JP2000267736A - Active impact controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To maximize the deformation of an object of collision while minimizing the deformation of an impact object at the time of applying deformation to the object of collision by the impact object such as a hammer. SOLUTION: This active impact controller is provided with an impact object 11 having an impact part 11a which collides with an object 20 of collision for applying an impact to the object 20 of collision, an actuator 12 provided at the impact object 11 for driving the impact part 11a for allowing it to withdraw from a colliding direction, a distortion sensor 13 and an acceleration sensor 14 provided at the impact object 11 for detecting the moving state of the impact object, and a controller 16 for generating the driving signal of the actuator 12 for allowing the impact object 11 to apply an impact to the object 20 of collision, and simultaneously the impact part 11a to withdraw based on detected values from the distortion sensor 13 and the acceleration sensor 14. In this case, the impact object can apply an impact to the object of collision, simultaneously the impact part can withdraw. Thus, the deformation of the object of collision can be increased while the deformation of the impact object can be decreased, and the working efficiency can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active impact control device for actively controlling an impact portion of an impact object that impacts an impact object.

[0002]

2. Description of the Related Art As a conventional technique, a rock drill, a pile driver,
2. Description of the Related Art There is known an apparatus that performs processing by applying an impact, such as plastic processing and forging processing. At this time, in a plastic working or the like, when considering a hammer (impact object) which collides with a workpiece (collision target) and applies an impact to the workpiece, it is necessary to increase the effect of the processing by the impact of the hammer. ,
There was no choice but to apply a powerful impact force with a hammer. On the other hand, the shock mitigation technology mentioned above is
It has been widely applied to shock absorbers for aircraft landings, shock absorbers for gun turrets, vibration isolation foundations for presses and forging machines, packaging materials, etc., all of which are metal springs, rubber springs, air springs,
The purpose of the present invention is to reduce the damage caused by impact by using an oil damper, a friction damper and the like.

[0003]

However, in the above-mentioned conventional technique, when a strong impact force is applied by the hammer, damage to the hammer (the side to which the impact is applied) increases, and the life of the hammer is shortened. There was a problem of letting them do. On the other hand, if the technique of impact mitigation is used, even if the damage of the hammer can be reduced, the effect of the processing on the collision object also decreases.

Japanese Patent Application Laid-Open No. 6-280930 discloses an "active vibration isolator" in which a sensor is arranged to widely sense the state of the system, and to supply some external energy according to the state to operate according to the purpose. However, it is intended to more effectively mitigate the impact.

SUMMARY OF THE INVENTION It is an object of the present invention to minimize the deformation of an impact object when the impact object is deformed by applying an impact with a sufficiently short impact time to the object by an impact object such as a hammer. An object of the present invention is to provide an active impact control device capable of maximizing deformation.

[0006]

According to a first aspect of the present invention, there is provided a vehicle having a collision portion for colliding with an object to be colliding, and an impact object for applying an impact to the object to be collided. An active impact control device for controlling, wherein the impact object applies an impact to the collision object and simultaneously retracts the collision portion. According to the present invention, by retracting the collision portion, it is possible to lengthen the time required for the impact object to collide with the collision object and to be separated by bouncing off the collision object. In the meantime, the work given to the collision target can be increased, and the maximum deformation of the collision target can be increased. Also,
At this time, the maximum deformation amount of the impact object can be reduced.

According to a second aspect of the present invention, there is provided a collision object (11a) for colliding with a collision object (20), and an impact object (11) for applying an impact to the collision object; A collision part driving means (12) for driving the collision part to retreat from the collision direction;
A moving state detecting means (13, 14) for detecting a moving state of the impacting object; and, based on a detection value from the moving state detecting means, the impacting object applies an impact to the collision object and the collision Drive control means (1) for generating a drive signal of the collision section drive means so as to retract the section.
6).

According to a third aspect of the present invention, in the active impact control device according to the second aspect, the active impact control device is provided on the collision object,
The apparatus further includes a target-side motion state detection means (15) for detecting a motion state of the collision object, and the drive control means is configured to detect a motion state of the collision object based on a detection value of the motion state detection means and a detection value of the target-side motion state detection means. And generating a drive signal for the collision portion drive means.

