EP0935493B1 - Device to influence the driving performance of a remote-controlled model vehicle - Google Patents

Device to influence the driving performance of a remote-controlled model vehicle Download PDF

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Publication number
EP0935493B1
EP0935493B1 EP96934521A EP96934521A EP0935493B1 EP 0935493 B1 EP0935493 B1 EP 0935493B1 EP 96934521 A EP96934521 A EP 96934521A EP 96934521 A EP96934521 A EP 96934521A EP 0935493 B1 EP0935493 B1 EP 0935493B1
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Prior art keywords
signal
model
remote
variable
influencing
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EP96934521A
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German (de)
French (fr)
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EP0935493A1 (en
Inventor
Ralf Helbing
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Graupner & Co KG GmbH
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Graupner & Co KG GmbH
Graupner & Co KG GmbH
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
    • A63H30/02—Electrical arrangements
    • A63H30/04—Electrical arrangements using wireless transmission

Definitions

  • the invention relates to a device for influencing the Driving behavior of remote-controlled model vehicles.
  • model vehicles such as model cars or model ships the movement in one plane, i.e. in just two dimensions.
  • the movement is therefore a lot by the driver the movement desired by the driver can be specified more easily can e.g. in a model car very precisely through a steering signal to be controlled. So there’s no problem that the movement is adjusted to that desired by the driver must become. On the other hand, this creates problems that the movement desired by the vehicle operator as such cannot be carried out by the model vehicle.
  • the invention is based on the object to prevent this.
  • a third input connection for another Control signal can be provided, one by a vehicle driver specifies a further reference variable that can be specified, and that first output signal generated by the processing device one of the first and the further management variable and reproduces the first manipulated variable dependent on the disturbance variable.
  • the device has a third input connection for another control signal, the one by a driver specifies predeterminable further reference variable. Moreover the processing device generates a second output signal, one of the first and / or further management variable and reproduces another manipulated variable dependent on the disturbance variable.
  • the degree of limitation of the acceleration or speed signal depending on the limitation and / or reversal of direction of the steering arrangement drive signal influenced by the processing device.
  • adjustment means are provided by which the measure and rate of Limitation of the acceleration or speed signal and / or the limitation and / or reversal of direction of the steering arrangement drive signal through the processing facility to be changed.
  • the processing device is set up so that cornering of the vehicle as a function of the sensor signal to a predetermined extent the steering arrangement drive signal is reduced, limited, or inverted.
  • the device according to the invention is the first sensor device through a gyroscope, preferably a piezoelectric vibration gyroscope is formed.
  • the first sensor device can also be used two acceleration sensors arranged at a distance from one another in the vehicle be educated.
  • the processing device sets up signals of predetermined values Process shape and / or output.
  • the first control signal, the steering arrangement control signal and / or the acceleration or speed signal each a pulse-shaped signal of preferably 0.5 - 2.6 msec duration.
  • the one described above is preferably according to the invention Device in a remote control receiver, in a model vehicle servo drive, and / or a model vehicle travel controller (Speed controller) structurally integrated.
  • the invention is not limited to this. Rather can the device according to the invention also in passenger vehicles or use trucks.
  • Fig. 1 shows a schematic block diagram of an inventive Device in a model vehicle.
  • Fig. 2 shows a schematic block diagram of an inventive Device in detail.
  • Fig. 3 shows a circuit diagram of an embodiment of an inventive Contraption.
  • the device 10 is referred to as an evaluation circuit, which has a first input connection 12 for a first control signal 14, which reproduces a first command variable wa which can be predetermined by a vehicle driver, in the form of a steering input signal.
  • a gyro sensor or two acceleration sensors form a sensor device 16 which emits a second control signal 18 which reproduces an interference variable z correlated with the rotational speed or lateral acceleration of the model vehicle.
  • the device according to the invention has a further Processing equipment illustrated in more detail below on to receive the first control signal 14 with the first Input terminal 14 is connected and for receiving the second control signal 18 a second input terminal 20th having.
  • This processing device generates a first output signal 22 which reproduces a first manipulated variable y1 which is dependent on the first command variable wa and on the disturbance variable z, the first manipulated variable y1 generated by the processing device representing the command variable which is limited or changed as a function of the disturbance variable z w is.
  • the first command variable w that can be predetermined by the vehicle driver is a steering arrangement control signal L and the first manipulated variable y generated by the processing device is a limited and / or reversed steering arrangement control signal L '.
  • This steering arrangement control signal L ' is amplified in a driver stage 24 and fed to a servomotor 26 for steering.
  • the device according to the invention is illustrated in a second embodiment.
  • another signal, the "gas signal” G is processed here.
  • a third input connection 30 is provided for a further control signal G, which represents a further command variable wb which can be specified by a vehicle driver .
  • This control signal G is a speed command signal.
  • the first output signal generated by the processing device is influenced in such a way that it reproduces a first manipulated variable y1 which is dependent on the first and the further reference variable wa , wb and on the disturbance variable z .
  • the steering signal L 'supplied to the servomotor of the steering system is influenced not only by the signal from the first sensor 16, but also by the speed specification signal G specified by the vehicle driver.
  • the processing device generates a second output signal G 'which reproduces a further manipulated variable y2 which is dependent on the first and the further reference variable wa , wb and on the disturbance variable z .
  • a control signal for the speed of the drive motor for example, the engine throttle position in an internal combustion engine
  • the processing device in dependence on the steering angle specification and the speed specification, as well as on the signal of the Sensor device 16 is generated.
  • the processing unit is set up to output the signals to be designed so that with a limitation and / or reversal of direction of the steering arrangement drive signal L ' also a limitation of the acceleration or speed signal G 'takes place.
  • the processing device has setting means 42, 44 on to the extent and rate of limitation of the acceleration or speed signal G ', and setting means 46, 48 to the extent and rate of limitation and reversal of direction of the steering arrangement drive signal by the processing device set.
  • the setting means are in the embodiment shown illustrated by trim potentiometers. This is true especially when it is in the device according to the invention and the processing device by an analog circuit (see also the following description of Fig. 3) acts.
  • a microcontroller it is also possible to use the invention a microcontroller. In this case, you can the setting means, for example, each with 8-way DIP switches be realized, the switch position by the Microcontroller is detected and when the control program is executed is taken into account.
  • an analog circuit or a microcontroller Is used by the processing facility when cornering the vehicle depending the steering arrangement drive signal from the sensor signal to a predetermined extent L and / or the speed command signal reduced, limited, or inverted and as a corresponding pulse-shaped signal G 'or L' of preferably 0.5 - 2.6 msec duration output.
  • Fig. 3 a simple analog circuit is shown, the embodies essential features of the invention.
  • One of those Gyro sensor 16 generates reference voltage signal with 2.3V ⁇ 1.0V is powered by a first operational amplifier OP1, which is connected as a comparator, compared with the input signal 14.
  • the output signal of the comparator is the inverting Input of an operational amplifier connected as an integrator OP2 fed while the coming from the gyro sensor Signal to the non-inverting input of this integrator is fed.
  • the output signal of the integrator is the non-inverting input of a comparator Operational amplifier OP3 fed while one of pulse signal generated with a bandwidth with the gyro sensor amplified by 50 Hz in an operational amplifier OP4 and that inverting input of the operational amplifier OP3 supplied becomes.
  • the output signal of the operational amplifier OP3 is the output stage 24 in Fig. 1 supplied.
  • the operational amplifier OP4 has a trim potentiometer in its feedback branch K1, via which the gain can be set.
  • the gyro sensor gives a corresponding to the rotation of the vehicle Signal (1.11 mV / DEG / sec). This is the speed of rotation size of the vehicle is used to Determine the extent to which countermeasures are to be taken. at when cornering, the steering angle is dependent on the trimmer position K1 withdrawn.
  • the steering servo position can be in addition to the steering input signal and / or the gas / brake signal also from other factors be made dependent.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Toys (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Selective Calling Equipment (AREA)

