JP4491597B2 - Suspension control method - Google Patents

Description

  The present invention relates to a suspension system control method.

  2. Description of the Related Art Conventionally, suspensions including springs and dampers are widely used in vehicles such as automobiles and railway vehicles, and suppress vibrations and vibrations that occur when the vehicle travels on a road or track. In recent years, a technique for controlling the vibration and shaking using an electromagnetic device has been proposed.

For example, a technique for controlling vibration and shaking using an electromagnetic damper that uses an electric motor as an electromagnetic device as a generator has been proposed (see, for example, Patent Document 1). In addition, a technique for controlling vibration and shaking of a ship or the like that collects and uses the kinetic energy of the movable mass has been proposed (see, for example, Patent Document 2 or Patent Document 3). Furthermore, a servo system that performs motion control using an electric motor and an active vibration reduction device that uses an electric motor as an electric spring have been proposed (see, for example, Patent Document 4).
JP 2003-227543 A JP-A-11-65679 JP 2000-161422 A JP 2002-68079 A

  However, some problems still remain in the technology for controlling vibration and sway using the electromagnetic device. For example, in a technique for controlling vibration and sway using an electromagnetic damper using an electric motor as a generator, there is a limit in performance because only passive damping force is controlled. Further, in the technique of recovering and using the kinetic energy of the movable mass, attention is paid to the energy balance, and the performance is limited because it does not have a sensor function. Furthermore, in a servo system that performs motion control using an electric motor, it is not possible to cope with vibrations and fluctuations, and devices other than the electric motor are required. Furthermore, in an active vibration reduction device that uses an electric motor as an electric spring, attention is paid to the energy balance, and the performance is limited because it does not have a sensor function.

  Since the present invention solves the above-mentioned conventional problems and integrates or integrates individual technologies, it can be discussed theoretically and can cope with new measures in the future. Since multiple functions are provided, initial cost and running cost can be reduced, active control can be easily put into practical use, energy saving can be achieved, and it is difficult to achieve with conventional dampers like miniature dampers. An object of the present invention is to provide a suspension system control method capable of realizing devices of various sizes.

To this end, the suspension system control method of the present invention is a control method for controlling the motion, oscillation or vibration of the dynamic system in the suspension system by an electromagnetic device, wherein the suspension system includes a suspended body, an inter-spring mass, A first spring and a first electromagnetic device arranged in parallel to each other, and a second spring and a second electromagnetic device arranged in parallel to couple the mass between the springs and the motion fluctuation generating surface. And measuring the outputs of the first and second electromagnetic devices, the force acting on the first and second electromagnetic devices, the movement of the dynamic system, the real-time state of shaking or vibration, the dynamics system of movement, the average state of agitation or vibration disturbance causing upset or vibration of the dynamic system, and to detect the identification of the dynamical system as information, coordinated to Motion of the dynamic system by the first and second electromagnetic devices to control sway or vibration at the same time.

  According to still another suspension system control method of the present invention, the passive spring function, the passive damper, and the dynamic system characteristics, disturbance input, motion control target, oscillation or vibration suppression target, and energy balance as functions. Spatial or temporal distribution of functions, actuator functions, sensor functions, energy regeneration functions or link mechanism functions.

  In still another suspension system control method of the present invention, the information is used for monitoring and control of the entire mechanical system.

  In yet another suspension system control method of the present invention, a plurality of electromagnetic devices are linked to perform centralized integrated control or autonomous distributed control to function as a link mechanism.

  According to the present invention, the suspension system control method is a control method for controlling the motion, oscillation or vibration of the dynamic system in the suspension system by an electromagnetic device, and a passive spring function is achieved by a single or a plurality of cooperative electromagnetic devices. , Any one or all of the passive damper function, the actuator function, the sensor function, the energy regeneration function and the link mechanism function are fused.

  In this case, since the concept integrates or integrates individual technologies of suspension systems and electromagnetic devices, it can be discussed theoretically. In addition, it is possible to cope with new measures. Furthermore, the initial cost and running cost of the suspension system can be reduced. Furthermore, active control can be easily put into practical use, can contribute to energy saving, and can realize a device with a minute size.

  In another suspension system control method, the dynamic system's motion, fluctuation or vibration is simultaneously controlled by the same electromagnetic device.

  In this case, since control is performed with one electromagnetic device, the initial cost and running cost of the suspension system can be reduced.

  In yet another suspension system control method, the passive spring function, passive damper function, actuator, and function of the dynamic system characteristics, disturbance input, motion control target, oscillation or vibration suppression target, and energy balance as functions. Spatial or temporal distribution of functions, sensor functions, energy regeneration functions or link mechanism functions.

  In this case, a plurality of functions can be appropriately fused.

