JP2009156383A - Vibration control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vibration control device smoothly operating from a standstill region to a movement region. <P>SOLUTION: The vibration control device determines whether a load supporting part 10 is in a standstill region or a movement region from a detection value of an installation part acceleration sensor 22 and a detection value of a load supporting part acceleration sensor 23. When the load supporting part 10 is in the standstill region, the vibration control device calculates a standstill region output value by adding a standstill region compensation value to a vibration control output value of a vibration control actuator 21 calculated from the detection value of the installation part acceleration sensor 22 and the detection value of the load supporting part acceleration sensor 23, and when the load supporting part 10 is in the movement region, the vibration control device adds a movement region compensation value to the vibration control output value with the standstill region compensation value added thereto to calculate a movement region output value. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vibration control device that suppresses or reduces vibration applied to a riding section such as a seat, particularly a riding section such as a seat installed in a moving body.

  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, as shown in FIG. 10 (a), when the seat S is supported only by the actuator 121, the output of the actuator 121 is always required including the stop state. 10B, when the seat S is supported by the actuator 121 and the torsion spring 122, the output of the actuator 121 can be set to 0 in the stop state, but the vibration of the seat S is controlled. In this case, the spring force of the torsion spring 122 becomes a reaction force, and in addition to the output for vibration control, the output for the reaction force of the spring is required for the actuator 121, and a large output is required.

  Therefore, as shown in FIG. 11, the actuator cannot immediately operate due to the influence of frictional force or the like when receiving the command value from the stationary state. Therefore, an impact may be felt when moving from the stationary region to the operating region.

  The present invention solves the above-described problems, and an object of the present invention is to provide a vibration control device that can operate smoothly from a stationary region to an operating region.

  Therefore, the present invention provides 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, and an installation unit that detects acceleration of the installation unit. An acceleration detection means; and a load support portion acceleration detection means for detecting an acceleration of the load support portion, from the detection value of the installation portion acceleration detection means and the detection value of the load support portion acceleration detection means, It is determined whether the load support portion is a static region or an operation region. When the load support portion is a static region, the load support portion is calculated from the detection value of the installation portion acceleration detection means and the detection value of the load support portion acceleration detection means. A still region compensation value is calculated by adding a static region compensation value to the vibration damping output value of the vibration control means, and when the load support portion is in an operating region, the vibration damping output value to which the static region compensation value is added is calculated. , Operating area supplement And calculates the operation region output value by adding a value.

  And a counter balance portion that is connected to the load support portion and applies a load that balances the load.

  In addition, the load support portion includes first moving means that moves relative to the installation portion.

  In addition, the counter balance unit includes a second moving unit that moves relative to the load support unit.

  Further, an urging means supported at one end by the installation part, a fulcrum is pivotally supported by the installation part, one end is pivotally joined to the slide means, and the other end is rotated to the other end of the urging means. It is characterized by comprising a balance part movably joined and an adjusting means for changing the length of the balance part.

  In addition, a detection unit that detects a load on the load support member is provided, and a control unit that operates the adjustment unit according to the load detected by the detection unit is provided.

  According to the first aspect of the present invention, the load control 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 installation unit An installed portion acceleration detecting means for detecting; and a load supporting portion acceleration detecting means for detecting an acceleration of the load supporting portion. The detected value of the installing portion acceleration detecting means and the detected value of the load supporting portion acceleration detecting means. From the above, it is determined whether the load support portion is a static region or an operation region. When the load support portion is a static region, the detection value of the installation portion acceleration detection means and the detection value of the load support portion acceleration detection means A static region output value is calculated by adding a static region compensation value to the vibration suppression output value of the vibration control means calculated from the above. When the load support portion is an operating region, the static region compensation value is added. The vibration output value Since calculating the operating region output value by adding a domain compensation values, it is possible to smoothly operate the stationary area to the operating area.

  According to the second aspect of the present invention, the counter balance unit is connected to the load support unit and applies a load that balances the load. Therefore, the output of the vibration control unit can be reduced, and the small vibration control unit is provided. It is possible to provide an efficient vibration control device that can be realized with the above.

