JP2017126178A - Inertial drive control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inertial drive control device for efficiently generating an arbitrary vibration waveform having a good feel when performing inertial drive control of a vibrating unit. A target signal generation unit 210 that generates a target waveform signal corresponding to a target vibration waveform, an inertial drive mechanism unit 10 that outputs a vibration waveform based on the target vibration waveform, and an input signal input to the inertial drive mechanism unit 10. The target signal generation unit 210 forms the target waveform signal as a vibration waveform according to the motion law of the inertial drive system, and the input signal generation unit 220 forms the target waveform. It is configured to generate an input signal based on the signal and the inertial drive mechanism unit 10. [Selection diagram] Fig. 3

Description

  The present invention relates to an inertial drive control device.

  As conventional techniques, a support spring that supports a mass body, a detection unit that detects the relative displacement of the mass body, an actuator that is disposed between the sensor and the mass body, and that drives the mass body, and a relative displacement obtained from the detection unit A drive control device that performs vibration control of a mass body by feeding back a signal to a drive unit of an actuator is known (see, for example, Patent Document 1).

Further, a drive control device that realizes high-speed and high-accuracy positioning control by sufficiently suppressing residual vibration of the vibration unit in consideration of attenuation of the natural vibration of the vibration unit of the vibration device is known (for example, Patent Document 2). reference). This drive control device is different from the conventional positioning control device in that the transfer function F1 (s) of the secondary filter is converted into the numerator of the transfer function of the secondary filter in the conventional positioning control device, and the first order term (2ζ ₁ / ω). ₁ s) is added. With such a configuration, the first-order term (2ζ ₁ / ω ₁ s) of s is added to the numerator of the secondary filter in consideration of the attenuation of the mechanical vibration. It can be suppressed.

JP 2010-230310 A JP 2004-272749 A

  The drive control device disclosed in Patent Document 1 requires a detection unit that detects a displacement amount of a mass body to be controlled, and is difficult to apply to an inertial drive control device. Further, in the drive control device of Patent Document 2, the transfer function of the secondary filter is changed from the conventional secondary system in consideration of the attenuation of the mechanical vibration of the vibration unit that is inertially driven. However, such vibration control improves the attenuation of the mechanical vibration of the vibration unit driven by inertia, but has a problem that it cannot be applied to control when a target vibration waveform of the vibration unit is set.

  Accordingly, an object of the present invention is to provide an inertial drive control device that efficiently generates an arbitrary vibration waveform having a good touch when performing inertial drive control of a vibration unit.

[1] In order to achieve the above object, the present invention provides a target signal generation unit that generates a target waveform signal corresponding to a target vibration waveform, an inertial drive mechanism unit that outputs a vibration waveform based on the target vibration waveform, An input signal generation unit that calculates and generates an input signal to be input to the inertial drive mechanism unit, and the target signal generation unit forms the target waveform signal as a vibration waveform that follows a law of motion of an inertial drive system. The input signal generation unit generates an input signal based on the target waveform signal and the inertial drive mechanism, and provides an inertial drive control device.

[2] The inertial drive control according to [1], wherein the input signal generation unit is obtained by inverse Laplace transform of a transfer function calculated based on the target waveform signal and the inertial drive mechanism unit. It may be a device.

[3] Further, in the above [1] or [2], the target signal generation unit generates the target waveform signal as an initial value zero, a convergence point value zero, and a smooth continuous waveform. The inertial drive control device described may be used.

  ADVANTAGE OF THE INVENTION According to this invention, when performing inertial drive control of a vibration part, the arbitrary vibration waveforms with a favorable touch can be produced | generated efficiently.

FIG. 1A is a front view of the inertial drive control device according to the embodiment of the present invention, and FIG. 1B is a top plan view of the inertial drive control device as viewed from the direction A of FIG. FIG. FIG. 2A is a schematic block diagram showing a drive configuration of the inertial drive control apparatus according to the embodiment of the present invention, and FIG. 2B is a transfer block diagram using a transfer function model. FIG. 3 is a control flow diagram showing a method of inertial drive control of the inertial drive control apparatus according to the present embodiment. FIG. 4A is a waveform diagram illustrating an example of a target vibration waveform that cannot be generated efficiently in the comparative example, and FIG. 4B is a waveform diagram illustrating an example of a target vibration waveform that can be generated efficiently. FIG. 5A is a function example of the target vibration waveform in the inertial drive control, FIG. 5B is a waveform diagram showing the displacement, speed, and acceleration of the vibration unit, and FIG. It is a wave form diagram which shows an input electric current and a production | generation vibration. FIG. 6A is a function example of a target vibration waveform that cannot be generated efficiently in the comparative example, and FIG. 6B is a waveform diagram showing displacement, speed, and acceleration of the vibration part, and FIG. These are waveform diagrams showing target vibration, input current, and generated vibration. FIG. 7 is a comparative vibration waveform diagram comparing the generated vibration of the inertial drive control device according to the present embodiment and the generated vibration generated by the target vibration waveform that cannot be generated efficiently in the comparative example.

