Controls

Abstract

The present invention provides a control device that can appropriately impart various tactile operating sensations with a simple structure without using an attenuation material. The control device controls an electromagnetic actuator that drives an operating device that is elastically supported by an elastic support portion to vibrate in one direction of the vibration direction of the operating device, and the control device has a current pulse supply unit that supplies a driving current pulse to a coil of the electromagnetic actuator as a driving current for driving the operating device according to a contact operation of the operating device. After supplying a driving current pulse that can start elastic vibration as a main driving current pulse, the current pulse supply unit supplies a driving current pulse that can adjust the attenuation period of the elastic vibration as a secondary driving current pulse.

Description

Technical Field

[0001] The invention relates to a control device for driving an electromagnetic actuator. Background Art

[0002] In the past, a structure as follows is known: when operating a touch panel as a sensing panel, a vibration actuator is used to impart vibration to the fingertips of an operator that touches a display screen displayed by the touch panel as a contact operation feeling (the feeling of touching and operating) (see Patent Documents 1 and 2).

[0003] Patent document 1 discloses a portable terminal device in which a vibration actuator is installed on the back of a touch panel via a vibration transmission unit. The vibration actuator is provided with a movable member in a housing fixed to the vibration transmission unit, and the movable member can reciprocate along a guide shaft arranged perpendicularly to the touch panel. In the vibration actuator, the movable member collides with the housing in response to an operation on the touch panel, thereby imparting vibration to the fingertip in contact with the touch panel via the vibration transmission unit.

[0004] In addition, Patent Document 2 discloses a vibration presentation device that applies vibration in response to an operation on a touch panel. In the vibration presentation device, a voice coil motor that generates vibration, a support that is arranged with the vibration panel and compressed with a predetermined force, a damper that applies a braking effect to the vibration of the vibration part, and a spring that applies a compressive force to the support and the damper are sandwiched in parallel between a vibration panel that is a vibration part that presents vibration and a housing that supports the vibration panel.

[0005] [Prior art literature]

[0006] [Patent Document]

[0007] Patent Document 1: Japanese Patent Application Publication No. 2015-070729

[0008] Patent Document 2: Japanese Patent Application Publication No. 2016-163854 Summary of the invention

[0009] Problems to be solved by the invention

[0010] However, in the vibration presentation device, it is desired to present vibrations that provide various contact operation sensations according to the purpose and usage conditions of the operation device.

[0011] The present invention has been made in view of this point, and an object of the present invention is to provide a vibration control device capable of expressing various contact operation feelings.

[0012] Solution

[0013] The control device of the present invention controls an electromagnetic actuator, which drives an operating device supported by an elastic supporting part so as to be able to elastically vibrate in one direction of the vibration direction of the operating device to vibrate the operating device. The control device has a current pulse supply unit, which supplies a driving current pulse to the coil of the electromagnetic actuator as a driving current for driving the operating device according to the contact operation of the operating device. The current pulse supply unit adopts the following structure, that is, after supplying the driving current pulse that can start the elastic vibration as the main driving current pulse, the driving current pulse that can adjust the attenuation period of the elastic vibration is supplied as the auxiliary driving current pulse.

[0014] Effects of the Invention

[0015] According to the present invention, it is possible to express vibrations that give various touch operation feelings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a side view showing a vibration presentation device having a control device according to an embodiment of the present invention.

[0017] Figure 2 It is a perspective view of the outer appearance of a plane side of an electromagnetic actuator as an example driven and controlled by the control device according to the embodiment of the present invention.

[0018] Figure 3 This is a bottom side perspective view of the electromagnetic actuator.

[0019] Figure 4 is a top view of the electromagnetic actuator.

[0020] Figure 5 yes Figure 4 Section view along line AA.

[0021] Figure 6 is an exploded perspective view of the electromagnetic actuator.

[0022] Figure 7 It is a cross-sectional view showing a state where a sensor is provided on the electromagnetic actuator.

[0023] Figure 8 It is a diagram showing the magnetic circuit structure of the electromagnetic actuator.

[0024] Fig. 9 It is a diagram for explaining the operation of the electromagnetic actuator.

[0025] Fig.10 It is a diagram for explaining a control device according to an embodiment of the present invention.

[0026] Fig.11It is a diagram for explaining the displacement of the movable body when the main current pulse is supplied to the electromagnetic actuator.

[0027] Fig.12 This is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention.

[0028] Fig.13 This is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention.

[0029] Fig.14 This is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention.

[0030] Fig.15 This is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention.

[0031] Fig.16 This is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention.

[0032] Fig.17 This is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention.

[0033] Fig.18 This is a diagram for explaining the supply timing of the auxiliary driving pulse.

[0034] Fig.19 This is a flowchart showing an example of the operation of driving the electromagnetic actuator by the control device according to the embodiment of the present invention.

[0035] FIG. 20 is a flowchart showing an example of the operation of driving the electromagnetic actuator by the control device according to the embodiment of the present invention.

[0036] [Explanation of Reference Numerals]

[0037] 1 control device, 10 electromagnetic actuator, 20 iron core assembly, 20a, 20b facing surfaces (facing face portions), 22 coil, 24 iron core, 26 bobbin, 30 fixed body, 32 base portion, 32a mounting portion, 32b bottom face portion, 33 stopper hole, 36 opening portion, 40 movable body, 41 yoke, 42 face fixing hole, 44 face fixing portion, 44a fixing face, 46, 47 attracted face portions, 48 ​​opening portion, 49 notch portion, 50 plate-shaped elastic portion (elastic supporting portion), 52 fixed body side fixing portion, 54 movable body side fixing portion, 56 serpentine elastic arm portion, 70 strain detection sensor, 82 switch element, 84 signal generating portion, 200 vibration presentation device, 241 iron core body, 242, 244 magnetic pole portions, 321, 322 fixing holes. DETAILED DESCRIPTION

[0038] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0039] In this embodiment, an orthogonal coordinate system (X, Y, Z) is used for description. A common orthogonal coordinate system (X, Y, Z) is also used in the following figures. In the following, the width, depth, and height of the vibration presentation device 200 having the control device 1 are the lengths in the X direction, the Y direction, and the Z direction, respectively, and the width, depth, and height of the electromagnetic actuator 10 are also correspondingly set to the lengths in the X direction, the Y direction, and the Z direction, respectively. In addition, the positive side of the Z direction is the direction in which vibration feedback is given to the operator, which is set to the "upper side", and the negative side of the Z direction is the direction in which the operator presses during operation, which is set to the "lower side", for description.

[0040] (Basic structure of the vibration presentation device 200 using the control device 1)

[0041] Figure 1The vibration presentation device 200 shown has a control device 1, an electromagnetic actuator 10 driven and controlled by the control device 1, and an operating device (touch panel 2) for contact operation by an operator. In the vibration presentation device 200, vibration is imparted to the operating device in response to the contact operation of the operator on the operating device. That is, a contact operation sense (also referred to as "touch sense") is imparted to the operator who contacts the operating device to perform the operation via the operating device. In this embodiment, the operating device is a touch panel 2 that displays a screen and is operated by contacting the screen. The touch panel 2 is an electrostatic, resistive film, optical, or other touch panel. The touch panel 2 detects the contact position of the operator. The touch panel 2 is controlled by the control device 1. The control device 1 can obtain information on the user's touch position via a touch panel control unit not shown. In addition, the screen of the touch panel 2 can also be composed of a display unit of a liquid crystal method, an organic EL method, an electronic paper method, a plasma method, or the like, and is controlled by the control device 1. The control device 1 controls the display information control unit not shown, and prompts the operator with an image corresponding to the type of the prompt vibration on the screen.

[0042] The vibration presentation device 200 is used, for example, as a touch panel device for electronic devices and car navigation systems. The vibration presentation device 200 functions as a device that presents vibration to an operator who contacts the screen 2a of the touch panel 2 to operate. At this time, the vibration presentation device 200 can be any device as long as it is an electronic device that gives a sense of touch to the operator by prompting the operator who contacts the vibration object with vibration. For example, the vibration presentation device 200 can be an image display device such as a smart phone, a tablet computer, a television, a game console with a touch panel, or a game controller with a touch panel.

[0043] In this embodiment, in the vibration presentation device 200, when the operator's fingertips or the like touch the screen 2a of the touch panel 2 to perform an operation, the control device 1 drives the electromagnetic actuator 10 to vibrate it accordingly. Through this vibration, a tactile sensation is imparted to the operator. The control device 1 of this embodiment imparts various tactile sensations corresponding to the displayed image operated by the operator. For example, the control device 1 imparts the tactile sensation of a mechanical switch such as a tactile switch, an alternating switch, a momentary switch, a toggle switch, a sliding switch, a rotary switch, a DIP switch, and a seesaw switch. In addition, in a push-type switch, the tactile sensation of a switch with different degrees of depression can also be imparted.

[0044] Furthermore, in the vibration presentation apparatus 200 , instead of the touch panel 2 as the operating device, an operating device having no display function and operable only by touch by the operator may be used.

[0045] exist Figure 1In the vibration presentation device 200 shown, the electromagnetic actuator 10 is disposed between the touch panel 2 and the base 3 as the back side of the device disposed on the back side of the touch panel 2. The control device 1 may be provided on the electromagnetic actuator 10 itself or on the base 3.