Abstract

A device for influencing the handling characteristics of remote-controlled model cars or model ships, comprising a first input terminal for a first control signal which represents a first command variable which can be specified by a person who controls the vehicle, a sensor means which outputs a second control signal which represents a disturbance variable correlated with the rotational velocity or the lateral acceleration of the model vehicle, and a processing means which is connected with the first input terminal for receiving the first control signal and which has a second input terminal for receiving the second control signal, and which generates a first output signal which represents a first manipulated variable being a function of the first command variable and of the disturbance variable, with the first manipulated variable generated by the processing means being the command variable which as a function of the disturbance variable is limited or modified to a predeterminable degree.

Description

Die Erfindung betrifft eine Vorrichtung zur Beeinflussung des Fahrverhaltens von ferngesteuerten Modellfahrzeugen.The invention relates to a device for influencing the Driving behavior of remote-controlled model vehicles.

Von ferngesteuerten Modellflugzeugen ist es bekannt, daß ein Regelsystem die Lage oder Flugrichtung so regelt, daß eine Vorgabe möglichst genau eingehalten wird. Dabei greift das Regelsystem auf Meßwerte von in dem Modellflugzeug angeordneten Sensoren zurück.From remote-controlled model aircraft, it is known that a Control system regulates the position or direction of flight so that a The specification is met as precisely as possible. This applies Control system for measured values from those arranged in the model aircraft Sensors back.