  In still another suspension system control method, the sensor function may measure the output of the electromagnetic device, thereby determining the force acting on the electromagnetic device, the dynamic system motion, shaking or vibration in real time. , Detecting an average state of motion, vibration or vibration of the dynamic system, disturbances causing the vibration or vibration of the dynamic system, and identification of the dynamic system as information.

  In this case, even if it is a composite unit, centralized integrated control or autonomous distributed control can be appropriately performed.

  In yet another suspension system control method, the information is also used to monitor and control the entire mechanical system.

  In this case, the operation of the entire mechanical system can be appropriately monitored and controlled.

  In still another suspension system control method, a plurality of the electromagnetic devices are linked to perform centralized integrated control or autonomous distributed control to function as a link mechanism.

  In this case, for example, it can play the same role as various link mechanisms related to the anti-roll bar and the suspension.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a conceptual diagram showing a configuration of a suspension system control unit according to the first embodiment of the present invention.

  In the figure, reference numeral 10 denotes a suspension control unit, which includes an electromagnetic device 11, a dynamic system 12, and a control means 13. In the present embodiment, the suspension system may be of any type, for example, a suspension system of a motor vehicle such as a two-wheeled vehicle or a four-wheeled vehicle, a suspension system of a railway vehicle, a suspension system of a monorail, a new transportation system, or a linear It may be a suspension system of a magnetically levitated vehicle of a motor car. Also, it may be a suspension system of a transport device of a logistics transport system in a play facility vehicle, factory, or warehouse. Furthermore, it may be a ship anti-vibration device that suppresses vibrations and vibrations of the ship, a building anti-vibration device that suppresses vibrations and vibrations of buildings such as high-rise buildings, and the like. It may be a vibration damping device that suppresses vibrations and fluctuations of various machines such as machine tools.

Here, the electromagnetic device 11 is, for example, an electromagnet, an electric motor, a linear motor, or the like, but may be any electromagnetic device that can be controlled. The electromagnetic device 11 has an energy regeneration function in which regenerative energy is input from the dynamic system 12, a positive spring function as a passive spring function that outputs a spring force f _{k +} to the dynamic system 12, and a spring force f. negative spring functions as a passive spring function of outputting a _k- to the dynamical system 12, a damper function as a passive damper function of outputting a damping force f _c with respect to the dynamic system 12, the actuator force f _a Any or all of an actuator function to be output to the dynamic system 12 and a sensor function to which motion, fluctuation (vibration or shaking) is input from the dynamic system 12 are provided. The sensor function measures the output acting on the electromagnetic device 11, the force acting on the electromagnetic device 11, the motion of the dynamic system 12, the real-time state of the vibration or vibration, the motion of the dynamic system 12, the vibration Alternatively, the average state of vibration, the disturbance that causes the vibration or vibration of the dynamic system 12 and the identification of the dynamic system 12 are detected as information. In the present embodiment, the identification of the dynamic system 12 affects the motion, shaking, vibration, etc. of the dynamic system 12, such as the total mass of the vehicle including the occupant and the load and the moment of inertia of the vehicle. It is the result of determining the numerical value of the factor, physical properties, etc. That is, the sensor function can determine the actual numerical values, physical properties, and the like of factors such as the total mass of the vehicle and the moment of inertia of the vehicle, and the result is detected as information.

  The information detected by the sensor function can also be used for monitoring and control of the entire mechanical system. In the present embodiment, the electromagnetic device 11 simultaneously controls the movement, vibration or vibration of the dynamic system 12, that is, the movement, vibration or vibration of the dynamic system in the suspension system.

  The dynamic system 12 is an object to be controlled by the control means 13, and includes, for example, the bodies of automobiles and railway vehicles, ship hulls, buildings, machine bodies, etc., but also includes springs, dampers, carriages, wheels, and the like. It is a waste. The dynamic system 12 receives a force f (t) expressed by the following expression (1) from the electromagnetic device 11.

さらに、前記制御手段１３は、ＣＰＵ、ＭＰＵ等の演算手段、磁気ディスク、半導体メモリ等の記憶手段、入出力インターフェイス等を備えるコンピュータであり、例えば、パーソナルコンピュータ、サーバ、ワンチップマイコン等であるが、いかなるものであってもよい。そして、前記制御手段１３は制御信号を電磁デバイス１１に送信して該電磁デバイス１１の動作を通して前記力学系１２を制御する。また、前記制御手段１３は電磁デバイス１１の出力する前記力ｆ（ｔ）を検出する。

Further, the control means 13 is a computer including a calculation means such as a CPU and MPU, a storage means such as a magnetic disk and a semiconductor memory, an input / output interface and the like, for example, a personal computer, a server, a one-chip microcomputer or the like. Anything can be used. The control means 13 transmits a control signal to the electromagnetic device 11 and controls the dynamic system 12 through the operation of the electromagnetic device 11. Further, the control means 13 detects the force f (t) output from the electromagnetic device 11.