[0046] The touch panel 2 is fixed on the back side to the movable body 40 (see Figure 2 ) on the face fixing portion 44. In addition, the base 3 is arranged opposite to the touch panel 2, and the fixing body 30 of the electromagnetic actuator 10 is fixed to the base 3 via the support portion 3a. In this way, the electromagnetic actuator 10 is arranged to connect the touch panel 2 and the base 3 at their respective central portions.

[0047] The touch panel 2 itself is driven integrally with the movable body 40 of the electromagnetic actuator 10. When the operator presses the screen of the touch panel 2 to operate, the direction in which the operator's finger or the like contacts the screen, for example, the direction in which the finger is pressed perpendicularly to the screen of the touch panel 2, is the same direction as the vibration direction of the movable body 40 of the electromagnetic actuator 10, that is, the Z direction.

[0048] In this way, according to the vibration presentation device 200 equipped with the control device 1, the touch panel 2, and the electromagnetic actuator 10, the touch panel 2 is directly moved, that is, the touch panel 2 and the movable body 40 are driven together in the same direction as the contact direction of the finger, so that the touch panel 2 can be directly vibrated.

[0049] Therefore, when the image of the mechanical switch or the like displayed on the touch panel 2 is touched and operated, the movable body 40 can be moved and an operation feeling corresponding to the image can be given, for example, a vibration that is set to the same contact operation feeling as the operation feeling when operating the actual mechanical switch. In this way, a comfortable operation can be expressed.

[0050] <Overall Structure of Electromagnetic Actuator 10>

[0051] Figure 2 1 is a perspective view of the outer appearance of an electromagnetic actuator 10 as an example of drive control performed by the control device according to the embodiment of the present invention. Figure 3 is a bottom side perspective view of the electromagnetic actuator 10. Figure 4 is a top view of the electromagnetic actuator. In addition, Figure 5 yes Figure 4 The AA line section view, Figure 6 1 is an exploded perspective view of the electromagnetic actuator 10 of the control device according to the embodiment of the present invention. Figure 7 It is a cross-sectional view showing a state where a sensor is provided on the electromagnetic actuator.

[0052] Figure 2 to Figure 7The electromagnetic actuator 10 shown in the present embodiment is installed in an electronic device to which the control device 1 is applied, and a touch panel 2 (see FIG. Figure 1 )'s vibration source and performs its function.

[0053] The electromagnetic actuator 10 functions as a vibration actuator that drives the movable body 40 in one direction and moves the movable body 40 in a direction opposite to the one direction by the force of a member (plate-shaped elastic portion 50) that generates a force, thereby causing the movable body 40 to linearly reciprocate (vibrate).

[0054] In response to the operator's contact operation on the screen 2a of the touch panel 2, the vibration is transmitted to the operator so that the operator can feel it physically, so that the operator who touches the touch panel 2 can perform intuitive operations. In addition, the touch panel 2 has a contact position output unit, which receives the operator's contact operation on the touch panel 2 and outputs the contact position. According to the contact position information and drive timing output by the contact position output unit, the control device 1 outputs an actuator drive signal to the electromagnetic actuator 10 to supply a drive current to generate vibrations corresponding to the contact operation. The electromagnetic actuator 10 that receives the drive current supplied from the control device 1 generates vibrations corresponding to the contact position output from the touch panel 2, and transmits it to the touch panel 2, causing the touch panel 2 to vibrate directly. In this way, the electromagnetic actuator 10 is driven in response to the operator's operation received by the touch panel 2.

[0055] The electromagnetic actuator 10 receives an actuator drive signal via the control device 1, thereby causing the movable body 40 to overcome the force and move in one direction (for example, the negative side in the Z direction). In addition, by stopping the input of the actuator drive signal to the electromagnetic actuator 10, the force is released, and the movable body 40 is moved in the other direction (the positive side in the Z direction) by the force. The electromagnetic actuator 10 vibrates the movable body 40 and the operating device according to the input and stop of the actuator drive signal. The electromagnetic actuator 10 drives the movable body 40 without using a magnet, causing the operating device to vibrate.

[0056] In addition, in the present embodiment, the actuator drive signal corresponds to a plurality of drive current pulses (also referred to as "current pulses") supplied to the coil 22 as a drive current for driving the movable body 40 and the operating device. In the electromagnetic actuator 10, when the current pulse is supplied to the coil 22, the movable body 40 moves in one direction.

[0057] The electromagnetic actuator 10 comprises: a fixed body 30 having an iron core assembly 20 and a base portion 32, wherein the iron core assembly 20 is formed by winding a coil 22 on an iron core 24; a movable body 40 having a magnetic yoke 41; and a plate-like elastic portion (elastic support portion) 50 (50-1, 50-2) which elastically supports the movable body 40 so that it can move in the vibration direction relative to the fixed body 30.

[0058] The electromagnetic actuator 10 drives the movable body 40 movably supported by the plate-like elastic part 50 to move in one direction relative to the fixed body 30. The movable body 40 moves in the direction opposite to the one direction by the urging force of the plate-like elastic part 50.

[0059] Specifically, the electromagnetic actuator 10 vibrates the yoke 41 of the movable body 40 through the core assembly 20. Specifically, the movable body 40 is vibrated by the attraction force of the energized coil 22 and the core 24 excited by the energized coil 22, and the urging force of the plate-like elastic part 50 (50-1, 50-2).

[0060] The electromagnetic actuator 10 is configured to be a flat shape with the Z direction as the thickness direction. The electromagnetic actuator 10 causes the movable body 40 to vibrate relative to the fixed body 30 with the Z direction, i.e., the thickness direction, as the vibration direction, so that one of the front and back surfaces separated in the thickness direction of the electromagnetic actuator 10 itself approaches or separates from the other surface in the Z direction.

[0061] In the present embodiment, the electromagnetic actuator 10 moves the movable body 40 toward the negative side in the Z direction as one direction by the attraction force of the core 24 , and moves the movable body 40 toward the positive side in the Z direction by the urging force of the plate-like elastic parts 50 ( 50 - 1 , 50 - 2 ).

[0062] In the electromagnetic actuator 10 of this embodiment, the movable body 40 is elastically supported by a plurality of plate-like elastic portions 50 (50-1, 50-2) arranged in a direction orthogonal to the Z direction at positions point-symmetrical with respect to the movable center of the movable body 40, but the present invention is not limited to this structure.

[0063] The plate-like elastic portion 50 is fixed between the movable body 40 and the fixed body 30, and can be set arbitrarily as long as it has a serpentine-shaped portion that is elastically deformable and elastically supports the movable body 40 to be movable relative to the fixed body 30 at least in a direction relative to one of the two ends (magnetic pole portions 242, 244) of the core 24. For example, the plate-like elastic portion 50 can elastically support the movable body 40 to be movable relative to the fixed body 30 (core assembly 20) in a direction relative to one end (magnetic pole portion 242 or magnetic pole portion 244) of the core 24. In addition, the plate-like elastic portions 50-1 and 50-2 can be arranged in a line-symmetrical manner relative to the center of the movable body 40, or two or more plate-like elastic portions 50 can be used. Each of the plate-like elastic portions 50 - 1 and 50 - 2 is fixed to the fixed body 30 at one end and fixed to the movable body 40 at the other end, and supports the movable body 40 to be movable in the vibration direction (Z direction, here, the vertical direction) relative to the fixed body 30 .

[0064] <Fixed body 30>

[0065] like Figures 5 to 9 As shown, the fixed body 30 includes a core assembly 20 and a base portion 32 . The core assembly 20 includes a coil 22 and a core 24 .

[0066] The base portion 32 fixes the core assembly 20 and supports the movable body 40 movably in the vibration direction via the plate-like elastic portion 50 (50-1, 50-2). The base portion 32 is a flat member and forms the bottom surface of the electromagnetic actuator 10. The base portion 32 has a mounting portion 32a that fixes one end of the plate-like elastic portion 50 (50-1, 50-2) so as to sandwich the core assembly 20. The mounting portions 32a are arranged at the same interval from the core assembly 20. In addition, the interval is set as the interval of the deformation area of ​​the plate-like elastic portion 50 (50-1, 50-2).

[0067] The mounting portion 32a has a fixing hole 321 for fixing the plate-like elastic portion 50 (50-1, 50-2) and a fixing hole 321 for fixing the base portion 32 to the base 3 (see Figure 1 ) on the fixing hole 322. The fixing holes 322 are provided at both ends of the mounting portion 32a in a manner sandwiching the fixing holes 321. Thus, the base portion 32 is relatively close to the base 3 (refer to Figure 1 )The entire surface is stably fixed.

[0068] In the present embodiment, the base portion 32 is configured such that one side and the other side of the sheet metal as the mounting portion 32a sandwich the bottom portion 32b, and are located at a separated position in the depth direction. A concave portion is provided between the mounting portions 32a, and the concave portion has a bottom portion 32b whose height is lower than that of the mounting portion 32a. The space inside the concave portion, that is, the space on the surface side of the bottom portion 32b, ensures the elastic deformation area of ​​the plate-like elastic portion 50 (50-1, 50-2), and is a space for ensuring the movable area of ​​the movable body 40 supported by the plate-like elastic portion 50 (50-1, 50-2).

[0069] The bottom surface portion 32 b has a rectangular shape, and an opening portion 36 is formed in the center portion thereof. The core assembly 20 is arranged in the opening portion 36 .

[0070] The opening 36 is a shape corresponding to the shape of the core assembly 20. In the present embodiment, the opening 36 is formed in a square shape. Thus, the core assembly 20 and the movable body 40 are arranged in the central part of the electromagnetic actuator 10, and the electromagnetic actuator 10 as a whole can be roughly square in a plan view. In addition, the opening 36 can also be rectangular (including square).