[0009]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.
An embodiment of the present invention will be described in more detail. (Structure) FIG. 1 is an explanatory view showing an embodiment of an active impact control device according to the present invention. This active shock control device 1
0 denotes an impact object (object A) 11 and an actuator 12
, A strain sensor 13, an acceleration sensor 14, an object-side strain sensor 15, and the like.

The impact object 11 is a collision object (object B) 2
It is an object that collides with zero and gives an impact, for example, a hammer or the like. This impact object 11
A collision portion 11a is provided at the tip.

The actuator 12 is provided on the impact object 11 and drives the collision portion 11a in a direction of moving forward or backward with respect to the direction of the impact force (arrow S). For example, a servo motor is used. can do.

The strain sensor 13 is a sensor that detects the amount of deformation of the impact object 11. The acceleration sensor 14 is a sensor that detects the acceleration of the impact object 11,
1 is attached to the back. These outputs are connected to the controller 16.

The target-side strain sensor 15 is a sensor attached to the collision object 20 that receives an impact, and detects the amount of deformation of the collision object 20, and its output is connected to the controller 16. The target strain sensor 15 can be omitted if it is estimated using other detected signals (for example, outputs of the strain sensor 13 and the acceleration sensor 14).

The controller 16 controls these sensors 1
A logic circuit is provided for generating a drive control signal (input voltage) for the actuator 12 based on signals from 3, 14, and 15, and drives and controls the servo motor of the actuator 12 based on the drive control signal. Note that this logic circuit can be realized by a personal computer or the like.

The active shock control device 10 increases the effect of the shock and suppresses the damage on the side to which the shock is applied, and reduces the tip of the actuator 12 (collision portion 11a) mounted on the shock object 11. When an impact is applied, it is caused to retreat at the same time. The controller 16 calculates an input voltage to be applied to the actuator (servo motor) 12. The input voltage depends not only on the characteristic value of the servomotor, the mass, rigidity, damping, etc. of the impact object 11 and the collision object 20, but also on the instantaneous displacement and speed of each part.

(Operation) FIG. 2 is a flowchart showing the operation of the controller of the active shock control device according to the present embodiment. First, the controller 16 is initialized (S101), receives a signal from the acceleration sensor 14 on the back of the impact object 11 (object A) (S102), integrates the signal, and integrates the speed u3 (S102) and the displacement x3.
(S103) is obtained. At this time, it is assumed that the displacement and the velocity at the time of the collision are given from the operation system as initial values in S101.

Next, the controller 16 inputs the signal of the strain sensor 13 (S105) and uses the signal to
The relative displacement y2 between the rear surface of the impact object 11 and the mounting surface of the actuator 12 is estimated (S106), and the relative displacement y2 is differentiated to obtain the relative speed v2 (S10).
7).

The controller 16 controls the impact object 1
The displacement x2 = x3 + y2 (S108) and the speed u2 = u3 + v2 of the mounting surface of the actuator 12 are obtained from the displacement x3 and the speed u3 of the back surface of No. 1 and the relative displacement y2 and the relative speed v2 (S109).

On the other hand, the controller 16 inputs the strain sensor 15 of the collision object (object B) 20 (S11).
0), the displacement x of the collision surface of the collision object 20 is obtained from the signal.
1 is estimated (S111), and further differentiated to obtain a speed u1 (S112). Note that this can be estimated from signals from other sensors.

Here, the controller 16 determines the relative displacement y1 between the mounting surface of the actuator 12 of the impact object 11 and the collision surface of the collision object 20 from these values.
x1-x2 (S113) and relative speed v1 = u1-u2
Is obtained (S114).

Finally, based on the seven variables obtained by adding the stroke z of the actuator 12 to the displacements x1, y1, and y2 and the velocities u1, v1, and v2 described above, the controller 16 provides the feedback and The value obtained by multiplying the gain is obtained as an input voltage (S11).
5) Output as a servo motor drive signal (S11)
6).