Bei einem in dem US-Patent 5,507,455 vorgestellten Regelsystem besteht diese Vorgabe darin, das Modellflugzeug möglichst horizontal zuhalten.In a control system presented in U.S. Patent 5,507,455 this requirement is to make the model airplane as possible hold horizontally.

Bei einem in der FR-A-2 397 001 vorgestellten Autopiloten besteht die Vorgabe aus Signalen, die durch den Flugzeugführer vorgegeben werden, und die Regelung bewirkt, daß diese Vorgabe möglichst genau eingehalten wird. In ähnlicher Weise erfolgt durch ein in der WO 94/14511 vorgestelltes Gerät eine Regelung des Steuerruders eines ferngesteuerten Hubschraubers aufgrund von Informationen über die Winkelgeschwindigkeit und die gegenwärtige Ausrichtung des Hubschraubers.With an autopilot presented in FR-A-2 397 001 the default from signals by the pilot be specified, and the scheme causes this specification is adhered to as precisely as possible. In a similar way by a device presented in WO 94/14511 Control of the rudder of a remote-controlled helicopter based on information about angular velocity and the current orientation of the helicopter.

Bei den beiden zuletzt genannten Regelsystemen liegt das Problem zugrunde, daß die Seitenruder, Höhenruder, etc. des Flugzeugs/Hubschraubers wegen der Komplexität der Bewegung in drei Dimensionen niemals so genau ausgerichtet werden können, daß das Fluggerät genau die vom Flugzeugführer gewünschten Bewegungen ausführt.The problem lies with the last two control systems mentioned based on the rudder, elevator, etc. of the Aircraft / helicopter because of the complexity of the movement in three dimensions can never be aligned so precisely that the aircraft is exactly the one desired by the pilot Movements.

Bei Modellfahrzeugen wie Modellautos oder Modellschiffen erfolgt die Bewegung in einer Ebene, d.h. in nur zwei Dimensionen. Die Bewegung ist daher durch den Fahrzeugführer viel besser vorgebbar, die vom Fahrzeugführer gewünschte Bewegung kann z.B. bei einem Modellauto sehr genau durch ein Lenksignal gesteuert werden. Es tritt somit nicht das Problem auf, daß die Bewegung auf die vom Fahrzeugführer gewünschte nachgeregelt werden muß. Hingegen treten dadurch Probleme auf, daß die vom Fahrzeugführer gewünschte Bewegung als solche gar nicht von dem Modellfahrzeug ausgeführt werden kann.For model vehicles such as model cars or model ships the movement in one plane, i.e. in just two dimensions. The movement is therefore a lot by the driver the movement desired by the driver can be specified more easily can e.g. in a model car very precisely through a steering signal to be controlled. So there’s no problem that the movement is adjusted to that desired by the driver must become. On the other hand, this creates problems that the movement desired by the vehicle operator as such cannot be carried out by the model vehicle.

Bei derzeitigen Modellfahrzeugen, also Modellautos oder Modellschiffen, tritt beispielsweise oft das Problem auf, daß der Fahrzeugführer das Fahrzeug mit zu hoher Geschwindigkeit in eine Kurve führt. Als Folge davon gerät das Fahrzeug in einen instabilen Fahrzustand, das heißt das Fahrzeug wird aus der Kurve getragen oder beginnt zu schleudern (Übersteuern oder Untersteuern).In current model vehicles, i.e. model cars or model ships, For example, the problem often arises that the driver the vehicle is cornering at too high a speed leads. As a result, the vehicle becomes unstable Driving state, that is, the vehicle is carried out of the curve or begins to skid (oversteer or understeer).

Der Erfindung liegt davon ausgehend die Aufgabe zugrunde, dies zu verhindern.Proceeding from this, the invention is based on the object to prevent this.

Zur Lösung dieser Aufgabe wird gemäß der Erfindung eine Vorrichtung nach Anspruch 1 bereitgestellt. To achieve this object, a device according to the invention provided according to claim 1.

Mit dieser Vorrichtung ist es möglich, trotz einer zu starken Lenkeinschlagvorgabe oder zu hoher Geschwindigkeitsvorgabe durch den Fahrzeugführer das Ausbrechen des Fahrzeuges wirksam zu verhindern.With this device it is possible, in spite of being too strong Steering angle specification or excessive speed specification by the driver effectively breaking out of the vehicle to prevent.

