JP2011209830A - Motorized actuator drive device and vibration damper including the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an motorized actuator drive device wherein appropriate measures are taken to prevent drive command signals from becoming excessive.SOLUTION: The motorized actuator drive device generates a current command Ibased on a command vector having amplitude information and phase information corresponding to an amplitude and a phase of the current command Ithat is a periodic signal, and the command vector is represented by a plurality of vectors intersecting with each other. The motorized actuator drive device includes: a factor calculation means 44 calculating adaptation filter factors (Re, Im) indicating magnitudes of the respective vectors representing the command vector; a command signal generation means 45 generating the current command Ibased on the adaptation filter factors (Re, Im) of the respective vectors calculated by the factor calculation means 44; and a current exceedance detection device 4c generating a current upper limit exceedance signal Swhen a prescribed condition is satisfied, and inputting it into the factor calculation means 44. The factor calculation means 44 corrects all the adaptation filter factors to a direction wherein the current command Iis limited while the current upper limit exceedance signal Sis inputted, and uses an elimination factor k such that a ratio of the correction to each adaptation filter factors becomes equal in all the adaptation filter factors.

Description

  The present invention relates to an electric actuator driving device that controls driving of an electric actuator by generating a driving command signal and inputting the driving command signal to the electric actuator, and in particular, an electric actuator driving in which measures against an excessive driving command signal are optimized. The present invention relates to a device and a vibration control device including the same.

  When electrically driving an electric actuator such as a linear actuator such as a reciprocating motor, it is caused by a collision of the mover with the stator or a current exceeding the allowable amount flowing or voltage applied to the controller. The controller may be damaged. The collision of the mover with the stator leads to the generation of noise, abnormal vibrations, and the life of the electric device, and the damage to the controller leads to the burning of the device, both of which must be prevented beforehand.

  As a countermeasure against this, a method of limiting (clamping) the current and voltage of the drive command signal, which is a periodic signal that commands the drive of the electric actuator, before the occurrence of a malfunction and performing an abnormal process is considered as an effective measure. Yes.

  For example, what is shown in FIG. 20 of Patent Document 1 inputs an engine speed and the like, and calculates and outputs an amplitude command value and a frequency command value of vibration to be generated by the vibration means as an electric actuator. A command value generation unit, an amplitude upper limit clamp table in which an upper limit of an applicable current value determined from an amplitude command value and a frequency command value output from the command value generation unit is defined for each frequency, and an application current generation unit; It has. The applied current generation unit inputs the amplitude command value and the frequency command value, refers to the amplitude upper limit clamp table, performs correction to limit the input amplitude command value to an appropriate (movable) range, Based on the input frequency command and the corrected (restricted) amplitude command value, the command value of the current to be applied to the vibration means using the reciprocating motor is obtained and output. Then, by always driving the mover of the linear actuator within an appropriate movable range, it is possible to avoid collision with the stopper and suppress the occurrence of collision sound.

International Publication No. 2007/129627

  By the way, in the configuration shown in Patent Document 1, the amplitude command value to be corrected (restricted) is a vector having amplitude information and phase information corresponding to the amplitude and phase of the current to be applied to the vibration means. A vector is expressed by two vectors orthogonal to each other, and the size of each vector is expressed by a coefficient of a real part and an imaginary part to make it suitable for calculation (see FIG. 10 of Patent Document 1).

  However, as a specific configuration for limiting the amplitude command value with reference to the amplitude upper limit clamp table described above, clamp control was performed to cut the real part or the imaginary part that exceeded the upper limit, and the real part Or, when only one of the imaginary part is clamped, the direction of the vector expressed by the corrected real part and imaginary part changes, resulting in a phase shift of the drive command signal and driving accuracy is reduced. End up.

  In particular, when applied to a vibration control system that uses an electric actuator as a vibration means, the vibration phase to be vibrated should be completely There is a strict requirement that they must be matched, and the phase shift of the drive command signal has a great adverse effect on the vibration control accuracy.

