JP2009156384A - 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: A vibration control part 20 determines whether a load supporting part 10 is in a standstill region or a movement region with respect to an installation part F from a detection value of an installation part acceleration detecting means 22 and a detection value of a load supporting part acceleration detecting means 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 means 21 calculated from the detection value of the installation part acceleration detecting means 22 and the detection value of the load supporting part acceleration detecting means 23, and when the load supporting part 10 is in the movement region and a control cycle in the load supporting part 10 is in the standstill region, the vibration control device adds a movement region compensation value to the vibration control output value of the vibration control means 21 with the standstill region compensation value added thereto to calculate a movement region output value. When the control cycle in the load supporting part 10 is in the movement region, a movement region compensation value is added to the vibration control output value of the vibration control means 21 with the changed standstill region compensation value added thereto to calculate the 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 load support portion and the like, particularly a load support portion and the like installed on a moving body or the like.

  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.

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

  Furthermore, since this frictional force changes due to variations in products, changes due to usage environments such as temperature and deterioration over time, it is necessary to always control according to the status of the device.

  The present invention solves the above-described problem, and provides a vibration control device that can operate smoothly from a stationary region to an operation region and can always perform control according to the state of the device. Objective.

  For this purpose, the present invention provides a load support unit installed in an installation unit, a vibration control unit having a predetermined control cycle, and having a vibration control means for controlling vibration of the load support unit with respect to the installation unit, and the installation An installation part acceleration detection means for detecting the acceleration of the part, and a load support part acceleration detection means for detecting the acceleration of the load support part, wherein the vibration control unit has a detection value of the installation part acceleration detection means, From the detection value of the load support unit acceleration detection means, it is determined whether the load support unit is a stationary region or an operation region with respect to the installation unit. If the load support unit is a stationary region, the installation unit acceleration detection is performed. A stationary region output value is calculated by adding a stationary region compensation value to the vibration damping output value of the vibration control unit calculated from the detected value of the unit and the detected value of the load support unit acceleration detecting unit, and this control cycle In said load When the holding part is in the operating area and the load supporting part is in the stationary area in the previous control cycle, the operating area compensation value is added to the vibration damping output value of the vibration control means added with the stationary area compensation value. When the load support portion is in the motion region in the current control cycle, and the load support portion is in the motion region in the previous control cycle, the absolute value of the acceleration of the load support portion is calculated. Judgment whether the value is larger than a predetermined threshold value, and if the absolute value of acceleration of the load support portion is larger than a predetermined threshold value, change the static area compensation value and add the changed static area compensation value to the vibration The motion region output value is calculated by adding the motion region compensation value to the vibration suppression output value of the control means.

  Further, the vibration control unit is a case where the absolute value of the acceleration of the load support unit is larger than a predetermined threshold, and the detection value of the installation unit acceleration detection unit and the detection value of the load support unit acceleration detection unit Are equal to each other, the stationary region compensation value is decreased by a predetermined amount, and the absolute value of the acceleration of the load supporting portion is larger than a predetermined threshold, and the detection by the installation portion acceleration detecting means is performed. When the value and the sign of the detection value of the load support portion acceleration detection means do not match, the still region compensation value is increased by a predetermined amount.

  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 the adjustment unit is operated according to the load detected by the detection unit.

  According to invention of Claim 1, the vibration control part which has a vibration control means which has a predetermined control cycle and controls the vibration with respect to the said installation part of the load support part installed in the installation part. And an installation part acceleration detection means for detecting the acceleration of the installation part, and a load support part acceleration detection means for detecting the acceleration of the load support part, wherein the vibration control unit is a part of the installation part acceleration detection means. From the detection value and the detection value of the load support unit acceleration detection means, it is determined whether the load support unit is a stationary region or an operation region with respect to the installation unit, and when the load support unit is a stationary region, A static region output value is calculated by adding a static region compensation value to the vibration damping 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, In this control cycle When the load support portion is in the motion region and the load support portion is in the static region in the previous control cycle, the motion region compensation value is added to the vibration suppression output value of the vibration control means to which the static region compensation value is added. To calculate the motion region output value, and if the load support portion is in the motion region in the current control cycle and if the load support portion is in the motion region in the previous control cycle, the acceleration of the load support portion If the absolute value of the load support portion acceleration is greater than a predetermined threshold, the static region compensation value is changed, and the changed static region compensation value is added. Since the motion region output value is calculated by adding the motion region compensation value to the vibration damping output value of the vibration control means, it can operate smoothly from the stationary region to the motion region, and always according to the situation of the device. System It can be a to. Further, when the compensation value is excessive or insufficient, it can be adjusted immediately.

  According to a second aspect of the present invention, the vibration control unit is a case where the absolute value of the acceleration of the load support unit is larger than a predetermined threshold, and the detected value of the installation unit acceleration detection means and the load When the signs of the detection values of the support portion acceleration detection means match, the static region compensation value is decreased by a predetermined amount, the absolute value of the acceleration of the load support portion is greater than a predetermined threshold, and When the detection value of the installation portion acceleration detection means and the detection value of the load support portion acceleration detection means do not coincide with each other, the static region compensation value is increased by a predetermined amount. Can be adjusted efficiently.