[0071] The split body 26b of the bobbin 26 and the lower part of the coil 22 on the lower side of the core assembly 20 are inserted into the opening 36, and the core 24 is fixed in a manner such that it is located on the bottom surface 32b when viewed from the side. As a result, the length (thickness) in the Z direction is reduced compared to the structure in which the core assembly 20 is mounted on the bottom surface 32b. In addition, since a part of the core assembly 20, in this case a part on the bottom surface side, is fixed in a state of being embedded in the opening 36, the core assembly 20 is firmly fixed in a state in which it is difficult to fall off from the bottom surface 32b.

[0072] The core assembly 20 is formed by winding a coil 22 around the outer periphery of a core 24 via a bobbin 26 .

[0073] When the coil 22 is energized, the core assembly 20 causes the yoke 41 of the movable body 40 to vibrate (reciprocate linearly in the Z direction) by cooperating with the plate-like elastic portions 50 ( 50 - 1 , 50 - 2 ).

[0074] In the present embodiment, the core assembly 20 is formed in a rectangular plate shape. The magnetic pole portions 242 and 244 are arranged on two side portions separated in the longitudinal direction of the rectangular plate shape.

[0075] These magnetic pole portions 242, 244 can be arranged opposite to the attracted surface portions 46, 47 of the movable body 40 with a gap in the X direction. In the present embodiment, the opposing surfaces (opposing surfaces) 20a, 20b as the upper surfaces are close to the lower surfaces of the attracted surface portions 46, 47 of the yoke 41 diagonally opposite to each other in the vibration direction (Z direction) of the movable body 40.

[0076] like Figure 2 As shown in FIG. 1 , the winding axis of the coil 22 is fixed to the base portion 32 with the mounting portions 32a separated in the base portion 32 facing each other (the X direction orthogonal to the vibration direction). In the present embodiment, the core assembly 20 is arranged in the center of the base portion 32, specifically, in the center of the bottom surface portion 32b. Figure 3 to Figure 9 As shown in FIG. 1 , the core assembly 20 is fixed to the bottom portion 32b in such a manner that the core 24 is parallel to the bottom portion 32b and is located on the bottom surface across the opening 36. The core assembly 20 is fixed in a state where the coil 22 and the portion wound around the coil 22 (core body 241) are located in the opening 36 of the base portion 32. Specifically, the core assembly 20 is fixed by inserting the screw 68 through the fixing hole 28 and the stopper hole 33 of the bottom portion 32b (see FIG. 1 ) with the coil 22 disposed in the opening 36. Figure 6 The core assembly 20 and the bottom surface 32b are fastened and fixed to the bottom surface 32b. The coil 22 is clamped by the screws 68 as the stopper at the two sides of the opening 36 and the magnetic poles 242 and 244 separated in the Y direction, and the two locations on the axis of the coil 22 are in a joined state.

[0077] The coil 22 is a solenoid that generates a magnetic field when the electromagnetic actuator 10 is driven by electricity. The coil 22, the iron core 24, and the movable body 40 together form a magnetic circuit (magnetic path) that attracts the movable body 40 and moves it. In addition, the coil 22 is powered from an external power source via the control device 1. For example, by supplying a drive current from the control device 1 to the electromagnetic actuator 10, the coil 22 is powered to drive the electromagnetic actuator 10.

[0078] The core 24 includes: a core body 241 around which the coil 22 is wound; and magnetic poles 242 and 244 provided at both ends of the core body 241 and excited by energizing the coil 22. The core 24 may have any structure as long as it has a length such that both ends become magnetic poles 242 and 244 by energizing the coil 22. For example, the core 24 may be formed into a straight (I-shaped) flat plate, but the core 24 of this embodiment is formed into an H-shaped flat plate in top view.

[0079] In the case of an I-type core, the area of ​​the surface (side of the air gap) on the side of the adsorbed surface 46, 47 opposite to the air gap G is narrowed at the two ends (magnetic poles) of the I-type core. As a result, the magnetic resistance in the magnetic circuit increases, and the conversion efficiency may decrease. In addition, when the bobbin is installed on the core, since the positioning piece of the bobbin in the length direction of the core disappears or becomes smaller, it is necessary to set it separately. In contrast, since the core 24 is H-shaped, the air gap side surface can be expanded in the front-to-back direction (Y direction) at the two ends of the core body 241 to be longer than the width of the core body 241 wound with the coil 22, so that the magnetic resistance is reduced, thereby improving the efficiency of the magnetic circuit. In addition, in the magnetic poles 242, 244, between the parts extending from the core body 241, the coil 22 can be positioned by simply embedding the bobbin 26, and there is no need to set up a positioning member for the bobbin 26 relative to the core 24.

[0080] The core 24 has magnetic pole portions 242 and 244 provided at both ends of a plate-shaped core body 241 around which the coil 22 is wound, respectively, so as to protrude in a direction perpendicular to the winding axis of the coil 22 .

[0081] The core 24 is a magnetic body made of soft magnetic material, such as silicon steel plate, Permalloy, ferrite, etc. The core 24 may also be made of electromagnetic stainless steel, sintered material, MIM (metal injection molding) material, laminated steel plate, electrolytic galvanized steel plate (SECC), etc.

[0082] Magnetic poles 242 and 244 are excited by energizing coil 22, and attract yoke 41 of movable body 40 separated in the vibration direction (Z direction) to move. Specifically, magnetic poles 242 and 244 attract attracted surface portions 46 and 47 of movable body 40 disposed opposite to each other with gap G therebetween by using generated magnetic flux.

[0083] In the present embodiment, it is a plate-like body extending in the Y direction perpendicular to the core body 241 extending in the X direction. Since the magnetic poles 242 and 244 are longer in the Y direction, the areas of the opposing surfaces 20a and 20b opposite to the yoke 41 are larger than those formed at the two ends of the core body 241.

[0084] The bobbin 26 is configured to surround the core body 241 of the core 24 in a direction orthogonal to the vibration direction. The bobbin 26 is formed of, for example, a resin material. As a result, electrical insulation from other metal components (for example, the core 24) can be ensured, thereby improving the reliability of the circuit. By using a high-flow resin in the resin material, the formability is improved, and the wall thickness can be reduced while ensuring the strength of the bobbin 26. In addition, the bobbin 26 is installed with the split bodies 26a and 26b in a manner of clamping the core body 241, thereby forming a cylindrical body covering the periphery of the core body 241. On the bobbin 26, flanges are provided at both ends of the cylindrical body, and the coil 22 is defined to be located on the outer periphery of the core body 241.

[0085] <Movable body 40>

[0086] The movable body 40 is disposed so as to face the core assembly 20 with a gap therebetween in a direction perpendicular to the vibration direction (Z direction). The movable body 40 is provided so as to be reciprocally movable relative to the core assembly 20 in the vibration direction.

[0087] The movable body 40 has a yoke 41 and includes a movable body side fixing portion 54 of plate-shaped elastic portions 50 - 1 and 50 - 2 fixed to the yoke 41 .

[0088] The movable body 40 is movable in the approaching and separating directions (Z direction) relative to the bottom surface portion 32 b via the plate-like elastic portions 50 ( 50 - 1 , 50 - 2 ), and is arranged in a state (reference normal position) of being separated and lifted substantially in parallel.

[0089] The yoke 41 is a magnetic path for the magnetic flux generated when the coil 22 is energized, and is a plate-like body made of magnetic materials such as electromagnetic stainless steel, sintered material, MIM (metal injection molding) material, laminated steel plate, electrolytic galvanized steel plate (SECC), etc. In this embodiment, the yoke 41 is formed by processing a SECC plate.

[0090] The yoke 41 is provided with a gap G (see FIG. 1 ) in the vibration direction (Z direction) with respect to the core assembly 20 by means of plate-like elastic portions 50 ( 50 - 1 , 50 - 2 ) fixed to the attracted surface portions 46 , 47 separated in the X direction. Figure 7 ) are suspended in a manner opposite to the ground.

[0091] The yoke 41 has a mounting operation device (see Figure 1 The touch panel 2 shown in the figure has a face fixing portion 44 and attracted face portions 46 and 47 arranged to face the magnetic pole portions 242 and 244.

[0092] The yoke 41 is formed in a rectangular frame shape having an opening 48 in the center, and includes a surface fixing portion 44 surrounding the opening 48 and suctioned surface portions 46 and 47 .

[0093] The opening 48 faces the coil 22. In the present embodiment, the opening 48 is located directly above the coil 22, and the opening 48 is shaped so that the coil 22 of the core assembly 20 can be inserted when the yoke 41 moves toward the bottom surface 32b.

[0094] By configuring the yoke 41 to have the opening 48 , the thickness of the entire electromagnetic actuator can be reduced compared to a case where the yoke 41 does not have the opening 48 .

[0095] Furthermore, since the core assembly 20 is positioned in the opening 48 , the yoke 41 is not disposed near the coil 22 , and a decrease in conversion efficiency due to leakage magnetic flux from the coil 22 can be suppressed, thereby achieving high output.

[0096] The face fixing portion 44 has a fixing surface 44a that makes surface contact with and fixes a touch panel 2 as an example of an operating device. The fixing surface 44a is trapezoidal in plan view and is in surface contact with the touch panel 2 fixed to the face fixing portion 44 by a stopper member such as a screw inserted into the face fixing hole 42.