  An object of the present invention is to provide an electric actuator driving device that effectively solves the above problems and a vibration damping device including the same.

  In order to achieve this object, the present invention takes the following measures.

  That is, when the electric actuator driving device of the present invention generates a drive command signal as a periodic signal and inputs it to the electric actuator to drive the electric actuator, amplitude information and phase information corresponding to the amplitude and phase of the drive command signal The drive command signal is generated based on a command vector having the command vector, wherein the command vector is represented by a plurality of intersecting vectors, and a coefficient indicating the magnitude of each vector representing the command vector is calculated. A coefficient calculating means; a command signal generating means for generating the drive command signal based on each coefficient calculated by the coefficient calculating means; and a refinement command signal when a predetermined condition is satisfied, A narrowing-down command unit that inputs to the calculation unit, and the coefficient calculation unit includes the narrow-down command signal While it is entered, corrected to a direction where the driving command signal to all of the coefficients are limited, and the proportion of fixes for each factor is the same for all coefficients.

  According to this configuration, when the narrowing-down command signal is input, all the coefficients representing the command vector are corrected in a direction to limit the drive command signal, and the correction ratio for each coefficient is the same for all the coefficients. Therefore, the magnitude of the command vector is corrected to the direction that limits the drive command signal without changing the direction of the command vector, and the shift of the phase of the periodic drive command signal generated based on this coefficient is avoided. On the other hand, it is possible to effectively prevent the movable element from colliding with the stator, damage to the controller, and the like, and it is possible to effectively improve not only the reliability and durability of the electric actuator but also the driving accuracy.

  When the drive command correction means for further correcting the drive command signal generated by the command signal generation means is provided, the narrowing-down command means has an amplitude value of the corrected drive command signal exceeding a preset upper limit value. In this case, it is effective that the predetermined condition is satisfied.

  In order to improve the responsiveness, the narrowing-down command means has an effect that the predetermined condition is satisfied when the size of the command vector represented by each coefficient exceeds an upper limit value. Is.

  In order to further pursue the drive accuracy of the electric actuator, the coefficient calculation means performs the correction of the coefficient by repeating the calculation of the coefficient while keeping the correction of the coefficient per time within a predetermined range. It is preferable to carry out automatically.

  The predetermined range is intended to suppress significant fluctuations in the drive command signal.

  The electric actuator driving device according to the present invention can be particularly preferably applied to a vibration damping device that generates vibration having a phase opposite to the vibration to be damped through the vibration means that is an electric actuator and controls the vibration.

  In the present invention, as described above, since all the coefficients representing the command vector are corrected in the direction of limiting the drive command signal, and the correction ratio for each coefficient is the same for all the coefficients, When restricting, the direction of the command vector is not changed, and the size of the command vector is corrected to the direction in which the drive command signal is restricted, and the drive command signal is prevented from deviating from the desired phase to improve the drive accuracy. It becomes possible to improve effectively.

1 is a schematic configuration diagram in which a vibration damping device according to an embodiment of the present invention is applied to a vehicle. The typical block diagram of the vibration means provided with the linear actuator which comprises the vibration damping device. The block diagram which shows the structure which concerns on the vibration suppression control of the basic order in one Embodiment of this invention. Explanatory drawing which shows the vector represented by an adaptive filter coefficient and its coefficient. Explanatory drawing which shows the vector represented by an adaptive filter coefficient and its coefficient. The block diagram which shows the structure concerning the vibration suppression control corresponding to the electric current correction part in the embodiment. The block diagram which shows the structure which concerns on the vibration suppression control of the basic order which concerns on other embodiment of this invention.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