(Embodiment of the present invention)
The inertial drive control device 1 according to the embodiment of the present invention includes a target signal generation unit 210 that generates a target waveform signal corresponding to a target vibration waveform, an inertial drive mechanism unit 10 that outputs a vibration waveform based on the target vibration waveform, and An input signal generation unit 220 that calculates and generates an input signal input to the inertial drive mechanism unit 10, and the target signal generation unit 210 forms the target waveform signal as a vibration waveform that follows the law of motion of the inertial drive system. The input signal generation unit 220 is configured to generate an input signal based on the target waveform signal and the inertial drive mechanism unit 10.

  The target signal generation unit 210 and the input signal generation unit 220 are configured as a control unit 200 and perform inertial drive control of the inertial drive mechanism unit 10.

  FIG. 1A is a front view of the inertial drive control device according to the embodiment of the present invention, and FIG. 1B is a top plan view of the inertial drive control device as viewed from the direction A of FIG. FIG. FIG. 2 (a) is a schematic block diagram showing a drive configuration of the inertial drive control apparatus according to the embodiment of the present invention, and FIG. 2 (b) is a transfer block diagram using a transfer function model. is there.

  In the inertial drive control device 1 according to the embodiment of the present invention, the control unit 200 uses a target vibration waveform to vibrate the vibration panel 20 that is the vibration unit of the inertial drive mechanism unit 10 illustrated in FIG. An input signal is generated based on the waveform signal and the inertial drive mechanism unit 10.

  Here, the inertial drive means that the detection result of the displacement, speed, acceleration, etc. of the vibration part (the vibration panel 20 as the displacement part) of the inertial drive mechanism part is input to the input signal generation part 220, the actuator of the inertial drive mechanism part 10 In this drive, the inertial force of the vibration unit is used without feedback, and the drive is controlled based only on the input signal.

(Inertia drive mechanism 10)
As shown in FIG. 1, the inertial drive mechanism unit 10 includes a vibration panel 20 that is a vibration unit (displacement unit) that presents vibration, a voice coil motor 100 as a vibration generation unit, and a housing that supports the vibration panel 20. A body 30, a support unit 40 that is interposed between the vibration panel 20 and the housing 30 and is compressed with a predetermined force, and a predetermined force is applied to the support unit 40 to And a spring 60 as a pressurizing part that applies a compressive force to the support part 40.

  The support portion 40 generates an elastic force that balances with the spring force of the spring 60 and functions as a damper for vibration damping. That is, the vibration panel 20 which is a vibration part (displacement part) is supported by the support part 40 and the spring 60 which are elastic force and a damper, and is inertia-driven by the voice coil motor 100 as a vibration generation part.

(Vibration panel 20)
FIG. 1A is a front view of the inertial drive control apparatus according to the first embodiment of the present invention, and FIG. 1B is an inertial drive control apparatus viewed from the A direction of FIG. FIG. The vibration panel 20 can use various materials, such as metal materials, such as aluminum, and resin, for example.

  As shown in FIG. 1 and the like, the vibration panel 20 is a plate-like body, and a touch sensor is attached to the upper surface 20a, for example, so that a touch detection device can be obtained. The vibration panel 20 can present vibration by being driven by a voice coil motor 100 as a drive source. For example, when the vibration panel 20 as the touch detection device is touched, the operator is notified of the touch by vibrating the vibration panel 20 in, for example, the B direction shown in FIG. In addition, tactile sensation can be presented by vibrating the vibration panel 20 in accordance with various operations.

  An attachment portion 22 is formed on the lower surface 20 b of the vibration panel 20, and the coil 110 of the voice coil motor 100 is attached and fixed to the attachment portion 22. As shown in FIGS. 1A and 1B, a locking hole 20 c for locking the hook portion of the spring 60 is formed in the corner portion 21 of the vibration panel 20. Further, the lower surface 20b of the vibration panel 20 is a surface with which the end of the support portion 40 abuts.

