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 2012 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/ARP6001 AEROSPACE RECOMMENDED PRACTICE ARP6001 Issued 2012-07 Aerospace - Passive
5、 Side Stick Unit General Requirements for Fly by Wire Transport and Business RATIONALE More and more commercial transport, military transport and business aircraft are using fly by wire systems controlled from position or deflection side sticks. This ARP is intended to serve the need to have general
6、 requirements available for a generic “passive” side stick unit, i.e. without a back drive or active feel force mechanism, that are applicable to these aircraft. TABLE OF CONTENTS 1. SCOPE 3 2. REFERENCES 3 2.1 Applicable Documents 3 2.1.1 SAE Publications . 3 2.1.2 EASA Publications 3 2.1.3 FAA Pub
7、lications . 3 2.1.4 RTCA Publications 4 2.1.5 U.S. Government Publications 4 2.2 Definitions . 4 2.2.1 Inceptors . 4 2.2.2 Specific Side Stick Terms . 5 3. FUNCTIONS AND GENERAL DESCRIPTION 7 4. INTEGRATION IN THE COCKPIT 7 4.1 Location in Typical Two-Crew Cockpit 7 4.2 Envelope and General Geometry
8、 . 8 4.3 Pilot Validation 9 5. DESIGN REQUIREMENTS 10 5.1 Applicable Airworthiness Requirements . 10 5.1.1 Normal, Utility, Acrobatic and Commuter Category Airplanes 10 5.1.2 Transport Category Airplane . 10 5.1.3 FAA Special Conditions 11 5.2 General Requirements 11 5.2.1 Mechanical Rigging Device
9、. 12 5.2.2 Equipment Finish and Color 12 5.2.3 Mass and Center of Gravity 12 5.2.4 Hard Stop 12 5.3 Artificial Feel Requirements 12 5.3.1 Breakout and Centering 14 SAE ARP6001 Page 2 of 23 5.3.2 Autopilot Breakout . 14 5.3.3 Grip Force Gradient 15 5.3.4 Soft Stop . 15 5.3.5 Damping Force 15 5.4 Posi
10、tion Sensors . 15 5.5 Dynamics 16 5.5.1 Inertia 16 5.5.2 Feel Dynamics 16 5.6 Handgrip Functionalities and Requirements . 16 5.6.1 Tactile Indication Function 16 5.6.2 Grip Switches 17 5.7 Design and Certification Loads . 17 5.8 Life Cycles . 17 5.8.1 Design Service Life . 18 5.8.2 Operational Data
11、. 19 5.8.3 Duty Cycle . 19 5.9 Fatigue and Wear 19 5.10 Electrical Interface. 20 5.11 Safety and Reliability Requirements . 20 5.11.1 Safety Requirements 20 5.11.2 Reliability Requirements . 21 5.12 Development level per ARP4754 21 6. TEST REQUIREMENTS . 21 6.1 Production Acceptance Testing 21 6.2 Q
12、ualification Test Requirements . 21 6.2.1 Test Conditions . 21 6.2.2 Environmental Requirements 22 6.2.3 Constant Acceleration . 22 6.2.4 Aircraft Attitude 22 6.2.5 Equipment Electrical Requirements 23 7. NOTES 23 FIGURE 1 SIDE STICK GEOMETRY DEFINITIONS AT MECHANICAL NULL 5 FIGURE 2 TYPICAL INSTALL
13、ATION 8 FIGURE 3 TYPICAL DIMENSIONS OVERVIEW . 9 FIGURE 4 NOTIONAL GRIP FORCE PROFILE IN ROLL . 13 FIGURE 5 TYPICAL GRIP FORCE PROFILE IN PITCH . 13 TABLE 1 ENVIRONMENTAL REQUIREMENTS . 22 TABLE 2 CONSTANT ACCELERATION REQUIREMENTS . 22 TABLE 3 EQUIPMENT ELECTRICAL REQUIREMENTS . 23 SAE ARP6001 Page
14、 3 of 23 1. SCOPE This SAE Aerospace Recommended Practice (ARP) provides general requirements for a generic “passive” side stick that could be used for fly by wire transport and business aircraft. It addresses the following: The functions to be implemented The geometric and mechanical characteristic
15、s The mechanical and electrical interfaces The safety and certification requirements 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 publicat
16、ions shall 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 exe
17、mption has 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. ARP4761 Guidelines and Methods for Conducting the Safety Assessment Process on C
18、ivil Airborne Systems and Equipment ARP4754 Guidelines for Development of Civil Aircraft and Systems 2.1.2 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 Certification Specifications for Norma
19、l, Utility, Aerobatic and Commuter Aeroplanes CS-25 Certification Specifications for Large Aeroplanes 2.1.3 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,
20、Part 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 SAE ARP6001 Page 4 of 23 2.1.4 RTCA Publications Available from Radio Technical Commission for Aeronau
21、tics Inc., 1828 L Street, NW, Suite 805, 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 Equipment Certification RTCA/DO-254 Design Assurance Guidance fo
