JP6296846B2 - Rotary operation device having reaction force control function - Google Patents

Description

  The present invention relates to a rotary operation device having a reaction force control function.

Patent Document 1 discloses an input device having a reaction force control function.
The input device described in Patent Literature 1 is provided with an operation unit, a position sensor that is rotated by the operation unit, and an actuator that gives a force sense to the operation unit. The actuator is composed of a motor, a solenoid and the like.

  The input device has a control unit. In the control unit, a torque component corresponding to the current position is calculated by adding n times the current speed of the operating tool to the current position detected by the position sensor and multiplying this by an elastic coefficient. Further, a torque component corresponding to the current speed is calculated by multiplying the current speed by the viscous friction coefficient. The actuator is driven by these two torque components, so that a force sense is given to the operation unit with good timing.

JP 2004-252734 A

  In so-called reaction force control described in Patent Document 1 or the like, control for holding the operating body so as not to move at a predetermined anchor position is required. Here, the anchor position means a position where the operating body is held in a predetermined posture and stopped. When the operating body is moved in a direction away from the anchor position, a force that pulls the operating body back to the anchor position acts.

  In the conventional control method described in Patent Document 1 or the like, when the operating body is rotated in any direction from the anchor position, a rotational torque that returns the actuator to the anchor position is generated according to the detection output of the rotation sensor. Given. For the operator, the rotational torque is felt as an operation reaction force that tries to pull the operating body back to the anchor position.

  In this control method, when the rotation sensor detects that the operating body has rotated from the anchor position, this detection output is given to the control unit to calculate the torque component, and the actuator is driven based on this. For this reason, it takes time from detection by the rotation sensor to energization of the actuator, and also in the actuator, it takes time from energization to generation of torque. If there is this time difference, when the torque for returning the operating body to the anchor position is given, the operating body cannot stop at the anchor position and easily overrun. In order to recover this overrun, the actuator is controlled to generate a reverse torque. If this control is repeated, continuous vibration is generated in the operation body, and the operation feeling becomes very poor.

  The present invention solves the above-described conventional problems, and provides a rotary operation device having a reaction force control function capable of stably performing a control of returning an operating body to an anchor position and always realizing a good operation feeling. The purpose is to do.

The present invention includes a rotation operation unit, a rotation sensor that detects a rotation angle of the rotation operation unit, a stepping motor that applies an operation reaction force to the rotation operation unit, and a control unit that controls the stepping motor. In the rotary operation device,
In the control unit, on the basis of the detection output of the rotation sensor, when the rotational position of the rotary operation unit is determined to have entered the anchoring region a certain angle range centered on a predetermined anchor position, the stepping motor With respect to the plurality of control coils, a pull-in control signal for pulling the rotation operation portion into the anchor position is given,
The pull-in control signal is a signal in which two current values located on the same phase corresponding to the anchor position are fixed in a sine wave and a cosine wave that change according to the rotation angle of the rotation operation unit. The two fixed value signals are respectively supplied to the control coils of two phases forming a pair of the plurality of control coils,
Based on the detection output of the rotation sensor, when the rotational operation unit is judged to have been rotated to a position disengaged from the anchoring region, and paired to the plurality of control coils, due to the rotation torque to the rotation operating part A control signal for the operation reaction force for applying the operation reaction force is given,
The control signal for the operation reaction force is two signals based on a sine wave and a cosine wave whose current value changes according to the rotation angle of the rotation operation unit, and the two signals are in a pair of two phases. Each of the control coils is provided such that a current changes according to a rotation angle .

In the present invention, the anchor region is a range that advances by two step angles of the stepping motor in the forward direction and the reverse direction, respectively, about the anchor position.

In the rotary operation device according to the present invention, the anchoring position can be set to an arbitrary angle by configuring the stepping motor as a two-phase stepping motor and determining the ratio of the current values of the signals of the two fixed values. become.

Rotary device of the present invention, by changing the current value of the control signal for said given retraction of the control coil, the magnitude of the static torque that the rotary operation portion is stopped at the anchor location is changed Can be.

Further, in the rotary operation device according to the present invention, the stepping motor is a two-phase stepping motor, and the rotation value is changed by changing a current value of the control signal for the operation reaction force applied to the control coils of two phases forming a pair. It can be configured that the magnitude of the operation reaction force due to the torque can be changed.