  The control unit 10 includes a model estimation unit 14, a disturbance estimation unit 15, a detection unit 16, a switching unit 17, an external energy 18, and an energy saving device 19. Here, the energy storage device 19 may be of any type as long as it stores energy. For example, the energy storage device 19 is a power storage device such as a battery or an electric double layer capacitor. When the function is provided, the regenerative energy regenerated by the electromagnetic device 11 is stored.

  The external energy 18 may be of any kind as long as it supplies energy, and is, for example, a generator or a power line. The switching unit 17 switches the external energy 18 and the energy from the energy storage device 19 according to the control signal received from the control unit 13 and supplies the energy to the electromagnetic device 11.

次に、複数の制御ユニット１０を複合した複合ユニットについて説明する。まず、複合ユニットを集中統合制御する場合について説明する。

Next, a composite unit in which a plurality of control units 10 are combined will be described. First, a description will be given of a case where the composite unit performs centralized and integrated control.

  FIG. 2 is a conceptual diagram showing a configuration of a control system in the case of performing the centralized integrated control of the composite unit in the first embodiment of the present invention.

Here, a case where the n control units 10-1 to 10-n are subjected to centralized integrated control will be described. Note that i is an integer of 1 to n, and is a subscript indicating that it relates to the i-th control unit 10-i. In this case, each of the control units 10-1 to 10-n is connected to the control means 21 for centralized integration control, and is controlled centrally and integrally by the control means 21. That is, the control means 21 detects the states of the control units 10-1 to 10-n and transmits control signals for controlling the respective states. And for each of the control units 10-1 to 10-n, the passive spring function, the passive damper function, the actuator function, the sensor function or the energy regeneration function of the electromagnetic device 11 are fused to perform spatial or temporal distribution. The evaluation function V _i represented by the following equation (3) is used.

しかし、前記制御ユニット１０−１〜１０−ｎのそれぞれは、図４に示されるように、相互に通信可能に接続され、それぞれの状態や制御信号を相互に送受信するようになっている。これにより、制御ユニット１０−１〜１０−ｎのそれぞれが自律的に制御を行いながら、全体として調和のとれた制御を行うことができる。

However, as shown in FIG. 4, the control units 10-1 to 10-n are communicably connected to each other and transmit / receive their respective states and control signals. Thereby, the control units 10-1 to 10-n can perform harmonious control as a whole while autonomously performing control.

  Next, a case where the control unit 10 is applied to a suspension system of a magnetic levitation vehicle will be described.

  FIG. 5 is a conceptual diagram showing the configuration of the suspension system of the magnetically levitated vehicle according to the first embodiment of the present invention. FIG. 6 is a diagram showing the structure of the electromagnetic actuator according to the first embodiment of the present invention. FIG. 8 is a diagram showing an equivalent circuit when the electromagnetic actuator according to the first embodiment of the present invention functions as a passive damper, and FIG. 8 shows a case where the electromagnetic actuator according to the first embodiment of the present invention functions as a passive damper. FIG. 9 is a diagram illustrating a relationship between speed and damping force, FIG. 9 is a diagram illustrating an equivalent circuit of a motor when the electromagnetic actuator according to the first embodiment of the present invention functions as a passive damper, and FIG. 10 is a diagram illustrating the first embodiment of the present invention. FIG. 11 is a first diagram illustrating changes in state quantities when the electromagnetic actuator in the embodiment functions as a passive damper and an energy regeneration device. FIG. 12 is a second diagram showing changes in state quantities when the electromagnetic actuator according to the first embodiment functions as a passive damper and an energy regeneration device, and FIG. 12 shows that the electromagnetic actuator according to the first embodiment of the present invention is passive. FIG. 13 shows a change in state quantity when functioning as a damper and energy regeneration device, and FIG. 13 is a state quantity when the electromagnetic actuator according to the first embodiment of the present invention functions as a passive damper and energy regeneration device. FIG. 14 and FIG. 14 are diagrams showing the operation of the suspension system of the magnetically levitated vehicle according to the first embodiment of the present invention.

  In FIG. 5, 30 is a magnetically levitated vehicle such as a new transportation system or a linear motor car, 31 is a body of the magnetic levitated vehicle 30, 32 is a carriage of the magnetic levitated vehicle 30, and 33 is a track made of iron rails. , 34 is a negative spring made of a permanent magnet, 35 is a positive spring made of a coil spring or the like, 36 is a damper made of an oil damper or the like, and 41 is made up of an electromagnet as the electromagnetic device 11 and a first control means (not shown). The first control unit 42 is a second control unit including an electromagnetic actuator 43 as the electromagnetic device 11 described later and second control means (not shown).