In step S115, the determination of the feedback gain involves the characteristic value of the servo motor of the actuator 12, the mass, rigidity, damping, and the like of the impact object 11 and the collision object 20. However, the natural periods of the impact object 11 and the collision object 20 are sufficiently longer than the impact action time, and the time constant of the actuator 12 is sufficiently shorter than the impact action time. Also, the impact object 1
1. It is assumed that the attenuation of the higher-order mode in the collision object 20 is sufficiently large. As described above, in the present embodiment, at the same time as the impact object 11 applies an impact to the collision target 20, the actuator 12 retracts the collision portion 11a. At this time, by retracting the collision portion 11a, the impact object 11 impacts the collision target 20,
The time until the rebound occurs is increased, and the time for propagation of the impact force is increased. Therefore, it is considered that the deformation of the collision object 20 is large. And, to that extent, the deformation received by the impact shooting object 11 side is reduced.

Next, a method for controlling the impact at the time of collision by the active vibration control device according to the present invention will be described in more detail with reference to an analytical model. FIG. 3 is a schematic diagram showing an analysis model of the active impact control device according to the present invention. Here, for the sake of simplicity, only the fundamental mode is considered, and the effect of viscous damping is also omitted. However, the characteristic of plastic deformation is given by a Coulomb friction damper. Now, as shown in FIG. 3, when an impacting element (object A) and an impacting element (object B) collide, first, damage to both objects is reduced.
That is, it is considered that the deformation amount and the stress of each object are reduced. Although the optimal regulator theory is used as a control method, in the present invention, since the plastic deformation is modeled, the collision phenomena are linearized for each time step, and the optimal regulator theory is used each time.

The object A is composed of two mass points m ₂ and m ₃ , and a Coulomb frictional force fr ₂ is provided between the two mass points.
Series spring k _3, using a parallel spring k _4. Object B is
It consists of one mass point m ₁ , and uses a Coulomb friction force fr ₁ , a parallel spring k _0, and a series spring k ₁ between it and a fixed point. actuator at the tip of m ₂ and series spring k ₂
Is used. The series spring k ₂ represent the contact stiffness. For the object A, the absolute displacements of m ₂ and m ₃ are x ₂ and x ₃ , respectively, and the relative displacements are y ₂ = x ₂ −x ₃ . For the object B, the absolute displacement of m ₁ is x ₁ .
The relative displacement between m ₁ and m ₂ is represented by y ₁ = x ₁ −x ₂ , and the absolute displacement at the tip of the actuator is represented by z. Here, an AC servomotor is used for the actuator, and its characteristics are given by the following equation.

[0025]

(Equation 1)

Where u: control input, v: control voltage,
a, b: constant The equation of motion for the analysis model shown in FIG. 3 is as shown in equation (2).

[0027]

(Equation 2)

Assuming that the contact between the spring k ₂ and the actuator u is maintained, it is necessary that the respective forces are balanced. That is, when u = k ₂ (z−x ₁ ) is put into equation (1), the following equation is obtained.

[0029]

(Equation 3)

P ₁ and P ₂ are given constants by the domain of the absolute displacement x ₁ . Similarly, P ₃ , P ₄
Are given constants by the domain of the relative displacement y ₂ . That is, it becomes as follows.

(Equation 4)

Equations (2), (3), (4) and (5) are used to make the analysis results of the numerical simulation versatile.
Is made dimensionless. The following values are used as the basic quantities for performing dimensionless processing.

[0032]

(Equation 5)

When the characteristic equation (3) of the actuator is made dimensionless, the following is obtained.

[0034]

(Equation 6)

Equations (2) and (3) are replaced by relative variables y ₁ ,
rewritten with y _2, the formula (2), (3) is dimensionless as follows.

[0036]

(Equation 7)

When the equation (7) is converted into a state equation, the following equation is obtained.

[0038]

(Equation 8)

Here, the matrices A, B, and C are as follows.

[0040]

(Equation 9)

At this time, X = X ₁ + X _C is set. X _C
Is given as follows:

[0042]

(Equation 10)

By rewriting equation (10) using X ₁ ,
It becomes like the following formula.

