Inceptor Terms 5 2.2.3 Control Systems for Active Inceptors 8 2.2.4 Types of Active Inceptor Systems . 8 3. REQUIREMENTS . 13 3.1 General System Requirements . 13 3.1.1 Safety and Operability Considerations . 13 3.1.2 Reliability and Redundancy Considerations . 17 3.1.3 Continued Airworthiness
11、 . 18 3.1.4 Maintainability Considerations 18 SAE ARP5764 Page 2 of 52 3.1.5 Electromagnetic Interference Requirements 18 3.1.6 Environmental Considerations 19 3.2 System Performance Requirements . 20 3.2.1 Operational Modes 20 3.2.2 Dynamic Performance 21 3.3 System Design Requirements 30 3.3.1 Two
12、 Axis Inceptors (Pitch and Roll Control) . 30 3.3.2 Engine Control Inceptors 37 3.3.3 Rotorcraft Collective Controls . 44 3.3.4 Yaw Inceptors (including Rudder Pedals) . 49 4. QUALITY ASSURANCE PROVISIONS 49 4.1 Storage and Shipping requirements . 49 4.2 Marking/Identification 50 4.3 Test Requiremen
13、ts : Endurance/Durability . 50 4.4 Mathematical Modeling . 51 5. NOTES 52 FIGURE 1 PITCH/ROLL INCEPTOR GEOMETRY DEFINITIONS . 6 FIGURE 2 HEAVE AXIS INCEPTOR GEOMETRY DEFINITIONS . 7 FIGURE 3 INCEPTOR FUNCTIONAL DIAGRAM . 8 FIGURE 4 EXAMPLE SIDE STICK INCEPTOR 9 FIGURE 5 EXAMPLE CENTER STICK INCEPTOR
14、S . 10 FIGURE 6 EXAMPLE ACTIVE ENGINE THROTTLE CONTROLLER (LINEAR) 11 FIGURE 7 EXAMPLE ROTORCRAFT COLLECTIVE INCEPTOR 12 FIGURE 8 EXAMPLE FORCE-DISPLACEMENT CHARACTERISTIC . 22 FIGURE 9 IDEALIZED ENGINE CONTROL/COLLECTIVE FORCE-DISPLACEMENT CHARACTERISTIC 24 FIGURE 10 EXAMPLE OF ASYMMETRIC ROLL GRAD
15、IENTS . 36 TABLE 1 EXAMPLE LOADING SPECTRUM . 51 SAE ARP5764 Page 3 of 52 1. SCOPE 1.1 Purpose The purpose of this document is to develop the general characteristics and requirements for feel-force control systems for active cockpit controllers, also known as Active Inceptors. The document presents
16、technical material that describes the recommended key characteristics and design considerations for these types of systems. Where appropriate, the effects of platform specific requirements (e.g., single axis/dual axis, single seat/dual seat, civil/military, rotorcraft/fixed wing aircraft, etc.) are
17、clearly identified. The material developed will serve as a reference guide for: a. Aircraft prime contractors who want to understand active cockpit controller technology and develop their own set of requirements; b. Suppliers that develop active cockpit controller equipment and; c. Regulatory Author
18、ities who will be involved in the certification of these types of systems. 2. REFERENCES 2.1 Applicable Documents The following publications form a part of this document to the extent specified herein. The latest issue of SAE publications shall apply. The applicable issue of other publications shall
19、 be the issue in effect on the date of the purchase order. In the event of conflict between the text of this document and references cited herein, the text of this document takes precedence. Nothing in this document, however, supersedes applicable laws and regulations unless a specific exemption has
20、 been obtained. 2.1.1 SAE Publications Available from SAE International, 400 Commonwealth Drive, Warrendale, PA 15096-0001, Tel: 877-606-7323 (inside USA and Canada) or 724-776-4970 (outside USA), www.sae.org. ARP4386 Terminology and Definitions for Aerospace Fluid Power, Actuation and Control Techn
21、ologies ARP4754 Guidelines for Development of Civil Aircraft and Systems ARP4761 Guidelines and Methods for Conducting the Safety Assessment Process on Civil Airborne Systems and Equipment AS94900 Aerospace - Flight Control Systems - Design, Installation and Test of Piloted Military Aircraft, Genera
22、l Specification For 2.1.2 RTCA Publications Available from RTCA, Inc., 1150 18th Street, NW, Suite 910, Washington, DC 20036, Tel: 202-833-9339, www.rtca.org. RTCA DO-160 Environmental Conditions and Test Procedures for Airborne Equipment RTCA DO-178 Software Considerations in Airborne Systems and E
23、quipment Certification RTCA DO-254 Design Assurance Guidance for Airborne Electronic Hardware SAE ARP5764 Page 4 of 52 2.1.3 ATA Publications Available from Air Transport Association of America, Inc., 1301 Pennsylvania Avenue, NW, Suite 1100, Washington, DC 20004-1707, Tel: 202-626-4000, www.airline
