CN117742518A - Control device and vibration presentation device - Google Patents
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- CN117742518A CN117742518A CN202311178447.3A CN202311178447A CN117742518A CN 117742518 A CN117742518 A CN 117742518A CN 202311178447 A CN202311178447 A CN 202311178447A CN 117742518 A CN117742518 A CN 117742518A
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Abstract
The invention provides a control device and a vibration presentation device, which can restrain generation of harmonic wave when adjusting vibration damping period after starting vibration of operation equipment. The control device controls an electromagnetic actuator that vibrates an operation device supported by an elastic support portion so as to be elastically vibrated in one direction of a vibration direction of the operation device, and includes a circuit that applies a main drive signal to a coil of the electromagnetic actuator, and after starting vibration of the operation device corresponding to a contact operation with the operation device, applies a sub drive signal having a variable voltage that varies with an offset voltage shifted from zero as a central value, and a waveform representing variation of the variable voltage is a curve of a sine function or a curve of a cosine function, to adjust an attenuation period of the vibration.
Description
Technical Field
The present invention relates to a control device for driving an electromagnetic actuator and a vibration presentation device.
Background
Conventionally, the following structures have been known: when a touch panel serving as an operation device is operated, vibration is given to a finger web or the like of an operator in contact with a display screen displayed on the touch panel by an electromagnetic actuator as a touch operation feeling (touch operation feeling).
For example, patent document 1 discloses a haptic interface device including a touch panel, a biasing element functioning as an elastic support portion, an electromagnetic actuator, and the like. In patent document 1, a control device for controlling an electromagnetic actuator applies a start pulse and a brake pulse after applying a main drive pulse for starting vibration as a voltage for driving the electromagnetic actuator, and extends or shortens a vibration damping period.
In the haptic interface device disclosed in patent document 1, after the main driving pulse is applied, a rectangular wave start pulse or a rectangular wave brake pulse is applied to the coil of the electromagnetic actuator, and the vibration damping period is lengthened or shortened. However, when a rectangular wave pulse is applied, for example, a harmonic may be superimposed on the acceleration waveform of vibration due to a fluctuation in current flowing through the coil when the rectangular wave pulse is applied or stopped (see fig. 14 and 15 described later). If harmonics are superimposed on the acceleration waveform of the vibration, the touch operation feeling due to the vibration becomes uncomfortable or abnormal sound is generated. Therefore, it is desirable to suppress the generation of such harmonics.
Patent document 1: japanese patent application laid-open No. 2010-287232
Disclosure of Invention
The present invention has been made in view of the above-described points, and an object thereof is to provide a control device and a vibration presentation device capable of suppressing generation of harmonics when adjusting a vibration damping period after starting vibration of an operation device.
The control device of the present invention controls an electromagnetic actuator that vibrates an operation device supported by an elastic support portion so as to be elastically vibrated in one direction of a vibration direction of the operation device, and includes a circuit that applies a main drive signal to a coil of the electromagnetic actuator, and after starting vibration of the operation device corresponding to a contact operation with the operation device, applies a sub drive signal having a variable voltage that varies with an offset voltage shifted from zero as a center value, and adjusts a damping period of the vibration, the waveform representing the variation of the variable voltage being a curve of a sine function or a curve of a cosine function.
The vibration presenting device of the present invention comprises: an electromagnetic actuator that drives an operation device supported by the elastic support portion so as to be elastically vibrated in a direction of a vibration direction of the operation device and vibrates the operation device; and the control device.
According to the present invention, generation of harmonics can be suppressed when the vibration damping period is adjusted after starting vibration of the operation device.
Drawings
Fig. 1 is a side view showing a vibration presenting device having a control device according to an embodiment of the present invention.
Fig. 2 is a front side perspective view of an electromagnetic actuator as an example of drive control performed by the control device according to the embodiment of the present invention.
Fig. 3 is a rear side external perspective view of the electromagnetic actuator.
Fig. 4 is a plan view of the electromagnetic actuator.
Fig. 5 is a cross-sectional view of fig. 4 taken along line A-A in the direction of the arrow.
Fig. 6 is an exploded perspective view of the electromagnetic actuator.
Fig. 7 is a cross-sectional view showing a state in which the electromagnetic actuator is provided with a sensor.
Fig. 8 is a diagram showing a magnetic circuit structure of the electromagnetic actuator.
Fig. 9 is a diagram illustrating the operation of the electromagnetic actuator.
Fig. 10 is a diagram illustrating a control device according to an embodiment of the present invention.
Fig. 11 is a diagram illustrating generation of a drive signal in the control device shown in fig. 10.
Fig. 12A is a graph showing a sine wave with an initial phase of 0.
Fig. 12B is a graph showing a sine wave with an initial phase of 3/2 pi.
Fig. 12C is a graph showing a cosine wave having an initial phase pi.
Fig. 13 is a graph illustrating the combination of a wave train composed of sine waves of the odd-numbered period and a wave train composed of sine waves of the even-numbered period.
Fig. 14 is a graph illustrating harmonics generated when a rectangular wave sub-drive signal (attenuation additional signal) is applied from the control device.
Fig. 15 is a graph illustrating harmonics generated when a rectangular wave sub-drive signal (brake signal) is applied from a control device.
Fig. 16 is a graph illustrating a case where a sub-drive signal (attenuation additional signal) of a sine wave is applied from the control device.
Fig. 17 is a graph illustrating a case where a sub-drive signal (brake signal) of a sine wave is applied from the control device.
Fig. 18 is a graph showing a sub-drive signal different from the sub-drive signal shown in fig. 16 and 17 as modification 1 of the embodiment of the present invention.
Fig. 19 is a graph showing a sub-drive signal different from the sub-drive signal shown in fig. 16 and 17 as modification 2 of the embodiment of the present invention.
Fig. 20 is a graph illustrating a case where a sub-drive signal (brake signal) different from the sub-drive signal shown in fig. 17 is applied from the control device as modification 3 of the embodiment of the present invention.
Fig. 21 is a graph illustrating a case where a sub-drive signal (brake signal) different from the sub-drive signal shown in fig. 17 is applied from the control device as modification 4 of the embodiment of the present invention.
Fig. 22 is a graph illustrating a case where a sub-drive signal (brake signal) different from the sub-drive signal shown in fig. 17 is applied from the control device as modification 5 of the embodiment of the present invention.
Fig. 23 is a graph showing a main drive signal different from the main drive signal shown in fig. 19 as modification 6 of the embodiment of the present invention.
Fig. 24 is a graph showing a sub-drive signal different from the sub-drive signal shown in fig. 23 as modification 7 of the embodiment of the present invention.
Fig. 25 is a graph showing a sub-drive signal different from the sub-drive signal shown in fig. 19 as modification 8 of the embodiment of the present invention.
Fig. 26 is a graph showing a main drive signal different from the main drive signal shown in fig. 25 as modification 9 of the embodiment of the present invention.
Fig. 27 is a graph showing a sub-drive signal different from the sub-drive signal shown in fig. 26 as modification 10 of the embodiment of the present invention.
Fig. 28 is a graph showing a sub-drive signal different from the sub-drive signal shown in fig. 26 as modification 11 of the embodiment of the present invention.
Symbol description
1 a control device,
10 electromagnetic actuator,
20 core assembly,
20a, 20b facing surfaces (facing surfaces),
22 coils,
24 core part,
26 bobbin(s),
30 fixing body,
32 base portion,
32a mounting part,
32b bottom surface portion,
33 stop holes,
36 opening part,
40 a movable body,
41 magnetic yoke,
42 face fixing holes,
44 face fixing portions,
44a fixing surface,
46. 47 is attracted to the face,
48 openings (openings),
49 notch portion,
50 plate-like elastic parts (elastic supporting parts),
52 fixing the body side fixing part,
54 a movable body side fixing portion,
56 elastic arm portion,
70 strain detecting sensor,
82 switching elements,
An 84 signal generating part,
110 power supply part,
120 a detection signal processing part,
121HPF、
122LPF、
130 a driving signal generating part,
140 driving part,
141 gate driver,
142MOSFET、
143SBD、
200 vibration presenting device,
241 core body,
242. 244 magnetic pole part,
321. 322 fixing holes,
B21 main driving signal generating part,
A B22 timing detection part,
A B23 amplitude setting part,
A B24 auxiliary driving signal generating part,
A B241 cycle counting part,
A B242 first auxiliary driving signal generating part,
A B243 second sub-driving signal generating unit,
A B244 synthesizing part,
And a B25 output unit.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
In this embodiment, description will be made using an orthogonal coordinate system (X, Y, Z). In the drawings described below, the coordinate system (X, Y, Z) is also represented by a common orthogonal coordinate system. Hereinafter, the width, depth, and height of the vibration presenting device 200 having the control device 1 are the lengths in the X direction, the Y direction, and the Z direction, respectively, and the width, depth, and height of the electromagnetic actuator 10 are also the lengths in the X direction, the Y direction, and the Z direction, respectively, correspondingly. The positive Z-direction is a direction in which vibration feedback is given to the operator, and the negative Z-direction is a direction in which the operator presses the device when operating the device, and the negative Z-direction is a direction in which the device is pressed by the operator.
(basic structure of vibration presenting device 200 using control device 1)
The vibration presenting apparatus 200 shown in fig. 1 includes a control apparatus 1, an electromagnetic actuator 10 for driving and controlling the control apparatus 1, an operation device (touch panel 2) for performing a touch operation by an operator, and the like. In the vibration presentation device 200, vibration is given to the operation device in accordance with the contact operation of the operation device by the operator. That is, a touch operation feeling (also referred to as "touch feeling") is given to an operator who operates the touch operation device via the operation device.
In the present embodiment, the operation device is a touch panel 2 that displays an image on a screen and is operated by contact with the screen. The touch panel 2 is an electrostatic type, resistive film type, optical type, or the like. The touch panel 2 detects the contact position of the operator. The touch panel 2 is controlled by the control device 1. The control device 1 can obtain information on the touch position of the operator via a touch panel control unit, not shown. The screen of the touch panel 2 may be configured by a display unit of a liquid crystal system, an organic EL system, an electronic paper system, a plasma system, or the like, and may be controlled by the control device 1. The control device 1 controls a display information control unit, not shown, to display an image corresponding to the type of vibration presented to the operator on the screen.
In this case, the control device 1 performs information acquisition of the touch position of the operator, image display according to the type of vibration to be presented, and the like, but a microcomputer serving as a control device different from the control device 1 may be provided, and the microcomputer may connect the control device 1 and the touch panel 2. In this case, the microcomputer acquires information of the touch position of the operator via the touch panel control unit or controls the display information control unit to display an image corresponding to the type of vibration presented to the operator on the screen. The microcomputer may output information (waveform data or the like) on vibration corresponding to the acquired information of the touch position of the operator to the control device 1, or may output a trigger signal described later with reference to fig. 11 to the control device 1. The microcomputer is a microcomputer, and is constituted by a semiconductor chip, for example.
The vibration presenting apparatus 200 is used as a touch panel apparatus of a car navigation system as an electronic device, for example. The vibration presenting device 200 functions as a device that presents vibrations to an operator who is operating in contact with the screen 2a of the touch panel 2. In this case, the vibration presenting device 200 may be any electronic device as long as it gives a tactile sensation to an operator by presenting vibration to the operator in contact with the vibration target. For example, the vibration presenting device 200 may be an image display device such as a smart phone, a tablet computer, or a television, a game machine with a touch panel, or a game controller with a touch panel.
In the present embodiment, in the vibration presenting device 200, when the finger or the like of the operator is operated in contact with the screen 2a of the touch panel 2, the control device 1 drives the electromagnetic actuator 10 to vibrate in response to this. By this vibration, a tactile sensation is given to the operator. The control device 1 of the present embodiment gives various touch feeling to the display image corresponding to the operation of the operator. The control device 1 gives a tactile sensation to a mechanical switch such as a tactile switch, an alternate switch, a momentary switch, a toggle switch, a slide switch, a rotary switch, a DIP switch, or a rocker switch, for example. In addition, in the push-type switch, the touch feeling of the switch with different push-type degrees can be given.
In addition, the vibration presenting device 200 may be an operation device that has no display function and can be touched and operated by an operator, instead of the touch panel 2 as the operation device.
In the vibration presenting device 200 shown in fig. 1, the electromagnetic actuator 10 is disposed between the touch panel 2 and the base 3 as a device back surface portion disposed on the back surface side of the touch panel 2. The control device 1 may be provided to the electromagnetic actuator 10 itself or to the base 3.
The touch panel 2 is fixed to a face fixing portion 44 of a movable body 40 (see fig. 2) of the electromagnetic actuator 10 on the back side. The base 3 is disposed so as to face the touch panel 2, and a fixing body 30 (see fig. 2) of the electromagnetic actuator 10 is fixed to the base 3 via a support portion 3 a. In this way, the electromagnetic actuators 10 are arranged to be connected to each other between the touch panel 2 and the central portion of the base 3.
The touch panel 2 itself is integrally driven with the movable body 40 of the electromagnetic actuator 10. When the operator presses the screen of the touch panel 2 to perform an operation, the direction in which the operator's finger or the like contacts the screen, for example, the direction in which the operator presses the screen perpendicularly to the screen of the touch panel 2 is the same direction as the Z direction, which is the vibration direction of the movable body 40 in the electromagnetic actuator 10.
According to the vibration presentation device 200 to which the control device 1, the touch panel 2, and the electromagnetic actuator 10 are attached, the touch panel 2 is directly operated, that is, the touch panel 2 is driven in the same direction as the contact direction of the finger together with the movable body 40, so that the touch panel 2 can be directly vibrated.
Therefore, when the movable body 40 is moved in contact with an image such as a mechanical switch displayed on the touch panel 2 and operated, the vibration of the touch operation feeling similar to the operation feeling when the actual mechanical switch is operated, for example, can be given to the operation feeling corresponding to the image. This makes it possible to exhibit an operation with good feeling in use.
< overall Structure of electromagnetic actuator 10 >
Fig. 2 is a front side perspective view of the electromagnetic actuator 10, which is an example of drive control performed by the control device 1 according to the embodiment of the present invention, fig. 3 is a rear side perspective view of the electromagnetic actuator 10, and fig. 4 is a plan view of the electromagnetic actuator. Fig. 5 is a cross-sectional view of fig. 4 in the direction of arrow A-A, and fig. 6 is an exploded perspective view of the electromagnetic actuator 10 of the control device 1 according to the embodiment of the present invention. Fig. 7 is a cross-sectional view showing a state in which the electromagnetic actuator 10 is provided with a sensor.
In the present embodiment, the electromagnetic actuator 10 shown in fig. 2 to 7 is mounted on an electronic device to which the control device 1 is applied, and functions as a vibration generation source of the touch panel 2 (see fig. 1) which is an example of an operation device.
The electromagnetic actuator 10 includes an electromagnet including a coil 22 and a movable body 40 including a yoke made of a magnetic material, which will be described in detail later. The electromagnetic actuator 10 drives the movable body 40 in one direction by using the coil 22, and moves the movable body 40 in a direction opposite to the one direction by the force of the force generating member (plate-like elastic portion 50), thereby linearly reciprocating (vibrating) the movable body 40. In this way, the electromagnetic actuator 10 functions as a vibration actuator.
By transmitting the vibration to the operator in response to the contact operation of the operator on the screen 2a of the touch panel 2 and causing the operator to feel the vibration, the operator who touches the touch panel 2 can perform intuitive operation. Further, the touch panel 2 has a contact position output unit that receives a contact operation by an operator on the touch panel 2 and outputs a contact position thereof. Based on the contact position information and the drive timing output by the contact position output section, the control device 1 generates an actuator drive signal (hereinafter, referred to as a drive signal) so as to generate vibration corresponding to the contact operation. The control device 1 applies the generated drive signal to the circuit including the coil 22 of the electromagnetic actuator 10, and supplies the drive current to the coil 22.