[0044]

[Equation 11]

(Evaluation Function and Control Law) In the present invention, the absolute displacement ξ ₁ , relative displacement η ₁ , η ₂ , absolute speed dξ ₁ / dt,
The objective function is obtained by multiplying a total of seven state variables of the relative velocities dη ₁ / dt, dη ₂ / dt, and the absolute displacement λ by squares and multiplying the squared values by an appropriate weighting coefficient. As a control constraint, the dimensionless number v ₀ of the control voltage is 2
A product obtained by multiplying the multiplier by an appropriate weighting factor is also considered. Rewriting the evaluation function of the quadratic form with the state vector X ₁ which is as the formula (13).

[0046]

(Equation 12)

Here, Q is a diagonal matrix having weighting factors corresponding to the respective variables as elements, and r represents a weighting factor for the dimensionless number of the control voltage. Table 1 shows the correspondence between each state variable and the weight coefficient.

[0048]

[Table 1]

The optimal control law for minimizing the evaluation function of Expression (13) is given by the following expression.

[0050]

(Equation 13)

Here, P is the following Ricca (Ricca)
ti) A unique positive definite solution of the form algebraic equation.

[0052]

[Equation 14]

(Numerical Simulation) The state equation described above was approximately calculated by the fourth-order Runge-Kutta method, and how the corresponding maximum value was changed by the weight coefficient of the evaluation function was examined. The calculation time is set within a range in which no rebound occurs at the collision surface. However, in the case where slippage of the friction element occurs within the range, it was determined that the slippage stopped.

(Simulation Result) (1) When the value of r is selected in the range of about 10 ＾ 5 to about 10 ＾ 7, the maximum plastic deformation of the object B can be increased by control. 4 to 6 are diagrams showing simulation results. In each figure, the ordinate represents (maximum response value during control) / (maximum response value during non-control). Here, r is a weighting factor of the control voltage in the control evaluation function (in general, the larger the weighting factor, the smaller the control voltage). q1 and q4 are weight coefficients of the deformation and the deformation speed of the object B in the evaluation function of the control. q3, q
Reference numeral 6 denotes a weight coefficient for the deformation and the deformation speed of the object A in the control evaluation function.

(2) When the value of r is close to 10 ＾ 6,
Regardless of the value of qi (i = 1, 4, 3, 6), the rate of increase by controlling the maximum amount of plastic deformation of the object B is maximum (about 20 times in this example). (3) The maximum deformation amount of the object A increases as r increases, but does not exceed the value in the case where no control is performed, regardless of the value of qi (i = 1, 4, 3, 6). (4) Therefore, it can be seen that there is a range of the control voltage weighting coefficient r that can increase the deformation of the object B while suppressing the deformation of the object A.

(5) When r = 10 ＾ 6, that is,
FIG. 7 shows a temporal change in the stroke of the actuator when the rate of increase in the maximum plastic deformation of the object B is maximized.
(A). That is, the retreat starts from the moment of the collision, and retreats by about −10 during the elapse of time 2. (6) At this time, the temporal change of the control force is as shown in FIG.
become that way. That is, it changes by a maximum of about 1.5.
Note that the step occurs because of the yield phenomenon of the object B.

(7) On the other hand, when r = 10 ＾ 2, that is, when the maximum deformation amount of the object B is sufficiently suppressed by the control, the temporal change of the stroke of the actuator is shown in FIG. a). In other words, the robot moves forward by about 1.5 until the time lapse of 0.05, and moves backward by about 2.5 during the next time lapse of 0.15. (8) At this time, the temporal change of the control force is as shown in FIG.
As described above, the maximum is about 1.7, and when r = 10 ＾ 6, there is not much difference from [(6)]. However, the action time of the control force is about 1
/ 10. This simulation is performed until immediately before the bounce occurs or until the plastic deformation stops.

(9) Comparing the contents of (5) and (7), the stroke of the actuator is large with time from the beginning (in this example, the time is about 10 times and the stroke is about 5 times). By doing so, it can be seen that the maximum deformation amount of the object B is enlarged to 20 times or more. (10) From this, it can be said that increasing the maximum deformation amount of the object B is to retreat the stroke of the actuator from the beginning. Here, in order to perform the quantitative optimization, it is sufficient to control the stroke of the actuator depending on the momentary state (displacement and speed of each part) while depending on the mass, rigidity and plasticity of the structure.