(Case 30)
As shown in FIG. 1 and the like, the housing 30 is a plate-like body, and for example, various materials such as a metal material such as aluminum and a resin can be used. Corresponding to the vibration panel 20, a locking hole 30 b for locking the hook portion of the spring 60 is formed in the corner portion 31. The upper portion 30a of the housing 30 is a surface with which the end portion of the support portion 40 abuts.

(Supporting part 40)
The support part 40 is formed of an elastic member such as silicon rubber. As shown in FIGS. 1A and 1B, the support portion 40 has a rectangular frame shape, but is not limited thereto. Any shape that is interposed between the vibration panel 20 and the housing 30 and can support the vibration panel 20 with an elastic force may be used. The support portion 40 functions as a damper for damping vibration and is formed of an elastic member such as rubber or synthetic resin. For example, any material having viscosity and elasticity and exhibiting a braking action against vibration such as butyl rubber may be used. Various elastic members marketed as viscoelastic dampers can be used.

(Spring 60)
The spring 60 functions as a pressure unit that applies a compressive force to the support unit 40. In the present embodiment, as shown in FIG. 1A and the like, the spring 60 uses a tension coil spring. The spring 60 is composed of a coil portion formed by a tensile force and hook portions formed at both ends thereof. This hook portion is hooked and locked in the locking hole 20 c of the vibration panel 20 and the locking hole 30 b of the housing 30. Thereby, a tensile force is generated between the vibration panel 20 and the housing 30. Therefore, a compressive force can be applied to the support portion 40 interposed between the vibration panel 20 and the housing 30.

(Voice coil motor 100)
A voice coil motor 100 as a vibration generating unit includes a coil 110 and a magnetic circuit 120 as shown in FIGS. The coil 110 is attached and fixed to the vibration panel 20, and the magnetic circuit 120 is attached to the vibration panel 20 via a support portion 45 and a spring 65. Thus, an inertial drive mechanism that vibrates the vibration panel 20 with an inertial force generated by the vibration of the magnetic circuit 120 is configured.

  The coil 110 is formed by winding a magnet wire such as an enamel wire in a coil shape a plurality of times. When the coil 110 is energized, it is driven by the Lorentz force received from the magnetic field generated by the magnetic circuit 120 according to the Fleming left-hand rule, and becomes a vibration generating source.

  The magnetic circuit 120 includes a yoke (center yoke 122, relay yoke 124, side yoke 126) and a magnet (permanent magnet) 130. As shown in FIGS. 1A, 1B, etc., the yoke (center yoke 122, relay yoke 124, side yoke 126) is formed in a cylindrical or disk shape, for example, a soft magnetic material such as soft iron or silicon steel. It is formed by. The magnet (permanent magnet) 130 is attached to the side yoke 126 and generates a magnetic field between the magnet 130 and the center yoke 122.

  The coil 110 is arranged between the magnet 130 and the center yoke 122, and if the current to the coil 110 is AC, the coil 110 vibrates in a reciprocating direction in the B direction. Thereby, the vibration panel 20 is vibrated by the inertial force generated by the vibration of the magnetic circuit 120 and is driven by inertia.

  In the inertial drive control device 1, the voice coil motor 100 is vibrated by energizing the coil 110 with the drive current output from the control unit 200 in a state where the assembly of the components is completed.

(Control unit 200)
As shown in FIG. 2A, the control unit 200 causes the control unit 200 to vibrate the target waveform signal and the inertial drive mechanism unit in order to vibrate the vibration panel 20 that is the vibration unit of the inertial drive mechanism unit 10 with the target vibration waveform. An input signal is generated based on 10. The input signal x (t) is input to the inertial drive mechanism unit 10, and the vibration panel 20 that is a vibration unit vibrates with a target vibration waveform y (t).

  As shown in FIG. 2B, when the drive of the inertial drive mechanism unit 10 is expressed by a transfer function model, the input signal X (s) is input to the transfer function G (s) of the inertial drive mechanism unit 10. The vibration panel 20 which is a vibration part vibrates with the target waveform vibration Y (s).