The electromagnetic actuator 10, which supplies a driving current to the coil 22, generates vibration corresponding to a contact position output from the touch panel 2, and transmits the vibration to the touch panel 2, thereby directly vibrating the touch panel 2. In this way, the operation of the operator received by the touch panel 2 is received, and the electromagnetic actuator 10 is driven in accordance with the operation.
The electromagnetic actuator 10 moves the movable body 40 in one direction (for example, the negative Z-direction side) against the urging force by supplying a driving current to the coil 22. Further, the electromagnetic actuator 10 stops the supply of the drive current to the coil 22, thereby releasing the biasing force, and the movable body 40 is moved to the other direction side (Z direction positive side) by the biasing force. The electromagnetic actuator 10 vibrates the movable body 40 and the operating device by supplying and stopping a driving current to the coil 22. The electromagnetic actuator 10 vibrates the operating device by driving the movable body 40 without using a magnet.
In the present embodiment, as described later with reference to fig. 10, the drive signal is a voltage signal that is output from the drive signal generating unit 130 to the drive unit 140 and applied to a circuit including the coil 22. When a drive signal is applied to the drive unit 140 as a circuit including the coil 22, a drive current is generated in the drive unit 140 and supplied to the coil 22.
In the present embodiment, as described later with reference to fig. 11, the drive signal is composed of a main drive signal and a sub drive signal, and a drive current corresponding to each of the main drive signal and the sub drive signal is supplied to the coil 22 as a drive current for driving the movable body 40. When a main drive current corresponding to the main drive signal is supplied to the coil 22, the movable body 40 moves in one direction and starts to vibrate mainly. When the sub-driving current corresponding to the sub-driving signal is supplied to the coil 22, the damping period of the vibration is adjusted according to the timing of supplying the sub-driving signal, and the period is lengthened or shortened.
The structure of the electromagnetic actuator 10 will be described. The electromagnetic actuator 10 includes a coil 22, a core assembly 20 having a core 24, a fixed body 30 having a base portion 32, a movable body 40 having a yoke 41, plate-like elastic portions (elastic supporting portions) 50 (50-1, 50-2), and the like. The plate-like elastic portion 50 elastically supports the movable body 40 so as to be movable in the vibration direction with respect to the fixed body 30.
The electromagnetic actuator 10 drives the movable body 40 supported by the plate-like elastic portion 50 so as to be movable in one direction with respect to the fixed body 30. The movement in the opposite direction to the one direction with respect to the movable body 40 moving in the one direction is performed by the urging force of the plate-like elastic portion 50.
Specifically, the electromagnetic actuator 10 vibrates the yoke 41 of the movable body 40 through the core assembly 20. Specifically, the movable body 40 is vibrated by the attractive force of the energized coil 22 and the core 24 excited by the energized coil 22 and the urging force generated by the plate-like elastic portions 50 (50-1, 50-2).
The electromagnetic actuator 10 is configured in a flat shape with the Z direction as the thickness direction. The electromagnetic actuator 10 vibrates the movable body 40 with respect to the fixed body 30 in the Z direction, that is, in the thickness direction, and one of the front and rear surfaces disposed apart in the thickness direction of the electromagnetic actuator 10 is brought close to and apart from the other surface in the Z direction.
In the present embodiment, the electromagnetic actuator 10 moves the movable body 40 to the negative Z-direction side, which is one direction, by the attractive force of the core 24, and moves the movable body 40 to the positive Z-direction side, which is the direction opposite to the one direction, by the biasing force of the plate-like elastic portions 50 (50-1, 50-2).
In the electromagnetic actuator 10 of the present embodiment, the movable body 40 is elastically supported by the plate-like elastic portions 50 (50-1, 50-2) arranged in the direction orthogonal to the Z direction at the position point-symmetrical with respect to the movable center of the movable body 40, but the present invention is not limited to this configuration.
The plate-like elastic portion 50 is fixed between the movable body 40 and the fixed body 30, and elastically supports the movable body 40 so as to be movable with respect to the fixed body 30 at least in a direction facing one of the both end portions (the magnetic pole portions 242, 244; see fig. 5) of the core 24. The plate-like elastic portion 50 may be provided arbitrarily as long as it has such a structure.
For example, the plate-like elastic portion 50 may elastically support the movable body 40 so as to be movable in a direction facing one end portion (the magnetic pole portion 242 or the magnetic pole portion 244) of the core 24 with respect to the fixed body 30 (the core assembly 20). The plate-like elastic portions 50-1, 50-2 may be arranged symmetrically with respect to the center line of the movable body 40, or two or more plate-like elastic portions 50 may be used. The plate-like elastic portions 50-1, 50-2 are fixed to the fixed body 30 at one end side and to the movable body 40 at the other end side, and support the movable body 40 so as to be movable in the vibration direction (Z direction, here, up and down direction) with respect to the fixed body 30.
< fixed body 30 >)
As shown in fig. 5 to 9, the fixed body 30 includes: a core assembly 20 having a coil 22 and a core 24; and a base portion 32.
The base portion 32 is fixed with the core assembly 20, and supports the movable body 40 so as to be movable in the vibration direction via the plate-like elastic portions 50 (50-1, 50-2). The base portion 32 is a flat member, and forms the bottom surface of the electromagnetic actuator 10. The base portion 32 has a mounting portion 32a, and the mounting portion 32a fixes one end portion of the plate-like elastic portion 50 (50-1, 50-2) so as to sandwich the core assembly 20. The mounting portions 32a are disposed at the same intervals as the core assembly 20. The interval is an interval of deformation regions of the plate-like elastic portions 50 (50-1, 50-2).
The mounting portion 32a has a fixing hole 321 for fixing the plate-like elastic portion 50 (50-1, 50-2) and a fixing hole 322 for fixing the base portion 32 to the base 3 (see fig. 1). The fixing holes 322 are provided at both end portions of the mounting portion 32a so as to sandwich the fixing holes 321. Thus, the base portion 32 is stably fixed to the entire surface of the base 3 (see fig. 1).
In the present embodiment, the base portion 32 is configured such that a metal plate is processed, and one side portion and the other side portion as the attachment portion 32a are located at positions separated in the depth direction across the bottom surface portion 32b. Between the mounting portions 32a, concave portions having bottom portions 32b lower in height than the mounting portions 32a are provided. The space in the concave portion, that is, the space on the surface side of the bottom surface portion 32b is a space for securing an elastic deformation region of the plate-like elastic portion 50 (50-1, 50-2), and is a space for securing a movable region of the movable body 40 supported by the plate-like elastic portion 50 (50-1, 50-2).
The bottom surface portion 32b has a rectangular shape, an opening 36 is formed in a central portion thereof, and the core assembly 20 is disposed in the opening 36.
The opening 36 has a shape corresponding to the shape of the core assembly 20. In the present embodiment, the opening 36 is formed in a square shape. Thus, the core assembly 20 and the movable body 40 are disposed in the center portion of the electromagnetic actuator 10, and the electromagnetic actuator 10 as a whole can be made to have a substantially square shape in a plan view. The opening 36 may be rectangular (including square).
The split body 26b of the bobbin 26 on the lower side of the core assembly 20 and the lower side portion of the coil 22 are inserted into the opening 36, and the core 24 is fixed so as to be positioned on the bottom surface portion 32b when viewed from the side. As a result, the length (thickness) in the Z direction is smaller than that of the structure in which the core assembly 20 is mounted on the bottom surface portion 32 b. Further, since a part of the core assembly 20, in this case, a part of the bottom surface side is fixed in a state of being fitted into the opening 36, the core assembly 20 is firmly fixed in a state of being hard to be detached from the bottom surface portion 32 b.
Core assembly 20 >
The core assembly 20 is configured by winding the coil 22 around the outer periphery of the core 24 via the bobbin 26.
When the coil 22 is energized, the core assembly 20 vibrates (reciprocates linearly in the Z direction) the yoke 41 of the movable body 40 in cooperation with the plate-like elastic portions 50 (50-1, 50-2).
In the present embodiment, the core assembly 20 is formed in a rectangular plate shape. In the core assembly 20, magnetic pole portions 242, 244 are arranged at two side portions separated in the longitudinal direction (X direction) of the rectangular plate shape.
These magnetic pole portions 242, 244 are disposed so as to be opposed to the attracted surface portions 46, 47 of the movable body 40 with a gap therebetween in the X direction. In the present embodiment, the opposing surfaces (opposing surface portions) 20a, 20b as the upper surfaces are obliquely close to the lower surfaces of the attracted surface portions 46, 47 of the yoke 41 in the vibration direction (Z direction) of the movable body 40.
As shown in fig. 2, the core assembly 20 is fixed to the base portion 32 such that the winding axis of the coil 22 faces the opposite directions (X direction orthogonal to the vibration direction) of the mounting portions 32a separated in the base portion 32. In the present embodiment, the core assembly 20 is disposed in the center of the base portion 32, specifically, in the center of the bottom portion 32b. As shown in fig. 3 to 9, the core assembly 20 is fixed to the bottom surface portion 32b so that the core 24 is parallel to the bottom surface portion 32b and is positioned on the bottom surface across the opening 36. The core assembly 20 is fixed in a state where the coil 22 and the portion around which the coil 22 is wound (core body 241) are located in the opening 36 of the base portion 32.
Specifically, the core assembly 20 is fastened to the bottom surface portion 32b by passing the screw 68 through the fastening hole 28 and the stopper hole 33 (see fig. 6) of the bottom surface portion 32b in a state where the coil 22 is disposed in the opening 36. The core assembly 20 and the bottom surface portion 32b are joined to each other at two positions on the axial center of the coil 22 by screws 68 serving as stopper members so as to sandwich the coil 22 between the two side portions of the opening portion 36 and the magnetic pole portions 242 and 244 separated in the Y direction.
The coil 22 is a solenoid that is energized to generate a magnetic field when the electromagnetic actuator 10 is driven. The coil 22 forms a magnetic circuit (magnetic circuit) that attracts and moves the movable body 40 together with the core 24 and the movable body 40. The electromagnetic actuator 10 is driven by applying a drive signal generated by the control device 1 to a circuit including the coil 22, and supplying a drive current to the coil 22, as will be described in detail with reference to fig. 10.
The core 24 includes a core body 241 around which the coil 22 is wound, and magnetic pole portions 242 and 244 provided at both end portions of the core body 241 and excited by energizing the coil 22. The core 24 may have any structure as long as it has a length such that both ends thereof become the magnetic pole portions 242, 244 by the energization of the coil 22. For example, the core 24 of the present embodiment may be formed in a linear (I-type) flat plate shape, but may be formed in a flat plate shape having an H-type in plan view.
In the case of the I-shaped core, the areas of the faces (air gap side faces) on the sides of the attracted face portions 46, 47 facing each other across the air gap G are narrowed at both end portions (magnetic pole portions) of the I-shaped core. As a result, the magnetic resistance in the magnetic circuit increases, and the conversion efficiency may be reduced. In addition, when the bobbin is mounted on the core, the positioning of the bobbin in the longitudinal direction of the core is lost or becomes small, and thus, a separate installation is required.
In contrast, since the core 24 is H-shaped, the air gap side surfaces can be widened in the front-rear direction (Y direction) at the both end portions of the core main body 241 to be longer than the width of the core main body 241 of the wound coil 22, and the magnetic resistance can be reduced to improve the efficiency of the magnetic circuit. Further, the coil 22 can be positioned by merely inserting the bobbin 26 between the portions of the magnetic pole portions 242, 244 protruding from the core body 241, and there is no need to provide a separate positioning member for the bobbin 26 with respect to the core 24.
The core 24 has magnetic pole portions 242 and 244 protruding from both ends of a plate-shaped core body 241 around which the coil 22 is wound in a direction perpendicular to the winding axis of the coil 22.
The core 24 is a magnetic body made of a soft magnetic material or the like, and is formed of, for example, a silicon steel plate, permalloy, ferrite or the like. The core 24 may be made of electromagnetic stainless steel, sintered material, MIM (metal injection molding) material, laminated steel sheet, galvanized steel Sheet (SECC), or the like.
The magnetic pole portions 242 and 244 are excited by energizing the coil 22, and attract and move the yoke 41 of the movable body 40 separated in the vibration direction (Z direction). Specifically, the magnetic pole portions 242 and 244 attract the attracted surface portions 46 and 47 of the movable body 40 disposed to face each other with the gap G therebetween by the generated magnetic flux.
In the present embodiment, the magnetic pole portions 242 and 244 are plate-like bodies extending in the Y direction, which is a direction perpendicular to the core body 241 extending in the X direction. Since the magnetic pole portions 242 and 244 are long in the Y direction, the areas of the opposing surfaces 20a and 20b opposing the yoke 41 are larger than those of the structure formed at the both end portions of the core body 241.
The bobbin 26 is disposed so as to surround the circumference of the core body 241 of the core 24 in the longitudinal direction. The bobbin 26 is formed of, for example, a resin material. This ensures electrical insulation from other components made of metal (for example, the core 24), and thus improves the reliability as a circuit. By using a resin having a high flow rate for the resin material, the formability is improved, and the thickness of the bobbin 26 can be reduced while securing the strength. The bobbin 26 is formed as a cylindrical body covering the periphery of the core body 241 by assembling the split bodies 26a, 26b with the core body 241 interposed therebetween. The bobbin 26 is provided with flanges at both ends of the cylindrical body, and the coil 22 is defined to be located on the outer periphery of the core body 241.
< movable body 40 >)
The movable body 40 is disposed so as to face the core assembly 20 with a gap therebetween in a direction orthogonal to the vibration direction (Z direction). The movable body 40 is provided so as to be movable reciprocally in the vibration direction with respect to the core assembly 20.
The movable body 40 has a yoke 41, and includes movable body-side fixed portions 54 fixed to plate-like elastic portions 50-1, 50-2 of the yoke 41.
The movable body 40 is disposed in a state (reference normal position) in which it is suspended so as to be movable in the contact/separation direction (Z direction) and separated substantially in parallel with respect to the bottom surface portion 32b via the plate-like elastic portions 50 (50-1, 50-2).
The yoke 41 is a magnetic circuit of magnetic flux generated when the coil 22 is energized, and is a plate-like body made of a magnetic material such as electromagnetic stainless steel, sintered material, MIM (metal injection molding) material, laminated steel plate, or electrogalvanized steel plate (SECC). In the present embodiment, the yoke 41 is formed by machining a SECC plate.
The yoke 41 is suspended by plate-like elastic portions 50 (50-1, 50-2) fixed to the attracted surface portions 46, 47 separated in the X direction, respectively, so as to face the core assembly 20 with a gap G (see fig. 7) therebetween in the vibration direction (Z direction).
The yoke 41 has a face fixing portion 44 to which an operating device (see the touch panel 2 shown in fig. 1) is attached, and attracted face portions 46, 47 arranged to face the magnetic pole portions 242, 244.
The yoke 41 is formed in a rectangular frame shape having an opening 48 at a central portion thereof, and has a face fixing portion 44 surrounding the opening 48 and attracted faces 46, 47.
The opening 48 faces the coil 22. In the present embodiment, the opening 48 is located directly above the coil 22, and the opening 48 has a shape in which the coil 22 of the core assembly 20 can be partially inserted when the yoke 41 moves toward the bottom surface 32 b.
The yoke 41 has an opening 48, so that the thickness of the electromagnetic actuator as a whole can be reduced as compared with the case where the opening 48 is not provided.
Further, since the core assembly 20 is positioned in the opening 48, the yoke 41 is not disposed near the coil 22, and a reduction in conversion efficiency due to leakage magnetic flux leaking from the coil 22 can be suppressed, and high output can be achieved.
The face fixing portion 44 has a fixing face 44a for fixing the touch panel 2 as an example of the operation device by making face contact. The fixing surface 44a has a trapezoidal shape in plan view, and is in surface contact with the touch panel 2 fixed to the face fixing portion 44 via a stopper member such as a screw inserted into the face fixing hole 42.