The electric actuator driving device of this embodiment has amplitude information and phase information corresponding to the amplitude and phase of the drive command signal when the drive command signal that is a periodic signal is generated and input to the electric actuator to drive the electric actuator. A drive command signal is generated based on the command vector, and is mounted on the vibration damping device. As shown in FIG. 1, the vibration damping device is mounted on a vehicle such as an automobile, and includes a vibration detection means 1 such as an acceleration sensor provided at a position pos to be damped such as a seat st, and a predetermined mass. The reference wave from the vibration means 2 using the linear actuator 20 that is an electric actuator that generates the canceling vibration vi2 by vibrating the auxiliary mass 2a having the above and the fundamental frequency f extracted from the ignition pulse of the engine that is the vibration generation source gn Yes a reference wave generator 3, and an adaptive control means 4 for generating the canceling vibrations vi2 the vibrating unit 2 type vibration detection signal sg from the vibration detecting means 1 and the reference wave e ^j.theta. for generating e ^j.theta. The vibration vi1 generated by the vibration generation source gn of the engine or the like mounted on the vehicle body frame frm via the mounter gnm and the canceling vibration vi2 generated by the excitation means 2 are suppressed. Is intended to reduce vibration at the position pos should be damped by offset by should do position pos.

The vibration detecting means 1 detects a main vibration in the same direction as the main vibration direction of the engine using an acceleration sensor or the like, and outputs a vibration detection signal sg {= A ₁ sin (θ + φ)}.

  As shown in FIG. 2, the linear actuator 20 fixes a stator 22 having a permanent magnet to the vehicle body frame frm, and moves the reciprocating motion in the same direction as the vibration direction to be suppressed (up and down motion on the paper surface of FIG. 2). It is of a reciprocating type that has been made to perform 23. Here, the body frame frm is fixed to the body frame frm so that the vibration direction to be suppressed matches the reciprocating direction (thrust direction) of the mover 23. The mover 23 is attached to the shaft 25 together with the auxiliary mass 2a. The shaft 25 is supported by the stator 22 via the leaf spring 24 so that the mover 23 and the auxiliary mass 21 can be moved in the thrust direction. The linear actuator 20 and the auxiliary mass 21 constitute a dynamic vibration absorber.

  When an alternating current (sine wave current, rectangular wave current) is passed through a coil (not shown) constituting the linear actuator 20, the magnetic flux is changed from the S pole to the N in the permanent magnet when a current in a predetermined direction flows through the coil. By being guided to the pole, a magnetic flux loop is formed. As a result, the mover 23 moves in a direction (upward) against gravity. On the other hand, when a current in a direction opposite to the predetermined direction is applied to the coil, the mover 23 moves in the direction of gravity (downward). The mover 23 repeats the above operation by alternately changing the direction of the current flow to the coil by the alternating current, and reciprocates in the axial direction of the shaft 25 with respect to the stator 22. As a result, the auxiliary mass 21 joined to the shaft 25 vibrates in the vertical direction. Since a more specific structure and description of the operation of the linear actuator 20 itself are known as disclosed in Patent Document 1 and the like, details are omitted. The operating range of the mover 23 is restricted by a stopper (not shown). The dynamic vibration absorber constituted by the linear actuator 20 and the auxiliary mass 21 controls the acceleration of the auxiliary mass 21 and adjusts the damping force based on the current control signal ss output from the amplifier 6. The vibration generated in the frame frm can be canceled to reduce the vibration.

As shown in FIG. 3, the basic order reference wave generating means 3 (31) generates a reference sine wave (sin θ) and a reference cosine wave (cos θ), which are reference waves e ^jθ of the basic order, from the basic frequency f [Hz]. Generate. The generated reference sine wave (sin θ) and reference cosine wave (cos θ) may or may not be synchronized with any synchronization signal. θ = ωt = 2πft.

