JP2857795B2 - Motion control device driven by DC motor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial applications]

The present invention relates to a motion control device that changes a motion characteristic of a driven body such as a diaphragm of a massage machine or a fan of a fan with time using a DC motor as a drive source.

2. Description of the Related Art Devices that control the movement of various driven members, for example, a diaphragm of a massage machine and a fan of a fan, using a DC motor as a drive source are known. Massage machines for relieving stiff shoulders and lower back pain and eliminating fatigue include, for example, a type that rotates a roller using a DC motor, a type that eccentrically rotates a head called a kneading ball, and has a projection or the like on the surface. Vibrating diaphragms and spherical heads,
Alternatively, there is a method in which a low-frequency vibrator is brought into close contact with a human body and massage is performed with low-frequency vibration. Further, in such massage machines and electric fans, there have been proposed ones in which the magnitude and the rotation direction of the vibration are changed at predetermined intervals so that the vibration and rotation applied to the human body or the state of air blowing do not become monotonous.

[Problems to be solved by the invention]

However, there is a problem that even if the magnitude and the rotation direction of the vibration are changed at predetermined intervals, the user using the massage machine eventually gets used to the movement and gets tired of the massage. Therefore, with a massager having a monotonous movement, the comfort of the massage is not maintained, and the user tends to round up the massage in a short time, so that the function of the massage cannot be fully exerted. Even with a fan,
It was pointed out that the airflow was monotonous and uncomfortable compared to natural wind. In addition, in order to vary the magnitude of vibration or rotation in a plurality of steps, the resolution of control must be increased, but there is also a problem that a microprocessor having limited functions cannot perform fine control. An object of the present invention is to solve the above problems and to provide a motion control device using a DC motor as a drive source for controlling a predetermined physical quantity so as to create a comfortable sensation that the user does not get tired of. The configuration of the present invention that achieves the above object will be described below.

[Means for Solving the Problems]

The motion control device using the DC motor of the present invention as a driving source,
As illustrated in FIG. 1, a driven body M2 such as a diaphragm of a massage machine or a blower fan of a fan is driven by using a DC motor M1 as a drive source, and a physical quantity acting on a bodily sensation such as a vibration state and a blown amount is controlled. In the control device, a pattern in which the magnitude of each frequency component present in a change in characteristics such as the number of rotations and amplitude included in the movement of the driven body M2 within a predetermined time is substantially inversely proportional to the frequency, A storage means M3 for storing in advance, an interrupt signal generating circuit M4 connected to the commercial AC and generating an interrupt signal for each half-wave thereof, and a half-wave of the commercial AC based on the interrupt signal. Control timing determining means M5 for determining the timing of phase control at the maximum resolution 1 / N (N is an integer of 2 or more); and M half-waves (M is an integer of 2 or more) as a unit The timing of the phase control in each half-wave of The combined viewing resolution 1 / and phase control means M6 for performing phase control with (N · M), reading out the pattern from the storage unit M3 sequentially, the phase control means in a phase that is determined in accordance with the pattern M6
Phase control execution means M7 for driving the DC motor
And a rectifier circuit M8 for supplying to M1.

[Action]

The motion control apparatus using the DC motor of the present invention having the above configuration as a drive source controls the DC motor M1 in a configuration in which a driven body M2 such as a diaphragm of a massage machine or a fan of a fan is driven by the DC motor M1. Then, the characteristic of the movement of the driven body M2 is changed with time with high resolution as follows. The storage unit M3 previously stores a pattern in which the magnitude of each frequency component present in a change in characteristics such as the number of rotations and amplitude included in the movement of the driven body M2 within a predetermined time is substantially inversely proportional to the frequency. doing. Phase control execution means M7
Reads the pattern sequentially and drives the phase control means M6 with the phase determined according to the pattern. Here, the phase control means M6 combines the timing of the phase control determined by the control timing determination means M5 with the maximum resolution 1 / N for each half wave of the M half-waves of the commercial AC, and the resolution 1 / (N・
In M), the phase of the commercial AC is controlled. The control timing determining means M5 determines the timing of the phase control based on the interrupt signal generated by the interrupt signal generating circuit M4 for each half-wave of commercial AC. The commercial AC after the phase control in this manner is supplied to the rectifier circuit M8.
And supplied to the DC motor M1. Therefore,
For each half-wave of commercial AC, only the phase control is performed with a resolution of 1 / N, and the power supplied to the DC motor M1 is 1 / (M ·
N). As a result, the driven body M2 moves in a pattern stored in the storage stage M3, that is, a pattern in which the magnitude of each frequency component included in the movement within a predetermined time is substantially inversely proportional to the frequency, and changes with time. The movement that is done becomes detailed. In addition, as the physical quantity to be controlled, various factors such as the above-described vibration frequency and amplitude of the massage machine, the amount of air blown by the electric fan, the flow rate of water in the bath, and the amount of generated bubbles can be considered.

