JP2002340925A - Acceleration rate sensor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately control the motion of an object by detecting an acceleration rate, which is the derivative of acceleration of an object, and utilizing the information. SOLUTION: A first member, a second member relatively movable to the first member, a magnet fixed to the first member, at least one coil fixed to the second member, a means for detecting the motion of the second member against the first member and sending a current for generating a force by magnetic flux so as to disturb the motion of the second member against the first member between the coil and the magnet, and a means detecting the voltage corresponding to the derivative of the acceleration which is generated between the coils by the current are provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion control system for controlling the motion of an object using differential values of the acceleration of a moving body, that is, jerk information, a vehicle, an elevator, a railway vehicle, a magnetic levitation vehicle, Earthquake simulator, stage, building vibration control system, robot arm, aircraft and controller,
The present invention also relates to a motion evaluation device for evaluating the motion of these systems, a structure of a sensor for detecting jerk, a sensor for detecting angular acceleration, and a control method for a moving object.

[0002]

2. Description of the Related Art Physical quantities describing the motion of an object generally include various quantities such as position, velocity (or angular velocity), and acceleration (or angular acceleration). For each physical quantity, a sensor for detecting the physical quantity has been devised and put into practical use. By the way, about position and speed,
Acceleration and higher-order physical quantities that can be intuitively detected as bodily sensations are detected only visually and intelligently. For example, when riding on a moving object such as an automobile, a railway car, or an elevator,
When the vehicle decelerates, the state change can be sensed sensuously.

According to literatures such as "Development of Acceleration Sensor for Automobile (Nissan Technical Report No. 23, Sho 62-12)", humans react more sensitively to jerk, which is a differential value than acceleration. It is known to

[0004]

This fact indicates that speed is deeply involved in the feeling of pleasure and discomfort felt by humans. Therefore, in order to more comfortably control vehicles such as automobiles, railway vehicles, and elevators, which involve movement, not only this acceleration but also information on the jerk, which is a differential value, is detected, and control is performed using the information. It is necessary to do.

It is natural to think that when a person controls his / her own motion, the jerk information is used. When this is replaced with various motion control of an object, In order to achieve highly accurate motion control of an object, control using jerk information of the object is required.

[0006] Also, assuming that the vehicle is driving, when a sudden change in the behavior of the vehicle occurs due to a sudden change in the road surface condition, the driver can feel this as a change in acceleration, that is, a jerk, and a skilled driving. The driver can reduce the change in the behavior of the vehicle by the driving operation. This means that, in order to realize a vehicle that can be driven by a skilled driver even when driven by a general driver, the jerk information of the vehicle is detected and the vehicle motion is determined using that information. It needs to be controlled.

[0007] In addition to the above-described control using various jerk information, the conventional control using position, speed, and acceleration information can achieve a drastic improvement in control effect compared to the present. it can.

Incidentally, jerk information can be obtained by passing the outputs of various practically used acceleration sensors through a differential filter circuit. In addition, simultaneous detection of acceleration and jerk required for the above-described reason is also possible.

However, when trying to obtain a jerk in a high frequency range, noise and phase delay may become a problem. Therefore, when jerk information in a low frequency range is required, an acceleration sensor and a differentiating circuit are used, and when jerk information of high frequency or high accuracy is required, another detection method is required. It is desirable that not only jerk but also acceleration can be detected at the same time.

A first object of the present invention is to provide a motion control system, a vehicle, and the like having improved motion performance and high-performance motion controllability.

A second object of the present invention is to provide a vehicle capable of preventing an excessive change in behavior.

A third object of the present invention is to provide a vehicle, an elevator and the like having a comfortable ride.

A fourth object of the present invention is to provide a vehicle, a magnetic levitation train, and a building vibration control system having a large vibration reduction effect.

[0015] A fifth object of the present invention is to provide a railcar shaking table which is hardly derailed.

A sixth object of the present invention is to provide a vibration table and an earthquake simulator which can reproduce vibration acceleration and the like faithfully and have good responsiveness.

A seventh object of the present invention is to provide a stage and a robot arm having high positioning accuracy.

An eighth object of the present invention is to provide an apparatus capable of evaluating the motor controllability.

A ninth object of the present invention is to provide a controller that achieves high-precision motion control using at least jerk information.

A tenth object of the present invention is to provide a sensor capable of directly detecting jerk speed.

An eleventh object of the present invention is to provide a sensor capable of detecting at least acceleration and jerk at the same time.

[0021]

In order to achieve the first object, a motion control system according to the present invention comprises: a jerk detecting means for detecting at least the jerk of an object; A controller that controls the movement of the object by inputting an output from the jerk detecting means to the controller.

The apparatus further comprises jerk detecting means for detecting at least jerk of the object, and a controller for controlling the movement of the object, and outputs the jerk detecting means from the controller. The position of the object is controlled by the controller based on the jerk.

The apparatus further comprises jerk detecting means for detecting at least jerk of the object, and a controller for controlling the movement of the object, and outputs an output from the jerk detecting means to the controller. The speed of the object is controlled by a controller based on the jerk.

The apparatus further comprises jerk detecting means for detecting at least jerk of the object, and a controller for controlling the movement of the object, and outputs an output from the jerk detecting means to the controller. The acceleration is controlled by the controller based on the jerk.

Further, the moving object of the present invention is provided with jerk detecting means for detecting jerk of the moving object corresponding to at least the movement of the moving object, and an output from the jerk detecting means. A controller for generating a control signal for controlling the moving object.

Further, a detecting means for detecting at least the acceleration and jerk of the moving object corresponding to the movement of the moving object, and a control signal for inputting an output from the detecting means and controlling the moving object. It is characterized by comprising a controller for generating.

Further, the jerk detecting means is an acceleration sensor and an acceleration sensor output differentiating means. or,
The acceleration sensor output differentiating means is an analog electric circuit. Further, the acceleration sensor output differentiating means is a digital differentiating device.

Further, the method for controlling a moving object according to the present invention detects a movement of the moving object, derives a differential value of acceleration corresponding to the motion of the moving object, and generates a control signal corresponding to the differential value of the acceleration. And generating and controlling the moving object by the control signal.

Further, the aircraft of the present invention is provided with jerk speed detecting means on the fuselage or main wing, and inputs the output of the jerk speed detecting means to a controller, and the horizontal canard and the flaperon are inputted by the controller. , Vertical stabilizer, horizontal stabilizer, vertical stabilizer or engine output.

In order to achieve the second object, a vehicle according to the present invention comprises a steering device, means for detecting a steering angle of the steering device, and an additional device for detecting at least a lateral jerk. Speed detection means, comprising a controller for controlling the steering device, inputting the output from the means for detecting the steering angle and the jerk detection means to the controller,
The control signal is generated by the controller to control the steering device.

The motor further comprises a motor, means for detecting the output of the motor, jerk detecting means for detecting at least the jerk in the longitudinal direction of the vehicle, and a controller for controlling the motor. The output from the means for detecting the output and the jerk detection means is input to a controller, and the controller generates a control signal to control the output of the prime mover.

The vehicle further includes a wheel braking device, a means for detecting a wheel braking force, jerk speed detecting means for detecting at least a jerk in the vehicle longitudinal direction, and a controller for controlling the wheel braking device. An output from the means for detecting the wheel braking force and an output from the jerk detecting means are input to a controller, and the controller generates a control signal to control the wheel braking device.

Also, a vehicle suspension apparatus, a means for detecting a vehicle suspension state, jerk detecting means for detecting at least one of a jerk in a vehicle longitudinal direction, a vehicle lateral direction, and a vehicle vertical direction, A controller for controlling the vehicle suspension device, inputting jerk information detected by the jerk detecting means to the controller, generating a control signal by the controller based on the jerk information, It is characterized by controlling a vehicle suspension system.

Also, an engine suspension, means for detecting an engine suspension state, jerk detecting means for detecting at least one of a vertical jerk and a roll jerk, and the suspension The jerk information detected by the jerk detecting means is input to the controller, and based on the jerk information, a control signal is generated by the controller to control the engine suspension. It is characterized by controlling.

Further, the vehicle body is provided with acceleration detecting means for detecting acceleration. An output from the acceleration detecting means is input to the controller, and a control signal is generated by the controller based on jerk information and acceleration information. Is generated.

In order to achieve the third object, a vehicle according to the present invention is provided with acceleration detecting means for detecting acceleration of the vehicle body, and outputs an output from the acceleration detecting means to the controller. A ride comfort evaluation function is obtained from jerk information and acceleration information, and a control signal is generated by a controller based on the ride comfort evaluation function.

Further, the detecting means for detecting the acceleration and the jerk has at least one degree of freedom,
Gi and Ji represent the magnitude of the vehicle acceleration and the magnitude of the vehicle jerk at the i-th observation point, and c represents the weighting constant.
When i and di, the riding comfort evaluation function is represented by Ψi =
(Ci · | Gi | + di · | Ji |).

Further, the detecting means for detecting the acceleration and jerk has at least one degree of freedom,
When the magnitude of the acceleration in the roll direction of the engine at the i-th observation point, the magnitude of the jerk in the roll direction of the engine are Gi and Ji, and the weighting constants are ei and fi, respectively, If the comfort evaluation function is Ψi = (ei · | Gi
| + Fi · | Ji |).

Also, the elevator according to the present invention comprises a wire for lifting and lowering the car, a car for lifting and lowering the car, a motor for lifting and lowering the wire, and a motor for lifting and lowering the car. And a jerk detecting means attached to the car for detecting the jerk of the car, and the jerk information detected by the car jerk detecting means is sent to the controller. The motor is input and the motor is controlled by the controller based on the jerk information.

Further, the car has an acceleration detecting means for detecting the acceleration of the car. An output from the acceleration detecting means is inputted to the controller, and the car is provided with the acceleration and jerk information based on the acceleration and jerk information. The controller controls the motor, and the controller obtains a ride comfort evaluation function based on the acceleration and jerk information. The controller controls the motor based on the ride comfort evaluation function. It controls the motor.

Further, the car has speed detecting means for detecting the speed of the car.

Further, the detecting means for detecting the acceleration and the jerk has at least one degree of freedom,
When the magnitude of the elevator acceleration and the magnitude of the elevator jerk at the i-th observation point are Gi and Ji, respectively, and the weighting constants are ci and di, the ride comfort evaluation function is expressed as Ψi = (ci . | Gi | + di · | Ji |).

The detecting means for detecting the speed, acceleration and jerk has at least one degree of freedom, and the magnitude of the speed of the car at the i-th observation point, the magnitude of the acceleration of the car, Assuming that the magnitude of the jerk of the car is Vi, Gi, Ji and the weighting constants are j, k, and l, the riding comfort evaluation function is represented by Ψi = (j · | Vi | −k).
. | Gi | −l · | Ji |).

Also, when a person or an object gets on or off,
A wire for lifting and lowering the car, a motor for raising and lowering the wire, a controller for controlling the motor, a rotation speed of the motor,
A motor rotational speed detecting means for detecting a rotational acceleration and a rotational jerk; a motor rotational acceleration detecting means; and a motor rotational jerk detecting means, which are detected by the motor rotational speed detecting means. Motor rotation speed information, motor rotation acceleration information detected by the motor rotation acceleration detecting means, and motor rotation jerk information detected by the motor rotation jerk detecting means. Is input to the controller, a riding comfort evaluation function is obtained from the motor rotation speed, the motor rotation acceleration, and the motor rotation jerk information, and the motor is controlled by the controller based on the evaluation function. It is characterized by the following.

The above-mentioned riding comfort evaluation function is such that the rotational speed of the motor is Vm, the magnitude of the rotational acceleration of the motor is Gm, the magnitude of the jerk of the motor is Jm, and the weighting constant is where l, m, and n, Ψ = (l · | Vm | −m · | G
m | −n · | Jm |).

In order to achieve the fourth object, a magnetic levitation train according to the present invention comprises a vehicle body, a ground coil for levitation, a superconducting magnet on the vehicle, and a plurality of jerk detections provided on the vehicle body. Means, and a controller which receives an output from the jerk detecting means and generates a control signal for controlling the magnetic force of the superconducting magnet.

Also, the vehicle of the present invention includes an engine, jerk detecting means for detecting at least jerk in the roll direction of the engine, and an engine controller. Jerk speed information is input to the controller, and a misfire of the engine is detected based on the jerk information.

The building vibration control system of the present invention
A hydraulic actuator installed on the floor, an active mass provided on the hydraulic actuator and moving relative to the building, jerk detecting means installed on the floor of the building, and the hydraulic actuator And an output of the jerk detecting means is input to the controller, and the controller controls the hydraulic actuator so that vibration of the building is reduced. It is characterized by the following.

In order to achieve the fifth object, the railway vehicle according to the present invention is provided with a vehicle body on a bogie provided with a pillow spring actuator, and the bogie supports a wheel axle. A plurality of jerk detecting means provided on the vehicle body, and outputs from the jerk detecting means are inputted to the pillow spring actuator and the shaft spring actuator. And a controller for generating a control signal for controlling the data controller.

To achieve the sixth object, a vibration table according to the present invention comprises a vibration table driven by a hydraulic actuator provided on a X-axis and a Y-axis and provided with a displacement detector; The outputs of the jerk detecting means provided on the table in the X-axis and Y-axis directions, the output of the displacement detector and the jerk detecting means are input to follow the target values of the seismic acceleration, the seismic jerk or the displacement. And a controller for generating a control signal for controlling the control signal.

The motion simulator according to the present invention comprises a vehicle,
In a motion simulator simulating the motion of a flying object or the like, jerk detecting means for detecting at least jerk of a movable portion of the motion simulator, and controlling the motion of the movable portion of the motion simulator. Equipped with a controller
The output from the jerk detecting means is input to the controller, and the controller controls the movement of the movable part of the movement simulator.

In order to achieve the seventh object, the stage of the present invention comprises at least one stage driven by a linear actuator, a displacement detector provided in the linear actuator, Receiving the jerk detecting means attached to the stage, the outputs of the displacement detector and the jerk detecting means, and generating a control signal for positioning to a target value of a previously inputted position. And a controller that performs the operation.

Further, the robot arm of the present invention comprises a manipulator driven by a joint driving motor having a rotational position detecting means, and a plurality of additional manipulators attached to the hand of the manipulator. It is characterized by comprising a speed detecting means, and a controller which receives the outputs of the rotational position detecting means and the jerk detecting means and generates a control signal for performing positioning.