  In the input device of the present invention, when the rotation operation portion held at the anchor position is held and rotated by hand, the rotation angle of the rotation operation portion is within the range of the anchor region. However, the rotation operation unit is pulled back to the anchor position only by the force that pulls the rotor to a certain position. Therefore, vibration based on overrun does not occur unlike when the rotating body is pulled back by the rotational driving force of the motor. Further, by controlling the level of a constant control signal applied to the stator, it is possible to give an appropriate operation reaction force to the operator's hand to pull the rotary operation unit back to the anchor position.

  After the rotation operation unit is rotated to an angle outside the anchor region, a control signal having a predetermined frequency is given to the stepping motor, and an operation reaction force due to the rotation torque of the motor is given to the rotation operation unit. Therefore, it is possible to generate an arbitrary operation reaction force by controlling the control signal.

The block diagram which shows the structure of the rotational operation apparatus of embodiment of this invention, The perspective view which shows the rotation operation part of a rotation operation apparatus, a stepping motor, and a rotation sensor, Explanatory drawing which shows the rotation angle of a rotation operating device, An explanatory view schematically showing the basic configuration of a stepping motor, A flowchart showing a control operation for setting an operation reaction force; (A) is a diagram showing a waveform of a control signal for applying an operation reaction force in the CCW direction to the rotation operation unit when the rotation operation unit is out of the anchor region, and (B) is a diagram illustrating the rotation operation unit. A diagram showing rotational torque in a given CCW direction; (A) is a diagram showing a waveform of a control signal for applying an operation reaction force in the CW direction to the rotation operation unit when the rotation operation unit is out of the anchor region, and (B) is applied to the operation body. A diagram showing the rotational torque in the CW direction, A diagram showing a control signal for generating a static torque when the rotational position of the rotary operation unit is within the anchor region; A diagram showing a pulling torque applied to the rotation operation unit when the rotation operation unit stopped at the anchor position is rotated;

  As shown in FIG. 1, the rotary operation device 1 according to the embodiment of the present invention includes an input / reaction force control unit 10, a display control unit 30, and an interface 2 that connects both units 10 and 30. Yes.

  As shown in FIG. 2, the input / reaction force control unit 10 is provided with a rotation operation unit 11. The rotation shaft 12 is rotated by the rotation operation unit 11. An operation gear 13 is fixed to the rotary shaft 12. The input / reaction force control unit 10 is provided with a rotation sensor 15. The rotation sensor 15 includes a driven gear 16 that meshes with the operation gear 13, a magnet 17 that is rotated by the driven gear 16, and a sensor substrate 18 that faces the magnet 17. A magnetic sensor such as a giant magnetoresistive element (GMR) is fixed to the sensor substrate 18, and this magnetic sensor faces the magnet 17.

  The rotation sensor 15 is not limited to the magnetic detection type, and may be an optical detection type.

  The rotational force of the rotation operation unit 11 is transmitted from the operation gear 13 to the rotation sensor 15, and the rotation sensor 15 detects the rotation angle of the rotation operation unit 11. In FIG. 2, the rotation shaft 12 is fixed to the rotation operation unit 11, the operation gear 13 is fixed to the rotation shaft 12, and the rotation operation unit 11 and the operation gear 13 rotate in a one-to-one relationship. A speed increasing gear mechanism or the like may be interposed between the motor 11 and the operation gear 13.

  A stepping motor 40 is provided as an actuator that applies an operation reaction force to the rotary operation unit 11. The rotating shaft 12 is also an output shaft of the stepping motor 40.

  As shown in FIG. 1, the input / reaction force control unit 10 is provided with a control unit 20. The control unit 20 is mainly composed of a CPU and includes a memory and the like, and a control operation is performed based on preinstalled software. In FIG. 1, as a control step executed by the control unit 20, the position detection unit 21 that detects the rotation angle (rotation position) of the rotation operation unit 11 based on the detection output from the rotation sensor 15 and the stepping motor 40. And a motor control unit 20 for supplying a control signal.

