Phase-synchronized physical impulse control device and control method for oscillators

Abstract

The oscillator is controlled with high precision. [Solution] (b) an Arnold-Tan evaluation means having a sweep program that continuously or discretely scans injection points, measures the response of the oscillator at each injection point, and determines the most stable injection point; (c) a control means that calculates and sets injection parameters for the actuator based on the phase detection signal of the sensor and the evaluation, and controls the actuator based on a control law based on Arnold-Tan stability analysis; and (d) an optimization means that evaluates the vibration state after injection and dynamically optimizes the injection parameters based on the control effect.

Description

[Technical Field]

[0001] This invention relates to an apparatus and method for realizing vibration control with high precision, high efficiency, and high stability by detecting the vibration phase of an oscillator in real time and injecting a phase-locked physical impulse in the stable resonance region based on the Arnold-Tan theory. The oscillators in this invention are applicable to a wide range of vibration systems, including reciprocating vibration types, unidirectional rotation types, complex vibration types, and multi-axis coupling types. [Background technology]

[0002] Oscillators play a vital role in modern industrial technology. High-precision vibration control is required in a variety of fields, from precision timing devices to large-scale energy systems.

[0003] (Limitations of conventional technology) Conventional vibrator control technology had the following fundamental problems: (1) Limitations of control accuracy: Fine phase adjustment is difficult with the continuous control method. (2) Energy efficiency issues: Increased power consumption due to constant control input. (3) Control stability issues: Lack of adaptability to environmental changes and disturbances. (4) Difficulty in dealing with complex vibration modes: Insufficient control of high-order vibration modes and coupled vibrations.

[0004] For example, in the field of mechanical timepieces, Patent Document 1 (prior art by the present inventor) describes a technology for synchronizing the balance with an external pulse. The development of this technology achieved a daily rate of 0.011 seconds in experiments. However, this technology also lacked a stable recovery function in the event of loss of synchronization and a continuous fine adjustment function, posing a challenge to its practical application.

[0005] In the field of nonlinear dynamics, the Arnold-Tan theory by V. I. Arnold provides a basic framework for describing the synchronization phenomenon of nonlinear oscillators subjected to external driving, as shown in Non-Patent Document 1. The Arnold-Tan generates a stable phase-locking region in the relationship between the drive frequency and the coupling strength, within which the oscillator stably synchronizes with the external drive.

[0006] In conventional nonlinear dynamics research, there have been previous studies on the transient dynamics and time-domain oscillations of Arnold-Tongues, as shown in Non-Patent Documents 2 and 3. For example, a method has been proposed for identifying Arnold-Tongues through event-based analysis of digital oscillators and converting frequency-domain equations to time-domain representations. Furthermore, it has been reported that Arnold-Tongue entrainment in biological oscillator systems exhibits phase synchronization accompanied by transient oscillations, and this has been utilized to predict phase synchronization in various systems, such as electrical circuits and oscillating chemical reactions. Furthermore, observation of Arnold-Tongues in coupled soliton frequency combs in optical systems has revealed the relationship between the driving frequency and natural frequency in the time domain, and bifurcation diagrams and Arnold-Tongues of coupled nonlinear oscillators have been used to analyze nonlinear phenomena in animal vocalizations. These studies have primarily focused on electronic circuits, biological rhythms, optical, or hydrodynamic oscillators, observing the transition from initial oscillations to stabilization.

[0007] The aforementioned nonlinear dynamics studies suggest that time-domain oscillations within the Arnold tongue are universally observed in diverse oscillatory systems. These studies have revealed common patterns across a wide range of fields, including electronic circuits, biological oscillators, optical systems, fluid dynamics, neural models, quantum oscillators, and EEG synchronization. Specifically, converting the frequency-domain synchronization domain (Arnold tongue) into a time-domain representation enables the analysis of transient and initial oscillations, providing an approach to elucidating the dynamic principles of phase synchronization. This highlights the process by which entrainment by external driving forces leads to stable phase locking via initial oscillations.