Weiterhin kann ein dritter Eingangsanschluß für ein weiteres Steuersignal vorgesehen sein, das eine durch einen Fahrzeugführer vorgebbare weitere Führungsgröße wiedergibt, und das von der Verarbeitungseinrichtung erzeugte erste Ausgangssignal eine von der ersten und der weiteren Führungsgröße und von der Störgröße abhängige erste Stellgröße wiedergibt.Furthermore, a third input connection for another Control signal can be provided, one by a vehicle driver specifies a further reference variable that can be specified, and that first output signal generated by the processing device one of the first and the further management variable and reproduces the first manipulated variable dependent on the disturbance variable.

Dazu weist die Vorrichtung einen dritten Eingangsanschluß für ein weiteres Steuersignal auf, das eine durch einen Fahrzeugführer vorgebbare weitere Führungsgröße wiedergibt. Außerdem erzeugt die Verarbeitungseinrichtung ein zweites Ausgangssignal, das eine von der ersten und/oder weiteren Führungsgröße und von der Störgröße abhängige weitere Stellgröße wiedergibt.For this purpose, the device has a third input connection for another control signal, the one by a driver specifies predeterminable further reference variable. Moreover the processing device generates a second output signal, one of the first and / or further management variable and reproduces another manipulated variable dependent on the disturbance variable.

Vorzugsweise erfolgt dann bei einer Begrenzung und/oder Richtungsumkehr des Lenkanordnungsansteuersignal auch eine Begrenzung des Beschleunigungs- oder Geschwindigkeitssignals durch die Verarbeitungseinrichtung. This is then preferably carried out with a limitation and / or reversal of direction of the steering arrangement drive signal also a limitation of the acceleration or speed signal through the processing facility.

Außerdem wird das Maß der Begrenzung des Beschleunigungs- oder Geschwindigkeitssignals in Abhängigkeit von der Begrenzung und/oder Richtungsumkehr des Lenkanordnungsansteuersignal durch die Verarbeitungseinrichtung beeinflußt.In addition, the degree of limitation of the acceleration or speed signal depending on the limitation and / or reversal of direction of the steering arrangement drive signal influenced by the processing device.

In einer bevorzugten Ausführungsform der Erfindung sind Einstellmittel vorgesehen, durch die das Maß und die Rate der Begrenzung des Beschleunigungs- oder Geschwindigkeitssignals und/oder der Begrenzung und/oder Richtungsumkehr des Lenkanordnungsansteuersignal durch die Verarbeitungseinrichtung verändert werden.In a preferred embodiment of the invention, adjustment means are provided by which the measure and rate of Limitation of the acceleration or speed signal and / or the limitation and / or reversal of direction of the steering arrangement drive signal through the processing facility to be changed.

Die Verarbeitungseinrichtung ist dazu eingerichtet, daß bei einer Kurvenfahrt des Fahrzeuges in Abhängigkeit von dem Sensorsignal in einem vorbestimmten Maß das Lenkanordnungsansteuersignal verringert, begrenzt, oder invertiert wird.The processing device is set up so that cornering of the vehicle as a function of the sensor signal to a predetermined extent the steering arrangement drive signal is reduced, limited, or inverted.

In einer Ausführungsform der erfindungsgemäßen Vorrichtung ist die erste Sensoreinrichtung durch ein Gyroskop, vorzugsweise ein piezoelektrisches Vibrations-Gyroskop gebildet.In one embodiment of the device according to the invention is the first sensor device through a gyroscope, preferably a piezoelectric vibration gyroscope is formed.

Alternativ dazu kann die erste Sensoreinrichtung auch durch zwei im Abstand zu einander in dem Fahrzeug angeordnete Beschleunigungssensoren gebildet sein.Alternatively, the first sensor device can also be used two acceleration sensors arranged at a distance from one another in the vehicle be educated.

Um zu herkömmlichen Fernsteuerungen kompatibel zu sein, ist die Verarbeitungseinrichtung dazu eingerichtet Signale vorbestimmter Gestalt zu verarbeiten und/oder auszugeben. Insbesondere sind dazu das erste Steuersignal, das Lenkanordnungsansteuersignal und/oder das Beschleunigungs- oder Geschwindigkeitssignal jeweils ein impulsförmiges Signal von vorzugsweise 0.5 - 2.6 msec Dauer.To be compatible with conventional remote controls the processing device sets up signals of predetermined values Process shape and / or output. In particular are the first control signal, the steering arrangement control signal and / or the acceleration or speed signal each a pulse-shaped signal of preferably 0.5 - 2.6 msec duration.

Vorzugsweise ist die vorstehend beschriebene erfindungsgemäße Vorrichtung in einen Fernsteuerempfänger, in einen Modellfahrzeugservoantrieb, und/oder einen Modellfahrzeugfahrtenregler (Geschwindigkeitsregler) baulich integriert. The one described above is preferably according to the invention Device in a remote control receiver, in a model vehicle servo drive, and / or a model vehicle travel controller (Speed controller) structurally integrated.