The movable body side fixing portions 54 of the plate-like elastic portions 50-1, 50-2 are fixed to the sucked face portions 46, 47, respectively, in a stacked state. The sucked face portions 46 and 47 are provided with notch portions 49 which avoid the heads of the screws 64 of the core assembly 20 when moving toward the bottom face portion 32b side.
Accordingly, even if the movable body 40 moves toward the bottom surface portion 32b, the attracted surface portions 46 and 47 come close to the magnetic pole portions 242 and 244, and do not come into contact with the screws 68 that fix the magnetic pole portions 242 and 244 to the bottom surface portion 32b, so that a movable region of the yoke 41 in the Z direction can be secured.
Plate-like elastic portion 50 (50-1, 50-2) >
The plate-like elastic portion 50 (50-1, 50-2) supports the movable body 40 so as to be movable with respect to the fixed body 30. The plate-like elastic portions 50 (50-1, 50-2) support the upper surface of the movable body 40 at the same height as the upper surface of the core assembly 20 or are parallel to each other on the lower surface side than the upper surface of the fixed body 30 (the upper surface of the core assembly 20 in the present embodiment). The plate-like elastic portions 50-1, 50-2 have a symmetrical shape with respect to the center of the movable body 40, and are members formed similarly in the present embodiment.
The plate-like elastic portion 50 is disposed substantially in parallel so that the yoke 41 faces the magnetic pole portions 242, 244 of the core 24 of the core assembly 20 with the gap G therebetween. The plate-like elastic portion 50 supports the lower surface of the movable body 40 so as to be movable in the vibration direction at a position closer to the bottom surface portion 32b than the level substantially equal to the level of the upper surface of the core assembly 20.
The plate-like elastic portion 50 is a plate spring, and includes a fixed body side fixed portion 52, a movable body side fixed portion 54, and a meandering elastic arm portion 56 connecting the fixed body side fixed portion 52 and the movable body side fixed portion 54.
The plate-like elastic portion 50 has a fixed body side fixing portion 52 attached to the surface of the mounting portion 32a, and a movable body side fixing portion 54 attached to the surface of the attracted surface portions 46, 47 of the yoke 41, and the elastic arm portion 56 is attached to the movable body 40 in parallel with the bottom surface portion 32 b.
The fixed body side fixing portion 52 is in surface contact with the mounting portion 32a and is fixed by a screw 62, and the movable body side fixing portion 54 is in surface contact with the attracted surface portions 46, 47 and is fixed by a screw 64.
The elastic arm portion 56 is an arm portion having a serpentine shape portion that elastically deforms. In the present embodiment, the elastic arm portion 56 has a shape that extends in the opposing direction of the fixed body side fixed portion 52 and the movable body side fixed portion 54 and is folded back. In the elastic arm portion 56, the end portions respectively engaged with the fixed body side fixing portion 52 and the movable body side fixing portion 54 are formed at positions shifted in the Y direction. The elastic arm portion 56 is disposed at a position symmetrical or line symmetrical with respect to the center point of the movable body 40.
Accordingly, since the movable body 40 is supported by the elastic arm portions 56 of the springs having a meandering shape on both sides, stress dispersion at the time of elastic deformation can be achieved. That is, the plate-like elastic portion 50 can move the movable body 40 in the vibration direction (Z direction) without tilting with respect to the core assembly 20, and can improve the reliability of the vibration state.
The plate-like elastic portions 50 each have at least two or more elastic arm portions 56. As a result, the stress at the time of elastic deformation is dispersed, and the reliability can be improved, and the balance of the support of the movable body 40 is improved, and the stability can be improved, as compared with the case where each plate-like elastic portion 50 has one elastic arm portion.
In the present embodiment, the plate-like elastic portion 50 is made of a magnetic material. The movable body side fixing portion 54 of the plate-like elastic portion 50 is disposed at a position facing or above both end portions (magnetic pole portions 242, 244) of the core portion in the coil winding axis direction, and serves as a magnetic circuit.
In the present embodiment, the movable body side fixing portion 54 is fixed in a stacked state on the upper sides of the sucked face portions 46, 47. As a result, the thickness H (see fig. 7) of the attracted surface portions 46, 47 (the length in the Z direction and the vibration direction) facing the magnetic pole portions 242, 244 of the core assembly can be increased as the thickness of the magnetic body. Since the thickness of the plate-like elastic portion 50 is the same as the thickness of the yoke 41, the cross-sectional area of the portion of the magnetic body facing the magnetic pole portions 242 and 244 can be made 2 times. This makes it possible to expand the magnetic path of the magnetic circuit, alleviate the degradation of the characteristics due to magnetic saturation in the magnetic circuit, and improve the output, as compared with the case where the leaf spring is nonmagnetic.
In the electromagnetic actuator 10 of the present embodiment, a detection unit may be provided that detects the amount of press-fitting of the movable body 40 and the amount related to press-fitting when the operation device fixed to the face fixing unit 44 is operated. In the present embodiment, for example, as shown in fig. 6 to 7, a strain detection sensor 70 that detects the strain of the plate-like elastic portion 50 may be provided as a detection portion of the amount related to press-fitting.
The strain detection sensor 70 detects the strain of the plate-like elastic portion 50 deformed when the face fixing portion 44 is pressed toward the bottom face portion 32 b. The detected strain is output to the control device 1 as a detection signal. As described later with reference to fig. 11, the control device 1 generates a drive signal (sub drive signal) based on the detection signal, and applies the drive signal to a circuit including the coil 22. Thereby, the coil 22 is energized, attracting the yoke 41, and moving (vibrating) the movable body 40.
In this way, the vibration cycle of the movable body 40 (operation device) may be adjusted by the control device 1 based on the detection result of the sensor that detects the amount related to the contact operation of the operator, that is, the press-in of the movable body 40, using the strain detection sensor 70. In addition, the control device 1 may control the vibration cycle of the movable body 40 in response to an operation signal that generates vibration corresponding to a display mode of the contact position of the operator detected by the operation device, which is output to the control device 1, independently of the strain detection sensor 70.
In the present embodiment, the control device 1 can realize vibration feedback for contact as long as contact of the operator with the operating device can be detected without determining the displacement amount (for example, the pushing amount) of the operating device to be operated. Further, if the control device 1 can determine the displacement amount of the actual operating device, for example, as an amount corresponding to the displacement amount, if the press-in amount of the plate-like elastic portion 50 can be detected, the detection result can be used to realize more natural tactile sensation expression.
The strain detection sensor 70 is mounted near the root portion where the strain is large in the elastic arm portion 56 of the plate-like elastic portion 50, and is disposed in a so-called dead zone, which is a region where other members are not obstructed.
The strain detection sensor 70 is not limited to one point, and may be mounted at a plurality of points. In this case, the strain detection sensor 70 is preferably disposed at least 3 or more positions so as to surround the center of the operation surface of the operation device radially at equal intervals. For example, referring to fig. 6, an example will be described in which the strain detection sensors 70 are disposed in the elastic arm portions 56 of the plate-like elastic portions 50-1 and 50-2, respectively, and are disposed in total at four positions. Thus, the electromagnetic actuator 10 receives the displacement of the operating device when the operating device is operated on the surface, and the strain detection sensor 70 can detect the strain of the plate-like elastic portion 50 accompanying the displacement with high accuracy.
Here, the electromagnetic actuator 10 is configured in a yoke vibration type in which the core assembly 20 fixed to the fixed body 30 side vibrates the movable body 40 (yoke 41) supported by the fixed body 30 via the plate-like elastic portion 50. Alternatively, the movable body supported by the fixed body via the plate-like elastic portion may have a core assembly, and the movable body itself may vibrate with respect to the fixed body. In the case of such a configuration, a strain detection sensor that detects an amount (strain) associated with press-in when the operation device is operated may be attached to the plate-like elastic portion, or may be attached to a member on the movable body side (for example, a frame or the like that connects the operation device and the movable body).
In place of the strain detection sensor 70, a detection unit for detecting the press-in amount, such as a capacitance sensor, may be disposed below the plate-shaped elastic portion 50 on the bottom surface portion 32b facing the deformed portion of the plate-shaped elastic portion 50, and the detection unit may be configured to measure the distance between the plate-shaped elastic portion 50 and the press-in and displaced plate-shaped elastic portion.
Fig. 8 is a diagram showing a magnetic circuit of the electromagnetic actuator 10. Fig. 8 is a perspective view of the electromagnetic actuator 10 cut along the line A-A in fig. 4, and the portion of the magnetic circuit, not shown, also has the same flow M of magnetic flux as the illustrated portion. Fig. 9 is a cross-sectional view schematically showing movement of the movable body by the magnetic circuit. Specifically, fig. 9A is a diagram showing a state in which the movable body 40 is held at a position separated from the core assembly 20 by the plate-like elastic portion 50, and fig. 9B shows the movable body 40 that moves by being attracted to the core assembly 20 side by the magnetomotive force of the magnetic circuit.
Specifically, when the coil 22 is energized, the core 24 is excited to generate a magnetic field, and both end portions of the core 24 become magnetic poles. For example, in fig. 8, in the core 24, the magnetic pole portion 242 is an N pole, and the magnetic pole portion 244 is an S pole. Then, a magnetic circuit indicated by a flow M of magnetic flux is formed between the core assembly 20 and the yoke 41. The flow M of the magnetic flux in the magnetic circuit flows from the magnetic pole portion 242 to the attracted surface portion 46 of the opposing yoke 41, passes through the surface fixing portion 44 of the yoke 41, and reaches the magnetic pole portion 244 opposing the attracted surface portion 47 from the attracted surface portion 47. In the present embodiment, the plate-like elastic portion 50 is also a magnetic body. Therefore, the magnetic flux (indicated by the flow M of the magnetic flux) flowing through the attracted face 46 passes through the attracted face 46 and the movable body-side fixed portion 54 of the yoke 41, and reaches the both ends of the attracted face 46 and the movable body-side fixed portion 54 of the plate-like elastic portion 50-2 from the both ends of the attracted face 46 via the face fixed portion 44.
Thereby, the magnetic pole portions 242, 244 of the core assembly 20 generate the attractive force F that attracts the attracted face portions 46, 47 of the yoke 41, according to the principle of the electromagnetic solenoid. Then, the attracted surface portions 46, 47 of the yoke 41 are attracted to both the magnetic pole portions 242, 244 of the core assembly 20. Thus, the coil 22 is inserted into the opening 48 of the yoke 41, and the movable body 40 including the yoke 41 moves in the F direction against the urging force of the plate-like elastic portion 50 (see fig. 9A and 9B).
When the energization to the coil 22 is released, the magnetic field is released, the attractive force F of the core assembly 20 to the movable body 40 is released, and the plate-like elastic portion 50 moves to the original position (moves in the-F direction).
By repeating this operation, the electromagnetic actuator 10 can reciprocate the movable body 40 to linearly move, and thereby generate vibration in the vibration direction (Z direction).
By linearly moving the movable body 40 in a reciprocating manner, the touch panel 2 as an operation device for fixing the movable body 40 is also displaced in the Z direction following the movable body 40. In the present embodiment, the displacement of the movable body 40 due to driving, that is, the displacement amount G1 (see fig. 1) of the touch panel 2 is set to be in the range of 0.03mm to 0.3 mm. The displacement range is a range in which vibration corresponding to the display pressed by the operator can be given to the screen 2a of the touch panel 2 as the operation device.
For example, when the display to be pressed by the operator on the screen 2a is a mechanical button or various switches, the amplitude range can be given to the same touch as when the mechanical button or various switches are actually pressed. This range is insufficient in the sense of touch when the displacement of the amplitude of the movable body 40 is small, and is uncomfortable when it is large.
In the electromagnetic actuator 10, the attracted surface portions 46 and 47 of the yoke 41 are disposed close to the magnetic pole portions 242 and 244 of the core assembly 20, whereby the magnetic circuit efficiency can be improved and high output can be achieved. In addition, since the electromagnetic actuator 10 does not use a magnet, it has a low-cost structure. The serpentine spring serving as the plate-like elastic portion 50 (50-1, 50-2) can disperse stress and improve reliability. In particular, since the movable body 40 is supported by the plurality of plate-like elastic portions 50 (50-1, 50-2), stress can be dispersed more effectively. In this way, the electromagnetic actuator 10 can provide a direct tactile sensation to an operator who is in contact with the screen 2a in the up-down direction by driving in the up-down direction.
The core assembly 20 having the core 24 around which the coil 22 is wound is fixed to the fixed body 30, the core assembly 20 is disposed in the opening 48 of the yoke 41 of the movable body 40, and the movable body 40 is supported by the plate-like elastic portion 50 so as to be movable in the Z direction with respect to the fixed body 30. Accordingly, it is not necessary to drive the movable body in the Z direction in order to generate a magnetic force, and members provided to the fixed body and the movable body, respectively, are provided to overlap in the Z direction (for example, the coil and the magnet are disposed to face each other in the Z direction), so that the thickness in the Z direction can be reduced as an electromagnetic actuator. Further, by linearly moving the movable body 40 in a reciprocating manner without using a magnet, vibration as a tactile sensation can be imparted to the operation device. In this way, since the support structure is simple, the design becomes simple, space saving can be achieved, and the electromagnetic actuator 10 can be thinned. Further, since the actuator using a magnet is not used, cost can be reduced as compared with a structure using a magnet.
Hereinafter, a driving principle of the electromagnetic actuator 10 will be briefly described. The electromagnetic actuator 10 can be driven by generating a resonance phenomenon using the following motion equation and loop equation. In addition, as an operation, not resonance driving but an operation feeling of a mechanical switch displayed on the touch panel 2 as an operation device is expressed, and in the present embodiment, driving is performed by supplying a driving current to the coil 22 via the control device 1. Examples of the mechanical switch include a tactile switch, an alternate switch, a momentary switch, a toggle switch, a slide switch, a rotary switch, a DIP switch, and a rocker switch.
Further, the movable body 40 in the electromagnetic actuator 10 reciprocates based on the formulas (1) and (2).
[ number 1]
m: quality (kg)
x (t): displacement [ m ]
K f : thrust constant [ N/A ]]
i (t): current [ A ]
K sp : spring constant [ N/m ]]
D: attenuation coefficient [ N/(m/s) ]
[ number 2]
e (t): voltage [ V ]
R: resistor [ omega ]
L: inductance (H)
K e : back emf constant [ V/(rad/s)]
That is, the mass m [ Kg ] in the electromagnetic actuator 10]Displacement x (t) [ m ]]Constant of thrust K f [N/A]Current i (t) [ A ]]Spring constant K sp [N/m]Attenuation coefficient D [ N/(m/s)]And the like can be appropriately changed within a range satisfying the formula (1). In addition, the voltage e (t) [ V ]Resistance R [ omega ]]Inductance L [ H ]]Back electromotive force constant K e [V/(rad/s)]The amount of the compound (c) can be appropriately changed within a range satisfying the formula (2).
In this way, the reciprocation of the movable body 40 in the electromagnetic actuator 10 is basically composed of the mass m of the movable body 40 and the spring constant K of the metal spring (elastic body, in this embodiment, plate spring) as the plate-like elastic portion 50 sp And (5) determining.
In the electromagnetic actuator 10, screws 62 and 64 are used for fixing the base portion 32 to the plate-like elastic portion 50 and for fixing the plate-like elastic portion 50 to the movable body 40. Thus, the plate-like elastic portion 50 that needs to be firmly fixed to the fixed body 30 and the movable body 40 in order to drive the movable body 40 can be mechanically firmly fixed in a reworkable state.
