JP5891671B2 - Linear actuator controller - Google Patents

Description

  The present invention relates to a control device for a linear actuator, and more specifically, a plunger that stops at an abutting position that abuts against a stopper by an urging force from an urging means, and an urging force of the urging means by the action of a magnetic force when energized. The present invention relates to a control device for a linear actuator provided with an electromagnetic solenoid that actuates the plunger linearly.

  As a linear actuator configured as described above, Patent Document 1 discloses that a plunger is arranged on a straight line with respect to the internal space of a cylindrical magnetic sleeve having an electromagnetic solenoid (a coil in the literature) on the outer periphery. A solenoid valve device is shown. In this electromagnetic valve device, the linear actuator is configured to operate the spool valve by the operation of the plunger, and the cover on the end side of the magnetic sleeve is provided with a stopper (a buffer member in the literature) with which the bottom of the plunger abuts. The spool valve is provided with urging means (a spring in the literature) for applying an urging force that abuts the bottom of the plunger against the stopper.

  In addition, as a linear actuator control device, Patent Document 2 discloses that a current based on a command current value is supplied from an PWM output unit to an electromagnetic solenoid (in the literature, a linear solenoid), and the current that flows through the electromagnetic solenoid when this current is supplied. A control mode is shown in which the value is monitored, the resistance value of the electromagnetic solenoid is acquired by feeding back the monitored current value, and the command current value is calculated based on this.

JP 2009-79605 A JP 09-280411 A

  In a linear actuator having a plunger that operates a spool of an electromagnetic valve, when a drive current is supplied to the electromagnetic solenoid, the plunger operates to a predetermined position against the urging force of the urging means. When the drive current is interrupted (demagnetized) in this operating state, the urging force of the urging means displaces (returns) the plunger to the position where it abuts against the stopper. The spool may be damaged.

  In order to eliminate such inconvenience, in Patent Document 1, a shock-absorbing member is used as a stopper to suppress the impact and reduce the operating noise.

  Moreover, even if a buffer member is used as a stopper, it is difficult to completely eliminate the impact and operating noise, and the impact when the plunger reaches the contact position due to the urging force of the urging means is reduced. It is desired. Therefore, a control mode in which the drive current is gradually reduced when the drive current supplied to the electromagnetic solenoid is cut off is also conceivable. However, when the electromagnetic valve is driven by a hydraulic clutch, the control state is changed from the on state to the off state. It takes time to switch between and there is room for improvement.

  The objective of this invention exists in the point which comprises rationally the control apparatus which suppresses the impact when a plunger contact | abuts to a stopper at the time of control which interrupts | blocks the drive current supplied to an electromagnetic solenoid.

  A feature of the present invention is that the plunger stops at the abutting position where it abuts against the stopper by the urging force from the urging means, and the plunger is linearly resisted against the urging force of the urging means by the action of the magnetic force during energization. A linear actuator comprising an electromagnetic solenoid that is actuated at a time, and a power control unit that supplies a drive current to the electromagnetic solenoid, wherein the power control unit sets a target current value so as to operate the plunger to a target position. A normal drive mode in which a drive current is supplied to the electromagnetic solenoid by setting to a set value, and the target current value is lower than the first set value at the time of transition from the normal drive mode to the contact position of the plunger A holding mode in which the plunger is set to a second set value that does not contact the stopper and a drive current is supplied to the electromagnetic solenoid. , From the hold mode the on control switchable points and sweep drive mode the drive current supplied to the electromagnetic solenoid at the transition to the contact position to reduce over time of the plunger.