Obwohl die Vorrichtung für Modellfahrzeuge beschrieben ist, beschränkt sich die Erfindung nicht nur darauf. Vielmehr kann die erfindungsgemäße Vorrichtung auch bei Personenkraftfahrzeugen oder Lastkraftfahrzeugen einsetzen.Although the device for model vehicles is described, the invention is not limited to this. Rather can the device according to the invention also in passenger vehicles or use trucks.

Weitere vorteilhafte Ausgestaltungen, Weiterbildungen, Eigenschaften und Merkmale der erfindungsgemäßen Vorrichtung werden anhand der nachfolgenden Beschreibung der Fig. deutlich.Further advantageous refinements, developments, properties and features of the device according to the invention clear from the following description of the figures.

Fig. 1 zeigt ein schematisches Blockschaltbild einer erfindungsgemäßen Vorrichtung in einem Modellfahrzeug.Fig. 1 shows a schematic block diagram of an inventive Device in a model vehicle.

Fig. 2 zeigt ein schematisches Blockschaltbild einer erfindungsgemäßen Vorrichtung im Detail.Fig. 2 shows a schematic block diagram of an inventive Device in detail.

Fig. 3 zeigt einen Schaltplan einer Ausführungsform einer erfindungsgemäßen Vorrichtung.Fig. 3 shows a circuit diagram of an embodiment of an inventive Contraption.

In Fig. 1 ist die erfindungsgemäße Vorrichtung 10 als Auswerteschaltkreis bezeichnet, die einen ersten Eingangsanschluß 12 für ein erstes Steuersignal 14 , das eine durch einen Fahrzeugführer vorgebbare erste Führungsgröße wa in Form eines Lenkeingangssignals wiedergibt.In Fig. 1, the device 10 according to the invention is referred to as an evaluation circuit, which has a first input connection 12 for a first control signal 14, which reproduces a first command variable wa which can be predetermined by a vehicle driver, in the form of a steering input signal.

Ein Gyrosensor oder zwei Beschleunigungssensoren bilden eine Sensoreinrichtung 16, die ein zweites Steuersignal 18 abgibt, das eine mit der Drehgeschwindigkeit oder Querbeschleunigung des Modellfahrzeuges korrelierte Störgröße z wiedergibt.A gyro sensor or two acceleration sensors form a sensor device 16 which emits a second control signal 18 which reproduces an interference variable z correlated with the rotational speed or lateral acceleration of the model vehicle.

Weiterhin weist die erfindungsgemäße Vorrichtung eine weiter unten detaillierter veranschaulichte Verarbeitungseinrichtung auf, die zum Empfang des ersten Steuersignals 14 mit dem ersten Eingangsanschluß 14 verbunden ist und zum Empfang des zweiten Steuersignals 18 einen zweiten Eingangsanschluß 20 aufweist. Furthermore, the device according to the invention has a further Processing equipment illustrated in more detail below on to receive the first control signal 14 with the first Input terminal 14 is connected and for receiving the second control signal 18 a second input terminal 20th having.

Diese Verarbeitungseinrichtung erzeugt ein erstes Ausgangssignal 22, das eine von der ersten Führungsgröße wa und von der Störgröße z abhängige erste Stellgröße y1 wiedergibt, wobei die von der Verarbeitungseinrichtung erzeugte erste Stellgröße y1 die in Abhängigkeit von der Störgröße z auf ein vorbestimmbares Maß begrenzte oder veränderte Führungsgröße w ist.This processing device generates a first output signal 22 which reproduces a first manipulated variable y1 which is dependent on the first command variable wa and on the disturbance variable z, the first manipulated variable y1 generated by the processing device representing the command variable which is limited or changed as a function of the disturbance variable z w is.

In der in Fig. 1 gezeigten Ausführungsform ist die durch den Fahrzeugführer vorgebbare erste Führungsgröße w ein Lenkanordnungsansteuersignal L und die von der Verarbeitungseinrichtung erzeugte erste Stellgröße y ein begrenztes und/oder in seiner Richtung umgekehrtes Lenkanordnungsansteuersignal L'. Dieses Lenkanordnungsansteuersignal L' wird in einer Treiberstufe 24 verstärkt und einem Servomotor 26 der Lenkung zugeführt.In the embodiment shown in FIG. 1, the first command variable w that can be predetermined by the vehicle driver is a steering arrangement control signal L and the first manipulated variable y generated by the processing device is a limited and / or reversed steering arrangement control signal L '. This steering arrangement control signal L 'is amplified in a driver stage 24 and fed to a servomotor 26 for steering.

