Actuator drive device and actuator drive program

Abstract

This can suppress excessive amplitude of the actuator. [Solution] The actuator drive device includes a correction gain calculation unit that calculates a correction gain by performing calculations using a sensor signal output from a detection sensor that detects the vibration of the actuator and the drive signal of the actuator, and a drive unit that corrects the drive signal with the correction gain and outputs it to the actuator, thereby driving the actuator so that the vibration of the actuator is below an amplitude limit value.

Description

Technical Field

[0001] The present disclosure relates to an actuator driving device and an actuator driving program.

Background Art

[0002] Patent Document 1 discloses a self-excited vibration type vibration device including: a vibration speed detection means for detecting the vibration speed of a vibrating device; a controller for feeding back the output of the vibration speed detection means as a positive feedback signal and amplifying the output of the vibration speed detection means with a variable gain K0; a power amplifier for power-amplifying the output from the controller; a vibration drive source for exciting the vibrating device upon receiving the output of the power amplifier; an amplitude detection means for detecting the amplitude of the vibrating device from the output signal of the vibration speed detection means; and an amplitude controller for outputting a function K for determining the variable gain K0. In the self-excited vibration type vibration device configured to grow or decay self-excited vibration when there is a deviation between the amplitude detected by the amplitude detection means and an amplitude command value, the function K is represented as K = K1·Δr + K2N+1·(Δr)2N+1 + Ks·∫Δrdt + Kcr (where K2N+1 is a coefficient, K1 and Ks are non-zero coefficients, N is an integer, and Kcr is an offset gain) with respect to an amplitude deviation Δr between the amplitude detected by the amplitude detection means and the amplitude command value.

[0003] Patent Document 2 discloses a control method for an oscillator that generates vibration by the interaction of a fixed magnetic field and a vibrating magnetic field, the method including: a procedure for vibrating a vibrator of the oscillator at a set vibration frequency; a procedure for setting a correlation between a fixed magnetic field current and a vibrating magnetic field current; a procedure for comparing the set vibration frequency with a vibration frequency detection value and generating a correction command value for eliminating the deviation; a procedure for correcting the fixed magnetic field current and the vibrating magnetic field current with the correction command value; and a procedure for repeating the correction procedure until the fixed magnetic field current and the vibrating magnetic field current converge to optimal values.

[0004] Patent Document 3 discloses a vibration actuator for a thin information transmission device, characterized by comprising: a stator consisting of drive and position detection coils 21 wound concentrically and fixedly positioned horizontally; a movable element 10 consisting of a planar permanent magnet 31 and an opposing yoke 13 arranged to face the upper and lower surfaces on which the coils 21 are wound with a gap between them; and a spring member 11 that supports one end of the movable element 10, consisting of the permanent magnet 31 and the opposing yoke 13, as a cantilever beam so that it can reciprocate in the same plane as the stator. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] Patent No. 3890672 [Patent Document 2] Patent No. 4424704 [Patent Document 3] Patent No. 2518745 [Overview of the project] [Problems that the invention aims to solve]

[0006] In entertainment expressions such as games and virtual reality, the use of high-definition video and audio is becoming widespread. Consequently, in tactile expressions using vibration, such as in game controllers, there is a growing demand for so-called voice coil actuators and voice coil motors that have a wide frequency range, replacing conventional vibration motors (Eccentric Rotating Mass) and single-frequency so-called linear resonance actuators.

[0007] Voice coil actuators are already widespread in gaming devices and other applications, but further miniaturization, higher output, and wider bandwidth are expected in the future.

[0008] Furthermore, in amplitude (vibration) control, there is the so-called "smart amplifier" technology, which uses an open-loop pre-processing method, similar to that commonly used in audio applications.