In order to achieve the eighth object, the motion estimating apparatus of the present invention inputs an output of jerk detecting means for detecting at least jerk of an object to be controlled, and outputs the jerk. A control performance evaluation function is calculated based on the control result, and the calculation result is output to evaluate the control performance of the control target object.

Also, the output of jerk detecting means for detecting at least jerk of the object to be controlled is input, an evaluation function is calculated based on the jerk, and the calculation result is output to obtain the control object. It is characterized by evaluating the motion of an object.

Further, the output of jerk detecting means for detecting at least jerk of the object to be controlled is input, a riding comfort evaluation function is calculated based on the jerk, and the calculation result is output. It is characterized in that the ride comfort of the control target object is evaluated.

The output of the jerk detecting means for detecting at least the jerk of the building is inputted, the motion of the building is calculated based on the jerk, and the calculation result is outputted to output the motion of the building. Is evaluated. Further, the movement is vibration.

Further, the output of jerk detecting means for detecting at least jerk of the movable part of the motion simulator is inputted, and the vibration of the movable part of the movement simulator is detected based on the jerk. It is characterized by calculating and outputting the calculation result to evaluate the vibration of the movable part of the motion simulator.

Further, the motion evaluation device includes acceleration detecting means, and the detecting means for detecting the acceleration and jerk has at least one degree of freedom, and the acceleration and the jerk have at least one degree of freedom. When the magnitude of the magnitude and the magnitude of the jerk are Gi and Ji, respectively, and the weighting constants are ai and bi, the evaluation function is Ψi = (ai · | Gi | + bi
. | Ji |).

To achieve the ninth object, the controller according to the present invention comprises a first means for detecting the movement of a moving object, and a differential value of an acceleration corresponding to the movement of the moving object. A second means for detecting and a third means for generating a control signal corresponding to the differential value are provided, and the moving object is controlled by the control signal.

Further, the second means detects a differential value of the acceleration corresponding to the movement of the moving object directly from the movement of the object.

Further, the second means includes means for differentiating the acceleration, and the differential means detects a differential value of the acceleration corresponding to the movement of the moving object.

The first means may include a first member, a second member movable with respect to the first member, and a magnet fixed to the first member for generating a magnetic flux. Detecting at least one coil in the magnetic flux of the magnet and fixed to the second member, and detecting the movement of the second member with respect to the first member, and detecting the magnetic flux between the coil and the magnet; Means are provided for passing a current for generating a force so as to impede the movement of the second member with respect to the first member.

Further, the second means includes means for detecting a voltage between the coils based on the current, and the voltage corresponds to a differential value of the acceleration.

The means for detecting the movement of the second member relative to the first member includes a capacitance plate attached to each of the first member and the second member; This is to detect a change in capacitance between the capacitance plates.

Further, a first method for detecting the movement of a moving object
Means for detecting a first value indicating an acceleration corresponding to the movement of the moving object, and a second means for detecting a second value corresponding to a differential value of the acceleration; and And a third means for generating a control signal corresponding to the value of the moving object, wherein the moving object is controlled by the control signal.

Further, the present invention is characterized in that the output of jerk detecting means for detecting at least jerk of an object is inputted to control the movement of the object.

In order to achieve the tenth object, a sensor according to the present invention comprises a first member, a second member movable relative to the first member, and the first member. A magnet fixed to the member for generating magnetic flux, at least one coil fixed to the second member in the magnetic flux of the magnet, and detecting a movement of the second member with respect to the first member The magnetic flux causes the first coil to move between the coil and the magnet.
Means for flowing a current for generating a force so as to disturb the movement of the second member with respect to the member, and means for detecting a voltage corresponding to a differential value of acceleration generated between the coils due to the current. It is characterized by having.

The means for detecting the movement of the second member relative to the first member includes a capacitance plate attached to each of the first member and the second member; A change in capacitance between the capacitance plates due to movement of the second member with respect to the member is detected.

Also, a movable member that can be displaced in accordance with acceleration, an electromagnetic force generating means that includes an electric circuit and a magnetic circuit and generates an electromagnetic force acting on the movable member, and an electromagnetic force control that controls the electromagnetic force Means, a displacement detecting means for detecting displacement of the movable member from a reference position, and an induced electromotive force detecting means for detecting an induced electromotive force generated in an electric circuit of the electromagnetic force generating means; Means for controlling the electromagnetic force acting on the movable member so that the displacement of the movable member detected by the means becomes zero, wherein the electromagnetic force detected by the induced electromotive force detection means is controlled by the electromagnetic force control means. A physical quantity proportional to a temporal change of an acceleration acting on the movable member is detected from an induced electromotive force generated in an electric circuit of the force generating means.

A movable member having a coil and displaced in accordance with acceleration, a magnet fixed at a position where a current is applied to the coil to generate a force in the coil of the movable member, Displacement detection means for detecting a displacement from a reference position, current control means for controlling a current flowing through the coil, and induced electromotive force detection for detecting an induced electromotive force generated at both ends of the coil by flowing a current through the coil Means for controlling the current flowing through the coil by the current control means so that the displacement of the movable member detected by the displacement detection means becomes zero,
A physical quantity proportional to a temporal change of an acceleration acting on the movable member is detected from an induced electromotive force generated at both ends of the coil detected by the induced electromotive force detecting means.

Also, a movable member having a magnet that is displaced in accordance with acceleration, a coil fixed at a position that generates a force on the magnet of the movable member by flowing current, and a reference position of the movable member Displacement detecting means for detecting displacement of the coil, current control means for controlling a current flowing through the coil, and induced electromotive force detecting means for detecting an induced electromotive force generated at both ends of the coil by flowing a current through the coil. A current flowing through the coil is controlled by the current control means so that a displacement of the movable member detected by the displacement detection means becomes zero, and the current is detected by the induced electromotive force detection means. A physical quantity proportional to a temporal change of an acceleration acting on the movable member is detected from an induced electromotive force generated at both ends of the coil.

A movable member capable of being displaced in the multi-axial direction in accordance with the acceleration in the multi-axial direction, and an electric circuit and a magnetic circuit, the multi-axial direction generating an electromagnetic force acting on the movable member in the multi-axial direction. Electromagnetic force generating means, multi-axial electromagnetic force controlling means for controlling the multi-axial electromagnetic force, and multi-axial displacement detecting means for detecting a multi-axial displacement from a reference position of the movable member. And a movable member detected by the displacement detection means in the multiaxial direction, comprising: an induction electromotive force detection means for detecting each electromotive force generated in each electric circuit of the multiaxial electromagnetic force generation means. So that the displacement in the multi-axis direction becomes zero,
The multi-axial electromagnetic force acting on the movable member is controlled by the multi-axial electromagnetic force control means, and the multi-axial electromagnetic force generation means is detected by each of the induced electromotive force detection means. And detecting a physical quantity proportional to a change in acceleration in a multiaxial direction acting on the movable member from each induced electromotive force generated in each electric circuit.
Further, the movable member is angularly displaced according to angular acceleration.

To achieve the eleventh object, the sensor according to the present invention comprises current detecting means for detecting a current flowing in an electric circuit of the electromagnetic force generating means, wherein the induced electromotive force detecting means Detecting a physical quantity proportional to a temporal change in acceleration acting on the movable member from an induced electromotive force generated in an electric circuit of the electromagnetic force generating means detected by the electromagnetic force generating means, and detecting the electromagnetic force generation detected by the current detecting means. A physical quantity proportional to an acceleration acting on the movable member is detected from a current flowing through an electric circuit of the means.

Further, there is provided a coil current detecting means for detecting a current flowing through the coil, and acts on the movable member from an induced electromotive force generated at both ends of the coil detected by the induced electromotive force detecting means. In addition to detecting a physical quantity proportional to a temporal change of acceleration, a physical quantity proportional to acceleration acting on the movable member is detected from a current flowing through the coil detected by the coil current detecting means.

In addition to the conventional control using position, speed and acceleration information, jerk speed information, which is a physical quantity reflecting the motion state of an object, is added to control the speed. In the acceleration control, the control effect can be further improved, for example, by actively changing the damping.

Since control is performed using jerk information,
Independent control of the aircraft's six degrees of freedom enables flight with completely separate attitude control and flight path. Conventional CCV (C
control Configured Vehicle
Abbreviation) can be further enhanced. For example, high-precision direct force control (abbreviation of direct force control), swing control (airplane pointin)
g control), transition control (airplan)
e translation control).

Since the main wing is also provided with a jerk sensor for detecting the torsional and bending moments of the main wing, the control surface is driven based on this signal to increase the damping of flutter reduction. Thus, the critical flutter mode, which has a significant effect on the airframe structure, can be artificially reduced by control to prevent flutter.

The system has a jerk sensor and a controller for controlling the motion of the vehicle. The output from the jerk sensor is input to the controller, and the motion of the vehicle is controlled by the controller. Instantaneous changes in the vehicle's limit range can be detected instantaneously, enabling control near the maximum value of the tire frictional force, and at the same time, behavior due to unexpected disturbances unintended by the driver. Instantaneous correction control can be performed for the change, and the occurrence of an excessive behavior change can be prevented.

The steering apparatus further includes a steering device, a means for detecting a steering angle, a jerk sensor for detecting at least a lateral jerk, and a controller for controlling the steering device. Means for inputting the output from the jerk sensor to the controller, controlling the steering device by the controller, detecting the moment when the vehicle starts to slide in the lateral direction, and controlling the steering angle device at the same time. Therefore, instantaneous correction control can be performed even for a behavior change, and occurrence of an excessive behavior change can be prevented.

A motor, means for detecting the output of the motor, a jerk sensor for detecting at least the jerk in the longitudinal direction of the vehicle, and a controller for controlling the motor, means for detecting the output of the motor And the output from the jerk sensor is input to the controller, and the prime mover is controlled by the controller, so the wheels driven by the prime mover start to spin and the moment the acceleration in the traveling direction decreases, or the maximum friction Because it is possible to detect the moment when the acceleration in the traveling direction exceeds the force, there is no need to apply a brake to the drive wheels, and the idling of the drive wheels at the time of starting and accelerating is reduced, effectively preventing the behavior change of the vehicle. Becomes possible.

A wheel braking device, means for detecting wheel braking force, jerk sensor for detecting at least longitudinal jerk, and a controller for controlling wheel braking force are provided. The means for detecting and the output from the jerk sensor are input to the controller, and since the wheel braking device is controlled by the controller, the wheels start to lock and the moment the deceleration in the traveling direction decreases, or Since it is possible to detect the moment when the deceleration in the traveling direction has exceeded the frictional force and reduce the wheel braking force before the wheel lock starts, reduce the lock of the wheel during braking,
It is possible to effectively prevent a change in the behavior of the vehicle.

The vehicle further includes a jerk sensor for detecting acceleration and jerk, and a controller for controlling the movement of the vehicle. The controller uses the jerk sensor to detect the acceleration and jerk information based on the acceleration and jerk information from the jerk sensor. Is controlled based on acceleration information in addition to jerk information, so that more sophisticated control can be performed.

The vehicle further includes a suspension, means for detecting a suspension state, a jerk sensor for detecting at least the acceleration and jerk in the vertical direction of the vehicle body, and a controller for controlling the suspension. An output of acceleration and jerk information from the sensor is input to the controller, a ride comfort evaluation function is obtained based on the acceleration and jerk information, and the suspension device is controlled by the controller based on the ride comfort function. The control will optimize ride comfort.

Further, an engine suspension, means for detecting an engine suspension state, a jerk sensor for detecting at least the vehicle vertical acceleration and jerk, and a controller for controlling the suspension are provided. An output of acceleration and jerk information from a sensor is input to the controller, a ride comfort evaluation function is obtained based on the acceleration and jerk information, and the engine suspension device is determined by the controller based on the ride comfort evaluation function. , So that the ride comfort is optimized.

In the elevator, the jerk information of the elevator car which directly affects the ride comfort of the occupant is directly detected and inputted to the controller to be used for the motor control command. As a result, the hoisting speed is fast, the hoisting can be realized in accordance with the passenger's sensibility, and the ride comfort optimization control can be performed.

In the case of a magnetically levitated vehicle, by using jerk information, a subtle change in acceleration can be detected, so that a magnetically levitated vehicle having a greater vibration reduction effect can be realized. Furthermore, since the sinking of the vehicle body, the change in posture, and the like can be positively controlled, the driving performance of the vehicle is improved.

Further, an engine, a jerk sensor for detecting acceleration and jerk at least in the direction of the engine roll, and an engine controller are provided, and the output of the acceleration and jerk information from the jerk sensor is provided. Since the misfire of the engine is input to the engine controller and detected based on the acceleration and jerk information, the misfire can be detected with high accuracy.

In the building damping system, a subtle change in acceleration can be detected by using jerk information, so that the hydraulic actuator can be controlled accurately and the vibration damping system having a greater vibration reduction effect. Can be realized.

In a railway vehicle, by using jerk information, a subtle change in acceleration can be detected, so that a railway vehicle having a greater vibration reduction effect can be realized. At the same time, the sinking of the vehicle body, the change in posture, and the like can be positively controlled, which leads to the realization of a vehicle that is difficult to derail. Further, by detecting the jerk in the traveling direction and controlling the brake, the adhesive performance can be improved. The jerk information can also be used to improve the starting and braking feeling.

Further, even in a stage requiring precise positioning (for example, an XY stage), a change in acceleration can be captured as information by using jerk information, so that responsiveness (responsiveness) and stability are improved. XY stay with excellent properties
Can be realized.

Further, as an example of a motion simulator, an acceleration simulator can also use acceleration / acceleration information to capture a change in acceleration as information, so that the earthquake simulator has excellent responsiveness and stability. Can be realized.

Also, in the building damping system, a subtle change in acceleration can be detected by using the jerk information, so that it is possible to realize a vibration damping device having a greater vibration reduction effect than conventional control. it can.

Also, by using the jerk information,
A manipulator (robot arm) having excellent responsiveness (responsiveness) and stability can be realized.

An output of jerk detecting means for detecting at least jerk of the object to be controlled is inputted, and a control performance evaluation function, an evaluation function, a riding comfort evaluation function, and a motion are calculated based on the jerk. The calculation result is output and the control performance of the control target object, the motion of the control target object, the riding comfort, the motion,
Since the vibration is evaluated, the performance, motion, ride comfort, and vibration of the controlled object can be analyzed.

