JP6598652B2 - Shape memory alloy actuator, shape memory alloy actuator control apparatus, and method thereof - Google Patents

Shape memory alloy actuator, shape memory alloy actuator control apparatus, and method thereof Download PDF

Info

Publication number
JP6598652B2
JP6598652B2 JP2015227862A JP2015227862A JP6598652B2 JP 6598652 B2 JP6598652 B2 JP 6598652B2 JP 2015227862 A JP2015227862 A JP 2015227862A JP 2015227862 A JP2015227862 A JP 2015227862A JP 6598652 B2 JP6598652 B2 JP 6598652B2
Authority
JP
Japan
Prior art keywords
resistance value
shape memory
memory alloy
alloy member
current
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2015227862A
Other languages
Japanese (ja)
Other versions
JP2017096144A (en
Inventor
隆栄 山本
俊雄 佐久間
悠二 竹田
Original Assignee
国立大学法人 大分大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 国立大学法人 大分大学 filed Critical 国立大学法人 大分大学
Priority to JP2015227862A priority Critical patent/JP6598652B2/en
Publication of JP2017096144A publication Critical patent/JP2017096144A/en
Application granted granted Critical
Publication of JP6598652B2 publication Critical patent/JP6598652B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Semiconductor Memories (AREA)
  • Control Of Position Or Direction (AREA)

Description

本発明は、形状記憶合金アクチュエータ、形状記憶合金アクチュエータ制御装置、及びその方法に関する。   The present invention relates to a shape memory alloy actuator, a shape memory alloy actuator control device, and a method thereof.

Ｔｉ−Ｎｉ系合金、Ｔｉ−Ｚｒ−Ｎｉ系合金、Ｔｉ−Ｎｉ−Ｃｕ合金、Ｔｉ−Ｎｉ−Ｚｎ合金及びＴｉ−Ｎｉ−Ａｌ合金等により形成された形状記憶合金（Shape Memory Alloy、ＳＭＡ）部材を介して可動部を可動する形状記憶合金アクチュエータが知られる。形状記憶合金アクチュエータは、１０ｍＷ程度と消費電力が非常に小さいこと、機械的ノイズ及び電気的ノイズが小さいこと、小型化及び軽量化が可能なこと、及び簡便な操作が可能であること等の多くの利点を有する。形状記憶合金アクチュエータは、機械，電気，自動車，宇宙航空，医療など多くの分野での実用化が期待される。例えば、形状記憶合金アクチュエータは、任意の位置に撮像部を配置可能な能動内視鏡に応用可能である。   Shape memory alloy (SMA) member formed of Ti—Ni alloy, Ti—Zr—Ni alloy, Ti—Ni—Cu alloy, Ti—Ni—Zn alloy, Ti—Ni—Al alloy, etc. There is known a shape memory alloy actuator that moves a movable part via the. Shape memory alloy actuators have a very low power consumption of about 10 mW, low mechanical and electrical noise, can be reduced in size and weight, and can be easily operated. Has the advantage of Shape memory alloy actuators are expected to be put to practical use in many fields such as machinery, electricity, automobiles, aerospace, and medical. For example, the shape memory alloy actuator can be applied to an active endoscope in which an imaging unit can be arranged at an arbitrary position.

形状記憶合金部材の抵抗値を使用して、形状記憶合金部材の長さを制御する形状記憶合金アクチュエータ制御装置が知られる。   2. Description of the Related Art A shape memory alloy actuator controller that controls the length of a shape memory alloy member using the resistance value of the shape memory alloy member is known.

特許文献１には、単位時間変化に対する抵抗変化の割合が第１の割合から第１の割合と異なる第２の割合に変化する第１抵抗値を算出し、形状記憶合金ワイヤを弛緩させる場合には第１抵抗値で位置制御することが記載される。   In Patent Document 1, when the first resistance value in which the ratio of the resistance change with respect to the unit time change is changed from the first ratio to a second ratio different from the first ratio is calculated, the shape memory alloy wire is relaxed. Describes that the position is controlled by the first resistance value.

特許文献２には、形状記憶合金部材における単位温度変化に対する抵抗変化の割合が第１割合から第１割合と異なる第２割合に変化する第１変化点を与える第１抵抗値を基準に可動部材の位置を制御することが記載される。   Patent Document 2 discloses a movable member based on a first resistance value that gives a first change point at which a rate of resistance change with respect to a unit temperature change in a shape memory alloy member changes from a first rate to a second rate different from the first rate. Controlling the position of is described.

特許文献３には、ＳＭＡアクチュエータをその変態点にまでＰＷＭで加熱し、デューティーサイクルにおけるオフタイムに対するオンタイムのパーセンテージが変化するときに、ＳＭＡに発生された出力の総量を制御することが記載される。   Patent Document 3 describes that the SMA actuator is heated by PWM to its transformation point, and the total amount of output generated in the SMA is controlled when the percentage of the on-time to the off-time in the duty cycle changes. The

特開２０１１−１５７９２３号公報JP 2011-157923 A 特開２００８−２７６７５０号公報JP 2008-276750 A 特表２００３−５０７６２５号公報Special table 2003-507625 gazette

形状記憶合金部材の抵抗値を使用して、形状記憶合金部材の長さを制御することにより、高精度の位置制御が可能になる。   By controlling the length of the shape memory alloy member using the resistance value of the shape memory alloy member, highly accurate position control is possible.

しかしながら、形状記憶合金部材の抵抗値を使用して、形状記憶合金部材の長さを制御するときに形状記憶合金アクチュエータが障害物等により拘束された場合、形状記憶合金アクチュエータは、形状記憶合金部材の長さを抵抗値に応じた長さにする制御を継続する。障害物等により拘束されたにもかかわらず、形状記憶合金部材の長さを抵抗値に応じた長さにする制御を継続することにより、形状記憶合金部材に過電流が流れると共に過剰な応力が発生するために、形状記憶合金部材が破損するおそれがある。   However, when the shape memory alloy actuator is restrained by an obstacle or the like when controlling the length of the shape memory alloy member using the resistance value of the shape memory alloy member, the shape memory alloy actuator The control to make the length of the length corresponding to the resistance value is continued. Despite being constrained by an obstacle or the like, by continuing control to make the length of the shape memory alloy member a length corresponding to the resistance value, an excessive current flows through the shape memory alloy member and excessive stress is applied. In order to generate | occur | produce, there exists a possibility that a shape memory alloy member may be damaged.

本発明は、形状記憶合金アクチュエータが障害物等により拘束された場合にも形状記憶合金部材が破損するおそれが低い形状記憶合金アクチュエータ制御装置を提供することを目的とする。   An object of the present invention is to provide a shape memory alloy actuator control device that is less likely to damage a shape memory alloy member even when the shape memory alloy actuator is restrained by an obstacle or the like.

上記目的を達成するために、本発明に係る形状記憶合金アクチュエータ制御装置は、形状記憶合金部材の抵抗値を測定する抵抗値測定部と、形状記憶合金部材に電流を供給する電流供給時間の経過に応じて減少するように目標抵抗値を設定する目標抵抗値設定部と、抵抗値測定部が測定した測定抵抗値と目標抵抗値との間の差を示す抵抗値差を演算する抵抗値差演算部と、抵抗値差に応じた電流を形状記憶合金部材に供給する電流供給部と、を有し、目標抵抗値設定部は、抵抗値差が所定のしきい値よりも大きいと判定したときに、目標抵抗値を、現在の目標抵抗値よりも大きい所望の値に変更する、ことを特徴とする。   In order to achieve the above object, a shape memory alloy actuator control device according to the present invention includes a resistance value measuring unit that measures a resistance value of a shape memory alloy member, and a lapse of current supply time for supplying a current to the shape memory alloy member. A target resistance value setting unit for setting a target resistance value so as to decrease in accordance with the resistance value difference for calculating a resistance value difference indicating a difference between the measured resistance value measured by the resistance value measuring unit and the target resistance value And a current supply unit that supplies a current corresponding to the resistance value difference to the shape memory alloy member, and the target resistance value setting unit determines that the resistance value difference is greater than a predetermined threshold value. Sometimes, the target resistance value is changed to a desired value larger than the current target resistance value.

さらに、本発明に係る形状記憶合金アクチュエータ制御装置では、目標抵抗値設定部は、抵抗値差がしきい値よりも大きいと判定したときに、目標抵抗値を、所望の値に固定することが好ましい。   Furthermore, in the shape memory alloy actuator control device according to the present invention, the target resistance value setting unit can fix the target resistance value to a desired value when it is determined that the resistance value difference is larger than the threshold value. preferable.

さらに、本発明に係る形状記憶合金アクチュエータ制御装置は、目標抵抗値設定部が抵抗値差がしきい値よりも大きいと判定したときに、電流供給部に供給停止指示を出力する供給停止指示部を更に有し、電流供給部は、供給停止指示に応じて形状記憶合金部材への電流の供給を停止することが好ましい。   Furthermore, the shape memory alloy actuator controller according to the present invention provides a supply stop instruction unit that outputs a supply stop instruction to the current supply unit when the target resistance value setting unit determines that the resistance value difference is greater than the threshold value. It is preferable that the current supply unit stop supplying the current to the shape memory alloy member in response to the supply stop instruction.

また、本発明に係る形状記憶合金アクチュエータ制御方法は、形状記憶合金部材の抵抗値を測定し、形状記憶合金部材に電流を供給する電流供給時間の経過に応じて減少するように目標抵抗値を設定し、測定された測定抵抗値と目標抵抗値との間の差を示す抵抗値差を演算し、抵抗値差に応じた電流を形状記憶合金部材に供給し、抵抗値差が所定のしきい値よりも大きいと判定したときに、目標抵抗値を、現在の目標抵抗値よりも大きい所望の値に変更する、ことを有することを特徴とする。   Further, the shape memory alloy actuator control method according to the present invention measures the resistance value of the shape memory alloy member, and sets the target resistance value so as to decrease with the lapse of the current supply time for supplying current to the shape memory alloy member. Set, calculate a resistance value difference indicating a difference between the measured resistance value and the target resistance value, supply a current corresponding to the resistance value difference to the shape memory alloy member, and the resistance value difference is predetermined. When it is determined that the target resistance value is larger than the threshold value, the target resistance value is changed to a desired value larger than the current target resistance value.

また、本発明に係る形状記憶合金アクチュエータは、形状記憶合金部材と、形状記憶合金部材に電気的に接続された形状記憶合金アクチュエータ制御装置とを有し、形状記憶合金アクチュエータ制御装置は、形状記憶合金部材の抵抗値を測定する抵抗値測定部と、形状記憶合金部材に電流を供給する電流供給時間の経過に応じて減少するように目標抵抗値を設定する目標抵抗値設定部と、抵抗値測定部が測定した測定抵抗値と目標抵抗値との間の差を示す抵抗値差を演算する抵抗値差演算部と、抵抗値差に応じた電流を形状記憶合金部材に供給する電流供給部と、を有し、目標抵抗値設定部は、抵抗値差が所定のしきい値よりも大きいと判定したときに、目標抵抗値を、現在の目標抵抗値よりも大きい所望の値に変更する、ことを特徴とする。   The shape memory alloy actuator according to the present invention includes a shape memory alloy member and a shape memory alloy actuator control device electrically connected to the shape memory alloy member. A resistance value measuring unit for measuring a resistance value of the alloy member, a target resistance value setting unit for setting a target resistance value so as to decrease with the passage of a current supply time for supplying current to the shape memory alloy member, and a resistance value A resistance value difference calculation unit that calculates a resistance value difference indicating a difference between the measured resistance value measured by the measurement unit and the target resistance value, and a current supply unit that supplies a current corresponding to the resistance value difference to the shape memory alloy member The target resistance value setting unit changes the target resistance value to a desired value larger than the current target resistance value when it is determined that the resistance value difference is larger than a predetermined threshold value. , Characterized by

本発明では、形状記憶合金アクチュエータが障害物等により拘束された場合にも形状記憶合金部材が破損するおそれが低い形状記憶合金アクチュエータ制御装置を提供することが可能になった。   According to the present invention, it is possible to provide a shape memory alloy actuator control device that is less likely to damage a shape memory alloy member even when the shape memory alloy actuator is restrained by an obstacle or the like.

