JP2009018676A - Vibration controlling device and vibration controlling method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vibration controlling device and a vibration controlling method keeping proper thrust and controllability according to changes of friction. <P>SOLUTION: The vibration controlling device 1 comprises a load supporting portion 10 installed in an installing position F, a vibration controlling portion having a vibration controlling means 2 controlling vibration to the installing portion F of the load supporting portion 10, and an acceleration detecting means 4 detecting the acceleration of the load supporting portion 10, and a controlling portion 5 controlling the vibration controlling means 2 by detection result of the acceleration detecting means 4. The controlling portion 5 comprises a drive controlling portion 51 driving the vibration controlling means 2 by optional thrust; and a calculating portion 52 obtaining the maximum value of acceleration of the load supporting portion 10 displaced by driving of the drive controlling portion 51, and calculating the mass of the load supporting portion 10 including friction from the driving force which the drive controlling portion 51 drives and the maximum value detected by the acceleration detecting means 2. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vibration control device and vibration control for suppressing or reducing vibration applied to a seating part such as a seat installed in a seat, luggage, etc., in particular, a seat installed in a moving body such as a vehicle, a ship or an airplane. Regarding the method.

2. Description of the Related Art Conventionally, there is a seat vibration control device that suppresses vibration applied to a seat by controlling the operation of a direct-acting electric actuator under the seat according to vibration acceleration (see Patent Document 1).
JP-A-11-180202

  However, since a general active sheet has many mechanical connections, friction (friction) is generated and an appropriate thrust cannot be applied to the actuator. In addition, when the change in mechanical coupling friction has increased due to aging or the like, the controllability has deteriorated.

  The present invention solves the above-described problems, and an object of the present invention is to provide a vibration control device and a vibration control method that can cope with a change in friction and maintain appropriate thrust and controllability.

  Therefore, the present invention provides a load support unit installed in the installation unit, a vibration control unit having a vibration control unit for controlling vibration of the load support unit with respect to the installation unit, and an acceleration for detecting the acceleration of the load support unit. In the vibration control apparatus including a detection unit and a control unit that controls the vibration control unit based on a detection result of the acceleration detection unit, the control unit includes a drive control unit that drives the vibration control unit with an arbitrary thrust. The load including the friction is obtained from the maximum value of the acceleration of the load supporting unit displaced by the drive of the drive control unit, and the driving force driven by the drive control unit and the maximum value detected by the acceleration detecting means. And a calculation unit for calculating the mass of the support unit.

  The calculation unit may calculate the thrust of the vibration control unit from the mass of the load support unit including the friction and the acceleration of the load support unit with respect to the installation unit.

  Furthermore, the present invention provides a vibration control method for controlling the vibration control means by detecting the acceleration of the load support part relative to the installation part, the step of driving the vibration control means with an arbitrary thrust, and the vibration vibrating by the thrust Detecting the acceleration of the load support part, obtaining the maximum value of the acceleration, and calculating the mass of the load support part including friction from the thrust and the maximum value of the acceleration. Features.

  The vibration control unit may be controlled based on a mass of the load support part including the friction and an acceleration of the load support part with respect to the installation part.

  According to the first aspect of the present invention, the load support unit installed in the installation unit, the vibration control unit having the vibration control means for controlling the vibration of the load support unit with respect to the installation unit, and the acceleration of the load support unit In a vibration control apparatus comprising an acceleration detection means for detecting the vibration and a control section for controlling the vibration control means based on a detection result of the acceleration detection means, the control section drives the vibration control means with an arbitrary thrust. A maximum value of acceleration of the drive control unit and the load support unit displaced by driving of the drive control unit is acquired, and the friction is determined from the driving force driven by the drive control unit and the maximum value detected by the acceleration detecting means. Since the calculation part which calculates the mass of the load support part including is provided, the load corresponding to the change of friction can be acquired.

  According to a second aspect of the present invention, the calculation unit calculates the thrust of the vibration control unit from the mass of the load support unit including the friction and the acceleration of the load support unit with respect to the installation unit. Therefore, it responds to changes in friction, maintains appropriate thrust and controllability, and provides a comfortable ride.