[0009] In voice coil actuators and linear resonance actuators, the amplitude (displacement) of the vibrator fluctuates due to changes in the load mass, such as how the device on which the actuator is mounted is held, the size of the hand, weight, and muscle mass. In tactile applications where the load mass on the vibration device is not constant, neither the vibration device alone nor the vibration control device using a smart amplifier can cope with changes in the load mass. Therefore, it is difficult to suppress excessive amplitude of the actuator, and problems such as the actuator contacting surrounding materials and generating contact noise occur due to excessive amplitude of the actuator.

[0010] This disclosure aims to provide an actuator drive device and an actuator program that can suppress excessive amplitude of the actuator. [Means for solving the problem]

[0011] An actuator drive device according to the first embodiment includes a correction gain calculation unit that calculates a correction gain by performing calculations using a sensor signal output from a detection sensor that detects the vibration of the actuator and the drive signal of the actuator, and a drive unit that corrects the drive signal with the correction gain and outputs it to the actuator, thereby driving the actuator so that the vibration of the actuator is below an amplitude limit value.

[0012] An actuator drive device according to a second embodiment, in an actuator drive device according to a first embodiment, the correction gain calculation unit comprises a first converter that converts the sensor signal to an RMS value and a second converter that converts the drive signal for driving the actuator to an RMS value, and the correction gain calculation unit calculates the correction gain by performing calculations using the RMS value of the sensor signal and the RMS value of the drive signal.

[0013] In the actuator drive device according to the third embodiment, the correction gain calculation unit calculates the correction gain by dividing the effective value of the drive signal by the effective value of the sensor signal.

[0014] An actuator drive device according to a fourth embodiment is an actuator drive device according to a second embodiment, further comprising a resistor that corrects the sensor signal so that the maximum value of the drive signal is less than or equal to the amplitude limit value of the actuator, the first converter is a first rectifier and smoothing circuit that converts the sensor signal limited by the resistor into a rectified and smoothed RMS value, and the second converter is a second rectifier and smoothing circuit that converts the drive signal into a rectified and smoothed RMS value.

[0015] The actuator drive device according to the fifth embodiment further comprises a delay processing unit that performs delay processing on the correction gain, in addition to the actuator drive device according to any of the first to fourth embodiments.

[0016] The actuator drive device according to the sixth embodiment further comprises a differential processing unit that performs differential processing on the sensor signal, in addition to the actuator drive device according to any of the first to fifth embodiments.

[0017] The actuator drive device according to the seventh embodiment further comprises an integral processing unit that performs integral processing on the drive signal, in addition to the actuator drive device according to any of the first to sixth embodiments.

[0018] The actuator driving device according to the eighth aspect further includes a first drive signal correction unit that corrects the drive signal based on the load distribution information of the mounting portion on which the actuator is mounted in the actuator driving device according to any one of the first to seventh aspects.

[0019] The actuator driving device according to the ninth aspect further includes a second drive signal correction unit that corrects the drive signal based on the transfer function of the vibration transmitted to the actuator in the actuator driving device according to any one of the first to eighth aspects.

[0020] The actuator driving device according to the tenth aspect is the actuator driving device according to any one of the first to ninth aspects, wherein the correction gain calculation unit detects a change in the load mass on which the actuator is mounted from the sensor signal and calculates the correction gain.

[0021] The actuator driving device according to the eleventh aspect drives the actuator using the correction gain in the actuator driving device according to the tenth aspect.

[0022] The actuator driving program according to the twelfth aspect causes a computer to calculate a correction gain by performing an operation using a sensor signal output from a detection sensor that detects vibration of an actuator and the drive signal of the actuator, correct the drive signal by the correction gain, and output the corrected signal to the actuator, so as to drive the actuator so that the vibration of the actuator becomes below an amplitude limit value.

Advantages of the Invention

[0023] According to the actuator driving device and the actuator driving program of the present disclosure, an excessive amplitude of the actuator can be suppressed.