[0008] The patterns that emerge from these studies are as follows: (1) Universality in diverse systems: Arnold-Tan appears in systems ranging from continuous-time systems (e.g., chemical reactions, biological rhythms) to discrete-time systems (e.g., neural models, digital oscillators), where oscillations in the time domain are key to synchronization. (2) The importance of transient dynamics: Transient oscillations are often observed near tongue boundaries and are sometimes accompanied by critical slowing downs and abnormal Arnold tongues. These reflect the instability and bifurcation of the system and can be used to predict the stabilization process. (3) Relationship with Devil's Staircase: In many cases, Arnold's tongues form Devil's Staircase structures, and staircase synchronization at rational ratios is observed in the time domain. This suggests that fine-tuning of injection parameters is effective for vibration control. (4) Applications to real systems: Direct observations of time-domain oscillations in optics (soliton frequency combs) and fluid dynamics (detonation synchronization) have confirmed anomalous patterns in real vibrating systems, providing practical insights beyond theoretical models.

[0009] However, these studies have mainly been limited to theoretical and experimental analysis, with few examples of applying these phenomena to precision timing devices, etc., and control devices that combine time-domain vibration detection and parameter adjustment remain an unexplored field. This invention utilizes such time-domain vibrations to provide a wide range of means for achieving precise vibration control in a range of devices, from precision timing devices to large-scale energy systems.

[0010] For example, research has proposed a method for identifying Arnold's tangent through event-based analysis of digital oscillators and converting frequency-domain equations into time-domain representations. Furthermore, time-domain synchronization phenomena and anomalous Arnold's tangent have been observed in real systems, such as coupled soliton frequency combs and fiber optic lasers, revealing the dynamic principles of time-domain oscillations. Furthermore, in detonation synchronization and biological oscillator systems, the time-domain interpretation of Arnold's tangent predicts entrainment and analyzes the transition from the initial stage of transient oscillations to stabilization. These studies suggest the existence of Arnold's tangent in the time domain and demonstrate its universal applicability to a variety of vibration systems. However, its application to mechanical watch rate control remains limited. This invention provides control that makes extensive use of the tangent phenomenon in the time domain.

[0011] There have also been studies on forecasting using Arnold-Tan. These studies have shown that the Arnold-Tan theory can predict the synchronization region and be used as a tool to predict the stability of secondary buckling and detonation phenomena in thin plates. Furthermore, Arnold-Tan predicts phase-locking behavior in biological systems and electrical circuits, providing a framework for analyzing transient dynamics. While these studies highlight the utility of Arnold-Tan as a means to broadly predict the synchronization region in parameter space, its application to precision oscillators such as mechanical clocks is limited. This invention combines such prediction capabilities with time-domain vibrations to provide a wide range of devices and methods that cover unexplored control domains.

[0012] In the field of nonlinear dynamics, transient oscillations are temporary oscillations that occur when an external force or perturbation is applied to a vibrating system. They are observed during the transition from an initial state to a steady state. They universally appear in linear and nonlinear vibrating systems, are often expressed as a mixture of free and forced oscillations, and decay and stabilize over time. These phenomena have been widely studied in electronic circuits, biological rhythms, and mechanical oscillators, and are used as a means to understand the dynamics of systems through the analysis of initial oscillations.

[0013] The present invention also relates to vibration control that takes into account a wide range of transient vibrations and buckling phenomena. Buckling refers to the phenomenon in which structural members undergo sudden deformation and a decrease in strength when subjected to a compressive load, and is particularly likely to occur in slender members. This phenomenon is explained by theories such as Euler's buckling load, and takes various forms depending on the length, cross-sectional shape, and boundary conditions of the member. Buckling is observed in architectural structures, mechanical components, thin plates, and other structures, and is associated with bifurcation phenomena and post-buckling analysis as nonlinear behavior. These phenomena can be applied to vibration control and synchronization technology, and the present invention achieves vibration control that takes into account a wide range of transient vibrations and buckling phenomena. [Prior art documents] [Patent documents]

[0014] [Patent Document 1] Patent No. 7700352 [Non-patent literature]

[0015] [Non-Patent Document 1] Arnold, VI, "Small denominators and problems of stability of motion in classical and celestial mechanics", Russian Mathematical Surveys, 18(6), 1963 [Non-patent document 2] Jensen, MH, et al., "Transition to chaos by interaction of resonances in dissipative systems", Physical Review A, 30(4), 1984 [Non-patent document 3] Pikovsky, A., et al., "Synchronization: A Universal Concept in Nonlinear Sciences", Cambridge University Press, 2001 Summary of the Invention [Problem to be solved by the invention]

