Actuator drive device and actuator drive program

Abstract

This actuator drive device comprises: a correction gain calculation unit that calculates a correction gain by performing calculation using a sensor signal output from a detection sensor that detects vibration of an actuator and a drive signal of the actuator; and a drive unit that drives the actuator such that the vibration of the actuator is equal to or less than an amplitude limit value by correcting the drive signal with the correction gain and outputting the corrected drive signal to the actuator.

Description

Actuator drive device and actuator drive program

[0001] This disclosure relates to an actuator drive device and an actuator drive program.

[0002] Japanese Patent Publication No. 3890672 describes a vibration velocity detection means for detecting the vibration velocity of a vibrating device, a controller that feeds back the output of the vibration velocity detection means as a positive feedback signal and amplifies the output of the vibration velocity detection means with a variable gain K0, a power amplifier that power-amplifies the output from the controller, a vibration drive source that receives the output of the power amplifier and excites the vibrating device, an amplitude detection means for detecting the amplitude of the vibrating device from the output signal of the vibration velocity detection means, and an amplitude controller that outputs a function K that defines the variable gain K0. A self-excited vibration device is disclosed, which includes an amplitude detection means and causes the self-excited vibration to grow or dampen when the amplitude detected by the amplitude detection means has a deviation from the amplitude command value, characterized in that the function K is expressed as K = K1・Δr + K2N + 1・(Δr)2N + 1 + Ks・∫Δrdt + Kcr (where K2N + 1 is a coefficient, K1 and Ks are coefficients other than zero, N is an integer, and Kcr is an offset gain).

[0003] Japanese Patent Publication No. 4424704 discloses a method for controlling a vibrator that generates vibrations through the interaction of a fixed magnetic field and an oscillating magnetic field, the method comprising: a step of causing the vibrator of the vibrator to vibrate at a set frequency; a step of setting a correlation between a fixed magnetic field current and an oscillating magnetic field current; a step of comparing the set frequency with a frequency detection value and generating a correction command value to eliminate the deviation; a step of correcting the fixed magnetic field current and the oscillating magnetic field current using the correction command value; and a step of repeating the correction step until the fixed magnetic field current and the oscillating magnetic field current converge to an optimal value.

[0004] Japanese Patent No. 2518745 discloses a vibration actuator for a thin information transmission device, which includes a stator composed of drive and position detection coils 21 wound concentrically and fixed horizontally, a mover 10 composed of planar permanent magnets 31 and opposing yokes 13 arranged to face with a gap against the upper and lower surfaces around which the coil 21 is wound, and a spring member 11 that supports one end of the mover 10 composed of the permanent magnet 31 and the opposing yoke 13 as a cantilever beam so that it can reciprocate within the same plane as the stator.

[0005] In entertainment expressions such as games and virtual reality, the spread of high-definition video and sound is progressing. Along with this, for example, in tactile expressions by vibration in game controllers and the like, there is an increasing demand for so-called voice coil actuators and voice coil motors having a wide frequency band, replacing conventional eccentric rotating mass vibration motors and so-called linear resonance actuators with a single frequency.

[0006] Already, voice coil actuators are widespread in game devices and the like, but in the future, further miniaturization, higher output, and wider bandwidth are expected.

[0007] Also, in amplitude (vibration) control, there is a so-called "smart amp" technology that performs pre-processing in an open loop, which is widespread for audio use.

[0008] 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. As a result, 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.

[0009] This disclosure aims to provide an actuator drive device and an actuator program that can suppress excessive amplitude of the actuator.

[0010] 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.

[0011] An actuator drive device according to a second embodiment is an actuator drive device according to a first embodiment, wherein 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.

[0012] 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.

[0013] 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.

[0014] The actuator drive device according to the fifth embodiment further comprises a delay processing unit that performs delay processing on the correction gain, in an actuator drive device according to any of the first to fourth embodiments.

[0015] 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.

[0016] 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.

[0017] The actuator drive device according to the eighth embodiment further comprises a first drive signal correction unit that corrects the drive signal based on load distribution information of a mounting portion on which the actuator is mounted, in an actuator drive device according to any of the first to seventh embodiments.

[0018] An actuator drive device according to the ninth embodiment further comprises a second drive signal correction unit that corrects the drive signal based on the transfer function of vibrations transmitted to the actuator, in an actuator drive device according to any of the first to eighth embodiments.

[0019] The actuator drive device according to the tenth embodiment is an actuator drive device according to any of the first to ninth embodiments, 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.