22、r Airborne Electronic Hardware Considerations in Airborne Systems and Equipment Certification 2.1.5 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, http:/assist.daps.d
23、la.mil/quicksearch/. MIL-STD-461 Requirements for the Control of Electromagnetic Interference Characteristics of Subsystems and Equipment. MIL-STD-810 Environmental Engineering Considerations and Laboratory Tests. MIL-STD-883 Test Method Standard Microcircuits MIL-STD-1797 Flying Qualities of Pilote
24、d Aircraft MIL-E-5400 Military Specification, Electronic Equipment, Airborne, General Specification MIL-F-83300 Flying Qualities of Piloted V/STOL Aircraft NASMS33540 General Practices for Safety Wiring and Cotter Pinning DOD-HDBK-743A Anthropometry of U.S. Military Personnel 2.2 Definitions 2.2.1 I
25、nceptors Inceptor: A device that is used to provide pilot control inputs and covers a variety of aircraft pilot controls including: Side sticks Center sticks Pedals Throttles Rotorcraft cyclic and collective controls SAE ARP6001 Page 5 of 23 Passive Inceptor: A passive control inceptor system primar
26、ily generates the artificial feel by passive mechanical elements like springs and dampers to achieve grip force profile gradients without active variation of grip feel forces or position (back drive function). Passive Side Stick: A passive side stick is a passive inceptor used for pitch and roll (or
27、 lateral) control without a back drive or active feel force mechanism. 2.2.2 Specific Side Stick Terms The definitions of the angular positions/displacements of a left hand side stick are provided in Figure 1. FIGURE 1 - SIDE STICK GEOMETRY DEFINITIONS AT MECHANICAL NULL Legend: g537GGRP Angle null
28、position in pitch regarding the pivot point (side stick axis) g537CGRP Angle null position in pitch regarding the mounting face (hand grip axis) g537ASide stick angle displacement in pitch in aft direction g537FSide stick angle displacement in pitch in forward direction g533GGRP Angle null position
29、in roll regarding the mounting face (side stick axis) Side Stick Axis SAE ARP6001 Page 6 of 23 g533CGRP Angle null position in roll regarding the pivot point (hand grip axis) g533OSide stick angle displacement in roll in outboard direction g533ISide stick angle displacement in roll in inboard direct
30、ion Grip Reference Position (GRP): The position on the controller/inceptor defined on an interface control drawing, through which grip forces are measured. These force inputs are input perpendicular to the planes defined by the GRP and the rotation axes Pitch Axis: The axis around which the inceptor
31、 grip rotates when the grip is deflected in the pitch direction. Roll Axis: The axis around which the inceptor grip rotates when the grip is deflected in the roll direction. The pitch and roll axis are orthogonal and define the reference plane. The specific aircraft application will determine the or
32、ientation of this plane relative to the aircraft structure. Side Stick Pivot Point: The intersection of the pitch and roll axis. Side Stick Axis: The axis from the pivot point and perpendicular to the side stick reference plan. Grip Axis: The center line of the grip. The axis through the grip refere
33、nce position and intersecting the side stick axis at the center of the grip mounting face. This axis may or may not coincide with the side stick axis and may be at an angle to the side stick axis due to human factors considerations. Mechanical Null or Mechanical Neutral Position: This is the geometr
34、ic null position of the side stick with no deflection in the pitch or roll axis. True Position: The grip angular displacement from the mechanical null. Reported or Sensed Position: The side stick positions measured by the position sensors. Zero Force Null Band or Null Backlash: The range of inceptor
35、 displacement, with no applied force, over which the side stick is statically stable. The zero force null band is typically determined by releasing the side stick from deflected positions and determining where it comes to rest. Sensed Position Hysteresis: The difference in sensor position signal at