  A display unit 31 is provided in the display control unit 30. The display unit 31 includes a color liquid crystal panel, an electroluminescence panel, and the like. The display control unit 30 is also provided with a control unit 32. The control unit 32 mainly includes a CPU and includes a memory and the like, and a control operation is performed based on preinstalled software. As a function of the control unit 32, a display control unit 33 for controlling the display unit 31 is included.

  The input / reaction force control unit 10 is provided with a communication unit 23, and the display control unit 30 is provided with a communication unit 34. The communication unit 23 and the communication unit 34 are connected via the interface 2.

  The display control unit 30 is provided in an automobile instrument panel or the like as a part of the in-vehicle electrical equipment. The input / reaction force control unit 10 is disposed at a position where the driver can operate as an operator. When the display control unit 30 is disposed in various electronic devices such as a game device or a personal computer, the input / reaction force control unit 10 is disposed on an operation panel or the like so that the operator can operate it.

  In the input / reaction force control unit 10, when the rotation operation unit 11 shown in FIG. 2 is held by the operator's hand and rotated in the CW direction or the CCW direction, the detection output of the rotation sensor 15 is detected by the position detection unit 21. Then, the rotation angle information (rotation position information) of the rotation operation unit 11 is generated in the control unit 20. The rotation angle information is given from the communication unit 23 to the communication unit 34 of the display control unit 32 via the interface.

  The control unit 32 of the display control unit 30 analyzes the rotation angle information sent from the input / reaction force control unit 10, and the display control unit 33 generates a display signal reflecting the rotation angle information and displays it on the display unit 31. Given. The image displayed on the display screen of the display unit 31 changes corresponding to the rotation operation of the rotation operation unit 11.

  When the rotation operation device 1 constitutes a part of the on-vehicle electrical device, rotation angle information corresponding to the rotation operation of the rotation operation unit 11 is also given to a control unit that controls various functions of the automobile.

  The control unit 32 of the display control unit 30 analyzes the rotation angle information sent from the input / reaction force control unit 10 and generates reaction force data corresponding to the rotation position of the rotation operation unit 11. This reaction force data is given to the input / reaction force control unit 10 via the interface 2, and a control signal is given from the motor control unit 22 to the stepping motor 40. When the rotation operation unit 11 is rotated by hand, a reaction force corresponding to the rotation position is applied from the stepping motor 40 to the rotation operation unit 11 based on the reaction force data.

  The reaction force data may not be sent from the display control unit 30 but may be generated by the control unit 20 of the input / reaction force control unit 10.

  The reaction force data for controlling the stepping motor 40 is generated as fixed data set for each input / reaction force control unit, and the same reaction force is always applied when the rotation operation unit 11 is rotated. Alternatively, each time the operation mode is switched, the reaction force data may be changed, and the operation reaction force applied to the rotation operation unit 11 may be changed.

FIG. 4 schematically shows the internal structure of the stepping motor 40.
The stepping motor 40 is a two-phase stepping motor and includes a rotor 41 and two-phase stators 42A and 42B. The structure of the rotor 41 and the stators 42A and 42B is a hybrid type, and a permanent magnet is provided on the outer peripheral surface of the rotor 41 and is magnetized so that N poles and S poles appear alternately in the rotation direction. A control coil 43A is wound around the stator 42A, and a control coil 43B is wound around the stator 42B to constitute a bipolar two-phase stepping motor. As a driving method of the two-phase stepping motor, the rotational torque can be generated by either the one-phase excitation method or the two-phase excitation method.

  In the stepping motor 40 used in the embodiment, 22 pairs of stators 42A and 42B shown in FIG. 4 are provided, and the magnets of the rollers 41 are magnetized in a number corresponding to the number of pairs. The phase angle is 16.36 degrees. The number of steps for rotating the rotor 41 once by the two-phase excitation drive is 88, and the rotation angle of the one-step rotor 41 is 4.09 degrees.

  The stepping motor 40 provided in the input / reaction force control unit 10 shown in FIG. 2 is stationary for causing the operator's hand to feel the operation reaction force when the rotary operation unit 11 is rotated by hand. Torque and rotational torque are generated. The torque for applying the reaction force is controlled by the reaction force data generated corresponding to the rotation angle of the rotation operation unit 11.