[0016] The present invention aims to achieve at least one of the following performances that were not achievable with conventional technology by detecting the vibration phase of an oscillator with high accuracy in real time and injecting a phase-synchronized physical impulse in the optimal stability region based on the Arnold-Tan theory: (1) Achieving ultra-high precision control. (2) Dramatic improvements in energy efficiency. (3) Acquiring high stability and automatic adaptability to environmental changes. (4) To obtain the ability to respond to complex vibration modes. (5) Ensure easy applicability to existing systems. [Means for solving the problem]

[0017] According to a first aspect of the present invention, there is provided an apparatus for controlling vibration of a vibrator, comprising: (a) a sensor for detecting the vibration phase of the vibrator, the sensor including means for measuring the elapsed time from a zero crossing point; (b) an Arnold tongue evaluation means having a sweep program that scans the injection points continuously or discretely, measures the response of the oscillator at each injection point, and determines the most stable injection point, and has the function of identifying stable plateaus at nearby injection points and evaluating the strength and stability of the Arnold tongue; (c) Control means for calculating and setting the injection parameters of the actuator based on the phase detection signal of the sensor and the evaluation, and controlling the actuator based on a control law based on the stability analysis of Arnold tongues, which stores the previous cycle T of the oscillator, injects a single physical impulse at a delay timing of a rational ratio R = p / q (p < q, p and q are relatively prime integers) from the zero-crossing point, and has a timing generation function for realizing fractional harmonic synchronization without requiring multiple impulses per multiple oscillation cycles. (d) Optimization means for evaluating the vibration state after injection and dynamically optimizing the injection parameters based on the control effect, which has a function of monitoring the transient characteristics and the phase-locked state by analyzing the vibration signal in the time domain. There is provided an oscillator control device characterized by comprising the above.

[0018] The control means monitors the phase-locked state of the oscillator. When demodulation is suspected, it selects the next-order ratio R' from a previously registered set of rational numbers, and has a ratio transition means for switching the injection timing of the actuator to the period of the oscillator × R'. Further, it utilizes the devil's staircase structure in which the frequency ratio is rational and the synchronization mode appears stepwise, and has a function of selecting an optimal rational ratio from a plurality of stable regions including small steps existing between the main rational ratios according to the operating conditions.

[0019] There are a plurality of the actuators, each actuator acts on the oscillator at a different phase angle, and the control means has a function of finely adjusting the average vibration state of the oscillator by controlling the impulse width difference or the number of pulse emissions differences of each actuator, and further has an option of combining a first pulse and a second pulse after a predetermined delay as a bidirectional impulse.

[0020] The control means may have a function of analyzing the vibration signal detected by the sensor in the time domain, detecting the time-domain vibration pattern in Arnold tongues, and adjusting the injection parameters based on the transient characteristics of the vibration.

[0021] The control means may have a function of detecting a change in operating conditions, recalculating in real time the boundary of the stable region of Arnold synchronization, and automatically adjusting control parameters to always maintain optimal control.

[0022] According to a second aspect of the present invention, a method for controlling the vibration of an oscillator, comprising: (a) A step of detecting the vibration phase of the oscillator, including a step of measuring the elapsed time from a zero-crossing point; (b) A step of calculating a stable resonance region based on the Arnold tongue theory from the detected phase information; (c) A step of defining the time position within the period of the oscillator by a rational ratio R = p / q (p < q, p and q are relatively prime integers) and injecting a single physical impulse synchronized with the phase, including a step of realizing fractional harmonic synchronization without requiring a plurality of impulses per plurality of vibration cycles; (d) A step of evaluating the change in the vibration state after injection; (e) A step of updating the injection parameters based on the control effect, including a step of monitoring the transient characteristics by time-domain analysis; An oscillator control method characterized by including the above steps. is provided.

[0023] In the control method, it may also include a step of monitoring the phase-locked state of the oscillator, selecting the next ratio R' from the rational number set based on the devil's staircase structure when detecting out-of-tune, and switching the injection timing to achieve resynchronization.

[0024] In the control method, it may also include a step of measuring the response of the oscillator at a plurality of injection points, evaluating the stability at each injection point, and determining the optimal injection point at which the strength of the Arnold tongue is maximized.