According to this configuration, when the power control unit executes the normal drive mode, the first set value is set as the target current value, the drive current is supplied to the electromagnetic solenoid, and the plunger is operated to the target position. In this normal drive mode, when the plunger is moved to the contact position, the power control means executes the holding mode, so that the target current value is set to the second set value and the drive current is supplied to the electromagnetic solenoid. The plunger is held at a position where it does not contact the stopper. Thus, when the normal drive mode is shifted to the holding mode, the target current value is gradually decreased from the first set value in order to immediately decrease the target current value from the first set value to the second set value. Compared to the above, it is possible to operate at a high speed to the vicinity of the position where the plunger contacts the stopper.
Thereafter, when the power control unit executes the sweep drive mode, the drive current supplied to the electromagnetic solenoid decreases with time, and the plunger moves toward the stopper by the biasing force of the biasing unit. When the drive current is cut off, the plunger is brought into contact with the stopper at a low speed from a position close to the stopper, and no impact is generated.
Therefore, a control device has been constructed in which the speed at which the plunger abuts against the stopper during the control to cut off the drive current supplied to the electromagnetic solenoid is reduced, and the impact at the time of the abutment is suppressed. In particular, in this configuration, it is not necessary to use a buffer member.

  In the present invention, the power control unit performs control in the normal drive mode by an incoming signal, performs control in the holding mode by a turn-off signal in the normal drive mode, and subsequently follows the sweep drive mode. The control may be executed.

  According to this, for example, when the plunger is to operate the spool of the hydraulic valve, and this spool is to control the hydraulic oil for connecting and disconnecting the hydraulic clutch, the plunger is moved to the target position when the incoming signal is acquired. When the hydraulic clutch is engaged and operated quickly, and a disconnection signal is acquired after that, the holding mode and the sweep drive mode are sequentially executed to disconnect and operate the hydraulic clutch without causing an impact or operating noise. . That is, the operation of returning the plunger to the position where it comes into contact with the stopper is realized by operating the plunger to the target position with only two types of signals, the on signal and the off signal.

  The present invention includes a current value acquisition unit that acquires a drive current supplied to the electromagnetic solenoid as a detection current value, and the power control unit is configured such that the detection current value acquired by the current value acquisition unit in the holding mode is The target current value is held at the second set value until the third set value higher than the second set value is reached, and the sweep drive mode is entered when the detected current value is reduced to the third set value. You may migrate.

  When the normal drive mode is switched to the hold mode and the drive current is supplied with the second set value as the target current value, the actual current value supplied to the electromagnetic solenoid is changed from the first set value to the second set value. Reduce. Since the actual current value is proportional to the magnetic force acting on the plunger from the electromagnetic solenoid, it reflects the position of the plunger. Therefore, at the timing when the detected current value acquired by the current value acquisition means is reduced to the third set value, the plunger has reached the position corresponding to the third set value, and the plunger is moved from this position to the sweep drive mode. Can move to the sweep drive mode at a position close to the stopper.

In the sweep drive mode, the power control unit reduces the drive current supplied to the electromagnetic solenoid by reducing the target current value every set time, and in the sweep drive mode, the current value When the detected current value acquired by the acquiring means has decreased to a preset fourth set value, the supply of drive current to the electromagnetic solenoid may be stopped.

  According to this, the drive current supplied to the electromagnetic solenoid is reduced by reducing the target current value every set time, and the detected current acquired by the current value acquisition means is displaced in the direction in which the plunger approaches the stopper. When the value drops to the fourth set value, by stopping the supply of the drive current, the plunger can be moved from the position very close to the stopper by the urging force of the urging means and brought into contact with the stopper. Further, according to this, it is possible to abut the stopper when the plunger is moved with a short stroke when the sweep drive mode is executed.

It is sectional drawing of a solenoid valve. It is a block circuit diagram which shows the structure of a solenoid valve control unit. It is the figure which graphed the target electric current value and the detected electric current value. It is a flowchart of plunger control.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
〔overall structure〕
As shown in FIGS. 1 and 2, the electromagnetic valve V is configured to include an electromagnetic solenoid Vs and a valve unit Vt operated by the operating force of the electromagnetic solenoid Vs, and control for controlling electric power supplied to the electromagnetic solenoid Vs. A solenoid valve control unit D is configured including a power control unit B as a device. The electromagnetic valve control unit D controls a hydraulic clutch C provided in a transmission system of a vehicle such as a passenger car, and controls the electromagnetic valve V by a control signal from a clutch control unit A configured as an ECU. It is configured.