  In FIG. 6A and subsequent figures, a control current that is a control signal given to the control coil 43A is indicated by Iac, and a control current that is a control signal given to the control coil 43B is indicated by Ibd. Further, the torque applied to the rotor 41 by energization of the control current (control signal) Iac is indicated by Tac, and the torque applied to the rotor 41 by energization of the control current (control signal) Ibd is indicated by Tbd. The sum of the vectors of torque Tac and torque Tbd is indicated by Tsum.

  Here, the control coils 43A and 43B indicate any one of 22 magnetic pole pairs. 6A and 6B, 360 degrees shown on the horizontal axis of the diagrams below indicate the period of the control current Iac and the control current Ibd. When converted to the rotation angle of the stepping motor 40, 360 degrees on the horizontal axis corresponds to 16.36 degrees of the phase angle. The control current shown in FIGS. 6A and 6B is sequentially applied to all 22 pairs of control coils 43A and 43B, so that the stepping motor 40 generates a rotational torque for one rotation. Can do.

  As shown in FIG. 3, the rotation operation unit 11 is provided with a position display unit 11a, and the operation rotation position can be confirmed by the position display unit 11a.

  In the rotary operation device 1 according to the embodiment, the operation reaction force is set as follows by the reaction force data generated by the control unit 32 of the display control unit 30.

  In FIG. 3, the position display part 11a of the rotation operation member 11 is directed to the anchor position (i). The anchor position (i) means the position of the rotation operation unit 11 in a state where a constant current is continuously applied to the control coils 43A and 43B and the rotating shaft 12 and the rotor are stopped.

  A range having an angle α in the CW direction and the CCW direction around the anchor position (i) is an anchor region. The anchor region is equal to the phase angle, and the angle α is ½ of the phase angle. In this embodiment, α = 8.18 degrees. The range from the anchor region to the rotation position (ii) is the CW operation region β1, and the range from the anchor region to the rotation position (iii) is the CCW operation region β2.

  In the embodiment of FIG. 3, there is one anchor position (i) and the operation areas β1 and β2 are set on both sides thereof. However, anchor positions are set at a plurality of positions, and operations are performed between the anchor positions. An area may be set.

FIGS. 6A and 6B show an example of an operation reaction force when the rotation operation unit 11 held by hand is rotated clockwise (CW) in the CW operation region β1 or the CCW operation region β2. At this time, the reaction force data is given to the motor control unit 22, and as shown in FIG. 6A, a substantially sinusoidal control current Iac is supplied to the stator 42A of the stepping motor 40, and the stator 42B is almost supplied. A control current Ibd having a cosine wave curve is energized. Therefore, a rotational force to the CCW is given to the rotor 41, and an operation reaction force in the CCW direction is transmitted to the hand operating the rotation operation unit 11.

  FIG. 6B shows the reaction torque Tsum given to the rotation operation unit 11. The reaction force torque Tsum can be variably controlled by changing the amount of the control currents Iac and Ibd. With this current control, the CCW operation reaction force is gradually increased or gradually decreased as the rotation operation unit 11 is rotated clockwise, or the operation reaction force is periodically changed in magnitude. Etc. are possible.

  FIGS. 7A and 7B show an example of an operation reaction force when the rotary operation unit 11 held by hand is rotated counterclockwise (CCW) in the CW operation region β1 or the CCW operation region β2. . At this time, as shown in FIG. 7A based on the reaction force data, the control current Iac is supplied to the stator 42A of the stepping motor 40, the control current Ibd is supplied to the stator 42B, and the rotor 41 is rotated to CW. And the reaction force in the CW direction is transmitted to the hand operating the rotary operation unit 11.

  FIG. 7B shows the reaction force torque Tsum applied to the rotation operation unit 11, but the reaction force torque Tsum can be variably controlled depending on the magnitudes of the control currents Iac and Ibd. Also in this case, the CW operation reaction force is gradually increased or decreased gradually as the rotation operation unit 11 is rotated counterclockwise, or the operation reaction force is periodically changed in magnitude. Etc. are possible.

  Next, when it is determined from the detection output from the rotation sensor 15 that the position display unit 11a of the rotation operation unit 11 has reached the anchor position (i), or the anchor is in an angle range of anchor position (i) ± α. When it is determined that the region has been reached, anchor control is performed based on the reaction force data. In this anchor control, the motor control unit 22 continuously applies a constant control current having no frequency component to the stepping motor 40, and the rotor 41 is moved in a state where the position display unit 11a is directed to the anchor position (i). Hold and stop.