Also, the output of jerk detecting means for detecting at least jerk of the movable part of the motion simulator is inputted, and the vibration of the movable part of the movement simulator is detected based on the jerk. The calculation results are output and the vibration of the movable part of the motion simulator is evaluated, so that the motion simulator can be evaluated.

An output of jerk detecting means for detecting at least jerk of an object by a controller is inputted,
Since the motion of the object is controlled, the control can be performed by adding the jerk information, and the control effect can be further improved.

A movable member having a coil, which is displaced in accordance with the generated acceleration, is disposed in the sensor, and the magnet is placed at a position where a force is generated in the movable member when an electric current flows through the coil. And a displacement detector for detecting a displacement of the movable member from a reference position is provided.
The displacement of the movable member is converted into an electric signal and sent to a servo amplifier. The servo amplifier amplifies the electric signal received from the displacement detector and sends it to the coil of the movable member as a feedback current. And the torque generated by the magnetic field of the magnet keeps the movable member at the zero position, and the generated voltage is taken out as a sensor output, so that the amount of feedback current flowing through the coil at this time depends on the acceleration applied to the movable member. Shows a physical quantity that is exactly proportional to At this time, the voltage across the coil indicates a physical quantity proportional to the differential value of the feedback current according to the law of electromagnetic induction. Accordingly, by detecting this voltage, a physical value proportional to the differential value of the feedback current, that is, the differential value (jerk speed) of the acceleration applied to the movable member can be detected with high accuracy. If the current value at this time is detected, the acceleration can be detected at the same time.

A movable member having a coil, which is displaced in accordance with the generated angular acceleration, is disposed in the sensor, and the magnet is located at a position where a force is generated in the movable member when an electric current is applied to the coil. Is provided, and an angular displacement detector for detecting an angular displacement of the movable member from the reference position is provided. The angular displacement detector converts the movable member angular displacement into an electric signal and sends the signal to a servo amplifier. Amplify the electric signal received from the displacement detector and send it to the coil of the movable member as a feedback current, so that the feedback current from the servo amplifier flowing through the coil and the torque generated by the magnetic field of the magnet keep the movable member at the zero position. Since this generated voltage is taken out as a sensor output,
At this time, the amount of feedback current flowing through the coil indicates a physical quantity that is accurately proportional to the angular acceleration applied to the movable member.
At this time, the voltage across the coil indicates a physical quantity proportional to the differential value of the feedback current according to the law of electromagnetic induction. Therefore, by detecting this voltage, a physical value proportional to the differential value of the feedback current, that is, the differential value (angular jerk) of the angular acceleration applied to the movable member can be detected with high accuracy. If the current value at this time is detected, the angular acceleration can be detected at the same time.

[0100]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is an overall configuration diagram showing the concept of a motion control system using jerk information, FIG. 2 is an overall configuration diagram of a jerk sensor, FIG. 3 is a diagram showing a balanced state when acceleration acts, FIG. 4 is an explanatory diagram of a circuit equation of the coil, FIG. 5 is an explanatory diagram of a circuit equation of the coil having an internal resistance, FIG. 6 is a circuit configuration diagram of a signal processing portion, and FIG. FIG. 8 is a diagram showing a jerk detection method using an analog circuit, FIG. 9 is a diagram showing a jerk detection method using a digital circuit, and FIG. 10 is the output of a jerk sensor and the derivative of acceleration. FIG. 11 is a diagram showing a configuration for obtaining jerk information by a jerk sensor, FIG. 12 is a diagram showing a configuration for obtaining jerk information by an acceleration sensor and differentiating means, FIG. 13 shows a motion model of a motion control system using jerk information. Is a diagram illustrating a.

As shown in FIG. 1, the motion control system according to the present embodiment includes a jerk detecting device 51 fixed to an object 50 for detecting the jerk of the object 50, and a control device for controlling the motion of the object 50. And an actuator 53 for generating a force acting on the object. Controller 5
2 inputs the jerk information detected by the jerk detecting device 51, and controls the movement of the object 50 by using the actuator 53 by the output from the controller 52.

The jerk sensor constituting the jerk detecting device 51 is, as shown in FIG.
3, a coil 3 fixed to the pendulum 1, a movable electrode 41 attached to the other end of the pendulum 1 in the direction of movement, and a magnet 2. Attached casing 10 and casing 1
0, a fixed electrode 42 formed so as to face the movable electrode 41, a pendulum displacement detector 40 for detecting a displacement of the pendulum 1 from a balanced position, and a pendulum displacement detector 40 connected in series to an output side thereof. It comprises a servo amplifier 5 wired so that its output side is connected to one side of the coil 3, and a reading resistor 6 wired so that one side is grounded and the other side is connected to the other side of the coil 3. ing. Then, the detected jerk information is configured to be extracted as a terminal voltage of the coil 3 as shown in FIG.

As described above, since the pendulum 1 is configured to perform one-degree-of-freedom movement (horizontal direction on the paper), this direction is the sensor sensitivity direction. The movable electrodes 41 arranged on both sides of the pendulum 1 and the fixed electrodes 42 fixed to the casing 10 form two sets of plate capacitors. The capacitance C of the flat plate capacitor is inversely proportional to the size of the gap as shown in Expression 1.

[0104]

(Equation 1)

Here, ε is the dielectric constant of air, S is the area of the electrode, and d is the gap size. Therefore, the displacement of the pendulum 1 can be detected by detecting the difference ΔC between the capacitances of the two sets of capacitors formed by the movable electrode 41 and the fixed electrode 42 by the pendulum displacement detector 40.

A coil 3 is arranged on the pendulum 1. When a current flows through the coil 3, a magnetic flux is generated, and a force is applied by a magnetic field generated by the magnet 2 fixed to the casing 10. Therefore, the coil is set so that the difference ΔC in capacitance between the two sets of capacitors detected by the above-described pendulum displacement detector 40 by the servo amplifier 5 becomes ΔC = 0, that is, the size of the upper and lower gaps becomes equal. By performing feedback control on the current flowing through 3, the position of the pendulum 1 can be kept at a balanced position regardless of the magnitude of the external force.

Here, it is assumed that the jerk sensor is fixed to an object 50 which is moving. As shown in FIG. 3, at time t, leftward (sensor sensitivity direction)
If the acceleration α (t) acts on the entire sensor from
Assuming that the mass of the pendulum 1 is M, the pendulum 1 has a rightward direction F (t).
= M · α (t) inertia force acts. Considering the equation of motion for the pendulum 1, Equation 2 is obtained.

[0108]

(Equation 2)

Here, M is the mass of the pendulum 1, x (t) is the displacement of the pendulum 1 from the balance position at time t, F (t) is the inertial force acting on the pendulum 1, and f (t) is the position feedback. Control force. Since the control force f (t) is proportional to the current I (t) flowing through the coil 3, Equations 3 and 4 hold.

[0110]

(Equation 3)

[0111]

(Equation 4)

Here, φ is the electromagnetic linkage coefficient, and r is the coil 3
, B is the magnetic flux density of the magnet 2 and N is the number of turns of the coil 3.

If the control force f (t) is made to follow the momentarily fluctuating F (t) so that the pendulum 1 is at the equilibrium position, the left side of Equation 2 becomes zero, and as a result, Equation 5 Holds.

[0114]

(Equation 5)

Therefore, the acceleration acting on the entire jerk sensor is given by the following equation (6), and can be detected by measuring the value of the current flowing through the coil.

[0116]

(Equation 6)

On the other hand, when the jerk acting on the entire jerk sensor is η (t), the following equation (7) is obtained.

[0118]

(Equation 7)

Now, as shown in FIG. 4, when a circuit equation is established for the current flowing through the coil 3, Equation 8 is obtained.

[0120]

(Equation 8)

Here, L is the inductance of the coil. Therefore, jerk η (t) acting on the jerk sensor as a whole
Is given by Expression 9, and can be measured by detecting the terminal voltage at both ends of the coil 3.

[0122]

(Equation 9)

Since the jerk sensor of the first example shown in FIG. 2 is constructed as described above, the pendulum 1 is displaced when acceleration is applied along the direction of movement of the pendulum 1, and this displacement is detected. The signal is detected as a voltage signal by the detector 40 and amplified by the servo amplifier 5. Further, the servo amplifier 5 converts this voltage signal into a current command. This current flows through the coil 3 attached to the pendulum 1 and a force is generated between the coil 2 and the magnet 2. The current continues to flow so that the output of the displacement detector 40 becomes 0, that is, the pendulum 1 is in the equilibrium position. . As described above, the value of the current flowing through the coil 3 at this time follows proportionally to the applied acceleration, and the voltage at both ends of the coil 3 becomes a value that follows proportionally to the differential value of the current, that is, the jerk.

FIG. 5 shows a method for detecting jerk information when the coil 3 includes the internal resistance R. When a circuit equation is created for the circuit as shown in FIG.

[0125]

(Equation 10)

Here, e is the voltage across the coil 3, R is the internal resistance of the coil 3, and L is the inductance of the coil. Assuming that all the current flowing through the coil 3 flows through the reading resistor 6 as shown in FIG.

[0127]

[Equation 11]

Here, er is the voltage across the reading resistor 6 and r is the internal resistance of the reading resistor 6. Therefore, similarly to the case shown in FIG. 4, the jerk acting on the jerk sensor is obtained by measuring the voltage across the coil 3 and the voltage across the reading resistor 6 as shown in Expression 12. Can be detected.

[0129]

(Equation 12)

FIG. 6 shows a configuration in which the signal processing portion of the jerk sensor represented by Expression 11 is formed using an operational amplifier. With such a configuration, the jerk acting on the jerk sensor can be detected even when the resistance of the coil 3 cannot be ignored.

FIG. 7 is a diagram showing the overall configuration of a jerk sensor as a second example. The jerk sensor has the same configuration as that of the jerk sensor shown in FIG.
, A magnet 12 fixed to the pendulum 11, a movable electrode 141, a casing 10, a coil 130 fixed to the casing 10, a fixed electrode 142, and a pendulum displacement detection for detecting a displacement of the pendulum from a balanced position. It comprises a device 140, a servo amplifier 15, and a reading resistor 16. That is, the coil 130 is provided on the case 10 side, and the magnet 12 is provided on the pendulum 11 side. In this case as well, as in the jerk sensor shown in FIG.
As shown in FIG.

As can be seen from the above description, in the jerk sensor shown in FIG. 2 or FIG.
Reference numeral 12 may be a permanent magnet or an electromagnet having a constant magnetic flux density. Further, in the present embodiment, the method using the difference between the capacitances of the pendulum and the casing for detecting the displacement of the pendulum has been described. However, the present invention is not limited to this. Alternatively, a method such as optical detection using a light receiving element or the like may be used.

As can be seen from Equations 8 and 12, the material and the structural characteristics (Young's modulus, sectional moment, etc.) of the pendulum 1 do not need to be taken into account. Become.

Further, since Expression 13 is established from Expression 6 and Expression 11, the terminal voltage er of the read resistors 6 and 16 is obtained.
Is a value proportional to the current, that is, the acceleration.

[0135]

(Equation 13)

As described above, the jerk sensor of this embodiment can detect acceleration and jerk simultaneously.

In the above jerk sensor, the detection direction is limited to one axis.
If it is necessary to detect jerks in multiple axes and to reduce the number of parts and cost, a multiaxial jerk sensor can be realized using the following method. A magnet or a pendulum having a coil capable of being displaced in the multiaxial direction in accordance with the acceleration in the multiaxial direction is used, and a force in each axial direction is generated independently on the magnet or the coil of the pendulum. A coil or magnet for the axial direction is provided at an appropriate position, and a displacement detector that independently detects the axial displacement from the reference position of the pendulum and a current detector that controls the current flowing through the coil in each axial direction. Providing a servo amplifier,
The current flowing through the coil in each axial direction such that the displacement in each axial direction of the movable member in each axial direction caused by the acceleration acting on the pendulum in each axial direction detected by the displacement detector in each axial direction becomes zero. Are controlled by servo amplifiers in each axis direction,
At this time, the jerk in each axial direction acting on the pendulum may be detected from the induced electromotive force generated at both ends of the coil in each axial direction detected by the induced electromotive force detector in each axial direction.

8 and 9, the jerk detecting device 51
Another example will be described. As shown in FIG. 8, the jerk detecting device 51 can be constituted by using an acceleration sensor and an analog differentiating circuit. By adding an analog differentiating means (filter) to a general acceleration sensor, the jerk is detected. Can be detected. FIG. 9 shows still another example of the jerk detecting device 51 used in the present embodiment, which is configured using an acceleration sensor and a digital differentiating circuit.
That is, a general acceleration sensor can be converted into a digital signal via an A / D converter, and jerk information can be obtained by digital processing. Thus, jerk differential information can be used as the first-order differential circuit output of the jerk sensor output.

FIG. 10 shows an example of comparison between the acceleration detected by the jerk sensor of the present embodiment shown in FIGS. 2 and 7 and the output of an analog differential circuit of jerk and acceleration. 10A shows the acceleration output detected by the jerk sensor of the present embodiment, FIG. 10B shows the output after passing the acceleration output shown in FIG. 10A through an analog differentiating circuit, and FIG. 4 shows jerk output detected by the jerk sensor of the present embodiment. The acceleration analog differential output shown in (c) and the jerk output detected by the jerk sensor of this embodiment are both differential outputs of the acceleration shown in (a), and match very well. You can see that it is.

FIGS. 11 and 12 are diagrams showing the difference between the acceleration and jerk information detection methods including the controller 52, respectively. FIG. 11 shows the jerk sensor by the jerk sensor of this embodiment. FIG. 12 is a diagram showing a configuration for obtaining information. FIG. 12 shows a configuration in which a differentiating means is provided inside the acceleration sensor and the controller 52 and digital arithmetic processing jerk information is obtained by the differentiating means as shown in FIG. ing. In the method shown in FIG. 11, jerk speed information and acceleration information can be directly obtained, but input ports 521 and 522 and A / D converters 524 and 524 are provided.
In contrast to the method shown in FIG. 12, the input port 523 and the A / D converter 526 need only be one set, but a certain number of calculations are required to obtain jerk information. 5
27 is required. From the above, when actually applying, any one of the methods may be used according to the hardware configuration, the operation speed of the controller 52, and the required detection accuracy.