  As can be seen from FIGS. 2A and 2B, the inertial drive control device 1 according to the present embodiment differs from the conventional control method in which a part of the output signal of the inertial drive mechanism unit 10 is fed back. A target waveform signal corresponding to the waveform is designed and generated, and the generated input signal is input to the inertial drive mechanism unit 10 to vibrate with the target waveform vibration Y (s). That is, an arbitrary vibration waveform having a good touch is efficiently generated by inertial driving.

  FIG. 3 is a control flow diagram showing a method of inertial drive control of the inertial drive control apparatus according to the present embodiment. Hereinafter, the control method of the inertial drive control device 1 according to the present embodiment will be described with reference to flowcharts according to steps S1 to S4.

(Design of target vibration waveform)
A target vibration waveform is formed as a vibration waveform according to the motion law of the inertial drive system. Since vibration is generated using inertia, vibration that does not follow the law of motion cannot be generated, and it is inefficient to generate a target vibration waveform. Therefore, a target vibration waveform that follows the law of motion with respect to displacement, speed, and acceleration is designed as the target vibration waveform (step S1).

  The main points of the target vibration waveform include (1) initial value≈0, (2) convergence point≈0, and (3) a continuous waveform that does not change sharply and changes smoothly.

  FIG. 4A is a waveform diagram illustrating an example of a target vibration waveform that cannot be generated efficiently, and FIG. 4B is a waveform diagram illustrating an example of a target vibration waveform that can be generated efficiently. In FIG. 4A, when the initial value indicated by C1 is not 0 (zero), when the convergence point indicated by C2 is not 0 (zero), or when there is a steep change indicated by C3, the motion using inertia is used. The vibration that follows the law cannot be generated. On the other hand, in FIG. 4B, when the initial value is 0 (zero), when the convergence point is 0 (zero), or when the waveform has a smooth change, the motion using inertia is used. Vibrations that follow the law can be generated.

と表せる。 A target vibration waveform y (t) is designed as a vibration waveform that follows the law of motion using inertia as described above. When s is a Laplace operator, the target waveform signal Y (s) is

It can be expressed.

により、ラプラス逆変換により算出することができる。 (Calculation of input signal)
The control unit 200 calculates an input signal X (s) for generating the target vibration waveform Y (s) using the transfer function model (step S2). In the transfer block diagram using the transfer function model shown in FIG. 2B, when the transfer function of the inertial drive mechanism is G (s),
Target vibration waveform Y (s) = G (s) X (s).
Therefore, X (s) = G (s) / Y (s)
Therefore, the input signal is

Thus, it can be calculated by Laplace inversion.

(Input to inertial drive mechanism 10)
The calculated input signal x (t) is input to the inertial drive mechanism unit 10 as a current drive signal (step S3). That is, an input signal (current) obtained by current amplification via the driver circuit or the like is input to the inertial drive mechanism unit 10 through the coil 110 shown in FIG. Thereby, the inertial drive mechanism unit 10 is driven.

(Vibration generation, vibration of vibration panel)
Based on the input signal x (t), vibration is generated by energizing the coil 110. That is, the vibration of the vibration panel 20 is generated. This vibration waveform is a vibration waveform substantially similar to the target vibration waveform.

(Example)
FIG. 5A is a function example of the target vibration waveform in the inertial drive control, FIG. 5B is a waveform diagram showing the displacement, speed, and acceleration of the vibration unit, and FIG. It is a wave form diagram which shows an input electric current and a production | generation vibration.

As shown in FIG. 5A, the function example of the target vibration waveform is
y (t) = exp (a (t−b) ² ) × sin (k (t−b))
a, b, k are arbitrary constants

  As shown in FIG. 5B, not only the displacement, but also the speed and acceleration are designed so that the initial vibration is zero, the convergence point is zero, the target vibration waveform is a smooth change without a sharp change. To design.

  As shown in FIG. 5C, the target vibration waveform is designed to be a target vibration waveform having an initial value of zero, a convergence point of zero, a smooth change without a steep change, and an input signal is based on this. The input current is calculated and calculated, and based on this, the inertial drive mechanism 10 is driven to generate vibration. Thereby, as shown in FIG.5 (c), the arbitrary vibration waveforms with a favorable touch can be produced | generated efficiently.

(Comparative example)
FIG. 6A is a function example of a target vibration waveform that cannot be generated efficiently in the comparative example, and FIG. 6B is a waveform diagram showing displacement, speed, and acceleration of the vibration part, and FIG. These are waveform diagrams showing target vibration, input current, and generated vibration.

As shown in FIG. 6A, the function example of the target vibration waveform is

  As shown in FIG. 6B, the function of the target vibration waveform is not a continuous waveform that changes smoothly.