36、the same hand grip position when approached from opposite directions. Force Hysteresis: The difference in hand grip force when reporting the same hand grip position when approached from opposite directions. Sensed Position Error: The maximum deviation of the sensor position signal from the nominal s
37、ensor output as predicted from the side stick gain. Position Gradient: The slope of the best fit straight line through a series of sensor outputs corresponding to known sensor positions covering the sensor range. Sensed Position resolution: The smallest side stick position change that the sensor can
38、 measure. SAE ARP6001 Page 7 of 23 3. FUNCTIONS AND GENERAL DESCRIPTION The passive side stick described in this document includes the following functions which might be included in the side stick customer specification, depending on the cockpit architecture and other factors. a. A handgrip which tr
39、ansmits the pilot commands to pitch and roll sensors. Pitch and roll movements can be combined. b. Position sensors for pitch axis, which provide increasing signals relative to the handle position to flight control computers, their number depending on the system architecture. c. Position sensors for
40、 roll axis, which provide increasing signals relative to the handle position to flight control computers, their number depending on the system architecture. d. Pitch and roll artificial feel and centering devices. e. Pitch and roll damping devices. f. An autopilot break out or a detent that keeps th
41、e handgrip at neutral to prevent inadvertent commands while autopilot is engaged. Possibility for pilot to override this locking function by applying a given force. g. Switches in the hand grip. h. A redundant structure depending on the safety assessment. i. Segregated electrical harnesses including
42、 aircraft interface connectors. j. Protection devices against foreign object ingress. k. Mechanical stops in pitch and in roll axis. l. Balance mass. m. An access for a standard rigging pin to hold the handle in neutral position. n. A tactile indicator operated following a discrete input from flight
43、 control computers. 4. INTEGRATION IN THE COCKPIT 4.1 Location in Typical Two-Crew Cockpit Figure 2 presents a typical flight deck installation. SAE ARP6001 Page 8 of 23 FIGURE 2 - TYPICAL INSTALLATION The captain and first officer units have the same functionalities and are not mechanically connect
44、ed. The geometrical shapes of the captain and first officer units are mirror images to suit left handed and right-handed operation, respectively. 4.2 Envelope and General Geometry Figure 3 shows a typical envelope for a captain passive side stick. Captain side stick unit First officer side stick uni
45、tSAE ARP6001 Page 9 of 23 FIGURE 3 - TYPICAL DIMENSIONS OVERVIEW The key parameters are: a. Handgrip deflection for both axes b. Distances from side stick pivot axes to GRP c. Pivot point position d. Reference plane position regarding the aircraft structure e. Mounting face and method of mounting f.
46、 Envelope g. Mounting surface angles h. Side stick axis i. Hand grip shape j. Side stick position in cockpit k. Weight and center of gravity location All this information shall be described in the source control drawing and/or the side stick specification. 4.3 Pilot Validation The pilot evaluation o
47、f the feel of the passive side stick is an important part of validating the specification requirements. In addition to all recommended requirements a specific validation plan should be planned between all parties. SAE ARP6001 Page 10 of 23 5. DESIGN REQUIREMENTS This section defines generic design r
48、equirements in addition to the certification requirements detailed in 5.1. Where the requirement is a hard requirement, the wording “shall” is used. Where the requirement is a generic recommendation but the final value depends of the customer specification, some typical values are proposed. 5.1 Appl
49、icable Airworthiness Requirements 5.1.1 Normal, Utility, Acrobatic and Commuter Category Airplanes The following paragraphs from 14 CFR Part 23/CS 23 Airworthiness Standards are applicable to passive side stick units. 23.397 Limit Control Forces and Torques 23.671 Control Systems - General 23.672 Stability Augmentation and Automatic and Power-Operated Systems 23.673* Primary Flight Controls 23.675 Stops 23.679* Control System
