JP4873163B2 - Vibration control device - Google Patents

Description

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

2. Description of the Related Art Conventionally, there is a seat vibration control device that suppresses vibration applied to a seat by controlling the operation of a direct-acting electric actuator under the seat according to vibration acceleration (see Patent Document 1).
JP-A-11-180202

  However, as shown in FIG. 13 (a), when the seat S is supported only by the actuator 121, the output of the actuator 121 is always required including the stop state. As shown in FIG. 13B, when the seat S is supported by the actuator 121 and the torsion spring 122, the output of the actuator 121 can be set to 0 in the stop state, but the vibration of the seat S is controlled. In this case, the spring force of the torsion spring 122 becomes a reaction force, and in addition to the output for vibration control, the output for the reaction force of the spring is required for the actuator 121, and a large output is required.

  The present invention solves the above-described problems, and an object of the present invention is to provide an efficient vibration control device that can reduce the output of the vibration control means and can be realized by a small vibration control means.

  To this end, the present invention provides a load support unit installed in an installation unit, a counter balance unit connected to the load support unit and providing a load that balances the load, and a vibration control that controls vibration of the load support unit with respect to the installation unit. And a vibration control unit having means.

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

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

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

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

  According to the first aspect of the present invention, the load support unit installed in the installation unit, the counter balance unit connected to the load support unit and providing a load that balances the load, and the vibration of the load support unit with respect to the installation unit. Since the vibration control unit having the vibration control means for controlling is provided, the output of the vibration control means can be reduced, and an efficient vibration control device that can be realized by a small vibration control means can be provided.

  According to invention of Claim 2, since the said load support part has a 1st moving means which moves relatively with respect to the said installation part, it can prevent a load support member from moving to a horizontal direction.

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

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

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

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a vibration control device 1 according to a first embodiment of the present invention. In the figure, 1 is a vibration control device, 10 is a load support section, 11 is a guide as an example of a first guide means, 12 is a vertical movement support section as an example of a first movement means, 13 is a load support member, and 20 is A vibration control unit, 21 is a vibration control actuator as an example of vibration control means, 22 is a load sensor as an example of detection means, 23 is an acceleration sensor as an example of detection means, 30 is a counter balance unit, and 31 is a second sensor. A second slider rail as an example of guide means, 32 is a second slider as an example of second moving means, 33 is a balance section, 34 is a preload adjusting actuator as an example of adjusting means, and 35 is an example of urging means. , F is an installation part, and S is a seat.

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

  The load support unit 10 includes a guide 11, a vertical movement support unit 12, a load support member 13, and the like. The lower part of the guide 11 is installed in the installation part F, and the vertical movement support part 12 is inserted into the cylindrical upper part so as to be movable up and down. The vertical movement support portion 12 has a lower portion inserted into the guide 11 and supports a load support member 13 at the upper portion. The load support member 13 is a portion that supports the seat S and the like.

  The vibration control unit 20 includes a vibration control actuator 21 such as a voice coil motor, a load sensor 22 such as a load cell, an acceleration sensor 23, and the like. The vibration control actuator 21 has a lower part installed in the installation part F, an upper part in contact with the load support part 13, and is controlled to move up and down by signals from the load sensor 22 and the acceleration sensor 23.

  The counter balance unit 30 includes a second slider rail 31, a second slider 32, a balance unit 33, a preload adjusting actuator 34, a spring 35, and the like. The 2nd slider rail 31 is installed in the load support member 13, and supports the 2nd slider 32 so that a movement is possible. The second slider 32 is connected to one end of the balance part 33. The balance portion 33 has a fulcrum at the installation portion F, and one end is connected to the second slider 32 and the other end is connected to the preload adjusting actuator 34. The preload adjusting actuator 34 has a variable length, and one end is connected to the balance portion 33 and the other end is fixed to the spring 35. One end of the spring 35 is fixed to the preload adjusting actuator 34, and the other end is fixed to the installation portion F.

  FIG. 2 shows a block diagram of the vibration control apparatus 1 having such a structure. Input signals from the acceleration sensor 23 and the load sensor 22 are input to the ECU 40 as control means, and the vibration control actuator 21 and the preload adjustment actuator 34 are controlled to actively control vibration according to the load.

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

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

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

  Next, the vibration control of this embodiment will be described. FIG. 5 shows a flowchart of vibration control. First, in step 11, the acceleration during vibration is detected by the acceleration sensor 23 (ST11). Next, at step 12, the ECU 40 calculates the thrust of the vibration damping actuator 21 (ST12). The thrust calculation is executed, for example, by storing a calculation formula such as acceleration × friction × gain × (−1) or a thrust value corresponding to the acceleration in advance. Here, the gain in the calculation formula represents the control delay, and -1 represents the reversal of the direction. Subsequently, in step 13, the thrust calculated in step 12 is instructed to the vibration control actuator 21.