24、s.org. MSG-3: Operator/Manufacturer Scheduled Maintenance Development 2.1.4 U.S. Government Publications Available from the Document Automation and Production Service (DAPS), Building 4/D, 700 Robbins Avenue, Philadelphia, PA 19111-5094, Tel: 215-697-6257, https:/assist.daps.dla.mil/quicksearch/. MI
25、L-STD-1797 Flying Qualities of Piloted Aircraft MIL-F-83300 Flying Qualities of Piloted V/STOL Aircraft DOD-HDBK-743 Anthropometry of U.S. Military Personnel MIL-STD-882 Standard Practice for System Safety MIL-STD-883 Test Method Standard Microcircuits MIL-HDBK-5400 Military Handbook Electronic Equi
26、pment, Airborne, General Guidelines for MIL-STD-810 Environmental Engineering Considerations and Laboratory Tests. MIL-STD-461 Requirements for the Control of Electromagnetic Interference Characteristics of Subsystems and Equipment MIL-STD-1367 Military Standard Packaging, Handling, Storage, and Tra
27、nsportability Program Requirements (for Systems and Equipment) MIL-STD-973 Military Standard Configuration Management Available from US Army Aeroflightdynamics Directorate (AFDD) Mail Stop 243-11 Moffet Field, CA 94035: ADS-33E-PRF Aeronautical Design Standard Performance Specification Handling Qual
28、ities Requirements for Military Rotorcraft MIL-STD-1472 Design Criteria Standard Human Engineering 2.1.5 FAA Publications Available from Federal Aviation Administration, 800 Independence Avenue, SW, Washington, DC 20591, Tel: 866-835-5322, www.faa.gov. 14 CFR Part 23 Code of Federal Regulations, Par
29、t 23 Airworthiness Standards: Normal, Utility, Acrobatic and Commuter Category Airplanes 14 CFR Part 25 Code of Federal Regulations, Part 25 Airworthiness Standards: Transport Category Airplanes 14 CFR Part 27 Code of Federal Regulations, Part 27 Airworthiness Standards: Normal Category Rotorcraft 1
30、4 CFR Part 29 Code of Federal Regulations, Part 29: Airworthiness Standards: Transport Category Rotorcraft SAE ARP5764 Page 5 of 52 2.1.6 EASA Publications Available from European Aviation Safety Agency, Postfach 10 12 53, D-50452 Koeln, Germany, Tel: +49-221-8999-000, www.easa.eu.int. CS-23 Certifi
31、cation Specifications for Normal, Utility, Aerobatic and Commuter Aeroplanes CS-25 Certification Specifications for Large Aeroplanes CS-27 Certification Specifications for Small Rotorcraft CS-29 Certification Specifications for Large Rotorcraft 2.1.7 ASTM Publications Available from ASTM Internation
32、al, 100 Barr Harbor Drive, P.O. Box C700, West Conshohocken, PA 19428-2959, Tel: 610-832-9585, www.astm.org. ASTM G85 Standard Practice for Modified Salt Spray (Fog) Testing 2.2 Definitions 2.2.1 Cockpit Controllers INCEPTOR: A device that is used to provide pilot control inputs and covers a variety
33、 of aircraft pilot controls: side sticks, center sticks, pedals, engine controls and rotorcraft cyclic and collective controls. PASSIVE INCEPTOR: A passive control inceptor uses mechanical devices such as springs and dampers, sometimes in series with low bandwidth actuation, to generate the control
34、forces felt by the pilot. ACTIVE INCEPTOR: An active control inceptor uses high bandwidth actuation to generate the primary control forces felt by the pilot and thereby provide augmented control. This augmentation may include tactile pilot cues in real-time, such as variable spring gradients, force
35、breakouts, detents, ramps, gates and soft stops, to warn of mode engagements or impending operating or envelope exceedances. Actuation backup may be provided by parallel springs and dampers in the event of a loss of active capability. 2.2.2 Specific Inceptor Terms The following terms are used to def
36、ine inceptor performance throughout this publication. Figure 1 illustrates the application of most of the terms to a two-axis inceptor. 1. Reference Plane: The plane that contains both the pitch and roll axes of a two-axis inceptor. 2. Pivot Point: The point about which the inceptor rotates, also kn