〔solenoid valve〕
The electromagnetic solenoid Vs accommodates a plunger 1, a magnetic yoke 2 slidably inserted into the plunger 1, and a coil 3 fitted on the outer periphery of the yoke 2 in a cylindrical solenoid case 4. A lid 5 is provided at the end. The electromagnetic solenoid Vs and the plunger 1 constitute a linear actuator, and this linear actuator linearly operates the plunger 1 by the electromagnetic force of the electromagnetic solenoid Vs. The valve unit Vt includes a valve body 7, a spool 8 fitted in the inner space of the valve body 7 so as to be movable in the axial direction, and biasing means for biasing the spool 8 in the direction of the electromagnetic solenoid Vs. And a spring 9. The lid 5 functions as a stopper that determines the position of the plunger 1, and a stopper portion 5 s is formed at a contact portion with the outer end portion 1 s of the plunger 1.

  The valve body 7 includes a pump port 7p to which hydraulic oil from the hydraulic pump P is supplied, an output port 7c that supplies hydraulic oil to the hydraulic clutch C, and a drain port 7d that discharges hydraulic oil from the hydraulic clutch C. Is formed. The spool 8 is formed with a plurality of land portions 8a having a large diameter for controlling the hydraulic oil.

  FIG. 1 shows a non-driving state in which no current (electric power) is supplied to the electromagnetic solenoid Vs. In this non-driving state, the inner end of the spool 8 contacts the inner end of the plunger 1 by the biasing force of the spring 9. Further, the outer end 1 s of the plunger 1 comes into contact with the stopper portion 5 s of the lid 5. In this non-driven state, the hydraulic oil of the hydraulic pump P is not supplied to the hydraulic clutch C due to the positional relationship between the land portion 8a of the spool 8 and each port, and the hydraulic oil of the hydraulic clutch C is discharged from the drain port 7d. The clutch C is maintained in the disengaged state.

  Although not shown in the drawing, in a driving state in which a driving current is supplied to the electromagnetic solenoid Vs, the spool 8 is operated to a position where the electromagnetic force of the electromagnetic solenoid Vs and the biasing force of the spring 9 are balanced, and the position is reached. The spool 8 is held. In particular, in a driving state in which a driving current set in a normal driving mode to be described later is supplied to the electromagnetic solenoid Vs, the drain port 7d is closed, and hydraulic oil from the pump port 7p is supplied to the hydraulic clutch C from the output port 7c. The spool 8 operates to the position, and the hydraulic clutch C is set to the engaged state.

  In this embodiment, the solenoid valve V is used to supply and discharge hydraulic oil to and from the hydraulic clutch C, but the hydraulic valve V hydraulic oil may be supplied to actuators other than the hydraulic clutch C. In this embodiment, it is assumed that the hydraulic clutch C is in a disconnected state when the electromagnetic solenoid Vs is in a non-driven state, and reaches an on state in the driven state. When Vs is in the non-driven state, it may be in the on state and reach the off state in the driven state.

[Solenoid valve control unit]
The electromagnetic valve control unit D shown in FIG. 2 includes a power control unit B that receives the control signal from the clutch control unit A described above, and a power control circuit 11 that controls the drive current using the control signal from the power control unit B. have. The power control circuit 11 includes a power control element such as a power transistor. From the ratio of the ON time of the pulse (duty ratio / duty cycle) in the output cycle when the pulse signal is intermittently output, the drive current of the PWM type is calculated. Set the value. A shunt resistor R is interposed in series in the power system supplied from the power control circuit 11 to the coil 3 of the electromagnetic solenoid Vs.

  The power control unit B has a CUP, a DSP and the like that realize processing according to a program. The voltage information acquired by the setting information storage unit 12 configured by storage such as a memory and the shunt resistor R is converted into a digital signal. It has an A / D conversion unit 13 as a current value acquisition means for conversion, and also has a mode setting processing unit 14, a target value setting processing unit 15, and a comparison processing unit 16.

  Note that the mode setting processing unit 14, the target value setting processing unit 15, and the comparison processing unit 16 are assumed to be configured by a program. Software) and hardware may be combined.