【Example】

In order to further clarify the configuration and operation of the present invention described above, a preferred embodiment of a motion control device using a DC motor as a drive source according to the present invention will be described below. FIG. 2 is a schematic perspective view showing the outer shape of a massage machine according to one embodiment of the present invention, and FIG. 3 is a partially broken side view of the same. In the present embodiment, using a diaphragm for massage as a driven body,
The magnitude of the change in the frequency is controlled. As shown in FIG. 2 and FIG. 3, this massage machine
A synthetic resin case 1 formed in a substantially flat rectangular shape is provided. Handles 2 are integrally formed on the left and right sides of the case 1. A vibration plate 3 as a massager is disposed on the surface of the case 1, and an operation panel 4 is provided on the front right side of the surface. As shown in FIG. 3, the case 1 is divided into a case main body 1a forming the bottom of the case 1 and a case main body 1b forming the upper surface from the side surface, thereby facilitating assembly. The case body 1a has legs 5
When the massage machine is placed on the floor or the like at an angle, the legs 5 can be pulled out and used as shown in FIG. The diaphragm 3 is made of synthetic resin and has a substantially rectangular shape, and a plurality of substantially hemispherical projections 7 are provided at substantially equal intervals on its surface, that is, on a contact surface 6 on which a body such as a user's foot is applied. Have been. The contact surface 6 has an inclined surface 6a with its front side folded inward, and two convex portions 8 having a diameter larger than the protrusion 7 are formed on a ridge line 6b formed by the inclined surface 6a. The diaphragm 3 has elastic struts 10 near each corner thereof.
To the case body 1a. This elastic strut 10
Is formed in a columnar shape using an elastic body such as rubber, and both ends are fixed to each diaphragm 3 and the case body 1a. Therefore, the diaphragm 3 can swing within a range where the elastic column 10 can be deformed. Next, a configuration corresponding to a driving unit that vibrates the diaphragm 3 will be briefly described. A DC motor 12 is housed in the case 1, and its output shaft 14 is connected to substantially the center of the diaphragm 3 via an eccentric bearing 15. As shown in FIG. 4, the DC motor 12 and the eccentric bearing 15 are provided with a bearing 16 and a sleeve 20 fitted on the output shaft 14, and a male screw 18 formed at the tip of the output shaft 14 is further connected to the crankshaft of the eccentric bearing 15. It is assembled by screwing into a female screw 36 provided on 28. When the output shaft 14 is screwed to the crankshaft 28, the motor cooling fan 22 is integrally assembled. That is, the output shaft 14 is screwed to the crankshaft 28 by fitting the opening 26 provided at the base of the fan 22 to the boss 34 having an oval cross section provided on the crankshaft 28. As a result, the rotation of the DC motor 12 causes the fan 22 to also rotate, thereby cooling the DC motor 12 with air. The female screw 36 of the eccentric bearing 15 is provided at a position deviated by several millimeters when viewed from the axis of the crankshaft 28, and the axial center of the main body 30 protruding from the opposite side of the boss 34 and the female screw 36 The axis of 36 is off center. Therefore, when the DC motor 12 rotates, the main body 30 of the crankshaft 28 rotates in an eccentric state,
The bearing 38 of the eccentric bearing 15 moves similarly. Eccentric bearing
As shown in FIG. 3, the bearing 38 of the fifteen is fitted in the fitting part 43 of the diaphragm 3, so that the vibration causes the diaphragm 3 to swing against the elastic support of the elastic strut 10. Will move. A counter weight 24 is provided at one end of the fan 22.
Is installed. The weight of the counter weight 24 is adjusted to a position and a weight at which the counterweight 24 receives the reaction caused by the swing of the diaphragm 3. Therefore, the vibration of the entire massage machine due to the swing of the diaphragm 3 is suppressed, and the massage effect is sufficiently exhibited. Further, the center of gravity of the diaphragm 3 and the centers of the counter weight 24 and the eccentric bearing 15 are substantially the same, and the points of action of the forces in the axial direction when the diaphragm 3 swings are substantially equal. Therefore, the output shaft 14 does not move in the axial direction. Next, the configuration of the electric circuit of the massage machine will be described. As shown in FIG. 5, a low-voltage circuit 50 for generating a low voltage for control from the AC power supply and an oscillation frequency of the crystal Xt are provided inside the massage machine that operates using a commercial AC power supply (AC 100 V). 4-bit CPU51 that runs on