（ａ）は第１実施形態に係る形状記憶合金アクチュエータを示す図であり、（ｂ）は（ａ）に示す形状記憶合金部材の形状変化を示す図である。(A) is a figure which shows the shape memory alloy actuator which concerns on 1st Embodiment, (b) is a figure which shows the shape change of the shape memory alloy member shown to (a). 第１実施形態に係る形状記憶合金アクチュエータ制御装置の回路図である。It is a circuit diagram of the shape memory alloy actuator control device concerning a 1st embodiment. 図２に示す形状記憶合金部材の長さと抵抗値との関係を示す図である。It is a figure which shows the relationship between the length of the shape memory alloy member shown in FIG. 2, and resistance value. （ａ）は形状記憶合金部材に電流が供給されてからの時間と形状記憶合金部材の抵抗値との関係を示す図であり、（ｂ）は図２に示す抵抗値経時変化テーブルを示す図である。(A) is a figure which shows the relationship between the time after an electric current is supplied to a shape memory alloy member, and the resistance value of a shape memory alloy member, (b) is a figure which shows the resistance value time-dependent change table shown in FIG. It is. 図２に示す形状記憶合金アクチュエータ制御装置の位置制御動作を示すフローチャートである。It is a flowchart which shows the position control operation | movement of the shape memory alloy actuator control apparatus shown in FIG. （ａ）は形状記憶合金部材が拘束されないときの形状記憶合金部材の抵抗値の変化を示す図であり、（ｂ）は形状記憶合金部材が拘束されるときの形状記憶合金部材の抵抗値の変化を示す図である。(A) is a figure which shows the change of the resistance value of a shape memory alloy member when a shape memory alloy member is not restrained, (b) is the resistance value of a shape memory alloy member when a shape memory alloy member is restrained It is a figure which shows a change. （ａ）は形状記憶合金部材が拘束されないときの実施例の形状記憶合金部材の長さ、目標抵抗値、及び測定抵抗値の関係を示す図であり、（ｂ）は測定抵抗値と、形状記憶合金部材が拘束されないときの実施例の形状記憶合金部材に供給される電流との関係を示す図である。(A) is a figure which shows the relationship between the length of a shape memory alloy member of an Example when a shape memory alloy member is not restrained, a target resistance value, and a measured resistance value, (b) is a measured resistance value and shape It is a figure which shows the relationship with the electric current supplied to the shape memory alloy member of an Example when a memory alloy member is not restrained. （ａ）は形状記憶合金部材が拘束されたときの比較例の形状記憶合金部材の長さ、目標抵抗値、及び測定抵抗値の関係を示す図であり、（ｂ）は形状記憶合金部材が拘束されたときの比較例の形状記憶合金部材に供給される電流、目標抵抗値、及び測定抵抗値の関係を示す図であり、（ｃ）は形状記憶合金部材が拘束されたときの比較例の形状記憶合金部材に発生する応力、目標抵抗値、及び測定抵抗値の関係を示す図である。(A) is a figure which shows the relationship of the length of a shape memory alloy member of a comparative example when a shape memory alloy member is restrained, a target resistance value, and a measured resistance value, (b) is a shape memory alloy member. It is a figure which shows the relationship between the electric current supplied to the shape memory alloy member of the comparative example when restrained, a target resistance value, and a measured resistance value, (c) is a comparative example when the shape memory alloy member is restrained It is a figure which shows the relationship of the stress which generate | occur | produces in the shape memory alloy member, target resistance value, and measurement resistance value. （ａ）は形状記憶合金部材が拘束されたときの実施例の形状記憶合金部材の長さ、目標抵抗値及び測定抵抗値の関係を示す図であり、（ｂ）は形状記憶合金部材が拘束されたときの実施例の形状記憶合金部材に供給される電流、目標抵抗値及び測定抵抗値の関係を示す図であり、（ｃ）は形状記憶合金部材が拘束されたときの実施例の形状記憶合金部材に発生する応力、目標抵抗値及び測定抵抗値の関係を示す図である。(A) is a figure which shows the relationship of the length of a shape memory alloy member of an Example when a shape memory alloy member is restrained, a target resistance value, and a measured resistance value, (b) is a shape memory alloy member restrained. It is a figure which shows the relationship between the electric current supplied to the shape memory alloy member of the Example at the time of being performed, a target resistance value, and a measured resistance value, (c) is the shape of the Example when the shape memory alloy member is restrained It is a figure which shows the relationship between the stress which generate | occur | produces in a memory alloy member, a target resistance value, and a measured resistance value. 第２実施形態に係る形状記憶合金アクチュエータ制御装置の回路図である。It is a circuit diagram of the shape memory alloy actuator control device concerning a 2nd embodiment. 図１０に示す形状記憶合金アクチュエータ制御装置の位置制御動作を示すフローチャートである。It is a flowchart which shows the position control operation | movement of the shape memory alloy actuator control apparatus shown in FIG. 図１０に示す形状記憶合金アクチュエータ制御装置の位置制御動作による形状記憶合金部材の抵抗値の変化を示す図である。It is a figure which shows the change of the resistance value of the shape memory alloy member by the position control operation | movement of the shape memory alloy actuator control apparatus shown in FIG.

以下図面を参照して、本発明に係る形状記憶合金アクチュエータ、形状記憶合金アクチュエータ制御装置、及びその方法について説明する。但し、本発明の技術的範囲はそれらの実施の形態に限定されず、特許請求の範囲に記載された発明との均等物に及ぶ点に留意されたい。   Hereinafter, a shape memory alloy actuator, a shape memory alloy actuator control device, and a method thereof according to the present invention will be described with reference to the drawings. However, it should be noted that the technical scope of the present invention is not limited to these embodiments, and extends to equivalents to the invention described in the claims.

（実施形態に係る形状記憶合金アクチュエータ制御装置の概要）
実施形態に係る形状記憶合金アクチュエータ制御装置は、形状記憶合金部材の測定抵抗値と、形状記憶合金部材に電流を供給する電流供給時間の経過に応じて減少する目標抵抗値との間の抵抗値差がしきい値よりも大きいときに、目標抵抗値を増加する。実施形態に係る形状記憶合金アクチュエータ制御装置は、測定抵抗値と目標抵抗値の間の抵抗値差が大きいときに目標抵抗値を増加することで、目標抵抗値と測定抵抗値の間の抵抗値差を小さくして形状記憶合金部材に流れる電流を抑制する。実施形態に係る形状記憶合金アクチュエータ制御装置は、形状記憶合金部材が障害物等により拘束されたときに、目標抵抗値と測定抵抗値の間の抵抗値差を小さくすることで、形状記憶合金部材が破損するおそれを低減する。 (Outline of Shape Memory Alloy Actuator Control Device According to Embodiment)
The shape memory alloy actuator control device according to the embodiment includes a resistance value between a measured resistance value of the shape memory alloy member and a target resistance value that decreases as the current supply time for supplying current to the shape memory alloy member elapses. When the difference is greater than the threshold value, the target resistance value is increased. The shape memory alloy actuator control device according to the embodiment increases the target resistance value when the resistance value difference between the measured resistance value and the target resistance value is large, thereby increasing the resistance value between the target resistance value and the measured resistance value. A difference is made small and the electric current which flows into a shape memory alloy member is suppressed. The shape memory alloy actuator control device according to the embodiment reduces the difference in resistance value between the target resistance value and the measured resistance value when the shape memory alloy member is constrained by an obstacle or the like. Reduce the risk of damage.

（第１実施形態に係る形状記憶合金アクチュエータの構成及び機能）
図１（ａ）は第１実施形態に係る形状記憶合金アクチュエータを示す図であり、図１（ｂ）は図１（ａ）に示す形状記憶合金部材の形状変化を示す図である。 (Configuration and Function of Shape Memory Alloy Actuator According to First Embodiment)
FIG. 1A is a view showing a shape memory alloy actuator according to the first embodiment, and FIG. 1B is a view showing a shape change of the shape memory alloy member shown in FIG.

形状記憶合金アクチュエータ１００は、形状記憶合金アクチュエータ制御装置１と、一端が固定された形状記憶合金部材３と、一端が形状記憶合金部材３に接続され且つ他端が固定された弾性部材１１０とを有する。形状記憶合金アクチュエータ制御装置１と、固定された形状記憶合金部材３の両端とは電気的に接続される。形状記憶合金アクチュエータ制御装置１は、形状記憶合金部材３に電流を供給して通電加熱することにより、形状記憶合金部材３の長さを収縮する。また、形状記憶合金アクチュエータ制御装置１は、形状記憶合金部材３への電流の供給を停止して冷却すると共に、弾性部材１１０の弾性力を形状記憶合金部材３に印加することにより、形状記憶合金部材３の長さを伸張する。   The shape memory alloy actuator 100 includes a shape memory alloy actuator control device 1, a shape memory alloy member 3 having one end fixed, and an elastic member 110 having one end connected to the shape memory alloy member 3 and the other end fixed. Have. The shape memory alloy actuator control device 1 is electrically connected to both ends of the fixed shape memory alloy member 3. The shape memory alloy actuator control device 1 contracts the length of the shape memory alloy member 3 by supplying current to the shape memory alloy member 3 and conducting heating. In addition, the shape memory alloy actuator control device 1 stops the current supply to the shape memory alloy member 3 and cools it, and applies the elastic force of the elastic member 110 to the shape memory alloy member 3 to thereby shape the shape memory alloy. The length of the member 3 is extended.

（第１実施形態に係る形状記憶合金アクチュエータ制御装置の構成及び機能）
図２は、第１実施形態に係る形状記憶合金アクチュエータ制御装置１の回路図である。 (Configuration and Function of Shape Memory Alloy Actuator Control Device According to First Embodiment)
FIG. 2 is a circuit diagram of the shape memory alloy actuator control apparatus 1 according to the first embodiment.

形状記憶合金アクチュエータ制御装置１は、指示抵抗値設定部１０と、抵抗値フィードバック部２０と、電流供給部３０と、抵抗値測定部４０と、制御部５０とを有する。形状記憶合金アクチュエータ制御装置１は、電流供給部３０及び抵抗値測定部４０が形状記憶合金部材３の両端に接続される。電流供給部３０は形状記憶合金部材３に電流を供給し、抵抗値測定部４０は形状記憶合金部材３の抵抗値を測定する。抵抗値フィードバック部２０は、制御部４０から入力される目標抵抗値、及び抵抗測定部４０が測定した測定抵抗値に基づいて、抵抗値形状記憶合金部材３の長さをフィードバック制御する。   The shape memory alloy actuator control device 1 includes an indicated resistance value setting unit 10, a resistance value feedback unit 20, a current supply unit 30, a resistance value measurement unit 40, and a control unit 50. In the shape memory alloy actuator control apparatus 1, the current supply unit 30 and the resistance value measurement unit 40 are connected to both ends of the shape memory alloy member 3. The current supply unit 30 supplies a current to the shape memory alloy member 3, and the resistance value measurement unit 40 measures the resistance value of the shape memory alloy member 3. The resistance value feedback unit 20 feedback-controls the length of the resistance value shape memory alloy member 3 based on the target resistance value input from the control unit 40 and the measured resistance value measured by the resistance measurement unit 40.

指示抵抗値設定部１０は、第１ポテンショメータ１１と、第２ポテンショメータ１２と、第３ポテンショメータ１３とを有し、形状記憶合金部材３の所望の長さに対応する指示抵抗値を設定する。   The indicated resistance value setting unit 10 includes a first potentiometer 11, a second potentiometer 12, and a third potentiometer 13, and sets an indicated resistance value corresponding to a desired length of the shape memory alloy member 3.

図３は、形状記憶合金部材３の長さＤと、形状記憶合金部材３の抵抗値Ｒｓｍａとの関係を示す図である。図３において、横軸は形状記憶合金部材３の長さＤを示し、縦軸は形状記憶合金部材３の抵抗値Ｒｓｍａを示す。   FIG. 3 is a diagram showing the relationship between the length D of the shape memory alloy member 3 and the resistance value Rsma of the shape memory alloy member 3. In FIG. 3, the horizontal axis indicates the length D of the shape memory alloy member 3, and the vertical axis indicates the resistance value Rsma of the shape memory alloy member 3.