  According to invention of Claim 3, since the said load support part has a 1st moving means which moves relatively with respect to the said installation part, it can prevent a load support member from moving to a horizontal direction.

  According to the fourth aspect of the present invention, the counter balance portion has the second moving means that moves relative to the load support portion, so that it is not necessary to move the counter balance portion.

  According to the fifth aspect of the present invention, the urging means supported at one end by the installation portion, the fulcrum is pivotally supported by the installation portion, the one end is pivotally joined to the slide means, and the other end is Since the balance part pivotally joined to the other end of the urging means and the adjusting means for changing the length of the balance part are provided, it is not necessary to apply a heavy object such as a counterweight.

  According to the sixth aspect of the present invention, since the detection means for detecting the load on the load support member is provided, and the control means for operating the adjustment means in accordance with the load detected by the detection means, the initial load is provided. Can respond appropriately to changes in

  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 this embodiment. 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 a vibration control actuator as an example of vibration control means, 22 is a load sensor as an example of detection means, 23 is an acceleration sensor as an example of detection means, 30 is a counter balance unit, and 31 is The second slider rail as an example of the second guide means, 32 is the second slider as an example of the second moving means, 33 is the second slider support part as an example of the second moving means support part, and 34 is the adjusting means. As an example, an actuator for preload adjustment, 35 is a torsion spring, F is an installation portion, and S is a seat.

  The vibration control device 1 is installed on the installation unit F such as a floor by the load support unit 10, and the vibration control unit 20 actively controls the vibration of the load such as the seat S on the vibration control device 1 and the counter balance unit 30. The balance of force against the load is set.

  The load support unit 10 includes a first slider rail 11 installed in the installation unit F, a first slider 12 provided in the load support member 13, a load support member 13 that supports the seat S, and the like. The 1st slider rail 11 is installed in the installation part F, and guides the 1st slider 12 and the load support member 13 to an up-down direction. The first slider 12 is provided on the load support member 13 and is guided in the vertical direction by the first slider rail 11. The load support member 13 is disposed below the seat S, has a first slider 12 guided in the vertical direction by the first slider rail 11, and is placed on the vibration control unit 20 and the counter balance unit 30.

  The vibration control unit 20 includes a vibration control actuator 21 such as a voice coil motor, a chassis acceleration sensor 22, a cabin acceleration sensor 23, a load sensor 24, and the like. The vibration control actuator 21 has a lower part installed in the installation part F and an upper part brought into contact with the load support member 13, and is controlled to be vertically extendable and contracted by signals from the chassis acceleration sensor 22, the cabin acceleration sensor 23, and the like.

  The counter balance unit 30 includes a second slider rail 31, a second slider 32, a balance unit 33, a preload adjusting actuator 34, 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 connected to one end of the balance portion 33, guided by the second slider rail 31, and movable with respect to the load support member 13.

  The balance portion 33 has a fulcrum 33a at the installation portion F, and one end side 33b is rotatably connected to the second slider 32 and the other end side 33c is pivotally connected to the spring 35 via the preload adjusting actuator 34.

  The preload adjusting actuator 34 has a variable length. One end is connected to the balance portion 33 and the other end is fixed to the spring 35. The preload adjusting actuator 34 is controlled to extend and contract by a signal from the load sensor 24 or the like. . One end of the spring 35 is fixed to the preload adjusting actuator 34, and the other end is fixed to the installation portion F.

  FIG. 2 shows a block diagram of the vibration control apparatus 1 having such a structure. Vibration signals are actively controlled by inputting input signals from the chassis acceleration sensor 22 and the cabin acceleration sensor 23 to the ECU 40 as control means and controlling the vibration control actuator 21. An input signal from the load sensor 24 or the like is input to the ECU 40 as a control unit, and the preload adjusting actuator 34 is controlled.