  Furthermore, according to the invention described in claim 3, in the vibration control method for controlling the vibration control means by detecting the acceleration of the load support part with respect to the installation part, the step of driving the vibration control means with an arbitrary thrust, Detecting an acceleration of the load support portion that vibrates by the thrust, obtaining a maximum value of the acceleration, and calculating a mass of the load support portion including friction from the maximum value of the thrust and the acceleration Therefore, it is possible to acquire a load corresponding to a change in friction.

  According to a fourth aspect of the present invention, since the vibration control means is controlled from the mass of the load support part including the friction and the acceleration of the load support part with respect to the installation part, Responding to changes, maintaining appropriate thrust and controllability and providing a comfortable ride.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a vibration control device 1 according to a first embodiment of the present invention. In the figure, 1 is a vibration control device, 2 is an actuator as an example of vibration control means, 3 is a coupling mechanism, 4 is an acceleration sensor as an example of acceleration detection means, 5 is a control section, 10 is a load support section, and F is The floor surface, S, is a seat.

  The vibration control device 1 includes a coupling mechanism 3, an acceleration sensor 4, an actuator 2, a control unit 5, and the like, and the actuator 2 is controlled by the control unit 5 based on the detection result of the acceleration sensor 4. The seat S and the load support part 10 connected to the installation part F are damped.

  The connection mechanism 3 is a mechanism that connects the seat S to the installation portion F so as to be movable up and down, and in the present embodiment, the first connection means 3a, the second connection means 3b, the seat side movement support portion 3c, and the floor side. An X-shaped link is formed by the first connecting means 3a and the second connecting means 3b.

  One end of the first connecting means 3a is rotatably connected to the seat S, and the other end is supported by the floor side movement support portion 3d so as to be moved substantially horizontally. The second connecting means 3b is rotatably connected at one end to the floor F and supported at the other end by the seat side movement support portion 3c so as to be moved substantially horizontally.

  The seat-side movement support portion 3c and the floor-side movement support portion 3d are installed on the seat S and the floor F, respectively, and have substantially horizontal long holes 3e and 3f, and the first connection means 3a is provided in the long holes 3e and 3f. And the other end of the 2nd connection means 3b is supported so that it can move.

  The acceleration sensor 4 is a sensor that detects the acceleration of the seat S and the load support unit 10. The actuator 2 is installed on the floor F, outputs thrust, and changes the position of the seat S relative to the floor F. The control unit 5 controls the thrust of the actuator 2 from the detection result of the acceleration sensor 4.

  FIG. 2 shows a block diagram of the vibration control apparatus 1 having such a structure. An input signal from the acceleration sensor 4 is input to the control unit 5 as a control means, the thrust corresponding to the acceleration is calculated by the calculation unit 52, and the actuator 2 is controlled by the drive control unit 51. To control vibration. When the seating is detected by the acceleration sensor 4, the seating sensor (not shown), or the input means 40 such as a button, the drive controller 51 drives the actuator 2 of the vibration controller 20, and the thrust and acceleration of the actuator 2 are accelerated. From the acceleration detected by the sensor 4, the mass including the friction is calculated by the calculation unit 52 as will be described later. Note that the calculation unit 52 has a function of storing threshold values, calculation formulas, and the like, but may include a storage unit that stores threshold values, calculation formulas, and the like.

  Next, friction measurement control will be described. FIG. 3 shows a flowchart of the friction measurement control. First, in step 1, it is detected whether the user is seated on the seat S (ST1). This detection may be detected by the acceleration sensor 4 or may be detected by separately providing a seating sensor, a button, or the like.

  Next, in step 2, the actuator 2 is driven with an arbitrary thrust by the drive control unit 51. (ST2). Subsequently, in step 3, it is determined whether or not acceleration can be detected by the acceleration sensor 4 (ST3).

If the acceleration can be detected in step 3, the maximum value of acceleration is acquired in step 4 (ST4). FIG. 4 is a diagram illustrating a change in acceleration with respect to time. The maximum value of acceleration is acquired from the peak value indicated by the arrow in FIG. For example, in FIG. 3, a = 0.75 m / s ² .

  If the acceleration cannot be detected in step 3, the thrust output of the actuator 2 is increased in step 4-2, and the process returns to step 2 (ST4-2).

  Next, at step 5, the calculation unit 52 obtains the mass including the friction (ST5). The actuator thrust F, acceleration a, friction μP, and cabin mass M have the following relationship.