形状記憶合金部材３の抵抗値Ｒｓｍａは、形状記憶合金部材３の長さＤが長くなるに従って単調減少するため、形状記憶合金部材３の抵抗値Ｒｓｍａと長さＤとは一対一で対応する。形状記憶合金部材３の抵抗値Ｒｓｍａと長さＤとが一対一で対応するので、形状記憶合金アクチュエータ制御装置１が抵抗値Ｒｓｍａを指示抵抗値Ｒａｉｍに制御することにより、形状記憶合金部材３の長さＤを所望の長さＤａｉｍに制御することができる。   Since the resistance value Rsma of the shape memory alloy member 3 monotonously decreases as the length D of the shape memory alloy member 3 increases, the resistance value Rsma and the length D of the shape memory alloy member 3 correspond one-to-one. Since the resistance value Rsma and the length D of the shape memory alloy member 3 correspond one-to-one, the shape memory alloy actuator controller 1 controls the resistance value Rsma to the indicated resistance value Raim. The length D can be controlled to a desired length Daim.

第１ポテンショメータ１１は指示抵抗値Ｒａｉｍの上限値を規定し、第２ポテンショメータ１２は指示抵抗値Ｒａｉｍの下限値を規定する。第３ポテンショメータ１３は、第１ポテンショメータ１１が規定する指示抵抗値Ｒａｉｍの上限値と第２ポテンショメータ１２が規定する指示抵抗値Ｒａｉｍの下限値との間で、指示抵抗値Ｒａｉｍを規定する。   The first potentiometer 11 defines an upper limit value of the indicated resistance value Raim, and the second potentiometer 12 defines a lower limit value of the indicated resistance value Raim. The third potentiometer 13 defines the command resistance value Raim between the upper limit value of the command resistance value Raim defined by the first potentiometer 11 and the lower limit value of the command resistance value Raim defined by the second potentiometer 12.

抵抗値フィードバック部２０は、測定抵抗値反転回路２１と、目標抵抗値比較回路２２とを有する。測定抵抗値反転回路２１は、抵抗値測定部４０から入力される測定抵抗値を示す測定抵抗値信号Ｖ７を反転して目標抵抗値比較回路２２に出力する。目標抵抗値比較回路２２は、制御部５０から入力される目標抵抗値を示す目標抵抗値信号Ｖ１と測定抵抗値信号Ｖ７の反転信号−Ｖ７を加算し、すなわち目標抵抗値信号Ｖ１から測定抵抗値信号Ｖ７を減算する。目標抵抗値比較回路２２は、目標抵抗値信号Ｖ１から測定抵抗値信号Ｖ７を減算した信号の反転信号である抵抗差信号Ｖ２を出力する。抵抗差信号Ｖ２は、目標抵抗値と測定抵抗値との間の抵抗値差を示す信号の反転信号である。抵抗差信号Ｖ２は、目標抵抗値比較回路２２が有するキャパシタの容量値及び可変抵抗の抵抗値に応じて遅延して出力される。   The resistance value feedback unit 20 includes a measured resistance value inversion circuit 21 and a target resistance value comparison circuit 22. The measured resistance value inverting circuit 21 inverts the measured resistance value signal V 7 indicating the measured resistance value input from the resistance value measuring unit 40 and outputs the inverted signal to the target resistance value comparing circuit 22. The target resistance value comparison circuit 22 adds the target resistance value signal V1 indicating the target resistance value input from the control unit 50 and the inverted signal −V7 of the measured resistance value signal V7, that is, the measured resistance value from the target resistance value signal V1. Subtract signal V7. The target resistance value comparison circuit 22 outputs a resistance difference signal V2 that is an inverted signal of the signal obtained by subtracting the measured resistance value signal V7 from the target resistance value signal V1. The resistance difference signal V2 is an inverted signal of a signal indicating a resistance value difference between the target resistance value and the measured resistance value. The resistance difference signal V2 is output with a delay in accordance with the capacitance value of the capacitor included in the target resistance value comparison circuit 22 and the resistance value of the variable resistor.

電流供給部３０は、電流供給スイッチ３１と、フォトダイオード３２と、フォトトランジスタ３３と、電流供給トランジスタ３４とを有する。電流供給スイッチ３１は、制御部５０から入力される電流供給指示及び供給停止指示に応じてオンオフする。電流供給スイッチ３１は、制御部５０から電流供給指示が入力されるときオンし、制御部５０から供給停止指示が入力されるときオフする。フォトダイオード３２は、アノードが電源電圧ＶＤＤに接続され、カソードが電流供給スイッチ３１に接続される。フォトダイオード３２は、制御部５０から電流供給指示が入力されて電流供給スイッチ３１がオンするときに導通して発光する。フォトトランジスタ３３は、コレクタが目標抵抗値比較回路２２に接続され、エミッタが電流供給トランジスタ３４のベースに接続される。フォトトランジスタ３３は、フォトダイオード３２から光を受光したときに、目標抵抗値信号Ｖ１と測定抵抗値信号Ｖ７との間の抵抗差に応じて、電流供給トランジスタ３４のベースにベース電流を供給する。電流供給トランジスタ３４は、コレクタが電源電圧ＶＤＤに接続され、エミッタが形状記憶合金部材３の一端に接続される。電流供給トランジスタ３４は、制御部５０から電流供給指示が入力されて電流供給スイッチ３１がオンするときに、形状記憶合金部材３にエミッタ電流を供給する。なお、電流供給トランジスタ３４は、電流供給スイッチ３１がオフする間、微小電流を形状記憶合金部材３に供給する。電流供給トランジスタ３４が電流供給スイッチ３１がオフする間、微小電流を形状記憶合金部材３に供給することで、形状記憶合金部材３の両端に電圧が印加される。   The current supply unit 30 includes a current supply switch 31, a photodiode 32, a phototransistor 33, and a current supply transistor 34. The current supply switch 31 is turned on / off in response to a current supply instruction and a supply stop instruction input from the control unit 50. The current supply switch 31 is turned on when a current supply instruction is input from the control unit 50 and turned off when a supply stop instruction is input from the control unit 50. The photodiode 32 has an anode connected to the power supply voltage VDD and a cathode connected to the current supply switch 31. The photodiode 32 conducts and emits light when a current supply instruction is input from the control unit 50 and the current supply switch 31 is turned on. The phototransistor 33 has a collector connected to the target resistance comparison circuit 22 and an emitter connected to the base of the current supply transistor 34. When receiving light from the photodiode 32, the phototransistor 33 supplies a base current to the base of the current supply transistor 34 according to the resistance difference between the target resistance value signal V1 and the measured resistance value signal V7. The current supply transistor 34 has a collector connected to the power supply voltage VDD and an emitter connected to one end of the shape memory alloy member 3. The current supply transistor 34 supplies an emitter current to the shape memory alloy member 3 when a current supply instruction is input from the control unit 50 and the current supply switch 31 is turned on. The current supply transistor 34 supplies a minute current to the shape memory alloy member 3 while the current supply switch 31 is turned off. A voltage is applied to both ends of the shape memory alloy member 3 by supplying a minute current to the shape memory alloy member 3 while the current supply transistor 34 is turned off.

抵抗値測定部４０は、基準抵抗４１と、基準抵抗出力回路４２と、形状記憶合金抵抗出力回路４３と、測定抵抗値信号生成回路４４とを有する。基準抵抗４１は、基準抵抗値Ｒｃｒｔを有し、一端が形状記憶合金部材３に接続され、他端が接地される。基準抵抗出力回路４２は、基準抵抗４１に印加される基準電圧Ｖ４が入力され、基準抵抗４１の抵抗値を示す基準抵抗信号Ｖ５を出力する。形状記憶合金抵抗出力回路４３は、形状記憶合金部材３の一端の電圧Ｖ３から形状記憶合金部材３の他端の電圧に相当する基準電圧Ｖ４を減算して、形状記憶合金部材３の抵抗値Ｒｓｍａを示す形状記憶合金抵抗信号Ｖ６を出力する。測定抵抗値信号生成回路４４は、入力される基準抵抗信号Ｖ５及び形状記憶合金抵抗信号Ｖ６、並びに不図示の記憶部に記憶される基準抵抗４１の抵抗値である基準抵抗値Ｒｃｒｔから、測定抵抗値を示す測定抵抗値信号Ｖ７を生成し、出力する。測定抵抗値信号生成回路４４は、Ｖ６×Ｒｃｒｔ／Ｖ５の演算を実行することにより、測定抵抗値信号Ｖ７を生成する。   The resistance value measurement unit 40 includes a reference resistance 41, a reference resistance output circuit 42, a shape memory alloy resistance output circuit 43, and a measurement resistance value signal generation circuit 44. The reference resistor 41 has a reference resistance value Rcrt, one end is connected to the shape memory alloy member 3 and the other end is grounded. The reference resistance output circuit 42 receives the reference voltage V4 applied to the reference resistor 41, and outputs a reference resistance signal V5 indicating the resistance value of the reference resistor 41. The shape memory alloy resistance output circuit 43 subtracts the reference voltage V4 corresponding to the voltage at the other end of the shape memory alloy member 3 from the voltage V3 at one end of the shape memory alloy member 3 to obtain the resistance value Rsma of the shape memory alloy member 3. A shape memory alloy resistance signal V6 is output. The measurement resistance value signal generation circuit 44 calculates the measurement resistance from the reference resistance signal V5 and the shape memory alloy resistance signal V6 that are input and the reference resistance value Rcrt that is the resistance value of the reference resistance 41 that is stored in a storage unit (not shown). A measurement resistance value signal V7 indicating the value is generated and output. The measurement resistance value signal generation circuit 44 generates a measurement resistance value signal V7 by executing a calculation of V6 × Rcrt / V5.

制御部５０は、マイクロプロセッサ等の制御回路であり、入出力部５１と、記憶部５２と、処理部５３とを有する。入出力部５１は、指示抵抗値設定部１０及び抵抗値測定部４０から入力されたアナログ信号をデジタル信号に変換して記憶部５２及び処理部５３に出力する。また、入出力部５１は、記憶部５２及び処理部５３から入力されたデジタル信号をアナログ信号に変換して抵抗値フィードバック部２０及び電流供給部３０に出力する。   The control unit 50 is a control circuit such as a microprocessor, and includes an input / output unit 51, a storage unit 52, and a processing unit 53. The input / output unit 51 converts the analog signal input from the instruction resistance value setting unit 10 and the resistance value measurement unit 40 into a digital signal and outputs the digital signal to the storage unit 52 and the processing unit 53. The input / output unit 51 converts the digital signal input from the storage unit 52 and the processing unit 53 into an analog signal and outputs the analog signal to the resistance value feedback unit 20 and the current supply unit 30.

記憶部５２は、ＲＯＭ（Read Only Memory）及びＲＡＭ（Random Access Memory）を含み、処理部５３での処理に用いられるオペレーティングシステムプログラム、ドライバプログラム、アプリケーションプログラム、データ等を記憶する。記憶部５２は、アプリケーションプログラムとして、形状記憶合金アクチュエータ制御処理を、処理部５３に実行させるための形状記憶合金アクチュエータ制御プログラムを記憶する。   The storage unit 52 includes a read only memory (ROM) and a random access memory (RAM), and stores an operating system program, a driver program, an application program, data, and the like used for processing in the processing unit 53. The storage unit 52 stores a shape memory alloy actuator control program for causing the processing unit 53 to execute a shape memory alloy actuator control process as an application program.

また、記憶部５２は、形状記憶合金部材３に電流が供給されてからの時間と形状記憶合金部材３の抵抗値との関係を示す抵抗値経時変化テーブル５２１を記憶する。   In addition, the storage unit 52 stores a resistance value temporal change table 521 that indicates the relationship between the time after the current is supplied to the shape memory alloy member 3 and the resistance value of the shape memory alloy member 3.

図４（ａ）は形状記憶合金部材３に電流が供給されてからの時間ｔと形状記憶合金部材３の抵抗値Ｒｓｍａとの関係を示す図であり、図４（ｂ）は抵抗値経時変化テーブル５２１を示す図である。図４（ａ）において、横軸は時間を示し、縦軸は形状記憶合金部材３の抵抗値Ｒｓｍａを示す。   FIG. 4A is a diagram showing the relationship between the time t after the current is supplied to the shape memory alloy member 3 and the resistance value Rsma of the shape memory alloy member 3, and FIG. It is a figure which shows the table 521. In FIG. 4A, the horizontal axis indicates time, and the vertical axis indicates the resistance value Rsma of the shape memory alloy member 3.

形状記憶合金部材３の抵抗値Ｒｓｍａは、時間ｔ0ではＲｓｍａ0であり、時間ｔ1ではＲｓｍａ0より小さいＲｓｍａ1であり、時間ｔ2ではＲｓｍａ1より小さいＲｓｍａ2であり、Ｒｓｍａn-1より小さい時間ｔnではＲｓｍａnである。 Resistance Rsma of the shape memory alloy member 3 is Rsma 0 at time t 0, a Rsma 0 less than Rsma 1 at time t 1, a Rsma 1 smaller Rsma 2 at time t 2, Rsma n-1 smaller is the time t n in Rsma n.