[0097] The movable body side fixing parts 54 of the plate-like elastic parts 50-1 and 50-2 are fixed to the attracted surface parts 46 and 47 in a stacked state. The attracted surface parts 46 and 47 are provided with notches 49 for avoiding the heads of the screws 64 of the core assembly 20 when the core assembly 20 moves toward the bottom surface part 32b.

[0098] Therefore, even if the movable body 40 moves toward the bottom surface 32b side and the attracted surfaces 46 and 47 approach the magnetic pole portions 242 and 244, they will not contact the screws 68 fixing the magnetic pole portions 242 and 244 to the bottom surface 32b, thereby ensuring the movable area of ​​the yoke 41 in the corresponding Z direction.

[0099] <Plate-shaped elastic portion 50 (50-1, 50-2)>

[0100] The plate-like elastic parts 50 (50-1, 50-2) support the movable body 40 so that it can move freely relative to the fixed body 30. The plate-like elastic parts 50 (50-1, 50-2) support the upper surface of the movable body 40 at the same height as the upper surface of the core assembly 20, or support it so that it is parallel to each other on the lower surface side of the upper surface of the fixed body 30 (the upper surface of the core assembly 20 in this embodiment). In addition, the plate-like elastic parts 50-1, 50-2 have a shape symmetrical with respect to the center of the movable body 40, and in this embodiment, they are components formed in the same manner.

[0101] The plate-like elastic portion 50 is arranged substantially in parallel so that the yoke 41 faces the magnetic pole portions 242 and 244 of the core 24 of the core assembly 20 with a gap G therebetween. The plate-like elastic portion 50 supports the lower surface of the movable body 40 movably in the vibration direction at a position closer to the bottom surface portion 32b than the level substantially the same as the height level of the upper surface of the core assembly 20.

[0102] The plate-like elastic portion 50 is a leaf spring, and includes a fixed body side fixing portion 52 , a movable body side fixing portion 54 , and a serpentine-shaped elastic arm portion 56 connecting the fixed body side fixing portion 52 and the movable body side fixing portion 54 .

[0103] The plate-shaped elastic portion 50 has a fixed body side fixing portion 52 mounted on the surface of the mounting portion 32a, and a movable body side fixing portion 54 mounted on the surfaces of the attracted surfaces 46 and 47 of the yoke 41, and the movable body 40 is mounted so that the serpentine elastic arm portion 56 is parallel to the bottom surface portion 32b.

[0104] The fixed body side fixing portion 52 is in surface contact with the mounting portion 32 a and is fixedly joined by screws 62 , and the movable body side fixing portion 54 is in surface contact with the suctioned surface portions 46 , 47 and is fixedly joined by screws 64 .

[0105] The serpentine elastic arm portion 56 is an arm portion having a serpentine shape. In the present embodiment, the serpentine elastic arm portion 56 has a shape extending along the opposing direction of the fixed body side fixing portion 52 and the movable body side fixing portion 54 and folding back. In the serpentine elastic arm portion 56, the end portions respectively joined to the fixed body side fixing portion 52 and the movable body side fixing portion 54 are formed at positions staggered in the Y direction. The serpentine elastic arm portion 56 is arranged at a position symmetrical or line symmetrical with respect to the center point of the movable body 40.

[0106] Thus, the movable body 40 is supported on both sides by the serpentine elastic arm portion 56 having a serpentine-shaped spring, so that stress can be dispersed during elastic deformation. That is, the plate-shaped elastic portion 50 can move the movable body 40 in the vibration direction (Z direction) without tilting relative to the core assembly 20, and the reliability of the vibration state can be improved.

[0107] Each of the plate-shaped elastic parts 50 has at least two or more serpentine elastic arm parts 56. Thus, compared with the case where each of the plate-shaped elastic parts 50 has one serpentine elastic arm part, stress during elastic deformation is dispersed, reliability can be improved, and the support balance with respect to the movable body 40 is improved, and stability can be improved.

[0108] In the present embodiment, the plate-shaped elastic portion 50 is made of a magnetic body. In addition, the movable body side fixing portion 54 of the plate-shaped elastic portion 50 is arranged at a position opposite to the two ends of the core (magnetic pole portions 242, 244) in the coil winding axis direction or at a position above it, forming a magnetic circuit. In the present embodiment, the movable body side fixing portion 54 is fixed to the upper side of the attracted surface portions 46, 47 in a stacked state. As a result, the thickness (length in the Z direction, the vibration direction) H (refer to Figure 7 ) is increased to the thickness of the magnetic body. The thickness of the plate-shaped elastic portion 50 is the same as the thickness of the yoke 41, so the cross-sectional area of ​​the portion of the magnetic body facing the magnetic pole portions 242 and 244 can be doubled. As a result, compared with the case where the leaf spring is non-magnetic, the magnetic circuit of the magnetic circuit can be expanded, and the reduction in characteristics caused by magnetic saturation in the magnetic circuit can be alleviated, thereby seeking to improve the output.

[0109] In addition, in the electromagnetic actuator 10 of the present embodiment, a detection unit may be provided, which detects the amount of depression of the movable body 40 when the operation face fixed by the face fixing unit 44 is operated. Figure 6 to Figure 7 As shown, a strain detection sensor 70 for detecting the strain of the plate-like elastic portion 50 may be provided as the detection portion.

[0110] The strain detection sensor 70 detects the strain of the plate-shaped elastic portion 50 that is deformed when the face fixing portion 44 is pressed toward the bottom face portion 32b. The detected strain is output to a control device, etc., and the coil 22 is energized to attract the yoke 41 to move it to a movement amount of the movable body 40 corresponding to the deformation.

[0111] In this embodiment, even if the control device 1 does not determine the movement amount of the operated operating device, as long as the operator's contact with the operating device can be detected, vibration feedback of the contact can be realized. In addition, if the amount of depression of the plate-shaped elastic portion 50 can be detected with the movement amount corresponding to the actual movement amount of the operating device, the detection result can be used to realize a more natural tactile expression.

[0112] In addition, the strain detection sensor 70 may be used to adjust the vibration cycle of the movable body 40 (touch panel 2 as an operating device) when supplying the driving current pulse generated by the current pulse supply unit of the control device 1 based on the contact operation of the operator, that is, the detection result of the sensor detecting the amount of depression of the movable body 40. In addition, unlike the strain detection sensor 70, an operation signal indicating the operation state may be output to the control device 1 in a manner that generates vibration corresponding to the display form in conjunction with the display form of the contact position of the operator detected on the touch panel 2, and the control device 1 performs control accordingly.

[0113] In addition, the strain detection sensor 70 is installed near the root of the serpentine elastic arm portion 56 of the plate-like elastic portion 50 where the strain is large, and is arranged in an area that does not interfere with other components, that is, a so-called dead space. In addition, instead of the strain detection sensor 70, a detection unit for detecting the pressing, such as an electrostatic capacitance sensor that measures the distance between the plate-like elastic portion 50 that is pressed and displaced, may be arranged below the plate-like elastic portion 50 on the bottom surface portion 32b that faces the deformed portion of the plate-like elastic portion 50.

[0114] Figure 8 is a diagram showing a magnetic circuit of the electromagnetic actuator 10. In addition, Figure 8 is along Figure 4 In the perspective view of the electromagnetic actuator 10 cut along the line AA, the unillustrated portion of the magnetic circuit also has the same flow M of magnetic flux as the illustrated portion. Fig. 9 2 is a cross-sectional view schematically showing the movement of the movable body caused by the magnetic circuit. Fig. 9 (a) is a diagram showing a state in which the movable body 40 is held at a position away from the core assembly 20 by the plate-like elastic portion 50. Fig. 9 (b) shows the movable body 40 which is attracted and moved toward the core assembly 20 due to the magnetomotive force generated by the magnetic circuit.

[0115] Specifically, when the coil 22 is energized, the core 24 is excited to generate a magnetic field, and both ends of the core 24 become magnetic poles. Figure 8 In the iron core 24, the magnetic pole portion 242 is the N pole, and the magnetic pole portion 244 is the S pole. Thus, a magnetic circuit indicated by the flow M of magnetic flux is formed between the iron core assembly 20 and the yoke 41. The flow M of magnetic flux in this magnetic circuit flows from the magnetic pole portion 242 to the attracted surface portion 46 of the opposing yoke 41, passes through the surface fixing portion 44 of the yoke 41, and reaches the magnetic pole portion 244 opposite to the attracted surface portion 47 from the attracted surface portion 47. In the present embodiment, the plate-shaped elastic portion 50 is also a magnetic body. Therefore, the magnetic flux (indicated by the flow M of magnetic flux) flowing to the attracted surface portion 46 passes through the attracted surface portion 46 of the yoke 41 and the movable body side fixing portion 54, and reaches the attracted surface portion 46 and the movable body side fixing portion 54 of the plate-shaped elastic portion 50-2 from both ends of the attracted surface portion 46 via the surface fixing portion 44.

[0116] Thus, according to the principle of the electromagnetic solenoid, the magnetic poles 242 and 244 of the core assembly 20 generate an attractive force F that attracts the attracted surfaces 46 and 47 of the yoke 41. Then, the attracted surfaces 46 and 47 of the yoke 41 are attracted by both the magnetic poles 242 and 244 of the core assembly 20. Thus, the coil 22 is inserted into the opening 48 of the yoke 41, and the movable body 40 including the yoke 41 moves in the direction F against the force of the plate-shaped elastic portion 50 (see FIG. 1 ). Fig. 9 (a) and Fig. 9 (b)).