Brief Description of the Drawings

[0024] [Figure 1] It is a configuration diagram of an actuator driving device according to the first embodiment. [Figure 2] It is a graph showing the frequency characteristics of the acceleration of the actuator. [Figure 3] It is a block diagram showing the hardware configuration of the actuator driving device. [Figure 4] It is a flowchart showing the flow of processing of the actuator driving program. [Figure 5] It is a configuration diagram of an actuator driving device according to the second embodiment. [Figure 6] It is a configuration diagram of an actuator driving device according to the third embodiment. [Figure 7] It is a configuration diagram of an actuator driving device according to the fourth embodiment. [Figure 8] It is a configuration diagram of an actuator driving device according to the fifth embodiment. [Figure 9] It is a diagram showing an example of load distribution. [Figure 10] It is a configuration diagram of a feedforward control unit according to the sixth embodiment.

Mode for Carrying Out the Invention

[0025] Hereinafter, the actuator driving device according to the present disclosure will be described.

[0026] <First Embodiment>

[0027] FIG. 1 shows the functional configuration of an actuator driving device 10 according to the first embodiment.

[0028] The actuator driving device 10 outputs a drive signal for driving the actuator 20 to the amplifier circuit 30 in response to an instruction from a computer 1 such as a game machine. The amplifier circuit 30 amplifies the drive signal output from the actuator driving device 10 and outputs it to the actuator 20.

[0029] Actuator 20 is a vibration actuator, and examples include voice coil actuators and linear resonance actuators, where the vibrator is composed of a magnet.

[0030] The detection sensor 40 is a sensor that detects the vibration of the actuator 20, that is, the amplitude (displacement) of the vibrator. Here, detecting the vibration of the actuator 20 may include detecting the position of the vibrator (movable element), determining the position of the vibrator by detecting changes in magnetic flux using a magnetic sensor such as a Hall element, and detecting vibrations of the equipment on which the actuator 20 is mounted. The position in which the detection sensor 40 is placed is not particularly limited and may be in the vicinity of the actuator 20 or at a distance from it.

[0031] The detection sensor 40 outputs a sensor signal indicating the amplitude of the detected actuator 20 to the actuator drive device 10.

[0032] The actuator drive device 10 drives the actuator 20 so that the vibration of the actuator 20 is below the amplitude limit value, based on the sensor signal output from the detection sensor 40.

[0033] The amplitude limit is set to the maximum value within the amplitude range in which no problems occur in the equipment on which the actuator 20 is installed. Note that the maximum value also includes values ​​slightly smaller than the maximum value. Specifically, the amplitude limit is, for example, the amplitude value at which the amount of movement is maximized within the range in which the transducer of the actuator 20 can physically move, the amplitude value at which the amount of movement of the transducer is maximized within the range in which the actuator 20 does not come into contact with other parts, and the amplitude value at which the amount of movement of the transducer is maximized within the range in which the leaf spring supporting the transducer of the actuator 20 does not reach the limit of elastic deformation and undergo plastic deformation. The amplitude limit is predetermined according to the vibration characteristics of the actuator 20 and the characteristics of the equipment on which the actuator 20 is installed.

[0034] The actuator drive unit 10 includes a correction gain calculation unit 50 and a drive unit 60.

[0035] The correction gain calculation unit 50 calculates the correction gain by performing calculations using the sensor signal output from the detection sensor 40 that detects vibrations of the actuator 20 and the drive signal of the actuator 20.

[0036] The drive unit 60 corrects the drive signal using a correction gain and outputs it to the actuator 20, thereby driving the actuator 20 so that the vibration of the actuator 20 is below the amplitude limit value.

[0037] The correction gain calculation unit 50 includes a sensitivity correction unit 51, a first converter 52, a second converter 53, a division unit 54, and an amplitude limiting unit 55.

[0038] The sensitivity correction unit 51 has a function to adjust the level so that the sensor signal output from the detection sensor 40 is below the amplitude limit of the actuator 20 when it is output to the first converter 52.