  The power control unit B supplies a drive current to the electromagnetic solenoid Vs in the normal drive mode when an input signal is acquired from the clutch control unit A, and acquires a disconnect signal from the clutch control unit A in the normal drive mode. In this case, the drive current is supplied to the electromagnetic solenoid Vs in the holding mode, the drive current is subsequently supplied to the electromagnetic solenoid Vs in the sweep drive mode, and then the drive current supplied to the electromagnetic solenoid Vs is stopped. Basic processing sequence is set in

  FIG. 3 shows the target current value set in the normal drive mode, the holding mode, and the sweep drive mode, and the actual current value flowing through the electromagnetic solenoid Vs in each mode. Since the target current value is maintained at a fixed value, the target current value is indicated by a straight line in the figure, and the actual current value (detected current value described later) is controlled by the power control circuit 11 in a PWM manner. Shows a sawtooth waveform. In addition, a time region when the drive current is supplied in the normal drive mode, the hold mode, and the sweep drive mode is shown as a normal drive region N, a hold mode region K, and a sweep drive region S, and a region where no drive current is supplied. Is shown as a stop area OFF.

  Specifically, the target current value in the normal drive mode is set to 1000 mA (first set value F1), the target current value is set to 380 mA (second set value F2) in the holding mode, and the target value is set in the sweep drive mode. The current value is set to decrease stepwise. The outline of the control mode by the power control unit B will be described below according to the numerical values described above.

[Control form]
As shown in the flowchart of FIG. 4, when the power control unit B acquires an input signal from the clutch control unit A, the normal drive mode is set, and the first set value F1 is set to 1000 mA as the target current value. A drive current is supplied to the electromagnetic solenoid Vs (steps # 101 to # 103).

  That is, the mode setting processing unit 14 sets the normal driving mode when the incoming signal is acquired when the electromagnetic solenoid Vs is in the non-driving state, and the target value setting processing unit 15 stores the setting information storage unit 12 in the setting information storage unit 12. A numerical value of 1000 mA stored as the first set value F1 is set as a target current value, and given to the power control circuit 11, a drive current having a target current value of 1000 mA from the power control circuit 11 is applied to the electromagnetic solenoid Vs. Supplied. As a result, the hydraulic oil of the hydraulic pump P is supplied from the solenoid valve V to the hydraulic clutch C, and the hydraulic clutch C is engaged and operated.

  When the disconnection signal is acquired from the clutch control unit A in the situation where the drive current is supplied in the normal drive mode, the hold mode is set, and the target current value is set to 380 mA as the second set value F2. A drive current is supplied to the solenoid Vs (steps # 104 to # 106).

  That is, when the cut signal is acquired in the state in the normal drive mode, the mode setting processing unit 14 sets the holding mode, and the target value setting processing unit 15 stores the second set value in the setting information storage unit 12. By setting 380 mA stored as F2 as a target current value, a drive current having a target current value of 380 mA (second set value F2) is supplied from the power control circuit 11 to the electromagnetic solenoid Vs.

  This 380 mA (second set value F2) is a value that reveals a positional relationship in which the outer end portion 1s of the plunger 1 of the solenoid valve V is close to the stopper portion 5s of the lid 5 but does not come into contact therewith. When the pressure decreases and reaches a value close to 380 mA (second set value F2), the solenoid valve V shuts off the hydraulic oil supplied from the hydraulic pump P to the hydraulic clutch C, and drains the hydraulic oil from the hydraulic clutch C to the drain port 7d. As a result, the hydraulic clutch C reaches the disengaged state.

  In the holding mode, the drive current supplied to the electromagnetic solenoid Vs is acquired as the detected current value (actual current value), and the sweep drive is performed when it is determined that the detected current value has decreased to 400 mA as the third set value F3. The mode is changed (steps # 104 to # 111).