  When the stepping motor 40 is driven by two-phase excitation, the control current Iac applied to the control coil 43A and the control current Ibd applied to the control coil 43B are set to a predetermined value at a predetermined ratio so that an arbitrary rotational angle position can be obtained. Anchor position (i) can be set. Further, the anchor position (i) can be changed to an arbitrary position by changing the ratio.

  In FIG. 8A, the control current Iac when the roller 41 is driven with a constant torque is indicated by a solid line, and the control current Ibd is indicated by a broken line. At this time, the control current Iac and the control current Ibd are approximately approximated to a sine wave curve and a cosine wave curve. Therefore, the current value is fixed by controlling the ratio of the currents Iac and Ibd so that the value of the control current Iac and the value of the control current Ibd are located on the same phase on the sine wave curve and the cosine wave curve. By doing so, the rotor 41 can be stopped at any rotation angle position within the phase angle, and the rotation position can be set as the anchor position (i).

  In FIG. 8A, the position at which the phase of the control current Ibd is approximately 110 degrees is set as the anchor angle, and as shown in FIG. 8B, the control current Iac is substantially fixed at −0.3. The control current Ibd is fixed at approximately +0.9 so that the roller 41 can be held above 110 degrees. As described above, 360 degrees on the horizontal axis of the diagram of FIG. 8 corresponds to 16.36 degrees which is the phase angle of any yoke pair (control coil pair).

  Here, when the stepping motor 40 is operated by one-phase excitation, the rotor 41 is held only when the magnetized portion of the rotor 41 faces either of the stators 42A and 42B. 4.09 degrees). However, as shown in FIG. 8, by performing two-phase excitation driving, the control current Iac and the control current Ibd are fixed at a ratio that is a value on the same phase on the sine wave curve and the cosine wave curve, The anchor position can be set at any angle.

  In FIG. 9, when the rotor 41 is held at the anchor position (i), the static torque applied to the rotor 41 and the rotation operation unit 11 is indicated by + Tmax. If the rotation operation unit 11 is to be rotated in the CW direction from the anchor position (i), the rotation operation unit 11 is moved in the CCW direction with respect to the rotor 41 if the angle is within a range of α = 8.18 degrees. A pulling force acts. Further, when the rotation operation unit 11 is to be rotated in the CCW direction from the anchor position (i), if the angle is within a range of α = 8.18 degrees, the rotation operation unit 11 is moved CW with respect to the rotor 41. A pulling force acts in the direction.

  With this pull-in force, if the rotation operation unit 11 is within the rotation angle of the anchor region, it is reliably pulled into and held at the anchor position (i). The force that pulls the rotary operation unit 11 into the anchor position is not due to the rotational torque of the motor driving force, but is due to the static force that the stators 42A and 42B hold the rotor 41. When the rotor 41 overruns the anchor position, the phenomenon that the motor is driven alternately in the forward and reverse directions to generate vibration does not occur.

  Further, the amplitudes of the sine wave curve and the cosine wave curve shown in FIG. 8A are set large, and the values of the control currents Iac and Ibd which are fixed values in FIG. 8B so as to correspond to the curves. By selecting, it is possible to vary the magnitude of the static torque at the anchor position (i).

  As shown in FIG. 9, the torque for pulling the rotation operation unit 11 into the anchor position (i) gradually decreases as the distance from the anchor position (i) increases, and α = 8.18 degrees in the CW direction and the CCW direction. Then, the pulling force becomes zero, and thereafter, the rotor 41 is drawn into the adjacent magnetic pole pair (stator pair), and the rotor 41 tries to rotate in a direction away from the anchor region. Therefore, when the rotation angle of the rotation operation unit 11 becomes an angle of ± α from the anchor position (i), or immediately before approaching the angle of ± α, FIG. 6 (A) (B) or FIG. 7 (A) (B It is preferable to switch to the setting of the operation reaction force by the rotational torque, as shown in FIG.

  FIG. 5 is a flowchart showing an example of a control operation for setting the operation reaction force. In the actual control operation, the angle information detected by the position detection unit 21 is given to the control unit 32 at a constant cycle, and the control unit 32 generates reaction force data corresponding to the angle based on the given angle information. It is output and given to the motor control unit 22.