[0039] The first converter 52 converts the sensor signal, which has been sensitivity-corrected by the sensitivity correction unit 51, into an effective value. That is, the first converter 52 calculates the root mean square of the sensor signal.

[0040] The second converter 53 converts the drive signal output from the drive signal output unit 61, which drives the actuator 20, into an effective value. That is, the second converter 53 calculates the root mean square of the drive signal.

[0041] The division unit 54 calculates a correction gain by dividing the effective value of the drive signal calculated by the second converter 53 by the effective value of the sensor signal calculated by the first converter 52.

[0042] The amplitude limiting unit 55 adjusts the correction gain so that the correction gain calculated by the division unit 54 is less than or equal to a predetermined threshold. Specifically, the amplitude limiting unit 55 adjusts the correction gain to be less than or equal to the threshold so that the drive signal corrected by the correction gain does not exceed the maximum input voltage, which is the maximum voltage that can be input to the actuator 20.

[0043] The drive unit 60 includes a drive signal output unit 61 and a multiplier unit 62.

[0044] The drive signal output unit 61 outputs a drive signal to the multiplier unit 62 and the first converter 52 for driving the actuator 20 at a desired amplitude level.

[0045] The multiplication unit 62 multiplies the drive signal output from the drive signal output unit 61 by the correction gain output from the amplitude limiting unit 55 and outputs it to the amplification circuit 30. As a result, the actuator 20 is driven by the drive signal amplified by the amplification circuit 30.

[0046] In this way, a correction gain is calculated by using the sensor signal output from the detection sensor 40 that detects the vibration of the actuator 20 and the drive signal of the actuator 20. The drive signal is corrected by the correction gain and output to the actuator, thereby performing feedback control to drive the actuator 20 so that the vibration of the actuator 20 is below the amplitude limit value. This makes it possible to suppress excessive amplitude of the actuator 20. In addition, the rise response characteristics of the acceleration of the actuator 20 can be improved. Furthermore, it is possible to achieve higher output power and wider bandwidth of acceleration characteristics for the actuator 20.

[0047] Figure 2 shows an example of the acceleration characteristics of a voice coil actuator in a conventional control system and the frequency characteristics of the acceleration of a voice coil actuator in the control system of the present invention. As shown in Figure 2, it can be seen that the acceleration characteristics of the control system of the present invention are wider bandwidth compared to the conventional control system.

[0048] Furthermore, in this embodiment, the correction gain is calculated by dividing the effective value of the drive signal calculated by the second converter 53 by the effective value of the sensor signal calculated by the first converter 52. This eliminates the effect of phase shift that occurs when the frequency of the drive signal is near the resonance frequency.

[0049] Furthermore, the amplitude of the oscillator of the actuator 20 varies depending on the mass (load mass) of the equipment on which the actuator 20 is mounted. For example, the smaller the mass of the equipment on which the actuator 20 is mounted, the greater the inertial force on the equipment, and therefore the smaller the amplitude of the oscillator of the actuator 20. On the other hand, the larger the mass of the equipment on which the actuator 20 is mounted, the smaller the inertial force on the equipment, and therefore the larger the amplitude of the oscillator of the actuator 20.

[0050] In contrast, in this embodiment, the actuator 20 is composed of a voice coil actuator with a magnet as the oscillator, and the detection sensor 40 is composed of a magnetic sensor such as a Hall element. Therefore, the correction gain calculation unit 50 can be said to detect the change in the load mass of the equipment on which the actuator 20 is mounted from the sensor signal and calculate the correction gain. And by driving the actuator 20 using such a correction gain, amplitude control can be performed with high precision.

[0051] Furthermore, since the sensing capability of the Hall element used as the detection sensor 40 can be corrected by calibration, it is possible to suppress variations in vibration control due to individual differences in the Hall element.

[0052] Furthermore, in this embodiment, the amplitude limiting unit 55 adjusts the correction gain so that the correction gain calculated by the division unit 54 is less than or equal to a predetermined threshold. Therefore, vibration control can be performed appropriately even when the difference between the drive signal and the sensor signal is too large.