[0117] When the coil 22 is de-energized, the magnetic field disappears, the attraction F of the core assembly 20 on the movable body 40 disappears, and the movable body 40 moves to its original position (moves in the −F direction) due to the urging force of the plate-like elastic portion 50 .

[0118] By repeating these operations, the electromagnetic actuator 10 can reciprocate the movable body 40 linearly to generate vibration in the vibration direction (Z direction).

[0119] By making the movable body 40 reciprocate linearly, the touch panel 2 as the operating device to which the movable body 40 is fixed also moves in the Z direction following the movable body 40. In this embodiment, the displacement of the movable body 40 caused by the drive, that is, the displacement amount G1 of the touch panel 2 (see Figure 1 ) is in the range of 0.03mm to 0.3mm. The range of the displacement amount is the range of vibration that can be given to the display pressed by the operator in the screen 2a of the touch panel 2 as the operating device. For example, when the display that becomes the pressing object of the operator in the screen 2a is a mechanical button or various switches, it is the range of amplitude that can give the same tactile feeling as when these mechanical buttons or various switches are actually pressed. This range is set so that if the displacement of the amplitude of the movable body 40 is small, the tactile feeling is insufficient, and if it is large, it feels uncomfortable.

[0120] In the electromagnetic actuator 10, by arranging the attracted surface portions 46 and 47 of the yoke 41 close to the magnetic pole portions 242 and 244 of the core assembly 20, the magnetic circuit efficiency can be improved, thereby achieving high output. In addition, in the electromagnetic actuator 10, since magnets are not used, it becomes a low-cost structure. By using a serpentine-shaped spring as a plate-like elastic portion 50 (50-1, 50-2), stress can be dispersed, and reliability can be improved. In particular, since a plurality of plate-like elastic portions 50 (50-1, 50-2) are used to support the movable body 40, stress can be dispersed more effectively. In this way, the electromagnetic actuator 10 can provide a direct sense of touch to the operator who contacts the screen 2a in the up and down directions by driving in the up and down directions.

[0121] The core assembly 20 having the core 24 for winding the coil 22 is fixed to the fixed body 30, and the core assembly 20 is arranged in the opening 48 of the yoke 41 of the movable body 40, and the movable body 40 is supported by the plate-shaped elastic part 50 so as to be movable in the Z direction relative to the fixed body 30. As a result, it is not necessary to overlap the components respectively arranged on the fixed body and the movable body in the Z direction in order to generate magnetic force to drive the movable body in the Z direction (for example, the coil and the magnet are arranged relatively in the Z direction), so that the thickness of the electromagnetic actuator in the Z direction can be reduced. In addition, by moving the movable body 40 back and forth linearly without using a magnet, it is possible to give a vibration as a tactile sense to the operating device. In this way, since the support structure is simple, the design becomes simple, space saving can be sought, and the thickness of the electromagnetic actuator 10 can be sought. In addition, since it is an actuator without using a magnet, it is possible to seek a reduction in cost compared with a structure using a magnet.

[0122] The driving principle of the electromagnetic actuator 10 is briefly described below. The electromagnetic actuator 10 can be driven by using the following motion equation and circuit equation, using a pulse to generate a resonance phenomenon. In addition, as an action, it is not a resonance drive, but an operation feeling of a mechanical switch displayed on a touch panel as an operating device is expressed. In this embodiment, a plurality of current pulses are input via the control device 1 to drive it. As mechanical switches, for example, tactile switches, alternating switches, momentary switches, toggle switches, slide switches, rotary switches, DIP switches, and seesaw switches can be cited.

[0123] Furthermore, the movable body 40 of the electromagnetic actuator 10 reciprocates according to equations (1) and (2).

[0124] [Formula 1]

[0125]

[0126] m: mass [kg]

[0127] x(t): displacement [m]

[0128] K f :Thrust constant [N / A]

[0129] i(t): current [A]

[0130] K sp : Spring constant [N / m]

[0131] D: Attenuation coefficient [N / (m / s)]

[0132] [Formula 2]

[0133]

[0134] e(t): voltage [V]

[0135] R: resistance [Ω]

[0136] L: Inductance [H]

[0137] K e : Back electromotive force constant [V / (rad / s)]

[0138] That is, the mass m [kg], displacement x (t) [m], thrust constant K of the electromagnetic actuator 10 f [N / A], current i(t)[A], spring constant K sp [N / m], attenuation coefficient D [N / (m / s)], etc. can be appropriately changed within the range that satisfies equation (1). In addition, voltage e(t) [V], resistance R [Ω], inductance L [H], back electromotive force constant K e [V / (rad / s)] can be appropriately changed within the range satisfying the formula (2).

[0139] Thus, the electromagnetic actuator 10, the mass m of the movable body 40, the spring constant K of the metal spring (elastic body, in this embodiment, a leaf spring) as the plate-shaped elastic portion 50, sp to decide.

[0140] In addition, in the electromagnetic actuator 10, the screws 62 and 64 are used to fix the base portion 32 and the plate-like elastic portion 50 and to fix the plate-like elastic portion 50 and the movable body 40. Thus, the plate-like elastic portion 50, which needs to be firmly fixed to the fixed body 30 and the movable body 40 in order to drive the movable body 40, can be mechanically firmly fixed in a reworkable state.

[0141] <Control device 1>

[0142] The control device 1 controls the electromagnetic actuator 10, which is supported so as to be able to elastically vibrate the operating device ( Figure 1 2) is driven in one direction of its vibration direction.

[0143] The control device 1 supplies a driving current to the electromagnetic actuator 10 according to the contact operation of the operating device, generates a magnetic field, and moves the movable body 40 capable of elastic vibration relative to the fixed body 30 in one direction, in this case, the negative side of the Z direction. Thus, when the operator touches the operating device, the control device 1 provides vibration as a tactile sensation. In addition, the contact operation may be, for example, a signal indicating a contact state input from the touch panel 2, or a signal detected by the strain detection sensor 70.

[0144] In the present embodiment, the control device 1 supplies a plurality of current pulse trains to the coil 22 as electromagnetic actuator drive signals for driving the electromagnetic actuator 10 .

[0145] The control device 1 supplies a current pulse to the coil 22, and the movable body 40 overcomes the force of the plate-shaped elastic part 50, and is pulled to the coil 22 side, that is, the negative side of the Z direction, due to the magnetic attraction, and is displaced. Following this, the touch panel 2 also moves to the negative side of the Z direction relative to the base 3 to which the fixed body 30 is fixed. In addition, by stopping the supply of driving current to the coil 22, the force is released, and the holding state of the movable body 40 at the negative side of the Z direction relative to the reference position is released. As a result, the movable body 40 is forced to move from the maximum displacement position on the negative side of the Z direction to the direction opposite to the direction (negative side of the Z direction) to the direction (positive side of the Z direction) to which it is pulled due to the force of the plate-shaped elastic part 50, and feedback vibration.

[0146] The plurality of current pulse trains include a main drive pulse for generating a main vibration corresponding to the contact operation and a sub-drive pulse for forming a decay period of the vibration based on the main drive pulse.

[0147] Between the operator and the operating equipment ( Figure 1 When the screen 2a of the touch panel 2 is touched, a main drive current pulse (hereinafter also referred to as "main drive pulse") is supplied to the coil 22, driving the electromagnetic actuator 10 to generate a main vibration corresponding to the touch operation which is fed back to the operator.

[0148] After the main drive pulse is supplied, the sub drive pulse is supplied to the coil 22, and vibration is generated during the decay period of the main vibration based on the main drive pulse, that is, residual attenuated vibration of the feedback vibration.

[0149] The main drive pulse may generate vibration of any magnitude as long as it is a drive pulse that constitutes the main vibration fed back to the operator performing the contact operation, or may be formed by a plurality of current pulses.

[0150] In addition, the auxiliary drive pulse is a drive pulse supplied to the coil 22 after the main drive pulse is supplied. In the present embodiment, the auxiliary drive pulse includes: a brake pulse for shortening the attenuated vibration (attenuation period of vibration) after the feedback vibration based on the main drive pulse; and an attenuation additional pulse for continuing the vibration attenuation period after the vibration based on the main drive pulse. In addition, the auxiliary drive pulse only needs to include at least one of the brake pulse and the attenuation additional pulse.

[0151] Various vibration forms are generated according to the amplitudes, wavelengths, supply timings, etc. of the main drive pulse and the sub-drive pulse, and are supplied to the electromagnetic actuator 10 as actuator drive signals, thereby giving physical sensations to the operator.

[0152] The control device 1 includes, for example, a current pulse supply unit and a voltage pulse application unit.

[0153] The current pulse supply section supplies a plurality of drive current pulses as a drive current for driving the operating device to the coil 22 of the electromagnetic actuator 10 in accordance with a contact operation of the operating device (touch panel 2 ).

[0154] In the present embodiment, the plurality of drive current pulses are a drive current pulse train as an actuator drive signal, in which a main drive pulse and a sub drive pulse are combined into one set.

[0155] Between the operator and the operating equipment ( Figure 1 When the screen 2a of the touch panel 2 is touched, the control device 1 of the present embodiment outputs a train of drive current pulses to the coil 22 of the electromagnetic actuator 10 to vibrate the electromagnetic actuator, thereby providing a tactile sensation to the operator.

[0156] Note that the details of the drive current pulse train including the main drive pulse and the drive current pulse will be described later.

[0157] The voltage pulse applying unit intermittently applies a plurality of control voltage pulses for generating a plurality of drive current pulses (main drive pulses and sub-drive pulses (brake pulses and attenuation additional pulses)) constituting the actuator drive signal to the current pulse supply unit.