  The magnetic levitation vehicle 30 travels while being attracted to the track 33 by the negative spring 34 and the electromagnet of the first control unit 41. The spring constant k of the negative spring 34 is negative. In this case, the attraction force of the electromagnet is the first control so that the attraction force of the composite magnet combining the permanent magnet as the negative spring 34 and the electromagnet of the first control unit 41 becomes equal to the total floating mass. It is controlled by the first control means in the unit 41. Note that the total levitation mass is the sum of the mass of the magnetic levitation vehicle 30 and the mass of passengers, luggage, and the like.

  The vehicle body 31 and the carriage 32 are coupled by the positive spring 35, the damper 36 and the electromagnetic actuator 43 of the second control unit 42. In this case, the positive spring 35 may be of any kind as long as it is a normal spring such as a coil spring or an air spring, and the damper 36 may be a normal so-called oil damper or friction damper. Any kind of passive damper may be used.

  In this case, the dynamic system 12 in the magnetically levitated vehicle 30 includes a vehicle body 31, a carriage 32, a track 33, a negative spring 34, a positive spring 35, and a damper 36. The control means 13 and the electromagnetic device 11 are the first ones. It consists of a control unit 41 and a second control unit 42.

  As shown in FIG. 6, the electromagnetic actuator 43 of the second control unit 42 has a first casing 45 and a first casing 45 that is movable in the longitudinal direction (left and right direction in FIG. 6) relative to the first casing 45. Two casings 46, a DC motor 47 mounted in the first casing 45, a ball screw shaft 48 connected to the rotating shaft of the DC motor 47, and a ball screw shaft 48 attached to the second casing 46. It has a ball nut 49 which is screwed together.

  In this case, when the first casing 45 and the second casing 46 are relatively moved by an external force, the ball nut 49 performs a linear motion with respect to the ball screw shaft 48 as indicated by an arrow A. Here, since the ball nut 49 is attached to the second casing 46 and cannot rotate, the ball screw shaft 48 is rotated as indicated by an arrow B. That is, the linear motion indicated by the arrow A is converted into the rotational motion indicated by the arrow B by the ball screw mechanism constituted by the ball screw shaft 48 and the ball nut 49. When the rotating shaft of the DC motor 47 connected to the ball screw shaft 48 is rotated, power is generated by the DC motor 47. As a result, the kinetic energy of the rotational motion indicated by the arrow B is converted into electric energy and consumed, so that the kinetic energy of the linear motion indicated by the arrow A is also consumed. That is, when the DC motor 47 generates power, the relative linear motion between the first casing 45 and the second casing 46 is attenuated. Therefore, by attaching one of the first casing 45 and the second casing 46 to the vehicle body 31 and attaching the other to the carriage 32, the relative movement between the vehicle body 31 and the carriage 32 can be attenuated.

  Here, an equivalent circuit when the electromagnetic actuator 43 functions as a passive damper is shown in FIG. In FIG. 7, reference numeral 51 denotes a motor in an equivalent circuit, and the resistance is zero. 52 is an internal resistance of the DC motor 47, and 53 is an external resistance. Then, by changing the total resistance value as the sum of the internal resistance 52 and the external resistance 53, the attenuation coefficient of the electromagnetic actuator 43 functioning as a passive damper can be changed. In this case, the attenuation coefficient decreases as the total resistance value increases. Therefore, when the electromagnetic actuator 43 functions as a passive damper, the second control means in the second control unit 42 controls the value of the external resistor 53.

  Then, when the electromagnetic actuator 43 as shown in FIG. 6 was actually prototyped and tested, the relationship between the speed and the damping force when the electromagnetic actuator 43 functions as a passive damper is as shown in FIG. I found out that In the example shown in FIG. 8, the value of the external resistor 53 is 2 [Ω]. In this case, it can be seen that the electromagnetic actuator 43 generates a damping force proportional to the speed.

なお、φ² ／Ｒは電磁アクチュエータ４３の減衰係数に等しい。

Note that φ ² / R is equal to the attenuation coefficient of the electromagnetic actuator 43.

  Therefore, the force f can be detected by detecting the current I flowing through the equivalent circuit. Since the voltage value is obtained by multiplying the resistance value and the current value, the force f can be detected by obtaining the current I by measuring the voltage across the internal resistor 52 or the external resistor 53. .

また、電磁アクチュエータ４３の発生する力は、ＤＣモータ４７の出力、動摩擦力、ＤＣモータ４７の内部慣性による慣性力の和であることから、電磁アクチュエータに加えられた荷重Ｆは、次の式（１５）によって推定される。

Further, since the force generated by the electromagnetic actuator 43 is the sum of the output of the DC motor 47, the dynamic friction force, and the inertial force due to the internal inertia of the DC motor 47, the load F applied to the electromagnetic actuator is expressed by the following equation ( 15).