The adaptive control means 4 is mainly composed of a basic adaptive algorithm block 4a, which is a basic order adaptive control means for controlling basic order vibrations. This basic adaptive algorithm block 4a has a coefficient calculating means 44 and a command signal generating means 45, and a basic order adaptive filter coefficient (from the vibration detection signal sg and the reference wave e ^jθ {= (sinθ, cosθ)} ( Re, Im) = (A _{1 '} cosφ', A _{1 '} sinφ') is calculated by the coefficient calculation means 44, and a basic order damping current command as a drive command signal based on the basic order adaptive filter coefficients (Re, Im). I ₄₁ is generated by the command signal generating means 45, and a current control signal ss is input to the linear actuator 20 via the amplifier 6 described later based on the command signal generating means 45, so that the position pos from the vibration generating source gn A vibration having a phase opposite to the vibration is generated through the vibration means 2. First, a reverse sine wave signal of the fundamental frequency component of the vibration detection signal sg {= A ₁ sin (θ + φ)} that has been detected (a signal with the opposite direction) is generated. The vibration detection signal A ₁ sin (θ + φ) is multiplied by the convergence parameter μ, and then multiplied by the reference sine wave sinθ or the reference cosine wave cosθ in the multipliers 41a and 41b. It is integrated by adding to the value Z- ¹ . The result of the calculation is a negative-phase sine wave vector Ve1 _A having a component in the convergence direction of the negative-phase sine wave vector shifted from the reference sine wave sin θ of the vibration detection signal sg, that is, an adaptive filter coefficient (Re, Im) = (A ₁ 'Cosφ', A _{1 '} sinφ') is calculated by the coefficient calculating means 44 (see FIG. 4A). Vector Ve1 _A reverse-phase sine wave, as shown in FIG. 4 (a), is represented by a plurality of vectors _Ve2 A, Ve3 _A mutually orthogonal fundamental order adaptive filter coefficients Re represents the magnitude of the vector Ve2 _A , basic order adaptive filter coefficients Im shows a magnitude of a vector Ve3 _a. The magnitude of the vector Ve1 _A corresponds to the amplitude, and the direction of the vector Ve1 _A (angle φ ′ _A ) corresponds to the phase. As shown in FIG. 3, the calculated application filter coefficients (Re, Im) are multiplied by a reference sine wave sin θ and a reference cosine wave cos θ in multipliers 41e and 41f, respectively, and the result is added in an adder 41g. Thus, the basic order damping current command I ₄₁ {= A _{1 ′} sin (θ + φ ′)} is generated by the command signal generation means 45 as a negative-phase sine wave signal of the vibration detection signal sg. When the integration is repeated, the cancellation of the vibration proceeds as A ′ and φ ′ converge to the values corresponding to the true values A and φ. However, the fundamental frequency f and the phase θ constantly change, so the changes always follow. Control is performed in the form.

Under such control, when the movable element 23 constituting the linear actuator 20 collides with a stopper (not shown) provided on the stator 22 due to overcurrent, noise generation and life deterioration may be caused. it is necessary to suppress the instruction _{I 41.}

Therefore, this embodiment further derives the amplitude detection means 4b for calculating the peak current value A ₁ ′ of the basic order damping current command I ₄₁ and the basic order current upper limit value α ₁ set in advance from the basic frequency f. When the peak current value A ₁ ′ of the basic order damping current command I ₄₁ exceeds the basic order current upper limit value α ₁ , the basic order is a narrowing command means for generating the basic order current upper limit excess signal S _41. Current excess detection means 4c is provided.

The amplitude detector 4b is a block that calculates the amplitude A ₁ ′ of the basic order damping current command I ₄₁ as needed (in real time). It may be obtained from the waveform A _{1 ′} sin (θ + φ ′) of the generated basic order damping current command I ₄₁ , or the square sum of squares of the addition data before the waveform generation. Further, in order to reduce the amount of calculation, only the sum of squares may be taken and the current upper limit value α ₁ to be compared may be squared. Basic order current excess detection means 4c stores the basic order maximum current alpha ₁ in the form of a current clamp table 41h.

The basic order current upper limit excess signal S ₄₁ is generated as described above. When this signal S ₄₁ is output, the current is obtained by simply cutting (cutting off) the damping current command I ₄₁ with a filter or the like. If it clamps, a harmonic will generate | occur | produce and will cause malfunctions, such as abnormal drive of an electric actuator. Further, when the damping current command I ₄₁ is limited, if the clamping process for cutting the filter coefficients Re and Im exceeding the upper limit is performed independently, as shown in FIG. When only one of the coefficients Re and Im is clamped (illustration shows an example in which only the filter coefficient Re is clamped), the antiphase sine wave represented by the clamped filter coefficients Re and Im Since the direction of the vector Ve1 _B is different from the direction of the vector Ve1 _A (angle φ ′ _A → angle φ ′ _B ), the vector direction represents a phase, which causes a phase shift of the current command I ₄₁ .