[0053] Each functional part of the actuator drive unit 10 may be implemented as a signal processing device using hardware such as an ASIC (Application Specific Integrated Circuit) or FPGA (Field Programmable Gate Array), but it may also be implemented in software. The following describes the case where each functional part of the actuator drive unit 10 is implemented in software.

[0054] Figure 3 shows the hardware configuration of the actuator drive unit 10. As shown in Figure 3, the actuator drive unit 10 includes a controller 11. The controller 11 includes a CPU (Central Processing Unit) 11A, a ROM (Read Only Memory) 11B, a RAM (Random Access Memory) 11C, and an input / output interface (I / O) 11D. The CPU 11A, ROM 11B, RAM 11C, and I / O 11D are connected to each other via a system bus 11E. The system bus 11E includes a control bus, an address bus, and a data bus.

[0055] CPU10A is an example of a computer. Here, "computer" refers to a processor in a broad sense, including general-purpose processors (e.g., CPUs) or specialized processors (e.g., GPUs: Graphics Processing Units, ASICs: Application Specific Integrated Circuits, FPGAs: Field Programmable Gate Arrays, programmable logic devices, etc.).

[0056] Furthermore, the communication unit 12 and the storage unit 13 are connected to I / O 11D.

[0057] The communication unit 12 communicates with the amplification circuit 30 and the detection sensor 40.

[0058] The memory unit 13 is composed of a non-volatile memory device and stores the actuator drive program 14, etc. The CPU 11A reads the actuator drive program 14 stored in the memory unit 13 into the RAM 11C and executes it.

[0059] The actuator drive program 14 may be stored on a non-volatile, non-transitory recording medium or distributed via a network and installed in the actuator drive device 10 as appropriate.

[0060] Examples of non-volatile, non-transitional recording media include CD-ROMs (Compact Disc Read Only Memory), magneto-optical disks, HDDs (Hard Disk Drives), DVD-ROMs (Digital Versatile Disc Read Only Memory), flash memory, and memory cards.

[0061] The CPU 11A functions as each of the functional units of the actuator drive device 10 shown in Figure 1 by reading and executing the actuator drive program 14 stored in the memory unit 13.

[0062] Next, the actuator drive process performed by the CPU 11A of the actuator drive device 10 will be explained with reference to the flowchart shown in Figure 4.

[0063] In step S100, the CPU 11A performs attenuator processing to adjust the level so that the sensor signal output from the detection sensor 40 is below the amplitude limit value.

[0064] In step S101, the CPU 11A converts the sensor signal, which has been sensitivity-corrected in step S100, into an RMS value.

[0065] In step S102, the CPU 11A converts the drive signal to an RMS value.

[0066] In step S103, the CPU 11A calculates a correction gain by dividing the effective value of the drive signal calculated in step S102 by the effective value of the sensor signal calculated in step S101.

[0067] In step S104, the CPU 11A adjusts the correction gain so that the correction gain calculated in step S103 is below a predetermined threshold.

[0068] In step S105, the CPU 11A multiplies the drive signal by the correction gain adjusted in step S104 and outputs it to the amplification circuit 30. As a result, the actuator 20 is driven by the drive signal amplified by the amplification circuit 30.

[0069] <Second Embodiment>

[0070] Next, a second embodiment will be described. Note that parts identical to those in the first embodiment are denoted by the same reference numerals, and detailed descriptions are omitted.

[0071] Figure 5 shows the configuration of the actuator drive device 10A according to the second embodiment. Compared to the actuator drive device 10 shown in Figure 1, the actuator drive device 10A shown in Figure 5 has a configuration in which the sensitivity correction unit 51, the first converter 52, and the second converter 53 are replaced by a resistor 51A, a first rectifier and smoothing circuit 52A, and a second rectifier and smoothing circuit 53A.