Now, in the exercise control system using jerk information shown in FIG.
As shown in FIG. 12, a motion model in which the object 50 is restrained by the damper element 55 and the spring element 56 on the virtual fixed surface 54 is considered.

As shown in FIG. 12, the mass of the object is M, the displacement of the object is x, and the force generated by the actuator 53 is Fc.
(T), assuming that the external force acting on the object 50 is fg (t), the viscous damping constant of the damper element 55 is C, and the spring constant of the spring element 56 is K, the object 50 moves in accordance with the equation of motion shown in Equation 14 below. I do.

[0143]

[Equation 14]

FIG. 13 is a block diagram showing a case where the control rule of the controller 52 is given by a transfer function as shown in Expression 15 in consideration of the position control using the motion model shown in FIG.

[0145]

(Equation 15)

Here, K2, K3, and K4 represent feedback gain constants of acceleration, speed, and displacement, respectively.
When the transfer function between the external force and the displacement is obtained from this block diagram, the transfer function is represented by Expression 16.

[0147]

(Equation 16)

As can be seen from Expression 16, the acceleration field
The feedback has the function of actively increasing the mass in the position control, the velocity feedback has the function of actively increasing the damping in the position control, and the position feedback has the active rigidity in the position control. There is a function to increase. Thus, it can be seen that the motion characteristics can be freely changed by selecting the three gain constants.

Next, speed control in the motion model shown in FIG. 12 will be considered. Equation 17 is obtained by differentiating both sides of Equation 14 with time t.

[0150]

[Equation 17]

Expression 17 is obtained by replacing Expression 17 with Expression 18.

[0152]

(Equation 18)

[0153]

[Equation 19]

FIG. 14 is a block diagram showing a case where the control law of the controller 52 is given by a transfer function as shown in Expression 20.

[0155]

(Equation 20)

Here, K1, K2, and K3 represent the jerk, the acceleration, and the feedback gain constant of the speed, respectively. When the transfer function between the external force and the speed is obtained from this block diagram, Expression 21 is obtained.

[0157]

(Equation 21)

As can be seen from Equation 21, jerk feedback has the function of actively increasing the mass in speed control, and acceleration feedback has the function of actively increasing the damping in speed control. In addition, speed feedback has the function of actively increasing the rigidity in speed control. Thus, it can be seen that the motion characteristics can be freely changed by selecting the three gain constants.

Next, consider acceleration control in the motion model shown in FIG. Expression 22 is obtained by differentiating both sides of Expression 20 with time t.

[0160]

(Equation 22)

Expression 24 is obtained by substituting Expression 22 with Expression 23.

[0162]

(Equation 23)

[0163]

(Equation 24)

FIG. 15 is a block diagram showing a case where the control law of the controller 52 is given by a transfer function such as the following equation (25).

[0165]

(Equation 25)

Here, K0, K1, and K2 represent feedback gain constants of jerk differential, jerk and acceleration, respectively. When the transfer function between the external force and the acceleration is obtained from this block diagram, the transfer function is represented by Expression 26.

[0167]

(Equation 26)

As can be seen from Equation 26, jerk differential feedback has the function of actively increasing the mass in acceleration control, and jerk feedback provides active damping in acceleration control. The acceleration feedback has the function of actively increasing the rigidity in the acceleration control. Thus, it can be seen that the motion characteristics can be freely changed by selecting the three gain constants.

In the above, the respective motion control of the position, speed and acceleration has been described. In addition to the conventional control using the position, speed and acceleration information, a new physical quantity which reflects the motion state of the object is added. By adding the speed information, the control effect can be further improved, such as actively changing the mass in the speed control and actively changing the damping in the acceleration control.

FIGS. 17 to 30 show a second embodiment of the present invention.
This will be described below. FIG. 17 is a diagram showing the overall configuration of a motion control system used for motion control of an automobile, which is one type of vehicle.
8 is an explanatory diagram of an example of performing vehicle control at the time of running at the limit, FIG. 19 is a diagram illustrating a state in which side slip of the vehicle is detected,
FIG. 20 is a diagram showing a change in vehicle behavior using lateral jerk information of the vehicle. FIG. 21 is a rotational motion of the vehicle based on the yaw rate information of the vehicle, the lateral acceleration of the vehicle, and jerk information. FIG. 22 is a diagram showing a comparison of the suppression methods, FIG. 22 is a diagram showing a comparison of the revolving motion suppression method of the vehicle based on the yaw rate information of the vehicle and the lateral acceleration and jerk information of the vehicle, and FIG. FIG. 24 is a diagram showing a method for detecting wheel idling at the time.
FIG. 25 is a diagram showing a method of detecting wheel lock during braking, FIG.
FIG. 4 is a perspective view showing a state where a jerk sensor having six degrees of freedom is attached.

FIG. 17 is a diagram showing the overall configuration of a motion control system in the case where jerk information is applied to motion control of an automobile, which is one type of vehicle. As shown in FIG.
Numeral 0 denotes a four-wheel steered vehicle, which mainly has an engine 101
(Including mission system), each wheel 102, brake 103 of each wheel, steering 104, steering 104
Steering angle sensor 105, accelerator 106, brake 10
7, rear wheel steering motor 108, brake hydraulic control unit 10
9, controller 110, lateral jerk detecting device 11
2 and a longitudinal jerk detecting device 111. The lateral jerk detecting device 112 and the longitudinal jerk detecting device 111 are each configured as shown in FIG. 2 to FIG. 9 or FIG. 11, and detect acceleration other than jerk in the detection direction. can do.

During normal driving, the vehicle 100 operates the steering wheel 104, the accelerator 106, or the brake 107 in the same manner as a general vehicle, so that the four wheels are steered and the rotation of the engine changes. An operation such as application of a brake is performed. In the vicinity of the limit area of the vehicle motion, the controller 110 controls the rear wheel steering motor 108, the engine 101, and the brake oil pressure control unit 109 based on the lateral and longitudinal jerk information.
, The kinetic performance of the vehicle can be improved.

As shown in FIG. 18, which illustrates an example in which vehicle control is performed based on jerk information when the behavior of the vehicle 100 changes at the time of running at the limit, the vehicle 100 is turning in a steady state. Focusing on the movement of the vehicle 100 in the direction of the turning center, the balance of the force is maintained between the centrifugal force M · α and the road surface reaction force F. If the behavior of the vehicle 100 changes due to a sudden change in the road surface condition or the like in this state, the balance of the force is broken.

In the conventional vehicle motion control, it is impossible to detect a breaking point (limit region) of the force balance, and therefore, control is performed only in a region much lower than the limit region. Conventionally, ABS (Anti-Lock Br) is included in a competition vehicle driven by a skilled driver.
aking System), TCS (Tact
ion Control System), 4WS
It can be easily inferred from the fact that a vehicle motion control device such as (4 Wheel System) is not used.
As information that the driver can detect and recognize besides visual information,
Acceleration and jerk. Among them, the breakdown of the force balance as described above can be detected by detecting the instantaneous change of the acceleration, that is, the jerk. Therefore, by using the acceleration information and the jerk information, a more sophisticated vehicle motion control can be performed.

As shown in FIG. 19, which illustrates a method for detecting a skid of a vehicle on the basis of lateral jerk information, a road assumed as a target of the detection method is a gentle clockwise course. However, at this time, if the drainage channel crosses the road at the point (a) shown in FIG. 19, the contact area and the friction coefficient change instantaneously in this drainage channel. FIG. 19 shows the steering angle, the steering angular velocity, the vehicle lateral acceleration, and the vehicle lateral jerk when the vehicle 100 travels on such a course. Since the cornering force acting on the tires of the wheels 102 of the vehicle 100 generally increases in proportion to the steering angle, when the steering angle is constant (that is, the steering angular velocity is zero), the turning force is increased. Centrifugal force and cornering force
The balance is maintained as long as the road condition does not change. Now, when passing through the drainage point (a), the vehicle 100 skids for a moment. As a result, the lateral acceleration of the vehicle 100 decreases momentarily despite the constant steering angle (steering angular velocity is zero), and a large leftward jerk in the lateral jerk of the vehicle 100 is detected. become. Therefore, the steering angular velocity and the lateral jerk of the vehicle 100 are detected, and the moment at which the vehicle 100 starts to slip is detected by detecting the lateral jerk of the vehicle 100 with respect to the increase in the steering angle. Can be.

FIG. 20 shows an example in which a remarkable steering is applied by the steering mechanism 108 of the rear wheel 102 based on the lateral jerk information of the vehicle 100 to prevent a remarkable change in the behavior of the vehicle 100. Steering angular velocity and vehicle 1
By feeding back the lateral jerk information at 00 and turning the rear wheels 102c and 102d slightly in the front wheel steering direction, an excessive change in behavior can be prevented.

FIG. 21 shows a method of suppressing the rotation of the vehicle 100 based on the yaw rate information of the vehicle 100, and a method of controlling the vehicle 100 based on the lateral acceleration of the vehicle 100 and the lateral jerk information of the vehicle 100. The method for suppressing the rotational movement of is shown in comparison. FIG. 21 illustrates the suppression of the rotational movement when the vehicle 100 starts rotating clockwise as the vehicle 100 progresses from the lower side to the upper side in the drawing, and is controlled by the above-described methods. .

[0178] The yaw rate of the vehicle 100 is controlled by the controller 1.
10 so as to generate a control force (or torque) in a direction opposite to the yaw rate of the vehicle 100 (this case is also referred to as negative).
By slightly turning 02d rightward, a counterclockwise control force can be generated, and rotation can be suppressed.

Similarly, when the vehicle 100 starts rotating clockwise, the vehicle 100 generates a leftward lateral jerk and acceleration. The lateral acceleration of the vehicle 100, the vehicle 1
00 is input to the controller 110 to generate a control force (torque) in a direction opposite to the lateral acceleration of the vehicle 100 (to the right). By appropriately adjusting each feedback gain so as to generate a control force (torque) in the same direction as the two speeds (to the left), the rear wheels 102c and 102d are slightly steered rightward and counterclockwise. A rotation control force can be generated, and the rotation can be suppressed in the same manner as the method of suppressing the rotation of the vehicle 100 based on the yaw rate information.

FIG. 22 shows the motion of the vehicle 100 when the orbital motion (normal turning motion) is performed in a state where the control for suppressing the rotational motion of the vehicle 100 based on the yaw rate information of the vehicle 100 is working. The lateral acceleration of the vehicle 100,
The motion of the vehicle 100 when performing a revolving motion (normal turning motion) in a state in which the control for suppressing the rotation motion of the vehicle based on the lateral jerk information of the vehicle 100 is working is shown in comparison. FIG. 21 shows the motion of the vehicle 100 when each control is performed when the vehicle 100 advances into the clockwise curve.

As in the case shown in FIG. 21, in the control based on the yaw rate information, the yaw rate of the vehicle 100 is input to the controller 110, and the control is performed in the direction opposite to the yaw rate of the vehicle 100. (Negative) control force (torque)
The steering control is performed to generate the steering. Now, the driver steers the steering wheel 104 rightward to enter the clockwise curve. As a result, a clockwise yaw rate occurs in the vehicle 100. On the other hand, when the control is executed, a counterclockwise control force is generated, and the clockwise rotation is suppressed. When the driver further increases the steering 10
Even if the curve is to be turned by increasing the steering angle of No. 4, as soon as the clockwise yaw rate occurs, a counterclockwise control force is generated and the clockwise rotational movement is suppressed. . Thus, in the control using the yaw rate information, the yaw rate generated by the operation of the driver is also suppressed,
From the viewpoint of the driver, the vehicle does not follow the turning movement with respect to the steering angle. As described above, in the control of suppressing the rotational motion using the yaw rate information, control aiming at promoting the revolving motion (normal turning motion) cannot be realized, and the control using the yaw rate information and the control of the rotational motion cannot be realized. Compatibility with control is impossible.

On the other hand, the lateral acceleration of the vehicle 100 and the jerk information of the vehicle 100 in the lateral direction are input to the controller 110, and the information is input in the direction opposite to the lateral acceleration of the vehicle 100 (negative). ) Generate control force (torque)
In a case where control is performed such that a control force (torque) is generated (positively) in the same direction as the lateral jerk of the vehicle 100, the driver operates the steering wheel 104 at each stage of cornering, The movement of the vehicle 100;
The control contents resulting therefrom will be described. At the entrance of the curve, the driver operates the steering wheel 104 to the right. As a result, the vehicle 100 starts turning, and the centripetal force acts in the direction of the center of rotation, so that a jerk and acceleration in the right direction are generated in the vehicle 100. In this case, since a certain value of acceleration is generated from zero acceleration, the jerk has a large value as its change rate. Therefore, the control force is the right
The control force acts on the inside of the vehicle, and the vehicle 100 starts cornering promptly.

Next, during cornering, the centripetal force and the centrifugal force are balanced and a stable state is achieved. At this time, the lateral acceleration detected by the vehicle 100 is stable, and the jerk, which is the rate of change, approaches zero. Therefore, the control force acts on the left side, that is, in a direction that suppresses the occurrence of excessive clockwise yawing of the vehicle, thereby improving the stability of the vehicle 100.
Finally, at the exit of the curve, the driver operates the steering wheel 104 which has been turned to the right to the neutral position. As a result, the vehicle 100 finishes turning, the centripetal force acting in the direction of the rotation center decreases, the acceleration in the right direction of the vehicle 100 decreases, and a negative jerk on the right side, that is, a positive jerk occurs in the left direction. . Also in this case, since the acceleration decreases from a certain value to zero, the jerk has a large value. Therefore, as the control force, the control force acts on the left side, that is, outside the curve, and the vehicle 1
00 ends the cornering promptly. This series of
Knurling is an out-in-out (i.e., approaching from the outside of the corner, quickly approaching the inside of the corner, quickly turning the corner, Method to escape to the outside) has been realized. As a result, the lateral acceleration of the vehicle 100 and the vehicle 10
The lateral jerk information of 0 is input to the controller 110, and a control force (torque) is generated (negatively) in the direction opposite to the lateral acceleration of the vehicle 100, and the lateral acceleration of the vehicle 100 is generated. By appropriately adjusting each feedback gain so as to generate a control force (torque) in the same direction (positive) as the speed, control of the rotation movement and promotion of the revolving movement (normal turning movement) are achieved. The desired control can be achieved at the same time.