[0025] The control method may include a step of identifying a plurality of plateau regions having known vibration characteristics, combining the control effects at each plateau, and controlling the state of the vibrator to a target value using a statistical method. [Effects of the Invention]

[0026] The present invention provides any one of the following effects. (1) Achievement of high-precision control: Phase-locked control based on the Arnold-Tan theory achieves control precision that far exceeds that of conventional technology. (2) Improved energy efficiency: By injecting impulses only when necessary, it is possible to significantly reduce power consumption. (3) Improved environmental adaptability: The automatic ratio transition function when stepping out realizes excellent adaptability to temperature changes and external disturbances. (4) Ensuring versatility: It will be possible to provide a unified control theory that can be applied to any oscillator, from reciprocating vibration to rotational vibration. (5) Applicability to existing systems: The system can be applied to existing vibration systems with minimal modification. [Brief explanation of the drawings]

[0027] [Figure 1] FIG. 1 is a schematic diagram showing the state in which the rate control device of this embodiment is incorporated into the main body of a mechanical timepiece. [Figure 2] FIG. 2 is a schematic diagram showing the configuration and fixed arrangement of the actuator. [Figure 3] FIG. 3 is an image diagram showing a state in which a modified vibrator control device is incorporated into a mechanical timepiece body. [Figure 4] FIG. 4 is a diagram showing details of the configuration of an actuator according to a modified example and its placement in a mechanical timepiece. [Figure 5] FIG. 5 is a cross-sectional view showing the configuration of an actuator unit according to a modified example. [Figure 6] FIG. 6 is a functional block diagram showing the functional configuration of the control unit of this embodiment. [Figure 7]FIG. 7 is a graph showing the Arnold-Tan region on a coordinate plane defined by the two axes, with the horizontal axis representing the frequency ratio of the external pulse (external pulse frequency / vibrator natural frequency) and the vertical axis representing the Arnold-Tan coupling coefficient. [Figure 8] FIG. 8 is a functional block diagram showing the functional configuration of the control unit of this embodiment. [Figure 9] FIG. 9 is a schematic diagram showing the state in which the vibrator control device of this embodiment is incorporated into the main body of a mechanical watch. DETAILED DESCRIPTION OF THE INVENTION

[0028] Here, a form for implementing oscillator control of a mechanical watch is shown, but application to a mechanical watch is merely one example, and the application of the present invention is not limited to this, and it can be applied to high-precision vibration control in a variety of fields, from precision timing devices to large-scale energy systems.

[0029] The configurations, arrangements, element selections and various values ​​shown in the following examples are merely examples, and are not limited to these and may be changed as appropriate. [Example]

[0030] (Application to mechanical watches) FIG. 1 is a schematic diagram showing a state in which the oscillator control device of this embodiment is incorporated into a mechanical timepiece body 100. As shown in FIG. The vibrator control device of this embodiment is incorporated into the mechanical watch body 100 and is configured as a system consisting of a sensor unit 120 that detects the state of the vibrator 110 of the mechanical watch, an actuator 130, a control unit 140, an external reference clock 150, and a power supply unit 160. The sensor unit 120 is built into the mechanical timepiece body 100 , detects the vibration of the balance wheel of the oscillator 110 of the mechanical timepiece, and transmits a detection signal to the control unit 140 . A single CMOS optical motion sensor is used for the sensor unit 120. The sensor pulse-drives a specified VCSEL (Vertical-Cavity Surface-Emitting Laser) and performs correlation calculations on the scattered light pattern with a light-receiving pixel array to obtain vibration data including the phase zero-crossing interval and the frequency and amplitude of the balance wheel, and transfers the data to the control unit. The control unit 140 is electrically connected to the other components to receive detection signals, send control signals, and control the supply of power. The external reference clock 150 is an external transmitter that incorporates an oscillator that vibrates separately from the balance that constitutes the mechanical timepiece, and transmits a reference clock signal, which is the oscillation signal, to the control unit 140.

[0031] Actuator 130 is attached to vibrator 110. Reference numeral 111 denotes the vibrator's hole, and 112 denotes the vibrator's main vibration axis. Actuator 130, consisting of two electronic actuators, is fixed to hole 111. Actuator 130 is arranged in a direction (referred to as the X-axis) perpendicular to the vibrator's main vibration axis (referred to as the Z-axis). It consists of a pair of electronic actuators, each with position vectors r1 and r2 as viewed from the main vibration axis. These actuators can apply opposing forces F1 and F2 in the X-axis direction. A cross-axis coupling configuration is employed in which a rotational torque component about the main vibration axis is generated by the cross product of each force vector and the position vector. This minute vibration energy in the orthogonal direction is transferred to the main vibration along the main vibration axis via the mechanical cross-axis coupling.