処理部５３は記憶部５２に記憶されているプログラム（ドライバプログラム、オペレーティングシステムプログラム、アプリケーションプログラム等）に基づいて処理を実行する。また、処理部５３は、複数のプログラム（アプリケーションプログラム等）を並列に実行できる。   The processing unit 53 executes processing based on programs (driver program, operating system program, application program, etc.) stored in the storage unit 52. The processing unit 53 can execute a plurality of programs (such as application programs) in parallel.

処理部５３は、供給開始指示部５３１と、測定抵抗値取得部５３２と、目標抵抗値設定部５３３と、抵抗値差演算部５３４とを有する。これらの各部は、処理部５３で実行されるプログラムにより実現される機能モジュールである。   The processing unit 53 includes a supply start instruction unit 531, a measured resistance value acquisition unit 532, a target resistance value setting unit 533, and a resistance value difference calculation unit 534. Each of these units is a functional module realized by a program executed by the processing unit 53.

（第１実施形態に係る形状記憶合金アクチュエータ制御装置の位置制御動作）
図５は形状記憶合金アクチュエータ制御装置１の位置制御動作を示すフローチャートであり、図６は形状記憶合金アクチュエータ制御装置１の位置制御動作による形状記憶合金部材３の抵抗値Ｒｓｍａの変化を示す図である。図６（ａ）は形状記憶合金部材３が拘束されないときの形状記憶合金部材３の抵抗値Ｒｓｍａの変化を示し、図６（ｂ）は形状記憶合金部材３が拘束されるときの形状記憶合金部材３の抵抗値Ｒｓｍａの変化を示す。図６（ａ）及び６（ｂ）において、横軸は時間ｔを示し、縦軸は形状記憶合金部材３の抵抗値Ｒｓｍａを示す。図６（ａ）において、線１０１は目標抵抗値を示し、図６（ｂ）において、線２０１は形状記憶合金部材３が拘束される前の目標抵抗値を示し、線２０２は形状記憶合金部材３が拘束された後の目標抵抗値を示し、白丸は測定抵抗値を示す。 (Position control operation of the shape memory alloy actuator controller according to the first embodiment)
FIG. 5 is a flowchart showing the position control operation of the shape memory alloy actuator control device 1, and FIG. 6 is a diagram showing a change in the resistance value Rsma of the shape memory alloy member 3 due to the position control operation of the shape memory alloy actuator control device 1. is there. FIG. 6A shows a change in the resistance value Rsma of the shape memory alloy member 3 when the shape memory alloy member 3 is not restrained, and FIG. 6B shows a shape memory alloy when the shape memory alloy member 3 is restrained. The change of resistance value Rsma of the member 3 is shown. 6A and 6B, the horizontal axis indicates time t, and the vertical axis indicates the resistance value Rsma of the shape memory alloy member 3. 6A, the line 101 indicates the target resistance value, the line 201 in FIG. 6B indicates the target resistance value before the shape memory alloy member 3 is restrained, and the line 202 indicates the shape memory alloy member. 3 indicates the target resistance value after being restrained, and the white circle indicates the measured resistance value.

まず、形状記憶合金部材３が拘束されないときについて説明する。図６（ａ）の矢印Ａで示される時間ｔn1において、供給開始指示部５３１は、不図示の上位制御装置から制御開始指示を取得する（Ｓ１０１）。 First, the case where the shape memory alloy member 3 is not restrained will be described. At time t n1 indicated by the arrow A in FIG. 6A , the supply start instruction unit 531 acquires a control start instruction from a host controller (not shown) (S101).

次いで、供給開始指示部５３１は、電流供給部３０に電流供給指示を示す電流供給指示信号を出力する（Ｓ１０２）。電流供給部３０に電流供給指示を示す電流供給指示信号が入力されると、電流供給スイッチ３１がオンする。電流供給スイッチ３１がオンすると、フォトダイオード３２は、導通して発光する。フォトダイオード３２が導通して発光すると、フォトトランジスタ３３は、目標抵抗値信号Ｖ１と測定抵抗値信号Ｖ７との差に応じて、電流供給トランジスタ３４のベースにベース電流を供給する。フォトトランジスタ３３が電流供給トランジスタ３４のベースにベース電流を供給すると、電流供給トランジスタ３４は、形状記憶合金部材３へのエミッタ電流の供給を開始する。   Next, the supply start instruction unit 531 outputs a current supply instruction signal indicating a current supply instruction to the current supply unit 30 (S102). When a current supply instruction signal indicating a current supply instruction is input to the current supply unit 30, the current supply switch 31 is turned on. When the current supply switch 31 is turned on, the photodiode 32 conducts and emits light. When the photodiode 32 conducts and emits light, the phototransistor 33 supplies a base current to the base of the current supply transistor 34 according to the difference between the target resistance value signal V1 and the measured resistance value signal V7. When the phototransistor 33 supplies the base current to the base of the current supply transistor 34, the current supply transistor 34 starts supplying the emitter current to the shape memory alloy member 3.

次いで、供給開始指示部５３１は、指示抵抗値設定部１０に設定された指示抵抗値を取得する（Ｓ１０３）。次いで、測定抵抗値取得部５３２は、抵抗値測定部４０から出力される測定抵抗値信号Ｖ７に対応する測定抵抗値を入出力部５１を介して取得する（Ｓ１０４）。次いで、目標抵抗値設定部５３３は、形状記憶合金部材３に電流を供給した電流供給時間及び抵抗値経時変化テーブル５２１から現在の抵抗値の設定値である目標抵抗値を設定する（Ｓ１０５）。抵抗値経時変化テーブル５２１では、目標抵抗値は、形状記憶合金部材に電流を供給する電流供給時間の経過に応じて徐々に減少するように規定される。目標抵抗値設定部５３３は、電流供給時間及び抵抗値経時変化テーブル５２１から目標抵抗値を設定することにより、形状記憶合金部材３に電流を供給する電流供給時間の経過に応じて徐々に減少するように目標抵抗値を設定する。目標抵抗値設定部５３３は、設定した目標抵抗値を示す目標抵抗値信号Ｖ７を抵抗値フィードバック部２０に出力する。次いで、抵抗値差演算部５３４は、測定抵抗値取得部５３２が取得した測定抵抗値と、目標抵抗値設定部５３３が設定した目標抵抗値との差を示す抵抗値差を演算する（Ｓ１０６）。   Next, the supply start instruction unit 531 acquires the instruction resistance value set in the instruction resistance value setting unit 10 (S103). Next, the measurement resistance value acquisition unit 532 acquires the measurement resistance value corresponding to the measurement resistance value signal V7 output from the resistance value measurement unit 40 via the input / output unit 51 (S104). Next, the target resistance value setting unit 533 sets the target resistance value, which is the current resistance value setting value, from the current supply time and resistance value temporal change table 521 for supplying current to the shape memory alloy member 3 (S105). In the resistance value temporal change table 521, the target resistance value is defined so as to gradually decrease as the current supply time for supplying current to the shape memory alloy member elapses. The target resistance value setting unit 533 sets the target resistance value from the current supply time and resistance value temporal change table 521, thereby gradually decreasing with the passage of the current supply time for supplying current to the shape memory alloy member 3. Set the target resistance value as follows. The target resistance value setting unit 533 outputs a target resistance value signal V7 indicating the set target resistance value to the resistance value feedback unit 20. Next, the resistance value difference calculating unit 534 calculates a resistance value difference indicating a difference between the measured resistance value acquired by the measured resistance value acquiring unit 532 and the target resistance value set by the target resistance value setting unit 533 (S106). .

次いで、目標抵抗値設定部５３３は、抵抗値差演算部５３４が演算した抵抗値差が所定のしきい値よりも大きいか否かを判定する（Ｓ１０７）。形状記憶合金部材３は拘束されておらず、測定抵抗値と目標抵抗値との差を示す抵抗値差は、しきい値以下であり、処理はＳ１０８に進む。目標抵抗値設定部５３３は、目標抵抗値は指示抵抗値と一致しないと判定し（Ｓ１０８）、処理はＳ１０３に戻る。形状記憶合金部材３が拘束されて抵抗値差がしきい値よりも大きくなる、又は目標抵抗値が指示抵抗値に一致するまで、Ｓ１０３〜Ｓ１０８の処理は繰り返される。   Next, the target resistance value setting unit 533 determines whether or not the resistance value difference calculated by the resistance value difference calculation unit 534 is larger than a predetermined threshold value (S107). The shape memory alloy member 3 is not constrained, the resistance value difference indicating the difference between the measured resistance value and the target resistance value is equal to or less than the threshold value, and the process proceeds to S108. The target resistance value setting unit 533 determines that the target resistance value does not match the instruction resistance value (S108), and the process returns to S103. The processes of S103 to S108 are repeated until the shape memory alloy member 3 is restrained and the resistance value difference becomes larger than the threshold value or the target resistance value matches the indicated resistance value.

そして、図６（ａ）の矢印Ｂで示される時間ｔnnにおいて、目標抵抗値設定部５３３が目標抵抗値は指示抵抗値と一致すると判定する（Ｓ１０８）と、処理はＳ１０９に進み、目標抵抗値設定部５３３は、目標抵抗値を現在の値に固定する（Ｓ１０９）。 When the target resistance value setting unit 533 determines that the target resistance value matches the indicated resistance value at time t nn indicated by arrow B in FIG. 6A (S108), the process proceeds to S109 and the target resistance value is set. The value setting unit 533 fixes the target resistance value to the current value (S109).

次に、形状記憶合金部材３が拘束されるときについて説明する。図６（ｂ）の矢印Ａで示される時間ｔb1において、供給開始指示部５３１は、不図示の上位制御装置から制御開始指示を取得する（Ｓ１０１）。形状記憶合金部材３が拘束されるまでのＳ１０２〜Ｓ１０８の処理は、先に説明した処理と同様なので、詳細な説明は省略する。 Next, the case where the shape memory alloy member 3 is restrained will be described. At time t b1 indicated by an arrow A in FIG. 6B, the supply start instruction unit 531 acquires a control start instruction from a host controller (not shown) (S101). Since the process of S102-S108 until the shape memory alloy member 3 is restrained is the same as the process demonstrated previously, detailed description is abbreviate | omitted.

図６（ｂ）の矢印Ｂで示される時間ｔbnにおいて、形状記憶合金部材３が拘束されると、形状記憶合金部材３の抵抗値Ｒｓｍａは、電流が供給されるにもかかわらず、一定値となり、抵抗値測定部４０が測定する測定抵抗値は一定値になる。一方、線２０１で示される目標抵抗値は、電流が供給されてからの時間と形状記憶合金部材３の抵抗値との関係を示す抵抗値経時変化テーブル５２１を使用して設定されるので、形状記憶合金部材３が拘束される間も、電流が供給されてからの時間に応じて減少する。 When the shape memory alloy member 3 is restrained at the time t bn indicated by the arrow B in FIG. 6B, the resistance value Rsma of the shape memory alloy member 3 is a constant value regardless of the current supplied. Thus, the measured resistance value measured by the resistance value measuring unit 40 becomes a constant value. On the other hand, since the target resistance value indicated by the line 201 is set using the resistance value temporal change table 521 indicating the relationship between the time after the current is supplied and the resistance value of the shape memory alloy member 3, Even while the memory alloy member 3 is restrained, the memory alloy member 3 decreases according to the time after the current is supplied.

形状記憶合金部材３が拘束されて測定抵抗値は一定値になり、且つ目標抵抗値が減少して、測定抵抗値と目標抵抗値との差である抵抗値差がしきい値よりも大きくなると、目標抵抗値設定部５３３は、抵抗値差がしきい値よりも大きいと判定する（Ｓ１０７）。次いで、目標抵抗値設定部５３３は、図６（ｂ）において矢印Ｃで示すように、目標抵抗値設定部５３３は、目標抵抗値を、現在の目標抵抗値よりも大きい拘束抵抗値に変更した（Ｓ１１０）後に、目標抵抗値を拘束抵抗値に固定する（Ｓ１１１）。拘束抵抗値は、測定抵抗値との間の抵抗値差がしきい値よりも小さい所望の値である。   When the shape memory alloy member 3 is constrained and the measured resistance value becomes a constant value, and the target resistance value decreases, and the resistance value difference that is the difference between the measured resistance value and the target resistance value becomes larger than the threshold value. The target resistance value setting unit 533 determines that the resistance value difference is larger than the threshold value (S107). Next, as shown by arrow C in FIG. 6B, the target resistance value setting unit 533 has changed the target resistance value to a constraint resistance value that is larger than the current target resistance value. After (S110), the target resistance value is fixed to the constraint resistance value (S111). The constraining resistance value is a desired value in which the resistance value difference from the measured resistance value is smaller than the threshold value.