In Fig. 2 ist die erfindungsgemäße Vorrichtung in einer zweiten Ausführungsform veranschaulicht. Hierbei wird neben der Lenkung noch ein weiteres Signal, das "Gas-Signal" G verarbeitet. Dazu ist ein dritter Eingangsanschluß 30 für ein weiteres Steuersignal G vorgesehen, das eine durch einen Fahrzeugführer vorgebbare weitere Führungsgröße wb wiedergibt. Dieses Steuersignal G ist ein Geschwindigkeitsvorgabesignal.2, the device according to the invention is illustrated in a second embodiment. In addition to the steering, another signal, the "gas signal" G, is processed here. For this purpose, a third input connection 30 is provided for a further control signal G, which represents a further command variable wb which can be specified by a vehicle driver . This control signal G is a speed command signal.

Außerdem wird das von der Verarbeitungseinrichtung erzeugte erste Ausgangssignal so beeinflußt, daß es eine von der ersten und der weiteren Führungsgröße wa, wb und von der Störgröße z abhängige erste Stellgröße y1 wiedergibt. In anderen Worten wird das dem Servomotor der Lenkung zugeführte Lenksignal L' nicht nur durch das Signal von dem ersten Sensor 16 beinflußt, sondern darüber hinaus auch noch durch das von dem Fahrzeugführer vorgegebene Geschwindigkeitsvorgabesignal G.In addition, the first output signal generated by the processing device is influenced in such a way that it reproduces a first manipulated variable y1 which is dependent on the first and the further reference variable wa , wb and on the disturbance variable z . In other words, the steering signal L 'supplied to the servomotor of the steering system is influenced not only by the signal from the first sensor 16, but also by the speed specification signal G specified by the vehicle driver.

Bei der in Fig. 2 gezeigten Ausführungsform wird durch die Verarbeitungseinrichtung ein zweites Ausgangssignal G' erzeugt, das eine von der ersten und der weiteren Führungsgröße wa, wb und von der Störgröße z abhängige weitere Stellgröße y2 wiedergibt. Dies bedeutet, daß zusätzlich zu dem an den Servomotor der Lenkung noch ein Stellsignal für die Drehzahl des Antriebsmotors (zum Beispiel der Motordrosselstellung bei einem Verbrennungsmotor) bereitgestellt wird, das durch die Verarbeitungseinrichtung in Abhängigkeit von der Lenkeinschlagvorgabe und der Geschwindigkeitsvorgabe, sowie von dem Signal der Sensoreinrichtung 16 erzeugt wird.In the embodiment shown in FIG. 2, the processing device generates a second output signal G 'which reproduces a further manipulated variable y2 which is dependent on the first and the further reference variable wa , wb and on the disturbance variable z . This means that, in addition to the steering servo motor, a control signal for the speed of the drive motor (for example, the engine throttle position in an internal combustion engine) is provided, which is processed by the processing device in dependence on the steering angle specification and the speed specification, as well as on the signal of the Sensor device 16 is generated.

Die Verarbeitungseinheit ist dazu eingerichtet, die Ausgangssignale jeweils so zu gestalten, daß bei einer Begrenzung und/oder Richtungsumkehr des Lenkanordnungsansteuersignals L' auch eine Begrenzung des Beschleunigungs- oder Geschwindigkeitssignals G' erfolgt.The processing unit is set up to output the signals to be designed so that with a limitation and / or reversal of direction of the steering arrangement drive signal L ' also a limitation of the acceleration or speed signal G 'takes place.

Dazu weist die Verarbeitungseinrichtung Einstellmittel 42, 44 auf, um das Maß und die Rate der Begrenzung des Beschleunigungs- oder Geschwindigkeitssignals G', sowie Einstellmittel 46, 48, um das Maß und die Rate der Begrenzung und Richtungsumkehr des Lenkanordnungsansteuersignals durch die Verarbeitungseinrichtung festzulegen.For this purpose, the processing device has setting means 42, 44 on to the extent and rate of limitation of the acceleration or speed signal G ', and setting means 46, 48 to the extent and rate of limitation and reversal of direction of the steering arrangement drive signal by the processing device set.

Dabei sind in der gezeigten Ausführungsform die Einstellmittel durch Trimmpotentiometer veranschaulicht. Dies trifft insbesondere zu, wenn es sich bei der erfindungsgemäßen Vorrichtung und der Verarbeitungseinrichtung um eine Analogschaltung (siehe auch die nachfolgende Beschreibung der Fig. 3) handelt. Es ist jedoch auch möglich, die Erfindung mittels eines Microcontrollers zu realisieren. In diesem Fall können die Einstellmittel jeweils zum Beispiel durch 8-fach DIP-Schalter realisiert sein, deren Schalterstellung durch den Microcontroller erfaßt wird und bei der Ausführung des Steuerprogramms berücksichtigt wird.The setting means are in the embodiment shown illustrated by trim potentiometers. This is true especially when it is in the device according to the invention and the processing device by an analog circuit (see also the following description of Fig. 3) acts. However, it is also possible to use the invention a microcontroller. In this case, you can the setting means, for example, each with 8-way DIP switches be realized, the switch position by the Microcontroller is detected and when the control program is executed is taken into account.