Note that the temporal change of the deformation amount of the object A is r
= 10９6 is shown in FIG. Also, r = 1
When 0 ＾ 2, it is shown in FIG.

(Modifications) Various modifications are possible without being limited to the above-described embodiments, and these are also within the equivalent scope of the present invention. (1) For example, the example of plastic working has been described. (A) If this device is mounted on a rock drill or a pile driver, the working efficiency can be increased and the life of the machine can be extended. (B) By mounting the device on the front of the vehicle, it is possible to reduce damage to the vehicle at the time of collision. (C) Efficiency increases in destruction work such as demolishing a building. For similar reasons, they can be used as weapons. (2) In addition, if a model in which an element (object A) to which an impact is applied and an element (object B) to which an impact is applied is made into a multi-mass system, control can be performed in consideration of wave propagation. (3) Although the motion state such as the amount of strain and acceleration of the object A is detected, if the impact of the object A and the materials of the objects A and B are made constant, the collision state is detected without detecting those states. Can be driven under predetermined conditions.

[0061]

As described above, according to the present invention,
Because the impact object applies an impact to the collision object and at the same time retracts the collision part, for example, when the impact object deforms the collision object, the deformation received by the impact object is reduced, There is an effect that the deformation of the object can be increased and the processing efficiency can be improved.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an embodiment of an active impact control device according to the present invention.

FIG. 2 is a flowchart showing an operation of a controller of the active shock control device according to the present embodiment.

FIG. 3 is a schematic diagram showing an analysis model of an active shock control device according to the present invention.

FIG. 4 shows the relationship between the control voltage weighting factor and (maximum response value during control) / (maximum response value during non-control) in the simulation results (q ₁ and q ₄ are small, and q ₃ and q ₆ are large) FIG.

FIG. 5 shows the relationship between the control voltage weight coefficient and (maximum response value during control) / (maximum response value during non-control) in the simulation results (q ₁ and q ₄ are large, and q ₃ and q ₆ are also large) FIG.

FIG. 6 shows the relationship between the control voltage weight coefficient and (maximum response value during control) / (maximum response value during non-control) in the simulation results (q ₁ and q ₄ are large and q ₃ and q ₆ are small) FIG.

FIG. 7 is a simulation result (when r = 10 ＾ 6)
FIG. 5 is a diagram showing temporal changes in the deformation amount, input voltage, and control force of the object B in FIG.

FIG. 8 is a simulation result (when r = 10 ＾ 2)
FIG. 5 is a diagram showing temporal changes in the deformation amount, input voltage, and control force of the object B in FIG.

FIG. 9 is a simulation result (when r = 10 ＾ 6)
FIG. 5 is a diagram showing a temporal change of the deformation amount of the object A in FIG.

FIG. 10 is a diagram illustrating a temporal change in the deformation amount of the object A in a simulation result (when r = 10 ＾ 2).

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Active impact control apparatus 11 Impact object (object A) 12 Actuator 13 Strain sensor 14 Acceleration sensor 15 Target side strain sensor 20 Collision object (object B)

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Claims (3)

[Claims] 1. An active shock control device having a collision portion that collides with a collision object and actively controlling an impact object that applies an impact to the collision object, wherein the collision object impacts the collision object. An active shock control device characterized in that the collision portion is retracted at the same time as (1) is added. 2. A collision object having a collision portion that collides with a collision object and applying an impact to the collision object, and a collision provided on the collision object and driving the collision portion to retreat from the collision direction. Unit driving means, provided on the impact object, a motion state detection means for detecting the motion state of the impact object, and the impact object impacts the collision object based on a detection value from the motion state detection means. And a drive control unit for generating a drive signal for the collision unit driving unit so as to retract the collision unit at the same time as adding the control unit. 3. The active impact control device according to claim 2, further comprising: an object-side motion state detection means provided on the collision object and detecting a motion state of the collision object, wherein the drive control means An active shock control device for generating a drive signal for the collision section driving means based on a detection value of the motion state detection means and a detection value of the target side motion state detection means.