The present embodiment, as shown in FIG. 3, by entering such a basic order current upper limit exceeded signal S ₄₁ to the basic adaptive algorithm block 4a, to the basic adaptive algorithm block 4a, the fundamental order current upper limit exceeded signal S _{While 41} is being input, every time the basic order adaptive filter coefficients (Re, Im) are calculated, the basic current adaptive filter coefficients (Re, Im) are limited within a predetermined range by the damping current command I _41. I am trying to correct it in the direction.

As described above, the basic adaptive algorithm block 4a repeats the process of updating the adaptive filter coefficient (Re, Im) while integrating the input signal sg input from the vibration detecting means 1, but the damping current command When limiting I ₄₁ , an integral removal processing block 4 d is provided at a position where the integral value is narrowed down to perform integral removal processing. Specifically, the current upper limit exceeded signal S ₄₁ is the interior of the flag setting unit 41j by whether or not the input, sets a 0 or 1 in flag 41k, when the signal S ₄₁ is not input (when the flag 1 ) Is not narrowed down, and when the signal S ₄₁ is input (when the flag is 0), the subtraction coefficient value set in the extraction coefficient setting unit 41z as the subtraction coefficient setting unit in the multipliers 41m and 41n at each calculation timing. The integral value is narrowed down by multiplying the previous value Z ⁻¹ by the loosening coefficient value k. The extraction coefficient value k is for reducing the amount to be narrowed down by a single calculation, and is set to k = 1020/1024 (= 0.9961), for example. If the extraction coefficient value k is set to a value that does not significantly cut 1 (the amount of reduction is kept small), if the value is too large, the value of the basic order current command I ₄₁ changes suddenly in a single reduction operation. This is because harmonics are superimposed on the output and cause abnormal vibrations. Thus, the extraction coefficient value k is shared by all the adaptive filter coefficients (Re, Im), and by multiplying all the coefficients (Re, Im) by the extraction coefficient value k, each coefficient Re, Im ratio of modifications to all become the same, as shown in FIG. 5, no change in agreement with the direction of orientation unmodified vector Ve1 _a vector Ve1 _B represented by the vector Ve2 _B, Ve3 _B after correction (Φ ′ _A = φ ′ _B ), only the size of the vector Ve1 _B is limited. The extraction coefficient value k is reduced according to the deviation signal from the comparison unit 41i so that the excess amount from the basic order current upper limit value α ₁ (current clamp value) increases (that is, the narrowing amount increases). The value may be varied in the extraction coefficient setting unit 41z. Further, by calculating the ratio of the excess amount, it may be synchronized with the current upper limit value alpha _1. In the present embodiment, the command vector is expressed using two adaptive filter coefficients (Re, Im). However, the above limitation is also applied to the case where the command vector is expressed using three or more coefficients. The method can be applied.

That is, when the damping current command I ₄₁ is exceeded, the excess of the damping current command I ₄₁ is not cut immediately, but instead of a predetermined range (here, the integration is narrowed by the extraction coefficient value k). since in the range) and repeats the modification to limit the damping current command I _41, generation of harmonics, towards the free amplitude collision of the movable element, the damping current command I ₄₁ is to be asymptotic. Refine coefficient generation block 4d is merely an example, if a block to increase or decrease the OFF to the narrowing coefficient k of the application of the narrowing coefficient k from the current upper limit exceeded signal S _41, the internal structure may be any kind of form Absent. The convergence of the adaptive filter coefficients (Re, Im) becomes faster as the convergence parameter μ is larger.