Further, the plate-shaped elastic portions 50 are preferably fixed in a plurality at positions symmetrical with respect to the center of the movable body 40, but as described above, the movable body 40 may be supported so as to be capable of vibrating with respect to the fixed body 30 by one plate-shaped elastic portion 50. The plate-like elastic portion 50 may include at least two or more arm portions that connect the movable body 40 and the fixed body 30 and that have elastic arm portions 56. The plate-like elastic portion 50 may be made of a magnetic material. In this case, the movable body side fixing portions 54 of the plate-like elastic portions 50 are respectively arranged in the winding axis direction of the coil 22 or in the direction orthogonal to the winding axis direction with respect to both ends of the core 24, and constitute a magnetic circuit together with the core 24 when the coil 22 is energized.
In addition, in the structure of the electromagnetic actuator 10, rivets may be used instead of the screws 62, 64, 68 for fixing the base portion 32 and the plate-like elastic portion 50 and fixing the plate-like elastic portion 50 and the movable body 40. The rivet is composed of a head portion and a body portion having no screw portion, and is inserted into a member having a hole, and the opposite end portions are swaged to be plastically deformed, whereby the members having the hole are joined to each other. The caulking may be performed using, for example, a press working machine, a dedicated tool, or the like.
< control device 1 >)
The control device 1 (circuit in the present invention) controls an electromagnetic actuator 10 that drives an operating device (touch panel 2 in fig. 1) supported so as to be elastically vibrated in one direction of its vibration direction.
The control device 1 supplies a driving current to the coil 22 of the electromagnetic actuator 10 in response to a contact operation of the operating device, generates a magnetic field, and moves the movable body 40 in one direction (here, the Z-direction negative side) with respect to the fixed body 30, thereby elastically vibrating the movable body. Thus, the control device 1 gives vibration as a touch feeling when the operator touches the operation device. The touch operation may be, for example, a signal indicating a touch state inputted from the touch panel 2, or a signal detected by the strain detection sensor 70.
In the present embodiment, the control device 1 generates a drive signal, applies the generated drive signal to the circuit including the coil 22 of the electromagnetic actuator 10, and supplies a drive current to the coil 22.
When a driving signal is applied to supply a driving current to the coil 22, the control device 1 causes the movable body 40 to be attracted to the coil 22 side, that is, the Z-direction negative side and displaced by the magnetic attraction force against the biasing force of the plate-like elastic portion 50. Following this, the touch panel 2 also moves to the negative Z-direction side with respect to the base 3 to which the fixing body 30 is fixed.
Further, by stopping the supply of the drive current to the coil 22, the biasing force is released, and the holding state of the movable body 40 at the position on the negative side in the Z direction with respect to the reference position is released. Thus, the movable body 40 is biased to move from the maximum displacement position on the negative Z-direction side to the direction opposite to the direction in which it is pulled in (positive Z-direction side) by the biasing force of the plate-like elastic portion 50, and the vibration is fed back.
The drive signal is composed of a main drive signal and a sub drive signal. The main driving signal generates main vibration corresponding to the contact operation. The sub-drive signal adjusts the damping period of the vibration generated by the main drive signal.
The main drive signal is generated by the control device 1 when the operator touches the operation device (in fig. 1, the screen 2a of the touch panel 2). When the generated main drive signal is applied to the circuit including the coil 22, a main drive current corresponding to the main drive signal is supplied to the coil 22, driving the electromagnetic actuator 10. The electromagnetic actuator 10 is driven according to the main drive signal, thereby generating main vibrations that are fed back to the operator according to the contact operation.
The control device 1 generates the sub-drive signal after the main drive signal is applied. When the generated sub-drive signal is applied to the circuit including the coil 22, a sub-drive current corresponding to the sub-drive signal is supplied to the coil 22, driving the electromagnetic actuator 10. The electromagnetic actuator 10 is driven in accordance with the sub-drive signal, thereby forming vibrations during the damping period of vibrations generated by the main drive signal, that is, vibrations during the remaining damping period of the main vibrations fed back to the operator in accordance with the contact operation.
In this way, the control device 1 applies the main drive signal to the coil 22 of the electromagnetic actuator 10, starts vibration of the operation device corresponding to the contact operation with the operation device, and thereafter applies the sub drive signal to adjust the damping period of the vibration.
The main drive signal may be a main vibration fed back to the operator who performs the touch operation, and may be a vibration of any magnitude, or may be formed of a plurality of pulses (pulse trains).
The sub-drive signal is a voltage signal applied after the main drive signal is applied, and is a voltage signal having a waveform (for example, a sine wave or the like) described later, and is formed of one waveform or a plurality of waveforms (wave trains).
In the present embodiment, the sub-drive signal includes a brake signal for shortening the vibration (vibration damping period) of the damping after the feedback vibration based on the main drive signal, and a damping additional signal for continuing the damping period. The sub-drive signal may have at least one of a brake signal and an attenuation adding signal.
The control device 1 generates various vibration modes for the main drive signal and the sub drive signal based on the respective amplitudes, the respective wavelengths, the respective supply timings, and the like, and outputs the generated vibration modes as drive signals to the electromagnetic actuator 10 side. By such a driving signal, the control device 1 gives various vibration modes as a sense of body to the operator.
Fig. 10 is a diagram illustrating a control device 1 according to an embodiment of the present invention. Fig. 11 is a diagram illustrating generation of a drive signal in the control device 1 shown in fig. 10.
As shown in fig. 10, the control device 1 includes a power supply unit 110, a detection signal processing unit 120, a drive signal generating unit 130, and a drive unit 140.
Although not shown in the drawings, such as a power supply line, the power supply unit 110 supplies power to the detection signal processing unit 120, the drive signal generating unit 130, and the drive unit 140. In the driving unit 140, the power supply voltage Vact of the electromagnetic actuator 10 is supplied with electric power supplied from an external power supply.
The detection signal processing unit 120 receives the detection signal detected by the strain detection sensor 70 provided in the electromagnetic actuator 10. The strain detection sensor 70 detects the strain of the plate-like elastic portion 50 associated with the amount of pressing of the movable body 40 by the contact operation and the amount of displacement of the movable body 40 by the vibration, and inputs the strain as a detection signal to the detection signal processing portion 120.
The detection signal processing unit 120 performs processing of the input detection signal. The detection signal processing unit 120 includes an HPF (High Pass Filter) 121, an LPF (Low Pass Filter) 122, and the like, and performs offset removal processing and noise removal processing on the detection signal detected by the strain detection sensor 70 and inputs the detection signal to the drive signal generating unit 130.
In this case, the detection signal detected by the strain detection sensor 70 is input to the detection signal processing unit 120, but the detection signal detected by a detection unit other than the strain detection sensor 70 may be input to the detection signal processing unit 120 as long as the pressing force, acceleration, and displacement of the movable body 40 can be detected.
The drive signal generation unit 130 generates a main drive signal for driving the electromagnetic actuator 10 to start vibration and a sub drive signal to be applied after the main drive signal is applied, which will be described later with reference to fig. 11.
The driving section 140 includes a gate driver 141, a MOSFET (metal-oxide-semiconductor field-effect transistor), a MOSFET142, and an SBD (Schottky Barrier Diodes: schottky barrier diode) 143.
The gate driver 141 is a circuit for performing drive control of the MOSFET142. The gate driver 141 amplifies and outputs the driving signal from the driving signal generating section 130, controls the voltage of the gate G of the MOSFET142, and drives the MOSFET142.
When a voltage is applied between the gate G and the source S, the MOSFET142 causes a current to flow between the source S and the drain D in an on state, and the current supplied to the coil 22 is switched and amplified. The SBD143 is a rectifying element that prevents flyback voltage from being generated at the coil 22.
In the driving section 140, the driving signal generating section 130 is connected to the gate G of the MOSFET142 via the gate driver 141. The SBD143 is connected in parallel with the coil 22, and the power supply voltage Vact is supplied to one end side of the parallel-connected SBD143 and coil 22, and the drain D of the MOSFET142 is connected to the other end side. The source S of the MOSFET142 is connected to ground GND.
The generation of the drive signal in the control device 1 will be described with reference to fig. 11.
When the operator performs a touch operation of the touch panel 2, a trigger signal of the touch operation is input to the control device 1. The trigger signal may be a signal input from the touch panel 2 that is touched, or may be a signal detected by the strain detection sensor 70 in response to the touch operation of the touch panel 2. As described above, the trigger signal of the touch operation may be input to the control device 1 from a microcomputer, which is a control device different from the control device 1.
The trigger signal input from the touch panel 2 or the like is input to the main drive signal generation section B21 of the drive signal generation section 130. When a trigger signal is input, the main drive signal generating unit B21 generates a main drive signal that drives the electromagnetic actuator 10 to start vibration of the movable body 40. The generated main driving signal is input to the output unit B25, and is input to the gate driver 141 of the driving unit 140 via the output unit B25.
For example, as shown in fig. 16 to 22 and the like described later, the main drive signal is a rectangular wave. The pulse width and peak voltage value of the rectangular wave are input as parameters to the memory unit of the control device 1 in advance. When the trigger signal is input, the main drive signal generating unit B21 generates a main drive signal with reference to the pulse width and the peak voltage value of the rectangular wave input as parameters to the storage unit. In the case where the vibration presenting device 200 has a microcomputer as a control device different from the control device 1 as described above, the pulse width and the peak voltage value of the rectangular wave may be preset on the microcomputer side and may be input as parameters to the storage unit of the control device 1.
When the main drive signal is input from the drive signal generating unit 130 to the driving unit 140, the driving unit 140 supplies a main drive current to the coil 22 using the gate driver 141 and the MOSFET142, and starts the vibration of the movable body 40.
When vibration of the movable body 40 is started, strain of the plate-like elastic portion 50 accompanying the vibration of the movable body 40 is detected by the strain detection sensor 70, and a detected detection signal is input to the detection signal processing portion 120. The strain of the plate-like elastic portion 50 is caused by the force applied to the plate-like elastic portion 50 by the movable body 40, and is related to the acceleration of the movable body 40.
The detection signal processing unit 120 performs processing of shaping an input detection signal into an appropriate waveform. As described above, the detection signal processing section 120 includes the HPF121, the LPF122, and the like, and performs the offset removal processing on the detection signal by the HPF section B11 of the HPF121, and performs the noise removal processing on the detection signal by the LPF section B12 of the LPF 122. After performing the above-described filtering processing or the like, the detection signal processing unit 120 inputs the processed detection signal to the timing detection unit B22 of the drive signal generation unit 130.
The drive signal generation unit 130 includes a timing detection unit B22, an amplitude setting unit B23, a sub-drive signal generation unit B24, and the like, in addition to the main drive signal generation unit B21 and the output unit B25 described above.
The timing detection unit B22 detects the peak timing and the bottom timing of the detection signal from the waveform of the detection signal input from the detection signal processing unit 120. Instead of the peak timing and the valley timing, the zero-crossing timing of the detection signal may be detected in addition to the peak timing and the valley timing.
The timing detection unit B22 detects the peak timing, the valley timing, and the zero-crossing timing of the detection signal, so that a sub-drive signal to be described later can be supplied at an appropriate supply timing. The sub-drive signal is a brake signal for shortening the damping period of vibration or a damping additional signal for continuing the damping period due to the difference in the supply timing. As for the supply timing, description is made later with reference to fig. 16 and 17.
The timing detection unit B22 inputs the detected timing to the sub-drive signal generation unit B24 via the amplitude setting unit B23 (or directly).
The amplitude setting unit B23 sets the amplitude of the sub-driving signal based on the peak timing, the valley timing, and the zero-crossing timing of the detection signal input from the timing detecting unit B22. The amplitude setting unit B23 may set the amplitude of the sub driving signal by referring to a data table stored in the storage unit of the control device 1, for example. The amplitude setting unit B23 inputs the set amplitude to the sub-drive signal generating unit B24.
According to the structure of the electromagnetic actuator 10, even if the amplitude of the sub-drive signal is increased, the braking force may not be increased to a predetermined braking force or more, or the acceleration waveform may be deformed. In this case, the upper limit value of the amplitude of the sub driving signal may be set with reference to the power supply voltage Vact. For example, the upper limit value of the amplitude of the sub driving signal is set to 20% of the power supply voltage Vact. This makes it possible to efficiently perform braking and attenuation addition based on the sub-drive signal.
The sub-drive signal generating unit B24 generates a sub-drive signal based on the timing input from the timing detecting unit B22, the amplitude set by the amplitude setting unit B23, and the like.
The sub-drive signal generating section B24 includes a period counting section B241, a first sub-drive signal generating section B242 (a first waveform generating section in the present invention), a second sub-drive signal generating section B243 (a second waveform generating section in the present invention), a synthesizing section B244, and the like.
The cycle counting unit B241 counts the cycle of the sub-driving signal based on the above-described timing input from the timing detecting unit B22. The cycle counting unit B241 causes the first sub-driving signal generating unit B242 to generate the sub-driving signal in the case of the odd-numbered cycle, and causes the second sub-driving signal generating unit B243 to generate the sub-driving signal in the case of the even-numbered cycle.
When the first sub-driving signal generating unit B242 is used to generate the sub-driving signal of the odd-numbered period and the sub-driving signal of the even-numbered period, it is difficult to switch from the preceding sub-driving signal to the next sub-driving signal. For example, there is a possibility that the sub driving signal is interrupted or abruptly fluctuates during switching.
Therefore, in the present embodiment, the sub-drive signal generating unit B24 includes two of the first sub-drive signal generating unit B242, the second sub-drive signal generating unit B243, and the synthesizing unit B244. The sub-driving signals of the odd-numbered and even-numbered periods, which are generated by the first sub-driving signal generating unit B242 and the second sub-driving signal generating unit B243, respectively, are synthesized by the synthesizing unit B244, as described in detail with reference to fig. 13. In this way, by combining the sub-drive signals of the odd-numbered and even-numbered periods, even if there is a period in which the preceding sub-drive signal overlaps with the next sub-drive signal, the switching from the preceding sub-drive signal to the next sub-drive signal becomes a smooth change. For example, if the period of vibration of the movable body 40 is set to T, if the period of the sub-drive signal is set to be greater than 1T, the switching from the preceding sub-drive signal to the next sub-drive signal can be smoothly changed by the combination described below.
In the present embodiment, the first sub driving signal generating unit B242 and the second sub driving signal generating unit B243 are both sine wave generators. The first sub-drive signal generation section B242 and the second sub-drive signal generation section B243 generate a sine wave as a sub-drive signal.
The sine wave is an example of the sub-driving signal, and may be a waveform based on a sine wave, for example, a waveform such as a cosine wave. As such a sub-drive signal, it is preferable that the sub-drive signal has a variable voltage that varies with an offset voltage that is offset from zero voltage as a center value, and a waveform that represents the variation of the variable voltage is a curve, for example, a curve of a sine function or a curve of a cosine function. The sub-drive signal is preferably a signal whose variable voltage varies within a range where the polarity does not change.
The details will be described with reference to fig. 16 to 27 described later, but in the example shown in the present embodiment, the sub-drive signal is a sine wave or a cosine wave whose voltage varies in a curve with respect to the offset voltage offset from zero as a center value in a range where the polarity does not change.
In this way, since the sub-drive signal varies in a variable voltage curve with the offset voltage as a central value in a range where the polarity does not change, the sub-drive current corresponding to the sub-drive signal also varies in a curve and flows to the coil 22. Thus, the sub-driving current does not vary discontinuously. Therefore, the attractive force (driving force) of the coil 22 varies curvedly above a predetermined value throughout the vibration period. In this way, since the attractive force varies in a curve at or above the predetermined value, the generation of harmonic vibrations caused by discontinuous variation of the attractive force and the generation of abnormal sounds accompanying the harmonic vibrations can be suppressed. Here, the term "discontinuous fluctuation" means that the current and the force are interrupted or the triangular wave-like fluctuation in the sub-driving current and the attractive force.