[0072] The resistor 51A is an analog element having the same function as the sensitivity correction unit 51. That is, the resistor 51A functions as an attenuator that adjusts the level so that the sensor signal output from the detection sensor 40 is below the amplitude limit of the actuator 20 when it is output to the first rectifier and smoothing circuit 52A.

[0073] The first rectifier and smoothing circuit 52A is an analog circuit having the same function as the first converter 52. That is, the first rectifier and smoothing circuit 52A converts the sensor signal, which has been sensitivity-corrected by the resistor 51A, into a rectified and smoothed RMS value.

[0074] The second rectifier and smoothing circuit 53A is an analog circuit having the same function as the second converter 53. That is, the second rectifier and smoothing circuit 53A converts the drive signal output from the drive signal output unit 61, which drives the actuator 20, into a rectified and smoothed RMS value.

[0075] In this way, by configuring a part of the actuator drive device 10A with analog circuitry, the computational load on the CPU 11A can be reduced.

[0076] <Third Embodiment>

[0077] Next, a third embodiment will be described. Note that parts identical to those in the first embodiment are denoted by the same reference numerals, and detailed descriptions are omitted.

[0078] Figure 6 shows the configuration of the actuator drive device 10B according to the third embodiment. The actuator drive device 10B shown in Figure 6 is configured by adding a delay processing unit 56 to the actuator drive device 10 shown in Figure 1.

[0079] The acceleration rise characteristics of actuator 20 may include overshoot and ringing.

[0080] Therefore, the delay processing unit 56 performs delay processing on the correction gain. That is, the delay processing unit 56 has the function of a low-pass filter and delays the correction gain output from the amplitude limiting unit 55 by a predetermined time constant before outputting it to the multiplication unit 62.

[0081] This allows for the suppression of overshoot and ringing. Furthermore, it enables accurate reflection of the drive signal's design intent, allowing for the control of unintended excitation forces.

[0082] <Fourth Embodiment>

[0083] Next, a fourth embodiment will be described. Note that parts identical to those in the fourth embodiment are denoted by the same reference numerals, and detailed descriptions are omitted.

[0084] Figure 7 shows the configuration of the actuator drive device 10C according to the fourth embodiment. The actuator drive device 10C shown in Figure 7 is configured by adding a differential processing unit 57 to the actuator drive device 10 shown in Figure 1.

[0085] If the drive signal output from the drive signal output unit 61 is, for example, a signal representing the acceleration of the vibrator, i.e., a force correlation value, and the sensor signal output from the detection sensor 40 is a signal representing the position or velocity correlation value of the vibrator, the sensor signal may be converted into a signal representing the acceleration correlation value.

[0086] Therefore, the differential processing unit 57 performs differential processing on the sensor signal that has been sensitivity-corrected by the sensitivity correction unit 51. For example, if the sensor signal is a signal representing the correlation value of the position of the oscillator, the differential processing unit 57 converts it into a signal representing the correlation value of acceleration by performing second-order differential processing on the sensor signal. Also, if the sensor signal is a signal representing the correlation value of the velocity of the oscillator, the differential processing unit 57 converts it into a signal representing the correlation value of acceleration by performing first-order differential processing on the sensor signal. This makes it possible to accurately reflect the design intent of the drive signal.

[0087] <Fifth Embodiment>

[0088] Next, a fifth embodiment will be described. Note that parts identical to those in the first embodiment are denoted by the same reference numerals, and detailed descriptions are omitted.

[0089] Figure 8 shows the configuration of the actuator drive device 10D according to the fifth embodiment. The actuator drive device 10C shown in Figure 8 is configured by adding an integration processing unit 58 to the actuator drive device 10 shown in Figure 1.

[0090] If the sensor signal output from the detection sensor 40 is a signal representing the correlation value of the position or velocity of the vibrator, and the drive signal output from the drive signal output unit 61 is a signal representing, for example, the acceleration of the vibrator, i.e., the correlation value of force, the drive signal may be converted into a signal representing the correlation value of the position or velocity of the vibrator.