37、own as a center of rotation. For the two-axis inceptor shown in Figure 1, the pivot points for both the pitch and roll axes coincide. 3. Grip Reference Point (GRP): The point on the controller/inceptor through which the pilot inputs all forces. These force inputs are input perpendicular to a line co
38、nnecting the GRP and pivot point in the plane of motion (pivot arm). The GRP on most grips is usually taken as the center of the middle finger position when on the grip. 4. Pivot Arm: The distance between the GRP and the pivot point in the plane of motion. 5. Pitch Axis: Axis about which the incepto
39、r rotates when the grip is deflected in the pitch direction. 6. Roll Axis: Axis about which the inceptor rotates when the grip is deflected in the roll direction. SAE ARP5764 Page 6 of 52 7. Heave Axis: Axis about which the inceptor rotates when the grip is deflected in the up/down (heave) direction
40、. This is often applicable to single axis rotorcraft collective controls (collective inceptor type). 8. Plane of Motion: The plane described by the rotation of the grip about the relevant axis (i.e., Pitch Plane of Motion). A Pitch Plane of Motion would be perpendicular to the pitch axis and the ref
41、erence plane. Pitch AxisGRPInceptor Axes Pivot PointRoll AxisGrip Mounting FaceMax Fwd Angle g537Fg537AMax Aft AngleGRP NullForce Vector applied perpendicular to GRP NullTrue Null (0) Reference planeAll “g537” angles shown refer to the Pitch Axis, but are also present for the Roll AxisLength between
42、 GRP and Pivot Point, known asthe Pivot Arm.FIGURE 1 - PITCH/ROLL INCEPTOR GEOMETRY DEFINITIONS SAE ARP5764 Page 7 of 52 Heave AxisGRPInceptor AxisPivot PointGrip Mounting Faceg455Max Heave AngleForce Vector applied perpendicular to GRPTrue Null (0) ReferenceplaneLength between GRP and Pivot Point,
43、known asthe Pivot Arm.GRP NullFIGURE 2 - HEAVE AXIS INCEPTOR GEOMETRY DEFINITIONS 9. True Null: This is the geometric null position of the inceptor and is described by a line perpendicular to the reference plane which connects the center of the grip mounting face and the pivot point. For the two-axi
44、s inceptor shown in Figure 1, this will correspond to zero displacement in the pitch and roll axes. For the single axis heave inceptor (Figure 2) the lowest inceptor position (at the bottom of the travel) may actually be greater than 0 degrees from horizontal, dependent on the aircraft type and spec
45、ific requirements. 10. GRP Null: This is described by a line drawn between the GRP and the pivot point when the relevant axis is at True Null. 11. True Position: Rotational displacement about the relevant axis from the true null in the plane of motion. 12. Reported Position: The displacement about t
46、he relevant axis reported by the position sensors. 13. Zero Force Null Band: The range of inceptor displacement, with no applied force, over which the inceptor is statically stable. The Zero Force Null Band is typically determined by gradually releasing the inceptor without assistance from the defle
47、cted position in both directions, and determining where it comes to rest. This is defined in terms of reported position. 14. Zero Force Null: The geometric center of the Zero Force Null Band. 15. Breakout Force: The force required at the zero force null position to initiate movement away from this p
48、osition. 16. Position sensor hysteresis: The difference in reported position (position sensor output) when at the same true position when approached from opposite directions. 17. Position sensor nonlinearity: The maximum deviation between the Reported Position and the True Position. SAE ARP5764 Page
49、 8 of 52 18. Position sensor gain/sensitivity: The slope of the best fit straight line through a series of sensor outputs corresponding to known sensor positions covering the sensor range. 19. Position sensor resolution: The smallest inceptor position change that the sensor can measure. 2.2.3 Control Systems for Active Inceptors The general functional requirements for the electronic controller, servo actuation system, the passive spring assem
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