Unabhängig davon, ob eine Analogschaltung oder ein Microcontroller Verwendung findet, wird durch die Verarbeitungseinrichtung bei einer Kurvenfahrt des Fahrzeuges in Abhängigkeit von dem Sensorsignal in einem vorbestimmten Maß das Lenkanordnungsansteuersignal L und/oder das Geschwindigkeitsvorgabesignal verringert, begrenzt, oder invertiert und als entsprechendes impulsförmiges Signal G' bzw. L' von vorzugsweise 0.5 - 2.6 msec Dauer ausgegeben.Regardless of whether an analog circuit or a microcontroller Is used by the processing facility when cornering the vehicle depending the steering arrangement drive signal from the sensor signal to a predetermined extent L and / or the speed command signal reduced, limited, or inverted and as a corresponding pulse-shaped signal G 'or L' of preferably 0.5 - 2.6 msec duration output.

In Fig. 3 ist eine einfache Analogschaltung gezeigt, die die wesentlichen Merkmale der Erfindung verkörpert. Ein von dem Gyrosensor 16 erzeugtes Referenz-Spannungssignal mit 2.3V ± 1.0V wird durch einen ersten Operationsverstärker OP1, der als Komparator geschaltet ist, mit dem Eingangssignal 14 verglichen. Das Ausgangssignal des Komparators wird dem invertierenden Eingang eines als Integrator geschalteten Operationsverstärkers OP2 zugeführt, während das vom Gyrosensor kommende Signal dem nicht-invertierenden Eingang dieses Integrators zugeführt wird. Das Ausgangssignal des Integrators wird dem nicht-invertierenden Eingang eines als Vergleicher arbeitenden Operatonsverstärkers OP3 zugeführt, während ein von dem Gyrosensor erzeugtes Impulssignal mit einer Bandbreite von 50 Hz in einem Operationsverstärker OP4 verstärkt und dem invertierenden Eingang des Operatonsverstärkers OP3 zugeführt wird. Das Ausgangssignal des Operatonsverstärkers OP3 wird der Endstufe 24 in Fig. 1 zugeführt. Der Operatonsverstärker OP4 hat in seinem Rückkopplungszweig einen Trimmpotentiometer K1, über den die Verstärkung einstellbar ist.In Fig. 3 a simple analog circuit is shown, the embodies essential features of the invention. One of those Gyro sensor 16 generates reference voltage signal with 2.3V ± 1.0V is powered by a first operational amplifier OP1, which is connected as a comparator, compared with the input signal 14. The output signal of the comparator is the inverting Input of an operational amplifier connected as an integrator OP2 fed while the coming from the gyro sensor Signal to the non-inverting input of this integrator is fed. The output signal of the integrator is the non-inverting input of a comparator Operational amplifier OP3 fed while one of pulse signal generated with a bandwidth with the gyro sensor amplified by 50 Hz in an operational amplifier OP4 and that inverting input of the operational amplifier OP3 supplied becomes. The output signal of the operational amplifier OP3 is the output stage 24 in Fig. 1 supplied. The operational amplifier OP4 has a trim potentiometer in its feedback branch K1, via which the gain can be set.

Der Gyrosensor gibt ein der Drehung des Fahrzeuges entsprechendes Signal (1.11 mV/DEG/sec) ab. Diese der Drehgeschwindigkeit des Fahrzeugs ensprechende Größe wird dazu verwendet, festzulegen, in welchem Maß gegengesteuert werden soll. Bei einer Kurvenfahrt wird der Lenkausschlag in Abhängigkeit von der Trimmerstellung K1 zurückgenommen.The gyro sensor gives a corresponding to the rotation of the vehicle Signal (1.11 mV / DEG / sec). This is the speed of rotation size of the vehicle is used to Determine the extent to which countermeasures are to be taken. at when cornering, the steering angle is dependent on the trimmer position K1 withdrawn.

Die Lenkservostellung kann neben dem Lenkeingangssignal und/oder dem Gas/Bremssignal auch noch von anderen Faktoren abhängig gemacht werden.The steering servo position can be in addition to the steering input signal and / or the gas / brake signal also from other factors be made dependent.