  As shown in FIG. 6C, when the function of the target vibration waveform is not a continuous waveform that changes smoothly, the input signal (input current) becomes an input current for a long time. On the other hand, the generated vibration waveform is the same as the generated vibration waveform shown in FIG. 5C, and is a vibration waveform with no significant difference in tactile sensation. That is, in order to generate a vibration waveform with no significant difference in tactile sensation, an input signal (input current) for a long time is required, and vibration cannot be generated efficiently.

(Comparison between Examples and Comparative Examples)
FIG. 7 is a comparative vibration waveform diagram comparing the generated vibration of the inertial drive control device according to the present embodiment and the generated vibration generated by the target vibration waveform that cannot be generated efficiently in the comparative example.

  The vibration waveform 1 shown by the solid line in FIG. 7 is the vibration waveform according to the embodiment of the present invention shown in the embodiment, and the vibration waveform 2 shown by the broken line is the vibration waveform shown in the comparative example. Differences in these vibration waveforms can be seen in the amplitude at the rise and fall of the vibration, but there is no significant difference in the feel. However, as shown in FIGS. 5C and 6C, there is a large difference in the application time of the input current. That is, when a target vibration waveform that is a smooth change without designing an initial value zero, a convergence point zero, and a steep change as in the embodiment of the present invention is designed, and an input current based on this is obtained, a comparison example is obtained. Compared with the input current in the case of a continuous waveform that does not change smoothly like this, an input signal (input current) in a short time can be obtained, and a vibration waveform with a good feel can be obtained.

(Effect of the embodiment of the present invention)
The configuration as described above has the following effects.
(1) The inertial drive control device 1 according to the present embodiment designs and generates a target waveform signal corresponding to the target vibration waveform, and inputs the generated input signal to the inertial drive mechanism unit 10. Vibrate with target waveform vibration. At this time, a target vibration waveform according to the law of motion is designed for the displacement, speed, and acceleration as the target vibration waveform. Thereby, it can be set as the input signal (input current) of a short time.
(2) By designing the generated vibration for the vibration waveform displacement, velocity, and acceleration, the necessary input current, such as residual vibration control after applying vibration to the actuator, can be reduced, and any desired vibration waveform can be efficiently produced. Can be generated.
(3) An input signal (input) by Laplace inverse transformation from the transfer function G (s) of the inertial drive mechanism and the target vibration waveform Y (s) designed according to the law of motion with respect to the displacement, velocity, and acceleration. Current). As a result, it is possible to efficiently generate a vibration waveform that follows the law of motion of the inertial drive system.

  Although the embodiment of the present invention has been described above, this embodiment is merely an example, and does not limit the invention according to the claims. For example, although this embodiment uses Laplace transform as a continuous system model, a control method using z transform as a discrete value model may be used.

  In addition, the novel embodiment can be implemented in various other forms, and various omissions, replacements, changes, and the like can be made without departing from the gist of the present invention. In addition, not all the combinations of features described in the embodiments are essential to the means for solving the problems of the invention. Further, the embodiments are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 ... Inertial drive control apparatus 10 ... Inertial drive mechanism part 20 ... Vibration panel 21 ... Corner part 22 ... Mounting part 26 ... Corner part 30 ... Case 31 ... Corner part 36 ... Corner part 40, 45 ... Support part 60, 65 ... Spring 100 ... Voice coil motor 110 ... Coil 120 ... Magnetic circuit 122 ... Center yoke 124 ... Relay yoke 126 ... Side yoke 130 ... Magnet

Claims (3)

A target signal generator for generating a target waveform signal corresponding to the target vibration waveform;
An inertial drive mechanism that outputs a vibration waveform based on the target vibration waveform;
An input signal generation unit that calculates and generates an input signal input to the inertial drive mechanism unit,
The target signal generation unit forms the target waveform signal as a vibration waveform according to the motion law of the inertial drive system,
The inertial drive control device, wherein the input signal generation unit generates an input signal based on the target waveform signal and the inertial drive mechanism unit.   The inertial drive control device according to claim 1, wherein the input signal generation unit is obtained by inverse Laplace transform of a transfer function calculated based on the target waveform signal and the inertial drive mechanism unit.   The inertial drive control device according to claim 1, wherein the target signal generation unit generates the target waveform signal as an initial value zero, a convergence point value zero, and a smooth continuous waveform.

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