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

  According to invention of Claim 4, 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 fifth aspect of the present invention, since the counter balance portion has the second moving means that moves relative to the load support portion, it is not necessary to move the counter balance portion.

  According to the sixth aspect of the present invention, the urging means whose one end is supported by the installation portion, the fulcrum is pivotally supported by the installation portion, the one end is rotatably 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 seventh aspect of the present invention, since the detecting means for detecting the load on the load supporting member is provided and the adjusting means is operated according to the load detected by the detecting means, Can respond appropriately.

  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 driven at a predetermined control cycle, 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 section, 31 is a second slider rail as an example of second guiding means, 32 is a second slider as an example of second moving means, and 33 is a second slider as an example of second moving means support section. A support part 34 is a preload adjusting actuator as an example of an adjusting means, 35 is a torsion spring, F is an installation part, and S is a seat.

  The vibration control device 1 is installed on the installation portion F such as a floor or a vehicle chassis by the load support unit 10, and the vibration control unit 20 actively controls the vibration of the load such as the seat S of the vehicle cabin on the vibration control device 1. At the same time, the counter balance unit 30 sets the balance of force against the load.

  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, an installation unit acceleration sensor 22, a seat acceleration sensor 23, a load sensor 24, and the like. The vibration control actuator 21 has its lower part installed in the installation part F and its upper part in contact with the load support member 13, and is controlled so as to be vertically extendable by signals from the installation part acceleration sensor 22, the seat 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. Input signals from the installation portion acceleration sensor 22, the seat acceleration sensor 23, and the like are input to the ECU 40 as control means, and the vibration control actuator 21 is controlled, so that vibration is actively controlled. 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. The control contents of the vibration control flowchart are repeated at a predetermined control cycle of the vibration control unit, the previous time being one cycle before the control cycle, that is, the previous control cycle, and the current time being the current control cycle. Note that the previous and current expressions will be described as appropriate. 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 in which no acceleration is generated due to Coulomb friction 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, the seat acceleration is multiplied by a proportional gain to obtain an output (ST23). Subsequently, in step 24, the relative speed calculation unit 44 calculates the relative speed of the first slider 13 from the value obtained in step 23 (ST24).

  Next, in step 25, the state discriminating unit 45 compares the absolute value of the relative speed obtained in step 24 with the predetermined threshold value A (ST25).

  If it is determined in step 25 that the absolute value of the relative speed is a static region smaller than a predetermined threshold A, it is determined in step 26 whether the detected value of the seat acceleration sensor 23 is larger than the threshold B.

  If the detected value of the seat acceleration sensor 23 is larger than the threshold value B in step 26, the flag is turned on in step 27 (ST27). Next, in step 28, the Coulomb friction value stored in the storage buffer is set as the value of the Coulomb friction force (ST28).

  In step 26, when the detected value of the seat acceleration sensor 23 is smaller than the threshold value B, step 28 is executed.

  Next, in step 29, the thrust calculation unit 46 calculates the output + coulomb friction force + viscous friction force obtained in step 23 as an output thrust (ST29). Subsequently, in step 30, the vibration is output to the vibration control actuator 21 (ST30).

  If the absolute value of the relative speed is larger than the predetermined threshold A in step 25, the first slider 13 considers the motion state and calculates the value of the viscous friction force in step 31 (ST31).

  Next, in step 32, it is determined whether the flag is ON (ST32). The flag in step 32 indicates that the load support unit is in the operation region in the current control cycle and the load support unit is in the stationary region in the previous control cycle or the load support unit is operated in the current control cycle. In the case of the region, it is determined whether or not the load support portion is the operation region in the previous control cycle.

  If it is determined in step 32 that the flag is ON, the flag is turned OFF in step 33 (ST33). Next, in step 34, the value of the Coulomb friction force is set as the previous output value, and this Coulomb friction value is stored in the storage buffer (ST34). Thereafter, Step 28 to Step 30 are executed.

  If it is determined in step 32 that the flag is OFF, it is determined in step 41 whether the absolute value of the detection value of the seat acceleration sensor 23 is greater than a predetermined threshold C (ST41).

  If it is determined in step 41 that the absolute value of the detected value of the seat acceleration sensor 23 is smaller than the predetermined threshold C, steps 28 to 30 are executed.

  If it is determined in step 41 that the absolute value of the detection value of the seat acceleration sensor 23 is larger than the predetermined threshold C, the sign of the detection value of the seat acceleration sensor 23 and the detection value of the installation portion acceleration sensor 22 is the same in step 42. Judgment is made (ST42).

  If it is determined in step 42 that the detected value of the seat acceleration sensor 23 and the detected value of the installation portion acceleration sensor 22 coincide with each other, in step 43, the previously output coulomb friction value is reduced by a certain amount and stored in the storage buffer. (ST43). Thereafter, Step 28 to Step 30 are executed.

  If it is determined in step 42 that the detection value of the seat acceleration sensor 23 and the detection value of the installation portion acceleration sensor 22 do not match, in step 44, the previously output coulomb friction value is increased by a certain amount and stored in the storage buffer. (ST44). Thereafter, Step 28 to Step 30 are executed.