As described above, the combining unit B244 combines the odd-numbered and even-numbered period sub-drive signals generated by the first sub-drive signal generating unit B242 and the second sub-drive signal generating unit B243, respectively, to generate a wave train of the sub-drive signals, and outputs the wave train to the output unit B25.
Here, in the present embodiment, sine waves and cosine waves generated by the first sub-drive signal generating unit B242 and the second sub-drive signal generating unit B243 will be described with reference to fig. 12A to 12C. Fig. 12A is a graph showing a sine wave with an initial phase of 0. Fig. 12B is a graph showing a sine wave having an initial phase of 3/2 pi. Fig. 12C is a graph showing a cosine wave having an initial phase of pi.
In the present embodiment, the first sub driving signal generating section B242 and the second sub driving signal generating section B243 generate a sine wave of one cycle with an initial phase of 0 shown by a thick line in fig. 12A as a basic waveform constituting the sub driving signal. The first sub-driving signal generating unit B242 generates a wave train of sine waves in the odd-numbered period, and the second sub-driving signal generating unit B243 generates a wave train of sine waves in the even-numbered period. The synthesizing unit B244 synthesizes the wave train of the sine wave of the odd-numbered period generated by the first sub-drive signal generating unit B242 and the wave train of the sine wave of the even-numbered period generated by the second sub-drive signal generating unit B243, and generates a wave train of a sub-drive signal as shown in fig. 16 and 17 described later. The basic waveform described above may be equivalent to the initial phase of 0, instead of the 1-cycle sine wave shown in fig. 12A. For example, the waveform may include a waveform in which the voltage is negative in the second-order differential (for example, a period of 0 to pi in FIG. 12A) and a waveform in which the voltage is positive in the second-order differential (for example, a period of pi to 2 pi in FIG. 12A).
The first sub driving signal generating unit B242 and the second sub driving signal generating unit B243 may generate a sine wave of one cycle with an initial phase of 3/2 pi shown by a thick line in fig. 12B as a basic waveform constituting the sub driving signal. That is, the trough-to-trough of the sine wave may be used as the basic waveform. The first sub-driving signal generating unit B242 generates a wave train of sine waves in the odd-numbered period, and the second sub-driving signal generating unit B243 generates a wave train of sine waves in the even-numbered period. The synthesizing unit B244 synthesizes the wave train of the sine wave of the odd-numbered period generated by the first sub-drive signal generating unit B242 and the wave train of the sine wave of the even-numbered period generated by the second sub-drive signal generating unit B243, and generates a wave train of a sub-drive signal as shown in fig. 13 described below. The basic waveform described above may be equivalent to the initial phase of a 1-cycle sine wave of 3/2pi shown in fig. 12B. For example, the waveform may include a waveform in which the voltage is negative in the second-order differential (for example, a period of 2. Pi. To 3. Pi. In FIG. 12B) and a waveform in which the voltage is positive in the second-order differential (for example, a period of 3/2. Pi. To 2. Pi. And a period of 3. Pi. To 7/2. Pi. In FIG. 12B).
The first sub driving signal generating unit B242 and the second sub driving signal generating unit B243 may generate, instead of the sine wave of one cycle having an initial phase of 3/2pi shown in fig. 12B, a cosine wave of one cycle having an initial phase of pi shown in a bold line in fig. 12C as a basic waveform constituting the sub driving signal. That is, the trough-to-trough of the cosine wave may be used as the basic waveform. The basic waveform in this case may be a waveform equivalent to the initial phase pi of the 1-cycle cosine wave shown in fig. 12C. For example, the waveform may be a waveform including a waveform in which the voltage is negative in the second order differential (for example, a period of 3/2π to 5/2π in FIG. 12C) and a waveform in which the voltage is positive in the second order differential (for example, a period of π to 3/2π and a period of 5/2π to 3π in FIG. 12C).
The combination of the wave trains of the sine waves of the odd-numbered and even-numbered periods, which are generated by the first sub-drive signal generating unit B242 and the second sub-drive signal generating unit B243, respectively, will be described with reference to fig. 13. Fig. 13 is a graph illustrating the combination of a wave train composed of sine waves of the odd-numbered period and a wave train composed of sine waves of the even-numbered period. Here, the basic waveform of the sub driving signal generated by the first sub driving signal generating section B242 and the second sub driving signal generating section B243 is a sine wave of one cycle with an initial phase of 3/2pi shown in fig. 12B.
In fig. 13, the middle section of the graph shows a wave train (first sub-drive signal) composed of sine waves of the odd-numbered period generated by the first sub-drive signal generating unit B242. The lower stage of the graph is a graph showing a wave train (second sub-drive signal) composed of sine waves of the even-numbered periods generated by the second sub-drive signal generation unit B243.
The first sub-driving signal generating unit B242 generates a wave train composed of sine waves of the odd-numbered period, and the second sub-driving signal generating unit B243 generates a wave train composed of sine waves of the even-numbered period. The synthesizing unit B244 synthesizes the wave train of the sine wave of the odd-numbered period generated by the first sub-drive signal generating unit B242 and the wave train of the sine wave of the even-numbered period generated by the second sub-drive signal generating unit B243, and generates the wave train of the sub-drive signal shown in the upper stage of the graph. The synthesizing unit B244 overlaps the wave train composed of the sine waves of the odd-numbered period with the wave train composed of the sine waves of the even-numbered period. Thus, the portion of the sine wave that is switched from the sine wave of the odd-numbered period to the sine wave of the even-numbered period and the portion of the sine wave that is switched from the sine wave of the even-numbered period to the sine wave of the odd-numbered period (the portion of the circle in fig. 13) can be made to have smooth waveforms.
The output unit B25 outputs a main drive signal and a sub drive signal, which are drive signals, to the drive unit 140. The output unit B25 includes a PWM (Pulse Width Modulation: pulse width modulation) circuit, and controls the duty ratio of the rectangular wave to be a set amplitude when the main drive signal is output. The output unit B25 outputs a main drive signal with an amplitude and a pulse width set to the drive unit 140. On the other hand, when the sub driving signal is output, the output unit B25 outputs the sub driving signal generated by the sub driving signal generating unit B24 to the driving unit 140.
With the above configuration, the control device 1 generates a drive signal for driving the operation device (touch panel 2) in response to a contact operation of the operation device, and supplies a drive current corresponding to the drive signal to the coil 22 of the electromagnetic actuator 10.
In the control device 1, the drive signal generation unit 130 may include a CPU (Central Processing Unit ), a ROM (Read Only Memory), a RAM (Random Access Memory ), a storage unit, and the like. The CPU reads out a program corresponding to the processing content from the ROM, expands the program in the RAM, and generates a main drive signal and a sub drive signal in cooperation with the expanded program.
The memory unit may be configured of, for example, a nonvolatile semiconductor memory (so-called flash memory), and the CPU may generate the main drive signal and the sub drive signal with reference to various data stored in the memory unit. The various data include the data table for setting the amplitude of the sub-driving signal described above, and waveform data of the sub-driving signal shown in fig. 16 to 27 described later may be included.
The ROM stores not only a program for generating the main drive signal and the sub drive signal, but also various programs such as a vibration presenting program for a vibration presenting device that drives the electromagnetic actuator 10 to present vibrations.
The vibration presentation program includes a program that, when contact information indicating a contact state of a contact operation is input from the touch panel 2 and the strain detection sensor 70, generates a drive signal that generates vibration corresponding to the contact information, and outputs the drive signal to the electromagnetic actuator 10 via the drive section 140. For example, according to this program, the pulse width, peak voltage value, and the like of the main drive signal, the timing, amplitude, and the like of the sub drive signal corresponding to the contact information are set. The main drive signal and the sub drive signal generated by these settings are output to the electromagnetic actuator 10 via the drive unit 140.
Vibration action of control device 1
The control device 1 supplies a main drive current corresponding to the main drive signal to the coil 22, and drives the movable body 40 in one direction of the vibration direction. When the main driving current is supplied to the coil 22, an attractive force of the coil 22 is generated, and the movable body 40 is displaced in one direction of the vibration direction against the urging force of the plate-like elastic portion 50 by the attractive force. If the main drive current is continuously supplied, the movable body 40 is continuously displaced in one direction of the vibration direction, but if the force of the plate-like elastic portion 50 is greater than the attractive force of the coil 22, the movable body 40 is displaced in the opposite direction to the one direction by the force. At this timing, the supply of the main drive current is stopped, and the attractive force for the displacement in the one direction is released, so that the movable body 40 is displaced in the opposite direction by the acting force. Thereby, a main vibration is generated in the movable body 40 due to the main driving current.
In the present embodiment, the main drive signal is a rectangular wave, and the stop of the supply of the corresponding main drive current means the timing at which the voltage of the main drive signal generating the drive current becomes off, that is, the timing at which the rectangular wave of the main drive signal falls, as an example. At the point in time when the voltage is off, the drive current is not completely off but decays. The movable body 40 is displaced by the urging force of the plate-like elastic portion 50 accumulated at the maximum displaceable position in the pull-in direction (negative side in the Z direction) moving in the other direction (positive side in the Z direction) of the vibration direction. The operator is given a tactile sensation by transmitting strong vibration to the operating device via the movable body 40 that moves to the other direction side, which is the operating device side.
When the operator touches the screen 2a of the touch panel 2 to perform an operation, a trigger signal is generated by the microcomputer described above, for example, in response to the operator touching the screen 2a, and is input to the control device 1. The control device 1 initially supplies a main drive current corresponding to the main drive signal to the coil 22 by inputting the trigger signal, and thereafter supplies a sub drive current corresponding to the sub drive signal (brake signal, attenuation additional signal) to the coil 22. The control device 1 supplies a main drive current corresponding to the main drive signal to the coil 22, and adjusts a vibration of the movable body 40, which remains after the supply of the main drive current is stopped, so-called vibration damping period, by a sub drive current corresponding to a sub drive signal supplied after the main drive current is supplied.
< supply of main drive current corresponding to main drive signal >
As described above, when the operator touches the screen 2a of the touch panel 2 to perform an operation, a trigger signal is generated by, for example, a microcomputer in accordance with the operator's touch to the screen 2a, and is input to the control device 1. The control device 1 supplies a main drive current corresponding to the main drive signal to the coil 22 by inputting the trigger signal. Thereby, the movable body 40 is driven and vibrated according to the main drive current, and a vibration damping period is generated. The control device 1 adjusts the intensity of the vibration damping period, the length of the vibration damping period, the presence or absence of the vibration damping period, or the like by the main drive signal, thereby giving various touch feeling when the operator touches the operation device.
Here, the mass of the movable body 40 (including the touch panel 2, but described here as the movable body 40 for convenience) as the movable portion is set to m, and the plate-like shape as the elastic support movable body 40 is set toThe spring constant of the leaf spring of the elastic portion 50 is set to K sp . The vibration period T in the electromagnetic actuator 10 is represented by the following formula (3).
[ number 3]
In the present embodiment, the vibration period T is a time interval from the timing of the maximum displacement on the negative side to the timing of the maximum displacement on the next negative side.
< supply of sub-driving current corresponding to sub-driving signal >
After supplying the main drive current corresponding to the main drive signal to the coil 22, the control device 1 supplies the sub drive current corresponding to the sub drive signal (brake signal, attenuation additional signal) to the coil 22 at a predetermined supply timing. In other words, the control device 1 supplies the main drive current capable of starting the elastic vibration to the coil 22, and then supplies the sub drive current capable of adjusting the damping period of the elastic vibration to the coil 22. The predetermined supply timing will be described later.
By supplying the sub-driving current to the coil 22, the damping period of the vibration caused by the main driving current is adjusted. That is, the sub-driving current corresponding to the sub-driving signal adjusts the magnitude and length of the vibration immediately after the main vibration caused by the main driving current corresponding to the main driving signal.
If the natural angular frequency is set to omega 0 Assuming that the damping ratio is ζ, the vibration period T of the vibration during the damping period of the main vibration based on the main driving current d Represented by the following formula (4).
[ number 4]
Period of vibration T d Is larger than the vibration period T described above. When a brake signal is applied as a secondary drive signal, the damping ratio ζ becomes substantially larger, and the vibration is circumferentialPeriod T d Further becomes larger. Therefore, the vibration period T of the auxiliary driving signal is set d Is greater than the vibration period T so as to be equal to the vibration period T d And consistent. For example, if T d Let n be greater than 1.
On the other hand, when the attenuation added signal is applied as the sub-drive signal, the substantial attenuation ratio ζ becomes smaller, and the vibration period T d Less than the vibration period T. Therefore, the vibration period T of the auxiliary driving signal is set d Is smaller than the vibration period T so as to be equal to the vibration period T d And consistent. For example, if T d Let n be less than 1.
Here, a case where a rectangular wave is used as the sub-drive signal will be described with reference to fig. 14 and 15. Fig. 14 is a graph illustrating harmonics generated when a rectangular wave sub-drive signal (attenuation additional signal) is applied from the control device 1. Fig. 15 is a graph illustrating harmonics generated when a rectangular wave sub-drive signal (brake signal) is applied from the control device 1.
Fig. 14 is a graph showing the current flowing through the coil 22 and the acceleration of the movable body 40 when the main drive signal corresponding to the contact operation is applied as a rectangular wave and the sub drive signal serving as the attenuation adding signal is also applied as a rectangular wave from the control device 1. The sub driving signal is supplied at a supply timing of an attenuation adding signal for continuing an attenuation period of the vibration. The acceleration of the movable body 40 is calculated from the detection signal detected by the strain detection sensor 70.
As shown in fig. 14, when a rectangular wave main drive signal is applied from the control device 1, a main drive current corresponding to the rectangular wave main drive signal flows through the coil 22, and a main vibration is generated in the movable body 40. The acceleration of the movable body 40 also changes as shown in fig. 14 in response to the vibration.
As shown in the ellipse in fig. 14, when a sub-drive signal of a rectangular wave, which is an attenuation additional signal, is applied from the control device 1, a sub-drive current corresponding to the sub-drive signal of the rectangular wave flows through the coil 22. At this time, the current flowing through the coil 22 discontinuously fluctuates when the sub-drive signal of the rectangular wave is applied or stopped, and the harmonic wave overlaps with the acceleration waveform of the vibration of the movable body 40 due to the discontinuous fluctuation of the current. If such harmonics overlap with the acceleration waveform of the vibration, the harmonic becomes a cause of uncomfortable feeling and abnormal sound.
The same applies to the case where the brake signal is applied as the sub-drive signal. Fig. 15 is a graph showing the current flowing through the coil 22 and the acceleration of the movable body 40 when the main drive signal corresponding to the contact operation is applied as a rectangular wave and the sub drive signal serving as a brake signal is also applied as a rectangular wave from the control device 1. The sub-drive signal is supplied at a timing of supplying a brake signal for shortening the damping period of the vibration.
As shown in fig. 15, when a rectangular wave main drive signal is applied from the control device 1, a main drive current corresponding to the rectangular wave main drive signal flows through the coil 22, and a main vibration is generated in the movable body 40. The acceleration of the movable body 40 also changes as shown in fig. 15 in response to the vibration.
As shown in the ellipse in fig. 15, when a rectangular wave sub-drive signal serving as a brake signal is applied from the control device 1, a sub-drive current corresponding to the rectangular wave sub-drive signal flows through the coil 22. At this time, the current flowing through the coil 22 fluctuates during the application or stop of the sub-drive signal of the rectangular wave, and the harmonic wave overlaps with the acceleration waveform of the vibration of the movable body 40 due to the current fluctuation. If such harmonics overlap with the acceleration waveform of the vibration, the harmonic becomes a cause of uncomfortable feeling and abnormal sound.
In this way, when a rectangular wave is used as the sub-drive signal, a harmonic wave is generated, and the harmonic wave overlaps with the acceleration waveform of the vibration, which causes uncomfortable feeling and abnormal sound.