[0032] FIG. 2 is a schematic diagram showing the configuration and fixed arrangement of the actuator. Two electronic actuators 201 and 202 are fixed to the hole stone 111 of the vibrator 110 so as to sandwich both shoulders of the vibrator's main vibration axis 112, and the displacement axis of each electronic actuator is set at a position where it abuts against the shoulder of the main vibration axis 112 with a slight preload at an inclination angle α (0°<α<90°) with respect to the XY plane, which is the rotation plane of the balance wheel. At the contact points with the main vibration axis 112, the electronic actuators 201 and 202 are displaced in the directions of their respective displacement axes 203 and 204 to apply a pulse external force.

[0033] Here, an electronic actuator is used as the actuator, which transfers vibration energy in the orthogonal direction to the main vibration along the main vibration axis via a mechanical cross-axis coupling, but the actuators that can be used in the present invention are not limited to this, and the fixed arrangement method and the actuator body can be changed as appropriate, such as using a fixed arrangement method in which a single actuator is provided so that it can be displaced in the tangential direction of the outer periphery of the balance wheel instead of the mechanical cross-axis coupling method, or using an electrostatic actuator, shape memory alloy actuator, electromagnetic coil, or micromachine actuator instead of the electronic actuator.

[0034] (Modification of the actuator) 3 is a conceptual diagram showing a state in which a modified vibrator control device is incorporated into the main body of a mechanical watch. Here, the same components as in FIG. 1 are assigned the same numbers, and their explanations will be omitted. The device of this modified example is composed of a mechanical watch body 100 having a vibrator 110, a sensor 120 built into the mechanical watch body, an actuator unit 300 having a ring-shaped structure in which a piezoelectric ceramic layer is sintered integrally onto the outer periphery of a jewel that passes through a balance shaft 112, a control unit 140, an external reference oscillator 150, and a power supply block 160. The components of the device other than the actuator unit 300 are the same as those in the first embodiment.

[0035] FIG. 4 is a diagram showing the details of the configuration of an actuator unit according to a modified example and its placement in a mechanical timepiece. The actuator unit 300 is composed of two actuators 401 and 402 each having an integrated bearing stone. The main body 403 of the jewel (hole jewel and jewels) is formed from single-crystal sapphire, and a ring-shaped piezoelectric ceramic layer 404 with a thickness of 50 to 80 micrometers is co-sintered around its outer ring. Electrodes are formed on the top and bottom surfaces, allowing the ring to be driven in Z-axis thickness mode. Two jewel-integrated actuators are positioned radially opposite each other across the balance shaft 112, and are excited in opposite phases by a control unit, causing the ±Z-axis expansion and contraction of the ring to translate into ±radial displacement of the hole center, applying torque to the balance. The external forces and moments generated by the two actuators are constantly canceled out, preventing vibration of the case or baseplate.

[0036] FIG. 5 is a cross-sectional view showing the configuration of an actuator unit according to a modified example. A cross-sectional view 502 is taken along the cutting line AA' in a plan view 501 of the actuator unit. The two stone-integrated actuators 401 and 402 are composed of a single crystal sapphire layer 403 of the stone body and a ring-shaped piezoelectric ceramic layer 404 .

[0037] (control unit) The operation of each functional component of the control unit 140 shown here is realized by executing a control program such as pre-installed firmware on a specified processor or dedicated hardware circuit, and by cooperating with various devices that constitute the device.

[0038] A microcontroller unit (hereinafter referred to as MCU) is employed for the control unit 140. The MCU obtains a reference clock from an external oscillator 150 by referring to an external reference signal, compares it with phase information from the sensor unit 130, and drives the actuator 120 at the appropriate timing.

[0039] FIG. 6 is a functional block diagram showing the functional configuration of the control unit of this embodiment. The control unit 140 is generally composed of a control unit 601 and a pulse generator 607 that outputs a pulse external force control command in accordance with a pulse control profile and a drive trigger generated by the control unit. The control unit 601 is composed of a sensor signal processing unit 602, a zero-crossing detection unit 603, a look-up table 604, a comparison unit 605, and a control policy determination unit 606. A "look-up table" is a data table based on prior experiments or simulations, enabling flexible adjustment. Thereby, the MCU dynamically controls the injection amount and injection timing of the pulsed external force output to the pulse generator, synchronizing the frequency and phase of the vibrator with an external reference.