（形状記憶合金部材３が拘束されないときの制御動作の一例）
図７（ａ）は、形状記憶合金部材３が拘束されないときの実施例の形状記憶合金部材３の長さＤ、目標抵抗値、及び測定抵抗値の関係を示す図である。図７（ｂ）は、測定抵抗値と、形状記憶合金部材３が拘束されないときの実施例の形状記憶合金部材３に供給される電流との関係を示す図である。図７（ａ）において、横軸は形状記憶合金部材３に電流が供給されてからの時間を秒単位で示し、左側縦軸は抵抗値を示し、右側縦軸は形状記憶合金部材３の長さを示す。また、図７（ａ）において、実線は目標抵抗値を示し、黒丸は測定抵抗値を示し、破線は形状記憶合金部材３の長さＤを示す。図７（ｂ）において、横軸は形状記憶合金部材３に電流が供給されてからの時間を秒単位で示し、左側縦軸は抵抗値を示し、右側縦軸は形状記憶合金部材３に供給される電流値を示す。また、図７（ｂ）において、実線は測定抵抗値を示し、白抜き四角は形状記憶合金部材３に供給される電流値を示す。 (Example of control operation when shape memory alloy member 3 is not restrained)
Fig.7 (a) is a figure which shows the relationship between the length D of the shape memory alloy member 3 of an Example when the shape memory alloy member 3 is not restrained, a target resistance value, and a measured resistance value. FIG. 7B is a diagram showing the relationship between the measured resistance value and the current supplied to the shape memory alloy member 3 of the embodiment when the shape memory alloy member 3 is not restrained. In FIG. 7A, the horizontal axis indicates the time since the current was supplied to the shape memory alloy member 3 in seconds, the left vertical axis indicates the resistance value, and the right vertical axis indicates the length of the shape memory alloy member 3. It shows. In FIG. 7A, the solid line indicates the target resistance value, the black circle indicates the measured resistance value, and the broken line indicates the length D of the shape memory alloy member 3. In FIG. 7B, the horizontal axis indicates the time since the current was supplied to the shape memory alloy member 3 in seconds, the left vertical axis indicates the resistance value, and the right vertical axis is supplied to the shape memory alloy member 3. Current value to be displayed. In FIG. 7B, the solid line indicates the measured resistance value, and the white square indicates the current value supplied to the shape memory alloy member 3.

測定抵抗値は目標抵抗値の減少に追従して減少し、形状記憶合金部材３の長さＤは目標抵抗値の減少に追従して増加する。形状記憶合金アクチュエータ制御装置が位置制御動作を実行する間、形状記憶合金部材３に供給される電流値は、最大値０．２８Ａ以下で変動する。形状記憶合金アクチュエータ制御装置が位置制御動作が終了した後、形状記憶合金部材３に供給される電流値は、０．２１Ａで安定する。   The measured resistance value decreases following the decrease in the target resistance value, and the length D of the shape memory alloy member 3 increases following the decrease in the target resistance value. While the shape memory alloy actuator controller performs the position control operation, the current value supplied to the shape memory alloy member 3 varies at a maximum value of 0.28 A or less. After the shape memory alloy actuator controller finishes the position control operation, the current value supplied to the shape memory alloy member 3 is stabilized at 0.21A.

（形状記憶合金部材３が拘束されたときの比較例の動作の一例）
図８（ａ）は、形状記憶合金部材３が拘束されたときの比較例の形状記憶合金部材３の長さＤ、目標抵抗値、及び測定抵抗値の関係を示す図である。図８（ｂ）は、形状記憶合金部材３が拘束されたときの比較例の形状記憶合金部材３に供給される電流、目標抵抗値、及び測定抵抗値の関係を示す図である。図８（ｃ）は、形状記憶合金部材３が拘束されたときの比較例の形状記憶合金部材３に発生する応力、目標抵抗値、及び測定抵抗値の関係を示す図である。図８（ａ）において、横軸は形状記憶合金部材３に電流が供給されてからの時間を秒単位で示し、左側縦軸は抵抗値を示し、右側縦軸は形状記憶合金部材３の長さを示す。また、図８（ａ）において、実線は目標抵抗値を示し、黒丸は測定抵抗値を示し、白丸は形状記憶合金部材３の長さＤを示す。図８（ｂ）において、横軸は形状記憶合金部材３に電流が供給されてからの時間を秒単位で示し、左側縦軸は抵抗値を示し、右側縦軸は形状記憶合金部材３に供給される電流値を示す。また、図８（ｂ）において、実線は目標抵抗値を示し、黒丸は測定抵抗値を示し、白丸は形状記憶合金部材３に供給される電流値を示す。図８（ｃ）において、横軸は形状記憶合金部材３に電流が供給されてからの時間を秒単位で示し、左側縦軸は抵抗値を示し、右側縦軸は形状記憶合金部材３に発生する応力を示す。また、図８（ｃ）において、実線は目標抵抗値を示し、黒丸は測定抵抗値を示し、黒三角は形状記憶合金部材３に発生する応力を示す。図８に示す例において、形状記憶合金部材３は、長さＤが４ｍｍのときに拘束される。また、図８に示す例において、形状記憶合金部材３の最大許容応力は１１３ＭＰａである。 (Example of operation of comparative example when shape memory alloy member 3 is restrained)
FIG. 8A is a diagram showing a relationship among the length D, the target resistance value, and the measured resistance value of the shape memory alloy member 3 of the comparative example when the shape memory alloy member 3 is constrained. FIG. 8B is a diagram showing the relationship between the current supplied to the shape memory alloy member 3 of the comparative example, the target resistance value, and the measured resistance value when the shape memory alloy member 3 is restrained. FIG. 8C is a diagram showing a relationship among the stress generated in the shape memory alloy member 3 of the comparative example when the shape memory alloy member 3 is restrained, the target resistance value, and the measured resistance value. In FIG. 8A, the horizontal axis indicates the time since the current was supplied to the shape memory alloy member 3 in seconds, the left vertical axis indicates the resistance value, and the right vertical axis indicates the length of the shape memory alloy member 3. It shows. In FIG. 8A, the solid line indicates the target resistance value, the black circle indicates the measured resistance value, and the white circle indicates the length D of the shape memory alloy member 3. In FIG. 8B, the horizontal axis indicates the time since the current was supplied to the shape memory alloy member 3 in seconds, the left vertical axis indicates the resistance value, and the right vertical axis is supplied to the shape memory alloy member 3. Current value to be displayed. In FIG. 8B, the solid line indicates the target resistance value, the black circle indicates the measured resistance value, and the white circle indicates the current value supplied to the shape memory alloy member 3. In FIG. 8C, the horizontal axis indicates the time since the current was supplied to the shape memory alloy member 3 in seconds, the left vertical axis indicates the resistance value, and the right vertical axis is generated in the shape memory alloy member 3. Indicates the stress to be applied. In FIG. 8C, the solid line indicates the target resistance value, the black circle indicates the measured resistance value, and the black triangle indicates the stress generated in the shape memory alloy member 3. In the example shown in FIG. 8, the shape memory alloy member 3 is restrained when the length D is 4 mm. In the example shown in FIG. 8, the maximum allowable stress of the shape memory alloy member 3 is 113 MPa.

形状記憶合金部材３が拘束される前では、測定抵抗値は目標抵抗値の減少に追従して減少するが、形状記憶合金部材３が拘束された後では、測定抵抗値は目標抵抗値の減少に追従して減少せずに、徐々に増加する。形状記憶合金部材３が拘束された後に目標抵抗値が減少する一方、測定抵抗値が増加することにより、目標抵抗値と測定抵抗値との間の抵抗差は、増大する。形状記憶合金部材３が拘束される前では、形状記憶合金部材３に供給される電流は０．２６Ａ程度であるが、形状記憶合金部材３が拘束された直後に急増し、形状記憶合金部材３が拘束された後の形状記憶合金部材３に供給される最大電流は０．５９Ａである。形状記憶合金部材３が拘束される前では、形状記憶合金部材３に発生する応力は、形状記憶合金部材３が拘束された直後に急増し、形状記憶合金部材３が拘束された後の最大応力は５６２ＭＰａであり、最大許容応力である１１３ＭＰａの５倍程度の応力が発生する。   Before the shape memory alloy member 3 is constrained, the measured resistance value decreases following the decrease in the target resistance value. However, after the shape memory alloy member 3 is constrained, the measured resistance value decreases with the target resistance value. It gradually increases without following up. While the target resistance value decreases after the shape memory alloy member 3 is constrained, the resistance difference between the target resistance value and the measured resistance value increases as the measured resistance value increases. Before the shape memory alloy member 3 is restrained, the current supplied to the shape memory alloy member 3 is about 0.26 A, but increases rapidly immediately after the shape memory alloy member 3 is restrained. The maximum current supplied to the shape memory alloy member 3 after being restrained is 0.59 A. Before the shape memory alloy member 3 is restrained, the stress generated in the shape memory alloy member 3 rapidly increases immediately after the shape memory alloy member 3 is restrained, and the maximum stress after the shape memory alloy member 3 is restrained. Is 562 MPa, and a stress about five times the maximum allowable stress 113 MPa is generated.

（形状記憶合金部材３が拘束されたときの実施例の動作の一例）
図９（ａ）は、形状記憶合金部材３が拘束されたときの実施例の形状記憶合金部材３の長さＤ、目標抵抗値、及び測定抵抗値の関係を示す図である。図９（ｂ）は、形状記憶合金部材３が拘束されたときの実施例の形状記憶合金部材３に供給される電流、目標抵抗値、及び測定抵抗値の関係を示す図である。図９（ｃ）は、形状記憶合金部材３が拘束されたときの実施例の形状記憶合金部材３に発生する応力、目標抵抗値、及び測定抵抗値の関係を示す図である。図９（ａ）において、横軸は形状記憶合金部材３に電流が供給されてからの時間を秒単位で示し、左側縦軸は抵抗値を示し、右側縦軸は形状記憶合金部材３の長さを示す。また、図９（ａ）において、実線は目標抵抗値を示し、黒丸は測定抵抗値を示し、白丸は形状記憶合金部材３の長さＤを示す。図９（ｂ）において、横軸は形状記憶合金部材３に電流が供給されてからの時間を秒単位で示し、左側縦軸は抵抗値を示し、右側縦軸は形状記憶合金部材３に供給される電流値を示す。また、図９（ｂ）において、実線は目標抵抗値を示し、黒丸は測定抵抗値を示し、白丸は形状記憶合金部材３に発生する応力を示す。図９（ｃ）において、横軸は形状記憶合金部材３に電流が供給されてからの時間を秒単位で示し、左側縦軸は抵抗値を示し、右側縦軸は形状記憶合金部材３に発生する応力を示す。また、図９（ｃ）において、実線は目標抵抗値を示し、黒丸は測定抵抗値を示し、白抜き四角は形状記憶合金部材３が拘束されないときの目標抵抗値を示し、黒三角は形状記憶合金部材３に発生する応力を示す。図９に示す例において、形状記憶合金部材３は、長さＤが４ｍｍのときに拘束される。また、図９に示す例において、形状記憶合金部材３の最大許容応力は１１３ＭＰａである。 (Example of operation of embodiment when shape memory alloy member 3 is restrained)
FIG. 9A is a diagram showing the relationship among the length D, the target resistance value, and the measured resistance value of the shape memory alloy member 3 of the embodiment when the shape memory alloy member 3 is restrained. FIG. 9B is a diagram showing the relationship between the current supplied to the shape memory alloy member 3 of the embodiment, the target resistance value, and the measured resistance value when the shape memory alloy member 3 is restrained. FIG. 9C is a diagram showing a relationship among the stress generated in the shape memory alloy member 3 of the example, the target resistance value, and the measured resistance value when the shape memory alloy member 3 is restrained. In FIG. 9A, the horizontal axis indicates the time since the current was supplied to the shape memory alloy member 3 in seconds, the left vertical axis indicates the resistance value, and the right vertical axis indicates the length of the shape memory alloy member 3. It shows. In FIG. 9A, the solid line indicates the target resistance value, the black circle indicates the measured resistance value, and the white circle indicates the length D of the shape memory alloy member 3. In FIG. 9B, the horizontal axis indicates the time since the current was supplied to the shape memory alloy member 3 in seconds, the left vertical axis indicates the resistance value, and the right vertical axis is supplied to the shape memory alloy member 3. Current value to be displayed. In FIG. 9B, the solid line indicates the target resistance value, the black circle indicates the measured resistance value, and the white circle indicates the stress generated in the shape memory alloy member 3. In FIG. 9C, the horizontal axis indicates the time since the current was supplied to the shape memory alloy member 3 in seconds, the left vertical axis indicates the resistance value, and the right vertical axis is generated in the shape memory alloy member 3. Indicates the stress to be applied. 9C, the solid line indicates the target resistance value, the black circle indicates the measured resistance value, the white square indicates the target resistance value when the shape memory alloy member 3 is not restrained, and the black triangle indicates the shape memory. The stress generated in the alloy member 3 is shown. In the example shown in FIG. 9, the shape memory alloy member 3 is restrained when the length D is 4 mm. In the example shown in FIG. 9, the maximum allowable stress of the shape memory alloy member 3 is 113 MPa.