  Thus, the present embodiment is a vibration having the load support unit 10 installed in the installation unit F and the vibration control actuator 21 having a predetermined control cycle and controlling the vibration of the load support unit 10 with respect to the installation unit F. The vibration control unit 20 includes a control unit 20, an installation unit acceleration sensor 22 that detects the acceleration of the installation unit F, and a load support unit acceleration sensor 23 that detects the acceleration of the load support unit 10. 22, and the detection value of the seat acceleration sensor 23, it is determined whether the load support unit 10 is a stationary region or an operation region with respect to the installation unit F. If the load support unit 10 is a stationary region, the installation unit A stationary region output value is calculated by adding a stationary region compensation value to the damping output value of the damping actuator 21 calculated from the detected value of the acceleration sensor 22 and the detected value of the seat acceleration sensor 23, and at this control cycle. When the load support unit 10 is in the operation region and the load support unit 10 is in the stationary region in the previous control cycle, the operation region compensation value is added to the vibration suppression output value of the vibration control actuator 21 to which the static region compensation value is added. In addition, the operation region output value is calculated. When the load support unit 10 is in the operation region in the current control cycle, and when the load support unit 10 is in the operation region in the previous control cycle, the acceleration of the load support unit 10 is calculated. It is determined whether the absolute value is larger than a predetermined threshold value, and if the absolute value of the acceleration of the load support unit 10 is larger than the predetermined threshold value, the vibration suppression actuator is changed by changing the static region compensation value and adding the changed static region compensation value. Since the motion region output value is calculated by adding the motion region compensation value to the 21 vibration suppression output values, it can operate smoothly from the stationary region to the motion region, and always according to the situation of the device It is possible to the control. Further, when the compensation value is excessive or insufficient, it can be adjusted immediately.

  Further, the vibration control unit 20 is a case where the absolute value of the acceleration of the load support unit 10 is larger than a predetermined threshold, and the signs of the detection value of the installation unit acceleration sensor 22 and the detection value of the load support unit acceleration sensor 23. Are equal to each other, the static region compensation value is decreased by a predetermined amount, the absolute value of the acceleration of the load support unit 10 is larger than a predetermined threshold, and the detected value of the installation unit acceleration sensor 22 and the load support When the signs of the detection values of the local acceleration sensor 23 do not match, the still region compensation value is increased by a predetermined amount, so that it can be adjusted efficiently when the compensation value is excessive or insufficient.

  Moreover, since it has the counter balance part 30 connected with the load support part 10 and giving the load which balances a load, the output of the vibration suppression actuator 21 can be reduced and it can implement | achieve with the small vibration suppression actuator 21 efficiently. A 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.

  The present invention is not limited to the above-described embodiment, and various modifications can be made based on the spirit of the present invention. For example, the processing order of the control flowchart can be changed as appropriate. They are not excluded from the scope of the present invention.

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 a figure which shows the part relevant to the 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, 23 ... Seat acceleration sensor, 24 ... Load sensor, 30 ... Counter balance part, 31 ... Second slider rail (second guide 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 (7)

A load support section installed in the installation section;
A vibration control unit having a predetermined control cycle and 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
The vibration control unit determines whether the load support unit is a stationary region or an operation region with respect to the installation unit 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 part is in a static region, the static region compensation is applied 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. Add the value to calculate the static area output value,
When the load support portion is in the operation region in the current control cycle, and when the load support portion is in the static region in the previous control cycle, the vibration control means added with the static region compensation value is set to the vibration suppression output value. , Calculate the motion region output value by adding the motion region compensation value,
If the load support portion is in the operation region in the current control cycle and if the load support portion is in the operation region in the previous control cycle, it is determined whether the absolute value of the acceleration of the load support portion is greater than a predetermined threshold. ,
When the absolute value of the acceleration of the load support portion is larger than a predetermined threshold, the static region compensation value is changed, and the vibration control means to which the static region compensation value after the change is added is added to the vibration control output value of the vibration control means. A vibration control device that calculates an operation region output value by adding a compensation value. The vibration control unit is a case where the absolute value of the acceleration of the load support unit is greater than a predetermined threshold, and the sign of the detection value of the installation unit acceleration detection unit and the detection value of the load support unit acceleration detection unit Are equal to each other, the static region compensation value is decreased by a predetermined amount,
The absolute value of the acceleration of the load support part is greater than a predetermined threshold value, and the detection value of the installation part acceleration detection means and the detection value of the load support part acceleration detection means do not match The vibration control device according to claim 1, wherein the static region compensation value is increased by a predetermined amount.   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 3, wherein the load support portion includes first moving means that moves relative to the installation portion.   5. The vibration control device according to claim 3, wherein the counter balance unit includes a second moving unit that moves relative to the load support unit.   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 claim 3, further comprising: a balance unit joined to the balance, and an adjustment unit that changes a length of the balance unit.   The vibration control apparatus according to claim 6, further comprising a detection unit configured to detect a state on the load support unit, wherein the adjustment unit is operated according to a state detected by the detection unit.

Images