  FIG. 6 shows another flowchart of vibration control. First, in step 21, the load during vibration is detected by the load sensor 22 (ST21). Next, in step 22, it is compared whether the detected load value is the same as the reference load value obtained by the preload adjustment control (ST22). In the same case, the vibration control actuator 21 is not operated and the vibration control is terminated. If not, it is determined in step 23 whether the detected load value is larger than the reference load value obtained by the preload adjustment control (ST23). If the detected load value is larger than the reference load value obtained by the preload adjustment control, in step 24, the damping actuator 21 is contracted (ST24). If the detected load value is smaller than the reference load value obtained by the preload adjustment control, in step 25, the vibration control actuator 21 is extended (ST25).

  FIG. 7 shows a state of vibration control. FIG. 7A shows a state in which the damping actuator 21 is contracted, and FIG. 7B shows a state in which the damping actuator 21 is extended.

  FIG. 7A shows a case where the thrust instruction obtained from the acceleration corresponding to step 13 is the contraction of the damping actuator 21 or the detected load value corresponding to step 24 is larger than the reference load value obtained by the preload adjustment control. When the vibration control actuator 21 is contracted to reduce the vibration on the seat S to 0, the slider 32 moves forward and the balance portion 33 of the counter balance portion 30 rotates counterclockwise. At this time, although the spring 35 is extended, the inclination angle thereof is changed, so that the vertical component of the reaction force due to the extension of the spring 35 is almost canceled, and the load and the load by the spring 35 can be kept in a substantially balanced state. it can.

  FIG. 7B shows a case where the thrust instruction obtained from the acceleration corresponding to step 13 is contraction of the vibration control actuator 21 or the detected load value corresponding to step 25 is smaller than the reference load value obtained by the preload adjustment control. In this case, when the vibration control actuator 21 is extended to reduce the vibration on the seat S to 0, the slider 32 moves rearward and the balance portion 33 of the counter balance portion 30 rotates clockwise. At this time, although the spring 35 contracts, the inclination angle thereof is changed, so that the vertical component of the reaction force due to the contraction of the spring 35 is almost canceled, and the load and the load by the spring 35 can be kept in a substantially balanced state. it can.

  Thus, the load and the load by the spring 35 can always maintain a substantially balanced state, so that the output of the vibration control actuator 21 can be reduced.

  FIG. 8 shows the result of comparing the case of using the vibration control device 1 of the present embodiment and the case of the prior art shown in FIG. 11 by simulation. In the simulation, an actuator for vibration suppression necessary for reducing the vibration of the load to 0 under the condition of traveling on a wavy path with an amplitude of 25 mm and a period of 750 mm at a speed of 70 km / h was obtained.

  8A shows a case where the seat is supported only by an actuator as shown in FIG. 13A, and FIG. 8B shows a case where the seat is supported by an actuator as shown in FIG. 13B. In the case of using a spring, FIG. 8C shows the case of this embodiment.

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

  FIG. 9 shows a second embodiment of the counterweight mechanism, in which a string 42 is hung on a pulley 41 provided in the installation portion F and the load support portion 13 and the weight 43 are connected.

  FIG. 10 shows a vibration control device 1 according to the third embodiment. In the figure, 1 is a vibration control device, 10 is a load support portion, 11 ′ is a first slider rail as an example of a first guide means, 12 ′ is a first slider as an example of a first moving means, and 13 is a load support. Members, 20 is a vibration control unit, 21 is a vibration control actuator as an example of vibration control means, 22 is a load sensor as an example of detection means, 23 is an acceleration sensor as an example of detection means, 30 is a counter balance unit, 31 is a second slider rail as an example of second guide means, 32 is a second slider as an example of second movement means, 33 is a second slider support part as an example of second movement means support part, and 34 is an adjustment. As an example of the means, a preload adjusting actuator, 35 is a torsion spring, F is an installation portion, and S is a seat.

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

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

  The vibration control unit 20 includes a vibration control actuator 21 such as a voice coil motor, a load sensor 22 such as a load cell, an acceleration sensor 23, and the like. The vibration control actuator 21 is installed such that the lower part is installed in the installation part F and the upper part is brought into contact with the load support member 13, and is controlled to move up and down by load signals from the load sensor 22 and the acceleration sensor 23. In particular, the load sensor 22 may be provided between the seat S and the load support member 13.