[0091] Therefore, the integration processing unit 58 performs integration processing on the drive signal output from the drive signal output unit 61. For example, if the sensor signal is a signal representing the correlation value of the position of the vibrator, the integration processing unit 58 converts it into a signal representing the correlation value of the position by performing a second-order integration on the drive signal. Also, if the sensor signal is a signal representing the correlation value of the velocity of the vibrator, the integration processing unit 58 converts it into a signal representing the correlation value of the acceleration by performing a first-order integration on the drive signal. This makes it possible to accurately reflect the design intent of the drive signal.

[0092] <Sixth Embodiment>

[0093] Next, a sixth embodiment will be described. Note that parts identical to those in the first embodiment are denoted by the same reference numerals, and detailed descriptions are omitted.

[0094] In the sixth embodiment, a case in which an actuator drive device 10 drives an actuator 20 mounted on a vehicle seat will be described. In this embodiment, a case will be described in which a plurality of actuators 20 are mounted on at least one of the seat surface and backrest of a vehicle seat, which is an example of a mounting part on which the actuators 20 are mounted, and the actuator drive device 10 is applied to a massage device that massages the body of an occupant seated in the seat.

[0095] Figure 9 shows the load distribution (body pressure distribution) on the seat cushion and backrest when a man and a woman are seated in a vehicle seat. As shown in Figure 9, the load distribution on the seat cushion and backrest differs between men and women. Thus, the load distribution differs not only by gender, but also by sitting posture and the position of the legs.

[0096] Furthermore, the inventors conducted experiments in which they mounted actuators 20 on the seat surface and backrest and vibrated them, and the following was found.

[0097] (1) When there is strong pressure on the seat back, the actuator vibration tends to be felt more strongly on the back of the seat and less strongly on the seat cushion.

[0098] (2) The vibration of the actuator 20 on the back of the seat tends to be felt more strongly by older people and weaker by younger people, but there is no age-related effect on the seat surface.

[0099] Therefore, in this embodiment, feedforward control is performed to correct the drive signal based on the load distribution information of the sheet.

[0100] Furthermore, road noise and vibrations caused by uneven road surfaces during vehicle operation are transmitted through the transmission path to the seat, causing the vibrator of the actuator 20 to vibrate and generating displacement disturbances. The transfer function of the path from the knuckle, which is the transmission path for vehicle vibrations, to the seat rail, which is the mounting position of the seat, differs depending on the vehicle model. For example, hybrid vehicles have a lower transfer function and a structure that makes it more difficult for vibrations to be transmitted compared to gasoline vehicles, and so on; the transfer function of the vibration transmission path differs depending on the vehicle model.

[0101] Therefore, in this embodiment, feedforward control is performed to correct the drive signal based on the vibration transfer function transmitted to the actuator 20.

[0102] Figure 10 shows the configuration of the feedforward control unit 70. As shown in Figure 10, the feedforward control unit 70 includes a first drive signal correction unit 71, a second drive signal correction unit 72, and a correction information output unit 73.

[0103] The first drive signal correction unit 71 acquires load distribution information 74 of a seat, which is an example of a mounting area on which the actuator 20 is mounted, from the vehicle side, and outputs first correction information to the correction information output unit 73 for correcting the drive signal output from the drive signal output unit 61 based on the acquired load distribution information 74.

[0104] The second drive signal correction unit 72 acquires transfer function information 75 relating to the transfer function of vibrations transmitted to the actuator 20 from the vehicle side, and outputs second correction information for correcting the drive signal to the correction information output unit 73 based on the acquired transfer function information 75.