And an interrupt signal output circuit 55 that generates an interrupt signal to the CPU 51 for each half-wave of the commercial AC, and supplies DC power to the DC motor 12 by controlling the phase of the commercial AC and rectifying the current after the phase control. A phase control circuit 57 is incorporated. The low-voltage circuit 50 is a transformer T that drops the commercial AC input from the outlet 58 through the power switch 59 to 6 volts.
S, stack SD connected to the secondary side of transformer TS for full-wave rectification of AC, diode D1 for backflow prevention connected to the output side of stack SD, three-terminal regulator TT for stabilizing the voltage after full-wave rectification , The electric field and tantalum capacitor C1 connected to stabilize the operation of the three-terminal regulator TT
C3, a light-emitting diode LD1 for indicating ON / OFF of the power switch 59, and a current limiting resistor R1. In the low-voltage circuit 50, the commercial AC
A 5 volt DC power supply is generated for operating 1 and the like. The CPU 51 temporarily stores ROM, data, and the like in which the operation program and the vibration time-series data are written in advance.
It is a built-in one-chip microprocessor including an AM and a timer, and has a plurality of input / output ports. Of these input / output ports, parallel input ports F0, F1, D0, D
Eight push button type keys 61 to 68 for setting provided on the operation panel 4 are connected to 1, S0 to S3, and the current settings are displayed on the parallel output ports D3 to D8. Six display lamps 71 to 76 are connected. The "ON" key 61 and the "OFF" key 62 are used to turn the power on and off by software, and the "timer" key 63 is used for a timer for turning off the power after about 30 minutes. "
The key 64 switches the vibration mode between the manual mode and the automatic mode, and the keys 65 to 68 set the vibration characteristics of the massage machine to four levels of "strong", "medium", "weak" and "soft". It is for. The other ends of these switches 61 to 68 are connected to the ground level. The other ends of the display lamps 71 to 76 are all connected to a power supply line via a pull-up resistor Rup. The output port D2 of the CPU 51 is connected to a piezoelectric buzzer Bz that generates a sound for confirming a key operation. Also,
The output signal of the interrupt signal output circuit 55 is input to the input port F2 of the CPU 51. The interrupt signal output circuit 55 inputs a signal of several volts, which is full-wave rectified and voltage-divided by the voltage-dividing resistors R6 and R7, to the base of the transistor Tr. From the collector,
This circuit outputs a pulse signal for each half-wave of commercial AC.
At the base of the transistor Tr, a voltage limiting Zener diode Dz is connected between the Zener diode Dz and the ground level. The commercial AC and the interrupt signal output for each half-wave
These are shown in FIGS. 6 (A) and 6 (B). The CPU 51 executes a later-described phase control process based on the interrupt signal. The actual switching of the commercial AC is performed by the phase control circuit 57. The connection between the CPU 51 and the phase control circuit 57 is isolated by a photocoupler PC. The light emitting diode side of the photocoupler PC is CPU5.
1 is connected to output port F3 via resistor R2,
On the other hand, the output side of the photocoupler PC, which is a photodiac, is connected to the triac TA via a current limiting resistor R3.
Connected to the gate. A resistor R4 for noise prevention and a capacitor C4 are connected to both ends of the triac TA, and a triac TA and a stack SB for full-wave rectification are connected in series and connected between commercial AC. A DC motor 12 as a drive source of the diaphragm 3 is connected to the output side of the rectifying stack SB. Therefore, when the CPU 51 controls the output port F3 on / off, the photocoupler PC
The phase of the commercial AC is controlled via the DC motor, and the rotation of the DC motor 12 is controlled by the rectified DC.
That is, in the present embodiment, the CPU 51 and the phase control circuit 57 include timing decision means, phase control means, phase control execution means,
It functions as a rectifier circuit and controls the vibration characteristics of the diaphragm 3. Therefore, for the processing to be executed next by the CPU 51,