[0040] The sensor signal processing unit 602 detects the vibration state of the template based on the signal obtained from the vibration sensor, and generates a detection signal corresponding to the periodic displacement of the vibration. Note that the vibration state includes the frequency and amplitude of the vibration.

[0041] Each time the zero-crossing detection unit 603 receives the detection signal, it detects the time point at which the phase at that time becomes zero.

[0042] The comparison unit 604 compares the current phase of the vibrator with the phase of the reference clock signal to calculate the phase difference ΔΦ.

[0043] The control policy determination unit 605 determines the correction amount based on the phase difference ΔΦ detected in real time, and refers to the look-up table 606 to generate the control parameters of the pulse control profile and the drive trigger serving as the injection point.

[0044] In the look-up table 606, R, which is the injection point ratio determined based on prior experiments or simulations, is stored for each m / n mode (m and n are relatively prime integers, 0 < R < 1). The control policy determination unit 605 selects R according to a predetermined order, sets the time position within one period T0 of the vibrator in the vicinity of the phase 2π(m / n) within one period 2π, and sets this time position as the injection point of the pulsed external force. Here, the m / n = 3 / 7 mode is adopted. In this case, synchronization is achieved by injecting the external pulse seven times while the template vibrates three times. R = 0.4272 (≒ 3 / 7) is the injection point optimized by experiments, which corresponds to a phase θ ≒ 77°. This realizes phase-specific control, unlike general synchronization adjustment.

[0045] [Table 1]

[0046] Table 1 above is a graph of the results of a preliminary experiment conducted to set the injection point. The horizontal axis is the ratio R (Phase Ratio), which corresponds to the phase position of the injection point. The top row is the average rate of rate error corresponding to R, which is the injection point candidate. The bottom row is the standard deviation of rate error with respect to R, a value that serves as an index of stability. These values ​​are compared to set the injection point ratio (R).

[0047] The pulse generator 607 transmits a pulse external force control command to the actuator in accordance with the control parameters generated by the control policy determination unit 605 .

[0048] (Physical principles and operation) The core of this invention is to realize phase synchronization by injecting an external driving force at a specific phase in the balance wheel vibration equation. "Arnold's tongue" refers to the region where the oscillator synchronizes with the external driving frequency, and "Devil's Staircase Structure" refers to a structure where a synchronous mode appears in a staircase pattern with a rational frequency ratio. FIG. 7 is a graph showing the Arnold-Tan region on a coordinate plane defined by the two axes, with the horizontal axis representing the frequency ratio of the external pulse (external pulse frequency / vibrator natural frequency) and the vertical axis representing the Arnold-Tan coupling coefficient. Here, the synchronization region of the Arnold tongue is shown in white. If a point (Ω, ε) is inside the white Arnold tongue, the system will stably synchronize at a rational ratio corresponding to the inside of the Arnold tongue. Increasing the coupling strength ε widens the Arnold tongue, allowing synchronization over a wider frequency range. In the black area between the tongues of Arnold's tongue, the system exhibits complex aperiodic vibrations.

[0049] [Table 2]

[0050] Table 2 shows experimental data that shows that the balance wheel (oscillator) of a mechanical watch (Seagull ST3620, ETA 6497 clone) is controlled by the oscillator control device of this embodiment and the rate (s / d: seconds / day) is stabilized. The rate fluctuation graph in the upper row shows that after observing initial fluctuations in the learning stage, the rate converges to near 0 s / d in coarse control and then stabilizes in fine control. The 50-point moving average tracks the target rate, achieving a final rate of 0.01 s / d and drift of 0.003 s / d. The Allan deviation σ_y (τ=1 s) is reduced by 10^{-1} to 10^{-2} compared to conventional mechanical watches. The cumulative timing error graph on the middle left shows that the error is kept within ±0.2 seconds, with a maximum error of 0.11 seconds, demonstrating long-term stability in the time domain. The control action timeline on the bottom left shows pulse adjustments on the time axis of H2 to H7. The rate distribution graph in the bottom right of the middle row shows a histogram with a mean μ=0.01 s / d and a standard deviation σ=6.96 s / d. [Example]

[0051] (Loss of step detection and ratio transition control) The second embodiment is configured by adding a step-out determination unit and a ratio transition unit to the vibrator control device of the first embodiment. The same configurations and functions as those of the first embodiment will be omitted as appropriate.