  Next, preload adjustment control will be described. FIG. 3 shows a flowchart of the preload adjustment control. First, in step 1, the load at the time of stopping without vibration is detected by the load sensor 22 (ST1). Next, in step 2, the detected load value for a certain time is read into the ECU 40 (ST2). Subsequently, in step 3, for example, an average value is calculated from the load values for a certain period of time to calculate a reference load value (ST3). Next, in step 4, the preload adjustment actuator 34 is controlled to operate in accordance with the calculated reference load value (ST4).

  FIG. 4 shows the state of the vibration control device 1 of this embodiment before and after the preload adjustment control. FIG. 4A shows the state before the preload adjustment control, and FIG. 4B shows the state after the preload adjustment control. It is. From the state before the preload adjustment control shown in FIG. 4A, for example, when the occupant P sits on the seat S and the load of the occupant P is added to the initial load, the balance unit 33 of the counter balance unit 30 is counterclockwise. It rotates and a load is applied to the spring 35. Therefore, as shown in FIG. 4B, the preload adjusting actuator 34 is operated to change the length of the balance portion 33, thereby balancing the load and the load by the spring 35.

  Thus, by operating the preload adjusting actuator 34, the load is canceled, and vibration control can be performed from that state.

  Next, the vibration control of this embodiment will be described. FIG. 5 shows a flowchart of vibration control. First, in step 11, the acceleration during vibration is detected by the acceleration sensor 23 (ST11). Next, at step 12, the ECU 40 calculates the thrust of the vibration damping actuator 21 (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 thrust calculated in step 12 is instructed to the vibration control actuator 21.

  6A and 6B show a state of vibration control according to the present embodiment. FIG. 6A shows a state where the damping actuator 21 is contracted, and FIG. 6B shows a state where the damping actuator 21 is extended. Is.

  FIG. 6A shows a case where the detected load value corresponding to step 14 is larger than the reference load value obtained by the preload adjustment control. When the damping actuator 21 is contracted to reduce the vibration on the seat S to 0, As the slider 32 moves forward, the balance portion 33 of the counter balance portion 30 rotates counterclockwise. At this time, the spring 35 extends, but the load and the load by the spring 35 can be kept in a substantially balanced state.

  FIG. 6B shows a case where the detected load value corresponding to step 15 is smaller than the reference load value obtained by the preload adjustment control. When the vibration control actuator 21 is extended to make the vibration on the seat S zero, While the 2nd slider 32 moves back, the balance part 33 of the counter balance part 30 rotates clockwise. At this time, the spring 35 contracts, but the load and the load by the spring 35 can be kept in a substantially balanced state.

  FIG. 7 shows the result of comparing the case of using the vibration control device 1 of the present embodiment and the case of the prior art shown in FIG. 10 by simulation. In the simulation, an actuator for vibration suppression necessary for reducing the vibration of the load to 0 under the condition of traveling on a wavy path with an amplitude of 25 mm and a period of 750 mm at a speed of 70 km / h was obtained.

  FIG. 7A shows the case where the seat is supported only by the actuator as shown in FIG. 10A, and FIG. 7B shows the case where the seat is supported by the actuator as shown in FIG. 10B. In the case of using a spring, FIG. 7C shows the case of this embodiment.

  As described above, the vibration control device 1 of the present embodiment can reduce the output of the actuator, and is efficient that can be realized with a small actuator.

  Next, compensation control in this embodiment will be described. FIG. 11 is a graph showing the seat acceleration with respect to the thrust of the vibration damping actuator 21 when the installation portion F is stationary and the command value is constant. As shown in FIG. 11, although the operation command signal is input to the vibration control actuator 21, the seat S has a stationary state where no acceleration is generated due to frictional force or the like. Compensation control is control which compensates the thrust of the vibration suppression actuator 21 in this stationary state.

  Actually, since the installation part F may also be exercising, the state is determined based on whether the first slider 13 is stationary or exercising, not the seat acceleration.