形状記憶合金部材３が拘束される前では、測定抵抗値は目標抵抗値の減少に追従して減少するが、形状記憶合金部材３が拘束された後では、測定抵抗値は目標抵抗値の減少に追従して減少せずに、一定値になる。形状記憶合金部材３が拘束された後に目標抵抗値が減少する一方、測定抵抗値が一定値になることにより、目標抵抗値と測定抵抗値との間の抵抗差は、増大する。抵抗値差がしきい値よりも大きくなると、目標抵抗値設定部５３３は、目標抵抗値を現在の目標抵抗値よりも大きい所望の値である拘束抵抗値に変更した後、目標抵抗値を拘束抵抗値に固定する。測定抵抗値及び目標抵抗値は一定値を維持する。形状記憶合金部材３が拘束されると、形状記憶合金部材３に供給される電流は０．４１Ａまで上昇するものの、測定抵抗値と目標抵抗値との間の抵抗値差が減少することにより、形状記憶合金部材３に供給される電流は０．１９Ａで一定となる。形状記憶合金部材３に発生する応力は、形状記憶合金部材３が拘束された直後に９４ＭＰａまで増加するが、形状記憶合金部材３に供給される電流の減少に従って、緩やかに減少する。実施例の形状記憶合金部材３では、形状記憶合金部材３が拘束されたときに、測定抵抗値と目標抵抗値との間の抵抗値差を減少させることにより、形状記憶合金部材３に発生する応力を最大許容応力である１１３ＭＰａ以下に抑制することができる。   Before the shape memory alloy member 3 is constrained, the measured resistance value decreases following the decrease in the target resistance value. However, after the shape memory alloy member 3 is constrained, the measured resistance value decreases with the target resistance value. It becomes a constant value without decreasing following. While the target resistance value decreases after the shape memory alloy member 3 is restrained, the resistance difference between the target resistance value and the measured resistance value increases as the measured resistance value becomes a constant value. When the resistance value difference becomes larger than the threshold value, the target resistance value setting unit 533 changes the target resistance value to a constraint resistance value that is a desired value larger than the current target resistance value, and then constrains the target resistance value. Fix the resistance value. The measured resistance value and the target resistance value are kept constant. When the shape memory alloy member 3 is constrained, the current supplied to the shape memory alloy member 3 increases to 0.41 A, but the resistance value difference between the measured resistance value and the target resistance value decreases. The current supplied to the shape memory alloy member 3 is constant at 0.19A. The stress generated in the shape memory alloy member 3 increases to 94 MPa immediately after the shape memory alloy member 3 is restrained, but gradually decreases as the current supplied to the shape memory alloy member 3 decreases. In the shape memory alloy member 3 of the embodiment, when the shape memory alloy member 3 is constrained, it is generated in the shape memory alloy member 3 by reducing the difference in resistance value between the measured resistance value and the target resistance value. The stress can be suppressed to 113 MPa or less which is the maximum allowable stress.

（第２実施形態に係る形状記憶合金アクチュエータ制御装置の構成及び機能）
図１０は、第２実施形態に係る形状記憶合金アクチュエータ制御装置の回路図である。 (Configuration and Function of Shape Memory Alloy Actuator Control Device According to Second Embodiment)
FIG. 10 is a circuit diagram of the shape memory alloy actuator controller according to the second embodiment.

形状記憶合金アクチュエータ制御装置２は、処理部５３の代わりに処理部６３を有する制御部６０が制御部５０の代わりに配置されることが、形状記憶合金アクチュエータ制御装置１と相違する。処理部６３以外の形状記憶合金アクチュエータ制御装置２の構成要素は、同一符号が付された形状記憶合金アクチュエータ制御装置１の構成要素と同一の機能及び構成を有するので、ここでは詳細な説明を省略する。   The shape memory alloy actuator control device 2 is different from the shape memory alloy actuator control device 1 in that a control unit 60 having a processing unit 63 instead of the processing unit 53 is arranged instead of the control unit 50. Since the components of the shape memory alloy actuator control device 2 other than the processing unit 63 have the same functions and configurations as the components of the shape memory alloy actuator control device 1 with the same reference numerals, detailed description is omitted here. To do.

処理部６３は記憶部５２に記憶されているプログラムに基づいて処理を実行する。また、処理部６３は、複数のプログラムを並列に実行できる。   The processing unit 63 executes processing based on a program stored in the storage unit 52. The processing unit 63 can execute a plurality of programs in parallel.

処理部６３は、供給開始指示部６３１と、測定抵抗値取得部６３２と、目標抵抗値設定部６３３と、抵抗値差演算部６３４と、供給停止指示部６３５とを有する。これらの各部は、処理部６３で実行されるプログラムにより実現される機能モジュールである。   The processing unit 63 includes a supply start instruction unit 631, a measured resistance value acquisition unit 632, a target resistance value setting unit 633, a resistance value difference calculation unit 634, and a supply stop instruction unit 635. Each of these units is a functional module realized by a program executed by the processing unit 63.

（実施形態に係る形状記憶合金アクチュエータ制御装置の位置制御動作）
図１１は形状記憶合金アクチュエータ制御装置２の位置制御動作を示すフローチャートであり、図１２は形状記憶合金アクチュエータ制御装置２の位置制御動作による形状記憶合金部材３の抵抗値Ｒｓｍａの変化を示す図である。図１２において、横軸は時間ｔを示し、縦軸は形状記憶合金部材３の抵抗値Ｒｓｍａを示す。図１２において、線３０１は形状記憶合金部材３が拘束される前の目標抵抗値を示し、線３０２は形状記憶合金部材３が拘束中の目標抵抗値を示し、線３０１は形状記憶合金部材３が解放された後の目標抵抗値を示す。また、白丸は測定抵抗値を示す。 (Position Control Operation of Shape Memory Alloy Actuator Control Device According to Embodiment)
FIG. 11 is a flowchart showing a position control operation of the shape memory alloy actuator control device 2, and FIG. 12 is a diagram showing a change in the resistance value Rsma of the shape memory alloy member 3 due to the position control operation of the shape memory alloy actuator control device 2. is there. In FIG. 12, the horizontal axis represents time t, and the vertical axis represents the resistance value Rsma of the shape memory alloy member 3. In FIG. 12, a line 301 indicates a target resistance value before the shape memory alloy member 3 is restrained, a line 302 indicates a target resistance value when the shape memory alloy member 3 is restrained, and a line 301 indicates the shape memory alloy member 3. Indicates the target resistance value after is released. White circles indicate measured resistance values.

図１２の矢印Ａで示される時間ｔb1において、供給開始指示部６３１は、不図示の上位制御装置から制御開始指示を取得する（Ｓ２０１）。次いで、供給開始指示部６３１は、電流供給部３０に電流供給指示を示す電流供給指示信号を出力する（Ｓ２０２）。次いで、供給開始指示部６３１は、指示抵抗値設定部１０に設定された指示抵抗値を取得する（Ｓ２０３）。次いで、測定抵抗値取得部６３２は、抵抗値測定部４０から出力される測定抵抗値信号Ｖ７に対応する測定抵抗値を入出力部５１を介して取得する（Ｓ２０４）。次いで、目標抵抗値設定部６３３は、電流供給時間、及び抵抗値経時変化テーブル５２１から目標抵抗値を設定し、設定した目標抵抗値を示す目標抵抗値信号Ｖ７を抵抗値フィードバック部２０に出力する（Ｓ２０５）。次いで、抵抗値差演算部６３４は、目標抵抗値設定部６３３が取得した測定抵抗値と、目標抵抗値設定部６３３が設定した目標抵抗値との差を示す抵抗値差を演算する（Ｓ２０６）。 At time t b1 indicated by an arrow A in FIG. 12, the supply start instruction unit 631 acquires a control start instruction from a host controller (not shown) (S201). Next, the supply start instruction unit 631 outputs a current supply instruction signal indicating a current supply instruction to the current supply unit 30 (S202). Next, the supply start instruction unit 631 acquires the instruction resistance value set in the instruction resistance value setting unit 10 (S203). Next, the measurement resistance value acquisition unit 632 acquires a measurement resistance value corresponding to the measurement resistance value signal V7 output from the resistance value measurement unit 40 via the input / output unit 51 (S204). Next, the target resistance value setting unit 633 sets a target resistance value from the current supply time and resistance value temporal change table 521, and outputs a target resistance value signal V7 indicating the set target resistance value to the resistance value feedback unit 20. (S205). Next, the resistance value difference calculation unit 634 calculates a resistance value difference indicating a difference between the measured resistance value acquired by the target resistance value setting unit 633 and the target resistance value set by the target resistance value setting unit 633 (S206). .

次いで、目標抵抗値設定部６３３は、目標抵抗値設定部５３３が演算した抵抗値差が所定のしきい値よりも大きいか否かを判定する（Ｓ２０７）。形状記憶合金部材３は拘束されておらず、測定抵抗値と目標抵抗値との差を示す抵抗値差は、しきい値以下であり、処理はＳ２０８に進む。供給停止指示部５３５は、電流供給部３０が形状記憶合金部材３に電流を供給中であると判定し（Ｓ２０８）、且つ目標抵抗値は指示抵抗値と一致しないと判定し（Ｓ２０９）、処理はＳ２０３に戻る。形状記憶合金部材３が拘束されるまで、Ｓ２０３〜Ｓ２０９の処理は繰り返される。   Next, the target resistance value setting unit 633 determines whether or not the resistance value difference calculated by the target resistance value setting unit 533 is larger than a predetermined threshold value (S207). The shape memory alloy member 3 is not constrained, the resistance value difference indicating the difference between the measured resistance value and the target resistance value is equal to or less than the threshold value, and the process proceeds to S208. The supply stop instruction unit 535 determines that the current supply unit 30 is supplying current to the shape memory alloy member 3 (S208), determines that the target resistance value does not match the instruction resistance value (S209), and performs processing Returns to S203. Until the shape memory alloy member 3 is restrained, the processing of S203 to S209 is repeated.

図１２の矢印Ｂで示される時間において、形状記憶合金部材３が拘束されると、形状記憶合金部材３の抵抗値Ｒｓｍａは、電流が供給されるにもかかわらず、一定値となり、測定抵抗値は一定値になる。一方、線３０１で示される目標抵抗値は、電流が供給されてからの時間と形状記憶合金部材３の抵抗値との関係を示す抵抗値経時変化テーブル５２１を使用して設定されるので、形状記憶合金部材３が拘束される間も、電流が供給されてからの時間に応じて減少する。   When the shape memory alloy member 3 is restrained at the time indicated by the arrow B in FIG. 12, the resistance value Rsma of the shape memory alloy member 3 becomes a constant value regardless of the current supplied, and the measured resistance value Becomes a constant value. On the other hand, since the target resistance value indicated by the line 301 is set using the resistance value temporal change table 521 indicating the relationship between the time after the current is supplied and the resistance value of the shape memory alloy member 3, Even while the memory alloy member 3 is restrained, the memory alloy member 3 decreases according to the time after the current is supplied.