[0158] Specifically, the voltage pulse applying unit applies a main drive pulse as a main drive signal, which starts a vibration with a predetermined amplitude and wavelength that becomes the main tactile sensation when the operator touches the screen 2a. In addition, the voltage pulse applying unit applies a vibration attenuation period adjustment signal as a sub-drive pulse to the current pulse supply unit after the main drive signal.

[0159] Fig.10 This is a circuit diagram showing an example of the configuration of a control device according to an embodiment of the present invention.

[0160] exist Fig.10 The control device 1 shown has: a switching element 82 composed of a MOSFET (metal-oxide-semiconductorfield-effect transistor) as a current pulse supply unit, a signal generation unit (Signal generation) 84 as a voltage pulse application unit, resistors R1, R2, and SBD (Schottky Barrier Diodes).

[0161] In the control device 1, a signal generating unit 84 connected to the power supply voltage Vcc is connected to the gate of the switching element 82. The switching element 82 is a discharge switching switch connected to the electromagnetic actuator 10 and SBD, and to the electromagnetic actuator (at Fig.10 [Actuator] in the figure)10 connection.

[0162] In addition, although not shown in the figure, the control device 1 may also be provided with a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc., for controlling the actions of the constituent elements of the vibration presentation device. The CPU reads out a program corresponding to the processing content from the ROM, loads it in the RAM, and controls the actions of the constituent elements of the vibration presentation device including the electromagnetic actuator 10 in a manner that cooperates with the loaded program. At this time, various data containing various vibration attenuation period generation modes stored in a storage unit (omitted from the figure) are referred to. The storage unit (omitted from the figure) may also be composed of a non-volatile semiconductor memory (so-called flash memory), etc. For example, in addition to the main drive pulse waveform data, the brake pulse waveform data and various multiple-mode attenuation additional pulse waveform data are also stored in the storage unit, ROM or RAM. Various programs for controlling the vibration presentation device, including a vibration presentation program for driving the electromagnetic actuator to present vibrations, are stored in the ROM. As a vibration presentation program, for example, when information indicating the contact state is input from the operating device or the strain detection sensor 70, a program for reading out the braking pulse waveform data and the attenuation additional pulse waveform data in order to generate an actuator drive signal that generates vibration corresponding to the contact information, a program for combining the read data to generate an actuator drive signal corresponding to the contact information, and a program for supplying the generated actuator drive signal to the coil. The actuator drive signal is applied to the coil as a combination of multiple current pulses via an actuator that drives the electromagnetic actuator. The CPU can use these programs and data to control the actions of the components of the vibration presentation device, and can also control the current pulse supply unit and the voltage pulse application unit.

[0163] <Vibration Action Generated by Control Device>

[0164] The control device 1 supplies a current pulse to the coil 22 to drive the movable body 40 in one direction of the vibration direction. By supplying the current pulse to the coil 22, the movable body 40 overcomes the force of the plate-shaped elastic part 50 and displaces in one direction of the vibration direction. During the supply of the current pulse, the movable body 40 continues to displace in one direction of the vibration direction. By stopping the supply of the current pulse, that is, by disconnecting the input of the current pulse to the coil 22, the force that displaces the movable body 40 in one direction (Z direction) of the vibration direction is released. The disconnection of the input of the current pulse means the timing at which the voltage that generates the current pulse becomes disconnected. At the time point when the voltage becomes disconnected, the current pulse is not completely disconnected but is in a state of attenuation. The movable body 40 is displaced in the other direction (Z direction positive side) of the vibration direction due to the force of the plate-shaped elastic part 50 accumulated at the maximum displaceable position in the pulling direction (Z direction negative side). The movable body 40 moves to the other direction side as the operating device side, and the strong vibration is transmitted to the operating device, giving the operator a tactile sensation.

[0165] In response to the operator's contact with the screen 2a, the control device 1 supplies a plurality of current pulses including a main drive pulse as the first pulse and auxiliary drive pulses (brake pulses, attenuation additional pulses) as pulses after the second pulse to the coil 22. During the vibration of the movable body 40, the control device 1 supplies the main drive pulse, and further adjusts the vibration that continues after the supply of the main drive pulse stops, i.e., the so-called vibration attenuation period, by supplying the auxiliary drive pulse after the supply of the main drive pulse.

[0166] <Supply of Main Drive Pulse>

[0167] Fig.11 2 is a diagram for explaining the displacement of the movable body when the main drive pulse is supplied to the electromagnetic actuator. In response to the operator's contact with the screen 2a, the control device 1 supplies the main drive pulse to the coil 22. As a result, the movable body 40 is driven according to the main drive pulse, as shown in FIG. Fig.11 As shown, displacement, i.e. vibration, occurs during a vibration attenuation period.

[0168] Thus, the control device 1 adjusts the strength of the vibration attenuation period, the length of the vibration attenuation period, the presence or absence of the vibration attenuation period, etc., so that the control device 1 provides various tactile sensations when the operator touches the operation device.

[0169] Here, the vibration period T of the electromagnetic actuator 10 is expressed by the following formula (3) in the form of the mass m of the movable body 40 (also including the touch panel 2, but for convenience, the movable body 40 is used for explanation here) which is set as the movable part, and the spring constant Ks of the plate-like elastic part 50, i.e., the leaf spring, which elastically supports the movable body 40.

[0170] [Formula 3]

[0171]

[0172] In the present embodiment, the vibration period T is a time interval from the timing of the maximum displacement on the negative side to the timing of the next maximum displacement.

[0173] <Supply of Sub-Driving Pulse>

[0174] After the main drive pulse is supplied, the current pulses after the second pulse supplied to the coil 22 are supplied to the coil 22 at a predetermined timing as sub-drive pulses (brake pulses and attenuation additional pulses). In other words, after the current pulse supply unit supplies a drive current pulse capable of starting elastic vibration as the main drive current pulse, it supplies a drive current pulse (brake pulse, attenuation additional pulse) capable of adjusting the attenuation period of the elastic vibration as the sub-drive current pulse.

[0175] Thus, the attenuation period of the vibration based on the main driving pulse is adjusted. In other words, the sub-driving pulse adjusts the magnitude and length of the free vibration following the main vibration based on the main driving pulse.

[0176] The predetermined timing refers to the range of 1 / 2T before and after the maximum displacement (peak value) on the positive side in the vibration cycle T(n) of the elastic vibration generated by the plate-shaped elastic portion 50 supporting the touch panel 2 and the movable body 40, starting from the timing Ts when the main driving pulse supplied as the first pulse to the coil 22 is turned off, or it can be said that it is the timing excluding the maximum displacement (peak value) on the positive side and the negative side. In this way, the operating device is vibrated to give the operator various tactile sensations.

[0177] <Supply of brake pulse>

[0178] The brake pulse can attenuate the vibration generated by the current pulse, and in the present embodiment, is a pulse supplied so as to shorten the attenuation period of the vibration generated by the main drive pulse.

[0179] Specifically, the control device 1 sets the input (supply) timing of the current pulses after the second pulse supplied to the coil 22 after the main drive pulse is supplied to the coil 22 among the multiple current pulses to the following range: the range of the vibration period T(n-1) to T(n-1)+1 / 2T (n is a natural number) from the timing Ts when the main drive pulse of the first pulse is turned off. n represents the timing of the vibration period of the current pulse supplied as the auxiliary drive pulse (brake pulse) in the multiple current pulse trains as the electromagnetic actuator drive signal. In addition, if n is a natural number greater than 2, the maximum displacement on the positive side generated by the main drive pulse of the first pulse will not be attenuated, and the attenuation period of the vibration after the maximum displacement on the positive side generated by the main drive pulse can be shortened.

[0180] For example, when n=2, in the vibration cycle after the second pulse, the movable body 40 is displaced to the maximum displacement amount side (one direction side) on the negative side during the displacement from the maximum displacement amount side (one direction side) on the negative side to the maximum displacement amount side (the other direction side) on the positive side in the second vibration cycle, and braking is performed. Thus, during the attenuation period of the main drive pulse, the amplitude (length to the maximum displacement amount on the negative side) of the movable body 40 is shortened, the vibration during the attenuation period is suppressed, the attenuation period is shortened, and vibration set to a sharp touch can be given.

[0181] Fig.12 1 is a diagram showing an example of an electromagnetic actuator drive signal input to an electromagnetic actuator of a control device according to an embodiment of the present invention. Fig.12 Indicates the displacement of the movable body (including the operating device) when the main drive pulse is supplied (refer to Fig.11 ), n=2, a mode in which a braking pulse is supplied in the second cycle in the vibration cycle of the electromagnetic actuator.

[0182] exist Fig.12 In the embodiment, after the control device 1 supplies the main drive pulse to the coil 22, the supply timing of the current pulse of the second pulse is set to the period of displacement from the maximum displacement (peak) on the negative side to the maximum displacement (peak) on the positive side during the attenuation period of the vibration generated by the main drive pulse. Specifically, the second pulse is supplied during the period from the maximum displacement on the negative side of the second cycle (after T) to the maximum displacement (peak) on the positive side of the vibration cycle. That is, the braking pulse exerts an attractive force in the negative direction on the movable body 40 moving from the negative side to the positive side. In addition, the current pulse is not supplied at the peak of the displacement of the movable body 40. When the displacement of the vibration (equivalent to the displacement of the movable body 40) reaches the peak on the positive side, the supply of the current pulse is turned off. In the present embodiment, the current pulse is not supplied when the displacement of the vibration is the maximum displacement on the positive and negative sides.