[0052] FIG. 8 is a functional block diagram showing the functional configuration of the control unit of this embodiment. The control unit 800 is generally composed of a control unit 801 and a pulse generator 809 that outputs a pulse external force control command in accordance with a pulse control profile and a drive trigger generated by the control unit.

[0053] The control unit 801 is composed of a sensor signal processing unit 802, a zero-cross detection unit 803, a lookup table 804, a comparison unit 805, a control policy determination unit 806, a step-out detection unit 807 that detects possible step-out by detecting an uncontrollable state of cumulative error or rate error exceeding a predetermined value, and a ratio transition unit 808.

[0054] If a suspected loss of synchronism is detected, the ratio transition means 808 selects the next-ranked ratio R' from the set of rational numbers pre-registered in the look-up table, and switches the injection timing of the actuator to the period of the oscillator x R'. [Example]

[0055] (A / B fine control) The third embodiment is based on the vibrator control device of the first embodiment, and has a configuration in which the configuration of the actuator unit is changed to actuators A and B.

[0056] FIG. 9 is a schematic diagram showing the state in which the vibrator control device of this embodiment is incorporated into a mechanical timepiece body 900. The vibrator control device of this embodiment is incorporated into a mechanical timepiece body 900, and is configured as a system comprising a sensor unit 920 that detects the state of a vibrator 910 of the mechanical timepiece, an actuator 930A, an actuator 930B, a control unit 940, an external reference clock 950, and a power supply unit 960. The same configurations and functions as those of the first embodiment will be omitted as appropriate.

[0057] The out-of-step detection unit is provided within the control unit 940. The fine adjustment mechanism using the A / B actuator will now be explained. Actuators A (930A) and B (930B) are positioned 180° apart across the balance shaft, and apply torque in the acceleration and deceleration directions, respectively. "Opposite phase" means a separation of approximately 180°, and is not limited to an exact 180°.

[0058] After basic phase synchronization is established, fine adjustment of the rate is performed as follows. (1) Impulse width difference control: Δτ = τ_A - τ_B (approximately 0.1 to 1.0 μs). (2) Pulse count difference control: ΔN = N_A - N_B (approximately ±1 pulse / cycle). A ΣΔ modulator provided in the control unit 940 distributes ΔN over time, achieving high resolution (±0.01 seconds / day) through a noise shaping effect. For example, if ΔN=+1 for 1000 cycles, the acceleration effect will be 0.1% on average, which will allow for an adjustment of approximately 0.086 seconds per day. Here, "ΣΔ modulation or proportional control" refers to a digital or analog fine adjustment technique. [Example]

[0059] (Identifying the optimal injection point) As an additional embodiment, a sweep program is added to the control unit based on the oscillator control device of the first embodiment. This program scans the injection points continuously or discretely, injecting impulses at each injection point and measuring the watch rate multiple times. A rest period is provided between each measurement, and the average and standard deviation of the measured rate are calculated to determine the most stable and optimal injection point. Furthermore, nearby injection points are scanned to identify a stable plateau. This allows the absolute strength and stability of the Arnold tongue to be evaluated and used to determine rate control.

[0060] A sweep program was applied to continuously scan the injection point in the range of 0.3 to 0.6, and 10 measurements were taken at each point (with a 1-minute rest). The plateau group with the smallest standard deviation was selected, achieving a daily difference of 0.008 seconds. [Example]

[0061] As an alternative control method to the method of "determining one injection point R and controlling only with that R," plateaus with known rate characteristics are proportionally utilized and injection is performed statistically. For example, multiple plateaus are combined using a method similar to ΣΔ control to steer the rate. This covers a wide rate range and achieves flexible control. This mode complements the feedback control described in Patent Document 1 and is specialized for phase synchronization. [Industrial Applicability]

[0062] As will be shown below, the present invention can be widely applied to all industrial fields that use vibrators. (1) Precision machinery field: Ultra-high precision control in clocks, measuring instruments, sensors, etc. (2) Energy sector: Improving efficiency in generators, motors, vibration power generation, etc. (3) Transportation equipment: Vibration control in automobiles, aircraft, ships, etc. (4) Medical equipment field: Precision control in diagnostic equipment, treatment equipment, etc. (5) Information equipment field: Vibration suppression in storage, cooling equipment, etc. (6) Manufacturing equipment field: precision machining using machine tools, semiconductor manufacturing equipment, etc.