When a rectangular wave is used as the sub-drive signal, the pulse width is 0.5T or less when the period of vibration of the movable body 40 is T in order to function as the attenuation additional signal or the brake signal. Further, even if the pulse width is enlarged or reduced in the range of 0.5T or less, generation of harmonics cannot be suppressed.
As a result of studies on suppression of generation of harmonics, the present inventors have found that generation of harmonics can be suppressed by using a sub-drive signal having a variable voltage that varies in a waveform of a curve with an offset voltage offset from zero as a center value, for example, a sub-drive signal of a sine wave.
Fig. 16 is a graph illustrating a case where a sub-drive signal (attenuation additional signal) of a sine wave is applied from the control device 1. Fig. 17 is a graph illustrating a case where a sinusoidal sub-drive signal (brake signal) is applied from the control device 1. Hereinafter, a sub-driving signal having a variable voltage that varies in a curved waveform with the offset voltage as a center value will be described by taking a sine wave or a cosine wave as an example.
Fig. 16 is a graph showing the current flowing through the coil 22 and the acceleration of the movable body 40 when a rectangular wave is applied from the control device 1 as the main drive signal corresponding to the contact operation and a sine wave train is applied as the sub drive signal serving as the attenuation adding signal.
The sub driving signal is supplied at a supply timing of an attenuation adding signal for continuing an attenuation period of the vibration. As the supply timing, the position of the maximum value (peak-side peak value) of the waveform in one cycle of the sub-drive signal is made to coincide with the negative peak position of the acceleration (the position where the movable body 40 is farthest from the coil 22) when the movable body 40 vibrates (see the arrow of the one-dot chain line in fig. 16). The positions are not limited to the same time, and may be substantially the same time. The control device 1 controls the sub driving signal so as to be such a supply timing.
In the present embodiment, the direction in which the movable body 40 is away from the coil 22 is positive. Since the acceleration is a differential of the velocity, the velocity is a differential of the position, and the acceleration is in the opposite phase to the position, the timing of the negative peak position of the acceleration coincides with the timing of the position of the movable body 40 farthest from the coil 22. In contrast, the timing of the positive peak position of acceleration described later coincides with the timing of the position of the movable body 40 closest to the coil 22.
When the inductance of the load (coil 22) is large, the phase difference between the sub-drive signal (voltage) and the sub-drive current corresponding to the sub-drive signal is large (about 90 °). Accordingly, the sub driving signal may be the above-described supply timing. On the other hand, when the inductance of the load is small, the phase difference between the sub-drive signal and the sub-drive current becomes small. Accordingly, the sub-drive signal is controlled such that the position of the maximum value in one cycle of the sub-drive current flowing through the coil 22 by the sub-drive signal or the magnetic attractive force generated in the electromagnetic actuator 10 (the core assembly 20) is at the same time or substantially the same time as the negative peak position of the velocity. In summary, it is preferable to control the sub-drive signal such that the sub-drive current flowing in the coil 22 by the sub-drive signal or the position of the maximum value within one cycle of the magnetic attractive force generated in the electromagnetic actuator 10 is at the same time or substantially the same time as the negative peak position of the velocity.
The sub driving signal is a sine wave train having an offset voltage V1 offset from the zero voltage as a center value, and is a sine wave train having a variable voltage curve varying in a range where the polarity does not change, and the basic waveform is a sine wave of 1 cycle amount having an initial phase of 0 (see fig. 12A). Here, the amplitudes of the sub-drive signals in the respective periods are set to be the same. The offset voltage V1 is also applied during the period between the main drive signal and the sub drive signal.
As shown in fig. 16, when a rectangular wave main drive signal is applied from the control device 1, a main drive current corresponding to the rectangular wave main drive signal flows through the coil 22, and a main vibration is generated in the movable body 40. The acceleration of the movable body 40 also changes as shown in fig. 16 in response to the vibration.
As shown in the ellipse in fig. 16, when a sub-drive signal of a sine wave, which is an attenuation additional signal, is applied from the control device 1, a sub-drive current corresponding to the sub-drive signal of the sine wave flows through the coil 22.
The sub-driving current flowing through the coil 22 is a variable current that varies with the offset current I1 corresponding to the offset voltage V1 as a central value in accordance with the variation of the variable voltage in the sub-driving signal of the sine wave, and the waveform showing the variation of the variable current is a curve without discontinuous variation. Actually, the sub-driving current shown in fig. 16 is different from the sub-driving current shown in fig. 14, and the waveform showing the change of the variable current does not have discontinuous variation.
When such a sub-driving current flows through the coil 22, the attractive force that varies curvilinearly by a predetermined value or more acts on the movable body 40 throughout the vibration cycle. In this way, since the attractive force varies in a curve at or above the predetermined value, that is, discontinuous variation of the attractive force does not occur, generation of harmonics due to discontinuous variation of the attractive force can be suppressed. Such attractive forces may be represented, for example, by a sinusoidal function. In fig. 16, it is found that the occurrence of harmonics can be suppressed because the harmonics overlapping the acceleration waveform of the vibration of the movable body 40 do not appear.
In the vibration of the movable body 40, the attraction force on the predetermined value acts throughout the entire period of the vibration period by the sub-driving current described above. In other words, the movable body 40 is attracted to the coil 22 side throughout the entire period of the vibration cycle, and the vibration center in this case is shifted from the vibration center in the case where the movable body 40 vibrates freely to the coil 22 side.
In this state, a sine wave sub-drive signal having the offset voltage V1 as a center value is applied to the coil 22 so that the position of the maximum value in one cycle is at the same time or substantially the same time as the negative peak position of the acceleration when the movable body 40 vibrates. That is, when the movable body 40 that starts vibrating is displaced in the direction toward the coil 22, a voltage of the sub-drive signal higher than the offset voltage V1 is applied to the coil 22. Therefore, the coil 22 can attract the movable body 40 displaced in the direction toward the coil 22, accelerate the displacement of the movable body 40, and extend the vibration damping period.
Further, the secondary drive signal may be controlled so that the secondary drive current flowing through the coil 22 by the secondary drive signal or the position of the maximum value in one cycle of the magnetic attractive force generated in the electromagnetic actuator 10 is at the same time or substantially the same time as the negative peak position of the velocity, taking into consideration the inductance of the coil 22.
The same applies to the case where the brake signal is applied as the sub-drive signal. Fig. 17 is a graph showing the current flowing through the coil 22 and the acceleration of the movable body 40 when a rectangular wave is applied from the control device 1 as a main drive signal corresponding to a contact operation and a sine wave train is applied as a sub drive signal serving as a brake signal.
The sub-drive signal is supplied at a timing of supplying a brake signal for shortening the damping period of the vibration. As the supply timing, the position of the maximum value (peak-side peak value) of the waveform in one cycle of the sub-drive signal is made to coincide with the positive peak position of the acceleration (the position where the movable body 40 is closest to the coil 22) when the movable body 40 vibrates (see the arrow of the one-dot chain line in fig. 17). The positions are not limited to the same time, and may be substantially the same time. The control device 1 controls the sub driving signal so as to be such a supply timing.
Further, the secondary drive signal may be controlled so that the position of the secondary drive current flowing through the coil 22 by the secondary drive signal or the maximum value in one cycle of the magnetic attraction force generated in the electromagnetic actuator 10 is at the same time or substantially the same time as the positive peak position of the velocity, taking into consideration the inductance of the coil 22.
The sub driving signal is a sine wave train having an offset voltage V1 offset from the zero voltage as a center value, and is a sine wave train having a variable voltage curve varying in a range where the polarity does not change, and the basic waveform is a sine wave of 1 cycle amount having an initial phase of 0 (see fig. 12A). Here, the amplitude of the sub-driving signal in each period is gradually reduced. The offset voltage V1 is also applied during the period between the main drive signal and the sub drive signal.
As shown in fig. 17, when a rectangular wave main drive signal is applied from the control device 1, a main drive current corresponding to the rectangular wave main drive signal flows through the coil 22, and a main vibration is generated in the movable body 40. The acceleration of the movable body 40 also changes as shown in fig. 17 in response to the vibration.
As shown in an ellipse in fig. 17, when a sinusoidal sub-drive signal, which is a brake signal, is applied from the control device 1, a sub-drive current corresponding to the sinusoidal sub-drive signal flows through the coil 22.
The sub-driving current flowing through the coil 22 is a variable current that varies with the offset current I1 corresponding to the offset voltage V1 as a central value in accordance with the variation of the variable voltage of the sub-driving signal of the sine wave, and the waveform showing the variation of the variable current is a curve without discontinuous variation. In fact, the sub-driving current shown in fig. 17 is different from the sub-driving current shown in fig. 14 in that the waveform showing the change of the variable current does not have discontinuous variation.
When such a sub-driving current flows through the coil 22, the attractive force that varies curvilinearly by a predetermined value or more acts on the movable body 40 throughout the vibration cycle. In this way, since the attractive force varies in a curve at or above the predetermined value, that is, discontinuous variation of the attractive force does not occur, generation of harmonics due to discontinuous variation of the attractive force can be suppressed. In fig. 17, it is found that harmonics overlapping with the acceleration waveform of vibration of the movable body 40 do not appear, and generation of the harmonics can be suppressed.
Here, as described above, the vibration center of the movable body 40 is also shifted from the vibration center when the movable body 40 freely vibrates toward the coil 22 side.
In this state, a sine wave sub-drive signal having the offset voltage V1 as a center value is applied to the coil 22 so that the position of the maximum value in one cycle is at the same time or substantially the same time as the positive peak position of the acceleration when the movable body 40 vibrates. That is, when the movable body 40 that starts vibrating is displaced in a direction away from the coil 22, a voltage of the sub-drive signal higher than the offset voltage V1 is applied to the coil 22. Therefore, the coil 22 attracts the movable body 40 displaced in a direction away from the coil 22, and the brake can be applied to the displacement of the movable body 40, thereby shortening the vibration damping period.
Further, the secondary drive signal may be controlled so that the position of the secondary drive current flowing through the coil 22 by the secondary drive signal or the maximum value in one cycle of the magnetic attraction force generated in the electromagnetic actuator 10 is at the same time or substantially the same time as the positive peak position of the velocity, taking into consideration the inductance of the coil 22.
In the case of the present embodiment, since the sub-driving signal is a sine wave having the voltage V1 shifted from the zero voltage as the center value, the period during which the sub-driving signal is applied for one cycle can be prolonged as compared with the case of a rectangular wave. For example, in the present embodiment, if the vibration period of the movable body 40 is set to T, one period of the sub-driving signal can be set to 0.7T or more and 1.3T or less. In other words, the period during which the sub driving signal of one cycle is applied can be set to a period in the range of 0.7T or more and 1.3T or less. In the case where the sub driving signal is a rectangular wave, the period is limited to a range of 0.5T or less, but in the case where the sub driving signal is an offset sine wave, the range in which the sub driving signal can be applied is increased, and thus the degree of freedom in adjusting the damping period of the vibration is increased.
As described above, in the present embodiment, after the main drive signal is applied to the coil 22 of the electromagnetic actuator 10, the control device 1 applies the sub-drive signal such as a sine wave having a variable voltage that varies in a curved waveform with the offset voltage V1 as the center value.
According to the present embodiment configured as described above, since the attractive force that varies in a curve with a predetermined value or more acts throughout the entire period of the vibration cycle, the attractive force does not vary discontinuously, and generation of harmonics caused by discontinuous variation of the attractive force can be suppressed. In this way, the harmonic wave overlapping the acceleration waveform of the vibration is suppressed, and therefore, the occurrence of uncomfortable feeling and abnormal sound can be suppressed.
The electromagnetic actuator includes an LRA (Linear Resonant Actuator: linear resonant actuator) having a coil and a magnet, and the LRA supplies a sinusoidal drive signal to the coil to linearly reciprocate the movable body at a resonant frequency in cooperation with the magnet. In the present embodiment, the electromagnetic actuator 10 driven by the control device 1 has no magnet unlike the LRA. However, since the control device 1 applies a sub-drive signal such as a sine wave to the electromagnetic actuator 10 side similarly to the LRA, acceleration characteristics equivalent to the LRA can be obtained.
Further, according to the present embodiment, since the electromagnetic actuator 10 does not use a magnet or the like, cost reduction can be achieved, cost reduction of the entire device can be achieved, and vibration of various touch operation feeling can be expressed. In addition, according to the present embodiment, by efficient driving, an increase in output can be achieved even in a small product. Further, the thrust of the movable body 40 suitable for the tactile sensation to the operator who operates the operation device can be efficiently generated while realizing the cost reduction of the apparatus.
In addition, in the present embodiment, since vibration that gives various touch operations is not adjusted by the damping material such as rubber, the vibration damping period is not single as in the damping material, and the variety of operations to be expressed is limited without lack of variation in the vibration damping period. In addition, there is no variation in resonance frequency caused by individual differences in attenuation materials, and the characteristics thereof are not different for each product.
In the above example, the control device 1 uses the brake signal or the attenuation added signal as the sub-drive signal, but the brake signal and the attenuation added signal may be used in combination. In this case, the order, the number of times, and the like of the brake signal and the attenuation added signal can be combined in various modes according to the contact operation. The amplitude, application time, and the like of the brake signal and the attenuation additional signal, including the main drive signal, may be changed according to the contact operation, and various modes may be combined.
Modification 1
Fig. 18 is a graph showing a sub-drive signal different from the sub-drive signal shown in fig. 16 and 17 as modification 1 of the above embodiment.
In the example shown in fig. 18, the main drive signal is a rectangular wave identical to the main drive signal shown in fig. 16 and 17.
In the example shown in fig. 18, the sub-drive signal is basically the same wave train of a sine wave as the sub-drive signal shown in fig. 17. Specifically, the sub driving signal is a sine wave train having an offset voltage V1 offset from zero voltage as a center value, and is a sine wave train having a variable voltage curve varying in a range where the polarity does not change, and the basic waveform is a sine wave of 1 cycle with an initial phase of 0 (see fig. 12A).
In fig. 18, the sub-driving signal is the same as the sub-driving signal shown in fig. 17, and the amplitude of the sub-driving signal in each period is gradually reduced, but the offset voltage V1 is not applied during the period in which the sub-driving signal is not applied.
In fig. 16 and 17, the offset voltage V1 is also applied during a period in which the sub-drive signal is not applied, for example, during a period between the main drive signal and the sub-drive signal. When such offset voltage V1 is applied, a corresponding offset current I1 flows through the coil 22 during this period, and the power consumption increases, and the heat generation of the coil 22 increases.
In the present modification, in order to reduce the power consumption and suppress the heat generation of the coil 22, the control device 1 stops the application of the offset voltage V1 during a period in which the sub-drive signal is not applied, for example, during a period between the main drive signal and the sub-drive signal, or during a period between the sub-drive signals.
The control device 1 may be configured as described in the above embodiment (see fig. 10 and 11), but in this modification, the control device 1 stops the application of the offset voltage V1 while the sub-drive signal is not applied, as described above.
As described above, in the present modification, since the control device 1 stops the application of the offset voltage during the period when the sub-drive signal is not applied, the power consumption can be reduced, and the heat generation of the coil 22 can be suppressed.
In this modification, a wave train of a sine wave having a variable voltage varying with the offset voltage V1 offset from the zero voltage as a center value is applied as the sub-drive signal after the main drive signal is applied.
In this modification, as shown in fig. 18, the application of the offset voltage V1 is stopped during a period between the sub-drive signal in the first period and the sub-drive signal in the second period. During this period, the current flowing through the coil 22 is gradually reduced from the sub-driving current generated by the application of the sub-driving signal in the first period, and is not zero. In the sub-drive current according to this modification, the waveform representing the change in the variable current does not have discontinuous variation.