  In the holding mode, 380 mA (second setting value F2) lower than 1000 mA (first setting value F1) is set as the target current value, but the drive current (actual current value) is changed to the holding mode. ) Is not immediately reduced to 380 mA, but is reduced to 380 mA (second set value F2) as time elapses. The comparison processing unit 16 sets 400 mA stored in the setting information storage unit 12 as the third setting value F3 as a threshold value. Then, it waits for the detected current value (actual current value) acquired by the A / D converter 13 to drop to 400 mA (third set value F3), and the detected current value reaches 400 mA (third set value F3). When this is determined, the mode setting processing unit 14 sets the sweep drive mode.

  That is, the holding mode is maintained until the detected current value (actual current value) is reduced to 400 mA (third set value F3). In this holding mode, the movement of the plunger 1 is temporarily stopped. The kinetic energy of the plunger 1 is reduced.

  When shifting to the sweep drive mode, the drive current (actual current) supplied to the electromagnetic solenoid Vs is detected and set to the reference value, and the set value (at the set time interval) from the reference value every set time (at the set time interval). The process of reducing the drive current supplied to the electromagnetic solenoid Vs is performed stepwise by repeatedly performing the process of supplying the drive current by setting the value obtained by subtracting 40 mA) as the target current value. When it is determined that the detected current value (actual current value) as the drive current (actual current value) supplied to the electromagnetic solenoid Vs in this sweep drive mode has decreased to 140 mA as the fourth set value F4, Supply of drive current to the solenoid Vs is stopped (steps # 109 to # 113).

  In this process, when shifting to the sweep drive mode, the detected current value (actual current value) acquired via the A / D converter 13 is set as a reference value, and 40 mA (set value) from the reference value is first set. The drive current is supplied from the power control circuit 11 to the electromagnetic solenoid Vs by setting the value reduced by only the target current value. Next, control for supplying a drive current from the power control circuit 11 to the electromagnetic solenoid Vs by setting a value obtained by subtracting 40 mA (set value) from the target current value as the target current value is repeatedly performed. Thereby, the drive current supplied to the electromagnetic solenoid Vs is gradually reduced. In this sweep drive mode, 140 mA stored as the fourth setting value F4 in the setting information storage unit 12 is set as a threshold value, and the comparison processing unit 16 detects the detected current value acquired via the A / D conversion unit 13. When it is determined that (actual current value) has been reduced to 140 mA (fourth set value F4), supply of the drive current to the electromagnetic solenoid Vs is stopped. As a result, the electromagnetic solenoid Vs is demagnetized and reaches a state in which the outer end 1 s of the plunger 1 is brought into contact with the stopper 5 s of the lid 5 by the biasing force of the spring 9.

  Thus, in the sweep drive mode, the detected current value (actual current value) is 140 mA (fourth set value) in order to make the outer end 1s of the plunger 1 approach the stopper 5s of the lid 5 as a stopper at a low speed. The supply of drive current is stopped at the time when the frequency is reduced to F4). Thereby, the outer end 1s of the plunger 1 and the stopper 5s of the lid 5 can be brought into contact with each other from a very close position. Further, the outer end 1 s of the plunger 1 and the stopper 5 s of the lid 5 can be brought into contact with each other during the control for operating the plunger 1 with a short stroke in the sweep drive mode. In this way, the impact of the contact between the outer end 1s and the lid 5 is made extremely small to eliminate the inconvenience of causing an impact sound, the inconvenience of damaging the plunger 1, and the like.

  In this control, when the holding mode is executed or when the sweep drive mode is executed, the power control unit B may acquire an input signal from the clutch control unit A. When such an input signal is acquired, The program is configured to stop the control in the mode performed at the timing and shift to the control in the normal drive mode.