そして、前記式（１２）〜（１５）を使用して、リアルタイムで電磁アクチュエータ４３がパッシブダンパとして機能する場合の状態量の推定を行いった。ここで、推定された状態量と実際に計測された状態量との比較を図１０〜１３に示す。なお、図１０はストローク速度の時間的変化を、図１１はストロークの時間的変化を、図１２はストローク加速度の時間的変化を、図１３は荷重の時間的変化をそれぞれ示している。

And using said Formula (12)-(15), the state quantity in case the electromagnetic actuator 43 functions as a passive damper in real time was estimated. Here, a comparison between the estimated state quantity and the actually measured state quantity is shown in FIGS. 10 shows the time change of the stroke speed, FIG. 11 shows the time change of the stroke, FIG. 12 shows the time change of the stroke acceleration, and FIG. 13 shows the time change of the load.

  Then, as shown in FIG. 14, when the magnetically levitated vehicle 30 having the above configuration is caused to travel along the track 33, the vehicle body 31 of the magnetically levitated vehicle 30 moves smoothly as indicated by a locus 37. To do. In this case, since the track 33 includes the track irregular portion 33a, a disturbance is given to the magnetic levitation vehicle 30 when passing through the track irregular portion 33a, but the first control unit 41 and the second control When the unit 42 operates appropriately, the vehicle body 31 does not respond to the disturbance. That is, the vibration due to the track irregular portion 33 a is not transmitted to the vehicle body 31 by the vibration control by the first control unit 41 and the second control unit 42.

  In the curved portion 33 b of the track 33, the vehicle body 31 follows the change of the track 33 without delay as indicated by a track 37. That is, the vehicle body 31 can appropriately follow the track 33 by the motion control by the first control unit 41 and the second control unit 42. The curved portion 33b is a portion where the track 33 is greatly curved to form a plane curve or a vertical curve, and the vehicle body 31 is displaced left and right or up and down following the plane curve or the vertical curve. is there.

As described above, in the control method according to the present embodiment, the electromagnetic device 11 controls the motion, fluctuation, or vibration of the dynamic system 12 in the suspension system. In this case, the electromagnetic device 11 has an energy regeneration function in which regenerative energy is input from the dynamic system 12, a positive spring function as a passive spring function that outputs a spring force f _{k +} to the dynamic system 12, and a spring force. A negative spring function as a passive spring function that outputs f _k− to the dynamic system 12, a damper function as a passive damper function that outputs a damper force f _c to the dynamic system 12, and an actuator force f _a Any or all of an actuator function to be output to the dynamic system 12 and a sensor function to which motion, vibration, or sway is input from the dynamic system 12 are provided. Therefore, since one device performs five functions, the initial cost and running cost of the suspension system can be reduced.

  Further, the electromagnetic device 11 simultaneously controls the movement, vibration or vibration of the dynamic system 12, that is, the dynamic movement, vibration or vibration of the suspension system. Therefore, five functions can be fused with one electromagnetic device 11.

  Furthermore, a composite unit obtained by combining a plurality of control units 10 can be centrally integrated and controlled autonomously, and a plurality of electromagnetic devices 11 can cooperate to enhance function fusion. Furthermore, the electromagnetic device 11 can also have a sensor function and can also have a negative spring function.

  Next, a second embodiment of the present invention will be described. In addition, about the thing which has the same structure as 1st Embodiment, the description is abbreviate | omitted by providing the same code | symbol. The description of the same operations and effects as those of the first embodiment is also omitted.

  FIG. 15 is a diagram showing the relationship between the force and current generated by the electromagnetic actuator according to the second embodiment of the present invention. In FIG. 15, the horizontal axis represents current value (A) and the vertical axis represents force (N).

In the present embodiment, the relationship between the force generated when the electromagnetic device 11 functions as an actuator and the supply current will be described based on experimental results. When the electromagnetic actuator 43 as the electromagnetic device 11 described in the first embodiment exhibits the actuator function, the relationship between the current I supplied to the DC motor 47 and the force f generated by the electromagnetic actuator 43 is the DC motor. When the motor coefficient of 47 is φ, it is expressed by the following equation (16). The motor coefficient is a constant specific to the motor.
f = φ · I Formula (16)
From the equation (16), it can be seen that when the current I is supplied to the DC motor 47, the electromagnetic actuator 43 generates the force f and exhibits the actuator function. The equation (16) is the same as the equation (6) when the electromagnetic actuator 43 described in the first embodiment exhibits a sensor function.