  The start of control in ST1 (step 1) shown in FIG. 5 means the timing at which the control unit 32 obtains angle information. In ST2, it is monitored whether or not the reaction force data has been updated. When the reaction force data sent from the control unit 32 has not been updated, the process proceeds to ST4. When the reaction force data sent from the control unit 32 is updated and, for example, the setting of the anchor position (i) is changed, the process proceeds to ST3, and the newly set anchor position (i) is calculated. To ST4. In ST4, the angular position of the rotation operation unit 11 (rotor 41) is calculated.

  In ST5, if the rotation angle of the rotation operation unit 11 is within the anchor region, the process proceeds to ST6 and ST7. In ST6 and ST7, control currents Iac and Ibd for stopping the rotor 41 at the set anchor angle are obtained based on FIG. 8, and constant currents for holding the rotor 41 in the control coils 43A and 43B are obtained. Are given control currents Iac and Ibd.

In ST5, the rotation angle of the rotary operation unit 11 is not in the anchor region, when it is determined that the CW operation area β1 or CCW operation area .beta.2, the process proceeds to ST8 and ST9, as shown in FIG. 6 or 7, Control currents Iac and Ibd are determined, and an operation reaction force corresponding to the reaction force data is set.

  As described above, when the rotation angle of the rotation operation unit 11 is located in the anchor region, the stators 42A and 42B use a static force for holding the rotor 41, and are in the CW operation region β1 or the CCW operation region β2. By generating an operation reaction force with a motor-driven rotational torque applied to the rotor 41, various operation reaction forces can be applied.

DESCRIPTION OF SYMBOLS 1 Rotation operation apparatus 10 Input / reaction force control unit 11 Rotation operation part 12 Rotating shaft 15 Rotation sensor 20 Control part 21 Position detection part 22 Motor control part 30 Display control unit 32 Control part 40 Stepping motor 41 Rotor 42A, 42B Stator 43A, 43B Control coil Iac, Ibc Control current Tac, Tbd Torque Tsum Reaction force torque (i) Anchor position β1 CW operation region β2 CCW operation region

Claims (5)

In a rotation operation device provided with a rotation operation unit, a rotation sensor that detects a rotation angle of the rotation operation unit, a stepping motor that applies an operation reaction force to the rotation operation unit, and a control unit that controls the stepping motor ,
In the control unit, on the basis of the detection output of the rotation sensor, when the rotational position of the rotary operation unit is determined to have entered the anchoring region a certain angle range centered on a predetermined anchor position, the stepping motor With respect to the plurality of control coils, a pull-in control signal for pulling the rotation operation portion into the anchor position is given,
The pull-in control signal is a signal in which two current values located on the same phase corresponding to the anchor position are fixed in a sine wave and a cosine wave that change according to the rotation angle of the rotation operation unit. The two fixed value signals are respectively supplied to the control coils of two phases forming a pair of the plurality of control coils,
Based on the detection output of the rotation sensor, when the rotational operation unit is judged to have been rotated to a position disengaged from the anchoring region, and paired to the plurality of control coils, due to the rotation torque to the rotation operating part A control signal for the operation reaction force for applying the operation reaction force is given,
The control signal for the operation reaction force is two signals based on a sine wave and a cosine wave whose current value changes according to the rotation angle of the rotation operation unit, and the two signals are in a pair of two phases. A rotation operating device , wherein each of the control coils is provided such that a current changes according to a rotation angle . 2. The rotary operation device according to claim 1, wherein the anchor region is a range that advances by a two- step angle of a stepping motor in each of a forward direction and a reverse direction around the anchor position. The rotary operation device according to claim 1, wherein the stepping motor is a two-phase stepping motor, and the anchor position is determined according to a ratio of current values of the two fixed value signals . 4. The magnitude of the static torque that stops the rotation operation unit at the anchor position can be changed by changing the current value of the pull-in control signal applied to the control coil. The rotary operation device according to 1. The stepping motor is a two-phase stepping motor, and the magnitude of the operation reaction force due to the rotational torque is changed by changing the current value of the control signal for the operation reaction force applied to the control coils of two phases forming a pair. The rotation operation device according to claim 1, wherein the rotation operation device is changed.

Images