[Operation / Effect of Embodiment]
As described above, in the electromagnetic valve control unit D of the present invention, when the power control unit B acquires the input signal from the clutch control unit A, the mode setting processing unit 14 sets the normal drive mode, and the first set value F1. Is set to the target drive current and the drive current is supplied to the electromagnetic solenoid Vs, whereby the plunger 1 is actuated greatly. As a result, hydraulic oil is supplied to the hydraulic clutch C to realize an on / off operation (or a disengagement operation) of the hydraulic clutch C. In the normal drive mode, when the power control unit B acquires a turn signal, the mode setting processing unit 14 sets the holding mode, and the outer end 1 s of the plunger 1 is closed by the biasing force of the spring 9. 5 (an example of a stopper) can be returned to a position close to the stopper portion 5s at high speed, and the hydraulic clutch C is quickly turned off (or can be turned on). Subsequently, since the drive current supplied to the electromagnetic solenoid Vs is cut off stepwise by shifting to the sweep drive mode, the outer end 1s of the plunger 1 is covered with the lid 5 (an example of a stopper). )) At a low speed, so that no impact is caused, impact noise is suppressed without specially using a buffer member, and damage to the plunger 1 can also be suppressed.

  In the power control unit B, the timing of shifting from the holding mode to the sweep drive mode is set to the third set value F3 that is a little higher than the second set value F2, so that the outer end 1s of the plunger 1 is covered with the lid. The operation of shifting to the sweep drive mode after reaching a position close to the stopper portion 5s of the body 5 (an example of a stopper) is realized. In this sweep drive mode, the drive current supplied to the electromagnetic solenoid Vs is reduced stepwise, so that the outer end 1s of the plunger 1 contacts the stopper 5s of the lid 5 (an example of a stopper) at a low speed. Realize operation.

[Another embodiment]
The present invention may be configured as follows in addition to the embodiment described above.

(A) In the holding mode, the control mode may be set so as to perform control to maintain the target current value for a set time. By setting the control mode in this way, it is not necessary to detect the detected current value and compare it with the third set value F3, and the processing mode can be simplified.

(B) In the sweep drive mode, the process of reducing the target current value by a set value (for example, 40 mA) every set time is performed for the set number of times or for the set time, and then the supply of the drive current is stopped. A control form may be set. By setting the control mode in this way, it is not necessary to detect and compare the detected current value, and the processing mode can be simplified.

  The present invention can be used for all control devices that supply power to an electromagnetic solenoid of a linear actuator.

1 Plunger 5 Stopper (lid)
9 Biasing means (spring)
13 Current value acquisition means (A / D converter)
B Power control unit F1 First set value F2 Second set value F3 Third set value F4 Fourth set value Vs Electromagnetic solenoid

Claims (4)

A plunger that stops at an abutting position that abuts against the stopper by an urging force from the urging means, and an electromagnetic solenoid that linearly operates the plunger against the urging force of the urging means by the action of magnetic force when energized. The linear actuator is configured with
A power control unit that supplies a drive current to the electromagnetic solenoid is provided, and the power control unit sets a target current value to a first set value so as to operate the plunger to a target position, and supplies the drive current to the electromagnetic solenoid. And a second setting of a value at which the target current value is lower than the first set value and the plunger does not contact the stopper at the time of transition from the normal drive mode to the contact position of the plunger. A holding mode in which a drive current is set to a value and a drive current is supplied to the electromagnetic solenoid, and the drive current supplied to the electromagnetic solenoid at the time of transition from the hold mode to the contact position of the plunger is reduced over time. A linear actuator controller that can be switched between sweep drive modes.   The power control unit executes control in the normal drive mode by an incoming signal, executes control in the holding mode by a turn-off signal in the normal drive mode, and subsequently executes control in the sweep drive mode. The linear actuator control device according to claim 1. Current value acquisition means for acquiring a drive current supplied to the electromagnetic solenoid as a detection current value;
The power control unit sets the target current value to the second set value until the detected current value acquired by the current value acquiring unit in the holding mode reaches a third set value that is higher than the second set value. 3. The linear actuator control device according to claim 1, wherein the control unit shifts to the sweep drive mode when the detected current value is reduced to a third set value. In the sweep drive mode, the power control unit reduces the drive current supplied to the electromagnetic solenoid by reducing the target current value every set time, and the current value acquisition unit acquires the current in the sweep drive mode. The linear actuator control device according to claim 3, wherein when a detected current value to be lowered to a preset fourth set value, supply of a drive current to the electromagnetic solenoid is stopped.

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