  Then, when the electromagnetic actuator 43 as shown in FIG. 6 was actually prototyped and tested, the relationship between the current I supplied to the DC motor 47 and the force f generated by the electromagnetic actuator 43 is shown in FIG. I found out that In this case, it can be seen that the electromagnetic actuator 43 generates a force f proportional to the current I supplied to the DC motor 47.

  Next, a third embodiment of the present invention will be described. In addition, about the thing which has the same structure as 1st and 2nd embodiment, the description is abbreviate | omitted by providing the same code | symbol. The description of the same operations and effects as those of the first and second embodiments is also omitted.

  In the present embodiment, the case where the electromagnetic device 11 is caused to function as a spring will be described. In this case, the stroke of the electromagnetic actuator 43 is measured by the sensor function of the electromagnetic actuator 43 as the electromagnetic device 11 described in the first embodiment, and the electromagnetic actuator 43 described in the second embodiment further includes the electromagnetic actuator 43 described in the second embodiment. A spring function is achieved by generating a restoring force proportional to the stroke by the actuator function. The stroke of the electromagnetic actuator 43 is a relative distance between the first casing 45 and the second casing 46 that move in the direction indicated by the arrow A shown in FIG.

  Here, when the stroke of the electromagnetic actuator 43 is z, the stroke z is expressed by the following equation (17) by measuring the current I supplied to the DC motor 47 and the terminal voltage v of the DC motor 47. The The terminal voltage v is a voltage across the internal resistor 52 in the equivalent circuit shown in FIG. 7, and the resistance value of the internal resistor 52 is r.

ところで、ばねとは伸び、すなわち、変位に比例した復元力を発生させるものであるので、ばねが発生する力ｆ_k は、ばね定数をｋとすると、次の式（１８）で表される。

By the way, since the spring generates elongation, that is, a restoring force proportional to the displacement, the force f _k generated by the spring is expressed by the following equation (18), where the spring constant is k.

そのため、前記電磁アクチュエータ４３をばねとして機能させる場合、前記式（１７）及び（１８）から、次の式（１９）で表される力ｆを前記電磁アクチュエータ４３が発生すればよいことになる。

Therefore, when the electromagnetic actuator 43 is caused to function as a spring, the electromagnetic actuator 43 may generate the force f represented by the following expression (19) from the expressions (17) and (18).

また、前記電磁アクチュエータ４３は、第２の実施の形態において説明したように、ＤＣモータ４７に供給される電流Ｉに比例した力ｆを発生する。すなわち、前記電磁アクチュエータ４３が発生する力ｆは、前記式（１６）で表される。そのため、該式（１６）及び（１９）から、ＤＣモータ４７に供給される電流Ｉは、次の式（２０）で表される。

The electromagnetic actuator 43 generates a force f proportional to the current I supplied to the DC motor 47, as described in the second embodiment. That is, the force f generated by the electromagnetic actuator 43 is expressed by the equation (16). Therefore, from the equations (16) and (19), the current I supplied to the DC motor 47 is expressed by the following equation (20).

このように、該式（２０）で表されるような電流ＩをＤＣモータ４７に供給することによって、電磁デバイス１１をばねとして機能させることができる。

Thus, by supplying the current I as represented by the formula (20) to the DC motor 47, the electromagnetic device 11 can function as a spring.

  Next, a fourth embodiment of the present invention will be described. In addition, about the thing which has the same structure as 1st-3rd embodiment, the description is abbreviate | omitted by providing the same code | symbol. The description of the same operations and effects as those of the first to third embodiments is also omitted.

  FIG. 16 is a conceptual diagram showing the configuration of a link mechanism using an electromagnetic device according to the fourth embodiment of the present invention, and FIG. 17 is a diagram when the electromagnetic device according to the fourth embodiment of the present invention is used for a link mechanism. FIG. 18 is a diagram showing an electrical connection, and FIG. 18 is a diagram showing an equivalent link mechanism in the fourth embodiment of the present invention.

  In the present embodiment, a link mechanism using an electromagnetic actuator 43 as the electromagnetic device 11 will be described. In this case, it is possible to function as a link mechanism by using the passive damper function and the actuator function of the electromagnetic actuator 43 and performing a centralized integrated control or an autonomous distributed control by linking a plurality of electromagnetic actuators 43.

  In the link mechanism 55 shown in FIG. 16, the two electromagnetic actuators 43 are arranged so as to be point-symmetric with respect to the center point 59. The right electromagnetic actuator 43 in FIG. 16 has an upper end attached to the right fixed member 56 and a lower end attached to the right movable member 57. The right movable member 57 is movable downward as indicated by an arrow C. Further, the left electromagnetic actuator 43 in FIG. 16 has a lower end attached to the left fixed member 56 and an upper end attached to the left movable member 57. The left movable member 57 is movable upward as indicated by an arrow C. In the link mechanism 55, the terminals of the DC motors 47 of the left and right electromagnetic actuators 43 are electrically connected so that the positive terminals and the negative terminals are connected to each other as shown in FIG. Has been.