The description will be made with reference to the flowcharts of FIGS. 7, 8, and 9. When the power is turned on by operating the manual power switch 59, the CPU 51 repeatedly executes the phase determination processing routine shown in FIG. Immediately after the power is turned on, a process of setting default values for various parameters is performed (step 10).
0). As the default value, a flag FA indicating that the vibration mode of the diaphragm 3 is automatically set, "strong"
There are a variable S indicating the setting of “medium”, “weak”, and “soft”, a flag Ft indicating whether the timer is set or not, a variable Kon indicating a soft power-on state, and the like. Immediately after the power switch 59 of the manual operation is turned on, they are all set to default values (values 1, 1, 0, 0, respectively). The settings of these flags and variables are changed by operating the keys 61 to 68 of the operation panel 4. The processing associated with the key operation is performed by the interrupt processing shown in FIG. This processing is started when any one of the operation keys 61 to 68 is operated, and the type of the key is determined (step 110). When the “ON” key 61 is operated, the value Kon is set to the variable Kon. Is set (step 111) and "OFF"
When the key 62 is operated, the variable Kon is reset to the value 0 (step 112). On the other hand, when the “1 / f” key 64 is operated and the “timer” key 63 is operated, the value of the flag FA and the value of the flag Ft (0 or 1), respectively.
Are performed (steps 113 and 115). In addition, “strong”, “medium”, “weak”, “soft”
Are operated, the values 4, 3, 2, 1 are set according to the operated keys (step 11).
Four). After these processes, the CPU 51 turns on the corresponding display lamps 71 to 76 (step 117), and then “RTN”
To end this interrupt routine. Returning to the phase determination processing routine of FIG. 7, the description will be continued. After setting the default value (Step 10
0), it is determined whether or not the variable Kon has the value 1 (step 12).
0), and waits until the variable Kon becomes the value 1, that is, until the “ON” key 61 is operated. "ON" key 61 is operated and variable
When it is determined that Kon has reached the value 1, it is determined whether the flag FA has the value 1 (step 130).
Since the default value of the flag FA is 1, if the “1 / f” key 64 is not operated, it is determined that the automatic mode is set, and it is further determined whether or not the time Δt has elapsed (step
140). The time Δt determines the timing for controlling the DC motor 12, and is set to several seconds in this embodiment. If it is determined that the time Δt has elapsed (step
140), a process of reading the next control data θ from the ROM in the CPU 51 is performed (step 150), and this data θ is set to S
(Step 160). ROM
Is 6-bit data, and its resolution is 1/64. This data θ is corrected according to the value of each setting S of “soft”, “weak”, “medium”, and “strong”. Note that the correction may be simply performed by multiplying the data θ based on the data based on the value of the setting S. However, in the present embodiment, in the case of “soft” or “weak”, the low-frequency component of the vibration of the diaphragm 3 Correction is performed so as to be emphasized. In addition,
If the value of the flag FA is not 1, that is, if it is not the automatic operation, the control data θ is determined according to only the setting S (steps 130 and 165). After this correction, it is determined whether the flag Fhz is 1 or not (step 170). The flag Fhz is for determining whether the commercial AC used is 50 [Hz] or 60 [Hz], and is set by a half-wave interrupt processing routine (FIG. 9) described later. is there. The AC used is 50 [H
z] is 60 [Hz] for the field size (Fhz = 1) determined to be
In order to make the output equivalent to the use of the control data θ, a correction is made to increase the control data θ by about 20% and the phase control amount N
Is determined (step 180). After obtaining the phase control amount N in this way, a process of dividing the phase control amount N by an integer 4 to obtain a quotient ΔN and a remainder ΔM is performed (step 190). This process is for performing phase control with four half-waves as one unit. The quotient ΔN represents a basic amount of phase control in each half-wave, and the remainder ΔM is a half value for increasing the phase control. Shows the number of waves. Details of the phase control will be described later. After obtaining ΔN and ΔM, the value of the flag Ft indicating the operation of the timer is checked (step 200). If Ft = 1, that is, if the “timer” key 63 is operated and the timer is used, the timer variable Toff Is decremented by 1 (step 21
0), it is determined whether or not this variable Toff is larger than 0 (step 220). The variable Toff is set to a value corresponding to 30 minutes immediately after the “timer” key 63 is operated. If the variable Toff is greater than the value 0, it is not necessary to stop the massage machine, so the next determination, that is, the variable Kon