  FIG. 8 is a diagram showing a portion related to the compensation control of the ECU 40. The ECU 40 includes an installation unit acceleration acquisition unit 42 that acquires a signal from the installation unit acceleration sensor 22, a seat acceleration acquisition unit 43 that acquires a signal from the seat acceleration sensor 23, an installation unit acceleration acquisition unit 42, and a seat acceleration acquisition unit 43. The relative speed calculation unit 44 that calculates the relative speed of the seat S or the first slider 13 with respect to the installation unit F from the signal, the acceleration of the seat S acquired by the seat acceleration acquisition unit 43, and the relative speed calculated by the relative speed calculation unit 44 The first slider 13 includes a state determination unit 45 that determines whether the first slider 13 is in a stationary state or an exercise state, and a thrust calculation unit 46 that calculates the thrust of the vibration control actuator 21 according to the determination result obtained by the state determination unit 45.

  FIG. 9 is a diagram illustrating a flowchart of compensation control. The flowchart of the compensation control may be configured to include compensation control in the flowchart of the vibration suppression control illustrated in FIG.

  First, in step 21, the installation unit acceleration acquisition unit 42 acquires installation unit acceleration from the installation unit acceleration sensor 22 (ST21). Subsequently, at step 22, the seat acceleration acquisition unit 43 acquires the seat acceleration from the seat acceleration sensor 23 (ST22). Next, in step 23, a vibration suppression output value is calculated from a value obtained by multiplying each of the installation portion acceleration and the seat acceleration by a proportional gain and a load obtained from the installation portion acceleration sensor 22 and the seat acceleration sensor 23 or the load sensor 24 ( ST23). Subsequently, in step 24, the relative speed calculation unit 44 calculates the relative speed between the installation unit F and the seat S (ST24). Next, in step 25, a value obtained by adding a Coulomb friction force as an example of a static region compensation value to the vibration suppression output value for the acceleration obtained from the installation portion acceleration sensor 22 and the seat acceleration sensor 23 in advance is set in the vibration suppression actuator 21. The thrust calculation unit 46 calculates the static region output value (ST25).

  Next, in step 26, the state discriminating unit 45 compares the absolute value of the relative speed obtained in step 24 with the predetermined threshold value A (ST26). The threshold A is preferably a value close to 0.

  If the absolute value of the relative speed is larger than the predetermined threshold A in step 26, the first slider 13 is regarded as a moving state in step 27, and the thrust calculation unit 46 operates on the static region output value obtained in step 25. A value obtained by adding a viscous frictional force as an example of the region compensation value is calculated by the thrust calculation unit 46 as an operation region output value of the vibration control actuator 21 (ST27). Next, at step 28, the vibration damping actuator 21 is output based on the operation region output value obtained at step 27 (ST28).

  If the absolute value of the relative speed is smaller than the predetermined threshold A in step 26, the vibration damping actuator 21 is output based on the static region output value obtained in step 25 in step 28 (ST28).

  As described above, the vibration control device 1 according to the present embodiment includes the load support unit 10 installed in the installation unit F and the vibration control unit 20 including the vibration control actuator 21 that controls the vibration of the load support unit 10 with respect to the installation unit F. And an installation part acceleration sensor 22 that detects the acceleration of the installation part F, and a load support part acceleration sensor 23 that detects the acceleration of the load support part 10, and the detected value of the installation part acceleration sensor 22 and the load support part From the detection value of the acceleration sensor 23, it is determined whether the load support unit 10 is a stationary region or an operation region. When the load support unit 10 is a stationary region, the detection value of the installation unit acceleration sensor 22 and the load support unit acceleration sensor The static region output value is calculated by adding the static region compensation value to the vibration suppression output value of the vibration suppression actuator 21 calculated from the detected value 23, and when the load support unit 10 is the motion region, the static region compensation value is calculated. The pressure was damping output value, since the calculated operating region output value by adding the operation area compensation value, it is possible to smoothly operate the stationary area to the operating area.

  Moreover, since it has the counter balance part 30 connected with the load support member 11 and giving the load which balances a load, the output of the actuator 21 for vibration suppression can be reduced, and it can implement | achieve with the small actuator 21 for vibration suppression. An efficient vibration control device 1 can be provided.