  As a result, the terminal voltage of the DC motor 47 generated by the expansion and contraction of one electromagnetic actuator 43 is applied to the DC motor 47 of the other electromagnetic actuator 43, so that the other electromagnetic actuator 43 is connected to the one electromagnetic actuator 43. Similarly, it will expand and contract. In this case, when the left and right movable members 57 are connected by a connecting line 58 as shown in FIG. 16, the connecting line 58 rotates about the center point 59. That is, when one movable member 57 is moved to the position 57 ′ in the direction indicated by the arrow C as shown in FIG. 16, the other movable member 57 is also moved to the position 57 ′ in the direction indicated by the arrow C. Moving. In this case, the connecting line 58 rotates about the center point 59 to the position 58 '.

  FIG. 18 shows a link mechanism 60 equivalent to the link mechanism 55. In the link mechanism 60, a link member 61 is attached to a support 62 attached to a fixing member 63 so as to be rotatable about a central axis 61a. A movable member 64 is attached to each end of the link member 61. Therefore, when one movable member 64 moves as indicated by arrow D, the other movable member 64 similarly moves as indicated by arrow D. In this case, the movable member 57, the connecting line 58, and the center point 59 of the link mechanism 55 correspond to the movable member 64, the link member 61, and the center axis 61a of the equivalent link mechanism 60, respectively.

  Next, the case where the link mechanism comprising the electromagnetic actuator 43 is used as an anti-roll link mechanism will be described.

  FIG. 19 is a conceptual diagram showing a configuration when an anti-roll link mechanism using an electromagnetic device according to a fourth embodiment of the present invention is applied to a suspension system of a magnetically levitated vehicle.

In this case, as shown in FIG. 1 9, two of the electromagnetic actuator 43 to the left and right of the magnetic levitation vehicle 70, such as a new transportation system and the linear motor car, respectively, are arranged. Incidentally, In Fig. 1 9, 71 body of the magnetic levitation vehicle 70, 72 is carriage of the magnetic levitation vehicle 70, track consisting of iron rails 73, negative spring comprising a permanent magnet 74, Reference numeral 75 denotes a positive spring made of a coil spring or the like.

Here, if the terminals of the DC motor 47 of the left and right electromagnetic actuators 43 are connected to each other so that the positive terminals and the negative terminals are connected to each other as shown in FIG. However, when the left and right electromagnetic actuators 43 expand and contract in opposite phases, current flows through the DC motor 47 and functions as a passive damper. That is, when both the left and right electromagnetic actuators 43 extend or contract together, no current flows through the DC motor 47, but when one electromagnetic actuator 43 extends, the other electromagnetic actuator 43 contracts. A current flows through the DC motor 47, and the left and right electromagnetic actuators 43 function as passive dampers. Therefore, since the left and right electromagnetic actuators 43 function as passive dampers in the roll direction, they can play the same role as an anti-roll bar that prevents the vehicle body 71 from rolling .

  Next, a fifth embodiment of the present invention will be described. In addition, about the thing which has the same structure as 1st-4th embodiment, the description is abbreviate | omitted by providing the same code | symbol. The description of the same operations and effects as those in the first to fourth embodiments is also omitted.

  FIG. 20 is a diagram showing the electrical connection when the electromagnetic device according to the fifth embodiment of the present invention is used for energy regeneration, and FIG. 21 shows the use of the electromagnetic actuator according to the fifth embodiment of the present invention for energy regeneration. It is a figure which shows the time history of the capacitor voltage at the time of doing.

  In the present embodiment, a case where energy is regenerated using the electromagnetic actuator 43 as the electromagnetic device 11 will be described. In this case, as shown in FIG. 20, the terminal of the DC motor 47 of the electromagnetic actuator 43 is connected to the capacitor 78, and the electric energy regenerated by the DC motor 47 is stored in the capacitor 78.

  Then, when the electromagnetic actuator 43 as shown in FIG. 6 was actually prototyped and tested, the time history of the voltage of the capacitor 78 when the electromagnetic actuator 43 regenerates energy is as shown in FIG. I understood that.

  In the first to fifth embodiments, the case where the control method is applied to a suspension system of a magnetically levitated vehicle such as a new traffic system or a linear motor car has been specifically described. This embodiment can be applied to any suspension system such as a suspension system for automobiles such as wheeled vehicles, a suspension system for railway vehicles, a suspension system for monorails, a vehicle for amusement facilities, and a suspension system for a transporter in a factory or warehouse. It is clear that the control method in can be applied. Furthermore, the suspension system to which the control method is applied may be a ship vibration reduction device that suppresses vibrations and vibrations of the ship, or a building vibration reduction device that suppresses vibrations and vibrations of buildings such as high-rise buildings. It may also be a vibration damping device that suppresses vibrations and fluctuations of various machines such as machine tools installed in a factory.