Is determined to be a value 0 (step 230). Variable Kon
Since the value is set to 0 when the "OFF" key 62 is operated (step 112 in FIG. 8), if there is no operation of the "OFF" key 62, the process returns to step 130, and the processing is started from the judgment of the flag FA. Resume. On the other hand, if the timer variable Toff becomes less than the value 0 or if the "OFF" key 62 is operated, the massage machine is stopped and all the control is terminated (step 240). As a result, the rotation of the DC motor 12 also stops. Thereafter, the process returns to step 120, and the above-described processing is restarted from the check of the variable Kon, that is, the check of the next activation. Next, a half-wave interrupt processing routine will be described. Ninth
The processing routine shown in the figure is started by an interrupt signal for each half-wave output from the interrupt signal output circuit 55, and first, the variable Tn
Is stored in the variable Tn−1, and the process of moving the current timer variable Ti to the variable Tn is performed (step 300). That is, the count value of the timer at the time when the half-wave interrupt processing routine was started last time is stored in the variable Tn-1, and the time when the half-wave interrupt processing routine is started this time is stored in the variable Tn. The timer variable Ti is a count value of a self-propelled timer built in the CPU 51. The timer operates based on a frequency determined by the resonance frequency of the crystal Xt, and counts up the value of the timer variable Ti by one every 0.5 [msec]. Subsequently, it is determined whether the deviation between the variables Tn and Tn-1 is 18 or more (step 310). If the value is 18 or more, that is, if the time required for a half-wave is 9 [msec] or more, the commercial AC It is determined that the frequency is 50 [Hz] (10 [msec] per half-wave), and the flag Fhz is set to a value of 1 (step 320). If the value is less than 18, the frequency is determined to be 60 [Hz]. The flag Fhz is reset to a value 0 (step 330). After setting the flag Fhz, the value of the counter C is incremented by 1 (step 3).
If the value of is 5 (step 350), the value is set to 1
(Step 360). As a result, by referring to the value of the counter C, it is possible to determine the order of control of a set of four half waves. Then, it is next determined whether or not the counter C is equal to or smaller than the remainder ΔM obtained in step 190 in FIG. 7 (step 38).
0). The remainder ΔM represents the number of half-waves for which the phase control should be increased.
It is determined whether or not it is a half-wave for which the phase control should be increased. For example, when the phase control amount N after reading from the ROM and performing various corrections is 21, the quotient ΔN divided by the value 4 is 5, and the remainder ΔM is 1. Therefore, when the first half wave of a set of four half waves is being controlled, the determination in step 380 is "YES", and it is determined that the phase control amount is increased by the value 1 in this half wave. You.
In this case, the phase control start timing L is determined as L = 16− (ΔN + 1) (step 390), and the phase control start timing L is determined as L = 16−ΔN for the half-wave without increasing the phase control amount. There is (step 395). FIG. 6 (C) shows how the phase control start timing L is obtained in this manner. After the phase control start timing L is obtained, the process waits until the value of the timer variable Ti becomes a value that has elapsed from the start time Tn of this interrupt routine by the phase control start timing L (step 400), and the time is reached. The pulse signal from the terminal F3 of the CPU 51
Output to C (step 410), then exit to "RTN" and end this interrupt routine. Upon receiving the pulse signal from the terminal F3 of the CPU 51, the triac TA of the phase control circuit 57 is turned on, and the phase-controlled AC current continues to flow until the end of the half-wave. By the above processing, the massage machine of the present embodiment is set to “1 /
When the "f" key 64 is operated to set the automatic mode, the DC motor 12 driving the diaphragm 3 takes about 2.5 minutes for one minute.
As a cycle T, the motor is sequentially driven at a rotation speed corresponding to data stored in the ROM in advance. The change in the rotational speed N over time
An example is shown in FIG. The state of the change in the rotation speed N is represented by a period T
, The wave y includes a plurality of sine waves (fundamental frequency ωt, second harmonic 2ωt, third harmonic ωt,..., Nth harmonic ω).