F−μP = ma (1)
However, μ: friction coefficient, P: friction part vertical load, μP: friction formula (1),
F = Ma + μP
= (M + μP / a) a
Since both M and μP change, if m = M + μP / a,
F = ma (2)
It is.

Therefore, the mass m including the friction is a value obtained by dividing the acceleration a acquired in Step 4 from the thrust F that has driven the actuator in Step 2. For example, in the present embodiment, F = 6N and the maximum acceleration is a = 0.75 m / s ² , so m = 8 kg.

  Next, vibration control in consideration of friction according to the present embodiment will be described. FIG. 5 shows a flowchart of vibration control. First, in step 11, the acceleration is detected by the acceleration sensor 4 (ST11). Next, in step 12, the calculation unit 52 calculates the thrust of the actuator 3 (ST12). The thrust calculation is executed, for example, by storing a calculation formula such as acceleration × friction × gain × (−1) or a thrust value corresponding to the acceleration in advance. Here, the gain in the calculation formula represents the control delay, and -1 represents the reversal of the direction. Subsequently, in step 13, the drive control unit 51 controls the actuator 3 to output the thrust calculated in step 12 (ST13).

  FIG. 6 shows a vibration control device 1 according to the second embodiment of the present invention. In the figure, 1 is a vibration control device, 10 is a load support section, 11 is a first slider rail as an example of first guide means, 12 is a first slider as an example of first movement means, 13 is a load support member, 20 is a vibration control unit, 21 is an actuator as an example of vibration control means, 30 is a counter balance unit, 31 is a second slider rail as an example of second guide means, and 32 is a second as an example of second movement means. Slider 33 is a balance part 35 is a spring as an example of a biasing means, 40 is an input means, 41 is an acceleration sensor as an example of an acceleration detection means, S is a seat as an example of a mounting part, F is an installation part It is a floor surface as an example.

  The vibration control device 1 is installed on the floor F by the load support unit 10, and the vibration control unit 20 controls the vibration of the cabin, the seat S, etc. on the vibration control device 1, and the counter balance unit 30 has a force against the load. This is to set the balance. In the present invention, the first slider rail 11 as the first guiding means and the first slider 12 as the first moving means are collectively referred to as the first movement guiding means. Similarly, the second slider rail 31 as the second guiding means and the second slider 32 as the second moving means are collectively referred to as the second movement guiding means.

  The load support unit 10 includes a first slider rail 11 installed on the floor F, a first slider 12 provided on the load support member 13, a load support member 13 that supports the seat S, and the like. The first slider rail 11 is installed on the floor F and guides (regulates) the first slider 12 and the load support member 13 in the vertical (vertical) direction. The first slider 12 is provided on the load support member 13 and is guided (restricted) in the vertical (vertical) direction by the first slider rail 11. The load support member 13 includes a first slider 12 that is guided (regulated) in the vertical (vertical) direction by the first slider rail 11, and is placed on the vibration control unit 20 and the counter balance unit 30. The seat S is installed above the load support member 13.

  The vibration control unit 20 includes an actuator 21 and the like. The actuator 21 is placed on the floor F at the lower part and is brought into contact with the load support member 13 at the upper part to displace the load support member 13.

  The counter balance unit 30 includes a second slider rail 31, a second slider 32, a balance unit 33, a spring 35, and the like. The 2nd slider rail 31 is installed in the load support member 13, and guides the 2nd slider 32 so that a movement is possible. The second slider 32 is coupled to one end of the balance portion 33, guided by the second slider rail 31, and movable relative to the load support member 13. That is, the load support unit 13 is connected to the counter balance unit 30 through the second slider as the second movement guide unit and the second slider rail so that the load support unit 13 and the counter balance unit 30 are relatively movable.

  The balance portion 33 is coupled so that one end 33a rotates with respect to the second slider 32, and the other end 33b is rotatably coupled to the other end of the spring 35, and between the one end 33a and the other end 33b. As a fulcrum 33c, it is rotatably coupled to the chassis S.

  The spring 35 has one end coupled to the floor F and the other end coupled to the other end 33 b of the balance portion 33.

  The input unit 40 includes an acceleration sensor 41 and the like. The acceleration sensor 41 is a sensor that detects acceleration on the seat S.

  By adopting the structure of the vibration control device 1 as in the second embodiment, the output of the actuator 21 can be reduced, and an efficient vibration control device 1 that can be realized by the small actuator 21 can be provided.