  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, and they are not excluded from the scope of the present invention.

It is a conceptual diagram which shows the structure of the control unit of the suspension system in the 1st Embodiment of this invention. It is a conceptual diagram which shows the structure of the control system in the case of carrying out centralized integrated control of the composite unit in the 1st Embodiment of this invention. It is a conceptual diagram which shows the structure of the control system in the case of carrying out autonomous distributed control of the composite unit in the 1st Embodiment of this invention. It is a conceptual diagram which shows the information transmission in the case of carrying out autonomous distributed control of the composite unit in the 1st Embodiment of this invention. It is a conceptual diagram which shows the structure of the suspension system of the magnetic levitation vehicle in the 1st Embodiment of this invention. It is a figure which shows the structure of the electromagnetic actuator in the 1st Embodiment of this invention. It is a figure which shows the equivalent circuit in case the electromagnetic actuator in the 1st Embodiment of this invention functions as a passive damper. It is a figure which shows the relationship between the speed and damping force in case the electromagnetic actuator in the 1st Embodiment of this invention functions as a passive damper. It is a figure which shows the equivalent circuit of a motor in case the electromagnetic actuator in the 1st Embodiment of this invention functions as a passive damper. It is a 1st figure which shows the change of the state quantity in case the electromagnetic actuator in the 1st Embodiment of this invention functions as a passive damper and an energy regeneration apparatus. It is a 2nd figure which shows the change of the state quantity in case the electromagnetic actuator in the 1st Embodiment of this invention functions as a passive damper and an energy regeneration apparatus. It is a 3rd figure which shows the change of the state quantity in case the electromagnetic actuator in the 1st Embodiment of this invention functions as a passive damper and an energy regeneration apparatus. It is a 4th figure which shows the change of the state quantity in case the electromagnetic actuator in the 1st Embodiment of this invention functions as a passive damper and an energy regeneration apparatus. It is a figure which shows operation | movement of the suspension system of the magnetic levitation type vehicle in the 1st Embodiment of this invention. It is a figure which shows the relationship between the force and electric current which the electromagnetic actuator in the 2nd Embodiment of this invention generate | occur | produces. It is a conceptual diagram which shows the structure of the link mechanism using the electromagnetic device in the 4th Embodiment of this invention. It is a figure which shows the electrical connection at the time of using the electromagnetic device in the 4th Embodiment of this invention for a link mechanism. It is a figure which shows the equivalent link mechanism in the 4th Embodiment of this invention. It is a conceptual diagram which shows the structure at the time of applying the anti-roll link mechanism using the electromagnetic device in the 4th Embodiment of this invention to the suspension system of a magnetic levitation type vehicle. It is a figure which shows the electrical connection at the time of using the electromagnetic device in the 5th Embodiment of this invention for energy regeneration. It is a figure which shows the time history of the capacitor voltage at the time of using the electromagnetic actuator in the 5th Embodiment of this invention for energy regeneration.

Explanation of symbols

11 Electromagnetic device 12 Dynamic system 43 Electromagnetic actuator 55, 60 Link mechanism

Claims (4)

(A) A control method for controlling movement, fluctuation or vibration of a dynamic system in a suspension system by an electromagnetic device,
(B) The suspension system includes a first spring and a first electromagnetic device arranged in parallel for coupling the suspension body and the mass between the springs, and a parallel coupling between the mass between the springs and the motion fluctuation generation surface. A second spring and a second electromagnetic device disposed on
(C) by measuring the outputs of the first and second electromagnetic devices, the force acting on the first and second electromagnetic devices, the motion of the dynamic system, the real-time state of shaking or vibration, the dynamics Detecting the motion of the system, the average state of the vibration or vibration, the disturbance causing the vibration or vibration of the dynamic system, and the identification of the dynamic system as information,
(D) A suspension system control method comprising simultaneously controlling the motion, oscillation or vibration of the dynamic system by means of the first and second electromagnetic devices that cooperate. The passive spring function, passive damper function, actuator function, sensor function, energy regeneration function or link mechanism function as a function of the characteristics of the dynamic system, disturbance input, motion control target, vibration or vibration suppression target, and energy balance The suspension system control method according to claim 1, wherein spatial or temporal distribution is performed. 3. The suspension system control method according to claim 1, wherein the information is used for monitoring and control of the entire mechanical system. The suspension system control method according to any one of claims 1 to 3 , wherein the suspension system functions as a link mechanism by performing centralized integrated control or autonomous distributed control in cooperation with a plurality of the electromagnetic devices.

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