Claims (10)

  1. Device for influencing the driving performance of remote-controlled model motor vehicles or model ships, having
    a first input connection (12) for a first control signal (14) which reproduces a first reference variable (wa), which can be prescribed by a vehicle driver,
    a sensor device (16) which outputs a second control signal (18), which reproduces a disturbance variable (Z) correlated with the rotational speed or transverse acceleration of the model vehicle, and
    a third input connection (30) for a further control signal (G), which reproduces a further reference variable (wb), which can be prescribed by a vehicle driver, and
    a processing device, which
    is connected to the first input connection (12) for the purpose of receiving the first control signal (14), and
    is connected to the third input connection (30) for the purpose of receiving the further control signal (G),
    has a second input connection (20) for the purpose of receiving the second control signal (18), and
    generates a first output signal (22), which reproduces a first manipulated variable (Y1) dependent on the first and further reference variable (wa, wb) and on the disturbance variable (Z), in which
    the first reference variable (wa), which can be prescribed by the vehicle driver, is a steering arrangement drive signal (L), and the first manipulated variable (Y) generated by the processing device is a steering arrangement drive signal (L') which is limited and/or reversed in its direction, or
    in which the first reference variable (wa), which can be prescribed by the vehicle driver, is an acceleration or speed signal, and the first manipulated variable (Y1), generated by the processing device, is a limited acceleration or speed signal.
  2. Device for influencing the driving performance of remote-controlled model motor vehicles or model ships according to Claim 1, in which the processing device generates a second output signal (G'), which reproduces a further manipulated variable (Y2), which depends on the first and/or further reference variable (wa, wb) and on the disturbance variable (Z).
  3. Device for influencing the driving performance of remote-controlled model motor vehicles or model ships according to Claim 1 or 2, in which the first reference variable (wa) is a steering arrangement drive signal (L), and the further reference variable (wb) is an acceleration or speed signal, and
    in the event of a limitation and/or reversal in direction of the steering arrangement drive signal, the acceleration or speed signal is also limited by the processing device.
  4. Device for influencing the driving performance of remote-controlled model motor vehicles or model ships according to one of the preceding claims, in which
    the measure of the limitation of the acceleration or speed signal can be prescribed as a function of the limitation and/or reversal in direction of the steering arrangement drive signal by the processing device.
  5. Device for influencing the driving performance of remote-controlled model motor vehicles or model ships according to one of the preceding claims, in which
    the measure and the rate of the limitation of the acceleration or speed signal, and/or the measure and the rate (46, 48) of the limitation and/or reversal in direction of the steering arrangement drive signal can be prescribed for the processing device by setting means (42, 44).
  6. Device for influencing the driving performance of remote-controlled model motor vehicles or model ships according to one of the preceding claims, in which
    during cornering of the vehicle the steering arrangement drive signal is reduced, limited or inverted as a function of the sensor signal to a predetermined extent by the processing device.
  7. Device for influencing the driving performance of remote-controlled model motor vehicles or model ships according to one of the preceding claims, in which
    the sensor device (16) is a gyroscope, preferably a piezoelectric vibration gyroscope.
  8. Device for influencing the driving performance of remote-controlled model motor vehicles or model ships according to one of the preceding claims, in which
    the sensor device (16) is formed by two acceleration sensors arranged at a spacing from one another in the vehicle.
  9. Device for influencing the driving performance of remote-controlled model motor vehicles or model ships according to one of the preceding claims, in which
    the first control signal, the steering arrangement drive signal and/or the acceleration or speed signal are a pulse-like signal of preferably 0.5 - 2.6 msec duration.
  10. Device for influencing the driving performance of remote-controlled model motor vehicles or model ships according to one of the preceding claims, in which
    the said device is structurally integrated in a remote-control receiver, in a model vehicle servo drive, and/or in a model vehicle cruise control.
EP96934521A 1996-10-02 1996-10-02 Device to influence the driving performance of a remote-controlled model vehicle Expired - Lifetime EP0935493B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP1996/004303 WO1998014253A1 (en) 1996-10-02 1996-10-02 Device to influence the driving performance of a remote-controlled model vehicle

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EP0935493B1 true EP0935493B1 (en) 2002-03-13

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US (1) US6241574B1 (en)
EP (1) EP0935493B1 (en)
JP (1) JP3725174B2 (en)
AT (1) ATE214300T1 (en)
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WO (1) WO1998014253A1 (en)

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Publication number Publication date
EP0935493A1 (en) 1999-08-18
ATE214300T1 (en) 2002-03-15
JP3725174B2 (en) 2005-12-07
WO1998014253A1 (en) 1998-04-09
DE59608889D1 (en) 2002-04-18
US6241574B1 (en) 2001-06-05
JP2001502200A (en) 2001-02-20

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