The lateral control force generation method includes controlling the front-rear, left-right balance of the brake 103 and the front-rear, left-right balance of the driving force by the tire 102 in addition to the four-wheel steering. May be.

FIG. 23 shows the wheels at the time of start / acceleration of the vehicle 100 based on the jerk information of the vehicle 100 in the front-back direction.
In particular, a method for detecting idling of drive wheels will be described. FIG. 23 shows a case where the road is a straight course and the drainage channel crosses the road at the point (a). In this drainage channel, the contact area and the friction coefficient change momentarily. . FIG.
The accelerator opening, the accelerator speed, the driving wheel speed, the longitudinal acceleration of the vehicle 100, and the jerk of the vehicle 100 when the vehicle 100 accelerates on such a course are shown. Since the traction force acting on the tires of the wheels 102 of the vehicle 100 generally increases in proportion to the engine torque, when the accelerator opening is not zero, the traction force generated when the tires are driven by the engine 101 is equal to the traction force. The road reaction force remains balanced as long as the road conditions do not change. However, when passing through the drainage point (a) as described above, the drive wheels start idling (also called wheel spin). At this time, the acceleration in the front-rear direction of the vehicle 100 decreases for a moment even though the accelerator opening is positive, and a large backward backward jerk of the vehicle 100 can be detected.

Therefore, by detecting the accelerator speed and detecting the jerk of the vehicle 100 in the front-rear direction with respect to the change in the accelerator opening, it is possible to detect the moment when the drive wheel starts to slide. As a result, the controller 110
To reduce the output of the engine 101 based on the jerk information of the vehicle 100 in the front-rear direction.
It is possible to reduce the idling of 102d and prevent a significant change in the behavior of the vehicle 100. On the other hand, in the drive wheel anti-spinning device that has been conventionally proposed, since it is determined that the idling has started when the rotation speed of the drive wheel increases with respect to the rotation speed of the driven wheel, the detection of the drive wheel idling is delayed. In addition, due to the moment of inertia of the wheel 100, once idling is started, the idling does not easily stop, and it is necessary to apply a brake to the drive wheels, or to prevent a significant change in the behavior of the vehicle 100. It was difficult to achieve.

As described above, in this embodiment, the jerk information of the vehicle 100 in the front-rear direction is used.
Since it is possible to detect the moment when c and 102d start idling or the moment when the maximum frictional force is exceeded, the driving wheels 102c and 102d
The torque of the engine 101 can be reduced by the controller 110 before the idling of 2d starts, and the driving wheel 1
Start without having to brake 02c and 102d
Reduce idling of the driving wheels 102c and 102d during acceleration,
It is possible to effectively prevent the behavior change of the vehicle 100.

Further, as shown in FIG. 24, it is also possible to detect wheel lock during deceleration of the vehicle 100 based on jerk information of the vehicle 100 in the front-rear direction. In FIG.
Assuming a straight course road, the drainage channel crosses the road at the point (a), and the case where the contact area and the friction coefficient change momentarily in this drainage channel is shown. FIG. 24 shows the brake hydraulic pressure when the vehicle 100 is decelerated on such a course, the fluctuation of the brake hydraulic pressure, the rotational speed of the wheel 102, the longitudinal acceleration of the vehicle 100, and the longitudinal method of the vehicle 100. The respective speeds are shown. Wheel 102 of vehicle 100
In general, when the brake oil pressure is not zero, the deceleration force and the road surface reaction force generated by the tire braking by the brake 107 vary depending on the road surface condition. Unless they are balanced. However, when passing through the drainage point (a) as described above, the drive wheels are locked (at this time, the wheels 102
Rotation speed is zero). At this time, even though the brake oil pressure is not zero, the deceleration of the vehicle 100 is momentarily reduced, and a large forward jerk in the longitudinal jerk of the vehicle 100 can be detected.

Therefore, the moment when the wheel 102 starts to lock can be detected by detecting the fluctuation of the brake oil pressure and detecting the jerk in the longitudinal direction of the vehicle 100 in response to the change of the brake oil pressure. Therefore, the controller 110 controls the brake hydraulic pressure control unit 109 based on the jerk information of the vehicle 100 in the front-rear direction, thereby reducing the brake hydraulic pressure, reducing the lock of the wheels, and preventing the vehicle behavior change. In the conventional wheel lock prevention device found in the ABS, when the rotation speed of the wheel is extremely reduced with respect to the estimated vehicle speed estimated from the rotation speed of the driven wheel, it is determined that the wheel is locked. High-precision control could not be performed due to slow detection or insufficient accuracy of the estimated vehicle speed, and it could not be said that tire performance was fully used. On the other hand, in the present embodiment, the jerk information in the front-back direction of the vehicle 100 is used.
Alternatively, since the moment when the maximum friction force is exceeded can be detected,
In order to reduce the brake oil pressure before the locking of the wheel 102 starts, the locking of the wheel 102 during braking is reduced,
It is possible to effectively prevent the behavior change of the vehicle 100.

As described above, various controls using the jerk information in the front-rear direction and the left-right direction of the vehicle 100 have been described using three examples. Since there are six degrees of freedom movements of translational movement and three rotational movements of rolling, yawing, and pitching, as shown in FIG. 25, six jerk detectors are arranged so as to be able to detect six degrees of freedom movement. Alternatively, the jerk information of each degree of freedom may be detected using the output value of each detecting means.

As described above, the vehicle 1 using the jerk information
When the motion control of 00 is performed, the instantaneous change in the force acting on the vehicle 100 can be detected, so that the behavior change in the limit area of the vehicle can be instantaneously detected, and the control can be performed near the maximum value of the tire frictional force. Becomes At the same time, by comparing the information with the driving operation information, it is possible to instantaneously perform correction control even for a behavior change due to an unexpected disturbance that is not intended by the driver, and there is an effect that an excessive behavior change can be prevented from occurring. .

In the three examples described above, vehicle motion control using only jerk information and driving operation information has been described. Needless to say, further high-performance and high-accuracy control is possible using jerk information.

FIGS. 26 to 30 show a third embodiment of the present invention.
This will be described below. 26 is a diagram illustrating the overall configuration when controlling the ride comfort of the vehicle, FIG. 27 is a diagram illustrating the configuration when the vehicle body vibration due to engine vibration is reduced, FIG. 28 is a diagram illustrating the detection of engine misfire, and FIG. FIG. 30 is a diagram showing engine vibration when a misfire occurs.

As shown in FIG. 26, the vehicle 30 of this embodiment
Reference numeral 0 denotes a vehicle having the variable suspension mechanisms 301a and 301b, and the other configuration is the same as that shown in FIG. In the vehicle 300, a plurality of jerk detecting devices (FIG. 26 shows a case where only two of the jerk detecting devices 302a and 302b are mounted, but the present invention is not limited to this.
Further, in some cases, the number may be one. ) Is attached and i
The acceleration output of the second jerk detecting device is Gi, and the jerk output is Ji.
Define s.

[0195]

[Equation 27]

Here, di and ei are weighting constants for the acceleration and jerk information at the i-th observation point, respectively, and are selected according to the sensitivity of the driver and the passenger.
Is designed to work.

By controlling the suspension mechanisms 301a and 301b so as to minimize the ride comfort evaluation function Ψs, it is possible to match the vibration characteristics of the vehicle 300 with the sensibility of the driver and the passenger, and to optimize the ride comfort. Control. Further, the evaluation function Ψs is not limited to Expression 27, and may be replaced by an arbitrary function that is well matched to the driver and the passenger's sensibility.

Here, the controller 303 has a function of controlling the suspension mechanisms 301a and 301b, and the controller 303 as a single unit determines a riding comfort evaluation function from acceleration and jerk information at each observation point of the vehicle 300. By providing a function of calculating and outputting the calculation result, the device can be used as an evaluation test device for evaluating the riding comfort of a vehicle.

Further, in addition to the structure shown in FIG. 26, a jerk detecting device for the longitudinal and lateral directions of the vehicle body 300 is provided, and the controller 303 is controlled according to the jerk of the vehicle body 300 in the longitudinal and lateral directions. By suspension mechanism 3
By controlling 01a and 301b, it can be used to improve vehicle dynamics.

FIG. 27 is a diagram showing an overall configuration of an embodiment in which vehicle body vibration caused by engine vibration is more effectively reduced using jerk information. In this case, the vehicle is a vehicle having the variable engine mount mechanisms 402a and 402b. Now, a plurality of jerk detecting devices (403a, 404a,
FIG. 4B shows a case in which only three of them are attached.
The present invention is not limited to this, and may be one in some cases. ) Is attached, the acceleration output of the ith jerk detecting device is Gi, and the jerk output is Ji, and the riding comfort evaluation function Ψm is defined as in Expression 28 as in Expression 27.

[0201]

[Equation 28]

Here, dj and ej are weighting constants for the acceleration and jerk information at the j-th observation point, respectively, and are tuned according to the sensitivity of the driver and the passenger.
Is designed to work.

By controlling the variable engine mount mechanisms 402a and 402b so as to minimize the ride comfort evaluation function Ψm, it is possible to match the vibration characteristics of the vehicle with the sensibility of the driver and the passenger, thereby improving the ride comfort. Optimization control can be performed.

The evaluation function is not limited to the expression 28, but adds engine rotation information and the like corresponding to a combustion frequency closely related to engine vibration, and further enhances the sensitivity of the driver and the passenger. Any matched function may be substituted. Further, in FIG. 27, the jerk detecting device is installed so as to be able to detect vibrations of the engine, the steering and the seat, but the invention is not limited to this.

Here, the controller 407 has a function of controlling the variable engine mount mechanisms 402a and 402b. The controller 407 alone has a riding comfort evaluation function based on acceleration and jerk information at each observation point of the vehicle. Is calculated, and a function of outputting the calculation result is provided, so that it can be used as an evaluation test device for evaluating the riding comfort of the vehicle.

FIG. 28 is a diagram showing an embodiment in which jerk information is applied to engine misfire detection. Since the engine 401 is intermittently burning, a torque fluctuation synchronous with the combustion occurs. The reaction of the torque fluctuation causes engine vibration, and this vibration is transmitted to the vehicle body via the engine mount 402 and causes vibration of the entire vehicle. Here, paying attention to the vibration of the engine 401,
Numeral 1 is forcibly excited by torque fluctuation synchronized with the combustion frequency, and vibrates at the combustion frequency. Therefore, the combustion state of the engine can be detected by detecting this vibration.

As can be seen from a comparison between FIG. 29 showing the vibration acceleration and jerk in the roll direction of the engine 401 during normal combustion and FIG. 30 showing the vibration acceleration and jerk in the roll direction of the engine 401 when a misfire occurs. When a misfire occurs, the acceleration of the engine 401 in the roll direction changes, and a large jerk in the roll direction of the engine 401 is observed, as shown in FIG. The misfire detection device 503 can detect engine misfire by detecting these signals and performing an appropriate filtering operation.

Further, not only the roll direction acceleration and jerk information of the engine 401 but also other degrees of freedom of the engine, jerk information, vehicle body vibration, engine rotation information, etc. are added. Further, misfire detection with higher accuracy may be performed.

The misfire detecting device 503 has a function of controlling a variable engine mount mechanism and the like.
The ride comfort control system may reduce the deterioration of the ride comfort due to the misfire of No. 01.

A fourth embodiment of the present invention will be described with reference to FIGS. FIG. 31 is a conceptual diagram of an elevator ride comfort control system using jerk information, and FIG. 32 is a diagram showing an overall configuration of an elevator ride comfort control system using jerk information.

As shown in FIGS. 31 and 32, the elevator car 201 is suspended by the wire 206, and the motor 203 is controlled by the controller 204 so that the wire 205
Is driven up and down. 205 is a weight,
The weight of the elevator car 201 is almost balanced, and has a function of reducing the load on the motor 203.
A control command is input to the motor 203 from the controller 204, and rotation information of the motor 203 is input to the controller 204. The rotation information of the motor 203 includes a motor rotation angle, a motor rotation speed, a motor rotation acceleration, a motor rotation jerk, and the like.
This is possible by detecting an output pulse of an encoder (not shown) attached to the motor 203 and performing various calculations.

In the conventional elevator, the motion of the elevator car is estimated from the rotation information of the motor, and various riding comfort controls are performed. However, the wire connecting the motor and the elevator car is elastic. Since it is a body and the wire expands and contracts, the rotation information of the motor cannot be said to reflect the movement of the elevator car, and sufficient performance could not be exhibited.

In this embodiment, the elevator car 20
In FIG. 31, a plurality of jerk detection devices (202 in FIG. 31)
x and 202y are shown. ) To directly detect the jerk information of the elevator car 201 which directly affects the ride comfort of the occupant. The jerk information is input to the controller 204 and used for a control command of the motor 203. Of these plural jerk detecting devices, the acceleration output of the k-th jerk detecting device is Gk, the jerk output is Jk,
Assuming that the rotation speed of the motor is V, a riding comfort evaluation function Ψe is defined as in Expression 29.

[0214]

(Equation 29)

Here, a is a weighting constant for the elevator hoisting / lowering speed, and bk and ck are i
Tuning is performed in accordance with the sensitivity of the occupant by using a weighting constant for the acceleration and jerk information at the third observation point.

By controlling the motor 203 so that the ride comfort evaluation function Ψe is minimized, the take-up speed is fast, the take-up can be realized in accordance with the rider's sensitivity, and the ride comfort optimization control can be performed. The evaluation function is
The function is not limited to Expression 29, and may be replaced by an arbitrary function that is well matched to the passenger's sensitivity.

Here, the controller 204 is connected to the motor 2
03 has the function of controlling
Evaluate the ride comfort of the elevator by providing a function to calculate the passenger ride comfort evaluation function from the acceleration and jerk information at each observation point of the elevator car 201 as a single unit and to output the calculation results. It can also be used as an evaluation test device. If it is difficult to detect jerk information due to environmental problems, the motor rotation information (motor rotation speed, motor rotation acceleration, motor rotation jerk, etc.) is given by Equation 29. A fitting method may be used.