  In addition, since the high order other than the basic order is superimposed on the vibration generated by the vibration generating source gn shown in FIG. 1, the same problem as described above occurs even if the high order becomes an overcurrent. Therefore, the high-order adaptive algorithm block 4e is similarly provided for the high-order, and the same narrowing-down control as described above is performed.

Furthermore, there is a case where the current command is as a case to be limited, the drive command signal correction means serving current correction unit 6a for adding the correction as shown in the current command I ₄₁ in FIG. 6 resides. In such a case, when the corrected damping current command value I ₆₁ exceeds the current upper limit value α ₃ set in advance based on a predetermined reference, a corrected current excess signal S ₆₁ is generated to It is preferable to further provide a corrected current excess detection means 6b that is input to the adaptive algorithm blocks 4a and 4e. In this case, the adaptive algorithm block 4a, 4e, when an input line of the excess signal S ₄₁ and the input line of the corrected current excess signal S ₆₁ connected by an OR circuit, which is not even input excess signal S ₄₁ In addition, every time the adaptive filter coefficient (Re, Im) is calculated in response to the input of the corrected current excess signal S ₆₁ , the adaptive filter coefficient (Re, Im) is set within a predetermined range. Control is performed to correct the direction in which I ₄₁ is restricted. If an excess is detected by the corrected current excess detection means 6b, an excessive current command may enter the linear actuator 20 until the adaptive control is effective. Therefore, the corrected current excess detection means 6b Only when the excess is recognized, a configuration in which the current clamp (head cutting) similar to the conventional one is performed to protect the system from damage or the like is also effective. As described above, the collision of the mover 23 to the stator 22 and the damage to the controller due to the fluctuation of the current command value I ₆₁ due to the correction are dealt with only by the adaptive control means 4 that generates the current command I ₄₁ before the correction. However, it is determined whether or not the amplitude value of the current command value I ₆₁ exceeds the upper limit in consideration of the correction, and the determination result is fed back when calculating the filter coefficients Re and Im.

As described above, the electric actuator driving apparatus according to the present embodiment generates the current command I ₄₁ as a periodic signal, inputs the current command I ₄₁ to the linear actuator 20, and drives the linear actuator 20 with the amplitude and phase of the current command I _{41. A} current command I ₄₁ is generated based on a command vector (vector Ve1 _A , Ve1 _B ) having corresponding amplitude information and phase information, and the command vector (vector Ve1 _A , Ve1 _B ) is a plurality of vectors intersecting each other. is represented by (vector _{Ve2 a, Ve3 a, Ve2 B} , Ve3 B), the coefficient representing the magnitude of each vector representing the reference vector (vector Ve1 _a, etc.) (vector _{Ve2 a,} Ve3 a, etc.) (Re, Im ) For calculating each of the parameters), and each coefficient calculated by the coefficient calculation unit 44 (Re, Im) and the command signal generation means 45 for generating a current command I ₄₁ based on the generated by coefficient calculation means basic order current upper limit exceeded signal S ₄₁ serving refine command when a predetermined condition is satisfied The coefficient calculation means 44 supplies all coefficients (Re, Im) to the current while the basic order current upper limit excess signal _S41 is input. Since the command I ₄₁ is corrected in the restricted direction and the correction ratio for each coefficient (Re, Im) is the same for all the coefficients, the command vector vector (vector Ve1 _A etc.) does not change in direction. Ve1 magnitude and _a is corrected in a direction to limit the current command I _41, avoids this factor (Re, Im) phase of the periodic current command I ₄₁ generated based on the deviated On the other hand, it is possible to effectively prevent the movable element 23 from colliding with the stator 22, damage to the controller, etc., and not only the reliability and durability of the linear actuator 20 but also the driving accuracy can be improved effectively.