[0020] The actuator drive device according to the 11th embodiment drives the actuator using the correction gain in the actuator drive device according to the 10th embodiment.

[0021] An actuator drive program according to the twelfth embodiment is an actuator drive program that causes a computer to perform a process including calculating 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, correcting the drive signal with the correction gain and outputting it to the actuator, thereby driving the actuator so that the vibration of the actuator is below an amplitude limit value.

[0022] According to the actuator drive device and actuator drive program of this disclosure, excessive amplitude of the actuator can be suppressed.

[0023] This is a configuration diagram of the actuator drive device according to the first embodiment. This is a graph showing the frequency characteristics of the actuator's acceleration. This is a block diagram showing the hardware configuration of the actuator drive device. This is a flowchart showing the processing flow of the actuator drive program. This is a configuration diagram of the actuator drive device according to the second embodiment. This is a configuration diagram of the actuator drive device according to the third embodiment. This is a configuration diagram of the actuator drive device according to the fourth embodiment. This is a configuration diagram of the actuator drive device according to the fifth embodiment. This is a diagram showing an example of load distribution. This is a configuration diagram of the feedforward control unit according to the sixth embodiment.

[0024] The actuator drive device related to this disclosure will be described below.

[0025] <First Embodiment>

[0026] Figure 1 shows the functional configuration of the actuator drive device 10 according to the first embodiment.

[0027] The actuator drive device 10 outputs a drive signal to the amplification circuit 30 to drive the actuator 20 in response to instructions from a computer 1 such as a game console. The amplification circuit 30 amplifies the drive signal output from the actuator drive device 10 and outputs it to the actuator 20.

[0028] The actuator 20 is a vibration actuator, and examples include voice coil actuators and linear resonance actuators, where the vibrator is composed of a magnet.

[0029] 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 may be in the vicinity of the actuator 20 or at a distance from it, and is not particularly limited.

[0030] The detection sensor 40 outputs a sensor signal indicating the amplitude of the detected actuator 20 to the actuator drive device 10.

[0031] 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.

[0032] 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.

[0033] The actuator drive unit 10 includes a correction gain calculation unit 50 and a drive unit 60.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] The second converter 53 converts the drive signal for driving the actuator 20 output from the drive signal output unit 61 into an effective value. That is, the second converter 53 calculates the root mean square of the drive signal.

[0040] 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.

[0041] 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 value. Specifically, the amplitude limiting unit 55 adjusts the correction gain to be less than or equal to the threshold value so that the drive signal corrected by the correction gain does not exceed the maximum input voltage, which is the maximum value of the voltage that can be input to the actuator 20.

[0042] The drive unit 60 includes a drive signal output unit 61 and a multiplication unit 62.

[0043] The drive signal output unit 61 outputs a drive signal for driving the actuator 20 at a desired amplitude level to the multiplication unit 62 and the first converter 52.

[0044] 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 amplifier circuit 30. As a result, the actuator 20 is driven by the drive signal amplified by the amplifier circuit 30.

[0045] In this way, by calculating the correction gain by performing an operation 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, correcting the drive signal by the correction gain, and outputting it to the actuator, feedback control is performed to drive the actuator 20 so that the vibration of the actuator 20 becomes below the amplitude limit value. Thereby, the excessive amplitude of the actuator 20 can be suppressed. Also, the rising response characteristics of the acceleration of the actuator 20 can be improved. Also, it is possible to achieve a higher output of the actuator 20 and a wider bandwidth of the acceleration characteristics.

[0046] FIG. 2 shows an example of the acceleration characteristics of the voice coil actuator in the conventional control and the frequency characteristics of the acceleration of the voice coil actuator in the control of the present application. As shown in FIG. 2, it can be seen that the acceleration characteristics of the control of the present application are wider in bandwidth than those of the conventional control.

[0047] Also, in the present 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. Therefore, the influence of the phase shift that occurs when the frequency of the drive signal is near the resonance frequency can be eliminated.

[0048] The amplitude of the vibrator of the actuator 20 varies depending on the mass of the device (load mass) on which the actuator 20 is mounted. For example, as the mass of the device on which the actuator 20 is mounted decreases, the inertial force on the device side increases, so the amplitude of the vibrator of the actuator 20 decreases. On the other hand, as the mass of the device on which the actuator 20 is mounted increases, the inertial force on the device side decreases, so the amplitude of the vibrator of the actuator 20 increases.