t) A set of y = A0 + A1 · sin (ωt + φ1) + A2 · sin (2ωt + φ2) + A3 · sin (3ωt + φ3) +... + An · sin (nωt + φn) (Fourier series). In the present embodiment, the control data of the rotation speed of the DC motor 12 is predetermined so that the coefficient Ai of each frequency component becomes smaller as the frequency (nωt) becomes higher. That is, An = k · A0 / n (n ≧ 2). As a result, the relationship between the frequency of the change in the rotation speed of the DC motor 12 and the magnitude of the change in the rotation speed is as shown in FIG. 10 (B). Is smaller in inverse proportion to the frequency. Further, in this embodiment, when the sliding strength is switched by the keys 65 to 68, the frequency characteristics thereof are slightly different. FIG. 10 (B) shows the characteristic when the “weak” key 67 is operated and the setting is “weak”, and FIG. 10 (C) shows the characteristic when the setting is “medium”. ing. In both figures, solid lines J1 and J2 are graphs plotting measured values of the change in the number of rotations in each frequency component, and dashed lines F1 and F2 are graphs of 1 / f (f is frequency). . According to the present embodiment described above, when the “1 / f” key 64 is operated and the mode is set to “automatic”,
The vibration plate 3 is finely driven over a period of 2.5 minutes in one cycle with such characteristics that the magnitude of the change in the number of revolutions becomes smaller as the frequency of the change in the number of revolutions becomes higher. In other words, there is no clear repetition in the change in the frequency, and the change in the frequency is as natural as the characteristic of the change of the wind and the wave in the natural world. Also, the number of stages of the change of the vibration is as large as 64, and the change of each vibration is smooth. For this reason, the vibration of the massage machine is extremely comfortable, and the user of the massage machine does not get tired of the massage by the vibration of the diaphragm 3. Therefore, the massage effect can be sufficiently obtained. In the massage machine of this embodiment using the CPU 51 having an internal control accuracy of 4 bits, the phase control can be performed at a resolution of 1/16 when the commercial AC half wave of 60 [Hz] is used. Since phase control is performed in units of four, phase control can be performed with a resolution of 1/64 as a whole. That is, it is possible to finely control the fluctuation of the rotation speed by using a CPU having a small number of bits. If the phase controlled for each half-wave is different, an imbalance problem occurs in the case of AC, but in the present embodiment, the DC motor 12 is driven after rectification by the stack SB of the phase control circuit 57. Therefore, no problem occurs. In the present embodiment, the resolution of the phase control is set to 1/64 with four half-waves as one set, but control may be performed at a higher resolution such as 1/256 with many half-waves as one set. Absent. It is also preferable to increase the operating frequency of the CPU 51, which is a one-chip microprocessor, to increase the resolution per half-wave. In addition, in this embodiment, as shown in FIGS. 10 (B) and 10 (C), the magnitude of the change in the rotation speed in the low-frequency region increases when the setting is on the “weak” or “soft” side. The vibration is controlled. Therefore, even if the setting is “weak” or “soft”, the comfort of the massage is not spoiled. Although the embodiment of the present invention has been described above, the present invention is not limited to such an embodiment. For example, the amplitude of the vibration of the diaphragm 3 is made variable and the magnitude of the change in the amplitude is controlled by 1 / f. A configuration that controls the number of revolutions or the magnitude of the rotation of the kneading balls at 1 / f, and further detects a force that actually presses the human body and controls this change, or a configuration that is closely attached to the human body. Of course, the present invention can be implemented in various modes without departing from the gist of the present invention, such as a configuration for similarly controlling the intensity of the low frequency vibration of the frequency oscillator. Of course, the present invention is not limited to a massage machine, and is also preferably applied to a fan or to a device for controlling the flow of water in a bath or the generation of bubbles. Note that the relationship between the frequency and the magnitude of the change does not need to be exactly 1 / f, and any relationship may be used as long as the change decreases as the frequency increases.