Further, in a system including a current correction unit 6a that further corrects the current command I ₄₁ generated by the command signal generation unit 45, the mover 23 to the stator 22 due to the fluctuation of the current command value I ₆₁ due to the correction. Although the collision and controller damage cannot be dealt with only by the adaptive control means 4 that generates the current command I ₄₁ before correction, in this embodiment, the narrowing-down command means is the corrected current excess detection means 6b, post current excess detection means 6b is, coefficients a corrected current excess signal S ₆₁ as a predetermined condition is satisfied when the amplitude value of the current command value I ₆₁ after correction exceeds the upper limit value set in advance Since it is input to the calculation means 44, it is determined whether or not the amplitude value of the current command value I ₆₁ exceeds the upper limit value in consideration of the correction, and the fluctuation of the current command value I ₆₁ due to the correction of the current correction unit 6a. It is possible to effectively avoid without problems caused produce a phase shift of the current command value I ₆₁ in.

Furthermore, the coefficient calculation means 44 keeps the correction of the adaptive filter coefficient (Re, Im) per time within a predetermined range and repeats the calculation of the adaptive filter coefficient (Re, Im) to repeat the adaptive filter coefficient (Re, Im). Re, Im) is corrected step by step, so that the current command I ₄₁ is immediately cut when the current upper limit excess signal S ₄₁ or the corrected current excess signal S ₆₁ as the narrowing command signal is input. Instead of repeating the correction to limit the current command I ₄₁ within a predetermined range, it is possible to effectively prevent collision of the mover 23 with the stator 22 and damage to the controller while avoiding the generation of harmonics. Therefore, not only the reliability and durability of the apparatus but also the control accuracy of the electric actuator can be improved.

In addition, in the vibration damping device, there is a strict requirement that the phase of the vibration to be vibrated must match the purpose in order to vibrate vibration that is in reverse phase with respect to the vibration to be damped. _When the phase shift of ₄₁ has a great adverse effect on the vibration damping accuracy, the electric actuator driving device of this embodiment is mounted, and the phase is opposite to the vibration to be damped through the electric actuator driven by this driving device. If the vibration damping device is configured to generate vibration and perform vibration damping, it is possible to significantly improve the vibration damping accuracy.

  As mentioned above, although one Embodiment of this invention was described, the specific structure of each part is not limited only to embodiment mentioned above.

For example, the narrowing-down command means inputs a narrow-down command signal to the coefficient calculation means that the predetermined condition is satisfied when the size of the command vector represented by each coefficient exceeds a predetermined upper limit value. You may comprise. Specifically, as shown in FIG. 7, a determination unit 146 is provided as a narrowing-down instruction unit, and adaptive filter coefficients (Re, Im) are input to the determination unit 146, and the input adaptive filter coefficients (Re, Im) are input. based calculates the magnitude of the command vector (vector Ve1 _a, etc.), the calculation result is equal to or more than a predetermined upper limit value, to generate a current upper limit excess signal S ₄₁ equal to or greater than a predetermined upper limit value In other words, the current upper limit excess signal _S41 is not input to the coefficient calculating means 44 unless it is input to the coefficient calculating means 44 and is not greater than a predetermined upper limit value. With this configuration, the magnitude of the command vector corresponds to the amplitude value of the drive command signal, and each coefficient is a scalar. Therefore, the magnitude of the command vector can be obtained by simple four arithmetic operations, and the periodic signal As compared with the case of using the drive command signal, the amplitude value of the drive command signal can be obtained by simple calculation, and the responsiveness can be improved.

  Furthermore, in this embodiment, the drive command signal is a current command, but it may be a voltage command. In the present embodiment, the coefficient is an adaptive filter coefficient, but is not particularly limited thereto. Further, in the determination by the narrowing-down command means, the determination may be performed using the amplitude value of the final current waveform or the final voltage waveform appearing on the input line to the electric actuator of the drive command signal, and these final current waveforms Or you may perform the said determination using the amplitude value after extracting a predetermined frequency component among final voltage waveforms.