FIGS. 33 to 35 show a fifth embodiment of the present invention.
This will be described below. FIG. 33 is a diagram illustrating a configuration of a railway vehicle using jerk information, FIG. 34 is a diagram illustrating a configuration of a railway vehicle using unsprung jerk information, and FIG. 35 is a diagram illustrating the use of jerk information. FIG. 2 is a diagram showing a power control system configuration of a railway vehicle that has been used.

As shown in FIG. 33, in the railway vehicle of this embodiment, a long vehicle body 501 is mounted on two sets of front and rear bogies 551 and 552 which can freely turn around pillow spring actuators 541 and 542. The style has been passed. Trolley 5
51 and 552 are shaft spring actuators for supporting the wheel shaft.
543, 544, 545, 546, 547, 548,
Wheels 521, 522, 523 via 549, 550,
524. The vehicle body 501 has a plurality of jerk detection devices (531, 532, 533 in FIG. 33).
Means ) Is provided, and jerk information in the vertical direction of the vehicle body 501 can be detected. The controller 506 has a built-in signal processing device including an integrating circuit and the like, and has a plurality of jerk detecting devices (FIG. 33) arranged on the vehicle body 501.
531, 532, and 533. ), The acceleration, speed, and displacement information can be calculated. Based on the information, the controller 506 controls the pillow spring actuators 541 and 5 so that the ride comfort is not reduced even if the track has some irregularities during traveling.
42, shaft spring actuators 543, 544, 545,
546, 547, 548, 549, and 550 are controlled.

By using the jerk information, a subtle change in acceleration can be detected, so that a railway vehicle having a greater vibration reduction effect than a conventional railway vehicle can be realized. At the same time, the sinking of the vehicle body, the change in posture, and the like can be positively controlled, which leads to the realization of a vehicle that is difficult to derail.

The railroad vehicle shown in FIG. 34 has the same configuration as the railroad vehicle shown in FIG. 33, but has a vehicle body 501, a bogie 555, and bearings 551 and 552 in order to enable more comfortable control. It is configured to detect jerk speed. Body 501, bogie 555, bearing 55
A plurality of jerk detecting devices (531, 534, 535, and 536 in FIG. 34, respectively) are installed at 1, 552. Normally, the vehicle body, the bogie, and the bearing have different resonance points, and these vibrations are detected by the jerk detection device, and are fed back to the controller 506 to provide a more comfortable control. Is achieved.

Here, the controller 506 has a function of controlling each actuator. However, the controller 506 alone has a function of controlling acceleration at each observation point of a railway vehicle.
By providing a function for calculating a passenger's riding comfort evaluation function from jerk information and outputting the calculation result, it can also be used as an evaluation test device for evaluating the riding comfort of railway vehicles.

The railway vehicle shown in FIG. 35 shows a configuration in which the motive power of the railway vehicle is controlled by using jerk information in consideration of starting and braking. As shown in FIG. 35, driving wheels 521 and 522 are provided with a controller 506.
The brake wheels 523 and 524 are braked by a brake 504 controlled by a controller 506.

The body 501 is provided with a plurality of jerk detecting devices (only 505 is shown in FIG. 35), and jerk information in the traveling direction of the body 501 can be detected. The controller 506 has a built-in signal processing device including an integration circuit and the like, and can calculate acceleration, speed, and displacement information from information from a jerk detecting device disposed on the vehicle body.

FIG. 36 shows a state in which the wheels 521, 522, 523, and 524 are about to roll on the rail surface as the operating state of the railway vehicle 501. When the adhesion coefficient between the wheel and the rail is represented by μ and the axle weight is represented by W, the maximum value F of the pulling force that can be generated by the frictional force between the wheel and the rail.
Is as shown in Expression 30.

[0226]

[Equation 30]

Therefore, even if the rotational force is increased in order to obtain a tensile force equal to or greater than the maximum value of the pulling force, only the running wheel idles. Now, when the rotational force of the driving wheel is gradually increased from zero, the acceleration of the vehicle body increases. However, as described above, when the driving wheel starts idling, the acceleration decreases at a stretch. That is, this moment can be detected by jerk information in the traveling direction. As described in the case of the automobile, the adhesive performance can be improved by detecting the jerk in the traveling direction and controlling the motor 503 also in the railway vehicle.

The same can be said for braking. Even if the braking torque is increased to obtain a braking force exceeding the maximum value F of the pulling force, the braking wheel will only slip. Now, when the braking torque of the braking wheels is gradually increased from zero, the deceleration of the vehicle body increases. However, when the braking wheel starts slipping (also called locking) as described above, the deceleration is reduced at a stretch. That is, this moment can be detected by jerk information in the traveling direction. As described in the case of the automobile, the adhesive performance can be improved by detecting the jerk in the traveling direction and controlling the brake also in the railway vehicle.

The jerk information can be used to improve the feeling of starting and braking, as in the case of a car. In the above embodiment, the driving wheel and the braking wheel are considered separately, but the present invention can be applied to a case where the same wheel also serves as the driving wheel and the braking wheel.

The sixth embodiment of the present invention will be described with reference to FIG. FIG. 37 is a diagram showing a configuration of a magnetic levitation vehicle using jerk information.

As shown in FIG. 37, in the magnetic levitation vehicle, the vehicle body 601 is levitated by the magnetic same-polar repulsive force of the levitation ground coils 673 and 674 and the super-electric magnets 633 and 634. Then, ground guidance coils 671, 672
And a force is generated to attract the super-electric magnets 631 and 632 on the vehicle.

A plurality of jerk detecting devices (621, 622, 623, 624, 625 in FIG. 37) are mounted on the vehicle body 601.
), And the front and rear, up and down,
The lateral jerk information can be detected.
The controller 604 has a built-in signal processing device including an integrating circuit and the like, and can calculate acceleration, speed, and displacement information from information from a jerk detecting device arranged on the vehicle body 601. The controller 604 controls the magnetic force of the super electric magnets 633 and 634 based on the information, and transmits the information from the antenna 605 to the ground controller 606. The ground-side controller 6 controls the current flowing into the ground coils 671, 672 for propulsion guidance and the ground coils 673, 674 for levitation based on the information, and controls the magnetic force to control the floating posture, position, and position of the vehicle body. Speed and acceleration can be controlled accurately.

Also, by using the jerk information,
Since a subtle change in acceleration can be detected, a magnetically levitated vehicle having a greater vibration reduction effect can be realized. Furthermore, since the sinking of the vehicle body, the change in posture, and the like can be positively controlled, the driving performance of the vehicle is improved.

Here, the controller 606 has a function of controlling each magnetic force generating means.
06 alone as a function to calculate the passenger riding comfort evaluation function from the acceleration and jerk information at each observation point of the magnetic levitation vehicle, and to output the calculation result,
It can also be used as an evaluation test device for evaluating the riding comfort of a magnetic levitation vehicle.

The sixth embodiment of the present invention will be described with reference to FIG. Fig. 38 shows an earthquake simulation using jerk information.
FIG. 3 is a diagram showing a configuration of the data.

As shown in FIG. 38, the earthquake simulator changes the movement of the shaking table 700 so as to faithfully reproduce the earthquake acceleration, the seismic jerk or the displacement input previously input to the controller 703. To control.
The shaking table 700 is moved in the X-axis direction by hydraulic actuators 741 and 742 driven by a controller 703, and is moved by hydraulic actuators 743 and 744.
Axial movement is controlled. Hydraulic actuator 74
3, 744, a displacement detector is provided, and displacement information is input to the controller 703. From the jerk detecting devices (701 and 702 in FIG. 38) on the shaking table 700, jerks in the x-axis and y-axis directions of the shaking table 700 are detected. The jerk information is supplied to the integrator 76.
1, 762, 763 and 764, respectively,
The values are converted into accelerations and velocities in the x-axis and y-axis directions of 00 and input to the controller 703. Further, the position information may be obtained by inserting an integrator in series with the speed information. The four types of signals for each of these degrees of freedom are fed back to the controller 703,
The vibration table is driven according to a target value (also referred to as vibration) by comparison with the earthquake acceleration, the seismic jerk, or the displacement input previously input to 3.

With such a system configuration, a change in acceleration can be captured as information in addition to a conventional simulator, so that an earthquake simulator excellent in responsiveness and stability can be realized. In this embodiment, a two-dimensional seismic simulator is described. However, a one-dimensional and three-dimensional seismic simulator similarly includes conventional information in addition to conventional information.
By controlling using jerk information, an earthquake simulator excellent in responsiveness and stability can be realized.

Here, the controller 703 has a function of controlling each hydraulic actuator. However, the controller 703 alone uses a control performance evaluation function based on acceleration and jerk information at each observation point of the shaking table. By providing the function of calculating and outputting the calculation result, it can be used as an evaluation test device for evaluating the performance of controlling an earthquake simulator.

[0239] Further, the car on which the person is boarded is shaken by using an external actuator to imitate the motion of the vehicle or the flying object, so that the driving training of the person in the car or the amusement is provided. Also in the motion simulator, by controlling using the car jerk information in addition to the conventional information, a motion simulator excellent in responsiveness and stability can be realized.

A seventh embodiment of the present invention will be described with reference to FIG. FIG. 39 is a diagram showing a configuration of an XY stage using jerk information.

The XY stage of this embodiment controls the movement of the stage 800 so as to faithfully follow the position input previously input to the controller 803 as shown in FIG. It is. Stage 800 is a linear actuator 84 driven by controller 3.
The movement in the X-axis direction is controlled by 1, 842, and the movement in the y-axis direction is controlled by the linear actuators 843, 844. A displacement detector is provided in the linear actuator, and displacement information is input to the controller 803. A plurality of jerk detecting devices on stage 800 (in FIG. 39,
801 and 802) from the stage 800
Is detected in the x-axis and y-axis directions. These jerk information are stored in the integrators 861, 862, 863, and 864.
, The acceleration of the stage in the x-axis and y-axis directions, respectively.
It is converted to speed and input to the controller. Further, by inserting an integrator in series with the speed information, the
Zero position information may be obtained. Further, these integration operations may be performed inside the controller. The four types of signals for each of these degrees of freedom are fed back to the controller 803, compared with the position input previously input to the controller 803, and the stage 800
Are positioned as desired. With such a system configuration, a change in acceleration can be captured as information in addition to the conventional XY stage, so that an XY stage excellent in responsiveness (also called responsiveness) and stability can be realized.

In this embodiment, a two-dimensional XY stage is used.
Is described, but one-dimensional linear stage, 3
Similarly, in dimensional stages, responsiveness (responsiveness),
A stage with excellent stability can be realized. Here, the controller 803 has a function of controlling each hydraulic actuator. However, the controller 803 alone calculates a control performance evaluation function from acceleration and jerk information at each observation point of the stage as a single unit. By providing a function of outputting the calculation result, it can be used as an evaluation test device for evaluating the control performance of the XY-stage.

An eighth embodiment of the present invention will be described with reference to FIG. FIG. 40 is a diagram showing a configuration of a building with a vibration damping device using jerk information.

As shown in FIG. 38, a hydraulic actuator 903 and an active mass 9 are provided on an appropriate floor of a building.
04 is provided. The hydraulic actuator 903 is fixed to the building, and the active mass is installed movably relative to the building. Controller 902
Has a built-in signal processing device composed of an integrating circuit and the like, and a plurality of units (911, 912,
The case where four of 913 and 914 are installed is shown. ) Acceleration, velocity, and displacement information similar to the conventional one can be calculated from the information from the jerk detecting device arranged. The controller 902 controls the hydraulic pressure of the hydraulic actuator 903 based on the information so as to reduce the vibration of the entire building. By using the jerk information, a subtle change in acceleration can be detected, so that a vibration damping device having a greater vibration reduction effect than conventional control can be realized. In addition, by accurately controlling the movement of the active mass 904 using a jerk detecting device (not shown) that detects jerk information of the active mass 904, a vibration damping device having a greater vibration reduction effect. Can be realized.

The controller 902 has a function of controlling the hydraulic actuator 903. The controller 902 calculates a control performance evaluation function from acceleration and jerk information at each observation point of the building as a single unit. By providing the function of outputting the calculation result, the function can be used as an evaluation test device for evaluating the control performance of a building with a vibration damping device.

The ninth embodiment of the present invention will be described with reference to FIG. FIG. 41 is a diagram showing a configuration of a manipulator of a robot arm using jerk information.

As shown in FIG. 41, the manipulator 10
01 controls the movement of the manipulator 1001 so as to faithfully follow the position input previously input to the controller 1003. The manipulator 1001 is a joint drive DD motor (Direct Drive motor) driven by the controller 1003.
The movement is controlled by 1041, 1042, 1043. An encoder (not shown) is provided in each of the DD motors, and the rotation angle position information is stored in the controller 10.
03 is input. A plurality of jerk detecting devices (102 in FIG. 41) provided on the manipulator hand 1011
1, 1022, and 1023), the x'-axis, the y'-axis in the coordinate system of the manipulator tip 1011,
The jerk in the z'-axis direction is detected. Controller 10
Numeral 03 incorporates a signal processing device including an integrating circuit and the like, and can calculate acceleration, speed and displacement information from information from the jerk detecting device.

[0248] These four types of signals are transmitted to the controller 10
03, the position, velocity, and acceleration input previously input to the controller 1003 are compared, and the manipulator 1001 is positioned according to the target value. With such a system configuration, a change in acceleration can be captured as information in addition to the conventional manipulator, so that a manipulator excellent in responsiveness (responsiveness) and stability can be realized. FIG. 41 shows three cases of jerk detecting devices 1021, 1022, and 1023 provided on the manipulator hand 1011. FIG. 25 shows jerk information of six degrees of freedom of the vehicle. In the same manner as the method described above, the movement of the manipulator tip 1011 with six degrees of freedom may be detected to perform more precise control.

[0249] Here, the controller 1003
Has the function of controlling the
Evaluation test device for evaluating the control performance of the manipulator by calculating the control performance evaluation function from the acceleration and jerk information at each observation point on the hand of the manipulator and outputting the calculation result. Can also be substituted.

FIGS. 42 and 43 show the tenth embodiment of the present invention.
This will be described below. 42 and 43 are diagrams each showing a configuration of an aircraft using jerk information.