[0183] As a result, the next displacement after the peak of the displacement due to the main drive pulse is suppressed, and the vibration attenuation period is shortened, thereby providing the operator with a sharper tactile sensation.

[0184] Fig.13 is a diagram showing an example of an electromagnetic actuator drive signal input to an electromagnetic actuator of a control device according to an embodiment of the present invention, Fig.13 The attenuation portion of the main vibration of the movable body (including the operating device) when the main drive pulse is supplied is n=3, that is, it indicates a mode in which the braking pulse is supplied in the third cycle in the vibration cycle of the electromagnetic actuator.

[0185] After the main drive pulse is supplied to the coil 22, the supply timing of the current pulse of the second pulse is set to a period of displacement from the maximum displacement amount (peak value) on the negative side of the maximum displacement of the third cycle to the maximum displacement amount (peak value) on the positive side during the attenuation period of the vibration generated by the main drive pulse. In addition, the supply of the current pulse is turned off when the displacement reaches the maximum displacement amount (peak value) on the positive side.

[0186] That is, in the vibration cycle after the second pulse, in the displacement from the maximum displacement amount on the negative side (one direction side) to the maximum displacement amount on the positive side (the other direction side) in the vibration cycle, the movable body 40 is displaced to the maximum displacement amount side on the negative side (one direction side) to perform braking. In addition, the displacement to the maximum displacement amount side on the negative side is the displacement of the movable body 40 to the one direction side (negative side in the Z direction), and the displacement to the maximum displacement amount side on the positive side is the displacement of the movable body 40 to the other direction side (positive side in the Z direction).

[0187] Thus, during the attenuation period of the vibration, the amplitude (length to the maximum displacement on the negative side) of the movable body 40 becomes shorter, the vibration during the attenuation period is suppressed, the attenuation period is shortened, and after the main vibration is given, a vibration set to a sharp tactile sensation can be given.

[0188] <Supply of Attenuation Additional Pulse>

[0189] The attenuated additional pulse attenuates the vibration generated by the current pulse. In the present embodiment, the attenuated additional pulse is supplied in such a manner as to extend the attenuation period of the vibration generated by the supply of the main drive pulse. When the attenuated additional pulse is supplied, in the control device 1, the input (supply) timing of the current pulse after the second pulse supplied to the coil 22 among the multiple current pulses is set to the following range: the range of the vibration period T(n-1)+1 / 2T to T(n-1)+T (n is a natural number) from the timing Ts when the main drive pulse of the first pulse is turned off. In addition, n represents the timing of the vibration period of the current pulse supplied as the auxiliary drive pulse (attenuated additional pulse) in the multiple current pulse trains as the electromagnetic actuator drive signal.

[0190] After the main drive pulse is supplied to the coil 22, the control device 1 sets the supply timing of the current pulse after the second pulse to the period of displacement from the maximum displacement amount (peak value) on the positive side to the maximum displacement amount on the negative side in the attenuation period of the vibration generated by the main drive pulse. That is, in the vibration period after the second pulse, in the displacement from the maximum displacement amount on the positive side to the maximum displacement amount on the negative side (from the other direction side to one side) in the vibration period, an additional force is applied to the movable body 40 toward the maximum displacement amount side on the negative side (one direction side), and a force is applied to the displacement toward the maximum displacement amount side on the negative side.

[0191] Thus, during the attenuation period of the vibration, the amplitude of the movable body 40 increases, the time during which the tactile sensation due to the vibration is given to the operator becomes longer, and vibration having a tactile sensation of depth can be expressed.

[0192] Fig.14 This is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention. Fig.14 Indicates the displacement of the movable body (including the operating device) when the main drive pulse is supplied (refer to Fig.11 ), n=2, a mode in which an attenuated additional pulse is supplied in the second cycle in the vibration cycle of the electromagnetic actuator.

[0193] Fig.14 The electromagnetic actuator drive signal shown supplies a decay additional pulse after supplying a main drive pulse.

[0194] exist Fig.14 In the case where the control device 1 supplies the decay additional pulse after supplying the main drive pulse, the control device 1 supplies a current pulse as the decay additional pulse to the second pulse supplied to the coil 22 .

[0195] Therefore, if Fig.14 As shown, during the period when the movable body 40 is displaced from the maximum displacement amount on the positive side of the second cycle to the maximum displacement amount on the negative side of the third cycle, that is, during the displacement in one direction (direction of force application, negative side) after the maximum displacement amount on the positive side of the second cycle, the current pulse is supplied to the coil 22. That is, the force increases, the movable body 40 is displaced to the maximum displacement amount side on the negative side, and the maximum displacement amount on the negative side is deeper than the vibration cycle in the attenuation period, and the vibration continues.

[0196] Thus, the vibration attenuation period is longer than the vibration attenuation period when only the main drive pulse is present, and a tactile sense with depth can be provided to the operator.

[0197] Fig.15 This is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention. Fig.15 Indicates the displacement of the movable body (including the operating device) when the main drive pulse is supplied (refer to Fig.11 ), n=3, a mode in which an attenuated additional pulse is supplied in the third cycle of the vibration cycle of the electromagnetic actuator.

[0198] After the main drive pulse is supplied to the coil 22, the supply timing of the current pulse of the second pulse is set to a period of displacement from the maximum displacement amount (peak value) on the positive side of the third cycle to the maximum displacement amount (peak value) on the negative side of the fourth cycle in the attenuation of the vibration generated by the main drive pulse. In addition, when the displacement reaches the maximum displacement amount on the positive side and the maximum displacement amount on the negative side, the supply of the current pulse is turned off.

[0199] That is, in the vibration cycle after the second pulse, the movable body 40 is displaced to the negative side (one direction side) during the displacement from the maximum displacement amount on the positive side (the other direction side) to the maximum displacement amount on the negative side (one direction side) to perform braking. As a result, during the attenuation period of the vibration, the amplitude of the movable body 40 (the length to the maximum displacement amount on the negative side) becomes larger, the acting force increases, the attenuation period becomes longer, and after the main vibration is given, a vibration with a deep tactile feeling can be given.

[0200] In this way, in the actuator drive signal having a plurality of current pulses including the main drive pulse, by supplying a braking pulse, or supplying an attenuation additional pulse, or supplying both at the timing of the vibration period T(n-1) corresponding to the column of the supplied main drive pulse, the vibration attenuation period can be changed. Therefore, the expression of vibrations with various touch operation feelings can be realized.

[0201] <Supply of brake pulse + attenuation additional pulse>

[0202] Fig.16 and Fig.17 This is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention, and shows an example of adjusting the damping period of elastic vibration by a braking pulse and a damping additional pulse.

[0203] When the damping of vibration is adjusted by using both the braking pulse and the attenuation additional pulse, the supply timing of the braking pulse is in the range of T(n-1) to T(n-1)+1 / 2T (n is a natural number) from when the main drive current pulse is turned off during elastic vibration. In addition, the supply timing of the attenuation additional pulse is in the range of T(n-1)+1 / 2T to T(n-1)+T (n is a natural number) from when the main drive current pulse is turned off during elastic vibration.

[0204] Fig.16The braking pulse and the attenuation additional pulse are supplied to the coil 22 as auxiliary drive pulses. In addition, n, which determines the supply timing of the braking pulse, and n, which determines the supply timing of the attenuation additional pulse, may be different or the same. For example, the supply timing of the braking pulse is set to n1=2, within the range of T(n-1) to T(n-1)+1 / 2T from the time when the main drive current pulse is turned off, and is added to the second period of the vibration period. In addition, the supply timing of the attenuation additional pulse is set to n2=2, within the range of T(n-1)+1 / 2T to T(n-1)+T from the time when the main drive pulse is turned off, and is added to the second period of the vibration period.

[0205] In this way, Fig.16 , a pattern of a current pulse train in which a braking pulse and a damping additional pulse are added based on respective supply conditions in the second cycle of the vibration cycle, and a displacement (corresponding to the displacement of the movable body 40) due to elastic vibration based on the pattern are shown.

[0206] Thus, the attenuation of the vibration after the vibration feedback generated by the main drive pulse can be shortened by the brake pulse and can be prolonged by the attenuation additional pulse, thereby providing the operator with a sensitive and deep tactile feeling.

[0207] Fig.17 The braking pulse and the attenuation additional pulse are supplied as auxiliary drive pulses to the coil 22. The supply timing of the braking pulse is set to n1=3, the supply timing of the attenuation additional pulse is set to n2=3, and the braking pulse and the attenuation additional pulse are added to the third cycle of the vibration cycle together, and the displacement of the elastic vibration at this time is shown.

[0208] Fig.17 The pattern shown is similar to Fig.16 The attenuation of the vibration after the vibration feedback generated by the main drive pulse can be shortened by the braking pulse, and can be extended by the attenuation additional pulse. Thus, in addition to giving the operator a sensitive touch, it can also provide a deep touch.

[0209] In this way, the control device 1 can provide a sharp tactile sensation and a deep tactile sensation based on the brake pulse in various variations.

[0210] Fig.18 This is a diagram for explaining the supply timing of the auxiliary driving pulse.

[0211] In addition, in the electromagnetic actuator 10, when the inductance increases, the timing (vibration cycle or half cycle) at which the displacement of the movable body 40 reaches the maximum (peak value) is sometimes delayed by the transition current from the timing Ts at which the current pulse turns off. In this case, the timing of supplying the auxiliary drive pulse corresponding to the vibration cycle deviates from the actual vibration cycle.