[0105] The correction information output unit 73 generates correction information for correcting the drive signal output from the drive signal output unit 61 using a predetermined correction algorithm, based on at least one of the first correction information output from the first drive signal correction unit 71, the second correction information output from the second drive signal correction unit 72, and disturbance information 76 relating to disturbances that cause the vehicle to vibrate, and outputs this correction information to the drive signal output unit 61. The correction algorithm generates correction information to eliminate at least one of the effects of the seat load distribution, the vehicle's transfer function, and disturbances.

[0106] This allows the actuator 20 to be driven while eliminating the effects of the seat load distribution, the vehicle's transfer function, and external disturbances.

[0107] Although the present invention has been described above based on embodiments, it goes without saying that the present invention can be modified as appropriate without departing from its essence. [Explanation of Symbols]

[0108] 10, 10A, 10B, 10C, 10D Actuator drive unit 11 Controllers 12 Communications Department 13 Storage section 14. Actuator drive program 20 Actuators 30 Amplifier Circuit 40 detection sensors 50 Correction Gain Calculation Unit 51 Sensitivity Correction Section 51A resistor 52 Converters 52A First rectifier and smoothing circuit 53 Converters 53A Second rectifier and smoothing circuit 54 Division part 55 Amplitude limiting section 56 Delay Processing Unit 57 Differential Calculus Section 58 Integral Processing Section 60 Drive unit 61 Drive signal output section 62 Multiplication part 70 Feedforward Control Unit 71 First drive signal correction unit 72 Second drive signal correction unit 73 Correction Information Output Unit

Claims

1. A correction gain calculation unit calculates a correction gain by performing calculations using the sensor signal output from a detection sensor that detects the vibration of the actuator and the drive signal of the actuator. A drive unit that corrects the drive signal using the correction gain and outputs it to the actuator, thereby driving the actuator so that the vibration of the actuator is below the amplitude limit value, An actuator drive device equipped with the following features.

2. The correction gain calculation unit is: A first converter that converts the sensor signal into an RMS value, A second converter that converts the drive signal for driving the actuator into an RMS value, Equipped with, The correction gain calculation unit calculates the correction gain by performing calculations using the effective value of the sensor signal and the effective value of the drive signal. The actuator drive device according to claim 1.

3. The correction gain calculation unit calculates the correction gain by dividing the effective value of the drive signal by the effective value of the sensor signal. The actuator drive device according to claim 2.

4. The system includes a resistor that corrects the sensor signal so that the maximum value of the drive signal is less than or equal to the amplitude limit of the actuator. The first converter is a first rectifier and smoothing circuit that converts the sensor signal, which is limited by the resistor, into a rectified and smoothed RMS value. The second converter is a second rectifier and smoothing circuit that converts the drive signal into a rectified and smoothed RMS value. The actuator drive device according to claim 2.

5. Delay processing unit that performs delay processing on the correction gain. The actuator drive device according to claim 1, further comprising the above.

6. Differential processing unit performs differential processing on the aforementioned sensor signal. The actuator drive device according to claim 1, further comprising the above.

7. An integral processing unit performs integral processing on the aforementioned drive signal. The actuator drive device according to claim 1, further comprising the above.

8. A first drive signal correction unit corrects the drive signal based on load distribution information of the mounting portion on which the actuator is mounted. The actuator drive device according to claim 1, further comprising the above.

9. A second drive signal correction unit corrects the drive signal based on the vibration transfer function transmitted to the actuator. The actuator drive device according to claim 1, further comprising the above.

10. The correction gain calculation unit detects the change in the load mass on which the actuator is mounted from the sensor signal and calculates the correction gain. The actuator drive device according to claim 1.

11. The actuator is driven using the correction gain. The actuator drive device according to claim 10.

12. On the computer, The correction gain is calculated by performing a calculation using the sensor signal output from the detection sensor that detects the vibration of the actuator and the drive signal of the actuator. The drive signal is corrected by the correction gain and output to the actuator, thereby driving the actuator so that the vibration of the actuator is below the amplitude limit value. An actuator drive program for performing a process that includes the following.

Images