As shown in FIG. 42 and FIG.
1 includes a plurality of jerk detecting devices (1121, 1122, and 1123 in FIGS. 42 and 43) so that jerk information in front, rear, up, down, and lateral directions of the body can be detected. Has become. The main wing 1142 is also provided with jerk detecting devices 1124 and 1125 for detecting the torsional and bending moments of the main wing. The controller 1103 has a built-in signal processing device including an integrating circuit and the like, and can calculate acceleration, speed, and displacement information from information from each jerk detecting device disposed on the body. By using jerk information, a subtle change in force applied to the body can be detected as a subtle change in acceleration. Based on the information, the controller 1103 controls the horizontal card 1141, the flaperon 1142, the vertical card 1143, the horizontal stabilizer 1144, the vertical stabilizer 1145, and the engine (not shown).
Control the output of As a result, the six degrees of freedom of the aircraft can be controlled independently, and the flight with the attitude control and the flight path can be completely separated, and the conventional CCV (Control Control
FIG. 5 is an abbreviation of FIG. Vehicle). For example, high-precision direct force control (direct
force control), swing control (airplane pointing control)
l), transition control (airplane tran)
slation control).

Further, since the main wing 1142 is also provided with a jerk detecting device for detecting the torsion and bending moment of the main wing 1142, the control surface is driven based on this signal to reduce the flutter reduction. By increasing the strength, the critical flutter mode, which has a significant effect on the airframe structure, can be artificially reduced by control to prevent flutter.

The eleventh embodiment of the present invention is shown in FIGS.
This will be described below. FIG. 44 is a diagram showing the entire configuration of the angular jerk sensor, and showing the balance of the rotary pendulum when angular acceleration acts.

As shown in FIGS. 44 and 45, the angular jerk sensor of this embodiment comprises a rotary pendulum 1201, a coil 1202 fixed to the rotary pendulum 1201, a movable electrode 12
04, a casing 1200, a magnet 1203 fixed to the casing 1200, and a fixed electrode 1205.
A pendulum displacement detector 1206 for detecting a displacement of the pendulum from a balanced position, a servo amplifier 1207, and a reading resistance 1
208. The angular jerk information is extracted as the terminal voltage of the coil 1202, as shown in FIG.

The pendulum 1201 can rotate around an axis perpendicular to the plane of FIG. 44 and FIG. 45 (this direction is hereinafter referred to as a sensor sensitivity direction). The movable electrodes 1204 arranged on both sides of the pendulum 1201 and the fixed electrodes 1205 fixed to the casing 1200 form two sets of flat plate capacitors. Movable electrode 1204 and fixed electrode 12
The displacement of the pendulum 1201 can be detected by detecting the difference ΔC between the capacitances of the two capacitors formed with the pendulum 05 by the pendulum displacement detector 1206.

The pendulum 1201 has a coil 1202
When a current flows through the coil 1202, a magnetic flux is generated, and the magnetic flux is received by a magnetic field generated by a magnet 1203 fixed to the casing 1200. Therefore, the pendulum displacement detector 1206 is provided by the servo amplifier 7.
By performing feedback control on the current flowing through the coil 1202 so that ΔC = 0, that is, the size of the upper and lower air gaps becomes equal, the position of the pendulum 1201 can be adjusted regardless of the moment due to the inertial force. Can be stopped.

Here, a case is considered where the angular jerk sensor of the present invention is fixed to an object that is performing a certain rotational movement. As shown in FIG. 45, if angular acceleration β (t) acts on the entire sensor counterclockwise at time t, the rotational pendulum 1201 of the inertial mass I has Mento works to the right.

[0258]

(Equation 31)

When the equation of motion of the rotary pendulum 1201 is considered, Equation 32 is obtained.

[0260]

(Equation 32)

Here, J is the inertial mass of the rotary pendulum 1, θ
(T) is the displacement angle of the rotary pendulum 1201 from the equilibrium position at time t, W (t) is the moment by the inertial force acting on the rotary pendulum 1201, and w (t) is the control force by the position feedback. Since the control force w (t) is proportional to the current I (t) flowing through the coil 1203, Expression 33 and Expression 34
Holds.

[0262]

[Equation 33]

[0263]

(Equation 34)

Here, φ is the electromagnetic linkage coefficient, and r is the coil 1
The radius of 203, B is the magnetic flux density of the magnet 1203, N
Is given by the number of turns of the coil 1202.

If the control force w (t) follows the momentarily varying W (t) so that the rotary pendulum 1 is at the equilibrium position, the left side of Equation 32 becomes zero, and Equation 35 is eventually established. I do.

[0266]

(Equation 35)

Therefore, the angular acceleration acting on the entire sensor is as shown in Expression 36, and can be detected from the current flowing through the coil 1203.

[0268]

[Equation 36]

Here, the angular jerk acting on the entire sensor is γ
Assuming (t), Equation 37 is obtained.

[0270]

(37)

Now, when a circuit equation is established for the current flowing through the coil 3 as shown in FIG.

[0272]

(38)

Here, L is the inductance of the coil. Accordingly, the angular jerk γ (t) acting on the entire sensor is expressed by Expression 39, and can be measured by detecting the terminal voltages at both ends of the coil 1203.

[0274]

[Equation 39]

In this embodiment, an example is described in which the rotating pendulum is provided with a coil and the casing is provided with a magnet. However, the rotating pendulum is provided with a magnet and the casing is provided with a coil. Alternatively, whether the magnet is a permanent magnet or an electromagnet, the angular jerk can be detected without change.

As in the case of the jerk information, the angular jerk information may be obtained by adding a second-order analog differentiating means (filter) to a general angular velocity sensor, or by providing a digital signal via an A / D converter. The signal can be converted into a signal and obtained by digital arithmetic processing. Further, the angular acceleration sensor can be obtained by adding a first-order analog differentiating means (filter) to the angular acceleration sensor, or converting the angular acceleration sensor into a digital signal through an A / D converter, and performing digital arithmetic processing.

Therefore, any method may be used depending on the hardware configuration and the operation speed of the controller and the required detection accuracy. Further, in addition to various controls using jerk information shown in other embodiments of the present invention, by using angular jerk information, a more accurate motion control and motion control device can be realized. Thus, a high-performance evaluation test device is realized.

As described above, in each embodiment of the present invention, the jerk detection method, the superiority of motion control over a general motion model using jerk, a vehicle using jerk information,
Elevator, railway vehicle, magnetic levitation vehicle, earthquake simulation
It has been described about a motor, a stage, a building vibration control system, a robot arm, an aircraft motion control and motion evaluation device, and an angular jerk sensor. As described above, the jerk or angular jerk, which is a new physical quantity describing the motion of an object that has not been used conventionally, can be detected.
By using jerk and angular jerk in the motion control in addition to the various information used in the conventional motion control, higher-precision motion control than the conventional motion control is realized.
In addition to the various information used in the conventional motion evaluation, the jerk and angular jerk are used for the motion evaluation. Is achieved.

[0279]

According to the present invention, control is performed by adding jerk information to control, such as actively changing mass in speed control and actively changing damping in acceleration control. There is an effect that the effect can be further improved.

Since control is performed using jerk information,
The six degrees of freedom of the fuselage can be controlled independently, and the flight can be completely separated from the attitude control and the flight path, so that the conventional CCV can be further enhanced. For example, there is an effect that highly accurate direct force control, swing control, transition control, and the like can be performed.

Since the main wing is also provided with an jerk sensor for detecting the torsional and bending moments of the main wing, the control surface is driven based on this signal to increase the damping of flutter reduction. Thus, the critical flutter mode, which has a significant effect on the airframe structure, can be artificially reduced by control to prevent flutter.

A jerk sensor and a controller for controlling the motion of the vehicle are provided. An output from the jerk sensor is input to the controller, and the motion of the vehicle is controlled by the controller. Instantaneous changes in the vehicle's limits can be detected instantaneously, enabling control near the maximum value of the tire frictional force, and at the same time, behavior due to unexpected disturbances unintended by the driver. Instantaneous correction control can be performed for the change, and there is an effect that occurrence of an excessive change in behavior can be prevented.

Also, since the moment when the vehicle starts to slide in the lateral direction can be detected and the steering angle device can be controlled, instantaneous correction control can be performed even for a change in behavior.
There is an effect that an excessive change in behavior can be prevented.

A motor, a means for detecting the output of the motor, a jerk sensor for detecting at least the jerk in the longitudinal direction of the vehicle body, and a controller for controlling the motor, means for detecting the output of the motor And the output from the jerk sensor is input to the controller, and the prime mover is controlled by the controller, so the wheels driven by the prime mover start to spin and the moment the acceleration in the traveling direction decreases, or the maximum friction Because it is possible to detect the moment when the acceleration in the traveling direction exceeds the force, there is no need to apply a brake to the drive wheels, and the idling of the drive wheels at the time of starting and accelerating is reduced, effectively preventing the behavior change of the vehicle. There is an effect that becomes possible.

A wheel braking device, means for detecting wheel braking force, jerk sensor for detecting at least longitudinal jerk, and a controller for controlling wheel braking force are provided. The means for detecting and the output from the jerk sensor are input to the controller, and since the wheel braking device is controlled by the controller, the wheels start to lock and the moment the deceleration in the traveling direction decreases, or Since it is possible to detect the moment when the deceleration in the traveling direction has exceeded the frictional force and reduce the wheel braking force before the wheel lock starts, reduce the lock of the wheel during braking,
There is an effect that the behavior change of the vehicle can be effectively prevented.

The vehicle further includes a jerk sensor for detecting acceleration and jerk, and a controller for controlling the movement of the vehicle. The controller controls the vehicle based on the acceleration and jerk information from the jerk sensor. Is controlled based on acceleration information in addition to jerk information, so that there is an effect that more advanced control can be performed.

[0287] The vehicle further comprises a suspension, means for detecting a suspension state, a jerk sensor for detecting at least acceleration and jerk in the vertical direction of the vehicle body, and a controller for controlling the suspension. An output of acceleration and jerk information from the sensor is input to the controller, a ride comfort evaluation function is obtained based on the acceleration and jerk information, and the suspension device is controlled by the controller based on the ride comfort function. Control has the effect of optimizing ride comfort.

[0288] The vehicle further comprises an engine suspension, means for detecting an engine suspension state, a jerk sensor for detecting at least the vertical acceleration and jerk of the vehicle, and a controller for controlling the suspension. An output of acceleration and jerk information from a sensor is input to the controller, a ride comfort evaluation function is obtained based on the acceleration and jerk information, and the engine suspension device is determined by the controller based on the ride comfort evaluation function. Is controlled, so that the ride comfort can be optimized.

In the elevator, the jerk information of the elevator car which directly affects the ride comfort of the occupant is directly detected and input to the controller for use in the motor control command. As a result, the hoisting speed is high, the hoisting in accordance with the occupant's sensibility can be realized, and the ride comfort optimization control can be performed.

In the case of a magnetically levitated vehicle, by using jerk information, a subtle change in acceleration can be detected, so that a magnetically levitated vehicle having a greater vibration reduction effect can be realized. Also, sinking of the body,
Since the attitude change can be positively controlled, there is an effect that the vehicle kinetic performance is improved.

An engine, a jerk sensor for detecting at least the acceleration and jerk in the direction of the engine roll, and an engine controller are provided, and the output of the acceleration and jerk information from the jerk sensor is provided. Since the misfire is input to the engine controller and the misfire of the engine is detected based on the acceleration and jerk information, the misfire can be detected with high accuracy.

Further, in the building vibration control system, a subtle change in acceleration can be detected by using jerk information, so that the hydraulic actuator can be controlled accurately.
There is an effect that a building vibration control system having a greater vibration reduction effect can be realized.

In a railway vehicle, by using jerk information, a subtle change in acceleration can be detected, so that a railway vehicle with a greater vibration reduction effect can be realized. At the same time, the sinking of the vehicle body, the change in posture, and the like can be positively controlled, so that there is an effect that the vehicle is hardly derailed. Further, there is an effect that the adhesive performance can be improved by detecting the jerk in the traveling direction and controlling the brake. Also, the starting and braking fields
There is an effect that jerk information can be used to improve the ring.

Also, in a stage requiring precise positioning (for example, an XY stage), a change in acceleration can be captured as information by using jerk information, so that responsiveness (responsiveness) and stability can be improved. XY stay with excellent properties
There is an effect that can be realized.

Further, as an example of a motion simulator, the acceleration simulator can use the jerk information to capture the change in acceleration as information. Therefore, the earthquake simulator has excellent responsiveness and stability. There is an effect that can be realized.

Also in a building damping system, a delicate change in acceleration can be detected by using jerk information, so that a vibration damping device having a greater vibration reduction effect than conventional control can be realized. There is an effect that can be done.

[0297] Also, by using jerk information,
There is an effect that a manipulator (robot arm) having excellent responsiveness (responsiveness) and stability can be realized.

An output of jerk detecting means for detecting at least jerk of the object to be controlled is input, and a control performance evaluation function, an evaluation function, a riding comfort evaluation function, and a motion are calculated based on the jerk. The calculation result is output and the control performance of the control target object, the motion of the control target object, the riding comfort, the motion,
Since the vibration is evaluated, there is an effect that the performance, the motion, the riding comfort, and the vibration of the control target can be analyzed.

The output of the jerk detecting means for detecting at least the jerk of the movable part of the motion simulator is input, and the vibration of the movable part of the movement simulator is determined based on the jerk. Since the calculation results are output and the vibration of the movable part of the motion simulator is evaluated, there is an effect that the motion simulator can be evaluated.

An output of jerk detecting means for detecting at least jerk of an object by a controller is inputted,
Since the movement of the object is controlled, the control can be performed by adding the jerk information, and the control effect can be further improved.

A movable member having a coil which is displaced in accordance with the generated acceleration is arranged in the sensor, and a magnet is placed at a position where a force is generated in the movable member when an electric current is applied to the coil. And a displacement detector for detecting a displacement of the movable member from a reference position is provided.
The displacement of the movable member is converted into an electric signal and sent to a servo amplifier. The servo amplifier amplifies the electric signal received from the displacement detector and sends it to the coil of the movable member as a feedback current. And the torque generated by the magnetic field of the magnet keeps the movable member at the zero position, and the generated voltage is taken out as a sensor output, so that the amount of feedback current flowing through the coil at this time depends on the acceleration applied to the movable member. Shows a physical quantity that is exactly proportional to At this time, the voltage across the coil indicates a physical quantity proportional to the differential value of the feedback current according to the law of electromagnetic induction. Therefore, by detecting this voltage, there is an effect that the physical quantity proportional to the differential value of the feedback current, that is, the differential value (jerk speed) of the acceleration applied to the movable member can be detected with high accuracy.