  Moreover, since the load support part 10 has the 1st slide 12 which moves relatively with respect to the installation part F, it can prevent the load support member 13 from moving to a horizontal direction.

  Further, since the counter balance unit 30 includes the second slider 32 that moves relative to the load support unit 10, it is not necessary to move the counter balance unit 30.

  Further, a spring 35 supported at one end by the installation portion F, a fulcrum is pivotally supported by the installation portion F, one end is rotatably connected to the second slider 32, and the other end is rotated to the other end of the spring 35. Since the balance portion 33 that can be joined and the preload adjusting actuator 34 that changes the length of the balance portion 33 are provided, it is not necessary to apply a heavy object such as a counterweight.

  In addition, a load sensor 22 or an acceleration sensor 23 that detects a load on the load support member 11 is provided, and an ECU 40 that operates the preload adjustment actuator 34 according to the load detected by the load sensor 22 or the acceleration sensor 23 is provided. Therefore, it is possible to appropriately cope with changes in the initial load.

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 preload adjustment control. It is a figure which shows the state of the vibration control apparatus at the time of preload adjustment control. It is a figure which shows the flowchart of vibration control. It is a figure which shows the state of the vibration control apparatus at the time of vibration control. It is a figure which shows the simulation which compared the vibration control apparatus of this embodiment, and the prior art. It is the figure which showed the part relevant to compensation control of ECU. It is a figure which shows the flowchart of compensation control. It is a figure which shows the prior art. It is a graph which shows the seat acceleration with respect to the thrust of the conventional damping actuator.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Vibration control apparatus, 10 ... Load support part, 11 ... 1st slider rail (1st guide means), 12 ... 1st slider (1st moving means), 13 ... Load support member, 20 ... Vibration control part, 21 ... actuator for vibration control (vibration control means), 22 ... installation part acceleration sensor (installation part acceleration detection means / detection means), 23 ... seat acceleration sensor (load support part acceleration detection means / detection means), 22 ... load sensor ( Detecting means), 30 ... counter balance section, 31 ... second slider rail (second guiding means), 32 ... second slider (second moving means), 33 ... balance section, 34 ... preload adjusting actuator (adjusting means) 35 ... spring (biasing means), 40 ... ECU (control means)

Claims (6)

A load support section installed in the installation section;
A vibration control unit having vibration control means for controlling vibration of the load support unit with respect to the installation unit;
Installation unit acceleration detection means for detecting the acceleration of the installation unit;
Load support portion acceleration detecting means for detecting acceleration of the load support portion;
With
From the detection value of the installation portion acceleration detection means and the detection value of the load support portion acceleration detection means, it is determined whether the load support portion is a stationary region or an operation region, and when the load support portion is a stationary region, A static region output value is calculated by adding a static region compensation value to the vibration suppression output value of the vibration control unit calculated from the detection value of the installation unit acceleration detection unit and the detection value of the load support unit acceleration detection unit. ,
When the load support unit is in an operation region, the vibration control device calculates an operation region output value by adding an operation region compensation value to the vibration suppression output value to which the static region compensation value is added.     The vibration control device according to claim 1, further comprising: a counter balance unit that is connected to the load support unit and applies a load that balances the load.   The vibration control device according to claim 2, wherein the load support portion includes first moving means that moves relative to the installation portion.   4. The vibration control device according to claim 2, wherein the counter balance unit includes a second moving unit that moves relative to the load support unit. 5.   An urging means supported at one end by the installation portion, a fulcrum is pivotally supported by the installation portion, one end is rotatably connected to the slide means, and the other end is rotatable to the other end of the urging means The vibration control apparatus according to any one of claims 2 to 4, further comprising: a balance unit joined to the balance unit; and an adjustment unit that changes a length of the balance unit.   The vibration control apparatus according to claim 5, further comprising a detection unit that detects a state on the load support unit, and a control unit that operates the adjustment unit according to the state detected by the detection unit. .

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