  In addition, in the present embodiment, the current correction unit 6a is exemplified as the drive command correction unit, but a voltage correction unit may be used. Further, in the present embodiment, the narrowing-down command means refers to the amplitude value of the corrected drive command signal that is actively corrected by the current correction unit 6a or the like, but if it is a corrected drive command signal, However, the present invention is not limited to this. For example, when the frequency f increases or a large impact is applied from the outside and a large voltage is excited in the linear actuator 20, an applied voltage command that appears on the input line of the drive command signal to the linear actuator 20. In the worst case, a voltage saturation state occurs (no more voltage can be applied, causing current control failure). In order to prevent this, the narrow-down command means determines whether the voltage value of the drive command signal appearing on the input line to the linear actuator 20 of the drive command signal is greater than or equal to a predetermined upper limit, and generates a narrow-down command signal. You may do it.

Further, in the present embodiment, in order to prevent the generation of harmonics, the coefficient calculation means 44 calculates the coefficients (Re, Im) while the basic order current upper limit excess signal S ₄₁ as the narrowing command signal is being input. Every coefficient (Re, Im) is corrected in a direction in which the current command I ₄₁ is limited within a predetermined range, and the coefficients (Re, Im) are limited in stages. In an application example in which the generation of waves does not become a problem, the present invention is not limited to correcting the coefficients (Re, Im) step by step.

Further, in this embodiment, the narrowing command means serving current excess detection means 4c, so that always outputs the narrowing command signal serving basic order current upper limit exceeded signal S ₄₁ to the coefficient calculating unit 44 when a predetermined condition is satisfied However, the present invention is not limited to the case where the narrowing command signal is always input as long as the coefficient calculation means can determine whether the narrowing command signal is input or not when calculating the coefficient.

  In addition, various modifications can be made without departing from the spirit of the present invention, such as application of the present invention to devices and devices that require driving of an electric actuator in addition to the vibration damping device.

20 ... Electric actuator (linear actuator)
44 ... Coefficient calculation means 45 ... Command signal generation means 4c ... Refinement command means (overcurrent detection means)
6b ... Narrowing-down command means (corrected current excess detection means)
6a: Drive command correction means (current correction unit)
I ₄₁ ... Drive command signal (current command)
I ₆₁ ... Drive command signal after correction (damping current command value)
Ve1 _A, Ve1 B _... command vector _{Ve2 A, Ve3 A, Ve2 B} , Ve3 B ... more vectors Re representing the command vector, Im ... coefficient (adaptive filter coefficients)
S41 ... Refinement command signal (current upper limit excess signal)
S61: Refinement command signal (corrected current excess signal)

Claims (5)

The drive command signal is generated based on a command vector having amplitude information and phase information corresponding to the amplitude and phase of the drive command signal when the drive command signal that is a periodic signal is generated and input to the electric actuator to drive the electric actuator. An electric actuator driving device for generating
The command vector is expressed by a plurality of vectors intersecting each other, and coefficient calculating means for calculating a coefficient indicating the magnitude of each vector expressing the command vector;
Command signal generating means for generating the drive command signal based on each coefficient calculated by the coefficient calculating means;
A narrowing command means for generating a narrowing command signal and inputting it to the coefficient calculating means when a predetermined condition is satisfied,
The coefficient calculation means corrects all the coefficients in a direction in which the drive command signal is limited while the narrowing-down command signal is input, and the correction ratio for each coefficient is the same for all the coefficients. A featured electric actuator driving device. Drive command correction means for further correcting the drive command signal generated by the command signal generation means,
2. The electric actuator drive device according to claim 1, wherein the narrowing-down command unit satisfies the predetermined condition when an amplitude value of a corrected drive command signal exceeds a preset upper limit value.   2. The electric actuator driving device according to claim 1, wherein the narrowing-down instruction unit satisfies the predetermined condition when a magnitude of a command vector expressed by each coefficient exceeds an upper limit value.   The coefficient calculation means performs the correction of the coefficient stepwise by repeating the calculation of the coefficient while keeping the correction of the coefficient per time within a predetermined range. An electric actuator driving device according to claim 1. A vibration damping device comprising the electric actuator driving device according to any one of claims 1 to 4 and generating vibrations having a phase opposite to vibrations to be damped through an electric actuator driven by the driving device.

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