【The invention's effect】

As described in detail above, according to the motion control apparatus using the DC motor of the present invention as a drive source, the phase control is performed only at a resolution of 1 / N for each half-wave of the commercial AC, and the DC motor M1 is controlled. The supplied power can be controlled with a resolution of 1 / (M · N). As a result, the driven body can be moved in the pattern stored in the storage means, that is, the pattern in which the magnitude of each frequency component included in the movement within a predetermined time is substantially inversely proportional to the frequency, and with time, The changing movement can be finely controlled.
Therefore, the bodily sensation brought about by the movement of the driven body becomes as natural as the characteristic of wind and wave changes in the natural world. In addition, high-resolution phase control can be performed with low control accuracy, and both the smooth movement of the driven body and the reduction in the number of manufacturing steps and cost can be achieved.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a basic configuration of the present invention, FIG. 2 is an external view of a massage machine as one embodiment of the present invention,
FIG. 3 is a cross-sectional view showing the configuration, FIG. 4 is an exploded perspective view of a vibration imparting mechanism of the massage machine, FIG. 5 is an electric circuit diagram of the massage machine of the embodiment, and FIG. FIG. 7 is a flowchart showing a phase determination processing routine executed by the CPU 51, FIG. 8 is a flowchart showing a key input interruption routine, FIG. 9 is a flowchart showing a half-wave interruption processing routine, and FIG. 10A is a graph showing an example of a change in the number of revolutions of the DC motor 12 driving the diaphragm 3, and FIGS. 10B and 10C show the relationship between the frequency of the change in the number of revolutions and the magnitude of the change. Graph. M1 DC motor, M2 driven body M3 storage means M4 interrupt signal generation circuit M5 control timing determination means M6 phase control means M7 phase control execution means M8 Rectifier circuit, 1 ... Case 3 ... Vibrating plate, 12 ... DC motor 14 ... Output shaft, 15 ... Eccentric bearing 51 ... CPU, 55 ... Phase control circuit 63 ... Mode changeover switch 65 ... Speed Control switch

Continuation of front page (58) Field surveyed (Int. Cl. ⁶ , DB name) H02P 5/00, 7/00, 6/00

Claims (1)

(57) [Claims] 1. A driven body such as a diaphragm of a massage machine or a blower fan of a fan is driven by using a DC motor as a drive source.
A control device for controlling a physical quantity acting on a bodily sensation such as a vibration state and a blowing amount, wherein a magnitude of each frequency component present in a change in a characteristic such as a rotation speed and an amplitude included in the movement of the driven body within a predetermined time period Storage means for pre-storing a pattern of which the frequency is substantially inversely proportional to the frequency, an interrupt signal generating circuit connected to the commercial AC and generating an interrupt signal for each half-wave thereof, Control timing determining means for determining the timing of the phase control at a maximum resolution of 1 / N (N is an integer of 2 or more) with respect to the half-wave of the commercial AC, and M half-waves (M is an integer of 2 or more) And the half-wave M
Phase control means for performing phase control at a resolution of 1 / (N · M) by combining the timings of the phase control in each half-wave of the plurality, and sequentially reading the pattern from the storage means, and determining a phase determined according to the pattern. A motion control device using a DC motor as a drive source, comprising: a phase control execution unit that drives the phase control unit; and a rectifier circuit that rectifies the commercial AC after the phase control and supplies the rectified circuit to the DC motor.