When such a sub-driving current flows through the coil 22, the attractive force that varies curvilinearly by a predetermined value or more acts on the movable body 40 throughout the vibration cycle. In this way, since the attractive force varies in a curve at or above the predetermined value, that is, discontinuous variation of the attractive force does not occur, generation of harmonics due to discontinuous variation of the attractive force can be suppressed. Therefore, as in the above embodiment, the generation of harmonics overlapping with the acceleration waveform of the vibration of the movable body 40 can be suppressed. In this way, the present modification can also obtain the same effects as those of the above embodiment.
In the case of the present modification, since the application of the offset voltage is stopped during the period in which the sub-driving signal is not applied, when the vibration period of the movable body 40 is set to T, one period of the sub-driving signal is set to be greater than 0.5T and less than 1.0T. If 1 period of the sub-driving signal is set to 0.5T or less, there is a possibility that the sub-driving current generated by the application of the sub-driving signal gradually decreases and becomes zero before the next sub-driving signal is applied. Therefore, one period of the sub driving signal is preferably set to be greater than 0.5T and less than 1.0T, and more preferably set to be 0.7T or more and less than 1.0T.
Modification 2
Fig. 19 is a graph showing a sub-drive signal different from the sub-drive signal shown in fig. 16 and 17 as modification 2 of the above embodiment.
In the example shown in fig. 19, the main drive signal is a rectangular wave identical to the main drive signal shown in fig. 16 and 17.
In the example shown in fig. 19, the sub-drive signal is a wave train of a sine wave having a different phase from that of the sub-drive signal shown in fig. 17. Specifically, the sub driving signal is a sine wave train having an offset voltage V1 offset from zero voltage as a center value, and is a sine wave train having a variable voltage curve varying in a range where the polarity does not change. On the other hand, in the present modification, the basic waveform of the sub driving signal is a sine wave of one cycle with an initial phase of 3/2π (see FIG. 12B).
In fig. 19, the sub-driving signal is the same as the sub-driving signal shown in fig. 17, and the amplitude of the sub-driving signal in each period is gradually reduced, but the offset voltage V1 is not applied during the period in which the sub-driving signal is not applied.
As described above, in the present modification, as in modification 1, the control device 1 does not apply the offset voltage V1 during the period in which the sub-drive signal is not applied in order to reduce the power consumption and suppress the heat generation of the coil 22.
The control device 1 may be configured as described in the above embodiment (see fig. 10 and 11), but in this modification, the control device 1 stops the application of the offset voltage V1 during the period in which the sub-drive signal is not applied as described above.
In this modification, the control device 1 also stops the application of the offset voltage during the period in which the sub-drive signal is not applied, for example, during the period between the main drive signal and the sub-drive signal or during the period between the sub-drive signals, and therefore, it is possible to reduce the power consumption and suppress the heat generation of the coil 22.
In this modification, a wave train of a sine wave having a variable voltage varying with the offset voltage V1 offset from the zero voltage as a center value is applied as the sub-drive signal after the main drive signal is applied.
In this modification, as shown in fig. 19, the application of the offset voltage V1 is also stopped during the period between the sub-drive signal in the first period and the sub-drive signal in the second period. During this period, the current flowing through the coil 22 is gradually reduced from the sub-driving current generated by the application of the sub-driving signal in the first period, and is not zero. In the sub-drive current according to this modification, the waveform representing the change in the variable current does not have discontinuous variation.
When such a sub-driving current flows through the coil 22, the attractive force that varies curvilinearly by a predetermined value or more acts on the movable body 40 throughout the vibration cycle. In this way, since the attractive force varies in a curve at or above the predetermined value, that is, discontinuous variation of the attractive force does not occur, generation of harmonics due to discontinuous variation of the attractive force can be suppressed. Therefore, as in the above embodiment, the generation of harmonics overlapping with the acceleration waveform of the vibration of the movable body 40 can be suppressed. In this way, the present modification can also obtain the same effects as those of the above embodiment.
In the present modification, as in modification 1 described above, when the vibration period of the movable body 40 is T, one period of the sub-drive signal is preferably greater than 0.5T and less than 1.0T, and more preferably greater than 0.7T and less than 1.0T.
Modification 3
Fig. 20 is a graph illustrating a case where a sub-drive signal (brake signal) different from the sub-drive signal shown in fig. 17 is applied from the control device 1 as modification 3 of the above embodiment.
In the example shown in fig. 20, the main drive signal is a rectangular wave identical to the main drive signal shown in fig. 17.
In the example shown in fig. 20, the sub-drive signal is basically the same wave train of a sine wave as the sub-drive signal shown in fig. 17. Specifically, the sub driving signal is a sine wave train of a sine wave whose polarity is unchanged and whose voltage varies in a curve, and the basic waveform is a sine wave of 1 cycle whose initial phase is 0 (see fig. 12A). On the other hand, in the present modification, the sub-drive signal is a sine wave train having different offset voltages V1 to V4 as the center values in each period.
In fig. 20, the amplitude of the sub-driving signal in each period is gradually reduced as in the sub-driving signal shown in fig. 17.
The control device 1 basically may have the configuration described in the above embodiment (see fig. 10 and 11). On the other hand, in the present modification, the first sub-drive signal generating section B242 and the second sub-drive signal generating section B243 of the drive signal generating section 130 respectively form a wave train of a sine wave in which the offset voltage changes for each period, unlike the above-described embodiment.
In the example shown in fig. 20, the first sub-driving signal generating section B242 generates a wave train of the sine wave (first waveform in the present invention) of the odd-numbered period while changing the offset voltage of the sine wave to v1→v3 for each period. In addition, the second sub-drive signal generation section B243 generates a wave train of the sine wave (the second waveform in the present invention) of the even-numbered period while changing the offset voltage of the sine wave to v2→v4 for each period. Then, the synthesizing unit B244 synthesizes the wave train of the sine wave of the odd-numbered period generated by the first sub-drive signal generating unit B242 with the wave train of the sine wave of the even-numbered period generated by the second sub-drive signal generating unit B243, and generates the wave train of the sub-drive signal shown in fig. 20.
As described above, in the present modification, the control device 1 generates the wave train of the sub-drive signal whose offset voltage varies for each cycle by the first sub-drive signal generating unit B242, the second sub-drive signal generating unit B243, and the synthesizing unit B244. The same applies to modification 4 and modification 5 described below.
In the present modification, the power consumption is reduced and the heat generation of the coil 22 is suppressed as in modification 1 and modification 2, but for this reason, in the present modification, the offset voltage is reduced for each period of the sub-drive signal as described above.
Specifically, in the example shown in fig. 20, the offset voltage from the main drive signal to the sub drive signal of the first period is set to V1. The offset voltage from the sub-driving signal of the first period to the sub-driving signal of the second period is set to a voltage V2 lower than V1. The offset voltage from the sub-driving signal of the second period to the sub-driving signal of the third period is set to a voltage V3 lower than V2. The offset voltage from the sub-driving signal of the third period to the sub-driving signal of the fourth period is set to a voltage V4 lower than V3.
In this way, the control device 1 applies the sub-drive signal of the sine wave train to the coil 22 side while reducing the offset voltage for each period of the sub-drive signal so that V1 > V2 > V3 > V4. For example, the control device 1 may decrease the offset voltage stepwise so that the offset voltage eventually becomes zero.
By decreasing the offset voltage of the sub driving signal every cycle, the offset current corresponding to the offset voltage is also gradually decreased to I1 > I2 > I3 > I4 as shown in fig. 20.
As described above, in the present modification, the control device 1 decreases the offset voltage for each cycle of the sub-drive signal, and therefore, the power consumption can be reduced, and the heat generation of the coil 22 can be suppressed.
The present modification is suitable for the case where the sub-drive signal is a brake signal.
Therefore, as the supply timing, the control device 1 makes the position of the maximum value (peak-side peak value) of the waveform in one cycle of the sub-drive signal and the positive peak position of the acceleration when the movable body 40 vibrates at the same time or substantially the same time (refer to the arrow of the one-dot chain line in fig. 20).
Further, the secondary drive signal may be controlled so that the position of the secondary drive current flowing through the coil 22 by the secondary drive signal or the maximum value in one cycle of the magnetic attraction force generated in the electromagnetic actuator 10 is at the same time or substantially the same time as the positive peak position of the velocity, taking into consideration the inductance of the coil 22.
In this modification, after the main drive signal is applied, a wave train having a sine wave with a variable voltage that varies with the respective offset voltages V1 to V4 as the center value is also applied as the sub drive signal.
Accordingly, as shown in fig. 20, the sub-driving current flowing through the coil 22 becomes a variable current that varies with the offset currents I1 to I4 corresponding to the offset voltages V1 to V4 as the central values in accordance with the fluctuation of the variable voltage in the sub-driving signal of the sine wave. In fig. 20, the waveform showing the change in the variable current is a curve, and there is no discontinuous change. Actually, the sub-driving current shown in fig. 20 is different from the sub-driving current shown in fig. 14, and the waveform showing the change of the variable current does not have discontinuous variation.
In this way, when the sub-driving current having the variable current varying with the offset currents I1 to I4 as the center value flows through the coil 22, the attractive force that varies in a curved manner equal to or greater than the predetermined value acts on the movable body 40 throughout the vibration period. In this way, since the attractive force varies in a curve at or above the predetermined value, that is, discontinuous variation of the attractive force does not occur, generation of harmonics due to discontinuous variation of the attractive force can be suppressed. In fig. 20, harmonics overlapping with the acceleration waveform of the vibration of the movable body 40 are not shown, and generation of the harmonics can be suppressed. In this way, the present modification can also obtain the same effects as those of the above embodiment.
Modification 4
Fig. 21 is a graph illustrating a case where a sub-drive signal (brake signal) different from the sub-drive signal shown in fig. 17 is applied from the control device 1 as modification 4 of the above embodiment.
In the example shown in fig. 21, the main drive signal is a rectangular wave identical to the main drive signal shown in fig. 17.
In the example shown in fig. 21, the sub driving signal is substantially the same sine wave as the sub driving signal shown in fig. 17. Specifically, the sub driving signal is a sine wave train of a sine wave whose polarity is unchanged and whose voltage varies in a curve, and the basic waveform is a sine wave of 1 cycle whose initial phase is 0 (see fig. 12A). On the other hand, in the present modification, the sub-drive signal is a sine wave train having different offset voltages V1 to V4 as the center values in each period.
In fig. 21, the sub-driving signal is the same as the sub-driving signal shown in fig. 17, and the amplitude of the sub-driving signal in each period is gradually reduced, but the offset voltage is not applied during the period in which the sub-driving signal is not applied.
The control device 1 basically may have the configuration described in the above embodiment (see fig. 10 and 11). In this modification, the control device 1 generates a wave train of the sub-drive signals whose offset voltages vary (fall) for each cycle by the first sub-drive signal generating unit B242, the second sub-drive signal generating unit B243, and the synthesizing unit B244, as in the modification 3 described above.
In the present modification, the control device 1 does not apply the offset voltage during a period in which the sub driving signal is not applied, for example, during a period between the main driving signal and the sub driving signal, or during a period between the sub driving signals.
As described above, in the present modification, in order to reduce the power consumption and suppress the heat generation of the coil 22, the control device 1 reduces the offset voltage for each cycle of the sub-drive signal, and does not apply the offset voltage for a predetermined period.
Specifically, in the example shown in fig. 21, the application of the offset voltage in the period between the main drive signal and the sub drive signal of the first period is stopped, and the offset voltage of the sub drive signal of the first period is set to V1. Further, the application of the offset voltage between the sub-driving signal in the first period and the sub-driving signal in the second period is stopped, and the offset voltage of the sub-driving signal in the second period is set to a voltage V2 lower than V1. Further, the application of the offset voltage between the sub-driving signal in the second period and the sub-driving signal in the third period is stopped, and the offset voltage of the sub-driving signal in the third period is set to a voltage V3 lower than V2. The application of the offset voltage between the sub-driving signal in the third period and the sub-driving signal in the fourth period is stopped, and the offset voltage of the sub-driving signal in the fourth period is set to a voltage V4 lower than V3.
In this way, the control device 1 stops the application of the offset voltage during the period in which the sub-drive signal is not applied, decreases the offset voltage every cycle of the sub-drive signal so as to become V1 > V2 > V3 > V4, and applies the sub-drive signal of the sine wave train to the coil 22 side. For example, the control device 1 may decrease the offset voltage stepwise so that the offset voltage eventually becomes zero.
By decreasing the offset voltage of the sub driving signal every cycle, as shown in fig. 21, the offset current corresponding to the offset voltage is also gradually decreased to I1 > I2 > I3 > I4.
In addition, the control device 1 does not apply an offset voltage during a period in which the sub driving signal is not applied, for example, during a period between the main driving signal and the sub driving signal, or during a period between the sub driving signals.
As described above, in the present modification, the control device 1 decreases the offset voltage for each period of the sub-drive signal and stops the application of the offset voltage during the period when the sub-drive signal is not applied, so that the power consumption can be further reduced, and the heat generation of the coil 22 can be suppressed.
The present modification is suitable for the case where the sub-drive signal is a brake signal. Therefore, as the supply timing, the control device 1 makes the position of the maximum value (peak-side peak value) of the waveform in one cycle of the sub-drive signal and the positive peak position of the acceleration when the movable body 40 vibrates at the same time or substantially the same time (refer to the arrow of the one-dot chain line in fig. 21).
Further, the secondary drive signal may be controlled so that the position of the secondary drive current flowing through the coil 22 by the secondary drive signal or the maximum value in one cycle of the magnetic attraction force generated in the electromagnetic actuator 10 is at the same time or substantially the same time as the positive peak position of the velocity, taking into consideration the inductance of the coil 22.
In this modification, after the main drive signal is applied, a wave train having a sine wave with a variable voltage varying with a different offset voltage as a center value is also applied as the sub drive signal.
In this modification, as shown in fig. 21, the application of the offset voltage is stopped during the period between the main drive signal and the sub drive signal in the first period and during the period between the sub drive signals. During this period, the current flowing through the coil 22 is gradually reduced from the sub-driving current generated by the application of the main driving signal and the sub-driving signal, and is not zero. In the sub-drive current according to this modification, the waveform representing the change in the variable current does not have discontinuous variation.
When such a sub-driving current flows through the coil 22, the attractive force that varies curvilinearly by a predetermined value or more acts on the movable body 40 throughout the vibration cycle. In this way, since the attractive force varies in a curve at or above the predetermined value, that is, discontinuous variation of the attractive force does not occur, generation of harmonics due to discontinuous variation of the attractive force can be suppressed. Therefore, as in the above embodiment, the generation of harmonics overlapping with the acceleration waveform of the vibration of the movable body 40 can be suppressed. In this way, the present modification can also obtain the same effects as those of the above embodiment.
Modification 5
Fig. 22 is a graph illustrating a case where a sub-drive signal (brake signal) different from the sub-drive signal shown in fig. 17 is applied from the control device 1 as modification 5 of the above embodiment.
In the example shown in fig. 22, the main drive signal is a rectangular wave identical to the main drive signal shown in fig. 17.
In the example shown in fig. 22, the sub-drive signal is a sine wave having a different phase from that of the sub-drive signal shown in fig. 17. Specifically, the sub-drive signal is a sine wave train in which the variable voltage curve linearly fluctuates in a range where the polarity does not change. On the other hand, in the present modification, the sub driving signal is a sine wave train having different offset voltages V1 to V4 as the center values in each period, and the basic waveform thereof is a sine wave of one period having an initial phase of 3/2pi (see fig. 12B).
In fig. 22, the sub-driving signal is the same as the sub-driving signal shown in fig. 17, and the amplitude of the sub-driving signal in each period is gradually reduced, but the offset voltage is not applied during the period in which the sub-driving signal is not applied.
The control device 1 basically may have the configuration described in the above embodiment (see fig. 10 and 11). In this modification, the control device 1 generates a wave train of the sub-drive signals whose offset voltages vary (fall) for each cycle by the first sub-drive signal generating unit B242, the second sub-drive signal generating unit B243, and the synthesizing unit B244, as in the modification 3 described above.