[0063] The present invention makes it possible to achieve vibration control with high precision, high efficiency and high stability that was not possible with conventional techniques in these fields, and is expected to contribute to the revolutionary advancement of industrial technology. [Explanation of symbols]

[0064] 100 Mechanical watch body 110 Transducer 120 Actuator 130 Sensor Unit 140 Control Unit 150 External Reference Clock 160 Power supply section

Claims

1. An apparatus for controlling the vibration of a vibrator, comprising: (a) a sensor for detecting the vibration phase of the vibrator, including means for measuring the elapsed time from the zero-crossing point; (b) a sweep program that continuously or discretely scans injection points, measures the response of the vibrator at each injection point to determine the most stable injection point, identifies the stable plateau at neighboring injection points, and has a function for evaluating the strength and stability of the Arnold tongue, i.e., Arnold tongue evaluation means; (c) control means for calculating and setting the injection parameters of an actuator based on the phase detection signal of the sensor and the evaluation, and controlling the actuator based on a control law based on the stability analysis of the Arnold tongue, which stores the previous cycle T of the vibrator, injects a single physical impulse at a delay timing of a rational ratio R = p / q (p < q, p and q are relatively prime integers) from the zero-crossing point, and has a timing generation function for realizing fractional harmonic synchronization without requiring multiple impulses per multiple vibration cycles; (d) optimization means for evaluating the vibration state after injection and dynamically optimizing the injection parameters based on the control effect, which has a function for monitoring the transient characteristics and phase-locked state by analyzing the vibration signal in the time domain; characterized by comprising the above.

2. The control means monitors the phase-locked state of the vibrator. When demodulation is suspected, it selects the next-order ratio R' from a pre-registered set of rational ratios and has ratio transition means for switching the injection timing of the actuator to the period of the vibrator × R'. Further, it utilizes the Devil's staircase structure in which the frequency ratio is a rational ratio and the synchronization mode appears stepwise, and has a function for selecting an optimal rational ratio according to the operating conditions from a plurality of stable regions including small steps existing between the main rational ratios. The vibrator control device according to Claim 1.

3. There are a plurality of the actuators, each actuator acting on the vibrator at a different phase angle. The control means has a function for finely adjusting the average vibration state of the vibrator by controlling the impulse width difference or the number of pulse emissions difference of each actuator, and further has an option of combining a first pulse and a second pulse after a predetermined delay as a bidirectional impulse. The vibrator control device according to Claim 1.

4. A method for controlling the vibration of an oscillator, comprising: (a) a step of detecting the vibration phase of the oscillator, including a step of measuring the elapsed time from a zero-crossing point; (b) a step of calculating a stable resonance region based on the Arnold tongue theory from the detected phase information; (c) a step of defining the time position within the period of the oscillator by a rational ratio R = p / q (p < q, p and q are relatively prime integers) and injecting a single physical impulse synchronized with the phase, including a step of realizing fractional harmonic synchronization without requiring multiple impulses per multiple oscillation cycles; (d) a step of evaluating the change in the vibration state after injection; (e) a step of updating the injection parameters based on the control effect, including a step of monitoring the transient characteristics by time-domain analysis. An oscillator control method characterized by including the above steps. **Claim 5** In the control method, when monitoring the phase-locked state of the oscillator and detecting detuning, the method includes selecting the next ratio R' from the set of rational numbers based on the Devil's staircase structure and switching the injection timing to achieve resynchronization. The oscillator control method according to claim 4. **Claim 6** In the control method, the method includes measuring the response of the oscillator at multiple injection points, evaluating the stability at each injection point, and determining the optimal injection point where the strength of the Arnold tongue is maximized. The oscillator control method according to claim 4. **Claim 7** In the control method, the method includes identifying a plurality of plateau regions having known vibration characteristics, combining the control effects at each plateau, and controlling the state of the oscillator to a target value by a statistical method. The oscillator control method according to claim 4.

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