  The counter balance unit 30 includes a second slider rail 31, a second slider 32, a balance unit 33, a preload adjusting actuator 34, a spring 35, and the like. The 2nd slider rail 31 is installed in the load support member 13, and guides the 2nd slider 32 so that a movement is possible. The second slider 32 is connected to one end of the balance portion 33, guided by the second slider rail 31, and movable with respect to the load support member 13.

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

  The preload adjusting actuator 34 has a variable length. One end is connected to the balance portion 33 and the other end is fixed to the spring 35. One end of the spring 35 is fixed to the preload adjusting actuator 34, and the other end is fixed to the installation portion F.

  FIG. 11 shows the state of the vibration control device 1 of the third embodiment before and after the preload adjustment control. FIG. 11A shows the state before the preload adjustment control, and FIG. 11B shows the state after the preload adjustment control. Is. From the state before the preload adjustment control shown in FIG. 11A, for example, when the occupant P sits on the seat S and the load of the occupant P is added to the initial load, the balance unit 33 of the counter balance unit 30 is counterclockwise. It rotates and a load is applied to the spring 35. Therefore, as shown in FIG. 11B, the preload adjusting actuator 34 is operated to change the length of the balance portion 33, thereby balancing the load and the load by the spring 35.

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

  FIG. 12 shows a state of vibration control according to the third embodiment. FIG. 12A shows a state in which the vibration damping actuator 21 is contracted, and FIG. 12B shows a state in which the vibration damping actuator 21 is extended. It is shown.

  FIG. 12A shows a case where the detected load value corresponding to step 14 is larger than the reference load value obtained by the preload adjustment control. When the vibration damping actuator 21 is contracted to reduce the vibration on the seat S to zero, As the slider 32 moves forward, the balance portion 33 of the counter balance portion 30 rotates counterclockwise. At this time, the spring 35 extends, but the load and the load by the spring 35 can be kept in a substantially balanced state.

  FIG. 12B shows a case where the detected load value corresponding to step 15 is smaller than the reference load value obtained by the preload adjustment control. When the vibration control actuator 21 is extended to make the vibration on the seat S zero, While the 2nd slider 32 moves back, the balance part 33 of the counter balance part 30 rotates clockwise. At this time, the spring 35 contracts, but the load and the load by the spring 35 can be kept in a substantially balanced state.

  As described above, the vibration control apparatus 1 according to the present embodiment includes the load support unit 10 installed in the installation unit F, the counter balance unit 30 connected to the load support unit 10 and providing a load that balances the load, and the load support unit 10. And the vibration control unit 20 having the vibration control actuator 21 for controlling the vibration to the installation part F of the motor, the output of the vibration control actuator 21 can be reduced, and can be realized with a small vibration control actuator 21. An efficient vibration control device 1 can be provided.

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

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

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

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

It is a figure which shows the vibration control apparatus of 1st Embodiment. It is the block diagram which showed the system configuration | structure of the vibration control apparatus. It is a figure which shows the flowchart of preload adjustment control. It is a figure which shows the state of the vibration control apparatus at the time of preload adjustment control. It is a figure which shows the flowchart of vibration control. It is a figure which shows the flowchart of another vibration control. It is a figure which shows the state of the vibration control apparatus at the time of vibration control. It is a figure which shows the simulation which compared the vibration control apparatus of this embodiment, and the prior art. It is a figure which shows 2nd Embodiment. It is a figure which shows 3rd Embodiment. It is a figure which shows the state of the vibration control apparatus of 3rd Embodiment at the time of preload adjustment control. It is a figure which shows the state of the vibration control apparatus of 3rd Embodiment at the time of vibration control. It is a figure which shows the prior art.

Explanation of symbols

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

Claims (5)

  A vibration control unit having a load support unit installed in the installation unit, a counter balance unit connected to the load support unit and providing a load that balances the load, and a vibration control unit that controls vibration of the load support unit with respect to the installation unit. And a vibration control device.   The vibration control apparatus according to claim 1, wherein the load support portion includes first moving means that moves relative to the installation portion.   The vibration control apparatus according to claim 1, wherein the counter balance unit includes a second moving unit that moves relative to the load support unit.   An urging means supported at one end by the installation portion, a fulcrum is pivotally supported by the installation portion, one end is rotatably connected to the slide means, and the other end is rotatable to the other end of the urging means The vibration control device according to claim 1, further comprising: a balance unit joined to the balance, and an adjusting unit that changes a length of the balance unit.   The vibration control apparatus according to claim 4, further comprising a detection unit that detects a state on the load support unit, and a control unit that operates the adjustment unit according to the state detected by the detection unit. .

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