形状記憶合金部材３が拘束されて測定抵抗値は一定値になり、且つ目標抵抗値が減少して、測定抵抗値と目標抵抗値との差である抵抗値差がしきい値よりも大きくなると、目標抵抗値設定部６３３は、抵抗値差がしきい値よりも大きいと判定する（Ｓ２０７）。次いで、供給停止指示部６３５は、電流供給部３０が形状記憶合金部材３に電流を供給中であると判定し（Ｓ２１０）、供給停止指示を電流供給部３０に出力する（Ｓ２１１）。電流供給部３０では、供給停止指示が入力されると、電流供給スイッチ３１がオフし、フォトダイオード３２が通電しなくなり、発光を停止し、フォトトランジスタ３３から電流供給トランジスタ３４へのベース電流の供給が停止する。フォトトランジスタ３３から電流供給トランジスタ３４へのベース電流の供給が停止することで、電流供給トランジスタ３４は、形状記憶合金部材３への電流の供給を停止する。   When the shape memory alloy member 3 is constrained and the measured resistance value becomes a constant value, and the target resistance value decreases, and the resistance value difference that is the difference between the measured resistance value and the target resistance value becomes larger than the threshold value. The target resistance value setting unit 633 determines that the resistance value difference is larger than the threshold value (S207). Next, the supply stop instruction unit 635 determines that the current supply unit 30 is supplying current to the shape memory alloy member 3 (S210), and outputs a supply stop instruction to the current supply unit 30 (S211). In the current supply unit 30, when a supply stop instruction is input, the current supply switch 31 is turned off, the photodiode 32 is not energized, the light emission is stopped, and the base current is supplied from the phototransistor 33 to the current supply transistor 34. Stops. When the supply of the base current from the phototransistor 33 to the current supply transistor 34 is stopped, the current supply transistor 34 stops the supply of current to the shape memory alloy member 3.

処理はＳ２０３に戻り、Ｓ２０３〜Ｓ２０７の処理が実行される。目標抵抗値設定部６３３が抵抗値差がしきい値より大きいと判定すると（Ｓ２０７）、供給停止指示部６３５は、形状記憶合金部材３への電流の供給が停止中であると判定する（Ｓ２１０）。次いで、図１２において矢印Ｃで示すように、目標抵抗値設定部６３３は、目標抵抗値を増加して（Ｓ２１２）、処理はＳ２０３に戻り、Ｓ２０３〜Ｓ２０７の処理が実行される。   The process returns to S203, and the processes of S203 to S207 are executed. When the target resistance value setting unit 633 determines that the resistance value difference is larger than the threshold value (S207), the supply stop instruction unit 635 determines that the supply of current to the shape memory alloy member 3 is stopped (S210). ). Next, as indicated by an arrow C in FIG. 12, the target resistance value setting unit 633 increases the target resistance value (S212), the process returns to S203, and the processes of S203 to S207 are executed.

Ｓ２１２において目標抵抗値が増加されることにより、抵抗値差がしきい値以下であると判定され（Ｓ２０７）、供給停止指示部６３５は、形状記憶合金部材３への電流の供給が停止中であると判定し（Ｓ２０８）、処理はＳ２０２に戻る。Ｓ２０２において、供給開始指示部６３１が電流供給部３０に電流供給指示信号を出力し、電流供給部３０は、形状記憶合金部材３への電流の供給を再開する。次いで、Ｓ２０３〜Ｓ２０７の処理が実行される。Ｓ２０５において目標抵抗値設定部６３３が抵抗値経時変化テーブル５２１から形状記憶合金部材３への電流供給が再開されてからの時間に応じて目標抵抗値を設定すると、図１２の矢印Ｄで示されるように、抵抗値差がしきい値よりも大きくなる。抵抗値差がしきい値よりも大きくなるので、目標抵抗値設定部６３３が抵抗値差が所定のしきい値よりも大きいと判定し（Ｓ２０７）、且つ供給停止指示部６３５が形状記憶合金部材３に電流を供給中であると判定する（Ｓ２１０）。供給停止指示部６３５は、供給停止指示を電流供給部３０に出力する（Ｓ２１１）。   When the target resistance value is increased in S212, it is determined that the resistance value difference is equal to or smaller than the threshold value (S207), and the supply stop instruction unit 635 stops supplying current to the shape memory alloy member 3. It is determined that there is (S208), and the process returns to S202. In S <b> 202, the supply start instruction unit 631 outputs a current supply instruction signal to the current supply unit 30, and the current supply unit 30 resumes the supply of current to the shape memory alloy member 3. Next, the processes of S203 to S207 are executed. When the target resistance value setting unit 633 sets the target resistance value according to the time from when the current supply from the resistance value temporal change table 521 to the shape memory alloy member 3 is resumed in S205, it is indicated by an arrow D in FIG. Thus, the resistance value difference becomes larger than the threshold value. Since the resistance value difference is larger than the threshold value, the target resistance value setting unit 633 determines that the resistance value difference is larger than the predetermined threshold value (S207), and the supply stop instruction unit 635 is a shape memory alloy member. 3 is determined to be supplying current (S210). The supply stop instruction unit 635 outputs a supply stop instruction to the current supply unit 30 (S211).

形状記憶合金部材３が拘束される間、形状記憶合金部材３に電流を供給中にＳ２０７において、抵抗値差が所定のしきい値よりも大きいと判定されると、形状記憶合金部材３への電流の供給が停止される（Ｓ２１１）。形状記憶合金部材３への電流の供給を停止中にＳ２０７において抵抗値差が所定のしきい値よりも大きいと判定されると、目標抵抗値が増加される（Ｓ２１２）。また、形状記憶合金部材３への電流の供給を停止中にＳ２０７において、抵抗値差が所定のしきい値以下と判定されると、形状記憶合金部材３への電流の供給が再開される（Ｓ２０２）。形状記憶合金アクチュエータ制御装置２は、形状記憶合金部材３が拘束される間、Ｓ２０２〜Ｓ２１２の処理を繰り返すことにより、測定抵抗値と、目標抵抗値との間の偏差が一定の範囲内に収まるように制御する。   While the shape memory alloy member 3 is restrained, if it is determined in S207 that the resistance value difference is larger than the predetermined threshold value while supplying current to the shape memory alloy member 3, the shape memory alloy member 3 The supply of current is stopped (S211). If it is determined in S207 that the resistance value difference is larger than the predetermined threshold value while the supply of current to the shape memory alloy member 3 is stopped, the target resistance value is increased (S212). If the resistance difference is determined to be equal to or smaller than the predetermined threshold value in S207 while the supply of current to the shape memory alloy member 3 is stopped, the supply of current to the shape memory alloy member 3 is resumed ( S202). The shape memory alloy actuator control device 2 repeats the processing of S202 to S212 while the shape memory alloy member 3 is restrained, so that the deviation between the measured resistance value and the target resistance value falls within a certain range. To control.

図１２の矢印Ｅで示される時間ｔa1において、形状記憶合金部材３が拘束から解放されると、図１２の矢印Ｂで示される時間において形状記憶合金部材３が拘束される前と同様に、Ｓ２０３〜Ｓ２０９の処理は繰り返される。図１２の矢印Ｆで示される時間ｔanにおいて、供給停止指示部６３５は、指示抵抗値設定部１０に設定された指示抵抗値と、目標抵抗値設定部６３３が設定した目標抵抗値とが一致したと判定する（Ｓ２０９）。そして、目標抵抗値設定部６３３は、目標抵抗値を現在の目標抵抗値に固定する（Ｓ２１３）。 When the shape memory alloy member 3 is released from restraint at the time t a1 indicated by the arrow E in FIG. 12, the shape memory alloy member 3 is restrained at the time indicated by the arrow B in FIG. The processing of S203 to S209 is repeated. At time t an indicated by an arrow F in FIG. 12, the supply stop instruction unit 635 matches the instruction resistance value set in the instruction resistance value setting unit 10 with the target resistance value set by the target resistance value setting unit 633. (S209). Then, the target resistance value setting unit 633 fixes the target resistance value to the current target resistance value (S213).

（実施形態に係る形状記憶合金アクチュエータ制御装置の作用効果）
実施形態に係る形状記憶合金アクチュエータ制御装置は、形状記憶合金部材が拘束されたときに、測定抵抗値と目標抵抗値との間の差である抵抗値差がしきい値よりも大きいと判定して、目標抵抗値を増加して、抵抗値差を小さくする。実施形態に係る形状記憶合金アクチュエータ制御装置は、測定抵抗値と目標抵抗値との間の差である抵抗値差がしきい値よりも大きいと判定したときに抵抗値差を小さくすることで、形状記憶合金部材に流れる電流、及び形状記憶合金部材に発生する応力を抑制する。実施形態に係る形状記憶合金アクチュエータ制御装置は、形状記憶合金部材が拘束されたときに、形状記憶合金部材に流れる電流、及び形状記憶合金部材に発生する応力を抑制することで、形状記憶合金部材が破損するおそれを低減する。 (Operational Effect of Shape Memory Alloy Actuator Control Device According to Embodiment)
The shape memory alloy actuator control device according to the embodiment determines that a resistance value difference, which is a difference between a measured resistance value and a target resistance value, is larger than a threshold value when the shape memory alloy member is constrained. The target resistance value is increased to reduce the resistance value difference. The shape memory alloy actuator controller according to the embodiment reduces the resistance value difference when it is determined that the resistance value difference, which is the difference between the measured resistance value and the target resistance value, is larger than the threshold value. The current flowing in the shape memory alloy member and the stress generated in the shape memory alloy member are suppressed. The shape memory alloy actuator control device according to the embodiment suppresses the current flowing in the shape memory alloy member and the stress generated in the shape memory alloy member when the shape memory alloy member is constrained. Reduce the risk of damage.

（実施形態に係る形状記憶合金アクチュエータ制御装置の変形例）
形状記憶合金アクチュエータ制御装置１及び２では、目標抵抗値と指示抵抗値とが一致したときに形状記憶合金部材３が所望の長さになったと判定するが、測定抵抗値と指示抵抗値とが一致したときに形状記憶合金部材３が所望の長さになったと判定してもよい。 (Modification of Shape Memory Alloy Actuator Control Device According to Embodiment)
In the shape memory alloy actuator control devices 1 and 2, it is determined that the shape memory alloy member 3 has a desired length when the target resistance value and the indicated resistance value match, but the measured resistance value and the indicated resistance value are You may determine with the shape memory alloy member 3 having become desired length when it corresponds.

また、指示抵抗値設定部１０、抵抗値フィードバック部２０、電流供給部３０及び抵抗値測定部４０の少なくとも一部は、制御部５０又は制御部６０に組み込まれてもよい。また、処理部５３又は処理部６３で実行されるプログラムにより実現される機能モジュールの少なくとも一部は、ハードウェアにより実現されてもよい。   In addition, at least a part of the indicated resistance value setting unit 10, the resistance value feedback unit 20, the current supply unit 30, and the resistance value measurement unit 40 may be incorporated in the control unit 50 or the control unit 60. In addition, at least a part of functional modules realized by a program executed by the processing unit 53 or the processing unit 63 may be realized by hardware.

また、形状記憶合金アクチュエータ制御装置１は、形状記憶合金部材３が拘束されて、目標抵抗値が拘束抵抗値に固定されてから所定の時間が経過したとき、形状記憶合金部材３が拘束されたことを示す警報信号を出力してもよい。また、形状記憶合金アクチュエータ制御装置２は、形状記憶合金部材３が拘束されてから抵抗値差としきい値とを比較するＳ２０７の処理を所定の回数に亘って実行したとき、形状記憶合金部材３が拘束されたことを示す警報信号を出力してもよい。   Further, the shape memory alloy actuator control device 1 restrains the shape memory alloy member 3 when a predetermined time elapses after the shape memory alloy member 3 is restrained and the target resistance value is fixed to the restraining resistance value. An alarm signal indicating this may be output. Further, the shape memory alloy actuator control device 2 performs the process of S207 for comparing the resistance value difference and the threshold value for a predetermined number of times after the shape memory alloy member 3 is constrained, when the shape memory alloy member 3 is restrained. An alarm signal may be output to indicate that is restricted.