In the case of the present modification, the control device 1 generates a wave train of the sub-drive signal using a sine wave of one cycle whose initial phase is 3/2pi as a basic waveform of the sub-drive signal. Therefore, as described with reference to fig. 13, the portion of the sine wave that is switched from the sine wave of the odd-numbered period to the sine wave of the even-numbered period or the portion of the sine wave that is switched from the sine wave of the even-numbered period to the sine wave of the odd-numbered period can be made to have a smooth waveform (see fig. 13).
In the present modification, as in modification 4, the control device 1 reduces the offset voltage for each cycle of the sub-drive signal and does not apply the offset voltage for a predetermined period in order to reduce the power consumption and suppress the heat generation of the coil 22.
Specifically, in the example shown in fig. 22, the application of the offset voltage in the period between the main drive signal and the sub drive signal of the first period is stopped, and the offset voltage of the sub drive signal of the first period is set to V1. The offset voltage of the sub driving signal in the second period is set to a voltage V2 lower than V1. The offset voltage of the sub driving signal in the third period is set to a voltage V3 lower than V2. The offset voltage of the sub driving signal in the fourth period is set to a voltage V4 lower than V3.
In this way, the control device 1 stops the application of the offset voltage during the period in which the sub-drive signal is not applied, decreases the offset voltage every cycle of the sub-drive signal so as to become V1 > V2 > V3 > V4, and applies the sub-drive signal of the sine wave train to the coil 22 side. For example, the control device 1 may decrease the offset voltage stepwise so that the offset voltage eventually becomes zero.
The offset voltage is lowered every cycle of the sub driving signal, so that the offset current corresponding to the offset voltage is gradually lowered to I1 > I2 > I3 > I4 as shown in fig. 22.
The control device 1 does not apply an offset voltage during a period in which the sub driving signal is not applied, for example, during a period between the main driving signal and the sub driving signal.
As described above, in the present modification, the control device 1 decreases the offset voltage for each period of the sub-drive signal and stops the application of the offset voltage during the period when the sub-drive signal is not applied, so that the power consumption can be further reduced and the heat generation of the coil 22 can be suppressed.
The present modification is suitable for the case where the sub-drive signal is a brake signal. Therefore, as the supply timing, the control device 1 makes the position of the maximum value (peak-side peak value) of the waveform in one cycle of the sub-drive signal and the positive peak position of the acceleration when the movable body 40 vibrates at the same time or substantially the same time (refer to the arrow of the one-dot chain line in fig. 22).
Further, the secondary drive signal may be controlled so that the position of the secondary drive current flowing through the coil 22 by the secondary drive signal or the maximum value in one cycle of the magnetic attraction force generated in the electromagnetic actuator 10 is at the same time or substantially the same time as the positive peak position of the velocity, taking into consideration the inductance of the coil 22.
In this modification, after the main drive signal is applied, a wave train having a sine wave with a variable voltage varying with a different offset voltage as a center value is also applied as the sub drive signal.
In this modification, as described in fig. 13, since the wave train of the sub-drive signal is generated using a sine wave of one cycle having an initial phase of 3/2 pi, the voltage between the sub-drive signals is zero or substantially zero as shown in fig. 22. In this way, even if the voltage between the sub-drive signals is zero or substantially zero, the current flowing through the coil 22 is gradually reduced from the sub-drive current generated by the application of the sub-drive signal, and is not zero. In the sub-drive current according to this modification, the waveform representing the change in the variable current does not have discontinuous variation.
When such a sub-driving current flows through the coil 22, the attractive force that varies curvilinearly by a predetermined value or more acts on the movable body 40 throughout the vibration cycle. In this way, since the attractive force varies in a curve at or above the predetermined value, that is, discontinuous variation of the attractive force does not occur, generation of harmonics due to discontinuous variation of the attractive force can be suppressed. Therefore, as in the above embodiment, the generation of harmonics overlapping with the acceleration waveform of the vibration of the movable body 40 can be suppressed. In this way, the present modification can also obtain the same effects as those of the above embodiment.
Modification 6
Fig. 23 is a graph showing a main drive signal different from the main drive signal shown in fig. 19 as modification 6 of the above embodiment.
In the example shown in fig. 23, the sub-driving signal is a sine wave (or a cosine wave) similar to the sub-driving signal shown in fig. 19. Since the sub driving signal of the present modification is as described in fig. 19, a repetitive description thereof is omitted here. On the other hand, in the example shown in fig. 23, the main drive signal is not a rectangular wave, but a sine wave (or a cosine wave).
As described above, the present modification also uses the sub-drive signal as a sine wave (or cosine wave), and thus the same effects as those of the above-described embodiment can be obtained. In addition, in the present modification, since the main driving signal as a sine wave (or a cosine wave) and the sub driving signal as a sine wave (or a cosine wave) are combined, the control device 1 can give a smoother touch feeling to the operator using the vibration presenting device 200.
In the present modification, the main drive signal is not limited to sine waves and cosine waves, and may be triangular waves or saw-tooth waves.
Modification 7
Fig. 24 is a graph showing a sub-drive signal different from the sub-drive signal shown in fig. 23 as modification 7 of the above embodiment.
In the example shown in fig. 24, the main drive signal is not a rectangular wave, but is a sine wave (or a cosine wave) as in fig. 23. On the other hand, in the example shown in fig. 24, the sub-drive signal is a sine wave (or a cosine wave), but is a wave train of a sine wave (or a cosine wave) centered on offset voltages V1, V2 different in each period, as in the sub-drive signal shown in fig. 20. In addition, the sub-drive signal of the present modification gradually decreases the amplitude of each period, as in the sub-drive signal shown in fig. 20. Since the sub driving signal of the present modification is as described in fig. 20, a repetitive description thereof is omitted here.
As described above, the present modification also uses the sub-drive signal as a sine wave (or cosine wave), and thus the same effects as those of the above-described embodiment can be obtained. In addition, in the present modification, since the main driving signal as a sine wave (or a cosine wave) and the sub driving signal as a sine wave (or a cosine wave) are combined, the control device 1 can give a smoother touch feeling to the operator using the vibration presenting device 200.
In the present modification, the main drive signal is not limited to sine waves and cosine waves, and may be triangular waves or saw-tooth waves.
Modification 8
Fig. 25 is a graph showing a sub-drive signal different from the sub-drive signal shown in fig. 19 as modification 8 of the above embodiment.
In the example shown in fig. 25, the main drive signal is a rectangular wave similar to the main drive signal shown in fig. 16 and 17. On the other hand, in the example shown in fig. 25, the sub-drive signal is a sine wave, but is of different amplitude in each period, and is a half-wave sine wave train with a frequency of 1/2 (each half period from the initial phase 0 to the phase pi). The half-wave sine wave with the frequency of 1/2 corresponds to one period of the shifted cosine wave, and the half-wave sine wave with the frequency of 1/2 can be used instead of the shifted cosine wave of one period.
The sub driving signal of this modification is also a wave train of a sine wave (or a cosine wave) whose voltage varies in a curve within a range where the polarity does not change. The sub-driving signal according to this modification also gradually decreases the amplitude of each period, and the offset voltage is not applied during the period in which the sub-driving signal is not applied. The sub-drive signal of this modification is substantially the same as the sub-drive signal shown in fig. 22.
As described above, the present modification also uses the sub-drive signal as a sine wave (or cosine wave), and thus the same effects as those of the above-described embodiment can be obtained.
Modification 9
Fig. 26 is a graph showing a main drive signal different from the main drive signal shown in fig. 25 as modification 9 of the above embodiment.
In the example shown in fig. 26, the sub-driving signal is a sine wave (or a cosine wave) similar to the sub-driving signal shown in fig. 25. On the other hand, in the example shown in fig. 26, the main drive signal is not a rectangular wave, but a sine wave (or a cosine wave).
As described above, the present modification also uses the sub-drive signal as a sine wave (or cosine wave), and thus the same effects as those of the above-described embodiment can be obtained. In addition, in the present modification, since the main driving signal as a sine wave (or a cosine wave) and the sub driving signal as a sine wave (or a cosine wave) are combined, the control device 1 can give a smoother touch feeling to the operator using the vibration presenting device 200.
In the present modification, the main drive signal is not limited to sine waves and cosine waves, and may be triangular waves or saw-tooth waves.
Modification 10
Fig. 27 is a graph showing a sub-drive signal different from the sub-drive signal shown in fig. 26 as modification 10 of the above embodiment.
In the example shown in fig. 27, the main drive signal is not a rectangular wave, but is a sine wave (or a cosine wave) as in fig. 26. On the other hand, in the example shown in fig. 27, the sub-drive signal is a sine wave (or cosine wave) as in fig. 26, but in the example shown in fig. 26, it is a voltage (positive voltage) of the same sign as the main drive signal, whereas in the example shown in fig. 27, it is a voltage (negative voltage) of a different sign from the main drive signal.
The sub driving signal of this modification is a sine wave (or cosine wave) wave train in which the positive and negative of the voltage are opposite, but the voltage varies in a curve within a range where the polarity does not change. The sub-driving signal according to this modification also gradually decreases the amplitude of each period, and the offset voltage is not applied during the period in which the sub-driving signal is not applied. As described above, the voltage of the sub driving signal in this modification is opposite in sign, but is substantially the same as the sub driving signal shown in fig. 22.
As described above, the present modification also uses the sub-drive signal as a sine wave (or cosine wave), and thus the same effects as those of the above-described embodiment can be obtained. In addition, in the present modification, since the main driving signal as a sine wave (or a cosine wave) and the sub driving signal as a sine wave (or a cosine wave) are combined, the control device 1 can give a smoother touch feeling to the operator using the vibration presenting device 200.
In the present modification, the main drive signal is not limited to sine waves and cosine waves, and may be triangular waves or saw-tooth waves.
Modification 11
Fig. 28 is a graph showing a sub-drive signal different from the sub-drive signal shown in fig. 26 as modification 11 of the above embodiment.
In the example shown in fig. 28, the main drive signal is not a rectangular wave, but is a sine wave (or a cosine wave) as in fig. 26. In the example shown in fig. 28, the sub-drive signal is a sine wave (or a cosine wave) as in fig. 26. However, in the example shown in fig. 26, the sub-drive signal is a voltage (positive voltage) of the same sign as the main drive signal, whereas in the example shown in fig. 28, a signal of the voltage (positive voltage) of the same sign as the main drive signal and a signal of a voltage (negative voltage) of a different sign are combined. In this modification, as illustrated in fig. 28, the sub-drive signals may change the voltages alternately in positive and negative orders, alternately in negative and positive orders, or may change the signs of the voltages randomly.
The sub-drive signal according to this modification differs in positive and negative of the voltage in each period, but is a wave train of a sine wave (or a cosine wave) whose voltage varies in a curve within a range where the polarity does not change in one period. The sub-drive signal according to this modification is also configured such that the absolute value of the amplitude of each period is gradually reduced, and the offset voltage is not applied during the period in which the sub-drive signal is not applied. As described above, although the positive and negative of the voltage of the sub-driving signal in this modification are different, the magnetic attraction force is substantially the same as that of the sub-driving signal shown in fig. 22 because the magnetic attraction force is related to the absolute value of the voltage (current).
As described above, the present modification also uses the sub-drive signal as a sine wave (or cosine wave), and thus the same effects as those of the above-described embodiment can be obtained. In addition, in the present modification, since the main driving signal as a sine wave (or a cosine wave) and the sub driving signal as a sine wave (or a cosine wave) are combined, the control device 1 can give a smoother touch feeling to the operator using the vibration presenting device 200.
In the present modification, the main drive signal is not limited to sine waves and cosine waves, and may be triangular waves or saw-tooth waves.
The embodiments of the present invention have been described above. The above description is illustrative of the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto. That is, the description of the structure and the shape of each part of the device is an example, and it is obvious that various modifications and additions can be made to these examples within the scope of the present invention.
In the present embodiment, the driving direction of the electromagnetic actuator driven and controlled by the control device 1 is referred to as the Z direction. The present invention is not limited to this, and the above-described effects of efficient driving, enhancement of vibration, and the like can be obtained in a direction parallel to the contact surface of the operator, specifically, in the X direction or the Y direction.
Industrial applicability
The electromagnetic actuator of the present invention has an effect of being capable of expressing vibration of various touch operation feeling. For example, in an in-vehicle product or an industrial device, the present invention is useful for an operation device that inputs an operation by touching an image on a screen with a finger or the like. In particular, the present invention is useful in an operation device such as a touch display device equipped with a touch panel device capable of feeding back an operation feeling similar to that when various images such as a mechanical switch displayed on an image are touched.
Claims (11)
1. A control device for controlling an electromagnetic actuator for driving an operation device supported by an elastic support portion so as to be elastically vibrated in a direction of a vibration direction of the operation device to vibrate the operation device, characterized in that,
the control device has a circuit that applies a main drive signal to a coil of the electromagnetic actuator, applies a sub drive signal to adjust a damping period of the vibration after starting the vibration of the operation device corresponding to a contact operation with respect to the operation device,
the sub driving signal has a variable voltage that varies with an offset voltage shifted from a zero voltage as a center value, and a waveform representing the variation of the variable voltage is a sine function curve or a cosine function curve.
2. The control device according to claim 1, wherein,
the circuit supplies a sub-driving current to the coil by applying the sub-driving signal, wherein the sub-driving current is a variable current that varies according to a variation of the variable voltage, and a waveform representing the variation of the variable current is a sine function curve or a cosine function curve.
3. The control device according to claim 1, wherein,
the circuit stops the application of the offset voltage during at least one of a period between the main drive signal and the sub drive signal and a period between the plurality of sub drive signals.
4. The control device according to claim 1, wherein,
the sub driving signal is a sine wave or a cosine wave of the variable voltage fluctuation within a range where the polarity does not change.
5. The control device according to claim 4, wherein,
one period of the sub driving signal is 0.7 times or more and 1.3 times or less of a vibration period of the operation device.
6. The control device according to claim 4, wherein,
the position of the maximum value in one cycle of the magnetic attraction force generated in the electromagnetic actuator or the sub-drive current flowing in the coil by the sub-drive signal is at the same time or substantially the same time as the positive peak position of the speed at the time of vibration of the operation device.
7. The control device according to claim 4, wherein,
the position of the maximum value in one cycle of the magnetic attraction force generated in the electromagnetic actuator or the sub-drive current flowing in the coil by the sub-drive signal is at the same time or substantially the same time as the negative peak position of the velocity at the time of vibration of the operation device.
8. The control device according to claim 4, wherein,
the sub driving signal is a sine wave starting from an initial phase of 3/2 pi or a cosine wave starting from an initial phase pi.
9. The control device according to claim 4, wherein,
the secondary drive signal is a half-wave sine wave starting from an initial phase 0 to pi.
10. A vibration display device is characterized by comprising:
an electromagnetic actuator that drives an operation device supported by an elastic support portion so as to be elastically vibrated in a direction of a vibration direction of the operation device to vibrate the operation device; and
the control device according to any one of claims 1 to 9.
11. The vibratory presenting device of claim 10, wherein the vibration apparatus comprises,
the electromagnetic actuator includes an electromagnet including the coil and a yoke made of a magnetic material, and drives the operating device in the one direction by magnetic attraction of the electromagnet and the yoke generated by applying a drive signal to the coil.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2022-149088 | 2022-09-20 | ||
| JP2023127739A JP2024045017A (en) | 2022-09-20 | 2023-08-04 | Control device and vibration presentation device |
| JP2023-127739 | 2023-08-04 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117742518A true CN117742518A (en) | 2024-03-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311178447.3A Pending CN117742518A (en) | 2022-09-20 | 2023-09-13 | Control device and vibration presentation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117742518A (en) |
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2023
- 2023-09-13 CN CN202311178447.3A patent/CN117742518A/en active Pending
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