  The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention.

  As described above, the load support unit 10 installed on the floor F, the vibration control unit 20 including the actuator 21 that controls the vibration of the load support unit 10 with respect to the floor F, and the acceleration sensor 41 that detects the acceleration of the load support unit 10. And the control unit 50 that controls the actuator 21 based on the detection result of the acceleration sensor 41, the control unit 50 includes a drive control unit 51 that drives the actuator 21 with an arbitrary thrust, and a drive control unit. The maximum value of the acceleration of the load support unit 10 displaced by the driving of 51 is acquired, and the mass of the load support unit 10 including the friction from the driving force driven by the drive control unit 51 and the maximum value detected by the acceleration sensor 21. Since the calculation unit 52 is calculated, a load corresponding to the change in friction can be acquired.

  In addition, the calculation unit 52 calculates the thrust of the actuator 21 from the mass of the load support unit 10 including friction and the acceleration of the load support unit 10 with respect to the floor F. Maintaining sex and providing a comfortable ride.

  Furthermore, in the vibration control method for controlling the actuator 21 by detecting the acceleration of the load support unit 10 with respect to the floor F, a step (ST2) of driving the actuator 21 with an arbitrary thrust, and the load support unit 10 that vibrates by the thrust. Since it includes a step of detecting acceleration (ST4), a step of acquiring the maximum value of acceleration, and a step of calculating the mass of the load support portion 10 including friction from the maximum value of thrust and acceleration (ST5). A load corresponding to a change in friction can be acquired.

  Further, since the actuator 21 is controlled (ST13) from the mass of the load support portion 10 including friction and the acceleration of the load support portion 10 with respect to the floor F, appropriate thrust and controllability can be coped with the change of the friction. Holds and provides a comfortable ride.

It is a figure which shows the vibration control apparatus of 1st Embodiment. It is the block diagram which showed the system configuration | structure of the vibration control apparatus. It is a figure which shows the flowchart of friction measurement control. It is a figure which shows the change of the acceleration with respect to time. It is a figure which shows the flowchart of damping control. It is a figure which shows the vibration control apparatus of 2nd Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Vibration control apparatus, 2 ... Actuator, 3 ... Connection mechanism, 4 ... Acceleration sensor, 5 ... Control part, 10 ... Load support part, 11 ... 1st slider rail (1st guide means), 12 ... 1st slider ( (First moving means), 13 ... load support member, 20 ... vibration control section, 21 ... vibration control actuator (vibration control means), 30 ... counter balance section, 31 ... second slider rail (second guide means), 32 ... second slider (second moving means), 33 ... balance section, 35 ... spring (biasing means), 40 ... detecting means, 41 ... acceleration sensor (acceleration detecting means), 50 ... control section, 51 ... drive control section 52 ... Calculation unit, F ... Floor surface (installation unit), S ... Seat (mounting unit)

Claims (4)

A load support unit installed in the installation unit; a vibration control unit having a vibration control unit that controls vibration of the load support unit with respect to the installation unit; an acceleration detection unit that detects an acceleration of the load support unit; and the acceleration In a vibration control device comprising a control unit for controlling the vibration control means according to the detection result of the detection means,
The control unit acquires a maximum value of the acceleration of the drive control unit that drives the vibration control unit with an arbitrary thrust and the load support unit that is displaced by the drive of the drive control unit, and is driven by the drive control unit. A vibration control apparatus comprising: a calculation unit that calculates a mass of a load support unit including friction from a driving force and a maximum value detected by the acceleration detection unit.   2. The vibration according to claim 1, wherein the calculation unit calculates a thrust of the vibration control unit from a mass of the load support unit including the friction and an acceleration of the load support unit with respect to the installation unit. Control device.   In the vibration control method for controlling the vibration control means by detecting the acceleration of the load support part with respect to the installation part, the step of driving the vibration control means with an arbitrary thrust, and the acceleration of the load support part vibrating by the thrust A vibration control method comprising: a step of detecting; a step of obtaining a maximum value of the acceleration; and a step of calculating a mass of a load support portion including friction from the maximum value of the thrust and the acceleration. .   The vibration control method according to claim 3, further comprising a step of controlling the vibration control unit based on a mass of the load support part including the friction and an acceleration of the load support part with respect to the installation part.

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