[0049] In contrast, in the present embodiment, the actuator 20 is composed of a voice coil actuator or the like having a magnet as a vibrator, and the detection sensor 40 includes a Hall element or the like which is a magnetic sensor. Therefore, it can be said that the correction gain calculation unit 50 detects a change in the load mass of the device on which the actuator 20 is mounted from the sensor signal and calculates the correction gain. Then, since the actuator 20 is driven using such a correction gain, amplitude control can be performed with high accuracy.

[0050] Also, since the sensing ability 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 elements.

[0051] Also, in the present 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 value. Therefore, even when the difference between the drive signal and the sensor signal is too large, appropriate vibration control can be performed.

[0052] Each functional unit of the actuator drive device 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 unit of the actuator drive device 10 is implemented in software.

[0053] Figure 3 shows the hardware configuration of the actuator drive device 10. As shown in Figure 3, the actuator drive device 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.

[0054] CPU 10A 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 Logical Devices, etc.).

[0055] Furthermore, the communication unit 12 and the storage unit 13 are connected to I / O 11D.

[0056] The communication unit 12 communicates with the amplification circuit 30 and the detection sensor 40.

[0057] 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.

[0058] 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.

[0059] Examples of non-volatile, non-transition 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.

[0060] 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.

[0061] 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.

[0062] In step S100, the CPU 11A performs processing as an attenuator to adjust the level so that the sensor signal output from the detection sensor 40 is below the amplitude limit value.

[0063] In step S101, the CPU 11A converts the sensor signal, which has been sensitivity-corrected in step S100, into an RMS value.

[0064] In step S102, the CPU 11A converts the drive signal to an RMS value.

[0065] 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.

[0066] In step S104, the CPU 11A adjusts the correction gain so that the correction gain calculated in step S103 is less than or equal to a predetermined threshold.

[0067] 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.

[0068] <Second Embodiment>

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] In this way, by configuring a part of the actuator drive device 10A with an analog circuit, the computational load on the CPU 11A can be reduced.

[0075] <Third Embodiment>

[0076] 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.

[0077] 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.

[0078] Overshoot and ringing may occur in the acceleration rise characteristics of actuator 20.

[0079] 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.

[0080] 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.

[0081] <Fourth Embodiment>

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] <Fifth Embodiment>

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] <Sixth Embodiment>

[0092] 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.

[0093] 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 on the seat.

[0094] Figure 9 shows the load distribution (body pressure distribution) on the seat surface 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 surface and backrest differs between men and women. Thus, the load distribution differs not only by gender, but also by sitting posture and the degree of leg bending and straightening.

[0095] 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.

[0096] (1) When there is strong pressure on the seat backrest, the actuator vibration tends to be felt more strongly on the back of the seat and less strongly on the seat cushion side.

[0097] (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.

[0098] Therefore, in this embodiment, feedforward control is performed to correct the drive signal based on the load distribution information of the sheet.

[0099] Furthermore, road noise during vehicle operation and vibrations caused by uneven road surfaces 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 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.

[0100] Therefore, in this embodiment, feedforward control is performed to correct the drive signal based on the vibration transfer function transmitted to the actuator 20.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] Although the present disclosure has been described above based on embodiments, it goes without saying that the present disclosure can be modified as appropriate without departing from its essence.

[0107] Furthermore, the disclosure of Japanese Patent Application No. 2024-163812 is incorporated herein by reference in its entirety. In addition, all documents, patent applications, and technical standards described herein are incorporated herein by reference to the same extent as if each individual document, patent application, and technical standard were specifically and individually noted to be incorporated by reference.

Claims

1. An actuator drive device comprising: 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.

2. The actuator drive device according to claim 1, wherein 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 a calculation using the RMS value of the sensor signal and the RMS value of the drive signal.

3. The actuator drive device according to claim 2, wherein 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.

4. The actuator drive device according to claim 2, comprising a resistor for correcting the sensor signal such that the maximum value of the drive signal is less than or equal to the amplitude limit value of the actuator, the first converter being 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 being a second rectifier and smoothing circuit that converts the drive signal into a rectified and smoothed RMS value.

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

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

7. The actuator drive device according to claim 1, further comprising an integration processing unit that performs integration processing on the drive signal.

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

9. The actuator drive device according to claim 1, further comprising a second drive signal correction unit that corrects the drive signal based on the transfer function of vibrations transmitted to the actuator.

10. The actuator drive device according to claim 1, 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.

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

12. An actuator drive program for causing a computer to perform a process that includes calculating 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 driving the actuator so that the vibration of the actuator is below an amplitude limit by correcting the drive signal with the correction gain and outputting it to the actuator.

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