[0212] In contrast, the control device 1 sets a delay time LT in the input timing of the current pulse after the second pulse. That is, after the main drive pulse is supplied, when the brake pulse or the attenuation additional pulse of the current pulse as the second pulse is supplied, it is performed at the timing of leaving the delay time LT from the timing Ts at which the main drive pulse is turned off.

[0213] That is, when the brake pulse is supplied, the timing is carried out in the range of T(n-1) to T(n-1)+1 / 2T after a predetermined delay time LT has passed since the main drive pulse was turned off (timing Ts). In addition, when the attenuation additional pulse is supplied, the timing is carried out in the range of T(n-1)+1 / 2T to T(n-1)+T after a predetermined delay time LT has passed since the main drive pulse was turned off (timing Ts).

[0214] This allows the timing of supplying the sub-driving pulse to coincide with the actual vibration period or half period, and allows appropriate vibration attenuation adjustment to be performed, thereby providing a good tactile feeling.

[0215] In the vibration presentation device, when the operator touches the operating device, the control device 1 vibrates the contact portion according to the contact, thereby giving the operator a tactile sensation.

[0216] Specifically, the touch position information and / or contact information indicating operator contact from the strain detection sensor 70 is input to the control device 1. The control device 1 receives the contact information and drives the electromagnetic actuator to generate vibration. The actuator drive signal generating vibration is generated in accordance with the contact information.

[0217] The control device 1 generates the actuator drive signal using the above-mentioned main drive pulse, brake pulse, and attenuated additional pulse. The main drive pulse, brake pulse, and attenuated additional pulse can be arbitrarily combined to form the electromagnetic actuator drive signal as long as they are composed of a main drive pulse combined with an auxiliary drive pulse (brake pulse, attenuated additional pulse). In addition, the main drive pulse, brake pulse, and attenuated additional pulse are pre-set with multiple different amplitudes and pulse widths, and the main drive pulse and the auxiliary drive pulse can be arbitrarily combined.

[0218] Fig.19 FIG. 20 is a flowchart showing an example of the operation of driving the electromagnetic actuator 10 by the control device 1 according to the embodiment of the present invention. Fig.19As shown in FIG. 20 , the control device 1 drives the electromagnetic actuator 10 to generate feedback vibration.

[0219] In addition, Fig.19 20 , the main driving pulse, the braking pulse and the attenuation additional pulse are expressed as a main vibration signal, a vibration attenuation period braking signal and a vibration attenuation period additional signal according to their functions.

[0220] When the main drive pulse is supplied to the electromagnetic actuator (specifically, the coil 22), as shown in FIG. Fig.19 As shown, when the operator touches the operating device, the control device 1 outputs a main vibration signal as a main drive pulse as an actuator drive signal (step S10). The output main vibration signal is supplied to the coil 22, generating an electromagnetic force, and the movable body 40 is driven to vibrate. The vibration is fed back to the operator as the main vibration via the operating device, and is given to the operator as a tactile sensation.

[0221] The displacement of the movable body 40 caused by supplying the main drive pulse to the coil 22 reaches a peak value of the maximum displacement amount in the positive direction according to the main drive pulse, and then attenuates after generating feedback vibration (see Fig.11 ).

[0222] Figures 20A to 20C represent the control of the vibration generated by adjusting the attenuation period of the feedback vibration. As shown in Figures 20A to 20C, after the main vibration is output (step S10), the attenuation period of the vibration is adjusted. As a step for adjusting the vibration attenuation period, after the step S10 of outputting the main drive signal, a step S20 of supplying a braking signal during the vibration attenuation period and a step S30 of outputting an additional signal during the vibration attenuation period can be appropriately combined as a vibration attenuation adjustment. Thus, it is possible to adjust the attenuation of the vibration to generate various vibration modes and give various tactile sensations.

[0223] Thus, according to this embodiment, it is possible to reduce the cost without using magnets, etc., and it is possible to reduce the cost of the entire device, while being able to express vibrations of various contact operation feelings. In addition, according to this embodiment, even a small product can increase its output through effective driving. In addition, it is possible to achieve low power consumption.

[0224] While achieving cost reduction, it is possible to effectively generate a thrust of the movable body 40 that is suitable for the touch of an operator who operates the operating device.

[0225] Thus, in this embodiment, since the vibrations provided as various contact operation feelings are not adjusted by using damping materials such as rubber, there is no reliance on the damping material itself to form a single vibration damping period by using the damping material, and there is no limitation on the type of operation feeling expressed by the lack of change in the vibration damping period. In addition, there is no change in the resonance frequency due to individual differences in the damping material, and its characteristics do not vary from product to product.

[0226] In addition, it is preferred that a plurality of plate-shaped elastic parts 50 are fixed at positions symmetrical with respect to the center of the movable body 40, but as described above, the movable body 40 may be supported by a single plate-shaped elastic part 50 so as to be vibrating relative to the fixed body 30. The plate-shaped elastic part 50 may also include at least two or more arm parts that connect the movable body 40 and the fixed body 30 and have a serpentine elastic arm part 56. The plate-shaped elastic part 50 may also be made of a magnetic body. In this case, the movable body side fixed part 54 of the plate-shaped elastic part 50 is respectively arranged at both ends of the core 24 in the winding axis direction of the coil 22 or in a direction orthogonal to the winding axis direction, and forms a magnetic circuit together with the core 24 when the coil 22 is energized.

[0227] In addition, in the structure of the electromagnetic actuator 10, rivets may be used instead of the screws 62, 64, 68 used to fix the base portion 32 and the plate-shaped elastic portion 50 and the plate-shaped elastic portion 50 and the movable body 40. The rivets are each composed of a head and a main body without a threaded portion, and are inserted into a member having a hole, and the ends on the opposite side are riveted to plastically deform, thereby joining the members having a hole to each other. Riveting may also be performed using, for example, a press machine or a dedicated tool.

[0228] The period of the input pulse may be corrected based on the strain data obtained by the strain detection sensor 70 or based on individual differences among the components of the electromagnetic actuator 10 .

[0229] The above describes the embodiments of the present invention. In addition, the above description is an example of a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto. In other words, the description of the structure of the above-mentioned device and the shape of each part is only an example, and various changes and additions can be made to these examples within the scope of the present invention.

[0230] In this embodiment, the driving direction of the electromagnetic actuator driven and controlled by the control device 1 is the Z direction, but it is not limited to this. The above-mentioned effective driving and vibration enhancement effects can also be obtained in the direction parallel to the operator's contact surface, specifically, in the X direction or the Y direction.

[0231] [Industrial Applicability]

[0232] The electromagnetic actuator of the present invention has the effect of vibrating to express various contact operation feelings. For example, it is useful for operating devices in vehicle-mounted products and industrial equipment that input operations by touching an image on a screen with a finger, such as a touch display device equipped with a touch panel device that can feedback the same operating feeling as when touching various images such as a mechanical switch displayed on the image.

Claims

1. A control device for controlling an electromagnetic actuator that drives an elastically vibrating operating device supported by an elastic support portion in one direction of the vibration direction of the operating device to vibrate the operating device, It is characterized in that The control device includes a current pulse supply unit that supplies a drive current pulse to the coil of the electromagnetic actuator as a drive current for driving the operating device according to a contact operation of the operating device. The current pulse supplying unit supplies the driving current pulse capable of starting the elastic vibration as the main driving current pulse and then supplies the driving current pulse capable of adjusting the attenuation period of the elastic vibration as the sub-driving current pulse. The auxiliary driving current pulse has at least one of a braking pulse and a decay additional pulse, The brake pulse is a drive current pulse supplied in such a manner as to shorten the attenuation period of the vibration generated by the main drive current pulse. The attenuation additional pulse is a drive current pulse supplied so as to extend the attenuation period of vibration generated by supplying the main drive current pulse.

2. The control device according to claim 1, characterized in that: The current pulse supplying section supplies the sub-driving current pulse during the elastic vibration after the main driving current pulse is turned off.

3. The control device according to claim 1, characterized in that: The current pulse supplying unit supplies the auxiliary driving current pulse during the nth cycle of the elastic vibration after the main driving current pulse is turned off, wherein n is a natural number. In the elastic vibration, when the mass of the movable part is m, the spring constant of the elastic support part is Ks, and the vibration period is When the auxiliary driving current pulse is supplied, the timing is within the range of T(n-1) to T(n-1)+1 / 2T from when the main driving current pulse is turned off.

4. The control device according to claim 1, characterized in that: The current pulse supplying unit supplies the auxiliary driving current pulse during the nth cycle of the elastic vibration after the main driving current pulse is turned off, wherein n is a natural number. In the elastic vibration, when the mass of the movable part is m, the spring constant of the elastic support part is Ks, and the vibration period is When the auxiliary driving current pulse is supplied, the timing is within the range of T(n-1)+1 / 2T to T(n-1)+T from when the main driving current pulse is turned off.

5. The control device according to claim 3 or 4, characterized in that: The pulse width of the auxiliary driving current pulse is less than 1 / 2T.

6. The control device according to claim 3, characterized in that: The timing of supplying the auxiliary driving current pulse is within a range of T(n-1) to T(n-1)+1 / 2T after a predetermined delay time has elapsed since the main driving current pulse was turned off.

7. The control device according to claim 4, characterized in that: The timing of supplying the auxiliary driving current pulse is within a range of T(n-1)+1 / 2T to T(n-1)+T after a predetermined delay time has elapsed since the main driving current pulse was turned off.

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