If the current value at this time is detected, the acceleration can be detected at the same time.

A movable member having a coil, which is displaced in accordance with the generated angular acceleration, is disposed in the sensor, and the magnet is placed at a position where a force is generated in the movable member when an electric current is applied to the coil. Is provided, and an angular displacement detector for detecting an angular displacement of the movable member from a reference position is provided. The angular displacement detector converts the movable member angular displacement into an electric signal and sends it to a servo amplifier. Amplify the electric signal received from the displacement detector and send it to the coil of the movable member as a feedback current, so that the feedback current from the servo amplifier flowing through the coil and the torque generated by the magnetic field of the magnet keep the movable member at the zero position. Since this generated voltage is taken out as a sensor output,
At this time, the amount of feedback current flowing through the coil indicates a physical quantity that is accurately proportional to the angular acceleration applied to the movable member.
At this time, the voltage across the coil indicates a physical quantity proportional to the differential value of the feedback current according to the law of electromagnetic induction. Therefore, by detecting this voltage, there is an effect that the physical quantity proportional to the differential value of the feedback current, that is, the differential value (angular jerk) of the angular acceleration applied to the movable member can be detected with high accuracy. If the current value at this time is detected, there is an effect that the angular acceleration can be detected at the same time.

[Brief description of the drawings]

FIG. 1 is a diagram showing an overall configuration of a motion control system using jerk information.

FIG. 2 is a diagram showing an overall configuration of a jerk sensor.

FIG. 3 is a diagram showing the balance of a pendulum when an acceleration acts.

FIG. 4 is an explanatory diagram of a circuit equation of a coil.

FIG. 5 is an explanatory diagram of a circuit equation of a coil having an internal resistance R.

FIG. 6 is a circuit configuration diagram of a signal processing portion.

FIG. 7 is a diagram showing an overall configuration of another jerk sensor.

FIG. 8 is a diagram showing a jerk detection method using an analog differentiating circuit.

FIG. 9 is a diagram showing a jerk detection method using a digital differentiating circuit.

FIG. 10 is a diagram showing the acceleration / jerk speed detected in FIG. 10 and the output of the acceleration differentiating circuit.

FIG. 11 is a diagram showing a configuration in which jerk information is obtained by a jerk sensor.

FIG. 12 is a diagram showing a configuration in which jerk information is obtained by an acceleration sensor and a differentiating means.

FIG. 13 is a diagram showing a motion model of a motion control system using jerk information.

FIG. 14 is a diagram showing a block diagram of a motion control system using jerk information (in the case of position control).

FIG. 15 is a diagram (in the case of speed control) showing a block diagram of a motion control system using jerk information.

FIG. 16 is a diagram (in the case of acceleration control) showing a block diagram of a motion control system using jerk information.

FIG. 17 is a diagram showing an overall configuration of a vehicle motion control system.

FIG. 18 is an explanatory diagram of jerk information.

FIG. 19 is an explanatory diagram of side slip detection.

FIG. 20 is an explanatory diagram of side slip suppression using lateral jerk information.

FIG. 21 is a diagram showing a comparison of a method of suppressing the rotation of a vehicle using the yaw rate information and the acceleration / jerk receiving method.

FIG. 22 is a diagram showing a comparison of the revolving motion of a vehicle using the yaw rate information and the acceleration / jerk receiving method.

FIG. 23 is a diagram illustrating a method of detecting wheel idling during start or acceleration.

FIG. 24 is a diagram illustrating a method of detecting wheel lock during braking.

FIG. 25 is a perspective view showing an attached state of jerk information detecting means having six degrees of freedom.

FIG. 26 is an overall configuration diagram in the case of controlling the ride comfort of a vehicle.

FIG. 27 is a diagram showing a configuration in a case where vehicle body vibration due to engine vibration is reduced.

FIG. 28 is a diagram showing an overall configuration of engine misfire detection.

FIG. 29 is a diagram showing engine vibration during normal combustion.

FIG. 30 is a diagram showing engine vibration when a misfire occurs.

FIG. 31 is a diagram showing a concept in the case of performing elevator ride comfort control.

FIG. 32 is a diagram showing an overall configuration of elevator ride comfort control.

FIG. 33 is a diagram showing a configuration of a railway vehicle using jerk information.

FIG. 34 is a diagram showing a configuration of a railway vehicle using unsprung jerk information.

FIG. 35 is a diagram showing a configuration of a power control system of a railway vehicle using jerk information.

FIG. 36 is a diagram showing a configuration of a power control system of a railway vehicle using jerk information.

FIG. 37 is a diagram showing a configuration of a magnetic levitation vehicle using jerk information.

FIG. 38 is a diagram showing a configuration of an earthquake simulator using jerk information.

FIG. 39 is a diagram showing a configuration of an XY stage using jerk information.

FIG. 40 is a diagram showing a configuration of a building with a vibration damping device using jerk information.

FIG. 41 is a perspective view showing a configuration of a robot arm using jerk information.

FIG. 42 is a diagram showing a configuration of an aircraft using jerk information.

FIG. 43 is a diagram showing a configuration of an aircraft using jerk information.

FIG. 44 is a diagram showing a configuration of an angular jerk sensor.

FIG. 45 is a diagram showing the balance of the rotating pendulum when angular acceleration acts.

[Explanation of symbols]

50: object, 51: jerk detection device, 52, 303,
407, 204, 506, 604 ... Controller, 53
... actuator, 1 ... pendulum, 2 ... magnet, 3 ... coil,
Reference numeral 40: pendulum displacement detector, 41: movable electrode, 42: fixed electrode, 5, 1207: servo amplifier, 6, 1208: reading resistance, 13: next hand, 521, 522, 523 ... input port, 524 ... A / D converter for jerk information,
525 A / D converter for acceleration information, 526 A / D converter for acceleration / jerk, 527 Digital differential operation, 54 virtual fixed base, 55 virtual spring element
56: virtual damper element, 100, 300: vehicle, 10
1: engine system, 102: wheels, 103: wheel blur
Keys 104, 406: steering, steering angle sensor 106: accelerator, 107: brake, 108
... actuator for rear wheel steering, 111 ... lateral jerk detecting device, 112 ... longitudinal jerk detecting device, 111
a, 111b: front-back direction, yaw jerk detecting device, 11
2a, 112b: lateral direction, roll jerk detecting device, 1
11a, 111b: vertical and pitch jerk detecting devices, 301a, 301b: variable suspension mechanism, 3
02a, 302b: body jerk detecting device, 401: engine body, 402a, 402b: variable engine mount, 403, 403a: engine jerk detecting device, 4
04a, 404b ... body side jerk detecting device, 405 ...
Seat, 503: misfire detection device, 201: basket, 202
x, 202y ... elevator car jerk speed detecting device, 20
3 ... motor, 205 ... weight, 206 ... rope, 501 ...
Railway vehicle body, 521, 522, 523, 524: Railway vehicle wheel, 531, 532, 533 ... Railway vehicle jerk detecting device, 541, 542: Pillow spring actuator, 5
43, 544, 545, 546, 547, 548, 54
9, 550: shaft spring actuator, 551, 552,
553, 554: bearings, 555, 556: trolley, 53
4: Bogie jerk detecting device, 535, 536: Bearing jerk detecting device, 521, 522: Running wheels, 523, 524
... braking wheel, 503 ... motor, 504 ... brake, 505
··· Railroad vehicle longitudinal jerk detecting device, 601 · Magnetically levitated vehicle body, 621, 622, 623, 624 · Magnetically levitated vehicle jerk detecting device, 631, 632, 633, 6
34 ... Super electric magnet, 605 ... Transmission antenna, 606 ...
Ground-side controller, 671, 672: Ground coil for propulsion guidance, 673, 674: Ground coil for levitation, 700 ...
Shaking table 701: jerk detecting apparatus for detecting jerk in the y-axis direction of the shaking table, 702: jerk detecting apparatus for detecting jerk in the x-axis direction of the shaking table, 703: shaking table controller
741, 742, 743, 744... Hydraulic actuator
705, fixed frame, 761, 762, 763,
764: integrator, 800: stage, 801: stage jerk detecting device for detecting jerk in the y-axis direction, 802:
Jerk detecting device for detecting jerk in the x-axis direction of the stage,
803: Shaking table controller, 841, 842, 84
3, 844: Linear actuator, 845: Fixed frame, 861, 862, 863, 864: Integrator, 90
0: building, 911, 912, 913, 914: building jerk detecting device, 902: building vibration controller, 903
... Hydraulic actuator, 904 ... Active mass, 10
01: Manipulator, 1011: Hand of manipulator, 1021, 1022, 1023: Hand jerk detecting device, 1003: Arm controller, 1041, 10
42, 1043 ... DD motor for driving joints, 1211, 1
122, 1123, 1124, 1125 ... aircraft body jerk detecting device, 1103 ... aircraft controller, 11
41 ... horizontal canard, 1142 ... flaperon, 114
3 ... vertical cand, 1144 ... horizontal stabilizer, 11
45: vertical stabilizer, 1200: casing, 12
01: rotary pendulum, 1202: coil, 1203: magnet, 1204: movable electrode, 1205: fixed electrode, 12
06 ... Pendulum displacement angle detection device.

Claims (9)

[Claims] 1. A first member, a second member relatively movable with respect to the first member, a magnet fixed to the first member for generating a magnetic flux, and the magnet At least one coil fixed to the second member in the magnetic flux of the first member, and detecting the movement of the second member with respect to the first member, and using the magnetic flux to move the first member between the coil and the magnet. Means for flowing a current for generating a force so as to disturb the movement of the second member with respect to the member, and means for detecting a voltage corresponding to a differential value of acceleration generated between the coils due to the current. A sensor comprising: 2. The method according to claim 1, wherein said means for detecting the movement of the second member relative to the first member comprises: a capacitance plate attached to each of the first member and the second member; The sensor according to claim 1, wherein a change in capacitance between the capacitance plates due to movement of the second member with respect to the member is detected. 3. A movable member capable of being displaced in accordance with acceleration, an electromagnetic force generating means comprising an electric circuit and a magnetic circuit for generating an electromagnetic force acting on the movable member, and an electromagnetic force control for controlling the electromagnetic force. Means, a displacement detecting means for detecting displacement of the movable member from a reference position, and an induced electromotive force detecting means for detecting an induced electromotive force generated in an electric circuit of the electromagnetic force generating means; Means for controlling the electromagnetic force acting on the movable member so that the displacement of the movable member detected by the means becomes zero, wherein the electromagnetic force detected by the induced electromotive force detection means is controlled by the electromagnetic force control means. A jerk sensor which detects a physical quantity proportional to a temporal change in acceleration acting on the movable member from an induced electromotive force generated in an electric circuit of the force generating means. 4. An electromotive force generated in an electric circuit of said electromagnetic force generating means, wherein said current detecting means includes a current detecting means for detecting a current flowing in an electric circuit of said electromagnetic force generating means. An acceleration acting on the movable member from a current flowing through an electric circuit of the electromagnetic force generation means detected by the current detection means, while detecting a physical quantity proportional to a temporal change in acceleration acting on the movable member from the electromotive force. 4. The jerk sensor according to claim 3, wherein the jerk sensor detects a physical quantity proportional to. 5. A movable member having a coil and displaced in accordance with acceleration, a magnet fixed at a position such that a current is applied to the coil of the movable member to generate a force on the coil of the movable member, Displacement detection means for detecting a displacement from a reference position, current control means for controlling a current flowing through the coil, and induced electromotive force detection for detecting an induced electromotive force generated at both ends of the coil by flowing a current through the coil Means for controlling the current flowing through the coil by the current control means so that the displacement of the movable member detected by the displacement detection means becomes zero, wherein the induced electromotive force detection means And detecting a physical quantity proportional to a temporal change of an acceleration acting on the movable member from an induced electromotive force generated at both ends of the coil. . 6. A movable member having a magnet which is displaced in accordance with an acceleration, a coil fixed at a position where a force is applied to the magnet of the movable member by a supplied current, and a reference position of the movable member. Displacement detecting means for detecting displacement of the coil, current control means for controlling a current flowing through the coil, and induced electromotive force detecting means for detecting an induced electromotive force generated at both ends of the coil by flowing a current through the coil. Have
The current control means controls the current flowing through the coil so that the displacement of the movable member detected by the displacement detection means becomes zero, and the current of the coil detected by the induced electromotive force detection means is controlled. A jerk sensor that detects a physical quantity proportional to a temporal change in acceleration acting on the movable member from an induced electromotive force generated at both ends. 7. A coil current detecting means for detecting a current flowing through said coil, said coil current detecting means acting on said movable member from induced electromotive force generated at both ends of said coil detected by said induced electromotive force detecting means. 7. The physical quantity proportional to the acceleration acting on the movable member is detected from a current flowing through the coil detected by the coil current detecting means, while detecting a physical quantity proportional to a temporal change in acceleration. Jerk sensor. 8. A multi-axial direction, comprising a movable member capable of being displaced in a multi-axial direction in accordance with acceleration in a multi-axial direction, and an electromagnetic circuit which generates an electromagnetic force acting on the movable member in the multi-axial direction, the movable member being constituted by an electric circuit and a magnetic circuit. Electromagnetic force generating means, multi-axial electromagnetic force controlling means for controlling the multi-axial electromagnetic force, and multi-axial displacement detecting means for detecting a multi-axial displacement from a reference position of the movable member. And a movable member detected by the displacement detection means in the multiaxial direction, comprising: an induction electromotive force detection means for detecting each electromotive force generated in each electric circuit of the multiaxial electromagnetic force generation means. Controlling the electromagnetic force in the multiaxial direction acting on the movable member by the electromagnetic force control means in the multiaxial direction so that the displacement in the multiaxial direction becomes zero. Of each of the multi-axial electromagnetic force generating means detected by the Acceleration differential sensor and detecting a physical quantity that is proportional to the change in the multi-axial acceleration acting from the induced electromotive force generated in the circuit to the movable member. 9. The jerk sensor according to claim 3, wherein said movable member is angularly displaced in accordance with angular acceleration.