（他の実施形態に係る形状記憶合金アクチュエータ制御装置）
なお、別の見方をすると、実施形態に係る形状記憶合金アクチュエータ制御装置は、
ＳＭＡに流れる電流値から抵抗値を検出する抵抗値検出部と、
ＳＭＡの変位量との関係で対応する抵抗値から電流値を設定する抵抗値設定部と、
前記抵抗値検出部からの検出抵抗値及び前記指抵抗値設定部からの指令抵抗値に基づいてＳＭＡに電圧を印加して加熱することによって、ＳＭＡの抵抗値を予め決定された変位量に対応する抵抗値に設定してＳＭＡを伸縮させる駆動部とを有する形状記憶合金アクチュエータ制御装置において、
前記抵抗値検出部からの検出抵抗値と抵抗値設定部から目標抵抗値とを逐次比較し、その偏差が所定の範囲以上になった時に目標抵抗値を増加する、すなわちＳＭＡに印加される電圧を低減させて、検出抵抗値と目標抵抗値の偏差を一定に保持することを特徴とするＳＭＡの過負荷を防ぐ「ＳＭＡの位置＋トルク」制御システムということになる。 (Shape memory alloy actuator control device according to another embodiment)
From another viewpoint, the shape memory alloy actuator control device according to the embodiment is
A resistance value detection unit for detecting a resistance value from a current value flowing through the SMA;
A resistance value setting unit for setting a current value from a corresponding resistance value in relation to the displacement amount of the SMA;
By applying a voltage to the SMA and heating it based on the detected resistance value from the resistance value detection unit and the command resistance value from the finger resistance value setting unit, the resistance value of the SMA corresponds to a predetermined amount of displacement. In a shape memory alloy actuator control apparatus having a drive unit that sets the resistance value to be expanded and contracts the SMA,
The detected resistance value from the resistance value detecting unit and the target resistance value from the resistance value setting unit are sequentially compared, and the target resistance value is increased when the deviation exceeds a predetermined range, that is, a voltage applied to the SMA. This is a “SMA position + torque” control system that prevents overloading of the SMA, characterized in that the deviation between the detected resistance value and the target resistance value is kept constant.

１、２ 形状記憶合金アクチュエータ制御装置
３ 形状記憶合金部材
１０ 指示抵抗値設定部
２０ 抵抗値フィードバック部
３０ 電流供給部
４０ 抵抗値測定部
５０ 制御部
１００ 形状記憶合金アクチュエータ
５３１、６３１ 供給開始指示部
５３２、６３２ 測定抵抗値取得部
５３３、６３３ 目標抵抗値設定部
５３４、６３４ 抵抗値差演算部
６３５ 供給停止指示部 DESCRIPTION OF SYMBOLS 1, 2 Shape memory alloy actuator control apparatus 3 Shape memory alloy member 10 Instruction resistance value setting part 20 Resistance value feedback part 30 Current supply part 40 Resistance value measurement part 50 Control part 100 Shape memory alloy actuator 531 and 631 Supply start instruction part 532 , 632 Measurement resistance value acquisition unit 533,633 Target resistance value setting unit 534,634 Resistance value difference calculation unit 635 Supply stop instruction unit

Claims (5)

形状記憶合金部材の抵抗値を測定する抵抗値測定部と、
前記形状記憶合金部材に電流を供給する電流供給時間の経過に応じて減少するように目標抵抗値を設定する目標抵抗値設定部と、
前記抵抗値測定部が測定した測定抵抗値と前記目標抵抗値との間の差を示す抵抗値差を演算する抵抗値差演算部と、
前記抵抗値差に応じた電流を前記形状記憶合金部材に供給する電流供給部と、を有し、
前記目標抵抗値設定部は、前記抵抗値差が所定のしきい値よりも大きいと判定したときに、前記目標抵抗値を、現在の目標抵抗値よりも大きい所望の値に変更する、ことを特徴とする形状記憶合金アクチュエータ制御装置。 A resistance value measuring unit for measuring the resistance value of the shape memory alloy member;
A target resistance value setting unit for setting a target resistance value so as to decrease with the passage of a current supply time for supplying a current to the shape memory alloy member;
A resistance value difference calculating unit for calculating a resistance value difference indicating a difference between the measured resistance value measured by the resistance value measuring unit and the target resistance value;
A current supply unit for supplying a current corresponding to the resistance value difference to the shape memory alloy member,
When the target resistance value setting unit determines that the resistance value difference is larger than a predetermined threshold value, the target resistance value setting unit changes the target resistance value to a desired value larger than the current target resistance value. Characteristic shape memory alloy actuator controller. 前記目標抵抗値設定部は、前記抵抗値差が前記しきい値よりも大きいと判定したときに、前記目標抵抗値を、前記所望の値に固定する、請求項１に記載の形状記憶合金アクチュエータ制御装置。   The shape memory alloy actuator according to claim 1, wherein the target resistance value setting unit fixes the target resistance value to the desired value when it is determined that the resistance value difference is larger than the threshold value. Control device. 前記目標抵抗値設定部が抵抗値差が前記しきい値よりも大きいと判定したときに、前記電流供給部に供給停止指示を出力する供給停止指示部を更に有し、
前記電流供給部は、前記供給停止指示に応じて前記形状記憶合金部材への電流の供給を停止する、請求項１に記載の形状記憶合金アクチュエータ制御装置。 When the target resistance value setting unit determines that the resistance value difference is larger than the threshold value, the target resistance value setting unit further includes a supply stop instruction unit that outputs a supply stop instruction to the current supply unit,
The shape memory alloy actuator control device according to claim 1, wherein the current supply unit stops supply of current to the shape memory alloy member in response to the supply stop instruction. 形状記憶合金部材の抵抗値を測定し、
前記形状記憶合金部材に電流を供給する電流供給時間の経過に応じて減少するように目標抵抗値を設定し、
測定された測定抵抗値と前記目標抵抗値との間の差を示す抵抗値差を演算し、
前記抵抗値差に応じた電流を前記形状記憶合金部材に供給し、
前記抵抗値差が所定のしきい値よりも大きいと判定したときに、前記目標抵抗値を、現在の目標抵抗値よりも大きい所望の値に変更する、
ことを有することを特徴とする形状記憶合金アクチュエータ制御方法。 Measure the resistance value of the shape memory alloy member,
A target resistance value is set so as to decrease with the passage of current supply time for supplying current to the shape memory alloy member,
Calculate a resistance value difference indicating a difference between the measured resistance value and the target resistance value,
Supplying a current corresponding to the resistance value difference to the shape memory alloy member;
When it is determined that the resistance value difference is larger than a predetermined threshold, the target resistance value is changed to a desired value larger than the current target resistance value.
A shape memory alloy actuator control method comprising: 形状記憶合金部材と、
前記形状記憶合金部材に電気的に接続された形状記憶合金アクチュエータ制御装置とを有し、前記形状記憶合金アクチュエータ制御装置は、
前記形状記憶合金部材の抵抗値を測定する抵抗値測定部と、
前記形状記憶合金部材に電流を供給する電流供給時間の経過に応じて減少するように目標抵抗値を設定する目標抵抗値設定部と、
前記抵抗値測定部が測定した測定抵抗値と前記目標抵抗値との間の差を示す抵抗値差を演算する抵抗値差演算部と、
前記抵抗値差に応じた電流を前記形状記憶合金部材に供給する電流供給部と、を有し、
前記目標抵抗値設定部は、前記抵抗値差が所定のしきい値よりも大きいと判定したときに、前記目標抵抗値を、現在の目標抵抗値よりも大きい所望の値に変更する、ことを特徴とする形状記憶合金アクチュエータ。 A shape memory alloy member;
A shape memory alloy actuator control device electrically connected to the shape memory alloy member, the shape memory alloy actuator control device,
A resistance value measuring unit for measuring a resistance value of the shape memory alloy member;
A target resistance value setting unit for setting a target resistance value so as to decrease with the passage of a current supply time for supplying a current to the shape memory alloy member;
A resistance value difference calculating unit for calculating a resistance value difference indicating a difference between the measured resistance value measured by the resistance value measuring unit and the target resistance value;
A current supply unit for supplying a current corresponding to the resistance value difference to the shape memory alloy member,
When the target resistance value setting unit determines that the resistance value difference is larger than a predetermined threshold value, the target resistance value setting unit changes the target resistance value to a desired value larger than the current target resistance value. Characteristic shape memory alloy actuator.
JP2015227862A 2015-11-20 2015-11-20 Shape memory alloy actuator, shape memory alloy actuator control apparatus, and method thereof Active JP6598652B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2015227862A JP6598652B2 (en) 2015-11-20 2015-11-20 Shape memory alloy actuator, shape memory alloy actuator control apparatus, and method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015227862A JP6598652B2 (en) 2015-11-20 2015-11-20 Shape memory alloy actuator, shape memory alloy actuator control apparatus, and method thereof

Publications (2)

Publication Number Publication Date
JP2017096144A JP2017096144A (en) 2017-06-01
JP6598652B2 true JP6598652B2 (en) 2019-10-30

Family

ID=58803353

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015227862A Active JP6598652B2 (en) 2015-11-20 2015-11-20 Shape memory alloy actuator, shape memory alloy actuator control apparatus, and method thereof

Country Status (1)

Country Link
JP (1) JP6598652B2 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7013010B2 (en) * 2018-02-15 2022-01-31 国立大学法人 大分大学 Shape memory alloy actuator controller, physical quantity estimation program and its method
CN113534395B (en) * 2021-06-23 2022-07-15 广东海德亚科技有限公司 SMA actuation structure control method, electronic device, and storage medium
CN115500034A (en) * 2022-10-19 2022-12-20 Oppo广东移动通信有限公司 Control method of electronic equipment and electronic equipment

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001099050A (en) * 1999-09-30 2001-04-10 Rhythm Watch Co Ltd Drive unit and mechanical device
JP4775115B2 (en) * 2006-05-29 2011-09-21 コニカミノルタオプト株式会社 Length control device, length control program, and lens driving device
JP5151572B2 (en) * 2007-04-04 2013-02-27 コニカミノルタアドバンストレイヤー株式会社 POSITION CONTROL DEVICE, DRIVE DEVICE, AND IMAGING DEVICE
WO2010089526A2 (en) * 2009-02-09 2010-08-12 Cambridge Mechatronics Limited Shape memory alloy actuation apparatus
JP5115490B2 (en) * 2009-02-10 2013-01-09 コニカミノルタアドバンストレイヤー株式会社 Drive device for shape memory alloy actuator and imaging device using the same
JP5429939B2 (en) * 2010-02-03 2014-02-26 オリンパス株式会社 Shape memory alloy actuator system
WO2011108209A1 (en) * 2010-03-05 2011-09-09 コニカミノルタオプト株式会社 Position control device, position control method, driving device and imaging device
JP5771375B2 (en) * 2010-08-31 2015-08-26 オリンパス株式会社 Method and apparatus for controlling shape memory alloy wire actuator
JP4811536B2 (en) * 2011-01-31 2011-11-09 コニカミノルタオプト株式会社 Drive unit, movable module, and autofocus control method

Also Published As

Publication number Publication date
JP2017096144A (en) 2017-06-01

Similar Documents

Publication Publication Date Title
JP6598652B2 (en) Shape memory alloy actuator, shape memory alloy actuator control apparatus, and method thereof
JP5548211B2 (en) Control of shape memory alloy actuator device
JPWO2008146440A1 (en) Time-of-flight mass spectrometer
JP2015005799A5 (en)
KR20170056710A (en) Adjustment device, control method, and medium of control program
JP2010048120A (en) Shape memory alloy actuator system
US20160218600A1 (en) Temperature estimating device of electric motor
JP6859725B2 (en) PID controller, PID control method, and PID control program
JP4553725B2 (en) Actuator
JP6879564B2 (en) Temperature sensor, temperature sensing method and temperature sensing program
JP6091328B2 (en) measuring device
JP5355737B2 (en) Programmable controller
JP6897104B2 (en) Thermocouple temperature measuring device
JP6350215B2 (en) Secondary battery diagnostic device
JP7013010B2 (en) Shape memory alloy actuator controller, physical quantity estimation program and its method
CN114035631B (en) Method, device, apparatus and medium for controlling heating voltage of wire
Karimi et al. SMA wire characterization for 3D steerable active devices
JP6580476B2 (en) Imaging device
JP6555429B2 (en) Temperature measuring device, temperature indicator and temperature controller
JP5968758B2 (en) Power converter
JP6282235B2 (en) Heater control device and heater control method
JP6144188B2 (en) Reaction force output device
KR20130110545A (en) Method for estimating displacement of shape memory alloy coil actuator, actuating apparatus and system using the same
JP2015103169A (en) Numerical control device
US20240113650A1 (en) Temperature protection device and control device

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20181031

TRDD Decision of grant or rejection written
A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20190828

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20190903

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20191001

R150 Certificate of patent or registration of utility model

Ref document number: 6598652

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250